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direwolf/src/waypoint.c

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//
// This file is part of Dire Wolf, an amateur radio packet TNC.
//
// Copyright (C) 2014, 2015, 2016, 2020 John Langner, WB2OSZ
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 2 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.
//
//#define DEBUG 1
/*------------------------------------------------------------------
*
* Module: waypoint.c
*
* Purpose: Send NMEA waypoint sentences to GPS display or mapping application.
*
*---------------------------------------------------------------*/
#include "direwolf.h" // should be first
#include <stdio.h>
#include <unistd.h>
#include <stdlib.h>
#if __WIN32__
#include <winsock2.h>
#include <ws2tcpip.h> // _WIN32_WINNT must be set to 0x0501 before including this
#else
#include <ctype.h>
#include <errno.h>
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
//#include <arpa/inet.h>
#include <netdb.h> // gethostbyname
#endif
#include <assert.h>
#include <string.h>
#include <time.h>
#include "config.h"
#include "textcolor.h"
#include "latlong.h"
#include "waypoint.h"
#include "grm_sym.h" /* Garmin symbols */
#include "mgn_icon.h" /* Magellan icons */
#include "dwgpsnmea.h"
#include "serial_port.h"
#include "dwsock.h"
static MYFDTYPE s_waypoint_serial_port_fd = MYFDERROR;
static int s_waypoint_udp_sock_fd = -1; // ideally INVALID_SOCKET for Windows.
static struct sockaddr_in s_udp_dest_addr;
static int s_waypoint_formats = 0; /* which formats should we generate? */
static int s_waypoint_debug = 0; /* Print information flowing to attached device. */
static void append_checksum (char *sentence);
static void send_sentence (char *sent);
void waypoint_set_debug (int n)
{
s_waypoint_debug = n;
}
/*-------------------------------------------------------------------
*
* Name: waypoint_init
*
* Purpose: Initialization for waypoint output port.
*
* Inputs: mc - Pointer to configuration options.
*
* ->waypoint_serial_port - Name of serial port. COM1, /dev/ttyS0, etc.
*
* ->waypoint_udp_hostname - Destination host when using UDP.
*
* ->waypoint_udp_portnum - UDP port number.
*
* (currently none) - speed, baud. Default 4800 if not set
*
*
* ->waypoint_formats - Set of formats enabled.
* If none set, default to generic & Kenwood here.
*
* Global output: s_waypoint_serial_port_fd
* s_waypoint_udp_sock_fd
*
* Description: First to see if this is shared with GPS input.
* If not, open serial port.
* In version 1.6 UDP is added. It is possible to use both.
*
* Restriction: MUST be done after GPS init because we might be sharing the
* same serial port device.
*
*---------------------------------------------------------------*/
void waypoint_init (struct misc_config_s *mc)
{
#if DEBUG
text_color_set (DW_COLOR_DEBUG);
dw_printf ("waypoint_init() serial device=%s formats=%02x\n", mc->waypoint_serial_port, mc->waypoint_formats);
dw_printf ("waypoint_init() destination hostname=%s UDP port=%d\n", mc->waypoint_udp_hostname, mc->waypoint_udp_portnum);
#endif
s_waypoint_udp_sock_fd = -1;
if (mc->waypoint_udp_portnum > 0) {
s_waypoint_udp_sock_fd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
if (s_waypoint_udp_sock_fd != -1) {
// Not thread-safe. Should use getaddrinfo instead.
struct hostent *hp = gethostbyname(mc->waypoint_udp_hostname);
if (hp != NULL) {
memset ((char *)&s_udp_dest_addr, 0, sizeof(s_udp_dest_addr));
s_udp_dest_addr.sin_family = AF_INET;
memcpy ((char *)&s_udp_dest_addr.sin_addr, (char *)hp->h_addr, hp->h_length);
s_udp_dest_addr.sin_port = htons(mc->waypoint_udp_portnum);
}
else {
text_color_set(DW_COLOR_ERROR);
dw_printf ("Waypoint: Couldn't get address for %s\n", mc->waypoint_udp_hostname);
close (s_waypoint_udp_sock_fd);
s_waypoint_udp_sock_fd = -1;
}
}
else {
text_color_set(DW_COLOR_ERROR);
dw_printf ("Couldn't create socket for waypoint send to %s\n", mc->waypoint_udp_hostname);
}
}
/*
* TODO:
* Are we sharing with GPS input?
* First try to get fd if they have same device name.
* If that fails, do own serial port open.
*/
s_waypoint_serial_port_fd = MYFDERROR;
if (strlen(mc->waypoint_serial_port) > 0) {
s_waypoint_serial_port_fd = dwgpsnmea_get_fd (mc->waypoint_serial_port, 4800);
if (s_waypoint_serial_port_fd == MYFDERROR) {
s_waypoint_serial_port_fd = serial_port_open (mc->waypoint_serial_port, 4800);
}
else {
text_color_set (DW_COLOR_INFO);
dw_printf ("Note: Sharing same port for GPS input and waypoint output.\n");
}
if (s_waypoint_serial_port_fd == MYFDERROR) {
text_color_set (DW_COLOR_ERROR);
dw_printf ("Unable to open serial port %s for waypoint output.\n", mc->waypoint_serial_port);
}
}
// Set default formats if user did not specify any.
s_waypoint_formats = mc->waypoint_formats;
if (s_waypoint_formats == 0) {
s_waypoint_formats = WPL_FORMAT_NMEA_GENERIC | WPL_FORMAT_KENWOOD;
}
if (s_waypoint_formats & WPL_FORMAT_GARMIN) {
s_waypoint_formats |= WPL_FORMAT_NMEA_GENERIC; /* See explanation below. */
}
#if DEBUG
text_color_set (DW_COLOR_DEBUG);
dw_printf ("end of waypoint_init: s_waypoint_serial_port_fd = %d\n", s_waypoint_serial_port_fd);
dw_printf ("end of waypoint_init: s_waypoint_udp_sock_fd = %d\n", s_waypoint_udp_sock_fd);
#endif
}
/*-------------------------------------------------------------------
*
* Name: append_checksum
*
* Purpose: Append checksum to the sentence.
*
* In/out: sentence - NMEA sentence beginning with '$'.
*
* Description: Checksum is exclusive of characters except leading '$'.
* We append '*' and an upper case two hexadecimal value.
*
* Don't add CR/LF at this point.
*
*--------------------------------------------------------------------*/
static void append_checksum (char *sentence)
{
char *p;
int cs;
assert (sentence[0] == '$');
cs = 0;
for (p = sentence+1; *p != '\0'; p++) {
cs ^= *p;
}
sprintf (p, "*%02X", cs & 0xff);
} /* end append_checksum */
/*-------------------------------------------------------------------
*
* Name: nema_send_waypoint
*
* Purpose: Convert APRS position or object into NMEA waypoint sentence
* for use by a GPS display or other mapping application.
*
* Inputs: wname_in - Name of waypoint. Max of 9 characters.
* dlat - Latitude.
* dlong - Longitude.
* symtab - Symbol table or overlay character.
* symbol - Symbol code.
* alt - Altitude in meters or G_UNKNOWN.
* course - Course in degrees or G_UNKNOWN for unknown.
* speed - Speed in knots or G_UNKNOWN.
* comment_in - Description or message.
*
*
* Description: Currently we send multiple styles. Maybe someday there might
* be an option to send a selected subset.
*
* $GPWPL - NMEA generic with only location and name.
* $PGRMW - Garmin, adds altitude, symbol, and comment
* to previously named waypoint.
* $PMGNWPL - Magellan, more complete for stationary objects.
* $PKWDWPL - Kenwood with APRS style symbol but missing comment.
*
*
* AvMap G5 notes:
*
* https://sites.google.com/site/kd7kuj/home/files?pli=1
* https://sites.google.com/site/kd7kuj/home/files/AvMapMessaging040810.pdf?attredirects=0&d=1
*
* It sends $GPGGA & $GPRMC with location.
* It understands generic $GPWPL and Kenwood $PKWDWPL.
*
* There are some proprietary $PAVP* used only for messaging.
* Messaging would be a separate project.
*
*--------------------------------------------------------------------*/
void waypoint_send_sentence (char *name_in, double dlat, double dlong, char symtab, char symbol,
float alt, float course, float speed, char *comment_in)
{
char wname[12]; /* Waypoint name. Any , or * removed. */
char slat[12]; /* DDMM.mmmm */
char slat_ns[2]; /* N or S */
char slong[12]; /* DDDMM.mmmm */
char slong_ew[2]; /* E or W */
char wcomment[256]; /* Comment. Any , or * removed. */
char salt[12]; /* altitude as string, empty if unknown */
char sspeed[12]; /* speed as string, empty if unknown */
char scourse[12]; /* course as string, empty if unknown */
char *p;
char sentence[500];
#if DEBUG
text_color_set (DW_COLOR_DEBUG);
dw_printf ("waypoint_send_sentence (\"%s\", \"%c%c\")\n", name_in, symtab, symbol);
#endif
// Don't waste time if no destintations specified.
if (s_waypoint_serial_port_fd == MYFDERROR &&
s_waypoint_udp_sock_fd == -1) {
return;
}
/*
* We need to remove any , or * from name, symbol, or comment because they are field delimiters.
* Follow precedent of Geosat AvMap $PAVPMSG sentence and make the following substitutions:
*
* , -> |
* * -> ~
*
* The system on the other end would need to change them back after extracting the
* fields delimited by , or *.
* We will deal with the symbol in the Kenwood section.
* Needs to be left intact for other icon/symbol conversions.
*/
strlcpy (wname, name_in, sizeof(wname));
for (p=wname; *p != '\0'; p++) {
if (*p == ',') *p = '|';
if (*p == '*') *p = '~';
}
strlcpy (wcomment, comment_in, sizeof(wcomment));
for (p=wcomment; *p != '\0'; p++) {
if (*p == ',') *p = '|';
if (*p == '*') *p = '~';
}
/*
* Convert numeric values to character form.
* G_UNKNOWN value will result in an empty string.
*/
latitude_to_nmea (dlat, slat, slat_ns);
longitude_to_nmea (dlong, slong, slong_ew);
if (alt == G_UNKNOWN) {
strcpy (salt, "");
}
else {
snprintf (salt, sizeof(salt), "%.1f", alt);
}
if (speed == G_UNKNOWN) {
strcpy (sspeed, "");
}
else {
snprintf (sspeed, sizeof(sspeed), "%.1f", speed);
}
if (course == G_UNKNOWN) {
strcpy (scourse, "");
}
else {
snprintf (scourse, sizeof(scourse), "%.1f", course);
}
/*
* NMEA Generic.
*
* Has only location and name. Rather disappointing.
*
* $GPWPL,ddmm.mmmm,ns,dddmm.mmmm,ew,wname*99
*
* Where,
* ddmm.mmmm,ns is latitude
* dddmm.mmmm,ew is longitude
* wname is the waypoint name
* *99 is checksum
*/
if (s_waypoint_formats & WPL_FORMAT_NMEA_GENERIC) {
snprintf (sentence, sizeof(sentence), "$GPWPL,%s,%s,%s,%s,%s", slat, slat_ns, slong, slong_ew, wname);
append_checksum (sentence);
send_sentence (sentence);
}
/*
* Garmin
*
* https://www8.garmin.com/support/pdf/NMEA_0183.pdf
*
* No location! Adds altitude, symbol, and comment to existing waypoint.
* So, we should always send the NMEA generic waypoint before this one.
* The init function should take care of that.
*
* $PGRMW,wname,alt,symbol,comment*99
*
* Where,
*
* wname is waypoint name. Must match existing waypoint.
* alt is altitude in meters.
* symbol is symbol code. Hexadecimal up to FFFF.
* See Garmin Device Interface Specification
* 001-0063-00 for values of "symbol_type."
* comment is comment for the waypoint.
* *99 is checksum
*/
if (s_waypoint_formats & WPL_FORMAT_GARMIN) {
int i = symbol - ' ';
int grm_sym; /* Garmin symbol code. */
if (i >= 0 && i < SYMTAB_SIZE) {
if (symtab == '/') {
grm_sym = grm_primary_symtab[i];
}
else {
grm_sym = grm_alternate_symtab[i];
}
}
else {
grm_sym = sym_default;
}
snprintf (sentence, sizeof(sentence), "$PGRMW,%s,%s,%04X,%s", wname, salt, grm_sym, wcomment);
append_checksum (sentence);
send_sentence (sentence);
}
/*
* Magellan
*
* http://www.gpsinformation.org/mag-proto-2-11.pdf Rev 2.11, Mar 2003, P/N 21-00091-000
* http://gpsinformation.net/mag-proto.htm Rev 1.0, Aug 1999, P/N 21-00091-000
*
*
* $PMGNWPL,ddmm.mmmm,ns,dddmm.mmmm,ew,alt,unit,wname,comment,icon,xx*99
*
* Where,
* ddmm.mmmm,ns is latitude
* dddmm.mmmm,ew is longitude
* alt is altitude
* unit is M for meters or F for feet
* wname is the waypoint name
* comment is message or comment
* icon is one or two letters for icon code
* xx is waypoint type which is optional, not well
* defined, and not used in their example
* so we won't use it.
* *99 is checksum
*
* Possible enhancement: If the "object report" has the kill option set, use $PMGNDWP
* to delete that specific waypoint.
*/
if (s_waypoint_formats & WPL_FORMAT_MAGELLAN) {
int i = symbol - ' ';
char sicon[3]; /* Magellan icon string. Currently 1 or 2 characters. */
if (i >= 0 && i < SYMTAB_SIZE) {
if (symtab == '/') {
strlcpy (sicon, mgn_primary_symtab[i], sizeof(sicon));
}
else {
strlcpy (sicon, mgn_alternate_symtab[i], sizeof(sicon));
}
}
else {
strlcpy (sicon, MGN_default, sizeof(sicon));
}
snprintf (sentence, sizeof(sentence), "$PMGNWPL,%s,%s,%s,%s,%s,M,%s,%s,%s",
slat, slat_ns, slong, slong_ew, salt, wname, wcomment, sicon);
append_checksum (sentence);
send_sentence (sentence);
}
/*
* Kenwood
*
*
* $PKWDWPL,hhmmss,v,ddmm.mm,ns,dddmm.mm,ew,speed,course,ddmmyy,alt,wname,ts*99
*
* Where,
* hhmmss is time in UTC from the clock in the transceiver.
*
* This will be bogus if the clock was not set properly.
* It does not use the timestamp from a position
* report which could be useful.
*
* GPS Status A = active, V = void.
* It looks like this might be modeled after the GPS status values
* we see in $GPRMC. i.e. Does the transceiver know its location?
* I don't see how that information would be relevant in this context.
* I've observed this under various conditions (No GPS, GPS with/without
* fix) and it has always been "V."
* (There is some information out there indicating this field
* can contain "I" for invalid but I don't think that is accurate.)
*
* ddmm.mm,ns is latitude. N or S.
* dddmm.mm,ew is longitude. E or W.
*
* The D710 produces two fractional digits for minutes.
* This is the same resolution most often used
* in APRS packets. Any additional resolution offered by
* the compressed format or the DAO option is not conveyed here.
* We will provide greater resolution.
*
* speed is speed over ground, knots.
* course is course over ground, degrees.
*
* Empty if not available.
*
* ddmmyy is date. See comments for time.
*
* alt is altitude, meters above mean sea level.
*
* Empty if no altitude is available.
*
* wname is the waypoint name. For an Object Report, the id is the object name.
* For a position report, it is the call of the sending station.
*
* An Object name can contain any printable characters.
* What if object name contains , or * characters?
* Those are field delimiter characters and it would be unfortunate
* if they appeared in a NMEA sentence data field.
*
* If there is a comma in the name, such as "test,5" the D710A displays
* it fine but we end up with an extra field.
*
* $PKWDWPL,150803,V,4237.14,N,07120.83,W,,,190316,,test,5,/'*30
*
* If the name contains an asterisk, it doesn't show up on the
* display and no waypoint sentence is generated.
* We will substitute these two characters following the AvMap precedent.
*
* $PKWDWPL,204714,V,4237.1400,N,07120.8300,W,,,200316,,test|5,/'*61
* $PKWDWPL,204719,V,4237.1400,N,07120.8300,W,,,200316,,test~6,/'*6D
*
* ts are the table and symbol.
*
* What happens if the symbol is comma or asterisk?
* , Boy Scouts / Girl Scouts
* * SnowMobile / Snow
*
* the D710A just pushes them thru without checking.
* These would not be parsed properly:
*
* $PKWDWPL,150753,V,4237.14,N,07120.83,W,,,190316,,test3,/,*1B
* $PKWDWPL,150758,V,4237.14,N,07120.83,W,,,190316,,test4,/ **3B
*
* We perform the usual substitution and the other end would
* need to change them back after extracting from NMEA sentence.
*
* $PKWDWPL,204704,V,4237.1400,N,07120.8300,W,,,200316,,test3,/|*41
* $PKWDWPL,204709,V,4237.1400,N,07120.8300,W,,,200316,,test4,/~*49
*
*
* *99 is checksum
*
* Oddly, there is no place for comment.
*/
if (s_waypoint_formats & WPL_FORMAT_KENWOOD) {
time_t now;
struct tm tm;
char stime[8];
char sdate[8];
char ken_sym; /* APRS symbol with , or * substituted. */
now = time(NULL);
(void)gmtime_r (&now, &tm);
strftime (stime, sizeof(stime), "%H%M%S", &tm);
strftime (sdate, sizeof(sdate), "%d%m%y", &tm);
// A symbol code of , or * would not be good because
// they are field delimiters for NMEA sentences.
// The AvMap G5 to Kenwood protocol description performs a substitution
// for these characters that appear in message text.
// , -> |
// * -> ~
// Those two are listed as "TNC Stream Switch" and are not used for symbols.
// It might be reasonable assumption that this same substitution might be
// used for the symbol code.
if (symbol == ',') ken_sym = '|';
else if (symbol == '*') ken_sym = '~';
else ken_sym = symbol;
snprintf (sentence, sizeof(sentence), "$PKWDWPL,%s,V,%s,%s,%s,%s,%s,%s,%s,%s,%s,%c%c",
stime, slat, slat_ns, slong, slong_ew,
sspeed, scourse, sdate, salt, wname, symtab, ken_sym);
append_checksum (sentence);
send_sentence (sentence);
}
/*
* One application recognizes these. Not implemented at this time.
*
* $GPTLL,01,ddmm.mmmm,ns,dddmm.mmmm,ew,tname,000000.00,T,R*99
*
* Where,
* ddmm.mmmm,ns is latitude
* dddmm.mmmm,ew is longitude
* tname is the target name
* 000000.00 is timestamp ???
* T is target status (S for need help)
* R is reference target ???
* *99 is checksum
*
*
* $GPTXT,01,01,tname,message*99
*
* Where,
*
* 01 is total number of messages in transmission
* 01 is message number in this transmission
* tname is target name. Should match name in WPL or TTL.
* message is the message.
* *99 is checksum
*
*/
} /* end waypoint_send_sentence */
/*-------------------------------------------------------------------
*
* Name: nema_send_ais
*
* Purpose: Send NMEA AIS sentence to GPS display or other mapping application.
*
* Inputs: sentence - should look something like this, with checksum, and no CR LF.
*
* !AIVDM,1,1,,A,35NO=dPOiAJriVDH@94E84AJ0000,0*4B
*
*--------------------------------------------------------------------*/
void waypoint_send_ais (char *sentence)
{
if (s_waypoint_serial_port_fd == MYFDERROR &&
s_waypoint_udp_sock_fd == -1) {
return;
}
if (s_waypoint_formats & WPL_FORMAT_AIS) {
send_sentence (sentence);
}
}
/*
* Append CR LF and send it.
*/
static void send_sentence (char *sent)
{
char final[256];
if (s_waypoint_debug) {
text_color_set(DW_COLOR_XMIT);
dw_printf ("waypoint send sentence: \"%s\"\n", sent);
}
strlcpy (final, sent, sizeof(final));
strlcat (final, "\r\n", sizeof(final));
int final_len = strlen(final);
if (s_waypoint_serial_port_fd != MYFDERROR) {
serial_port_write (s_waypoint_serial_port_fd, final, final_len);
}
if (s_waypoint_udp_sock_fd != -1) {
int n = sendto(s_waypoint_udp_sock_fd, final, final_len, 0, (struct sockaddr*)(&s_udp_dest_addr), sizeof(struct sockaddr_in));
if (n != final_len) {
text_color_set(DW_COLOR_ERROR);
dw_printf ("Failed to send waypoint via UDP, errno=%d\n", errno);
}
}
} /* send_sentence */
void waypoint_term (void)
{
if (s_waypoint_serial_port_fd != MYFDERROR) {
//serial_port_close (s_waypoint_port_fd);
s_waypoint_serial_port_fd = MYFDERROR;
}
if (s_waypoint_udp_sock_fd != -1) {
close (s_waypoint_udp_sock_fd);
s_waypoint_udp_sock_fd = -1;
}
}
/* end waypoint.c */
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