mirror of https://github.com/ArduPilot/ardupilot
157 lines
4.4 KiB
C
157 lines
4.4 KiB
C
#pragma once
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#include <AP_Logger/LogStructure.h>
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#include "AP_AIS_config.h"
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#define LOG_IDS_FROM_AIS \
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LOG_AIS_RAW_MSG,\
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LOG_AIS_MSG1, \
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LOG_AIS_MSG4, \
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LOG_AIS_MSG5
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struct PACKED log_AIS_raw {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t num;
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uint8_t total;
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uint8_t ID;
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char payload[64];
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};
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struct PACKED log_AIS_msg1 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t type;
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uint8_t repeat;
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uint32_t mmsi;
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uint8_t nav;
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int8_t rot;
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uint16_t sog;
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int8_t pos_acc;
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int32_t lon;
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int32_t lat;
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uint16_t cog;
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uint16_t head;
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uint8_t sec_utc;
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uint8_t maneuver;
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uint8_t raim;
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uint32_t radio;
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};
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struct PACKED log_AIS_msg4 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t repeat;
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uint32_t mmsi;
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uint16_t year;
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uint8_t month;
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uint8_t day;
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uint8_t hour;
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uint8_t minute;
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uint8_t second;
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uint8_t fix;
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int32_t lon;
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int32_t lat;
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uint8_t epfd;
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uint8_t raim;
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uint32_t radio;
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};
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struct PACKED log_AIS_msg5 {
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LOG_PACKET_HEADER;
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uint64_t time_us;
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uint8_t repeat;
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uint32_t mmsi;
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uint8_t ver;
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uint32_t imo;
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char call_sign[16];
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char name[64];
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uint8_t vessel_type;
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uint16_t bow_dim;
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uint16_t stern_dim;
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uint8_t port_dim;
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uint8_t star_dim;
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uint8_t fix;
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uint8_t draught;
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char dest[64];
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uint8_t dte;
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};
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// @LoggerMessage: AISR
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// @Description: Raw AIS AVDIM messages contents, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_aivdmaivdo_sentence_layer
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// @Field: TimeUS: Time since system startup
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// @Field: num: count of fragments in the currently accumulating message
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// @Field: total: fragment number of this sentence
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// @Field: ID: sequential message ID for multi-sentence messages
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// @Field: payload: data payload
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// @LoggerMessage: AIS1
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// @Description: Contents of 'position report' AIS message, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_types_1_2_and_3_position_report_class_a
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// @Field: US: Time since system startup
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// @Field: typ: Message Type
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// @Field: rep: Repeat Indicator
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// @Field: mmsi: MMSI
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// @Field: nav: Navigation Status
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// @Field: rot: Rate of Turn (ROT)
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// @Field: sog: Speed Over Ground (SOG)
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// @Field: pos: Position Accuracy
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// @Field: lon: Longitude
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// @Field: lat: Latitude
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// @Field: cog: Course Over Ground (COG)
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// @Field: hed: True Heading (HDG)
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// @Field: sec: Time Stamp
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// @Field: man: Maneuver Indicator
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// @Field: raim: RAIM flag
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// @Field: rad: Radio status
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// @LoggerMessage: AIS4
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// @Description: Contents of 'Base Station Report' AIS message, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_4_base_station_report
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// @Field: US: Time since system startup
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// @Field: rep: Repeat Indicator
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// @Field: mmsi: MMSI
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// @Field: year: Year (UTC)
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// @Field: mth: Month (UTC)
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// @Field: day: Day (UTC)
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// @Field: h: Hour (UTC)
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// @Field: m: Minute (UTC)
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// @Field: s: Second (UTC)
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// @Field: fix: Fix quality
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// @Field: lon: Longitude
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// @Field: lat: Latitude
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// @Field: epfd: Type of EPFD
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// @Field: raim: RAIM flag
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// @Field: rad: Radio status
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// @LoggerMessage: AIS5
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// @Description: Contents of 'static and voyage related data' AIS message, see: https://gpsd.gitlab.io/gpsd/AIVDM.html#_type_5_static_and_voyage_related_data
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// @Field: US: Time since system startup
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// @Field: rep: Repeat Indicator
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// @Field: mmsi: MMSI
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// @Field: ver: AIS Version
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// @Field: imo: IMO Number
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// @Field: cal: Call Sign
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// @Field: nam: Vessel Name
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// @Field: typ: Ship Type
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// @Field: bow: Dimension to Bow
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// @Field: stn: Dimension to Stern
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// @Field: prt: Dimension to Port
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// @Field: str: Dimension to Starboard
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// @Field: fix: Position Fix Type
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// @Field: dght: Draught
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// @Field: dst: Destination
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// @Field: dte: DTE
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#if !AP_AIS_ENABLED
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#define LOG_STRUCTURE_FROM_AIS
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#else
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#define LOG_STRUCTURE_FROM_AIS \
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{ LOG_AIS_RAW_MSG, sizeof(log_AIS_raw), \
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"AISR", "QBBBZ", "TimeUS,num,total,ID,payload", "s----", "F0000" }, \
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{ LOG_AIS_MSG1, sizeof(log_AIS_msg1), \
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"AIS1", "QBBIBbHbLLHHBBbI", "US,typ,rep,mmsi,nav,rot,sog,pos,lon,lat,cog,hed,sec,man,raim,rad", "s---------------", "F000000000000000" }, \
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{ LOG_AIS_MSG4, sizeof(log_AIS_msg4), \
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"AIS4", "QBIHBBBBBBLLBBI", "US,rep,mmsi,year,mth,day,h,m,s,fix,lon,lat,epfd,raim,rad", "s--------------", "F00000000000000" }, \
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{ LOG_AIS_MSG5, sizeof(log_AIS_msg5), \
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"AIS5", "QBIBINZBHHBBBBZB", "US,rep,mmsi,ver,imo,cal,nam,typ,bow,stn,prt,str,fix,dght,dst,dte", "s-------mmmm-m--", "F------------A--" },
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#endif
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