mirror of https://github.com/ArduPilot/ardupilot
140 lines
4.7 KiB
C++
140 lines
4.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_Param/AP_Param.h>
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#include <AP_SerialManager/AP_SerialManager.h>
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#include <AP_Common/AP_ExpandingArray.h>
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#ifndef HAL_AIS_ENABLED
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#define HAL_AIS_ENABLED !HAL_MINIMIZE_FEATURES
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#endif
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#if HAL_AIS_ENABLED
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#define AIVDM_BUFFER_SIZE 10
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#define AIVDM_PAYLOAD_SIZE 65
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class AP_AIS
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{
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public:
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AP_AIS();
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/* Do not allow copies */
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AP_AIS(const AP_AIS &other) = delete;
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AP_AIS &operator=(const AP_AIS&) = delete;
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// return true if AIS is enabled
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bool enabled() const { return AISType(_type.get()) != AISType::NONE; }
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// Initialize the AIS object and prepare it for use
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void init();
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// update AIS, expected to be called at 20hz
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void update();
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// send mavlink AIS message
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void send(mavlink_channel_t chan);
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// parameter block
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static const struct AP_Param::GroupInfo var_info[];
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private:
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// parameters
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AP_Int8 _type; // type of AIS receiver
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AP_Int16 _max_list; // maximum number of vessels to track at once
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AP_Int16 _time_out; // time in seconds that a vessel will be dropped from the list
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AP_Int16 _log_options; // logging options bitmask
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enum class AISType {
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NONE = 0,
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NMEA = 1,
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};
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enum options {
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AIS_OPTIONS_LOG_ALL_RAW = 1<<0,
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AIS_OPTIONS_LOG_UNSUPPORTED_RAW = 1<<1,
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AIS_OPTIONS_LOG_DECODED = 1<<2,
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};
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struct AIVDM {
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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[AIVDM_PAYLOAD_SIZE];
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};
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AIVDM _incoming;
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AIVDM _AIVDM_buffer[AIVDM_BUFFER_SIZE];
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struct ais_vehicle_t {
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mavlink_ais_vessel_t info;
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uint32_t last_update_ms; // last time this was refreshed, allows timeouts
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uint32_t last_send_ms; // last time this message was sent via mavlink, stops us spamming the link
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};
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// list of the vessels that are being tracked
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AP_ExpandingArray<ais_vehicle_t> _list {8};
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AP_HAL::UARTDriver *_uart;
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uint16_t _send_index; // index of the last vessel send over mavlink
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// removed the given index from the AIVDM buffer shift following elements
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void buffer_shift(uint8_t i);
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// find vessel in existing list, if not then return new index if possible
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bool get_vessel_index(uint32_t mmsi, uint16_t &index, uint32_t lat = 0, uint32_t lon = 0) WARN_IF_UNUSED;
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void clear_list_item(uint16_t index);
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// decode the payload
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bool payload_decode(const char *payload) WARN_IF_UNUSED;
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// decode specific message types
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bool decode_position_report(const char *payload, uint8_t type) WARN_IF_UNUSED;
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bool decode_base_station_report(const char *payload) WARN_IF_UNUSED;
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bool decode_static_and_voyage_data(const char *payload) WARN_IF_UNUSED;
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// read the specified bits from the char array each char giving 6 bits
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void get_char(const char *payload, char *array, uint16_t low, uint16_t high);
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uint32_t get_bits(const char *payload, uint16_t low, uint16_t high);
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int32_t get_bits_signed(const char *payload, uint16_t low, uint16_t high);
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// un-encode the ASCII payload armoring
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uint8_t payload_char_decode(const char c);
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// log a raw AIVDM message
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void log_raw(const AIVDM *msg);
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// try and decode NMEA message
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bool decode(char c) WARN_IF_UNUSED;
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// decode each term
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bool decode_latest_term() WARN_IF_UNUSED;
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// convert from char to hex value for checksum
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int16_t char_to_hex(char a);
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// varables for decoding NMEA sentence
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char _term[AIVDM_PAYLOAD_SIZE]; // buffer for the current term within the current sentence
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uint8_t _term_offset; // offset within the _term buffer where the next character should be placed
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uint8_t _term_number; // term index within the current sentence
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uint8_t _checksum; // checksum accumulator
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bool _term_is_checksum; // current term is the checksum
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bool _sentence_valid; // is current sentence valid so far
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bool _sentence_done; // true if this sentence has already been decoded
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};
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#endif // HAL_AIS_ENABLED
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