src/Device/Simulator.cpp

   1 /*
   2
   3 Copyright_License {
   4
   5   XCSoar Glide Computer - http://www.xcsoar.org/
   6   Copyright (C) 2000-2013 The XCSoar Project
   7   A detailed list of copyright holders can be found in the file "AUTHORS".
   8
   9   This program is free software; you can redistribute it and/or
  10   modify it under the terms of the GNU General Public License
  11   as published by the Free Software Foundation; either version 2
  12   of the License, or (at your option) any later version.
  13
  14   This program is distributed in the hope that it will be useful,
  15   but WITHOUT ANY WARRANTY; without even the implied warranty of
  16   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  17   GNU General Public License for more details.
  18
  19   You should have received a copy of the GNU General Public License
  20   along with this program; if not, write to the Free Software
  21   Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
  22 }
  23
  24 */
  25
  26 #include "Device/Simulator.hpp"
  27 #include "Device/Parser.hpp"
  28 #include "NMEA/Info.hpp"
  29 #include "NMEA/InputLine.hpp"
  30 #include "NMEA/Checksum.hpp"
  31 #include "../Simulator.hpp"
  32 #include "OS/Clock.hpp"
  33 #include "Asset.hpp"
  34 #include "Geo/Math.hpp"
  35
  36 #include <stdio.h>
  37
  38 void
  39 Simulator::Init(NMEAInfo &basic)
  40 {
  41   /* just in case DeviceBlackboard::SetStartupLocation never gets
  42      called, set some dummy values that are better than uninitialised
  43      values */
  44
  45   basic.location = GeoPoint::Zero();
  46   basic.track = Angle::Zero();
  47   basic.ground_speed = fixed(0);
  48   basic.gps_altitude = fixed(0);
  49   basic.date_available = true;
  50 }
  51
  52 /**
  53  * This function creates some simulated traffic for FLARM debugging
  54  * @param GPS_INFO Pointer to the NMEA_INFO struct
  55  */
  56 void
  57 Simulator::GenerateFLARMTraffic(NMEAInfo &basic)
  58 {
  59   static int i = 90;
  60
  61   i++;
  62   if (i > 255)
  63     i = 0;
  64
  65   if (i > 80)
  66     return;
  67
  68   const Angle angle = Angle::FullCircle() * i / 255;
  69   Angle dangle = (angle + Angle::Degrees(120)).AsBearing();
  70   Angle hangle = dangle.Flipped().AsBearing();
  71
  72   int alt = (angle.ifastsine()) / 7;
  73   int north = (angle.ifastsine()) / 2 - 200;
  74   int east = (angle.ifastcosine()) / 1.5;
  75   int track = -(int)angle.AsBearing().Degrees();
  76   unsigned alarm_level = (i % 30 > 13 ? 0 : (i % 30 > 5 ? 2 : 1));
  77
  78   NMEAParser parser(true);
  79   char buffer[50];
  80
  81   // PFLAA,<AlarmLevel>,<RelativeNorth>,<RelativeEast>,<RelativeVertical>,
  82   //   <IDType>,<ID>,<Track>,<TurnRate>,<GroundSpeed>,<ClimbRate>,<AcftType>
  83   sprintf(buffer, "$PFLAA,%d,%d,%d,%d,2,DDA85C,%d,0,35,0,1",
  84           alarm_level, north, east, alt, track);
  85   parser.ParseLine(buffer, basic);
  86
  87   alt = (angle.ifastcosine()) / 10;
  88   north = (dangle.ifastsine()) / 1.20 + 300;
  89   east = (dangle.ifastcosine()) + 500;
  90   track = (int)hangle.Degrees();
  91
  92   // PFLAA,<AlarmLevel>,<RelativeNorth>,<RelativeEast>,<RelativeVertical>,
  93   //   <IDType>,<ID>,<Track>,<TurnRate>,<GroundSpeed>,<ClimbRate>,<AcftType>
  94   sprintf(buffer, "$PFLAA,0,%d,%d,%d,2,AA9146,,,,,1",
  95           north, east, alt);
  96   parser.ParseLine(buffer, basic);
  97
  98   // PFLAU,<RX>,<TX>,<GPS>,<Power>,<AlarmLevel>,<RelativeBearing>,<AlarmType>,
  99   //   <RelativeVertical>,<RelativeDistance>(,<ID>)
 100   sprintf(buffer, "$PFLAU,2,1,2,1,%d", alarm_level);
 101   parser.ParseLine(buffer, basic);
 102 }
 103
 104 void
 105 Simulator::Touch(NMEAInfo &basic)
 106 {
 107   assert(is_simulator());
 108
 109   basic.UpdateClock();
 110   basic.alive.Update(basic.clock);
 111   basic.gps.simulator = true;
 112   basic.gps.real = false;
 113
 114   basic.location_available.Update(basic.clock);
 115   basic.track_available.Update(basic.clock);
 116   basic.ground_speed_available.Update(basic.clock);
 117   basic.gps_altitude_available.Update(basic.clock);
 118
 119   basic.time_available.Update(basic.clock);
 120   basic.time += fixed(1);
 121   basic.date_time_utc = basic.date_time_utc + 1;
 122 }
 123
 124 void
 125 Simulator::Process(NMEAInfo &basic)
 126 {
 127   assert(is_simulator());
 128
 129   Touch(basic);
 130
 131   basic.location = FindLatitudeLongitude(basic.location, basic.track,
 132                                          basic.ground_speed);
 133
 134   // use this to test FLARM parsing/display
 135   if (IsDebug() && !IsAltair())
 136     GenerateFLARMTraffic(basic);
 137 }