N2kMsg.cpp

/*
N2kMsg.cpp

Copyright (c) 2015-2016 Timo Lappalainen, Kave Oy, www.kave.fi

Permission is hereby granted, free of charge, to any person obtaining a copy of
this software and associated documentation files (the "Software"), to deal in
the Software without restriction, including without limitation the rights to use,
copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
Software, and to permit persons to whom the Software is furnished to do so,
subject to the following conditions:

The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF
CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE
OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
*/

#include "N2kMsg.h"
#include <math.h>
#include <stdlib.h>
//#include <MemoryFree.h>  // For testing used memory

#define Escape 0x10
#define StartOfText 0x02
#define EndOfText 0x03
#define MsgTypeN2k 0x93

#define MaxActisenseMsgBuf 400

//*****************************************************************************
// On Arduino round() is a macro, hence the definition check. On other systems
// it is a function that may or may not be implemented so we do it ourselves.
#if !defined(round)
double round(double val) {
   return val >= 0
         ? floor(val + 0.5)
         : ceil(val - 0.5);
}
#endif

//*****************************************************************************
tN2kMsg::tN2kMsg(unsigned char _Source) {
  Init(6,0,_Source,255);
}

//*****************************************************************************
void tN2kMsg::SetPGN(unsigned long _PGN) {
  Clear();
  PGN=_PGN;
  MsgTime=millis();
}

//*****************************************************************************
void tN2kMsg::Init(unsigned char _Priority, unsigned long _PGN, unsigned char _Source, unsigned char _Destination) {
  DataLen=0;
  Priority=_Priority & 0x7;
  SetPGN(_PGN);
  Source=_Source;
  Destination=_Destination;
}

//*****************************************************************************
void tN2kMsg::Clear() {
  PGN=0;
  DataLen=0;
  MsgTime=0;
}

//*****************************************************************************
void tN2kMsg::Add8ByteDouble(double v, double precision, double UndefVal) {
  if (v!=UndefVal) {
    SetBuf8ByteDouble(v,precision,DataLen,Data);
  } else {
    SetBuf4ByteUInt(N2kUInt32NA,DataLen,Data);
    SetBuf4ByteUInt(N2kInt32NA,DataLen,Data);
  }
}

//*****************************************************************************
void tN2kMsg::Add4ByteDouble(double v, double precision, double UndefVal) {
  if (v!=UndefVal) {
    SetBuf4ByteDouble(v,precision,DataLen,Data);
  } else {
    SetBuf4ByteUInt(N2kInt32NA,DataLen,Data);
  }
}

//*****************************************************************************
void tN2kMsg::Add4ByteUDouble(double v, double precision, double UndefVal) {
  if (v!=UndefVal) {
    SetBuf4ByteUDouble(v,precision,DataLen,Data);
  } else {
    SetBuf4ByteUInt(N2kUInt32NA,DataLen,Data);
  }
}

//*****************************************************************************
void tN2kMsg::Add3ByteDouble(double v, double precision, double UndefVal) {
  if (v!=UndefVal) {
    SetBuf3ByteDouble(v,precision,DataLen,Data);
  } else {
    SetBuf3ByteInt(0x7fffff,DataLen,Data);
  }
}

//*****************************************************************************
void tN2kMsg::Add2ByteDouble(double v, double precision, double UndefVal) {
  if (v!=UndefVal) {
    SetBuf2ByteDouble(v,precision,DataLen,Data);
  } else {
    SetBuf2ByteUInt(N2kInt16NA,DataLen,Data);
  }
}

//*****************************************************************************
void tN2kMsg::Add2ByteUDouble(double v, double precision, double UndefVal) {
  if (v!=UndefVal) {
    SetBuf2ByteUDouble(v,precision,DataLen,Data);
  } else {
    SetBuf2ByteUInt(N2kUInt16NA,DataLen,Data);
  }
}

//*****************************************************************************
void tN2kMsg::Add1ByteDouble(double v, double precision, double UndefVal) {
  if (v!=UndefVal) {
    SetBuf1ByteDouble(v,precision,DataLen,Data);
  } else {
    AddByte(N2kInt8NA);
  }
}

//*****************************************************************************
void tN2kMsg::Add1ByteUDouble(double v, double precision, double UndefVal) {
  if (v!=UndefVal) {
    SetBuf1ByteUDouble(v,precision,DataLen,Data);
  } else {
    AddByte(N2kUInt8NA);
  }
}

//*****************************************************************************
void tN2kMsg::Add2ByteInt(int16_t v) {
  SetBuf2ByteInt(v,DataLen,Data);
}

//*****************************************************************************
void tN2kMsg::Add2ByteUInt(uint16_t v) {
  SetBuf2ByteUInt(v,DataLen,Data);
}

//*****************************************************************************
void tN2kMsg::Add3ByteInt(int32_t v) {
  SetBuf3ByteInt(v,DataLen,Data);
}

//*****************************************************************************
void tN2kMsg::Add4ByteUInt(uint32_t v) {
  SetBuf4ByteUInt(v,DataLen,Data);
}

//*****************************************************************************
void tN2kMsg::AddUInt64(uint64_t v) {
  SetBufUInt64(v,DataLen,Data);
}

//*****************************************************************************
void tN2kMsg::AddByte(unsigned char v) {
  Data[DataLen]=v; DataLen++;
}

//*****************************************************************************
void tN2kMsg::AddStr(const char *str, int len) {
  SetBufStr(str,len,DataLen,Data);
}

//*****************************************************************************
unsigned char tN2kMsg::GetByte(int &Index) const {
  if (Index<DataLen) {
    return Data[Index++];
  } else return 0xff;
}

//*****************************************************************************
int16_t tN2kMsg::Get2ByteInt(int &Index, int16_t def) const {
  if (Index+2<=DataLen) {
    return GetBuf2ByteInt(Index,Data);
  } else return def;
}

//*****************************************************************************
uint16_t tN2kMsg::Get2ByteUInt(int &Index, uint16_t def) const {
  if (Index+2<=DataLen) {
    return GetBuf2ByteUInt(Index,Data);
  } else return def;
}

//*****************************************************************************
uint32_t tN2kMsg::Get4ByteUInt(int &Index, uint32_t def) const {
  if (Index+4<=DataLen) {
    return GetBuf4ByteUInt(Index,Data);
  } else return def;
}

//*****************************************************************************
double tN2kMsg::Get1ByteDouble(double precision, int &Index, double def) const {
  if (Index<DataLen) {
    return GetBuf1ByteDouble(precision,Index,Data,def);
  } else return def;
}

//*****************************************************************************
double tN2kMsg::Get1ByteUDouble(double precision, int &Index, double def) const {
  if (Index<DataLen) {
    return GetBuf1ByteUDouble(precision,Index,Data,def);
  } else return def;
}

//*****************************************************************************
double tN2kMsg::Get2ByteDouble(double precision, int &Index, double def) const {
  if (Index+2<=DataLen) {
    return GetBuf2ByteDouble(precision,Index,Data,def);
  } else return def;
}

//*****************************************************************************
double tN2kMsg::Get2ByteUDouble(double precision, int &Index, double def) const {
  if (Index+2<=DataLen) {
    return GetBuf2ByteUDouble(precision,Index,Data,def);
  } else return def;
}

//*****************************************************************************
double tN2kMsg::Get3ByteDouble(double precision, int &Index, double def) const {
  if (Index+3<=DataLen) {
    return GetBuf3ByteDouble(precision,Index,Data,def);
  } else return def;
}

//*****************************************************************************
double tN2kMsg::Get4ByteDouble(double precision, int &Index, double def) const {
  if (Index+4<=DataLen) {
    return GetBuf4ByteDouble(precision,Index,Data,def);
  } else return def;
}

//*****************************************************************************
double tN2kMsg::Get4ByteUDouble(double precision, int &Index, double def) const {
  if (Index+4<=DataLen) {
    return GetBuf4ByteUDouble(precision,Index,Data,def);
  } else return def;
}

//*****************************************************************************
double tN2kMsg::Get8ByteDouble(double precision, int &Index, double def) const {
  if (Index+8<=DataLen) {
    return GetBuf8ByteDouble(precision,Index,Data,def);
  } else return def;
}

//*****************************************************************************
bool tN2kMsg::GetStr(char *StrBuf, int Length, int &Index) const {
  unsigned char vb;
  bool nullReached = false;
  StrBuf[0] = '\0';
  if (Index+Length<=DataLen) {
    for (int i=0; i<Length; i++) {
      vb = GetByte(Index);
      if (! nullReached) {
        if (vb == 0x00 || vb == '@') {
          nullReached = true; // either null or '@' (AIS null character)
          StrBuf[i] = '\0';
          StrBuf[i+1] = '\0';
        } else {
          StrBuf[i] = vb;
          StrBuf[i+1] = '\0';
        }
      } else {
        StrBuf[i] = '\0';
        StrBuf[i+1] = '\0';
      }
    }
    return true;
  } else return false;
}

//*****************************************************************************
bool tN2kMsg::Set2ByteUInt(uint16_t v, int &Index) {
  if (Index+2<=DataLen) {
    SetBuf2ByteUInt(v,Index,Data);
    return true;
  } else
    return false;
}

//*****************************************************************************
void SetBuf8ByteDouble(double v, double precision, int &index, unsigned char *buf) {
  double fp=precision*1e6;
  long long fpll=1/fp;
  long long vll=v*1e6;
    vll*=fpll;

/* Does not work. Why?
  long long *vll=(long long *)(&buf[index]);
    (*vll)=v*1e6;
    (*vll)*=fpll;

    index+=8;
*/

    buf[index]=vll&255; index++;
    vll>>=8;
    buf[index]=vll&255; index++;
    vll>>=8;
    buf[index]=vll&255; index++;
    vll>>=8;
    buf[index]=vll&255; index++;
    vll>>=8;
    buf[index]=vll&255; index++;
    vll>>=8;
    buf[index]=vll&255; index++;
    vll>>=8;
    buf[index]=vll&255; index++;
    vll>>=8;
    buf[index]=vll&255; index++;

}

//*****************************************************************************
void SetBuf4ByteDouble(double v, double precision, int &index, unsigned char *buf) {
  int32_t *vi=(int32_t *)(&buf[index]);
  index+=4;

  (*vi)=(int32_t)round(v/precision);
}

//*****************************************************************************
void SetBuf4ByteUDouble(double v, double precision, int &index, unsigned char *buf) {
  uint32_t *vi=(uint32_t *)(&buf[index]);
  index+=4;

  (*vi)=(uint32_t)round(v/precision);
}

//*****************************************************************************
void SetBuf3ByteDouble(double v, double precision, int &index, unsigned char *buf) {
  long vl;
  vl=(long)round(v/precision);
    SetBuf3ByteInt(vl,index,buf);
}

//*****************************************************************************
int16_t GetBuf2ByteInt(int &index, const unsigned char *buf) {
  int16_t *vi=(int16_t *)(&buf[index]);
  index+=2;

  return *vi;
}

//*****************************************************************************
uint16_t GetBuf2ByteUInt(int &index, const unsigned char *buf) {
  uint16_t *vi=(uint16_t *)(&buf[index]);
  index+=2;

  return *vi;
}

//*****************************************************************************
uint32_t GetBuf4ByteUInt(int &index, const unsigned char *buf) {
  uint32_t *vi=(uint32_t *)(&buf[index]);
  index+=4;

  return *vi;
}

//*****************************************************************************
double GetBuf1ByteDouble(double precision, int &index, const unsigned char *buf, double def) {
  int8_t *vi=(int8_t *)(&buf[index]);
  index+=1;

  if (*vi==0x7f) return def;

  return ((double)(*vi))*precision;
}

//*****************************************************************************
double GetBuf1ByteUDouble(double precision, int &index, const unsigned char *buf, double def) {
  uint8_t *vi=(uint8_t *)(&buf[index]);
  index+=1;

  if (*vi==0xff) return def;

  return ((double)(*vi))*precision;
}

//*****************************************************************************
double GetBuf2ByteDouble(double precision, int &index, const unsigned char *buf, double def) {
  int16_t *vi=(int16_t *)(&buf[index]);
  index+=2;

  if (*vi==0x7fff) return def;

  return ((double)(*vi))*precision;
}

//*****************************************************************************
double GetBuf2ByteUDouble(double precision, int &index, const unsigned char *buf, double def) {
  uint16_t *vi=(uint16_t *)(&buf[index]);
  index+=2;

  if (*vi==0xffff) return def;

  return ((double)(*vi))*precision;
}

//*****************************************************************************
double GetBuf8ByteDouble(double precision, int &index, const unsigned char *buf, double def) {
  // Next does not work on any board I tested
//  long long *vll=(long long *)(&buf[index]);
//  index+=8;
  unsigned long *vllo=(unsigned long *)(&buf[index]);
  index+=4;
  long *vlhi=(long *)(&buf[index]);
  index+=4;

  if ( (*vlhi==0x7fff) && (*vllo==0xffff) ) return def;
  double v=*vlhi * 4294967296.0;

  if (v>=0) { v += *vllo; } else { v -= *vllo; }

  // Below did not work even with Due
  //long long vll=*vlhi;
  //vll<<=32;
  //vll|=*vllo;


  //Serial.print(*vlhi,HEX); Serial.print(","); Serial.println(*vllo,HEX);


//  if (((unsigned long long)(vll))==0xffffffffffffffff) return def;

  return v*precision;
}

//*****************************************************************************
double GetBuf3ByteDouble(double precision, int &index, const unsigned char *buf, double def) {
  long *vl=(long *)(&buf[index]);
  long vll=*vl;
  index+=3;

  // We use only 3 bytes, so set highest byte to 0
  vll&=0x00ffffff;
  if (vll==0x007fffff) return def;

  return ((double)(vll))*precision;
}

//*****************************************************************************
double GetBuf4ByteDouble(double precision, int &index, const unsigned char *buf, double def) {
  long *vl=(long *)(&buf[index]);
  index+=4;

  if (*vl==0x7fffffff) return def;

  return ((double)(*vl))*precision;
}

//*****************************************************************************
double GetBuf4ByteUDouble(double precision, int &index, const unsigned char *buf, double def) {
  unsigned long *vl=(unsigned long *)(&buf[index]);
  index+=4;

  if (*vl==0xffffffff) return def;

  return ((double)(*vl))*precision;
}

//*****************************************************************************
void SetBuf2ByteDouble(double v, double precision, int &index, unsigned char *buf) {
  int16_t *vi=(int16_t *)(&buf[index]);
  index+=2;

  (*vi)=(int16_t)round(v/precision);
}

//*****************************************************************************
void SetBuf2ByteUDouble(double v, double precision, int &index, unsigned char *buf) {
  uint16_t *vi=(uint16_t *)(&buf[index]);
  index+=2;

  (*vi)=(uint16_t)round(v/precision);
}

//*****************************************************************************
void SetBuf1ByteDouble(double v, double precision, int &index, unsigned char *buf) {
  int8_t *vi=(int8_t *)(&buf[index]);
  index+=1;

  (*vi)=(int8_t)round(v/precision);
}

//*****************************************************************************
void SetBuf1ByteUDouble(double v, double precision, int &index, unsigned char *buf) {
  uint8_t *vi=(uint8_t *)(&buf[index]);
  index+=1;

  (*vi)=(uint8_t)round(v/precision);
}

//*****************************************************************************
void SetBuf2ByteInt(int16_t v, int &index, unsigned char *buf) {
    buf[index]=v&0xff; v>>=8; index++;
    buf[index]=v&0xff; index++;
}

//*****************************************************************************
void SetBuf2ByteUInt(uint16_t v, int &index, unsigned char *buf) {
    buf[index]=v&0xff; v>>=8; index++;
    buf[index]=v&0xff; index++;
}

//*****************************************************************************
void SetBuf3ByteInt(int32_t v, int &index, unsigned char *buf) {
    buf[index]=v&0xff; v>>=8; index++;
    buf[index]=v&0xff; v>>=8; index++;
    buf[index]=v&0xff; index++;
}

//*****************************************************************************
void SetBuf4ByteUInt(uint32_t v, int &index, unsigned char *buf) {
  uint32_t *vl=(uint32_t *)(&buf[index]);
  index+=4;

  (*vl)=v;
}

//*****************************************************************************
void SetBufUInt64(uint64_t v, int &index, unsigned char *buf) {
    buf[index]=v&0xff; v>>=8; index++;
    buf[index]=v&0xff; v>>=8; index++;
    buf[index]=v&0xff; v>>=8; index++;
    buf[index]=v&0xff; v>>=8; index++;
    buf[index]=v&0xff; v>>=8; index++;
    buf[index]=v&0xff; v>>=8; index++;
    buf[index]=v&0xff; v>>=8; index++;
    buf[index]=v&0xff; index++;
}

//*****************************************************************************
void SetBufStr(const char *str, int len, int &index, unsigned char *buf) {
  int i=0;
  for (; i<len && str[i]!=0; i++, index++) {
    buf[index]=str[i];
  }
  for (; i<len; i++, index++) {
    buf[index]=0;
  }
}

//*****************************************************************************
void PrintBuf(N2kStream *port, unsigned char len, const unsigned char *pData, bool AddLF) {
    if (port==0) return;

    for(int i = 0; i<len; i++) {
      if (i>0) { port->print(F(",")); };
      // Print bytes as hex.
      port->print(pData[i], 16);
    }

    if (AddLF) port->println(F(""));
}

//*****************************************************************************
void tN2kMsg::Print(N2kStream *port, bool NoData) const {
  if (port==0 || !IsValid()) return;
  port->print(F("Pri:")); port->print(Priority);
  port->print(F(" PGN:")); port->print(PGN);
  port->print(F(" Source:")); port->print(Source);
  port->print(F(" Dest:")); port->print(Destination);
  port->print(F(" Len:")); port->print(DataLen);
  if (!NoData) {
    port->print(F(" Data:"));
    PrintBuf(port,DataLen,Data);
  }
  port->println(F(""));
}

//*****************************************************************************
void AddByteEscapedToBuf(unsigned char byteToAdd, uint8_t &idx, unsigned char *buf, int &byteSum)
{
  buf[idx++]=byteToAdd;
  byteSum+=byteToAdd;

  if (byteToAdd == Escape) {
    buf[idx++]=Escape;
  }
}

//*****************************************************************************
// Actisense Format:
// <10><02><93><length (1)><priority (1)><PGN (3)><destination (1)><source (1)><time (4)><len (1)><data (len)><CRC (1)><10><03>
void tN2kMsg::SendInActisenseFormat(N2kStream *port) const {
  unsigned long _PGN=PGN;
  unsigned long _MsgTime=MsgTime;
  uint8_t msgIdx=0;
  int byteSum = 0;
  uint8_t CheckSum;
  unsigned char ActisenseMsgBuf[MaxActisenseMsgBuf];

  if (port==0 || !IsValid()) return;
  // Serial.print("freeMemory()="); Serial.println(freeMemory());

  ActisenseMsgBuf[msgIdx++]=Escape;
  ActisenseMsgBuf[msgIdx++]=StartOfText;
  AddByteEscapedToBuf(MsgTypeN2k,msgIdx,ActisenseMsgBuf,byteSum);
  AddByteEscapedToBuf(DataLen+11,msgIdx,ActisenseMsgBuf,byteSum); //length does not include escaped chars
  AddByteEscapedToBuf(Priority,msgIdx,ActisenseMsgBuf,byteSum);
  AddByteEscapedToBuf(_PGN & 0xff,msgIdx,ActisenseMsgBuf,byteSum); _PGN>>=8;
  AddByteEscapedToBuf(_PGN & 0xff,msgIdx,ActisenseMsgBuf,byteSum); _PGN>>=8;
  AddByteEscapedToBuf(_PGN & 0xff,msgIdx,ActisenseMsgBuf,byteSum);
  AddByteEscapedToBuf(Destination,msgIdx,ActisenseMsgBuf,byteSum);
  AddByteEscapedToBuf(Source,msgIdx,ActisenseMsgBuf,byteSum);
  // Time?
  AddByteEscapedToBuf(_MsgTime & 0xff,msgIdx,ActisenseMsgBuf,byteSum); _MsgTime>>=8;
  AddByteEscapedToBuf(_MsgTime & 0xff,msgIdx,ActisenseMsgBuf,byteSum); _MsgTime>>=8;
  AddByteEscapedToBuf(_MsgTime & 0xff,msgIdx,ActisenseMsgBuf,byteSum); _MsgTime>>=8;
  AddByteEscapedToBuf(_MsgTime & 0xff,msgIdx,ActisenseMsgBuf,byteSum);
  AddByteEscapedToBuf(DataLen,msgIdx,ActisenseMsgBuf,byteSum);


  for (int i = 0; i < DataLen; i++) AddByteEscapedToBuf(Data[i],msgIdx,ActisenseMsgBuf,byteSum);
  byteSum %= 256;

  CheckSum = (uint8_t)((byteSum == 0) ? 0 : (256 - byteSum));
  ActisenseMsgBuf[msgIdx++]=CheckSum;
  if (CheckSum==Escape) ActisenseMsgBuf[msgIdx++]=CheckSum;

  ActisenseMsgBuf[msgIdx++] = Escape;
  ActisenseMsgBuf[msgIdx++] = EndOfText;

  port->write(ActisenseMsgBuf,msgIdx);
//  Serial.print("Actisense data:");
//  PrintBuf(msgIdx,ActisenseMsgBuf);
//  Serial.print("\r\n");
}