More refactoring of the AIVDM code.

1 files changed, 7 insertions, 315 deletions

diff --git a/gpsdecode.c b/gpsdecode.c
index e5928196..2c46f2c5 100644
--- a/gpsdecode.c
+++ b/gpsdecode.c
@@ -20,321 +20,6 @@ static bool labeled = false;
 
 /**************************************************************************
  *
- * AIVDM decoding
- *
- **************************************************************************/
-
-static void  aivdm_dump(struct ais_t *ais, FILE *fp)
-{
-    static char *nav_legends[] = {
-	"Under way using engine",
-	"At anchor",
-	"Not under command",
-	"Restricted manoeuverability",
-	"Constrained by her draught",
-	"Moored",
-	"Aground",
-	"Engaged in fishing",
-	"Under way sailing",
-	"Reserved for HSC",
-	"Reserved for WIG",
-	"Reserved",
-	"Reserved",
-	"Reserved",
-	"Reserved",
-	"Not defined",
-    };
-    static char *epfd_legends[] = {
-	"Undefined",
-	"GPS",
-	"GLONASS",
-	"Combined GPS/GLONASS",
-	"Loran-C",
-	"Chayka",
-	"Integrated navigation system",
-	"Surveyed",
-	"Galileo",
-    };
-
-    static char *type_legends[100] = {
-	"Not available",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Reserved for future use",
-	"Wing in ground (WIG), all ships of this type",
-	"Wing in ground (WIG), Hazardous category A",
-	"Wing in ground (WIG), Hazardous category B",
-	"Wing in ground (WIG), Hazardous category C",
-	"Wing in ground (WIG), Hazardous category D",
-	"Wing in ground (WIG), Reserved for future use",
-	"Wing in ground (WIG), Reserved for future use",
-	"Wing in ground (WIG), Reserved for future use",
-	"Wing in ground (WIG), Reserved for future use",
-	"Wing in ground (WIG), Reserved for future use",
-	"Fishing",
-	"Towing",
-	"Towing: length exceeds 200m or breadth exceeds 25m",
-	"Dredging or underwater ops",
-	"Diving ops",
-	"Military ops",
-	"Sailing",
-	"Pleasure Craft",
-	"Reserved",
-	"Reserved",
-	"High speed craft (HSC), all ships of this type",
-	"High speed craft (HSC), Hazardous category A",
-	"High speed craft (HSC), Hazardous category B",
-	"High speed craft (HSC), Hazardous category C",
-	"High speed craft (HSC), Hazardous category D",
-	"High speed craft (HSC), Reserved for future use",
-	"High speed craft (HSC), Reserved for future use",
-	"High speed craft (HSC), Reserved for future use",
-	"High speed craft (HSC), Reserved for future use",
-	"High speed craft (HSC), No additional information",
-	"Pilot Vessel",
-	"Search and Rescue vessel",
-	"Tug",
-	"Port Tender",
-	"Anti-pollution equipment",
-	"Law Enforcement",
-	"Spare - Local Vessel",
-	"Spare - Local Vessel",
-	"Medical Transport",
-	"Ship according to RR Resolution No. 18",
-	"Passenger, all ships of this type",
-	"Passenger, Hazardous category A",
-	"Passenger, Hazardous category B",
-	"Passenger, Hazardous category C",
-	"Passenger, Hazardous category D",
-	"Passenger, Reserved for future use",
-	"Passenger, Reserved for future use",
-	"Passenger, Reserved for future use",
-	"Passenger, Reserved for future use",
-	"Passenger, No additional information",
-	"Cargo, all ships of this type",
-	"Cargo, Hazardous category A",
-	"Cargo, Hazardous category B",
-	"Cargo, Hazardous category C",
-	"Cargo, Hazardous category D",
-	"Cargo, Reserved for future use",
-	"Cargo, Reserved for future use",
-	"Cargo, Reserved for future use",
-	"Cargo, Reserved for future use",
-	"Cargo, No additional information",
-	"Tanker, all ships of this type",
-	"Tanker, Hazardous category A",
-	"Tanker, Hazardous category B",
-	"Tanker, Hazardous category C",
-	"Tanker, Hazardous category D",
-	"Tanker, Reserved for future use",
-	"Tanker, Reserved for future use",
-	"Tanker, Reserved for future use",
-	"Tanker, Reserved for future use",
-	"Tanker, No additional information",
-	"Other Type, all ships of this type",
-	"Other Type, Hazardous category A",
-	"Other Type, Hazardous category B",
-	"Other Type, Hazardous category C",
-	"Other Type, Hazardous category D",
-	"Other Type, Reserved for future use",
-	"Other Type, Reserved for future use",
-	"Other Type, Reserved for future use",
-	"Other Type, Reserved for future use",
-	"Other Type, no additional information",
-    };
-
-    if (labeled)
-	(void)fprintf(fp, "type=%d,ri=%d,MMSI=%09d,", ais->id, ais->ri, ais->mmsi);
-    else
-	(void)fprintf(fp, "%d,%d,%09d,", ais->id, ais->ri, ais->mmsi);
-    switch (ais->id) {
-    case 1:	/* Position Report */
-    case 2:
-    case 3:
-#define TYPE123_UNSCALED_UNLABELED "%u,%d,%u,%u,%d,%d,%u,%u,%u,%x,%d,%x\n"
-#define TYPE123_UNSCALED_LABELED   "st=%u,ROT=%u,SOG=%u,fq=%u,lon=%d,lat=%d,cog=%u,hd=%u,sec=%u,reg=%x,sp=%d,radio=%x\n"
-#define TYPE123_SCALED_UNLABELED "%s,%s,%.1f,%u,%.4f,%.4f,%u,%u,%u,%x,%d,%x\n"
-#define TYPE123_SCALED_LABELED   "st=%s,ROT=%s,SOG=%.1f,fq=%u,lon=%.4f,lat=%.4f,cog=%u,hd=%u,sec=%u,reg=%x,sp=%d,radio=%x\n"
-	if (scaled) {
-	    char rotlegend[10];
-	    float sog;
-
-	    /* 
-	     * Express ROT as nan if not available, 
-	     * "fastleft"/"fastright" for fast turns.
-	     */
-	    if (ais->type123.rot == -128)
-		(void) strlcpy(rotlegend, "nan", sizeof(rotlegend));
-	    else if (ais->type123.rot == -127)
-		(void) strlcpy(rotlegend, "fastleft", sizeof(rotlegend));
-	    else if (ais->type123.rot == 127)
-		(void) strlcpy(rotlegend, "fastright", sizeof(rotlegend));
-	    else
-		(void)snprintf(rotlegend, sizeof(rotlegend),
-			       "%.0f",
-			       ais->type123.rot * ais->type123.rot / 4.733);
-
-	    /* express SOG as nan if value is unknown */
-	    if (ais->type123.sog == AIS_SOG_NOT_AVAILABLE)
-		sog = -1.0;
-	    else
-		sog = ais->type123.sog / 10.0;
-
-	    (void)fprintf(fp,
-			  (labeled ? TYPE123_SCALED_LABELED : TYPE123_SCALED_UNLABELED),
-			      
-			  nav_legends[ais->type123.status],
-			  rotlegend,
-			  sog, 
-			  (uint)ais->type123.accuracy,
-			  ais->type123.longitude / AIS_LATLON_SCALE, 
-			  ais->type123.latitude / AIS_LATLON_SCALE, 
-			  ais->type123.cog, 
-			  ais->type123.heading, 
-			  ais->type123.utc_second,
-			  ais->type123.regional,
-			  ais->type123.spare,
-			  ais->type123.radio);
-	} else {
-	    (void)fprintf(fp,
-			  (labeled ? TYPE123_UNSCALED_LABELED : TYPE123_UNSCALED_UNLABELED),
-			  ais->type123.status,
-			  ais->type123.rot,
-			  ais->type123.sog, 
-			  (uint)ais->type123.accuracy,
-			  ais->type123.longitude,
-			  ais->type123.latitude,
-			  ais->type123.cog, 
-			  ais->type123.heading, 
-			  ais->type123.utc_second,
-			  ais->type123.regional,
-			  ais->type123.spare,
-			  ais->type123.radio);
-	}
-#undef TYPE123_UNSCALED_UNLABELED
-#undef TYPE123_UNSCALED_LABELED
-#undef TYPE123_SCALED_UNLABELED
-#undef TYPE123_SCALED_LABELED
-	break;
-    case 4:	/* Base Station Report */
-#define TYPE4_UNSCALED_UNLABELED "%04u:%02u:%02uT%02u:%02u:%02uZ,%u,%d,%d,%u,%u,%x\n"
-#define TYPE4_UNSCALED_LABELED "%4u:%02u:%02uT%02u:%02u:%02uZ,q=%u,lon=%d,lat=%d,epfd=%u,sp=%u,radio=%x\n"
-#define TYPE4_SCALED_UNLABELED	"%4u:%02u:%02uT%02u:%02u:%02uZ,%u,%.4f,%.4f,%s,%u,%x\n"
-#define TYPE4_SCALED_LABELED "%4u:%02u:%02uT%02u:%02u:%02uZ,q=%u,lon=%.4f,lat=%.4f,epfd=%s,sp=%u,radio=%x\n"
-	if (scaled) {
-	    (void)fprintf(fp,
-			  (labeled ? TYPE4_SCALED_LABELED : TYPE4_SCALED_UNLABELED),
-			  ais->type4.year,
-			  ais->type4.month,
-			  ais->type4.day,
-			  ais->type4.hour,
-			  ais->type4.minute,
-			  ais->type4.second,
-			  (uint)ais->type4.accuracy,
-			  ais->type4.latitude / AIS_LATLON_SCALE, 
-			  ais->type4.longitude / AIS_LATLON_SCALE,
-			  epfd_legends[ais->type4.epfd],
-			  ais->type4.spare,
-			  ais->type4.radio);
-	} else {
-	    (void)fprintf(fp,
-			  (labeled ? TYPE4_UNSCALED_LABELED : TYPE4_UNSCALED_UNLABELED),
-			  ais->type4.year,
-			  ais->type4.month,
-			  ais->type4.day,
-			  ais->type4.hour,
-			  ais->type4.minute,
-			  ais->type4.second,
-			  (uint)ais->type4.accuracy,
-			  ais->type4.latitude, 
-			  ais->type4.longitude,
-			  ais->type4.epfd,
-			  ais->type4.spare,
-			  ais->type4.radio);
-	}
-#undef TYPE4_UNSCALED_UNLABELED
-#undef TYPE4_UNSCALED_LABELED
-#undef TYPE4_SCALED_UNLABELED
-#undef TYPE4_SCALED_LABELED
-	break;
-    case 5: /* Ship static and voyage related data */
-#define TYPE5_UNSCALED_LABELED "ID=%u,AIS=%u,callsign=%s,name=%s,type=%u,bow=%u,stern=%u,port=%u,starboard=%u,epsd=%u,eta=%u:%uT%u:%uZ,draught=%u,dest=%s,dte=%u,sp=%u\n"
-#define TYPE5_UNSCALED_UNLABELED "%u,%u,%s,%s,%u,%u,%u,%u,%u,%u,%u:%uT%u:%uZ,%u,%s,%u,%u\n"
-#define TYPE5_SCALED_LABELED "ID=%u,AIS=%u,callsign=%s,name=%s,type=%s,bow=%u,stern=%u,port=%u,starboard=%u,epsd=%s:%u,eta=%u:%uT%u:%uZ,dest=%s,dte=%u,sp=%u\n"
-#define TYPE5_SCALED_UNLABELED "%u,%u,%s,%s,%s,%u,%u,%u,%u,%s,%u:%uT%u:%uZ,%u,%s,%u,%u\n"
-	if (scaled) {
-	    (void)fprintf(fp,
-			  (labeled ? TYPE5_SCALED_LABELED : TYPE5_SCALED_UNLABELED),
-			  ais->type5.imo_id,
-			  ais->type5.ais_version,
-			  ais->type5.callsign,
-			  ais->type5.vessel_name,
-			  type_legends[ais->type5.ship_type],
-			  ais->type5.to_bow,
-			  ais->type5.to_stern,
-			  ais->type5.to_port,
-			  ais->type5.to_starboard,
-			  epfd_legends[ais->type5.epfd],
-			  ais->type5.month,
-			  ais->type5.day,
-			  ais->type5.hour,
-			  ais->type5.minute,
-			  ais->type5.draught,
-			  ais->type5.destination,
-			  ais->type5.dte,
-			  ais->type5.spare);
-	} else {
-	    (void)fprintf(fp,
-			  (labeled ? TYPE5_UNSCALED_LABELED : TYPE5_UNSCALED_UNLABELED),
-			  ais->type5.imo_id,
-			  ais->type5.ais_version,
-			  ais->type5.callsign,
-			  ais->type5.vessel_name,
-			  ais->type5.ship_type,
-			  ais->type5.to_bow,
-			  ais->type5.to_stern,
-			  ais->type5.to_port,
-			  ais->type5.to_starboard,
-			  ais->type5.epfd,
-			  ais->type5.month,
-			  ais->type5.day,
-			  ais->type5.hour,
-			  ais->type5.minute,
-			  ais->type5.draught,
-			  ais->type5.destination,
-			  ais->type5.dte,
-			  ais->type5.spare);
-	}
-#undef TYPE5_UNSCALED_UNLABELED
-#undef TYPE5_UNSCALED_LABELED
-#undef TYPE5_SCALED_UNLABELED
-#undef TYPE5_SCALED_LABELED
-	break;
-    default:
-	(void)fprintf(fp,"?\n");
-	gpsd_report(LOG_ERROR, "Unparsed AIVDM message type %u.\n",ais->id);
-	break;
-    }
-}
-
-/**************************************************************************
- *
  * Generic machinery
  *
  **************************************************************************/
@@ -361,6 +46,7 @@ static void decode(FILE *fpin, FILE *fpout)
     struct gps_packet_t lexer;
     struct rtcm2_t rtcm2;
     struct rtcm3_t rtcm3;
+    struct aivdm_context_t aivdm;
     char buf[BUFSIZ];
 
     packet_reset(&lexer);
@@ -368,6 +54,8 @@ static void decode(FILE *fpin, FILE *fpout)
     for (;;) {
 	if (packet_get(fileno(fpin), &lexer) <= 0 && packet_buffered_input(&lexer) <= 0)
 	    break;
+	else if (lexer.type == COMMENT_PACKET)
+	    continue;
 	else if (lexer.type == RTCM2_PACKET) {
 	    rtcm2_unpack(&rtcm2, (char *)lexer.isgps.buf);
 	    rtcm2_dump(&rtcm2, buf, sizeof(buf));
@@ -377,6 +65,10 @@ static void decode(FILE *fpin, FILE *fpout)
 	    rtcm3_unpack(&rtcm3, (char *)lexer.outbuffer);
 	    rtcm3_dump(&rtcm3, stdout);
 	}
+	else if (lexer.type == AIVDM_PACKET) {
+	    if (aivdm_decode((char *)lexer.outbuffer, lexer.outbuflen, &aivdm))
+		aivdm_dump(&aivdm.decoded, scaled, labeled, stdout);
+	}
     }
 }
 /*@ +compdestroy +compdef +usedef @*/