/**
* static int Gps_set(void * _self, va_list *app) - Perform a new gps acquisition.
* \param *_self - pointer to the device
* \param *app - none
* \return:
<LI><Breturn = 0:</B>when the GPS device is connected on a Grove nest DIG port, with or without a valid connection </LI>
<LI><Breturn = -1:</B>when the GPS device is not connected on a Grove nest DIG port. </LI>
</UL>
*/
static int Gps_set(void *_self,va_list *app)
{
struct Gps *self = _self;
char gps_sentences[70];
unsigned int timer = 65000;
flag = 1;
nmea_zero_INFO(&self->info);
nmea_parser_init(&self->parser);
UARTOn(self->uart_module);
UARTFlush(self->uart_module);
vTaskDelay(50);
while((UARTBufferSize(self->uart_module)<3) && timer)
timer--;
if(!timer)
return -1;
timer = 500;
while((gps_sentences[0] != '$') && timer)
{
timer--;
while(UARTBufferSize(self->uart_module)<1);
UARTRead(self->uart_module,gps_sentences,1);
if(gps_sentences[0] == '$')
{
while(UARTBufferSize(self->uart_module) < 5);
UARTRead(self->uart_module,(gps_sentences+1),5); //Reads all the chars in the
if((gps_sentences[4] == 'M'))
{
while(UARTBufferSize(self->uart_module) < 65);
UARTRead(self->uart_module,(gps_sentences+6),64); //Reads all the chars in the
gps_sentences[70] = '\0';
int i = 0;
i = nmea_parse(&self->parser, gps_sentences, (int)strlen(gps_sentences), &self->info);
if(i)
{
flag = 0;
self->lat = nmea_ndeg2degree (self->info.lat);
self->lon = -nmea_ndeg2degree (self->info.lon);
self->year = self->info.utc.year+1900;
self->mon = self->info.utc.mon;
self->day = self->info.utc.day;
self->hour = self->info.utc.hour;
self->min = self->info.utc.min;
self->sec = self->info.utc.sec;
self->speed = self->info.speed;
break;
}
}
}
gps_sentences[0]= 0;
}
nmea_parser_destroy(&self->parser);
UARTOff(self->uart_module);
return 0;
}
void Circle_PosNormalize(Circle_Struct *circle, GpsInfo *pGps)
{
double tmp;
tmp = nmea_ndeg2degree(pGps->lat);
CurPoint.lat = nmea_degree2radian(tmp);
tmp = nmea_ndeg2degree(pGps->lon);
CurPoint.lon = nmea_degree2radian(tmp);
tmp = (double)(circle->Center.Latitude)/_MSEC2DEG_FACTOR;
Center.lat = nmea_degree2radian(tmp);
tmp = (double)(circle->Center.Longitude)/_MSEC2DEG_FACTOR;
Center.lon = nmea_degree2radian(tmp);
}
int NDEG2MSEC(double input)
{
double deg;
int result;
deg = nmea_ndeg2degree( input );
result = (int)(deg*60*60*1000);
return result;
}
void boatReal::updateBoat(nmeaINFO info)
{
this->info=info;
QDateTime now;
now=now.currentDateTime();
// QString s=now.toString("hh:mm:ss");
// qWarning()<<s<<
// "speed:"<<info.speed<<"cap:"<<info.direction<<"lat:"<<info.lat;
this->fix=info.fix;
this->sig=info.sig;
if(info.declination!=0)
this->declinaison=info.declination;
else
this->declinaison=Settings::getSetting("declinaison",0).toDouble();
this->pdop=info.PDOP;
if(sig<0 || sig>3)
qWarning()<<"strange sig value:"<<sig;
this->speed=info.speed/1.852;
this->heading=info.direction;
if(info.fix==1)
{
// qWarning()<<"bad gps signal, fix="<<info.fix<<",sig="<<info.sig;
emit(boatUpdated(this,false,false));
return;
}
this->lat=nmea_ndeg2degree(info.lat);
this->lon=nmea_ndeg2degree(info.lon);
this->lastUpdateTime=QDateTime().currentDateTimeUtc().toTime_t();
if(previousLon!=lon || previousLat!=lat)
updateBoatData();
if(gotPosition && (previousLon!=lon || previousLat!=lat))
{
trace->addPoint(lat,lon);
trace->slot_showMe();
}
gotPosition=true;
previousLon=lon;
previousLat=lat;
this->setWP(WP,WPHd);
emit(boatUpdated(this,false,false));
}
/**
* Converts the position fields to degrees and DOP fields to meters so that
* all fields use normal metric units.
*
* @param nmeaInfo
* the nmeaINFO
*/
void nmea_INFO_unit_conversion(nmeaINFO * nmeaInfo) {
if (!nmeaInfo) {
return;
}
/* smask (already in correct format) */
/* utc (already in correct format) */
/* sig (already in correct format) */
/* fix (already in correct format) */
if (nmea_INFO_is_present(nmeaInfo->present, PDOP)) {
nmeaInfo->PDOP = nmea_dop2meters(nmeaInfo->PDOP);
}
if (nmea_INFO_is_present(nmeaInfo->present, HDOP)) {
nmeaInfo->HDOP = nmea_dop2meters(nmeaInfo->HDOP);
}
if (nmea_INFO_is_present(nmeaInfo->present, VDOP)) {
nmeaInfo->VDOP = nmea_dop2meters(nmeaInfo->VDOP);
}
if (nmea_INFO_is_present(nmeaInfo->present, LAT)) {
nmeaInfo->lat = nmea_ndeg2degree(nmeaInfo->lat);
}
if (nmea_INFO_is_present(nmeaInfo->present, LON)) {
nmeaInfo->lon = nmea_ndeg2degree(nmeaInfo->lon);
}
/* elv (already in correct format) */
/* speed (already in correct format) */
/* track (already in correct format) */
/* mtrack (already in correct format) */
/* magvar (already in correct format) */
/* satinfo (already in correct format) */
}
void QgsNMEAConnection::processRMCSentence( const char* data, int len )
{
nmeaGPRMC result;
if ( nmea_parse_GPRMC( data, len, &result ) )
{
double longitude = result.lon;
if ( result.ew == 'W' )
{
longitude = -longitude;
}
double latitude = result.lat;
if ( result.ns == 'S' )
{
latitude = -latitude;
}
mLastGPSInformation.longitude = nmea_ndeg2degree( longitude );
mLastGPSInformation.latitude = nmea_ndeg2degree( latitude );
mLastGPSInformation.speed = KNOTS_TO_KMH * result.speed;
mLastGPSInformation.direction = result.direction;
mLastGPSInformation.status = result.status; // A,V
//date and time
QDate date( result.utc.year + 1900, result.utc.mon + 1, result.utc.day );
QTime time( result.utc.hour, result.utc.min, result.utc.sec, result.utc.msec ); // added msec part
if ( date.isValid() && time.isValid() )
{
mLastGPSInformation.utcDateTime.setTimeSpec( Qt::UTC );
mLastGPSInformation.utcDateTime.setDate( date );
mLastGPSInformation.utcDateTime.setTime( time );
QgsDebugMsg( "utc time:" );
QgsDebugMsg( mLastGPSInformation.utcDateTime.toString() );
QgsDebugMsg( "local time:" );
QgsDebugMsg( mLastGPSInformation.utcDateTime.toLocalTime().toString() );
}
}
}
void QgsNMEAConnection::processGGASentence( const char* data, int len )
{
nmeaGPGGA result;
if ( nmea_parse_GPGGA( data, len, &result ) )
{
//update mLastGPSInformation
double longitude = result.lon;
if ( result.ew == 'W' )
{
longitude = -longitude;
}
double latitude = result.lat;
if ( result.ns == 'S' )
{
latitude = -latitude;
}
mLastGPSInformation.longitude = nmea_ndeg2degree( longitude );
mLastGPSInformation.latitude = nmea_ndeg2degree( latitude );
mLastGPSInformation.elevation = result.elv;
mLastGPSInformation.quality = result.sig;
mLastGPSInformation.satellitesUsed = result.satinuse;
}
}
/**
* \fn nmea_ndeg2radian
* \brief Convert NDEG (NMEA degree) to radian
*/
double nmea_ndeg2radian(double val)
{ return nmea_degree2radian(nmea_ndeg2degree(val)); }
int parse_gps(char * database, int tripid) {
int retval;
// Open database connection
retval = sqlite3_open(database, &handle);
if (retval) {
printf("GPS Parsing: Database connection failed: %d\n", retval);
return -1;
}
sqlite3_exec(handle, "PRAGMA synchronous = NORMAL", 0, 0, 0);
sqlite3_exec(handle, "PRAGMA journal_mode = MEMORY", 0, 0, 0);
// Select data from database
char selectquery[100];
sprintf(selectquery,
"SELECT Gps_ID, RawData FROM GpsData WHERE Trip_ID = %d", tripid);
sqlite3_stmt *stmt;
retval = sqlite3_prepare_v2(handle, selectquery, -1, &stmt, 0);
if (retval) {
printf("GPS Parsing: Selecting data from DB Failed: %d\n", retval);
printf("Query: %s\n", selectquery);
return -1;
}
// Initialize NMEA parser
nmeaINFO info;
nmeaPARSER parser;
nmea_zero_INFO(&info);
nmea_parser_init(&parser);
// Begin SQL transaction
sqlite3_exec(handle, "BEGIN TRANSACTION", 0, 0, 0);
// Step through SELECT query
while (1) {
retval = sqlite3_step(stmt);
if (retval == SQLITE_ROW) {
// Gather row from database
int gpsid = (int) sqlite3_column_int(stmt, 0);
char *rawdata = (char*) sqlite3_column_text(stmt, 1);
int len = (int) strlen(rawdata);
// Parse NMEA data
nmea_parse(&parser, rawdata, len, &info);
// Convert time format to C_time
struct tm converttime;
converttime.tm_year = info.utc.year;
converttime.tm_mon = info.utc.mon;
converttime.tm_mday = info.utc.day;
converttime.tm_hour = info.utc.hour;
converttime.tm_min = info.utc.min;
converttime.tm_sec = info.utc.sec;
// Update row with NMEA data
char query[200];
sprintf(
query,
"UPDATE GpsData SET UTC = %f, Fix = %d, Latitude = %f, Longitude = %f, Speed = %f, Direction = %f, Declination = %f WHERE Gps_ID = %d", (float) mktime(&converttime), info.fix, nmea_ndeg2degree(info.lat), nmea_ndeg2degree(info.lon), info.speed, info.direction, info.declination, gpsid);
retval = sqlite3_exec(handle, query, 0, 0, 0);
if (retval) {
printf("GPS Parsing: Updating data in DB Failed: %d\n", retval);
return -1;
}
} else if (retval == SQLITE_DONE) {
break;
} else {
printf("GPS Parsing: SQL error whilst reading rows: %d\n", retval);
return -1;
}
}
// End SQL transaction
sqlite3_exec(handle, "END TRANSACTION", 0, 0, 0);
// Remove unnecesary data
char removequery[100];
sprintf(removequery,
"DELETE FROM GpsData WHERE RawData NOT LIKE '$GPRMC%%'");
retval = sqlite3_exec(handle, removequery, 0, 0, 0);
if (retval) {
printf("GPS Parsing: Removing data from DB Failed: %d\n", retval);
printf("Query: %s\n", removequery);
return -1;
}
// Destroy the evidence!
nmea_parser_destroy(&parser);
sqlite3_close(handle);
return 0;
}
void NDEG2Deg(double lat, double lon, EarthPos *pout)
{
pout->lat = nmea_ndeg2degree( lat );
pout->lon = nmea_ndeg2degree( lon );
}
// Calculate the new position based on the bearing and distance
nmea_move_horz(&startPos, &endPos, line.bearing(), line.distance() / 1000.0);
// Update the info struct
nmea_pos2info(&endPos, &m_info);
total_distance += line.distance();
}
qDebug() << "Distance Traveled: " << total_distance;
m_lines.clear();
double lat = nmea_ndeg2degree(m_info.lat);
double lon = nmea_ndeg2degree(m_info.lon);
if (lat < 0.0) {
lat = -lat;
ui->northSouthComboBox->setCurrentIndex(1);
} else {
ui->northSouthComboBox->setCurrentIndex(0);
}
if (lon < 0.0) {
lon = -lon;
ui->eastWestComboBox->setCurrentIndex(1);
} else {
ui->eastWestComboBox->setCurrentIndex(0);
}
