/**
* Parses a message. If the message could not be parsed, NULL is returned. The
* return value be cast to the proper struct, based on the determined message
* type.
*
* If the message could not be parsed, and if the outError pointer is non-NULL,
* its contents will be set to the appropriate error code.
*/
LIBNMEA_PUBLIC nmea_message_t *nmea_parse_message(char *message, nmea_error_t *outError) {
assert(message != NULL);
// If we can parse the message, point to it here
nmea_message_t *parsed;
// Create a copy of the input message.
int len = strlen(message);
char *copy = malloc(len + 2);
strncpy(copy, message, len + 2);
// Figure out what function will parse this message
nmea_message_type_t t = nmea_get_message_type(message);
switch(t) {
case kNMEAMessageGGA:
parsed = (nmea_message_t *) parse_gga(copy, outError);
break;
case kNMEAMessageGSA:
parsed = (nmea_message_t *) parse_gsa(copy, outError);
break;
case kNMEAMessageGSV:
parsed = (nmea_message_t *) parse_gsv(copy, outError);
break;
case kNMEAMessageVTG:
parsed = (nmea_message_t *) parse_vtg(copy, outError);
break;
// The message was of an unknown type. (Handles kNMEAMessageUnknown)
default:
if(outError) *outError = kNMEAErrorTypeNotUnderstood;
parsed = NULL;
break;
}
// Ensure we don't pass back invalid data.
assert(parsed);
// Clean up
free(copy);
parsed->type = t;
// We're done.
return parsed;
}
int main(int argc, char* argv[])
{
FILE* file;
int arg_index;
char* buf = 0;
const unsigned int bufsize = 256;
const char* tokens[32];
const int len = sizeof tokens / sizeof tokens[0];
int token_count;
struct GGA* gga;
struct GNS* gns;
struct GSA* gsa;
struct RMC* rmc;
buf = malloc(bufsize);
if (!buf) {
goto exit;
}
for (arg_index=1; arg_index<argc; ++arg_index) {
file = fopen(argv[arg_index], "r");
if (!file) {
continue;
}
while (fgets(buf, bufsize, file)) {
if (strlen(buf) < 10) continue;
if (!verify_checksum(buf)) break;
fprintf(stdout, "%s", buf);
token_count = tokenize(buf, tokens, len);
if (0 !=(gga = parse_gga(tokens, token_count))) {
fprintf(stdout, " GGA %02d:%02d:%02d %.6f , %.6f %d, %d, %.2f, %.1f(%s), %.1f(%s) \n",
gga->hour, gga->min, gga->sec, gga->lat, gga->lon, gga->quality, gga->sat_count, gga->hdop, gga->altitude, tokens[10], gga->geoid_height, tokens[12]);
free(gga);
}
else if (0 != (gns = parse_gns(tokens, token_count))) {
fprintf(stdout, " GNS %02d:%02d:%02d %.6f , %.6f %s, %d, %.2f, %.1f(%s), %.1f(%s) \n",
gns->hour, gns->min, gns->sec, gns->lat, gns->lon, gns->mode, gns->sat_count, gns->hdop, gns->altitude, "m", gns->geoid_height, "m");
free(gns);
}
else if (0 != (gsa = parse_gsa(tokens, token_count))) {
int i;
int prn;
fprintf(stdout, " GSA %c, %d, ", gsa->mode, gsa->fix_type);
i = 0;
while (i<12 && 0 != (prn = gsa->prn[i])) {
fprintf(stdout,"%d, ", prn);
++i;
}
fprintf(stdout, "%.1f, %.1f, %.1f\n", gsa->pdop, gsa->hdop, gsa->vdop);
free(gsa);
}
else if (0 != (rmc = parse_rmc(tokens, token_count))) {
fprintf(stdout, " RMC %02d:%02d:%02d %.6f , %.6f %.1f(knots), %.1f(degrees) %02d-%02d-%02d\n",
rmc->hour, rmc->min, rmc->sec, rmc->lat, rmc->lon, rmc->speed, rmc->heading, rmc->day, rmc->month, rmc->year);
free(rmc);
}
} // while
fclose(file);
}
exit:
if (buf) {
free(buf);
}
return 0;
}
bool put_nmea_msg(struct nmea_parser_t *ctx, const uint8_t *msg, size_t msg_size, struct gps_msg_status_t *status)
{
unsigned i;
char msg_id[9];
assert(msg_size > 1 && msg_size <= NMEA_MAX);
assert((size_t)looks_like_nmea(msg, msg_size) == msg_size);
status->is_valid = false;
status->location_changed = false;
status->err[0] = '\0';
ctx->stats->rcvd.nmea.last_msg_ts = ctx->stats->rcvd.last_byte_ts;
ctx->stats->rcvd.nmea.total += 1;
for (i=0; i < sizeof(msg_id); ++i) {
if (i >= msg_size) {
msg_id[i] = '\0';
break;
}else {
if (msg[i] == ',') {
msg_id[i] = '\0';
break;
}else {
msg_id[i] = (char)msg[i];
}
}
}
msg_id[sizeof(msg_id)-1] = '\0';
if (
(strcmp("$GPGGA", msg_id) == 0)
|| (strcmp("$GNGGA", msg_id) == 0)
|| (strcmp("$GLGGA", msg_id) == 0)
|| (strcmp("$GAGGA", msg_id) == 0)
) {
struct nmea_gpgga_t gxgga;
if (parse_gga(msg, msg_size, &gxgga, status)) {
if (!is_same_fix_time(ctx->fix.fix_time, gxgga.fix_time)) {
close_nmea_fix(ctx, status);
open_nmea_fix(&ctx->fix, gxgga.fix_time);
}
ctx->fix.gpgga_active = true;
ctx->fix.gpgga = gxgga;
ctx->stats->rcvd.nmea.gga += 1;
}
}else if (
(strcmp("$GPRMC", msg_id) == 0)
|| (strcmp("$GNRMC", msg_id) == 0)
|| (strcmp("$GLRMC", msg_id) == 0)
|| (strcmp("$GARMC", msg_id) == 0)
) {
struct nmea_gprmc_t gxrmc;
if (parse_rmc(msg, msg_size, &gxrmc, status)) {
if (!is_same_fix_time(ctx->fix.fix_time, gxrmc.fix_time)) {
close_nmea_fix(ctx, status);
open_nmea_fix(&ctx->fix, gxrmc.fix_time);
}
ctx->fix.gprmc_active = true;
ctx->fix.gprmc = gxrmc;
ctx->stats->rcvd.nmea.rmc += 1;
}
}else if (strcmp("$GPGLL", msg_id) == 0) {
struct nmea_gpgll_t gxgll;
if (parse_gll(msg, msg_size, &gxgll, status)) {
if (!is_same_fix_time(ctx->fix.fix_time, gxgll.fix_time)) {
close_nmea_fix(ctx, status);
open_nmea_fix(&ctx->fix, gxgll.fix_time);
}
ctx->fix.gpgll_active = true;
ctx->fix.gpgll = gxgll;
ctx->stats->rcvd.nmea.gll += 1;
}
}else if (strcmp("$GPGST", msg_id) == 0) {
struct nmea_gpgst_t gpgst;
if (parse_gst(msg, msg_size, &gpgst, status)) {
if (!is_same_fix_time(ctx->fix.fix_time, gpgst.fix_time)) {
close_nmea_fix(ctx, status);
open_nmea_fix(&ctx->fix, gpgst.fix_time);
}
ctx->fix.gpgst_active = true;
ctx->fix.gpgst = gpgst;
ctx->stats->rcvd.nmea.gst += 1;
}
}else if (strcmp("$GPGSA", msg_id) == 0) {
struct nmea_gpgsa_t gpgsa;
if (parse_gsa(msg, msg_size, &gpgsa, status)) {
gpgsa.is_valid = true;
ctx->gpgsa = gpgsa;
ctx->stats->rcvd.nmea.gsa += 1;
}
}else if (strcmp("$GPVTG", msg_id) == 0) {
struct nmea_gpvtg_t gpvtg;
if (parse_vtg(msg, msg_size, &gpvtg, status)) {
gpvtg.is_valid = true;
ctx->gpvtg = gpvtg;
ctx->stats->rcvd.nmea.vtg += 1;
}
}else if (strcmp("$GPZDA", msg_id) == 0) {
struct nmea_gpzda_t gpzda;
if (parse_zda(msg, msg_size, &gpzda, status)) {
ctx->fix.gpzda_active = true;
ctx->fix.gpzda = gpzda;
ctx->stats->rcvd.nmea.zda += 1;
}
}else if (strcmp("$GPGSV", msg_id) == 0) {
// TODO
status->is_valid = true;
ctx->stats->rcvd.nmea.gsv += 1;
}else if (strcmp("$PUBX", msg_id) == 0) {
// TODO
status->is_valid = true;
ctx->stats->rcvd.nmea.pubx += 1;
} else {
set_nmea_error(status, msg, msg_size, "unk msg");
status->is_valid = true;
ctx->stats->rcvd.nmea.other += 1;
}
return status->is_valid;
}
