/**
Flush/empty the position average list
@param positionAverageList
The position average list
*/
void flushPositionAverageList(PositionAverageList * positionAverageList) {
assert (positionAverageList != NULL);
positionAverageList->entriesCount = 0;
memset(&positionAverageList->counters, 0,
sizeof(positionAverageList->counters));
nmea_zero_INFO(&positionAverageList->positionAverageCumulative.nmeaInfo);
memset(&positionAverageList->positionAverageCumulative.track, 0, sizeof(positionAverageList->positionAverageCumulative.track));
memset(&positionAverageList->positionAverageCumulative.mtrack, 0, sizeof(positionAverageList->positionAverageCumulative.mtrack));
memset(&positionAverageList->positionAverageCumulative.magvar, 0, sizeof(positionAverageList->positionAverageCumulative.magvar));
nmea_zero_INFO(&positionAverageList->positionAverage.nmeaInfo);
}
int main()
{
const char *buff[] = {
"$GPRMC,173843,A,3349.896,N,11808.521,W,000.0,360.0,230108,013.4,E*69\r\n",
"$GPGGA,111609.14,5001.27,N,3613.06,E,3,08,0.0,10.2,M,0.0,M,0.0,0000*70\r\n",
"$GPGSV,2,1,08,01,05,005,80,02,05,050,80,03,05,095,80,04,05,140,80*7f\r\n",
"$GPGSV,2,2,08,05,05,185,80,06,05,230,80,07,05,275,80,08,05,320,80*71\r\n",
"$GPGSA,A,3,01,02,03,04,05,06,07,08,00,00,00,00,0.0,0.0,0.0*3a\r\n",
"$GPRMC,111609.14,A,5001.27,N,3613.06,E,11.2,0.0,261206,0.0,E*50\r\n",
"$GPVTG,217.5,T,208.8,M,000.00,N,000.01,K*4C\r\n"
};
int it;
nmeaINFO info;
nmeaPARSER parser;
nmea_zero_INFO(&info);
nmea_parser_init(&parser);
for(it = 0; it < 6; ++it)
nmea_parse(&parser, buff[it], (int)strlen(buff[it]), &info);
nmea_parser_destroy(&parser);
return 0;
}
int main()
{
const char *buff =
"$GPGGA,073044.000,2235.8106,N,11359.9026,E,1,8,1.01,143.7,M,-2.4,M,,*41\r\n\
$GPRMC,070344.000,A,2235.8106,N,11359.9026,E,0.17,220.01,200916,,,A*6A\r\n";
int it;
nmeaINFO info;
nmeaPARSER parser;
nmea_zero_INFO(&info);
nmea_parser_init(&parser);
// for(it = 0; it < 1; ++it)
nmea_parse(&parser, buff, (int)strlen(buff), &info);
printf("gps time:\t%04d-%02d-%02d %02d:%02d:%02d\n",
info.utc.year + 1900,
info.utc.mon + 1,
info.utc.day,
info.utc.hour + 8,
info.utc.min,
info.utc.sec);
printf("gps latitude:\t%f\n", info.lat);
printf("gps longitude:\t%f\n", info.lon);
printf("gps altitude:\t%f\n", info.elv);
nmea_parser_destroy(&parser);
return 0;
}
///////////////////////////////////////////////////////////////////////////////////////////////////
///NMEAParser_init
///////////////////////////////////////////////////////////////////////////////////////////////////
void NMEAParser_init ( void )
{
nmeaINFO info;
nmeaPARSER parser;
nmea_zero_INFO ( &info );
nmea_parser_init ( &parser );
}
// [ref] ${NMEALIB_HOME)/samples/generator/main.c.
void use_generator()
{
nmeaINFO info;
nmea_zero_INFO(&info);
nmeaGENERATOR *gen = nmea_create_generator(NMEA_GEN_ROTATE, &info);
if (0 == gen)
{
std::cerr << "generator not created" << std::endl;
return;
}
char buff[2048];
for (int i = 0; i < 10000; ++i)
{
const int gen_sz = nmea_generate_from(buff, 2048, &info, gen, GPGGA | GPGSA | GPGSV | GPRMC | GPVTG);
// for display.
buff[gen_sz] = '\0';
std::cout << buff << std::endl;
#ifdef NMEA_WIN
Sleep(500);
#else
usleep(500000);
#endif
}
nmea_gen_destroy(gen);
}
void awal_gps() {
nmea_zero_INFO(&infoGPS);
nmea_parser_init(&parserGPS);
printf(" Monita : GPS init !!\r\n");
//strcpy(pesanGPS, "$GPRMC,084702.000,A,0612.6782,S,10654.3289,E,0.00,278.92,030511,,,A*72\r\n");
}
/**
* 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;
}
int main()
{
static const char * filename = "../../samples/parse_file/gpslog.txt";
nmeaINFO info;
nmeaPARSER parser;
FILE *file;
char buff[2048];
int size, it = 0;
nmeaPOS dpos;
file = fopen(filename, "rb");
if(!file) {
printf("Could not open file %s\n", filename);
return -1;
}
nmea_property()->trace_func = &trace;
nmea_property()->error_func = &error;
nmea_zero_INFO(&info);
nmea_parser_init(&parser);
/*
while(1)
{
*/
while(!feof(file))
{
size = (int)fread(&buff[0], 1, 100, file);
nmea_parse(&parser, &buff[0], size, &info);
nmea_info2pos(&info, &dpos);
printf(
"%03d, Lat: %f, Lon: %f, Sig: %d, Fix: %d\n",
it++, dpos.lat, dpos.lon, info.sig, info.fix
);
}
fseek(file, 0, SEEK_SET);
/*
}
*/
nmea_parser_destroy(&parser);
fclose(file);
return 0;
}
boatReal::boatReal(QString pseudo, bool activated, Projection * proj,MainWindow * main,
myCentralWidget * parent): boat(pseudo,activated,proj,main,parent)
{
qWarning()<<"creating boat real";
setData(0,BOATREAL_WTYPE);
isMoving=false;
set_boatType(BOAT_REAL);
setFont(QApplication::font());
/* init thread */
gpsReader = NULL;
nmea_zero_INFO(&info);
this->lat=0;
this->lon=0;
this->vacLen=300;
trace=new vlmLine(proj,parent->getScene(),Z_VALUE_ESTIME);
previousLon=lon;
previousLat=lat;
QPen penTrace;
penTrace.setColor(Qt::red);
penTrace.setBrush(Qt::red);
penTrace.setWidthF(0.5);
trace->setNbVacPerHour(3600/this->getVacLen());
trace->setLinePen(penTrace);
trace->slot_showMe();
gotPosition=false;
WP=QPointF(0,0);
this->speed=0;
this->heading=0;
this->windSpeed=-1;
this->setStatus(true);
this->playerName=pseudo;
this->fix=1;
this->sig=0;
this->eta=-1;
changeLocked=false;
forceEstime=false;
this->declinaison=Settings::getSetting("declinaison",0).toDouble();
this->minSpeedForEngine=Settings::getSetting("minSpeedForEngine",0).toDouble();
this->speedWithEngine=Settings::getSetting("speedWithEngine",4).toDouble();
myCreatePopUpMenu();
connect(this->popup,SIGNAL(aboutToShow()),parent,SLOT(slot_resetGestures()));
connect(this->popup,SIGNAL(aboutToHide()),parent,SLOT(slot_resetGestures()));
this->lastUpdateTime=QDateTime().currentDateTimeUtc().toTime_t();
this->displayNMEA=false;
this->pause=true;
}
ReceiverThread::ReceiverThread(boatReal * parent)
{
qRegisterMetaType<nmeaINFO>("nmeaINFO");
connect(this,SIGNAL(updateBoat(nmeaINFO)),parent,SLOT(updateBoat(nmeaINFO)));
connect(this,SIGNAL(finished()),parent,SLOT(slot_threadStartedOrFinished()));
connect(this,SIGNAL(started()),parent,SLOT(slot_threadStartedOrFinished()));
port=NULL;
//initPort();
this->parent=parent;
nmea_zero_INFO(&info);
nmea_parser_init(&parser);
if(parser.buff_size==0)
qWarning()<<"no parser!!!";
this->listNMEA=NULL;
}
int main()
{
const char *buff[] = {
"$GPGGA,000000,2508.644,N,12145.244,E,8,00,99.9,00000,M,00000,M,,*4A\r\n\r\n",
"$SDDBT,0008.2,f,0002.5,M,0001.4,F*3E\r\n\r\n"
};
const char *buff2[] = {
"$GPDTM,W84,,0.0000,N,0.0000,E,0.0000,W84*5F\r\n",
"$GPAPB,V,V,-0.00,L,N,V,V,090.2,T,0009,090.2,T,090.2,T,N*6F\r\n",
"$GPBOD,090.2,T,090.2,M,0009,0000*4E\r\n",
"$GPBWC,000000,2508.956,N,12146.687,E,090.2,T,090.2,M,000.27,N,N*74\r\n",
"$GPGGA,000000,2508.957,N,12146.385,E,0,00,99.9,00000,M,00000,M,,*40\r\n",
"$GPGBS,,,,,,,,*41\r\n",
"$GPRMC,000000,V,2508.957,N,12146.385,E,00.0,000.0,010105,,,N*57\r\n",
"$GPVTG,000.0,T,,,00.0,N,00.0,K,N*4F\r\n",
"$GPRMC,000000,V,2515.791,N,12145.337,E,00.0,251.7,010105,,,S*49\r\n"
};
int it;
for(it = 0; it < 2; ++it)
{
nmeaINFO info;
nmeaPARSER parser;
nmea_zero_INFO(&info);
nmea_parser_init(&parser);
nmea_parse(&parser, buff[it], (int)strlen(buff[it]), &info);
printf("parse: %s\n", buff[it]);
printf("declination: %f\n", info.declination);
printf("utc.min: %f\n", info.utc.min);
printf("HDOP: %f\n", info.HDOP);
printf("VDOP: %f\n", info.VDOP);
printf("lat: %f\n", info.lat);
printf("lon: %f\n", info.lon);
printf("elv: %f\n", info.elv);
printf("depth: %f\n", info.depthinfo.depth_M);
nmea_parser_destroy(&parser);
}
return 0;
}
int main()
{
nmeaINFO info;
char buff[2048];
int gen_sz;
int it;
nmea_zero_INFO(&info);
info.sig = 3;
info.fix = 3;
info.lat = 5000.0;
info.lon = 3600.0;
info.speed = 2.14 * NMEA_TUS_MS;
info.elv = 10.86;
info.satinfo.inuse = 1;
info.satinfo.inview = 1;
/*
info.satinfo.sat[0].id = 1;
info.satinfo.sat[0].in_use = 1;
info.satinfo.sat[0].elv = 50;
info.satinfo.sat[0].azimuth = 0;
info.satinfo.sat[0].sig = 99;
*/
for(it = 0; it < 10; ++it)
{
gen_sz = nmea_generate(
&buff[0], 2048, &info,
GPGGA | GPGSA | GPGSV | GPRMC | GPVTG
);
buff[gen_sz] = 0;
printf("%s\n", &buff[0]);
usleep(500000);
info.speed += .1;
}
return 0;
}
int nmea_gen_init(nmeaGENERATOR *gen, nmeaINFO *info)
{
int RetVal = 1; int smask = info->smask;
nmeaGENERATOR *igen = gen;
nmea_zero_INFO(info);
info->smask = smask;
info->lat = NMEA_DEF_LAT;
info->lon = NMEA_DEF_LON;
while(RetVal && igen)
{
if(igen->init_call)
RetVal = (*igen->init_call)(igen, info);
igen = igen->next;
}
return RetVal;
}
int main()
{
nmeaGENERATOR *gen;
nmeaINFO info;
char buff[2048];
int gen_sz;
int it;
FILE* file;
nmea_zero_INFO(&info);
if(0 == (gen = nmea_create_generator(NMEA_GEN_ROTATE, &info)))
return -1;
file = fopen("go.txt", "w");
for(it = 0; it < 100; ++it)
{
memset(buff, 0, 2048);
gen_sz = nmea_generate_from(
&buff[0], 2048, &info, gen,
GPGGA | SDDBT // | GPGSA | GPGSV | GPRMC | GPVTG
);
buff[gen_sz] = 0;
//printf("%s\n", &buff[0]);
fprintf(file, "%s", buff);
#ifdef NMEA_WIN
//Sleep(500);
#else
usleep(500000);
#endif
}
fclose(file);
nmea_gen_destroy(gen);
return 0;
}
void RealtimeRunningData::produceData()
{
running_data_t data;
nmeaINFO info;
if (m_gps)
info = m_gps->getInfo();
else
nmea_zero_INFO(&info);
data.datatime = QDateTime::currentDateTime();
data.latitude = info.lat;
data.longtitude = info.lon;
data.velocity = info.speed;
data.oriention = info.direction;
//data.distant =;
if (m_flowmeter)
{
data.flowrate = m_flowmeter->flowrate();
data.totalflow = m_flowmeter->totalflow();
}
else
{
data.flowrate = 0.0;
data.totalflow = 0.0;
}
m_data = data;
saveData(m_data);
emit dataProduced(m_data);
//std::cerr << "realtime produced." << QTime::currentTime().toString().toStdString() << std::endl;
m_timer.start(1000 * (g_settings.RunningDataInterval().toInt() - QTime::currentTime().second() % g_settings.RunningDataInterval().toInt()));
}
// [ref] ${NMEALIB_HOME)/samples/generate/main.c.
void generate()
{
nmeaINFO info;
nmea_zero_INFO(&info);
info.sig = 3;
info.fix = 3;
info.lat = 5000.0;
info.lon = 3600.0;
info.speed = 2.14 * NMEA_TUS_MS;
info.elv = 10.86;
info.satinfo.inuse = 1;
info.satinfo.inview = 1;
/*
info.satinfo.sat[0].id = 1;
info.satinfo.sat[0].in_use = 1;
info.satinfo.sat[0].elv = 50;
info.satinfo.sat[0].azimuth = 0;
info.satinfo.sat[0].sig = 99;
*/
char buff[2048];
for (int i = 0; i < 10; ++i)
{
const int gen_sz = nmea_generate(buff, 2048, &info, GPGGA | GPGSA | GPGSV | GPRMC | GPVTG);
// for display.
buff[gen_sz] = '\0';
std::cout << buff << std::endl;
#ifdef NMEA_WIN
Sleep(500);
#else
usleep(500000);
#endif
info.speed += .1;
}
}
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 GpsInfo::reset()
{
// Reset the GPS info
nmea_zero_INFO(&_info);
}
int main()
{
const char *buff[] = {
"$GPRMC,213916.199,A,4221.0377,N,07102.9778,W,0.00,,010207,,,A*6A\r\n",
"$GPRMC,213917.199,A,4221.0510,N,07102.9549,W,0.23,175.43,010207,,,A*77\r\n",
"$GPRMC,213925.000,A,4221.1129,N,07102.9146,W,0.00,,010207,,,A*68\r\n",
"$GPRMC,111609.14,A,5001.27,N,3613.06,E,11.2,0.0,261206,0.0,E*50\r\n"
};
nmeaPOS pos[NUM_POINTS], pos_moved[NUM_POINTS][2];
double dist[NUM_POINTS][2];
double azimuth[NUM_POINTS][2], azimuth_moved[NUM_POINTS];
int result[2];
int it = 0;
nmeaPARSER parser;
nmea_parser_init(&parser);
for(it = 0; it < NUM_POINTS; ++it)
{
nmeaINFO info;
nmea_zero_INFO(&info);
(void)nmea_parse(&parser, buff[it], (int)strlen(buff[it]), &info);
nmea_info2pos(&info, &pos[it]);
}
nmea_parser_destroy(&parser);
for(it = 0; it < NUM_POINTS; ++it)
{
dist[it][0] = nmea_distance(&pos[0], &pos[it]);
dist[it][1] = nmea_distance_ellipsoid(
&pos[0], &pos[it], &azimuth[it][0], &azimuth[it][1]
);
}
for(it = 0; it < NUM_POINTS; ++it)
{
result[0] = nmea_move_horz(&pos[0], &pos_moved[it][0], azimuth[it][0], dist[it][0]);
result[1] = nmea_move_horz_ellipsoid(
&pos[0], &pos_moved[it][1], azimuth[it][0], dist[it][0], &azimuth_moved[it]
);
}
/* Output of results */
printf("Coordinate points:\n");
for(it = 0; it < NUM_POINTS; ++it)
{
printf(
"P%d in radians: lat:%9.6lf lon:%9.6lf \tin degree: lat:%+010.6lf° lon:%+011.6lf°\n",
it, pos[it].lat, pos[it].lon, nmea_radian2degree(pos[it].lat), nmea_radian2degree(pos[it].lon)
);
}
printf("\nCalculation results:\n");
for(it = 0; it < NUM_POINTS; ++it)
{
printf("\n");
printf("Distance P0 to P%d\ton spheroid: %14.3lf m\n", it, dist[it][0]);
printf("Distance P0 to P%d\ton ellipsoid: %14.3lf m\n", it, dist[it][1]);
printf("Azimuth P0 to P%d\tat start: %8.3lf°\tat end: %8.3lf°\n", it, nmea_radian2degree(azimuth[it][0]), nmea_radian2degree(azimuth[it][1]));
printf("Move P0 to P%d\t \tAzimuth at end: %8.3lf°\n", it, nmea_radian2degree(azimuth_moved[it]));
printf("Move P0 to P%d\ton spheroid: %3s lat:%+010.6lf° lon:%+011.6lf°\n", it, result[0] == 1 ? "OK" : "nOK", nmea_radian2degree(pos_moved[it][0].lat), nmea_radian2degree(pos_moved[it][0].lon));
printf("Move P0 to P%d\ton ellipsoid: %3s lat:%+010.6lf° lon:%+011.6lf°\n", it, result[0] == 1 ? "OK" : "nOK", nmea_radian2degree(pos_moved[it][1].lat), nmea_radian2degree(pos_moved[it][1].lon));
printf("Move P0 to P%d\toriginal: lat:%+010.6lf° lon:%+011.6lf°\n", it, nmea_radian2degree(pos[it].lat), nmea_radian2degree(pos[it].lon));
}
return 0;
}
int nmea_decode_test(void){
int tempOut=0;
s16 AccelGyro[7]={0};
s16 TempBuffer[7]={0};
nmeaINFO info; //GPS parsed info
nmeaPARSER parser; //struct used for decoding
uint8_t new_parse=0; //new or not, have history?
nmeaTIME beiJingTime;
nmea_property()->trace_func = &trace;
nmea_property()->error_func = &error;
//GPS initialization
nmea_zero_INFO(&info);
nmea_parser_init(&parser);
while(1)
{
if(GPS_HalfTransferEnd) /* received half the buffer size*/
{
/* parse using nmea format */
nmea_parse(&parser, (const char*)&gps_rbuff[0], HALF_GPS_RBUFF_SIZE, &info);
GPS_HalfTransferEnd = 0; //Clear flag
new_parse = 1; //new info
}
else if(GPS_TransferEnd) /* receiving the other half */
{
nmea_parse(&parser, (const char*)&gps_rbuff[HALF_GPS_RBUFF_SIZE], HALF_GPS_RBUFF_SIZE, &info);
GPS_TransferEnd = 0;
new_parse =1;
}
if(new_parse ) //if have new info
{
//Converts time to GMT
GMTconvert(&info.utc,&beiJingTime,8,1);
/* Output data*/
printf("\r\n Time:%d,%d,%d,%d,%d,%d\r\n", beiJingTime.year+1900, beiJingTime.mon+1,beiJingTime.day,beiJingTime.hour,beiJingTime.min,beiJingTime.sec);
printf("\r\n Latitude:%f,Longtitude:%f\r\n",info.lat,info.lon);
printf("\r\n Numbers of Sat in use:%d, Numbers of Sat in view:%d",info.satinfo.inuse,info.satinfo.inview);
printf("\r\n Numbers of meters above horizon: %f", info.elv);
printf("\r\n Speed: %f km/h ", info.speed);
printf("\r\n Direction: %f degree", info.direction);
new_parse = 0;
}
//--------------------------actual loop------------------------
//------------------------this is imu------------------------
printf("\r\nMPU Readings:");
MPU6050_GetRawAccelGyro(AccelGyro);
printf("\r\nIMU[0]: %10d",AccelGyro[0]);
printf("\t IMU[1]: %10d",AccelGyro[1]);
printf("\t IMU[2]: %10d",AccelGyro[2]);
printf("\t IMU[3]: %10d",AccelGyro[3]);
printf("\t IMU[4]: %10d",AccelGyro[4]);
printf("\t IMU[5]: %10d",AccelGyro[5]);
//--------------------------temp loop--------------------------
//tempOut=USART3_getTemp();
//printf("\r\n temp is: %d\n",tempOut);
//-------------------------------------------------------------
delay_ms(1000);
}
}
void *nmea_loop(void *args)
{
/* Set thread name */
prctl(PR_SET_NAME, "gps nmea read", getpid());
/* Retrieve file descriptor and thread flag */
struct arg_struct *arguments = (struct arg_struct *)args;
int *fd = arguments->fd_ptr;
bool *thread_should_exit = arguments->thread_should_exit_ptr;
/* Initialize gps stuff */
nmeaINFO info_d;
nmeaINFO *info = &info_d;
char gps_rx_buffer[NMEA_BUFFER_SIZE];
/* gps parser (nmea) */
nmeaPARSER parser;
nmea_parser_init(&parser);
nmea_zero_INFO(info);
/* advertise GPS topic */
struct vehicle_gps_position_s nmea_gps_d = {.counter=0};
nmea_gps = &nmea_gps_d;
orb_advert_t gps_handle = orb_advertise(ORB_ID(vehicle_gps_position), nmea_gps);
while (!(*thread_should_exit)) {
/* Parse a message from the gps receiver */
uint8_t read_res = read_gps_nmea(fd, gps_rx_buffer, NMEA_BUFFER_SIZE, info, &parser);
if (0 == read_res) {
/* convert data, ready it for publishing */
/* convert nmea utc time to usec */
struct tm timeinfo;
timeinfo.tm_year = info->utc.year;
timeinfo.tm_mon = info->utc.mon;
timeinfo.tm_mday = info->utc.day;
timeinfo.tm_hour = info->utc.hour;
timeinfo.tm_min = info->utc.min;
timeinfo.tm_sec = info->utc.sec;
time_t epoch = mktime(&timeinfo);
// printf("%d.%d.%d %d:%d:%d:%d\n", timeinfo.tm_year, timeinfo.tm_mon, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec, info->utc.hsec);
nmea_gps->timestamp = hrt_absolute_time();
nmea_gps->time_gps_usec = (uint64_t)((epoch)*1000000 + (info->utc.hsec)*10000);
nmea_gps->fix_type = (uint8_t)info->fix;
nmea_gps->lat = (int32_t)(ndeg2degree(info->lat) * 1e7f);
nmea_gps->lon = (int32_t)(ndeg2degree(info->lon) * 1e7f);
nmea_gps->alt = (int32_t)(info->elv * 1000.0f);
nmea_gps->eph = (uint16_t)(info->HDOP * 100); //TODO:test scaling
nmea_gps->epv = (uint16_t)(info->VDOP * 100); //TODO:test scaling
nmea_gps->vel = (uint16_t)(info->speed * 1000 / 36); //*1000/3600*100
nmea_gps->cog = (uint16_t)info->direction*100; //nmea: degrees float, ubx/mavlink: degrees*1e2
nmea_gps->satellites_visible = (uint8_t)info->satinfo.inview;
int i = 0;
/* Write info about individual satellites */
for (i = 0; i < 12; i++) {
nmea_gps->satellite_prn[i] = (uint8_t)info->satinfo.sat[i].id;
nmea_gps->satellite_used[i] = (uint8_t)info->satinfo.sat[i].in_use;
nmea_gps->satellite_elevation[i] = (uint8_t)info->satinfo.sat[i].elv;
nmea_gps->satellite_azimuth[i] = (uint8_t)info->satinfo.sat[i].azimuth;
nmea_gps->satellite_snr[i] = (uint8_t)info->satinfo.sat[i].sig;
}
if (nmea_gps->satellites_visible > 0) {
nmea_gps->satellite_info_available = 1;
} else {
nmea_gps->satellite_info_available = 0;
}
nmea_gps->counter_pos_valid++;
nmea_gps->timestamp = hrt_absolute_time();
nmea_gps->counter++;
pthread_mutex_lock(nmea_mutex);
nmea_state->last_message_timestamp = hrt_absolute_time();
pthread_mutex_unlock(nmea_mutex);
/* publish new GPS position */
orb_publish(ORB_ID(vehicle_gps_position), gps_handle, nmea_gps);
} else if (read_res == 2) { //termination
/* de-advertise */
close(gps_handle);
break;
}
}
//destroy gps parser
nmea_parser_destroy(&parser);
if(gps_verbose) printf("[gps] nmea loop is going to terminate\n");
return NULL;
}
void *nmea_watchdog_loop(void *args)
{
/* Set thread name */
prctl(PR_SET_NAME, "gps nmea watchdog", getpid());
bool nmea_healthy = false;
uint8_t nmea_fail_count = 0;
uint8_t nmea_success_count = 0;
bool once_ok = false;
/* Retrieve file descriptor and thread flag */
struct arg_struct *arguments = (struct arg_struct *)args;
//int *fd = arguments->fd_ptr;
bool *thread_should_exit = arguments->thread_should_exit_ptr;
int mavlink_fd = open(MAVLINK_LOG_DEVICE, 0);
while (!(*thread_should_exit)) {
// printf("nmea_watchdog_loop : while ");
/* if we have no update for a long time print warning (in nmea mode there is no reconfigure) */
pthread_mutex_lock(nmea_mutex);
uint64_t timestamp_now = hrt_absolute_time();
bool all_okay = true;
if (timestamp_now - nmea_state->last_message_timestamp > NMEA_WATCHDOG_CRITICAL_TIME_MICROSECONDS) {
all_okay = false;
}
pthread_mutex_unlock(nmea_mutex);
if (!all_okay) {
/* gps error */
nmea_fail_count++;
// printf("nmea error, nmea_fail_count=%u\n", nmea_fail_count);
// fflush(stdout);
/* If we have too many failures and another mode or baud should be tried, exit... */
if ((gps_mode_try_all == true || gps_baud_try_all == true) && (nmea_fail_count >= NMEA_HEALTH_FAIL_COUNTER_LIMIT) && (nmea_healthy == false) && once_ok == false) {
if (gps_verbose) printf("\t[gps] no NMEA module found\n");
gps_mode_success = false;
break;
}
if (nmea_healthy && nmea_fail_count >= NMEA_HEALTH_FAIL_COUNTER_LIMIT) {
printf("\t[gps] ERROR: NMEA GPS module stopped responding\n");
// global_data_send_subsystem_info(&nmea_present_enabled);
mavlink_log_critical(mavlink_fd, "[gps] NMEA module stopped responding\n");
nmea_healthy = false;
nmea_success_count = 0;
}
fflush(stdout);
sleep(1);
} else {
/* gps healthy */
// printf("\t[gps] nmea success\n");
nmea_success_count++;
if (!nmea_healthy && nmea_success_count >= NMEA_HEALTH_SUCCESS_COUNTER_LIMIT) {
printf("[gps] NMEA module found, status ok (baud=%d)\r\n", current_gps_speed);
// global_data_send_subsystem_info(&nmea_present_enabled_healthy);
mavlink_log_info(mavlink_fd, "[gps] NMEA module found, status ok\n");
nmea_healthy = true;
nmea_fail_count = 0;
once_ok = true;
}
}
usleep(NMEA_WATCHDOG_WAIT_TIME_MICROSECONDS);
}
if(gps_verbose) printf("[gps] nmea watchdog loop is going to terminate\n");
close(mavlink_fd);
return NULL;
}
/**
* Read the position file
* @param fileName the filename
* @param nmeaInfo the NMEA data
*/
bool readPositionFile(char * fileName, nmeaINFO * nmeaInfo) {
bool retval = false;
struct stat statBuf;
nmeaINFO result;
FILE * fd = NULL;
unsigned int lineNumber = 0;
char * name = NULL;
char * value = NULL;
if (stat(fileName, &statBuf)) {
/* could not access the file */
goto out;
}
if (!memcmp(&cachedStat.timeStamp, &statBuf.st_mtime, sizeof(cachedStat.timeStamp))) {
/* file did not change since last read */
goto out;
}
fd = fopen(fileName, "r");
if (!fd) {
goto out;
}
nmea_zero_INFO(&result);
result.sig = POSFILE_DEFAULT_SIG;
result.fix = POSFILE_DEFAULT_FIX;
result.HDOP = POSFILE_DEFAULT_HDOP;
result.VDOP = POSFILE_CALCULATED_VDOP(result.HDOP);
result.PDOP = POSFILE_CALCULATED_PDOP(result.HDOP);
result.lat = POSFILE_DEFAULT_LAT;
result.lon = POSFILE_DEFAULT_LON;
result.elv = POSFILE_DEFAULT_ELV;
result.speed = POSFILE_DEFAULT_SPEED;
result.track = POSFILE_DEFAULT_TRACK;
result.mtrack = POSFILE_DEFAULT_MTRACK;
result.magvar = POSFILE_DEFAULT_MAGVAR;
memcpy(&cachedStat.timeStamp, &statBuf.st_mtime, sizeof(cachedStat.timeStamp));
while (fgets(line, LINE_LENGTH, fd)) {
regmatch_t pmatch[regexNameValuematchCount];
lineNumber++;
if (regexMatch(®exComment, line, 0, NULL)) {
continue;
}
if (!regexMatch(®exNameValue, line, regexNameValuematchCount, pmatch)) {
pudError(false, "Position file \"%s\", line %d uses invalid syntax: %s", fileName, lineNumber, line);
goto out;
}
/* determine name/value */
name = &line[pmatch[1].rm_so];
line[pmatch[1].rm_eo] = '\0';
value = &line[pmatch[2].rm_so];
line[pmatch[2].rm_eo] = '\0';
if (!strncasecmp(POSFILE_NAME_SIG, name, sizeof(line))) {
if (!strncasecmp(POSFILE_VALUE_SIG_BAD, value, sizeof(line))) {
result.sig = NMEA_SIG_BAD;
} else if (!strncasecmp(POSFILE_VALUE_SIG_LOW, value, sizeof(line))) {
result.sig = NMEA_SIG_LOW;
} else if (!strncasecmp(POSFILE_VALUE_SIG_MID, value, sizeof(line))) {
result.sig = NMEA_SIG_MID;
} else if (!strncasecmp(POSFILE_VALUE_SIG_HIGH, value, sizeof(line))) {
result.sig = NMEA_SIG_HIGH;
} else {
pudError(false, "Position file \"%s\", line %d uses an invalid value for \"%s\","
" valid values are [%s|%s\%s|%s]", fileName, lineNumber, POSFILE_NAME_SIG,
POSFILE_VALUE_SIG_BAD, POSFILE_VALUE_SIG_LOW, POSFILE_VALUE_SIG_MID, POSFILE_VALUE_SIG_HIGH);
goto out;
}
nmea_INFO_set_present(&result.present, SIG);
} else if (!strncasecmp(POSFILE_NAME_FIX, name, sizeof(line))) {
if (!strncasecmp(POSFILE_VALUE_FIX_BAD, value, sizeof(line))) {
result.fix = NMEA_FIX_BAD;
} else if (!strncasecmp(POSFILE_VALUE_FIX_2D, value, sizeof(line))) {
result.fix = NMEA_FIX_2D;
} else if (!strncasecmp(POSFILE_VALUE_FIX_3D, value, sizeof(line))) {
result.fix = NMEA_FIX_3D;
} else {
pudError(false, "Position file \"%s\", line %d uses an invalid value for \"%s\","
" valid values are [%s\%s|%s]", fileName, lineNumber, POSFILE_NAME_FIX, POSFILE_VALUE_FIX_BAD,
POSFILE_VALUE_FIX_2D, POSFILE_VALUE_FIX_3D);
goto out;
}
nmea_INFO_set_present(&result.present, FIX);
} else if (!strncasecmp(POSFILE_NAME_HDOP, name, sizeof(line))) {
int main(int argc, char *argv[])
{
int it = 0;
int done = 0;
nmeaINFO info;
nmeaPARSER parser;
int select_result = -1; // value returned frome select()
struct timeval select_timeout;
int nfds = 0;
fd_set rset;
char rs232_device;
int bytes_read;
char rs232_buffer[1024];
char *token;
char nmea_message[256];
if(argc < 2)
{
printf("Usage: %s <file to parse>\n", argv[0]);
return -1;
}
rs232_device = open(argv[1], O_RDWR | O_NOCTTY);
if(rs232_device < 0)
perror("com_open");
// Select UART2_TX and set it as output
printf("Setting tx. . .\n");
sprintf(rs232_buffer, "echo 11 > /sys/kernel/debug/omap_mux/spi0_d0");
if(system(rs232_buffer) < 0)
perror("setting tx");
// Select UART1_RX and set it as input pulled up
printf("Setting rx. . .\n");
sprintf(rs232_buffer, "echo 39 > /sys/kernel/debug/omap_mux/spi0_sclk");
if(system(rs232_buffer) < 0)
perror("setting rx");
const char *buff[] = {
"$GPRMC,173843,A,3349.896,N,11808.521,W,000.0,360.0,230108,013.4,E*69\r\n",
"$GPGGA,111609.14,5001.27,N,3613.06,E,3,08,0.0,10.2,M,0.0,M,0.0,0000*70\r\n",
"$GPGSV,2,1,08,01,05,005,80,02,05,050,80,03,05,095,80,04,05,140,80*7f\r\n",
"$GPGSV,2,2,08,05,05,185,80,06,05,230,80,07,05,275,80,08,05,320,80*71\r\n",
"$GPGSA,A,3,01,02,03,04,05,06,07,08,00,00,00,00,0.0,0.0,0.0*3a\r\n",
"$GPRMC,111609.14,A,5001.27,N,3613.06,E,11.2,0.0,261206,0.0,E*50\r\n",
"$GPVTG,217.5,T,208.8,M,000.00,N,000.01,K*4C\r\n"
};
select_timeout.tv_sec = 1;
select_timeout.tv_usec = 0;
nmea_zero_INFO(&info);
nmea_parser_init(&parser);
while(!done)
{
fflush(stdout);
FD_ZERO(&rset);
if(rs232_device > 0)
{
FD_SET(rs232_device, &rset);
nfds = max(nfds, rs232_device);
}
select_result = select(nfds + 1, &rset, NULL, NULL, NULL);
if(select_result == -1 && errno == EAGAIN)
{
perror("select");
continue;
}
if(select_result == -1)
{
perror("main:");
return 1;
}
if(rs232_device > 0)
{
if(FD_ISSET(rs232_device, &rset))
{
//bytes_read = read(rs232_device, rs232_buffer, sizeof(rs232_buffer));
bytes_read = rs232_read(rs232_device);
if(bytes_read > 0)
{
if(rs232_check_last_char('\n'))
{
bytes_read = rs232_unload_rx(rs232_buffer);
if(bytes_read > 0)
{
rs232_buffer[bytes_read] = 0;
token = strtok(rs232_buffer, "\n");
while(token != NULL)
{
sprintf(nmea_message, "%s\n", token);
nmea_parse(&parser, nmea_message, (int)strlen(nmea_message), &info);
if(it > 0)
{
printf("\033[15A");
}
else
it++;
printf("Time: %i/%i/%i %i:%i:%i.%i\n", info.utc.day, info.utc.mon + 1, info.utc.year + 1900, info.utc.hour, info.utc.min, info.utc.sec, info.utc.hsec);
printf("Signal: %i\n", info.sig);
printf("Operating Mode: %i\n", info.fix);
printf("Position Diluition of Precision: %f\n", info.PDOP);
printf("Horizontal Diluition of Precision: %f\n", info.HDOP);
printf("Vertical Diluition of Precisione: %f\n", info.VDOP);
printf("Latitude: %f\n", info.lat);
printf("Longitude: %f\n", info.lon);
printf("Elevation: %f m\n", info.elv);
printf("Speed: %f km/h\n", info.speed);
printf("Direction: %f degrees\n", info.direction);
printf("Magnetic variation degrees: %f\n", info.declination);
printf("\nSatellite: \tin view: %i\n\t\tin use: %i\n", info.satinfo.inview, info.satinfo.inuse);
token = strtok(NULL, "\n");
}
}
}
}
}
}
//int smask; /**< Mask specifying types of packages from which data have been obtained */
//nmeaTIME utc; /**< UTC of position */
//int sig; /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */
//int fix; /**< Operating mode, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D) */
//double PDOP; /**< Position Dilution Of Precision */
//double HDOP; /**< Horizontal Dilution Of Precision */
//double VDOP; /**< Vertical Dilution Of Precision */
//double lat; /**< Latitude in NDEG - +/-[degree][min].[sec/60] */
//double lon; /**< Longitude in NDEG - +/-[degree][min].[sec/60] */
//double elv; /**< Antenna altitude above/below mean sea level (geoid) in meters */
//double speed; /**< Speed over the ground in kilometers/hour */
//double direction; /**< Track angle in degrees True */
//double declination; /**< Magnetic variation degrees (Easterly var. subtracts from true course) */
//nmeaSATINFO satinfo; /**< Satellites information */
/*it++;
if(it > 6)
done = 1;
select_timeout.tv_sec = 1;
select_timeout.tv_usec = 0;*/
}
nmea_parser_destroy(&parser);
return 0;
}
void processNMEA() {
argsCarrier *Args = malloc(sizeof(argsCarrier));
nmeaArgs *nArgs = malloc(sizeof(nmeaArgs));
nmeaINFO *info = malloc(sizeof(nmeaINFO));
nmeaPARSER parser;
nmea_zero_INFO(info);
nmea_parser_init(&parser);
char *NMEA2;
nmeaINFO info2;
// Fix up the end so the NMEA parser accepts it
int count = (int)strlen(NMEA);
NMEA[count-1] = '\r';
NMEA[count] = '\n';
NMEA[count+1] = '\0';
// Parse the data
nmea_parse(&parser, NMEA, (int)strlen(NMEA), info);
if (info->smask == 0) {
//Bad data
free(nArgs);
free(info);
free(Args);
return;
}
// NOTE: Make copy of NMEA and Data for these threads - Don't want them to be overwritten by other threads
// Have the individual case function take care of freeing them
Args->NMEA = (char *)malloc((strlen(&NMEA[0])+1)*sizeof(char));
nArgs->NMEA = (char *)malloc((strlen(&NMEA[0])+1)*sizeof(char));
strcpy(Args->NMEA, NMEA);
strcpy(nArgs->NMEA, NMEA);
Args->info = info;
nArgs->time = getUTCTime(&(info->utc));
adamGpsCallbacks->create_thread_cb("adamgps-nmea", updateNMEA, nArgs);
switch (info->smask) {
case 1:
//< GGA - Essential fix data which provide 3D location and accuracy data.
adamGpsCallbacks->create_thread_cb("adamgps-gga", updateGGA, Args);
break;
case 2:
//< GSA - GPS receiver operating mode, SVs used for navigation, and DOP values.
adamGpsCallbacks->create_thread_cb("adamgps-gsa", updateGSA, Args);
break;
case 4:
//< GSV - Number of SVs in view, PRN numbers, elevation, azimuth & SNR values.
adamGpsCallbacks->create_thread_cb("adamgps-gsv", updateGSV, Args);
break;
case 8:
//< RMC - Recommended Minimum Specific GPS/TRANSIT Data.
//adamGpsCallbacks->create_thread_cb("adamgps-loc", updateRMC, Args);
free(Args->info);
free(Args->NMEA);
free(Args);
break;
case 16:
//< VTG - Actual track made good and speed over ground.
free(Args->info);
free(Args->NMEA);
free(Args);
break;
default:
free(Args->info);
free(Args->NMEA);
free(Args);
break;
}
//LOGV("Successful read: %i", info->smask);
}
void _main(int argc, char *argv[])
{
(void)argc;
(void)argv;
if (scl_init("gpsp") != 0)
{
syslog(LOG_CRIT, "could not init scl module");
exit(EXIT_FAILURE);
}
gps_socket = scl_get_socket("data");
if (gps_socket == NULL)
{
syslog(LOG_CRIT, "could not get scl gate");
exit(EXIT_FAILURE);
}
int64_t hwm = 1;
zmq_setsockopt(gps_socket, ZMQ_SNDHWM, &hwm, sizeof(hwm));
opcd_param_t params[] =
{
{"serial_path", &serial_path},
{"serial_speed", &serial_speed},
OPCD_PARAMS_END
};
opcd_params_init("sensors.gps.", 0);
opcd_params_apply("", params);
int status = serial_open(&port, serial_path, tsint_get(&serial_speed), 0, 0, 0);
if (status < 0)
{
syslog(LOG_CRIT, "could not open serial port: %s", serial_path);
exit(EXIT_FAILURE);
}
nmeaPARSER parser;
nmea_parser_init(&parser);
nmeaINFO info;
nmea_zero_INFO(&info);
int time_set = 0;
int smask = 0; /* global smask collects all sentences and is never reset,
in contrast to info.smask */
while (running)
{
int c = serial_read_char(&port);
if (c < 0)
continue;
char b = c;
/* parse NMEA frame: */
if (nmea_parse(&parser, &b, 1, &info) == 1)
{
smask |= info.smask;
if ( (info.smask & GPGGA) /* check for new position update */
&& (smask & (GPGSA | GPRMC))) /* go sure that we collect all sentences for first output*/
{
GpsData gps_data = GPS_DATA__INIT;
/* set general data: */
char time_str[TIME_STR_LEN];
generate_time_str(time_str, &info.utc);
gps_data.fix = 0;
gps_data.time = time_str;
/* set system time to gps time once: */
if (!time_set && info.fix >= 2)
{
char shell_date_cmd[TIME_STR_LEN + 8];
linux_sys_set_timezone(convert(info.lat), convert(info.lon));
sprintf(shell_date_cmd, "date -s \"%s\"", time_str);
time_set = system(shell_date_cmd) == 0;
}
/* set position data if a minimum of satellites is seen: */
if (info.fix >= 2)
{
gps_data.fix = 2;
PB_SET(gps_data, hdop, info.HDOP);
PB_SET(gps_data, lat, convert(info.lat));
PB_SET(gps_data, lon, convert(info.lon));
PB_SET(gps_data, sats, info.satinfo.inuse);
PB_SET(gps_data, course, info.track);
PB_SET(gps_data, speed, info.speed);
}
/* set data for 3d fix: */
if (info.fix == 3)
{
gps_data.fix = 3;
PB_SET(gps_data, vdop, info.VDOP);
PB_SET(gps_data, alt, info.elv);
}
/* add satellit info: */
unsigned int i;
gps_data.n_satinfo = info.satinfo.inview;
SatInfo **satinfo = malloc(gps_data.n_satinfo * sizeof(SatInfo *));
for (i = 0; i < gps_data.n_satinfo; i++)
{
/* fill SatInfo structure: */
nmeaSATELLITE *nmea_satinfo = &info.satinfo.sat[i];
satinfo[i] = malloc(gps_data.n_satinfo * sizeof(SatInfo));
sat_info__init(satinfo[i]);
satinfo[i]->id = nmea_satinfo->id;
satinfo[i]->in_use = info.satinfo.in_use[i] ? 1 : 0;
satinfo[i]->elv = nmea_satinfo->elv;
satinfo[i]->azimuth = nmea_satinfo->azimuth;
satinfo[i]->sig = nmea_satinfo->sig;
}
gps_data.satinfo = satinfo;
/* send the data: */
SCL_PACK_AND_SEND_DYNAMIC(gps_socket, gps_data, gps_data);
/* free allocated memory: */
for (i = 0; i < gps_data.n_satinfo; i++)
{
free(satinfo[i]);
}
free(satinfo);
}
nmea_zero_INFO(&info);
}
}
}
UartNMEAGPS::UartNMEAGPS()
{
m_healthy = false;
nmea_zero_INFO(&info);
nmea_parser_init(&parser);
}
