int main(){
struct termios tio;
int tty_fd;
fd_set rdset;
unsigned char c=0;
char buffer[255];
char *bufptr;
int nbytes;
int fd;
void* file_memory;
int pos=0;
//Prepare the mapped Memory file
preparemappedMem();
RMC_DATA gpsRMCData;
memset(&tio,0,sizeof(tio));
tio.c_iflag=0;
tio.c_oflag &= ~OPOST; //0;
tio.c_cflag &= CREAD|CLOCAL;
tio.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG); // (ICANON | ECHO | ECHOE);
tio.c_cc[VMIN]=0;
tio.c_cc[VTIME]=0;
tty_fd=open("/dev/ttyS1", O_RDWR | O_NONBLOCK);
cfsetospeed(&tio,B9600);
cfsetispeed(&tio,B9600);
tcsetattr(tty_fd,TCSANOW,&tio);
writeMessageToPort(enableTenHz, sizeof(enableTenHz), tty_fd);
//readResponse();
writeMessageToPort(disableAllMessages, sizeof(disableAllMessages), tty_fd);
writeMessageToPort(enableRMC, sizeof(enableRMC), tty_fd);
bufptr = buffer;
while (1)
{
/* read characters into our string buffer until we get a CR or NL */
nbytes = 0;
while((nbytes=read(tty_fd,bufptr,buffer+sizeof(buffer)-bufptr-1))>0)
{
bufptr += nbytes;
if (bufptr[-2] == '\r' && bufptr[-1] == '\n') {
*bufptr = '\0';
bufptr = buffer;
//printf("*** %s ***",buffer);
parseGPRMC(buffer, &gprmc);
//printf("%d\r\n",gprmc.timeSecond);
toXMLfile(&gprmc);
//memset(&buffer,'\0',sizeof(buffer));
}
}
}
return(0);
}
void ArNovatelSPAN::handleGPRMC(ArNMEAParser::Message msg)
{
parseGPRMC(msg, GPSLatitude, GPSLongitude, GPSValidFlag, haveGPSPosition, timeGotGPSPosition, GPSTimestamp, myData.haveSpeed, myData.speed);
}
bool WiGPS::update(int timeout_sec){
/*
* The main function for fetching data
* from the GPS module.
* This function gets incoming Strings
* from the _serial port and store them
* in a buffer if they starts with the $ char
* After retrieving a "valid" String the
* parser is called.
*/
//Serial.println("GPS update.");
char buffer[BUFFER_LENGTH_2];
char *buf = buffer;
dataReady = false;
//int failed5 = 0;
unsigned long updateTimeout = millis() + timeout_sec*1000;
while(buf - buffer < BUFFER_LENGTH_2){
*(buf++) = '\0';
}
buf = buffer;
//Serial.print("GPS begin loop: ");
//Serial.print(updateTimeout - timeout_sec*1000);
//Serial.print(" < ");
//Serial.println(updateTimeout);
while(!dataReady){
// Wait for the first incoming header
while(_serial.read() != '$');
// Store the first 5 chars
for(int i = 0; i<5; i++){
while(!_serial.available());
*(buf++) = _serial.read();
}
//Serial.print("buffer:" );
//Serial.print(buffer);
if(strncmp(buffer, PROTOCOL, 5) == 0){
// This is the right String, go on
do {
// Fetch the rest of the GPRMC String
while(!_serial.available());
*buf = _serial.read();
} while(*(buf++) != '\n');
GPRMC str(buffer);
//Serial.println(str);
// 'A' for valid, 'V' for invalid
if(str.dataValid().equals("A")){
//Serial.println("GPS data is valid.");
// The string is ok, extract data
// TODO: ADD CHECKSUM CONTROL TO THE STRING
Serial.print(str);
parseGPRMC(&str);
//Now break the cycle
//Serial.println("GPS success.");
//Serial.println("GPS break loop.");
//Serial.print("\n");
dataReady = true;
return dataReady;
} else {
//Serial.println("GPS data invalid.");
}
}
//Serial.println("6- Data is not ready ");
//Serial.println("------");
//failed5++;
//if(failed5 <= 1500){
//Serial.println("7- Too many fails.. quitting ");
//return FALSE;
//}
//Serial.println("\n");
// if update timed out
//Serial.print("GPS time: ");
//Serial.print(millis());
//Serial.print(" < ");
//Serial.println(updateTimeout);
if (millis() >= updateTimeout) {
//Serial.println("GPS timeout.");
//Serial.println("GPS break loop.");
//Serial.print("\n");
dataReady = false;
return false;
}
buf = buffer;
};
//Serial.println("GPS loop end.");
//Serial.print("\n");
return true;
}
