END_TEST START_TEST(test_minmea_parse_gst1) { const char *sentence = "$GPGST,024603.00,3.2,6.6,4.7,47.3,5.8,5.6,22.0*58"; struct minmea_sentence_gst frame = {}; struct minmea_sentence_gst expected = { .time = { 2, 46, 3, 0 }, .rms_deviation = 32, .rms_deviation_scale = 10, .semi_major_deviation = 66, .semi_major_deviation_scale = 10, .semi_minor_deviation = 47, .semi_minor_deviation_scale = 10, .semi_major_orientation = 473, .semi_major_orientation_scale = 10, .latitude_error_deviation = 58, .latitude_error_deviation_scale = 10, .longitude_error_deviation = 56, .longitude_error_deviation_scale = 10, .altitude_error_deviation = 220, .altitude_error_deviation_scale = 10, }; ck_assert(minmea_check(sentence) == true); ck_assert(minmea_parse_gst(&frame, sentence) == true); ck_assert(!memcmp(&frame, &expected, sizeof(frame))); }
END_TEST START_TEST(test_minmea_usage1) { const char *sentences[] = { "$GPRMC,081836,A,3751.65,S,14507.36,E,000.0,360.0,130998,011.3,E*62", "$GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47", "$GNGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1", "$GPGST,024603.00,3.2,6.6,4.7,47.3,5.8,5.6,22.0*58", NULL, }; for (const char **sentence=sentences; *sentence; sentence++) { switch (minmea_sentence_id(*sentence)) { case MINMEA_SENTENCE_RMC: { struct minmea_sentence_rmc frame; ck_assert(minmea_parse_rmc(&frame, *sentence) == true); } break; case MINMEA_SENTENCE_GGA: { struct minmea_sentence_gga frame; ck_assert(minmea_parse_gga(&frame, *sentence) == true); } break; case MINMEA_SENTENCE_GSA: { struct minmea_sentence_gsa frame; ck_assert(minmea_parse_gsa(&frame, *sentence) == true); } break; case MINMEA_SENTENCE_GST: { struct minmea_sentence_gst frame; ck_assert(minmea_parse_gst(&frame, *sentence) == true); } break; default: { } break; } char talker[3]; char expected[3] = { (*sentence)[1], (*sentence)[2], '\0' }; ck_assert(minmea_talker_id(talker, *sentence) == true); ck_assert_str_eq(talker, expected); } }
void decode_NMEA(char *buffer, FILE *fp) { struct timespec next; clock_gettime(CLOCK_MONOTONIC, &next); switch (minmea_sentence_id(buffer, false)) { case MINMEA_SENTENCE_RMC: { struct minmea_sentence_rmc frame; if (minmea_parse_rmc(&frame, buffer)) { fprintf(fp, "$RMC: %ld.%ld\t coordinates and speed: (%f,%f) %f\tDate: %d/%d/%d\n", (long) next.tv_sec, (long) next.tv_nsec, minmea_tocoord(&frame.latitude), minmea_tocoord(&frame.longitude), minmea_tofloat(&frame.speed), frame.date.day, frame.date.month, frame.date.year ); }else { fprintf(fp, "$RMC sentence is not parsed\n"); } } break; case MINMEA_SENTENCE_GGA: { struct minmea_sentence_gga frame; if (minmea_parse_gga(&frame, buffer)) { fprintf(fp, "$GGA: %ld.%ld\t fix quality: %d\t Altitude: %0.8f\t Time: %02d:%02d:%02d.%06d\n", (long) next.tv_sec, (long) next.tv_nsec, frame.fix_quality, minmea_tofloat(&frame.altitude), frame.time.hours, frame.time.minutes, frame.time.seconds, frame.time.microseconds); } else { fprintf(fp, "$GGA sentence is not parsed\n"); } } break; case MINMEA_SENTENCE_GST: { struct minmea_sentence_gst frame; if (minmea_parse_gst(&frame, buffer)) { fprintf(fp, "$GST: %ld.%ld\t floating point degree latitude, longitude and altitude error deviation: (%f,%f,%f)\n", (long) next.tv_sec, (long) next.tv_nsec, minmea_tofloat(&frame.latitude_error_deviation), minmea_tofloat(&frame.longitude_error_deviation), minmea_tofloat(&frame.altitude_error_deviation)); } else { fprintf(fp, "$GST sentence is not parsed\n"); } } break; case MINMEA_SENTENCE_GSV: { struct minmea_sentence_gsv frame; if (minmea_parse_gsv(&frame, buffer)) { if (frame.msg_nr == frame.total_msgs) fprintf(fp, "$GSV: %ld.%ld\t satellites in view: %d\n", (long) next.tv_sec, (long) next.tv_nsec, frame.total_sats); } else { fprintf(fp, "$GSV sentence is not parsed\n"); } } break; case MINMEA_SENTENCE_GSA: { struct minmea_sentence_gsa frame; if (minmea_parse_gsa(&frame, buffer)) { fprintf(fp, "$GSA: %ld.%ld\t Fix quality:\t %f, %f, %f\n", (long) next.tv_sec, (long) next.tv_nsec, minmea_tofloat(&frame.pdop), minmea_tofloat(&frame.hdop), minmea_tofloat(&frame.vdop)); } else { fprintf(fp, "$GSA sentence not parsed\n"); } } break; case MINMEA_INVALID: { fprintf(fp, "$xxxxx sentence is not valid:\n\t%s\n", buffer); } break; default: { buffer[6] = '\0'; fprintf(fp, "%s sentence is not parsed\n", buffer); } break; } }