/* Instead of just merging input from a secondary device, which is
* part of the design of NMEA and which would make life easy, Trimble
* wraps messages in a proprietary message PTNLAG001. This handler
* just re-serializes the contents of that message and bounces
* it back to ArGPS for further parsing.
*/
void ArTrimbleGPS::handlePTNLAG001(ArNMEAParser::Message m)
{
ArNMEAParser::MessageVector *message = m.message;
if(message->size() < 2) return;
std::string text;
size_t len = 0;
// Undo split by commas, skip msg[0] which is "PTNLAG001"
for(ArNMEAParser::MessageVector::const_iterator i = message->begin() + 1; i != message->end(); ++i)
{
if(i != message->begin()) text += ",";
text += *i;
len += (*i).length() + 1;
}
#ifdef DEBUG_ARTRIMBLEGPS
printf("XXXXXXXXX Got PTNLAG001 contents from Trimble, %d bytes: %s\n", len, text.c_str());
#endif
// Reparse contents. Note, this will clobber NMEA parser state, including
// *message, so after calling this we can't do anything else with it. (So
// exit the function)
text += "\r\n";
len += 2;
myNMEAParser.parse(text.c_str(), len);
}
void ArNovatelGPS::handleNovatelGPGGA(ArNMEAParser::Message msg)
{
// call base handler
ArGPS::handleGPGGA(msg);
// Some of Novatel's values are different from the standard:
// (see
// http://na1.salesforce.com/_ui/selfservice/pkb/PublicKnowledgeSolution/d?orgId=00D300000000T86&id=501300000008RAN&retURL=%2Fsol%2Fpublic%2Fsolutionbrowser.jsp%3Fsearch%3DGPGGA%26cid%3D000000000000000%26orgId%3D00D300000000T86%26t%3D4&ps=1 or search Novatel's Knowlege Base for "GPGGA")
ArNMEAParser::MessageVector *message = msg.message;
if(message->size() < 7) return;
switch((*message)[6].c_str()[0])
{
case '2':
myData.fixType = OmnistarConverging;
break;
case '5':
myData.fixType = OmnistarConverged;
break;
case '9':
myData.fixType = DGPSFix;
break;
}
}