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nmeaparser: cleaned things up, someone make me sample how out relay values to the gui, like lat and lon values

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1227 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
sambas 2010-08-07 07:58:05 +00:00 committed by sambas
parent 6f553efe45
commit 72871f5c19
2 changed files with 38 additions and 400 deletions
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407
ground/src/plugins/gpsdisplay/nmeaparser.cpp
View File

@ -1,8 +1,8 @@
/**
******************************************************************************
*
* @file gpsdisplaywidget.cpp
* @author Edouard Lafargue Copyright (C) 2010.
* @file nmeaparser.cpp
* @author Sami Korhonen Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup GPSGadgetPlugin GPS Gadget Plugin
@ -27,18 +27,6 @@
#include "nmeaparser.h"
#include "ui_gpsdisplaywidget.h"
#include "extensionsystem/pluginmanager.h"
#include "uavobjects/uavobjectmanager.h"
#include <iostream>
#include <QtGui/QFileDialog>
#include <QDebug>
#include <QThread>
// constants/macros/typdefs
#define NMEA_BUFFERSIZE 128
// Message Codes
#define NMEA_NODATA 0 // No data. Packet not available, bad, or not decoded
@ -55,6 +43,7 @@
// Debugging
//#define GPSDEBUG
#define NMEA_DEBUG_PKT ///< define to enable debug of all NMEA messages
#ifdef GPSDEBUG
#define NMEA_DEBUG_PKT ///< define to enable debug of all NMEA messages
@ -64,42 +53,13 @@
#define NMEA_DEBUG_GSA ///< define to enable debug of GSA messages
#endif
// Private functions
// Global variables
// Private constants
typedef struct struct_GpsData
{
float Latitude;
float Longitude;
float Altitude;
float Groundspeed;
int SV;
uint8_t channel;
uint8_t value_h;
uint8_t value_l;
uint8_t sum;
}GpsData_t;
// Private types
// Private variables
cBuffer gpsRxBuffer;
static char gpsRxData[512];
char NmeaPacket[NMEA_BUFFERSIZE];
static uint32_t numUpdates;
static uint32_t numErrors;
static uint32_t timeOfLastUpdateMs;
static int32_t gpsRxOverflow=0;
GpsData_t GpsData;
/*
* Initialize the widget
/**
* Initialize the parser
*/
NMEAParser::NMEAParser()
{
bufferInit(&gpsRxBuffer, (unsigned char *)gpsRxData, 512);
gpsRxOverflow=0;
}
/**
@ -107,7 +67,6 @@ NMEAParser::NMEAParser()
*/
void NMEAParser::processInputStream(char c)
{
//quint8 tmp;
if( !bufferAddToEnd(&gpsRxBuffer, c) )
{
// no space in buffer
@ -144,7 +103,6 @@ char NMEAParser::nmeaChecksum(char* gps_buffer)
checksum^=gps_buffer[x];
}
}
//PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%d=%d\r\n",checksum_received,checksum);
if(checksum == checksum_received)
{
++numUpdates;
@ -297,123 +255,6 @@ void NMEAParser::nmeaProcessGPGGA(char* packet)
GpsData.Longitude = tokenslist.at(4).toFloat();
GpsData.Altitude = tokenslist.at(9).toFloat();
GpsData.SV = tokenslist.at(7).toInt();
/*
char *tokens;
char *delimiter = ",";
char *pEnd;
char token_length=0;
long deg,min,desim;
#ifdef NMEA_DEBUG_GGA
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",packet);
#endif
// start parsing just after "GPGGA,"
// attempt to reject empty packets right away
if(packet[6]==',' && packet[7]==',')
return;
if(!nmeaChecksum(packet))
{
// checksum not valid
return;
}
// tokenizer for nmea sentence
//GPGGA header
tokens = strsep(&packet, delimiter);
// get UTC time [hhmmss.sss]
tokens = strsep(&packet, delimiter);
//strcpy(GpsInfo.TimeOfFix,tokens);
// next field: latitude
// get latitude [ddmm.mmmmm]
tokens = strsep(&packet, delimiter);
token_length=strlen(tokens);
deg=strtol (tokens,&pEnd,10);
min=deg%100;
deg=deg/100;
desim=strtol (pEnd+1,NULL,10);
if(token_length==10)// 5 desimal output
{
GpsData.Latitude=deg+(min+desim/100000.0)/60.0; // to desimal degrees
}
else if(token_length==9) // 4 desimal output
{
GpsData.Latitude=deg+(min+desim/10000.0)/60.0; // to desimal degrees
}
else if(token_length==11) // 6 desimal output OPGPS
{
GpsData.Latitude=deg+(min+desim/1000000.0)/60.0; // to desimal degrees
}
// next field: N/S indicator
// correct latitute for N/S
tokens = strsep(&packet, delimiter);
if(tokens[0] == 'S') GpsData.Latitude = -GpsData.Latitude;
// next field: longitude
// get longitude [dddmm.mmmmm]
tokens = strsep(&packet, delimiter);
token_length=strlen(tokens);
deg=strtol (tokens,&pEnd,10);
min=deg%100;
deg=deg/100;
desim=strtol (pEnd+1,NULL,10);
if(token_length==11)// 5 desimal output
{
GpsData.Longitude=deg+(min+desim/100000.0)/60.0; // to desimal degrees
}
else if(token_length==10) // 4 desimal output
{
GpsData.Longitude=deg+(min+desim/10000.0)/60.0; // to desimal degrees
}
else if(token_length==12) // 6 desimal output OPGPS
{
GpsData.Longitude=deg+(min+desim/1000000.0)/60.0; // to desimal degrees
}
// next field: E/W indicator
// correct latitute for E/W
tokens = strsep(&packet, delimiter);
if(tokens[0] == 'W') GpsData.Longitude = -GpsData.Longitude;
// next field: position fix status
// position fix status
// 0 = Invalid, 1 = Valid SPS, 2 = Valid DGPS, 3 = Valid PPS
// check for good position fix
tokens = strsep(&packet, delimiter);
//if((tokens[0] != '0') || (tokens[0] != 0))
// GpsData.Updates++;
// next field: satellites used
// get number of satellites used in GPS solution
tokens = strsep(&packet, delimiter);
GpsData.Satellites=atoi(tokens);
// next field: HDOP (horizontal dilution of precision)
tokens = strsep(&packet, delimiter);
// next field: altitude
// get altitude (in meters mm.m)
tokens = strsep(&packet, delimiter);
//reuse variables for alt
deg=strtol (tokens,&pEnd,10); // always 0.1m resolution?
desim=strtol (pEnd+1,NULL,10);
if(1) // OPGPS 3 desimal
GpsData.Altitude=deg+desim/1000.0;
else
GpsData.Altitude=deg+desim/10.0;
// next field: altitude units, always 'M'
// next field: geoid seperation
// next field: seperation units
// next field: DGPS age
// next field: DGPS station ID
// next field: checksum
*/
}
/**
@ -435,115 +276,8 @@ void NMEAParser::nmeaProcessGPRMC(char* packet)
QString* nmeaString = new QString( packet );
QStringList tokenslist = nmeaString->split(",");
GpsData.Groundspeed = tokenslist.at(7).toFloat();//(deg+(desim/100.0))*0.51444; //OPGPS style to m/s
GpsData.Groundspeed = GpsData.Groundspeed*0.51444*3.6;
/*
char *tokens;
char *delimiter = ",";
char *pEnd;
char token_length=0;
long deg,min,desim;
#ifdef NMEA_DEBUG_RMC
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",packet);
#endif
// start parsing just after "GPRMC,"
// attempt to reject empty packets right away
if(packet[6]==',' && packet[7]==',')
return;
if(!nmeaChecksum(packet))
{
// checksum not valid
return;
}
// tokenizer for nmea sentence
//GPRMC header
tokens = strsep(&packet, delimiter);
// get UTC time [hhmmss.sss]
tokens = strsep(&packet, delimiter);
//strcpy(GpsInfo.TimeOfFix,tokens);
// next field: Navigation receiver warning A = OK, V = warning
tokens = strsep(&packet, delimiter);
// next field: latitude
// get latitude [ddmm.mmmmm]
tokens = strsep(&packet, delimiter);
token_length=strlen(tokens);
deg=strtol (tokens,&pEnd,10);
min=deg%100;
deg=deg/100;
desim=strtol (pEnd+1,NULL,10);
/*if(token_length==10)// 5 desimal output
{
GpsData.Latitude=deg+(min+desim/100000.0)/60.0; // to desimal degrees
}
else if(token_length==9) // 4 desimal output
{
GpsData.Latitude=deg+(min+desim/10000.0)/60.0; // to desimal degrees
}
else if(token_length==11) // 6 desimal output OPGPS
{
GpsData.Latitude=deg+(min+desim/1000000.0)/60.0; // to desimal degrees
}*
// next field: N/S indicator
// correct latitute for N/S
tokens = strsep(&packet, delimiter);
//if(tokens[0] == 'S') GpsData.Latitude = -GpsData.Latitude;
// next field: longitude
// get longitude [dddmm.mmmmm]
tokens = strsep(&packet, delimiter);
token_length=strlen(tokens);
deg=strtol (tokens,&pEnd,10);
min=deg%100;
deg=deg/100;
desim=strtol (pEnd+1,NULL,10);
/*if(token_length==11)// 5 desimal output
{
GpsData.Longitude=deg+(min+desim/100000.0)/60.0; // to desimal degrees
}
else if(token_length==10) // 4 desimal output
{
GpsData.Longitude=deg+(min+desim/10000.0)/60.0; // to desimal degrees
}
else if(token_length==12) // 6 desimal output OPGPS
{
GpsData.Longitude=deg+(min+desim/1000000.0)/60.0; // to desimal degrees
}*
// next field: E/W indicator
// correct latitute for E/W
tokens = strsep(&packet, delimiter);
//if(tokens[0] == 'W') GpsData.Longitude = -GpsData.Longitude;
// next field: speed (knots)
// get speed in knots
tokens = strsep(&packet, delimiter);
deg=strtol (tokens,&pEnd,10);
desim=strtol (pEnd+1,NULL,10);
GpsData.Groundspeed = (deg+(desim/100.0))*0.51444; //OPGPS style to m/s
// next field: True course
// get True course
tokens = strsep(&packet, delimiter);
deg=strtol (tokens,&pEnd,10);
desim=strtol (pEnd+1,NULL,10);
GpsData.Heading = deg+(desim/100.0); //OPGPS style
// next field: Date of fix
// get Date of fix
tokens = strsep(&packet, delimiter);
// next field: Magnetic variation
// next field: E or W
// next field: checksum
*/
GpsData.Groundspeed = tokenslist.at(7).toFloat();
GpsData.Groundspeed = GpsData.Groundspeed*0.51444;
}
@ -563,52 +297,9 @@ void NMEAParser::nmeaProcessGPVTG(char* packet)
// checksum not valid
return;
}
/*
char *tokens;
char *delimiter = ",";
#ifdef NMEA_DEBUG_VTG
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",packet);
#endif
// start parsing just after "GPVTG,"
// attempt to reject empty packets right away
if(packet[6]==',' && packet[7]==',')
return;
if(!nmeaChecksum(packet))
{
// checksum not valid
return;
}
// tokenizer for nmea sentence
//GPVTG header
tokens = strsep(&packet, delimiter);
// get course (true north ref) in degrees [ddd.dd]
tokens = strsep(&packet, delimiter);
// next field: 'T'
tokens = strsep(&packet, delimiter);
// next field: course (magnetic north)
// get course (magnetic north ref) in degrees [ddd.dd]
tokens = strsep(&packet, delimiter);
// next field: 'M'
tokens = strsep(&packet, delimiter);
// next field: speed (knots)
// get speed in knots
tokens = strsep(&packet, delimiter);
// next field: 'N'
tokens = strsep(&packet, delimiter);
// next field: speed (km/h)
// get speed in km/h
tokens = strsep(&packet, delimiter);
// next field: 'K'
// next field: checksum
*/
QString* nmeaString = new QString( packet );
QStringList tokenslist = nmeaString->split(",");
}
/**
@ -627,83 +318,9 @@ void NMEAParser::nmeaProcessGPGSA(char* packet)
// checksum not valid
return;
}
/*
char *tokens;
char *delimiter = ",";
char *pEnd;
long value,desim;
int mode;
#ifdef NMEA_DEBUG_GSA
PIOS_COM_SendFormattedStringNonBlocking(COM_DEBUG_USART,"$%s\r\n",packet);
#endif
// start parsing just after "GPGSA,"
// attempt to reject empty packets right away
if(packet[6]==',' && packet[7]==',')
return;
if(!nmeaChecksum(packet))
{
// checksum not valid
return;
}
// tokenizer for nmea sentence
//GPGSA header
tokens = strsep(&packet, delimiter);
// next field: Mode
// Mode: M=Manual, forced to operate in 2D or 3D, A=Automatic, 3D/2D
tokens = strsep(&packet, delimiter);
// next field: Mode
// Mode: 1=Fix not available, 2=2D, 3=3D
tokens = strsep(&packet, delimiter);
mode = atoi(tokens);
if (mode == 1)
{
GpsData.Status = POSITIONACTUAL_STATUS_NOFIX;
}
else if (mode == 2)
{
GpsData.Status = POSITIONACTUAL_STATUS_FIX2D;
}
else if (mode == 3)
{
GpsData.Status = POSITIONACTUAL_STATUS_FIX3D;
}
// next field: 3-14 IDs of SVs used in position fix (null for unused fields)
tokens = strsep(&packet, delimiter);
tokens = strsep(&packet, delimiter);
tokens = strsep(&packet, delimiter);
tokens = strsep(&packet, delimiter);
tokens = strsep(&packet, delimiter);
tokens = strsep(&packet, delimiter);
tokens = strsep(&packet, delimiter);
tokens = strsep(&packet, delimiter);
tokens = strsep(&packet, delimiter);
tokens = strsep(&packet, delimiter);
tokens = strsep(&packet, delimiter);
tokens = strsep(&packet, delimiter);
// next field: PDOP
tokens = strsep(&packet, delimiter);
value=strtol (tokens,&pEnd,10);
desim=strtol (pEnd+1,NULL,10);
GpsData.PDOP=value+desim/100.0;
// next field: HDOP
tokens = strsep(&packet, delimiter);
value=strtol (tokens,&pEnd,10);
desim=strtol (pEnd+1,NULL,10);
GpsData.HDOP=value+desim/100.0;
// next field: VDOP
tokens = strsep(&packet, delimiter);
value=strtol (tokens,&pEnd,10);
desim=strtol (pEnd+1,NULL,10);
GpsData.VDOP=value+desim/100.0;
// next field: checksum
*/
QString* nmeaString = new QString( packet );
QStringList tokenslist = nmeaString->split(",");
}

31
ground/src/plugins/gpsdisplay/nmeaparser.h
View File

@ -1,8 +1,8 @@
/**
******************************************************************************
*
* @file gpsdisplaywidget.h
* @author Edouard Lafargue Copyright (C) 2010.
* @file nmeaparser.h
* @author Sami Korhonen Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup GPSGadgetPlugin GPS Gadget Plugin
@ -28,15 +28,30 @@
#ifndef NMEAPARSER_H
#define NMEAPARSER_H
#include <QtCore>
#include <stdint.h>
#include "buffer.h"
// constants/macros/typdefs
#define NMEA_BUFFERSIZE 128
typedef struct struct_GpsData
{
float Latitude;
float Longitude;
float Altitude;
float Groundspeed;
int SV;
uint8_t channel;
uint8_t value_h;
uint8_t value_l;
uint8_t sum;
}GpsData_t;
class NMEAParser
{
public:
NMEAParser();
~NMEAParser();
NMEAParser();
void processInputStream(char c);
char* nmeaGetPacketBuffer(void);
char nmeaChecksum(char* gps_buffer);
@ -45,7 +60,13 @@ public:
void nmeaProcessGPRMC(char* packet);
void nmeaProcessGPVTG(char* packet);
void nmeaProcessGPGSA(char* packet);
GpsData_t GpsData;
cBuffer gpsRxBuffer;
char gpsRxData[512];
char NmeaPacket[NMEA_BUFFERSIZE];
uint32_t numUpdates;
uint32_t numErrors;
int32_t gpsRxOverflow;
};
#endif // NMEAPARSER_H