nmea.c

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#include "nmea.h"

#include "cfg/cfg_nmea.h"

#include <cfg/debug.h>

#define LOG_LEVEL  NMEA_LOG_LEVEL
#define LOG_FORMAT NMEA_LOG_FORMAT
#include <cfg/log.h>

#include <net/nmeap/inc/nmeap.h>

#include <ctype.h>
#include <time.h>
#include <string.h>
#include <stdlib.h>

/*
 * Make conversion from one string to int.
 *
 * You can specify the precision if the string is a float
 * number. The result is an int multiplied to 10^precision.
 */
static uint32_t tokenToInt(const char *s, int precision)
{
    uint32_t num = 0;
    bool sep_found = false;
    int i;

    if (!s)
        return 0;

    for(i = 0; i < NMEAP_MAX_SENTENCE_LENGTH; i++)
    {
        char c = *s++;

        if (c == '.')
        {
            sep_found = true;
            continue;
        }

        if (c == '\0' || !isdigit(c) || (precision == 0 && sep_found))
            break;

        if (sep_found)
            precision--;

        num *= 10;
        num += c - '0';
    }

    while (precision--)
        num *= 10;

    return num;
}

/*
 * Convert a string to micro degree.
 */
static udegree_t convertToDegree(const char *str)
{
    uint32_t dec;
    uint32_t deg;
    uint32_t min;

    if (*str == 0)
    {
        return 0;
    }

    dec = tokenToInt(str, 4);
    deg = dec / 1000000;
    min = dec - deg * 1000000;
    dec = deg * 1000000 + ((min * 5) + 1) / 3;

    return dec;
}

/*
 * Retun latitude in micro degree from a string.
 */
static udegree_t nmea_latitude(const char *plat, const char *phem)
{
    int ns;

    if (*phem == 0)
        return 0;

    /* north lat is +, south lat is - */
    ns = (*phem == 'N') ? 1 : -1;


    return ns * convertToDegree(plat);
}

/*
 * Retun longitude in micro degree from a string.
 */
static udegree_t nmea_longitude(const char *plot, const char *phem)
{
    int ew;

    if (*phem == 0)
        return 0;

    /* west long is negative, east long is positive */
   ew = (*phem == 'E') ? 1 : -1;

    return ew * convertToDegree(plot);
}

/*
 * Return altitude in meter from a string.
 *
 */
static uint16_t nmea_altitude(const char *palt, const char *punits)
{
    uint32_t alt;

    if (*palt == 0)
        return 0;

    alt = atoi(palt);

    if (*punits == 'F')
    {
        /* convert to feet */
        /* alt = alt * 3.2808399 */
        alt = alt * 3 +  /* 3.0 */
              (alt >> 2) + /* 0.25 */
              (alt >> 6) + /* 0.015625 */
              (alt >> 7) + /* 0.0078125 */
              (alt >> 8); /* 0,00390625 */

    }

    return alt;
}

/*
 * Convert time and date stamp string to unix time.
 */
static time_t timestampToSec(uint32_t time_stamp, uint32_t date_stamp)
{
    struct tm t;
    uint16_t msec;
    uint16_t tmr[3];
    uint16_t date[3];

    memset(&t, 0, sizeof(t));
    memset(&tmr, 0, sizeof(tmr));
    memset(&date, 0, sizeof(date));

    LOG_INFO("time_s[%lu],date[%lu]\n", (long)time_stamp, (long)date_stamp);
    uint32_t res = time_stamp / 1000;
    uint32_t all = time_stamp;
    msec = all - res * 1000;

    for (int i = 0; i < 3; i++)
    {
        all = res;
        res = all / 100;
        tmr[i]  = all - res * 100;
        LOG_INFO("t[%d]%d\n", tmr[i],i);
    }

    t.tm_sec = tmr[0] + (ROUND_UP(msec, 1000) / 1000);
    t.tm_min = tmr[1];
    t.tm_hour = tmr[2];
    //If we not have refence data, we set as default 1/1/1970.
    t.tm_mday = 1;
    t.tm_mon = 0;
    t.tm_year = 70;

    if (date_stamp)
    {
        res = all = date_stamp;
        for (int i = 0; i < 3; i++)
        {
            all = res;
            res = all / 100;
            date[i]  = all - res * 100;
            LOG_INFO("d[%d]%d\n", date[i],i);
        }
        t.tm_mday = date[2];
        t.tm_mon = date[1] - 1; // time struct count month from 0 to 11;
        // we should specific number of years from 1900, but the year field
        // is only two cipher, so we sum 100 (2000 - 1900)..
        t.tm_year = date[0] + 100;
    }
    LOG_INFO("times=%d,%d,%d,%d,%d,%d\n",t.tm_sec, t.tm_min, t.tm_hour, t.tm_year, t.tm_mon, t.tm_mday);

    return  mktime(&t);
}

void gpgga_callout(nmeap_context_t *context, void *data, void *user_data)
{
    (void)context;
    (void)user_data;
    (void)data;
    LOG_INFOB(NmeaGga *gga = (NmeaGga *)data;);

    LOG_INFO("Found GPGGA message %ld %ld %d %lu %d %d %d %d\n",
            (long)gga->latitude,
            (long)gga->longitude,
            gga->altitude,
            gga->time,
            gga->satellites,
            gga->quality,
            gga->hdop,
            gga->geoid);
}

void gprmc_callout(nmeap_context_t *context, void *data, void *user_data)
{
    (void)context;
    (void)user_data;
    (void)data;
    LOG_INFOB(NmeaRmc *rmc = (NmeaRmc *)data;);

    LOG_INFO("Found GPRMC message %lu %c %ld %ld %d %d %d\n",
            rmc->time,
            rmc->warn,
            (long)rmc->latitude,
            (long)rmc->longitude,
            rmc->speed,
            rmc->course,
            rmc->mag_var);
}

void gpgsv_callout(nmeap_context_t *context, void *data, void *user_data)
{
    (void)context;
    (void)user_data;
    (void)data;
    LOG_INFOB(NmeaGsv *gsv = (NmeaGsv *)data;);

    LOG_INFO("Found GPGSV message %d %d %d\n", gsv->tot_message, gsv->message_num, gsv->tot_svv);

    for (int i = 0; i < 4; i++)
        LOG_INFO("%d %d %d %d\n", gsv->info[i].sv_prn, gsv->info[i].elevation, gsv->info[i].azimut, gsv->info[i].snr);
}

void gpvtg_callout(nmeap_context_t *context, void *data, void *user_data)
{
    (void)context;
    (void)user_data;
    (void)data;
    LOG_INFOB(NmeaVtg *vtg = (NmeaVtg *)data;);

    LOG_INFO("Found GPVTG message %d %d %d\n", vtg->track_good, vtg->knot_speed, vtg->km_speed);
}



int nmea_gpgga(nmeap_context_t *context, nmeap_sentence_t *sentence)
{
    /*
     * get pointer to sentence data
     */
    NmeaGga *gga = (NmeaGga *)sentence->data;

    ASSERT(gga);
    ASSERT(context->tokens >= 12);

    gga->latitude   = nmea_latitude(context->token[2],context->token[3]);
    gga->longitude  = nmea_longitude(context->token[4],context->token[5]);
    gga->altitude   = nmea_altitude(context->token[9],context->token[10]);
    gga->time       = timestampToSec(tokenToInt(context->token[1], 3), 0);
    gga->satellites = atoi(context->token[7]);
    gga->quality    = atoi(context->token[6]);
    gga->hdop       = tokenToInt(context->token[8], 1);
    gga->geoid      = nmea_altitude(context->token[11],context->token[12]);

    /*
     * if the sentence has a callout, call it
     */

    if (sentence->callout != 0)
        (*sentence->callout)(context, gga, context->user_data);

    return NMEA_GPGGA;
}

int nmea_gprmc(nmeap_context_t *context, nmeap_sentence_t *sentence)
{

    /*
     * get pointer to sentence data
     */
    NmeaRmc *rmc = (NmeaRmc *)sentence->data;

    ASSERT(rmc);
    ASSERT(context->tokens >= 10);

    /*
     * extract data from the tokens
     */
    rmc->time       = timestampToSec(tokenToInt(context->token[1], 3), tokenToInt(context->token[9], 0));
    rmc->warn       = *context->token[2];
    rmc->latitude   = nmea_latitude(context->token[3],context->token[4]);
    rmc->longitude  = nmea_longitude(context->token[5],context->token[6]);
    rmc->speed      = atoi(context->token[7]);
    rmc->course     = atoi(context->token[8]);
    rmc->mag_var    = atoi(context->token[10]);

    if (sentence->callout != 0)
        (*sentence->callout)(context, rmc, context->user_data);

    return NMEA_GPRMC;
}


int nmea_gpvtg(nmeap_context_t *context, nmeap_sentence_t *sentence)
{

    /*
     * get pointer to sentence data
     */
    NmeaVtg *vtg = (NmeaVtg *)sentence->data;

    ASSERT(vtg);
    ASSERT(context->tokens >= 7);

    /*
     * extract data from the tokens
     */
    vtg->track_good  = atoi(context->token[1]);
    vtg->knot_speed  = atoi(context->token[5]);
    vtg->km_speed    = atoi(context->token[7]);

    /*
     * if the sentence has a callout, call it
     */
    if (sentence->callout != 0)
        (*sentence->callout)(context, vtg, context->user_data);

    return NMEA_GPVTG;
}

int nmea_gpgsv(nmeap_context_t *context, nmeap_sentence_t *sentence)
{

    /*
     * get pointer to sentence data
     */
    NmeaGsv *gsv = (NmeaGsv *)sentence->data;


    /*
     * extract data from the tokens
     */
    gsv->tot_message     = atoi(context->token[1]);
    gsv->message_num     = atoi(context->token[2]);
    gsv->tot_svv         = atoi(context->token[3]);

    // Fill remaning member until we have token
    int  j = 0;
    for (int i = 4; i < context->tokens - 3; i += 4, j++)
    {

        gsv->info[j].sv_prn     = atoi(context->token[i]);
        gsv->info[j].elevation  = atoi(context->token[i + 1]);
        gsv->info[j].azimut     = atoi(context->token[i + 2]);
        gsv->info[j].snr        = atoi(context->token[i + 3]);
    }

    /*
     * if the sentence has a callout, call it
     */
    if (sentence->callout != 0)
        (*sentence->callout)(context, gsv, context->user_data);

    return NMEA_GPGSV;
}


/*
 * Parse NMEA sentence from a channel.
 */
void nmea_poll(nmeap_context_t *context, KFile *channel)
{
    int c;
    while ((c = kfile_getc(channel)) != EOF)
    {
        nmeap_parse(context, c);
    }
}