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qgsnmeaconnection.cpp
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qgsnmeaconnection.cpp
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/***************************************************************************
qgsnmeaconnection.cpp - description
---------------------
begin : November 30th, 2009
copyright : (C) 2009 by Marco Hugentobler
email : marco at hugis dot net
***************************************************************************/
/***************************************************************************
* *
* This program is free software; you can redistribute it and/or modify *
* it under the terms of the GNU General Public License as published by *
* the Free Software Foundation; either version 2 of the License, or *
* (at your option) any later version. *
* *
***************************************************************************/
#include "qgsnmeaconnection.h"
#include "qgslogger.h"
#include <QIODevice>
#include <QApplication>
#include <QStringList>
//from libnmea
#include "parse.h"
#include "gmath.h"
#include "info.h"
// for sqrt
#include <math.h>
#define KNOTS_TO_KMH 1.852
QgsNmeaConnection::QgsNmeaConnection( QIODevice *device )
: QgsGpsConnection( device )
{
}
void QgsNmeaConnection::parseData()
{
if ( !mSource )
{
return;
}
//print out the data as a test
qint64 numBytes = 0;
if ( ! mSource->isSequential() ) //necessary because of a bug in QExtSerialPort //SLM - bytesAvailable() works on Windows, so I reversed the logic (added ! ); this is what QIODevice docs say to do; the orig impl of win_qextserialport had an (unsigned int)-1 return on error - it should be (qint64)-1, which was fixed by ?
{
numBytes = mSource->size();
}
else
{
numBytes = mSource->bytesAvailable();
}
QgsDebugMsgLevel( "numBytes:" + QString::number( numBytes ), 2 );
if ( numBytes >= 6 )
{
if ( mStatus != GPSDataReceived )
{
mStatus = DataReceived;
}
//append new data to the remaining results from last parseData() call
mStringBuffer.append( mSource->read( numBytes ) );
processStringBuffer();
emit stateChanged( mLastGPSInformation );
}
}
void QgsNmeaConnection::processStringBuffer()
{
int endSentenceIndex = 0;
int dollarIndex;
while ( ( endSentenceIndex = mStringBuffer.indexOf( QLatin1String( "\r\n" ) ) ) && endSentenceIndex != -1 )
{
endSentenceIndex = mStringBuffer.indexOf( QLatin1String( "\r\n" ) );
dollarIndex = mStringBuffer.indexOf( QLatin1Char( '$' ) );
if ( endSentenceIndex == -1 )
{
break;
}
if ( endSentenceIndex >= dollarIndex )
{
if ( dollarIndex != -1 )
{
QString substring = mStringBuffer.mid( dollarIndex, endSentenceIndex );
QByteArray ba = substring.toLocal8Bit();
if ( substring.startsWith( QLatin1String( "$GPGGA" ) ) || substring.startsWith( QLatin1String( "$GNGGA" ) ) )
{
QgsDebugMsgLevel( substring, 2 );
processGgaSentence( ba.data(), ba.length() );
mStatus = GPSDataReceived;
QgsDebugMsgLevel( QStringLiteral( "*******************GPS data received****************" ), 2 );
}
else if ( substring.startsWith( QLatin1String( "$GPRMC" ) ) || substring.startsWith( QLatin1String( "$GNRMC" ) ) )
{
QgsDebugMsgLevel( substring, 2 );
processRmcSentence( ba.data(), ba.length() );
mStatus = GPSDataReceived;
QgsDebugMsgLevel( QStringLiteral( "*******************GPS data received****************" ), 2 );
}
else if ( substring.startsWith( QLatin1String( "$GPGSV" ) ) || substring.startsWith( QLatin1String( "$GNGSV" ) ) )
{
QgsDebugMsgLevel( substring, 2 );
processGsvSentence( ba.data(), ba.length() );
mStatus = GPSDataReceived;
QgsDebugMsgLevel( QStringLiteral( "*******************GPS data received****************" ), 2 );
}
else if ( substring.startsWith( QLatin1String( "$GPVTG" ) ) || substring.startsWith( QLatin1String( "$GNVTG" ) ) )
{
QgsDebugMsgLevel( substring, 2 );
processVtgSentence( ba.data(), ba.length() );
mStatus = GPSDataReceived;
QgsDebugMsgLevel( QStringLiteral( "*******************GPS data received****************" ), 2 );
}
else if ( substring.startsWith( QLatin1String( "$GPGSA" ) ) || substring.startsWith( QLatin1String( "$GNGSA" ) ) )
{
QgsDebugMsgLevel( substring, 2 );
processGsaSentence( ba.data(), ba.length() );
mStatus = GPSDataReceived;
QgsDebugMsgLevel( QStringLiteral( "*******************GPS data received****************" ), 2 );
}
else if ( substring.startsWith( QLatin1String( "$GPGST" ) ) || substring.startsWith( QLatin1String( "$GNGST" ) ) )
{
QgsDebugMsgLevel( substring, 2 );
processGstSentence( ba.data(), ba.length() );
mStatus = GPSDataReceived;
QgsDebugMsgLevel( QStringLiteral( "*******************GPS data received****************" ), 2 );
}
else if ( substring.startsWith( QLatin1String( "$GPHDT" ) ) || substring.startsWith( QLatin1String( "$GNHDT" ) ) )
{
QgsDebugMsgLevel( substring, 2 );
processHdtSentence( ba.data(), ba.length() );
mStatus = GPSDataReceived;
QgsDebugMsgLevel( QStringLiteral( "*******************GPS data received****************" ), 2 );
}
else if ( substring.startsWith( QLatin1String( "$HCHDG" ) ) )
{
QgsDebugMsgLevel( substring, 2 );
processHchdgSentence( ba.data(), ba.length() );
mStatus = GPSDataReceived;
QgsDebugMsgLevel( QStringLiteral( "*******************GPS data received****************" ), 2 );
}
else if ( substring.startsWith( QLatin1String( "$HCHDT" ) ) )
{
QgsDebugMsgLevel( substring, 2 );
processHchdtSentence( ba.data(), ba.length() );
mStatus = GPSDataReceived;
QgsDebugMsgLevel( QStringLiteral( "*******************GPS data received****************" ), 2 );
}
else
{
QgsDebugMsgLevel( QStringLiteral( "unknown nmea sentence: %1" ).arg( substring ), 2 );
}
emit nmeaSentenceReceived( substring ); // added to be able to save raw data
}
}
mStringBuffer.remove( 0, endSentenceIndex + 2 );
}
}
void QgsNmeaConnection::processGgaSentence( const char *data, int len )
{
nmeaGPGGA result;
if ( nmea_parse_GPGGA( data, len, &result ) )
{
//update mLastGPSInformation
double longitude = result.lon;
if ( result.ew == 'W' )
{
longitude = -longitude;
}
double latitude = result.lat;
if ( result.ns == 'S' )
{
latitude = -latitude;
}
mLastGPSInformation.longitude = nmea_ndeg2degree( longitude );
mLastGPSInformation.latitude = nmea_ndeg2degree( latitude );
mLastGPSInformation.elevation = result.elv;
mLastGPSInformation.elevation_diff = result.diff;
mLastGPSInformation.quality = result.sig;
mLastGPSInformation.satellitesUsed = result.satinuse;
}
}
void QgsNmeaConnection::processGstSentence( const char *data, int len )
{
nmeaGPGST result;
if ( nmea_parse_GPGST( data, len, &result ) )
{
//update mLastGPSInformation
double sig_lat = result.sig_lat;
double sig_lon = result.sig_lon;
double sig_alt = result.sig_alt;
// Horizontal RMS
mLastGPSInformation.hacc = sqrt( ( pow( sig_lat, 2 ) + pow( sig_lon, 2 ) ) / 2.0 );
// Vertical RMS
mLastGPSInformation.vacc = sig_alt;
// 3D RMS
mLastGPSInformation.hvacc = sqrt( ( pow( sig_lat, 2 ) + pow( sig_lon, 2 ) + pow( sig_alt, 2 ) ) / 3.0 );
}
}
void QgsNmeaConnection::processHdtSentence( const char *data, int len )
{
nmeaGPHDT result;
if ( nmea_parse_GPHDT( data, len, &result ) )
{
mLastGPSInformation.direction = result.heading;
}
}
void QgsNmeaConnection::processHchdgSentence( const char *data, int len )
{
nmeaHCHDG result;
if ( nmea_parse_HCHDG( data, len, &result ) )
{
mLastGPSInformation.direction = result.mag_heading;
if ( result.ew_variation == 'E' )
mLastGPSInformation.direction += result.mag_variation;
else
mLastGPSInformation.direction -= result.mag_variation;
}
}
void QgsNmeaConnection::processHchdtSentence( const char *data, int len )
{
nmeaHCHDT result;
if ( nmea_parse_HCHDT( data, len, &result ) )
{
mLastGPSInformation.direction = result.direction;
}
}
void QgsNmeaConnection::processRmcSentence( const char *data, int len )
{
nmeaGPRMC result;
if ( nmea_parse_GPRMC( data, len, &result ) )
{
double longitude = result.lon;
if ( result.ew == 'W' )
{
longitude = -longitude;
}
double latitude = result.lat;
if ( result.ns == 'S' )
{
latitude = -latitude;
}
mLastGPSInformation.longitude = nmea_ndeg2degree( longitude );
mLastGPSInformation.latitude = nmea_ndeg2degree( latitude );
mLastGPSInformation.speed = KNOTS_TO_KMH * result.speed;
if ( !std::isnan( result.direction ) )
mLastGPSInformation.direction = result.direction;
mLastGPSInformation.status = result.status; // A,V
//date and time
QDate date( result.utc.year + 1900, result.utc.mon + 1, result.utc.day );
QTime time( result.utc.hour, result.utc.min, result.utc.sec, result.utc.msec ); // added msec part
if ( date.isValid() && time.isValid() )
{
mLastGPSInformation.utcDateTime.setTimeSpec( Qt::UTC );
mLastGPSInformation.utcDateTime.setDate( date );
mLastGPSInformation.utcDateTime.setTime( time );
QgsDebugMsgLevel( QStringLiteral( "utc time:" ), 2 );
QgsDebugMsgLevel( mLastGPSInformation.utcDateTime.toString(), 2 );
QgsDebugMsgLevel( QStringLiteral( "local time:" ), 2 );
QgsDebugMsgLevel( mLastGPSInformation.utcDateTime.toLocalTime().toString(), 2 );
}
}
}
void QgsNmeaConnection::processGsvSentence( const char *data, int len )
{
nmeaGPGSV result;
if ( nmea_parse_GPGSV( data, len, &result ) )
{
//clear satellite information when a new series of packs arrives
if ( result.pack_index == 1 )
{
mLastGPSInformation.satellitesInView.clear();
}
// for determining when to graph sat info
mLastGPSInformation.satInfoComplete = ( result.pack_index == result.pack_count );
for ( int i = 0; i < NMEA_SATINPACK; ++i )
{
nmeaSATELLITE currentSatellite = result.sat_data[i];
QgsSatelliteInfo satelliteInfo;
satelliteInfo.azimuth = currentSatellite.azimuth;
satelliteInfo.elevation = currentSatellite.elv;
satelliteInfo.id = currentSatellite.id;
satelliteInfo.inUse = currentSatellite.in_use; // the GSA processing below does NOT set the sats in use
satelliteInfo.signal = currentSatellite.sig;
mLastGPSInformation.satellitesInView.append( satelliteInfo );
}
}
}
void QgsNmeaConnection::processVtgSentence( const char *data, int len )
{
nmeaGPVTG result;
if ( nmea_parse_GPVTG( data, len, &result ) )
{
mLastGPSInformation.speed = result.spk;
}
}
void QgsNmeaConnection::processGsaSentence( const char *data, int len )
{
nmeaGPGSA result;
if ( nmea_parse_GPGSA( data, len, &result ) )
{
mLastGPSInformation.satPrn.clear();
mLastGPSInformation.hdop = result.HDOP;
mLastGPSInformation.pdop = result.PDOP;
mLastGPSInformation.vdop = result.VDOP;
mLastGPSInformation.fixMode = result.fix_mode;
mLastGPSInformation.fixType = result.fix_type;
for ( int i = 0; i < NMEA_MAXSAT; i++ )
{
mLastGPSInformation.satPrn.append( result.sat_prn[ i ] );
}
}
}