This product is licensed for use and distribution under the BSD Open Source License.
see the file COPYING for more details.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
-OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
-OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
-OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
-WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
-OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
-EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
+OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
extern "C" {
#endif
-/*
+/*
============================================
COMPILE TIME CONFIGURATION CONSTANTS
============================================
*/
+#define NDEBUG
+
/* these constants affect the size of the context object. tweak them as desired but know what you are doing */
/** maximum number of sentence parsers supported */
struct nmeap_context;
struct nmeap_sentence;
-/*
+/*
============================================
CALLOUTS
============================================
* the callout must cast the 'sentence_data' to the appropriate type for that callout
* @param context nmea object context
* @param sentence_data sentence specific data
-*/
+*/
typedef void (*nmeap_callout_t)(struct nmeap_context *context,void *sentence_data,void *user_data);
/**
* @param context nmea object context
* @param sentence_data sentence specific data
* @return id of sentence (each sentence parser knows its own ID)
-*/
+*/
typedef int (*nmeap_sentence_parser_t)(struct nmeap_context *context,struct nmeap_sentence *sentence);
#include "nmeap_def.h"
-/*
+/*
============================================
STANDARD SENTENCE DATA STRUCTURES
============================================
typedef struct nmeap_rmc nmeap_rmc_t;
-/*
+/*
============================================
METHODS
============================================
* @param context nmea object context
* @param sentence_name string matching the sentence name for this parser. e.g. "GPGGA". not including the '$'
* @param sentence_parser parser function for this sentence
- * @param sentence_callout callout triggered when this sentence is received and parsed.
+ * @param sentence_callout callout triggered when this sentence is received and parsed.
* if null, no callout is triggered for this sentence
* @param sentence_data user allocated sentence specific data defined by the application. the parser uses
this data item to store the extracted data. This data object needs to persist over the life
- of the parser, so be careful if allocated on the stack.
+ of the parser, so be careful if allocated on the stack.
* @return 0 if registered ok, -1 if registration failed
*/
int nmeap_addParser(nmeap_context_t *context,
void *sentence_data
);
-/**
+/**
* parse a buffer of nmea data.
* @param context nmea object context
* @param buffer buffer of input characters
*/
int nmeap_parseBuffer(nmeap_context_t *context,const char *buffer,int *length);
-/**
+/**
* parse one character of nmea data.
* @param context nmea object context
* @param ch input character
- * @return -1 if error, 0 if the data did not complete a sentence, sentence code if a sentence was found in the stream
+ * @return -1 if error, 0 if the data did not complete a sentence, sentence code if a sentence was found in the stream
*/
int nmeap_parse(nmeap_context_t *context,char ch);
-/**
+/**
* built-in parser for GGA sentences.
* @param context nmea object context
* @param sentence sentence object for this parser
*/
int nmeap_gpgga(nmeap_context_t *context,nmeap_sentence_t *sentence);
-/**
+/**
* built-in parser for RMC sentences.
* @param context nmea object context
* @param sentence sentence object for this parser
*/
double nmeap_longitude(const char *plat,const char *phem);
+
+/**
+ * extract altitude from 2 tokens in xx.x format.
+ * @param palt pointer to token with numerical altitude
+ * @param punits pointer to token with measure unint
+ * @return altitude in meter or feet
+ */
+double nmeap_altitude(const char *palt,const char *punits);
+
#ifdef __cplusplus
} // extern C
#endif
This product is licensed for use and distribution under the BSD Open Source License.
see the file COPYING for more details.
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
-ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
-LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
-OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
-OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
-OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
-WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
-OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
-EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY,
+OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
+OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
/**
* nmeap01.c
* nmeap gps data parser
- *
+ *
* see the file COPYING for terms of the licnese
-*/
-
-
-#include <stdio.h>
-#include <stdlib.h>
+*/
+
#include <string.h>
-#include <assert.h>
+#include <stdlib.h>
+#include <cfg/debug.h>
#include <ctype.h>
-#include "nmeap.h"
+
+#include "../inc/nmeap.h"
+
+#define assert(x) ASSERT(x)
+
+/*
+ * Removed to compile in BeRTOS environment.
+ *
+ * #include <stdio.h>
+ * #include <stdlib.h>
+ * #include <string.h>
+ * #include <cfg/debug.h>
+ * #include <assert.h>
+ * #include <ctype.h>
+ *
+ * #include "nmeap.h"
+ *
+ */
+
/* this only works if you are sure you have an upper case hex digit */
#define HEXTOBIN(ch) ((ch <= '9') ? ch - '0' : ch - ('A' - 10))
int nmeap_parseBuffer(nmeap_context_t *context,const char *buffer,int *length);
/**
- * get a latitude out of a pair of nmea tokens
+ * get a latitude out of a pair of nmea tokens
*/
double nmeap_latitude(const char *plat,const char *phem)
{
int deg;
double min;
int ns;
-
+
assert(plat != 0);
assert(phem != 0);
-
+
if (*plat == 0) {
return 0.0;
}
if (*phem == 0) {
return 0.0;
}
-
+
/* north lat is +, south lat is - */
if (*phem == 'N') {
ns = 1;
else {
ns = -1;
}
-
+
/* latitude is degrees, minutes, fractional minutes */
/* no validation is performed on the token. it better be good.*/
/* if it comes back 0.0 then probably the token was bad */
lat = atof(plat);
-
+
/* extract the degree part */
deg = (int)(lat / 100.0);
-
+
/* mask out the degrees */
min = lat - (deg * 100.0);
-
+
/* compute the actual latitude in degrees.decimal-degrees */
lat = (deg + (min / 60.0)) * ns;
-
+
return lat;
}
/**
- * get a longitude out of a pair of nmea tokens
+ * get a longitude out of a pair of nmea tokens
*/
double nmeap_longitude(const char *plon,const char *phem)
{
int deg;
double min;
int ew;
-
+
assert(plon != 0);
assert(phem != 0);
-
+
if (*plon == 0) {
return 0.0;
}
if (*phem == 0) {
return 0.0;
}
-
+
/* west long is negative, east long is positive */
if (*phem == 'E') {
ew = 1;
else {
ew = -1;
}
-
+
/* longitude is degrees, minutes, fractional minutes */
/* no validation is performed on the token. it better be good.*/
/* if it comes back 0.0 then probably the token was bad */
lon = atof(plon);
-
+
/* extract the degree part */
deg = (int)(lon / 100.0);
-
+
/* mask out the degrees */
min = lon - (deg * 100.0);
-
+
/* compute the actual lonitude in degrees.decimal-degrees */
lon = (deg + (min / 60.0)) * ew;
-
+
return lon;
}
/**
* get an altitude longitude out of a pair of nmea tokens
- * ALTITUDE is returned in METERS
+ * ALTITUDE is returned in METERS
*/
double nmeap_altitude(const char *palt,const char *punits)
{
double alt;
-
+
if (*palt == 0) {
return 0.0;
}
-
+
/* convert with no error checking */
alt = atof(palt);
-
+
if (*punits == 'M') {
- /* already in meters */
+ /* already in meters */
}
else if (*punits == 'F') {
/* convert to feet */
alt = alt * 3.2808399;
}
-
+
return alt;
}
context->user_data = user_data;
- return 0;
+ return 0;
}
-
/**
* register an NMEA sentence parser
*/
)
{
nmeap_sentence_t *s = 0;
-
+
/* runtime error */
assert(context != 0);
-
+
/* sentence capacity overflow */
if (context->sentence_count >= NMEAP_MAX_SENTENCES) {
return -1;
}
-
+
/* point at next empty sentence buffer */
s = &context->sentence[context->sentence_count];
-
+
/* advance sentence data count */
context->sentence_count++;
-
+
/* clear the sentence data */
memset(s,0,sizeof(*s));
-
+
/* name */
strncpy(s->name,sentence_name,NMEAP_MAX_SENTENCE_NAME_LENGTH);
-
+
/* parser */
s->parser = sentence_parser;
-
+
/* callout */
s->callout = sentence_callout;
-
+
/* data */
s->data = sentence_data;
return 0;
}
-/**
+/**
* tokenize a buffer
*/
int nmeap_tokenize(nmeap_context_t *context)
char *s;
int tokens;
int state;
-
+
/* first token is header. assume it is there */
tokens = 0;
s = context->input;
context->token[tokens] = s;
-
+
/* get rest of tokens */
tokens = 1;
state = 0;
/* delimit at the comma */
*s = 0;
}
- else {
+ else {
/* not a comma */
state = 0;
}
state = 0;
break;
}
-
+
// next character
s++;
}
}
/**
- * process a sentence
+ * process a sentence
*/
int nmeap_process(nmeap_context_t *context)
{
int id;
int i;
nmeap_sentence_t *s;
-
+
/* copy the input to a debug buffer */
/* remove debug_input when everything is working. */
strncpy(context->debug_input,context->input,sizeof(context->debug_input));
-
+
/* tokenize the input */
context->tokens = nmeap_tokenize(context);
-
+
/* try to find a matching sentence parser */
/* this search is O(n). it has a lot of potential for optimization, at the expense of complexity, if you have a lot of sentences */
/* binary search instead of linear (have to keep sentences in sorted order) O(NlogN) */
}
}
}
-
+
return id;
}
+------+ +------+ +------+
|3-cks |--xdigit-->|4-cks |-xdigit->| 5-CR |
+------+ +------+ +------+
-
+
return to start conditions:
1. buffer overflow
2. invalid character for state
int nmeap_parse(nmeap_context_t *context,char ch)
{
int status = 0;
-
+
/* check for input buffer overrun first to avoid duplicating code in the
individual states
*/
- if (context->input_count >= (sizeof(context->input)-1)) {
+ if ((size_t)context->input_count >= (sizeof(context->input)-1)) {
/* input buffer overrun, restart state machine */
context->input_state = 0;
/* reset input count */
context->input_count = 0;
}
-
+
/* store the byte */
context->input[context->input_count] = ch;
-
+
/* next buffer position */
context->input_count++;
-
+
/* run it through the lexical scanner */
switch(context->input_state) {
/* LOOKING FOR $ */
case 6:
if (ch == '\n') {
/* linefeed, line complete */
-
+
/* delimit buffer */
context->input[context->input_count] = 0;
-
+
/* if the checksums match, process the sentence */
if (context->ccks == context->icks) {
/* process */
status = nmeap_process(context);
-
+
/* count good messages */
context->msgs++;
}
/* count checksum errors */
context->err_cks++;
}
-
+
/* restart next time */
context->input_state = 0;
context->input_count = 0;
context->input_state = 0;
break;
}
-
+
return status;
}
-/**
+/**
* parse a buffer of nmea data
*/
int nmeap_parseBuffer(nmeap_context_t *context,const char *buffer,int *length)
int status;
int rem;
int tlen;
-
+
tlen = *length;
rem = *length;
status = 0;
break;
}
}
-
+
/* return remaining byte count */
*length = rem;
-
+
return status;
}
-/**
- * standard GPGGA sentence parser
+/**
+ * standard GPGGA sentence parser
*/
int nmeap_gpgga(nmeap_context_t *context,nmeap_sentence_t *sentence)
{
-#ifndef NDEBUG
+#ifndef NDEBUG
int i;
#endif
-
+
/* get pointer to sentence data */
nmeap_gga_t *gga = (nmeap_gga_t *)sentence->data;
-
+
/* if there is a data element, extract data from the tokens */
if (gga != 0) {
gga->latitude = nmeap_latitude(context->token[2],context->token[3]);
gga->geoid = nmeap_altitude(context->token[11],context->token[12]);
}
-#ifndef NDEBUG
+#ifndef NDEBUG
/* print raw input string */
printf("%s",context->debug_input);
-
+
/* print some validation data */
printf("%s==%s %02x==%02x\n",context->input_name,sentence->name,context->icks,context->ccks);
-
+
/* print the tokens */
for(i=0;i<context->tokens;i++) {
printf("%d:%s\n",i,context->token[i]);
}
-#endif
+#endif
/* if the sentence has a callout, call it */
if (sentence->callout != 0) {
(*sentence->callout)(context,gga,context->user_data);
}
-
+
return NMEAP_GPGGA;
}
-/**
- * standard GPRMCntence parser
+/**
+ * standard GPRMCntence parser
*/
int nmeap_gprmc(nmeap_context_t *context,nmeap_sentence_t *sentence)
{
-#ifndef NDEBUG
+#ifndef NDEBUG
int i;
#endif
/* get pointer to sentence data */
nmeap_rmc_t *rmc = (nmeap_rmc_t *)sentence->data;
-
+
/* if there is a data element, use it */
if (rmc != 0) {
/* extract data from the tokens */
rmc->magvar = atof(context->token[10]);
}
-#ifndef NDEBUG
+#ifndef NDEBUG
/* print raw input string */
printf("%s",context->debug_input);
-
+
/* print some validation data */
printf("%s==%s %02x==%02x\n",context->input_name,sentence->name,context->icks,context->ccks);
-
+
/* print the tokens */
for(i=0;i<context->tokens;i++) {
printf("%d:%s\n",i,context->token[i]);
}
-#endif
+#endif
/* if the sentence has a callout, call it */
if (sentence->callout != 0) {
(*sentence->callout)(context,rmc,context->user_data);
}
-
+
return NMEAP_GPRMC;
}
projects / bertos.git / commitdiff