C++ NMEAInputLine::read方法代码示例

/**
 * Parses a PFLAU sentence
 * (Operating status and priority intruder and obstacle data)
 * @param String Input string
 * @param params Parameter array
 * @param nparams Number of parameters
 * @param GPS_INFO GPS_INFO struct to parse into
 * @return Parsing success
 * @see http://flarm.com/support/manual/FLARM_DataportManual_v4.06E.pdf
 */
bool
NMEAParser::PFLAU(NMEAInputLine &line, FLARM_STATE &flarm)
{
  static int old_flarm_rx = 0;

  flarm.FLARM_Available = true;
  isFlarm = true;

  // PFLAU,<RX>,<TX>,<GPS>,<Power>,<AlarmLevel>,<RelativeBearing>,<AlarmType>,
  //   <RelativeVertical>,<RelativeDistance>(,<ID>)
  flarm.FLARM_RX = line.read(0);
  flarm.FLARM_TX = line.read(0);
  flarm.FLARM_GPS = line.read(0);
  line.skip();
  flarm.FLARM_AlarmLevel = line.read(0);

  // process flarm updates

  if (flarm.FLARM_RX && old_flarm_rx == 0)
    // traffic has appeared..
    InputEvents::processGlideComputer(GCE_FLARM_TRAFFIC);

  if (flarm.FLARM_RX == 0 && old_flarm_rx)
    // traffic has disappeared..
    InputEvents::processGlideComputer(GCE_FLARM_NOTRAFFIC);

  // TODO feature: add another event for new traffic.

  old_flarm_rx = flarm.FLARM_RX;

  return false;
}

bool
VegaDevice::PDVSC(NMEAInputLine &line, gcc_unused NMEAInfo &info)
{
  char responsetype[10];
  line.read(responsetype, 10);

  char name[80];
  line.read(name, 80);

  if (strcmp(name, "ERROR") == 0)
    // ignore error responses...
    return true;

  int value = line.read(0);

  if (strcmp(name, "ToneDeadbandCruiseLow") == 0)
    value = std::max(value, -value);
  if (strcmp(name, "ToneDeadbandCirclingLow") == 0)
    value = std::max(value, -value);

  settings_mutex.Lock();
  settings[name] = value;
  settings_mutex.Unlock();

  return true;
}

/**
 * Parses a GSA sentence
 *
 * $--GSA,a,a,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x*hh
 *
 * Field Number:
 *  1) Selection mode
 *	       M=Manual, forced to operate in 2D or 3D
 *	       A=Automatic, 3D/2D
 *  2) Mode (1 = no fix, 2 = 2D fix, 3 = 3D fix)
 *  3) ID of 1st satellite used for fix
 *  4) ID of 2nd satellite used for fix
 *  ...
 *  14) ID of 12th satellite used for fix
 *  15) PDOP
 *  16) HDOP
 *  17) VDOP
 *  18) checksum
 * @param String Input string
 * @param params Parameter array
 * @param nparams Number of parameters
 * @param info NMEA_INFO struct to parse into
 * @return Parsing success
 */
bool
NMEAParser::GSA(NMEAInputLine &line, NMEAInfo &info)
{
  line.skip();

  if (line.read(0) == 1)
    info.location_available.Clear();

  // satellites are in items 4-15 of GSA string (4-15 is 1-indexed)
  for (unsigned i = 0; i < GPSState::MAXSATELLITES; i++)
    info.gps.satellite_ids[i] = line.read(0);

  return true;
}

/**
 * Parses a GLL sentence
 *
 * $--GLL,llll.ll,a,yyyyy.yy,a,hhmmss.ss,a,m,*hh
 *
 * Field Number:
 *  1) Latitude
 *  2) N or S (North or South)
 *  3) Longitude
 *  4) E or W (East or West)
 *  5) Universal Time Coordinated (UTC)
 *  6) Status A - Data Valid, V - Data Invalid
 *  7) FAA mode indicator (NMEA 2.3 and later)
 *  8) Checksum
 * @param String Input string
 * @param params Parameter array
 * @param nparams Number of parameters
 * @param info NMEA_INFO struct to parse into
 * @return Parsing success
 */
bool
NMEAParser::GLL(NMEAInputLine &line, NMEAInfo &info)
{
  GeoPoint location;
  bool valid_location = ReadGeoPoint(line, location);

  fixed ThisTime = TimeModify(line.read(fixed_zero), info.date_time_utc,
                              info.date_available);
  ThisTime = TimeAdvanceTolerance(ThisTime);

  bool gpsValid = !NAVWarn(line.read_first_char());

  if (!TimeHasAdvanced(ThisTime, info))
    return true;

  if (!gpsValid)
    info.location_available.Clear();
  else if (valid_location)
    info.location_available.Update(info.clock);

  if (valid_location)
    info.location = location;

  info.gps.real = real;
#ifdef ANDROID
  info.gps.android_internal_gps = false;
#endif

  return true;
}

/**
 * Parses a GLL sentence
 *
 * $--GLL,llll.ll,a,yyyyy.yy,a,hhmmss.ss,a,m,*hh
 *
 * Field Number:
 *  1) Latitude
 *  2) N or S (North or South)
 *  3) Longitude
 *  4) E or W (East or West)
 *  5) Universal Time Coordinated (UTC)
 *  6) Status A - Data Valid, V - Data Invalid
 *  7) FAA mode indicator (NMEA 2.3 and later)
 *  8) Checksum
 * @param String Input string
 * @param params Parameter array
 * @param nparams Number of parameters
 * @param GPS_INFO GPS_INFO struct to parse into
 * @return Parsing success
 */
bool
NMEAParser::GLL(NMEAInputLine &line, NMEA_INFO *GPS_INFO)
{
  GeoPoint location;
  bool valid_location = ReadGeoPoint(line, location);

  fixed ThisTime = TimeModify(line.read(fixed_zero), GPS_INFO->DateTime);

  gpsValid = !NAVWarn(line.read_first_char());

  if (!activeGPS)
    return true;

  if (GPS_INFO->gps.Replay)
    // block actual GPS signal
    return true;

  GPS_INFO->gps.NAVWarning = !gpsValid;

  if (!TimeHasAdvanced(ThisTime, GPS_INFO))
    return false;

  if (valid_location)
    GPS_INFO->Location = location;
  else
    GPS_INFO->gps.NAVWarning = true;

  return true;
}

static bool
LXWP0(NMEAInputLine &line, NMEA_INFO *GPS_INFO, bool enable_baro)
{
  /*
  $LXWP0,Y,222.3,1665.5,1.71,,,,,,239,174,10.1

   0 loger_stored (Y/N)
   1 IAS (kph) ----> Condor uses TAS!
   2 baroaltitude (m)
   3-8 vario (m/s) (last 6 measurements in last second)
   9 heading of plane
  10 windcourse (deg)
  11 windspeed (kph)
  */

  line.skip();

  fixed airspeed;
  GPS_INFO->AirspeedAvailable = line.read_checked(airspeed);

  fixed alt = line.read(fixed_zero);

  if (GPS_INFO->AirspeedAvailable) {
    GPS_INFO->TrueAirspeed = Units::ToSysUnit(airspeed, unKiloMeterPerHour);
    GPS_INFO->IndicatedAirspeed =
      GPS_INFO->TrueAirspeed / AtmosphericPressure::AirDensityRatio(alt);
  }

  if (enable_baro) {
    GPS_INFO->BaroAltitudeAvailable = true;
    GPS_INFO->BaroAltitude = alt; // ToDo check if QNH correction is needed!
  }

  GPS_INFO->TotalEnergyVarioAvailable =
    line.read_checked(GPS_INFO->TotalEnergyVario);

  line.skip(6);

  GPS_INFO->ExternalWindAvailable = ReadSpeedVector(line, GPS_INFO->wind);

  TriggerVarioUpdate();

  return true;
}

static bool
PZAN5(NMEAInputLine &line, NMEA_INFO *GPS_INFO)
{
  // $PZAN5,VA,MUEHL,123.4,KM,T,234*cc

  char state[3];
  line.read(state, 3);

  if (strcmp(state, "SF") == 0) {
    GPS_INFO->SwitchState.FlightMode = SWITCH_INFO::MODE_CRUISE;
    GPS_INFO->SwitchState.SpeedCommand = true;
  } else if (strcmp(state, "VA") == 0) {
    GPS_INFO->SwitchState.FlightMode = SWITCH_INFO::MODE_CIRCLING;
    GPS_INFO->SwitchState.SpeedCommand = false;
  } else
    return false;

  GPS_INFO->SwitchStateAvailable = true;
  return true;
}

// RMN: Volkslogger
// Source data:
// $PGCS,1,0EC0,FFF9,0C6E,02*61
// $PGCS,1,0EC0,FFFA,0C6E,03*18
static bool
vl_PGCS1(NMEAInputLine &line, NMEA_INFO *GPS_INFO, bool enable_baro)
{
  GPS_STATE &gps = GPS_INFO->gps;

  if (line.read(1) != 1)
    return false;

  /* pressure sensor */
  line.skip();

  // four characers, hex, barometric altitude
  long altitude = line.read_hex(0L);

  if (enable_baro) {
    if (altitude > 60000)
      /* Assuming that altitude has wrapped around.  60 000 m occurs
         at QNH ~2000 hPa */
      altitude -= 65535;

    GPS_INFO->BaroAltitude =
      GPS_INFO->pressure.AltitudeToQNHAltitude(fixed(altitude));

    GPS_INFO->BaroAltitudeAvailable = true;
  }

  // ExtractParameter(String,ctemp,3);
  // four characters, hex, constant.  Value 1371 (dec)

  // nSatellites = (int)(min(12,HexStrToDouble(ctemp, NULL)));

  if (gps.SatellitesUsed <= 0) {
    gps.SatellitesUsed = 4;
    // just to make XCSoar quit complaining.  VL doesn't tell how many
    // satellites it uses.  Without this XCSoar won't do wind
    // measurements.
  }

  return false;
}

/**
 * Parses an angle in the form "DDDMM.SSS".  Minutes are 0..59, and
 * seconds are 0..999.
 */
static bool
ReadPositiveAngle(NMEAInputLine &line, Angle &a)
{
  char buffer[32], *endptr;
  line.read(buffer, sizeof(buffer));

  char *dot = strchr(buffer, '.');
  if (dot < buffer + 3)
    return false;

  double x = strtod(dot - 2, &endptr);
  if (x < 0 || x >= 60 || *endptr != 0)
    return false;

  dot[-2] = 0;
  long y = strtol(buffer, &endptr, 10);
  if (y < 0 || endptr == buffer || *endptr != 0)
    return false;

  a = Angle::degrees(fixed(y) + fixed(x) / 60);
  return true;
}

static bool
ReadDate(NMEAInputLine &line, BrokenDate &date)
{
  char buffer[9];
  line.read(buffer, 9);

  if (strlen(buffer) != 6)
    return false;

  BrokenDate new_value;
  new_value.year = atoi(buffer + 4) + 2000;
  buffer[4] = '\0';
  new_value.month = atoi(buffer + 2);
  buffer[2] = '\0';
  new_value.day = atoi(buffer);

  if (!new_value.Plausible())
    return false;

  date = new_value;
  return true;
}

/**
 * Parses a PFLAA sentence
 * (Data on other moving objects around)
 * @param String Input string
 * @param params Parameter array
 * @param nparams Number of parameters
 * @param GPS_INFO GPS_INFO struct to parse into
 * @return Parsing success
 * @see http://flarm.com/support/manual/FLARM_DataportManual_v4.06E.pdf
 */
bool
NMEAParser::PFLAA(NMEAInputLine &line, NMEA_INFO *GPS_INFO)
{
  FLARM_STATE &flarm = GPS_INFO->flarm;

  isFlarm = true;

  // calculate relative east and north projection to lat/lon

  Angle delta_lat = Angle::degrees(fixed(0.01));
  Angle delta_lon = Angle::degrees(fixed(0.01));

  GeoPoint plat = GPS_INFO->Location;
  plat.Latitude += delta_lat;
  GeoPoint plon = GPS_INFO->Location;
  plon.Longitude += delta_lon;

  fixed dlat = Distance(GPS_INFO->Location, plat);
  fixed dlon = Distance(GPS_INFO->Location, plon);

  fixed FLARM_NorthingToLatitude(0);
  fixed FLARM_EastingToLongitude(0);

  if (positive(fabs(dlat)) && positive(fabs(dlon))) {
    FLARM_NorthingToLatitude = delta_lat.value_degrees() / dlat;
    FLARM_EastingToLongitude = delta_lon.value_degrees() / dlon;
  }

  // PFLAA,<AlarmLevel>,<RelativeNorth>,<RelativeEast>,<RelativeVertical>,
  //   <IDType>,<ID>,<Track>,<TurnRate>,<GroundSpeed>,<ClimbRate>,<AcftType>
  FLARM_TRAFFIC traffic;
  traffic.AlarmLevel = line.read(0);
  traffic.RelativeNorth = line.read(fixed_zero);
  traffic.RelativeEast = line.read(fixed_zero);
  traffic.RelativeAltitude = line.read(fixed_zero);
  traffic.IDType = line.read(0);

  // 5 id, 6 digit hex
  char id_string[16];
  line.read(id_string, 16);
  traffic.ID.parse(id_string, NULL);

  traffic.TrackBearing = Angle::degrees(line.read(fixed_zero));
  traffic.TurnRate = line.read(fixed_zero);
  traffic.Speed = line.read(fixed_zero);
  traffic.ClimbRate = line.read(fixed_zero);
  traffic.Type = (FLARM_TRAFFIC::AircraftType)line.read(0);

  FLARM_TRAFFIC *flarm_slot = flarm.FindTraffic(traffic.ID);
  if (flarm_slot == NULL) {
    flarm_slot = flarm.AllocateTraffic();
    if (flarm_slot == NULL)
      // no more slots available
      return false;

    flarm_slot->ID = traffic.ID;

    flarm.NewTraffic = true;
    InputEvents::processGlideComputer(GCE_FLARM_NEWTRAFFIC);
  }

  // set time of fix to current time
  flarm_slot->Time_Fix = GPS_INFO->Time;

  // PFLAA,<AlarmLevel>,<RelativeNorth>,<RelativeEast>,<RelativeVertical>,
  //   <IDType>,<ID>,<Track>,<TurnRate>,<GroundSpeed>,<ClimbRate>,<AcftType>
  flarm_slot->AlarmLevel = traffic.AlarmLevel;
  flarm_slot->RelativeNorth = traffic.RelativeNorth;
  flarm_slot->RelativeEast = traffic.RelativeEast;
  flarm_slot->RelativeAltitude = traffic.RelativeAltitude;
  flarm_slot->IDType = traffic.IDType;
  flarm_slot->TrackBearing = traffic.TrackBearing;
  flarm_slot->TurnRate = traffic.TurnRate;
  flarm_slot->Speed = traffic.Speed;
  flarm_slot->ClimbRate = traffic.ClimbRate;
  flarm_slot->Type = traffic.Type;

  // 1 relativenorth, meters
  flarm_slot->Location.Latitude = Angle::degrees(flarm_slot->RelativeNorth
                                        * FLARM_NorthingToLatitude) + GPS_INFO->Location.Latitude;

  // 2 relativeeast, meters
  flarm_slot->Location.Longitude = Angle::degrees(flarm_slot->RelativeEast
                                         * FLARM_EastingToLongitude) + GPS_INFO->Location.Longitude;

  // alt
  flarm_slot->Altitude = flarm_slot->RelativeAltitude + GPS_INFO->GPSAltitude;

  flarm_slot->Average30s = flarmCalculations.Average30s(flarm_slot->ID,
                                                        GPS_INFO->Time,
//.........这里部分代码省略.........

/**
 * Parses a GGA sentence
 *
 * $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh
 *
 * Field Number:
 *  1) Universal Time Coordinated (UTC)
 *  2) Latitude
 *  3) N or S (North or South)
 *  4) Longitude
 *  5) E or W (East or West)
 *  6) GPS Quality Indicator,
 *     0 - fix not available,
 *     1 - GPS fix,
 *     2 - Differential GPS fix
 *     (values above 2 are 2.3 features)
 *     3 = PPS fix
 *     4 = Real Time Kinematic
 *     5 = Float RTK
 *     6 = estimated (dead reckoning)
 *     7 = Manual input mode
 *     8 = Simulation mode
 *  7) Number of satellites in view, 00 - 12
 *  8) Horizontal Dilution of precision (meters)
 *  9) Antenna Altitude above/below mean-sea-level (geoid) (in meters)
 * 10) Units of antenna altitude, meters
 * 11) Geoidal separation, the difference between the WGS-84 earth
 *     ellipsoid and mean-sea-level (geoid), "-" means mean-sea-level
 *     below ellipsoid
 * 12) Units of geoidal separation, meters
 * 13) Age of differential GPS data, time in seconds since last SC104
 *     type 1 or 9 update, null field when DGPS is not used
 * 14) Differential reference station ID, 0000-1023
 * 15) Checksum
 * @param String Input string
 * @param params Parameter array
 * @param nparams Number of parameters
 * @param GPS_INFO GPS_INFO struct to parse into
 * @return Parsing success
 */
bool
NMEAParser::GGA(NMEAInputLine &line, NMEA_INFO *GPS_INFO)
{
  GPS_STATE &gps = GPS_INFO->gps;

  if (gps.Replay)
    return true;

  GGAAvailable = true;

  fixed ThisTime = TimeModify(line.read(fixed_zero), GPS_INFO->DateTime);

  GeoPoint location;
  bool valid_location = ReadGeoPoint(line, location);

  gps.FixQuality = line.read(0);
  if (gps.FixQuality != 1 && gps.FixQuality != 2)
    gpsValid = false;

  int nSatellites = min(16, line.read(0));
  if (nSatellites == 0)
    gpsValid = false;

  if (!activeGPS)
    return true;

  gps.SatellitesUsed = nSatellites;

  if (!TimeHasAdvanced(ThisTime, GPS_INFO))
    return false;

  if (valid_location)
    GPS_INFO->Location = location;
  else
    GPS_INFO->gps.NAVWarning = true;

  gps.HDOP = line.read(fixed_zero);

  if (RMZAvailable) {
    GPS_INFO->BaroAltitudeAvailable = true;
    GPS_INFO->BaroAltitude = RMZAltitude;
  } else if (RMAAvailable) {
    GPS_INFO->BaroAltitudeAvailable = true;
    GPS_INFO->BaroAltitude = RMAAltitude;
  }

  // VENTA3 CONDOR ALTITUDE
  // "Altitude" should always be GPS Altitude.

  bool altitude_available = ReadAltitude(line, GPS_INFO->GPSAltitude);
  if (!altitude_available)
    GPS_INFO->GPSAltitude = fixed_zero;

  fixed GeoidSeparation;
  if (ReadAltitude(line, GeoidSeparation)) {
    // No real need to parse this value,
    // but we do assume that no correction is required in this case

    if (!altitude_available)
      /* Some devices, such as the "LG Incite Cellphone" seem to be
//.........这里部分代码省略.........