From ea8aefcf657335910a97e158e1c4752db9b0a880 Mon Sep 17 00:00:00 2001 From: Michael Bestas Date: Sat, 18 Apr 2020 17:12:06 +0300 Subject: Squashed 'gps/' content from commit 8582827c8 git-subtree-dir: gps git-subtree-split: 8582827c8f8cb19c2eff71f0737e17f3068ba41a --- utils/loc_nmea.h | 92 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 92 insertions(+) create mode 100644 utils/loc_nmea.h (limited to 'utils/loc_nmea.h') diff --git a/utils/loc_nmea.h b/utils/loc_nmea.h new file mode 100644 index 0000000..c6c83db --- /dev/null +++ b/utils/loc_nmea.h @@ -0,0 +1,92 @@ +/* Copyright (c) 2012-2013, 2015-2017 The Linux Foundation. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are + * met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of The Linux Foundation nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED + * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF + * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT + * 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. + * + */ + +#ifndef LOC_ENG_NMEA_H +#define LOC_ENG_NMEA_H + +#include +#include +#include +#define NMEA_SENTENCE_MAX_LENGTH 200 + +/** gnss datum type */ +#define LOC_GNSS_DATUM_WGS84 0 +#define LOC_GNSS_DATUM_PZ90 1 + +/* len of semi major axis of ref ellips*/ +#define MAJA (6378137.0) +/* flattening coef of ref ellipsoid*/ +#define FLAT (1.0/298.2572235630) +/* 1st eccentricity squared*/ +#define ESQR (FLAT*(2.0 - FLAT)) +/*1 minus eccentricity squared*/ +#define OMES (1.0 - ESQR) +#define MILARCSEC2RAD (4.848136811095361e-09) +/*semi major axis */ +#define C_PZ90A (6378136.0) +/*semi minor axis */ +#define C_PZ90B (6356751.3618) +/* Transformation from WGS84 to PZ90 + * Cx,Cy,Cz,Rs,Rx,Ry,Rz,C_SYS_A,C_SYS_B*/ +const double DatumConstFromWGS84[9] = + {+0.003, +0.001, 0.000, (1.0+(0.000*1E-6)), (-0.019*MILARCSEC2RAD), + (+0.042*MILARCSEC2RAD), (-0.002*MILARCSEC2RAD), C_PZ90A, C_PZ90B}; + +/** Represents a LTP*/ +typedef struct { + double lat; + double lon; + double alt; +} LocLla; + +/** Represents a ECEF*/ +typedef struct { + double X; + double Y; + double Z; +} LocEcef; + +void loc_nmea_generate_sv(const GnssSvNotification &svNotify, + std::vector &nmeaArraystr); + +void loc_nmea_generate_pos(const UlpLocation &location, + const GpsLocationExtended &locationExtended, + const LocationSystemInfo &systemInfo, + unsigned char generate_nmea, + std::vector &nmeaArraystr); + +#define DEBUG_NMEA_MINSIZE 6 +#define DEBUG_NMEA_MAXSIZE 4096 +inline bool loc_nmea_is_debug(const char* nmea, int length) { + return ((nullptr != nmea) && + (length >= DEBUG_NMEA_MINSIZE) && (length <= DEBUG_NMEA_MAXSIZE) && + (nmea[0] == '$') && (nmea[1] == 'P') && (nmea[2] == 'Q') && (nmea[3] == 'W')); +} + +#endif // LOC_ENG_NMEA_H -- cgit v1.2.3