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/*
* This file is Copyright (c) 2010 by the GPSD project
* BSD terms apply: see the file COPYING in the distribution root for details.
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <time.h>
#include "gpsd.h"
/*
* Support for generic binary drivers. These functions dump NMEA for passing
* to the client in raw mode. They assume that (a) the public gps.h structure
* members are in a valid state, (b) that the private members hours, minutes,
* and seconds have also been filled in, (c) that if the private member
* mag_var is not NAN it is a magnetic variation in degrees that should be
* passed on, and (d) if the private member separation does not have the
* value NAN, it is a valid WGS84 geoidal separation in meters for the fix.
*/
static double degtodm(double angle)
/* decimal degrees to GPS-style, degrees first followed by minutes */
{
double fraction, integer;
fraction = modf(angle, &integer);
return floor(angle) * 100 + fraction * 60;
}
/*@ -mustdefine @*/
void gpsd_position_fix_dump(struct gps_device_t *session,
/*@out@*/ char bufp[], size_t len)
{
struct tm tm;
time_t intfixtime;
intfixtime = (time_t) session->gpsdata.fix.time;
(void)gmtime_r(&intfixtime, &tm);
if (session->gpsdata.fix.mode > MODE_NO_FIX) {
(void)snprintf(bufp, len,
"$GPGGA,%02d%02d%02d,%09.4f,%c,%010.4f,%c,%d,%02d,",
tm.tm_hour,
tm.tm_min,
tm.tm_sec,
degtodm(fabs(session->gpsdata.fix.latitude)),
((session->gpsdata.fix.latitude > 0) ? 'N' : 'S'),
degtodm(fabs(session->gpsdata.fix.longitude)),
((session->gpsdata.fix.longitude > 0) ? 'E' : 'W'),
session->gpsdata.status,
session->gpsdata.satellites_used);
if (isnan(session->gpsdata.dop.hdop))
(void)strlcat(bufp, ",", len);
else
(void)snprintf(bufp + strlen(bufp), len - strlen(bufp),
"%.2f,", session->gpsdata.dop.hdop);
if (isnan(session->gpsdata.fix.altitude))
(void)strlcat(bufp, ",", len);
else
(void)snprintf(bufp + strlen(bufp), len - strlen(bufp),
"%.2f,M,", session->gpsdata.fix.altitude);
if (isnan(session->gpsdata.separation))
(void)strlcat(bufp, ",", len);
else
(void)snprintf(bufp + strlen(bufp), len - strlen(bufp),
"%.3f,M,", session->gpsdata.separation);
if (isnan(session->mag_var))
(void)strlcat(bufp, ",", len);
else {
(void)snprintf(bufp + strlen(bufp),
len - strlen(bufp),
"%3.2f,", fabs(session->mag_var));
(void)strlcat(bufp, (session->mag_var > 0) ? "E" : "W", len);
}
nmea_add_checksum(bufp);
}
}
/*@ +mustdefine @*/
static void gpsd_transit_fix_dump(struct gps_device_t *session,
char bufp[], size_t len)
{
struct tm tm;
time_t intfixtime;
tm.tm_mday = tm.tm_mon = tm.tm_year = tm.tm_hour = tm.tm_min = tm.tm_sec =
0;
if (isnan(session->gpsdata.fix.time) == 0) {
intfixtime = (time_t) session->gpsdata.fix.time;
(void)gmtime_r(&intfixtime, &tm);
tm.tm_mon++;
tm.tm_year %= 100;
}
#define ZEROIZE(x) (isnan(x)!=0 ? 0.0 : x)
/*@ -usedef @*/
(void)snprintf(bufp, len,
"$GPRMC,%02d%02d%02d,%c,%09.4f,%c,%010.4f,%c,%.4f,%.3f,%02d%02d%02d,,",
tm.tm_hour,
tm.tm_min,
tm.tm_sec,
session->gpsdata.status ? 'A' : 'V',
ZEROIZE(degtodm(fabs(session->gpsdata.fix.latitude))),
((session->gpsdata.fix.latitude > 0) ? 'N' : 'S'),
ZEROIZE(degtodm(fabs(session->gpsdata.fix.longitude))),
((session->gpsdata.fix.longitude > 0) ? 'E' : 'W'),
ZEROIZE(session->gpsdata.fix.speed * MPS_TO_KNOTS),
ZEROIZE(session->gpsdata.fix.track),
tm.tm_mday, tm.tm_mon, tm.tm_year);
/*@ +usedef @*/
#undef ZEROIZE
nmea_add_checksum(bufp);
}
static void gpsd_binary_satellite_dump(struct gps_device_t *session,
char bufp[], size_t len)
{
int i;
char *bufp2 = bufp;
bufp[0] = '\0';
for (i = 0; i < session->gpsdata.satellites_visible; i++) {
if (i % 4 == 0) {
bufp += strlen(bufp);
bufp2 = bufp;
len -= snprintf(bufp, len,
"$GPGSV,%d,%d,%02d",
((session->gpsdata.satellites_visible - 1) / 4) +
1, (i / 4) + 1,
session->gpsdata.satellites_visible);
}
bufp += strlen(bufp);
if (i < session->gpsdata.satellites_visible)
len -= snprintf(bufp, len,
",%02d,%02d,%03d,%02.0f",
session->gpsdata.PRN[i],
session->gpsdata.elevation[i],
session->gpsdata.azimuth[i],
session->gpsdata.ss[i]);
if (i % 4 == 3 || i == session->gpsdata.satellites_visible - 1) {
nmea_add_checksum(bufp2);
len -= 5;
}
}
#ifdef ZODIAC_ENABLE
if (session->packet.type == ZODIAC_PACKET
&& session->driver.zodiac.Zs[0] != 0) {
bufp += strlen(bufp);
bufp2 = bufp;
(void)strlcpy(bufp, "$PRWIZCH", len);
for (i = 0; i < ZODIAC_CHANNELS; i++) {
len -= snprintf(bufp + strlen(bufp), len,
",%02u,%X",
session->driver.zodiac.Zs[i],
session->driver.zodiac.Zv[i] & 0x0f);
}
nmea_add_checksum(bufp2);
}
#endif /* ZODIAC_ENABLE */
}
static void gpsd_binary_quality_dump(struct gps_device_t *session,
char bufp[], size_t len)
{
int i, j;
char *bufp2 = bufp;
bool used_valid = (session->gpsdata.set & USED_IS) != 0;
if (session->device_type != NULL && (session->gpsdata.set & MODE_SET) != 0) {
(void)snprintf(bufp, len - strlen(bufp),
"$GPGSA,%c,%d,", 'A', session->gpsdata.fix.mode);
j = 0;
for (i = 0; i < session->device_type->channels; i++) {
if (session->gpsdata.used[i]) {
bufp += strlen(bufp);
(void)snprintf(bufp, len - strlen(bufp),
"%02d,",
used_valid ? session->gpsdata.used[i] : 0);
j++;
}
}
for (i = j; i < session->device_type->channels; i++) {
bufp += strlen(bufp);
(void)strlcpy(bufp, ",", len);
}
bufp += strlen(bufp);
#define ZEROIZE(x) (isnan(x)!=0 ? 0.0 : x)
if (session->gpsdata.fix.mode == MODE_NO_FIX)
(void)strlcat(bufp, ",,,", len);
else
(void)snprintf(bufp, len - strlen(bufp),
"%.1f,%.1f,%.1f*",
ZEROIZE(session->gpsdata.dop.pdop),
ZEROIZE(session->gpsdata.dop.hdop),
ZEROIZE(session->gpsdata.dop.vdop));
nmea_add_checksum(bufp2);
bufp += strlen(bufp);
}
if (isfinite(session->gpsdata.fix.epx)!=0
&& isfinite(session->gpsdata.fix.epy)!=0
&& isfinite(session->gpsdata.fix.epv)!=0
&& isfinite(session->gpsdata.epe)!=0) {
struct tm tm;
time_t intfixtime;
tm.tm_hour = tm.tm_min = tm.tm_sec = 0;
if (isnan(session->gpsdata.fix.time) == 0) {
intfixtime = (time_t) session->gpsdata.fix.time;
(void)gmtime_r(&intfixtime, &tm);
}
(void)snprintf(bufp, len - strlen(bufp),
"$GPGBS,%02d%02d%02d,%.2f,M,%.2f,M,%.2f,M",
tm.tm_hour, tm.tm_min, tm.tm_sec,
ZEROIZE(session->gpsdata.fix.epx),
ZEROIZE(session->gpsdata.fix.epy),
ZEROIZE(session->gpsdata.fix.epv));
nmea_add_checksum(bufp);
}
#undef ZEROIZE
}
static void gpsd_binary_time_dump(struct gps_device_t *session,
char bufp[], size_t len)
{
struct tm tm;
double integral, fractional;
time_t integral_time;
if (session->newdata.mode > MODE_NO_FIX) {
fractional = modf(session->newdata.time, &integral);
integral_time = (time_t) integral;
(void)gmtime_r(&integral_time, &tm);
/*
* We pin this report to the GMT/UTC timezone. This may be technically
* incorrect; our sources on ZDA suggest that it should report local
* timezone. But no GPS we've ever seen actually does this, because it
* would require embedding a location-to-TZ database in the receiver.
* And even if we could do that, it would make our regression tests
* break any time they were run in a timezone different from the one
* where they were generated.
*/
(void)snprintf(bufp, len,
"$GPZDA,%02d%02d%05.2f,%02d,%02d,%04d,00,00",
tm.tm_hour,
tm.tm_min,
(double)tm.tm_sec + fractional,
tm.tm_mday,
tm.tm_mon + 1,
tm.tm_year + 1900);
nmea_add_checksum(bufp);
}
}
static void gpsd_binary_almanac_dump(struct gps_device_t *session,
char bufp[], size_t len)
{
if ( session->gpsdata.subframe.is_almanac ) {
(void)snprintf(bufp, len,
"$GPALM,1,1,%02d,%04d,%02x,%04x,%02x,%04x,%04x,%05x,%06x,%06x,%06x,%03x,%03x",
(int)session->gpsdata.subframe.sub5.almanac.sv,
(int)session->context->gps_week % 1024,
(unsigned int)session->gpsdata.subframe.sub5.almanac.svh,
(unsigned int)session->gpsdata.subframe.sub5.almanac.e,
(unsigned int)session->gpsdata.subframe.sub5.almanac.toa,
(unsigned int)session->gpsdata.subframe.sub5.almanac.deltai,
(unsigned int)session->gpsdata.subframe.sub5.almanac.Omegad,
(unsigned int)session->gpsdata.subframe.sub5.almanac.sqrtA,
(unsigned int)session->gpsdata.subframe.sub5.almanac.omega,
(unsigned int)session->gpsdata.subframe.sub5.almanac.Omega0,
(unsigned int)session->gpsdata.subframe.sub5.almanac.M0,
(unsigned int)session->gpsdata.subframe.sub5.almanac.af0,
(unsigned int)session->gpsdata.subframe.sub5.almanac.af1);
nmea_add_checksum(bufp);
}
}
/*@-compdef -mustdefine@*/
/* *INDENT-OFF* */
void nmea_tpv_dump(struct gps_device_t *session,
/*@out@*/ char bufp[], size_t len)
{
bufp[0] = '\0';
if ((session->gpsdata.set & TIME_SET) != 0)
gpsd_binary_time_dump(session, bufp + strlen(bufp),
len - strlen(bufp));
if ((session->gpsdata.set & LATLON_SET) != 0) {
gpsd_position_fix_dump(session, bufp + strlen(bufp),
len - strlen(bufp));
gpsd_transit_fix_dump(session, bufp + strlen(bufp),
len - strlen(bufp));
}
if ((session->gpsdata.set
& (MODE_SET | DOP_SET | USED_IS | HERR_SET | VERR_SET)) != 0)
gpsd_binary_quality_dump(session, bufp + strlen(bufp),
len - strlen(bufp));
}
/* *INDENT-ON* */
void nmea_sky_dump(struct gps_device_t *session,
/*@out@*/ char bufp[], size_t len)
{
bufp[0] = '\0';
if ((session->gpsdata.set & SATELLITE_SET) != 0)
gpsd_binary_satellite_dump(session, bufp + strlen(bufp),
len - strlen(bufp));
}
void nmea_subframe_dump(struct gps_device_t *session,
/*@out@*/ char bufp[], size_t len)
{
bufp[0] = '\0';
if ((session->gpsdata.set & SUBFRAME_SET) != 0)
gpsd_binary_almanac_dump(session, bufp + strlen(bufp),
len - strlen(bufp));
}
/*@+compdef +mustdefine@*/
/* pseudonmea.c ends here */
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