Skip to content

Q
qgroundcontrol
Commit 309d547c authored by Jessica's avatar Jessica
Browse files
Options

NMEA library and all references to NMEA have been removed.

parent 44d3d10d
Hide whitespace changes
Inline Side-by-side
Showing with 0 additions and 3832 deletions
qgcunittest.pro
View file @ 309d547c
......@@ -71,10 +71,6 @@ win32 {
#################################################################
# EXTERNAL LIBRARY CONFIGURATION
# Include NMEA parsing library (currently unused)
include(src/libs/nmea/nmea.pri)
# EIGEN matrix library (header-only)
INCLUDEPATH += src/libs/eigen
......
qgroundcontrol.pro
View file @ 309d547c
......@@ -68,9 +68,6 @@ win32 {
#################################################################
# EXTERNAL LIBRARY CONFIGURATION
# Include NMEA parsing library (currently unused)
include(src/libs/nmea/nmea.pri)
# EIGEN matrix library (header-only)
INCLUDEPATH += src/libs/eigen
......
src/comm/QGCNMEAProtocol.cc deleted 100644 → 0
View file @ 44d3d10d
/**
* The bytes are copied by calling the LinkInterface::readBytes() method.
* This method parses all incoming bytes and decodes GPS positions.
* @param link The interface to read from
* @see LinkInterface
**/
void QGCNMEAProtocol::receiveBytes(LinkInterface* link, QByteArray b)
{
receiveMutex.lock();
receiveMutex.unlock();
}
src/comm/QGCNMEAProtocol.h deleted 100644 → 0
View file @ 44d3d10d
/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL 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 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Definition of class QGCNMEAProtocol
* @author Lorenz Meier <mail@qgroundcontrol.org>
*/
#ifndef QGCNMEAPROTOCOL_H_
#define QGCNMEAPROTOCOL_H_
#include <QObject>
#include <QMutex>
#include <QString>
#include <QByteArray>
#include <QMap>
#include "nmea/parse.h"
#include "ProtocolInterface.h"
#include "LinkInterface.h"
/**
* @brief MAVLink micro air vehicle protocol reference implementation.
*
* MAVLink is a generic communication protocol for micro air vehicles.
* for more information, please see the official website.
* @ref http://pixhawk.ethz.ch/software/mavlink/
**/
class QGCNMEAProtocol : public ProtocolInterface
{
Q_OBJECT
public:
QGCNMEAProtocol();
~QGCNMEAProtocol();
void run();
/** @brief Get the human-friendly name of this protocol */
QString getName() {
return QString("NMEA (GPS)");
}
public slots:
/** @brief Receive bytes from a communication interface */
void receiveBytes(LinkInterface* link, QByteArray b);
protected:
QMutex receiveMutex; ///< Mutex to protect receiveBytes function
QMap
signals:
/** @brief Message received and directly copied via signal */
void positionReceived(double lat, double lon, double alt);
/** @brief Emitted if a message from the protocol should reach the user */
void protocolStatusMessage(const QString& title, const QString& message);
};
#endif // QGCNMEAPROTOCOL_H_
src/libs/nmea/CMakeLists.txt deleted 100644 → 0
View file @ 44d3d10d
INCLUDE_DIRECTORIES(include)
SET_SOURCE_FILES(NMEALIB_SRC_FILES
context.c
time.c
generate.c
generator.c
gmath.c
info.c
parse.c
parser.c
sentence.c
tok.c
)
PIXHAWK_LIBRARY(nmea SHARED ${NMEALIB_SRC_FILES})
src/libs/nmea/LICENSE.TXT deleted 100755 → 0
View file @ 44d3d10d
GNU LESSER GENERAL PUBLIC LICENSE
Version 2.1, February 1999
Copyright (C) 1991, 1999 Free Software Foundation, Inc.
59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
[This is the first released version of the Lesser GPL. It also counts
as the successor of the GNU Library Public License, version 2, hence
the version number 2.1.]
Preamble
The licenses for most software are designed to take away your
freedom to share and change it. By contrast, the GNU General Public
Licenses are intended to guarantee your freedom to share and change
free software--to make sure the software is free for all its users.
This license, the Lesser General Public License, applies to some
specially designated software packages--typically libraries--of the
Free Software Foundation and other authors who decide to use it. You
can use it too, but we suggest you first think carefully about whether
this license or the ordinary General Public License is the better
strategy to use in any particular case, based on the explanations below.
When we speak of free software, we are referring to freedom of use,
not price. Our General Public Licenses are designed to make sure that
you have the freedom to distribute copies of free software (and charge
for this service if you wish); that you receive source code or can get
it if you want it; that you can change the software and use pieces of
it in new free programs; and that you are informed that you can do
these things.
To protect your rights, we need to make restrictions that forbid
distributors to deny you these rights or to ask you to surrender these
rights. These restrictions translate to certain responsibilities for
you if you distribute copies of the library or if you modify it.
For example, if you distribute copies of the library, whether gratis
or for a fee, you must give the recipients all the rights that we gave
you. You must make sure that they, too, receive or can get the source
code. If you link other code with the library, you must provide
complete object files to the recipients, so that they can relink them
with the library after making changes to the library and recompiling
it. And you must show them these terms so they know their rights.
We protect your rights with a two-step method: (1) we copyright the
library, and (2) we offer you this license, which gives you legal
permission to copy, distribute and/or modify the library.
To protect each distributor, we want to make it very clear that
there is no warranty for the free library. Also, if the library is
modified by someone else and passed on, the recipients should know
that what they have is not the original version, so that the original
author's reputation will not be affected by problems that might be
introduced by others.
Finally, software patents pose a constant threat to the existence of
any free program. We wish to make sure that a company cannot
effectively restrict the users of a free program by obtaining a
restrictive license from a patent holder. Therefore, we insist that
any patent license obtained for a version of the library must be
consistent with the full freedom of use specified in this license.
Most GNU software, including some libraries, is covered by the
ordinary GNU General Public License. This license, the GNU Lesser
General Public License, applies to certain designated libraries, and
is quite different from the ordinary General Public License. We use
this license for certain libraries in order to permit linking those
libraries into non-free programs.
When a program is linked with a library, whether statically or using
a shared library, the combination of the two is legally speaking a
combined work, a derivative of the original library. The ordinary
General Public License therefore permits such linking only if the
entire combination fits its criteria of freedom. The Lesser General
Public License permits more lax criteria for linking other code with
the library.
We call this license the "Lesser" General Public License because it
does Less to protect the user's freedom than the ordinary General
Public License. It also provides other free software developers Less
of an advantage over competing non-free programs. These disadvantages
are the reason we use the ordinary General Public License for many
libraries. However, the Lesser license provides advantages in certain
special circumstances.
For example, on rare occasions, there may be a special need to
encourage the widest possible use of a certain library, so that it becomes
a de-facto standard. To achieve this, non-free programs must be
allowed to use the library. A more frequent case is that a free
library does the same job as widely used non-free libraries. In this
case, there is little to gain by limiting the free library to free
software only, so we use the Lesser General Public License.
In other cases, permission to use a particular library in non-free
programs enables a greater number of people to use a large body of
free software. For example, permission to use the GNU C Library in
non-free programs enables many more people to use the whole GNU
operating system, as well as its variant, the GNU/Linux operating
system.
Although the Lesser General Public License is Less protective of the
users' freedom, it does ensure that the user of a program that is
linked with the Library has the freedom and the wherewithal to run
that program using a modified version of the Library.
The precise terms and conditions for copying, distribution and
modification follow. Pay close attention to the difference between a
"work based on the library" and a "work that uses the library". The
former contains code derived from the library, whereas the latter must
be combined with the library in order to run.
GNU LESSER GENERAL PUBLIC LICENSE
TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
0. This License Agreement applies to any software library or other
program which contains a notice placed by the copyright holder or
other authorized party saying it may be distributed under the terms of
this Lesser General Public License (also called "this License").
Each licensee is addressed as "you".
A "library" means a collection of software functions and/or data
prepared so as to be conveniently linked with application programs
(which use some of those functions and data) to form executables.
The "Library", below, refers to any such software library or work
which has been distributed under these terms. A "work based on the
Library" means either the Library or any derivative work under
copyright law: that is to say, a work containing the Library or a
portion of it, either verbatim or with modifications and/or translated
straightforwardly into another language. (Hereinafter, translation is
included without limitation in the term "modification".)
"Source code" for a work means the preferred form of the work for
making modifications to it. For a library, complete source code means
all the source code for all modules it contains, plus any associated
interface definition files, plus the scripts used to control compilation
and installation of the library.
Activities other than copying, distribution and modification are not
covered by this License; they are outside its scope. The act of
running a program using the Library is not restricted, and output from
such a program is covered only if its contents constitute a work based
on the Library (independent of the use of the Library in a tool for
writing it). Whether that is true depends on what the Library does
and what the program that uses the Library does.
1. You may copy and distribute verbatim copies of the Library's
complete source code as you receive it, in any medium, provided that
you conspicuously and appropriately publish on each copy an
appropriate copyright notice and disclaimer of warranty; keep intact
all the notices that refer to this License and to the absence of any
warranty; and distribute a copy of this License along with the
Library.
You may charge a fee for the physical act of transferring a copy,
and you may at your option offer warranty protection in exchange for a
fee.
2. You may modify your copy or copies of the Library or any portion
of it, thus forming a work based on the Library, and copy and
distribute such modifications or work under the terms of Section 1
above, provided that you also meet all of these conditions:
a) The modified work must itself be a software library.
b) You must cause the files modified to carry prominent notices
stating that you changed the files and the date of any change.
c) You must cause the whole of the work to be licensed at no
charge to all third parties under the terms of this License.
d) If a facility in the modified Library refers to a function or a
table of data to be supplied by an application program that uses
the facility, other than as an argument passed when the facility
is invoked, then you must make a good faith effort to ensure that,
in the event an application does not supply such function or
table, the facility still operates, and performs whatever part of
its purpose remains meaningful.
(For example, a function in a library to compute square roots has
a purpose that is entirely well-defined independent of the
application. Therefore, Subsection 2d requires that any
application-supplied function or table used by this function must
be optional: if the application does not supply it, the square
root function must still compute square roots.)
These requirements apply to the modified work as a whole. If
identifiable sections of that work are not derived from the Library,
and can be reasonably considered independent and separate works in
themselves, then this License, and its terms, do not apply to those
sections when you distribute them as separate works. But when you
distribute the same sections as part of a whole which is a work based
on the Library, the distribution of the whole must be on the terms of
this License, whose permissions for other licensees extend to the
entire whole, and thus to each and every part regardless of who wrote
it.
Thus, it is not the intent of this section to claim rights or contest
your rights to work written entirely by you; rather, the intent is to
exercise the right to control the distribution of derivative or
collective works based on the Library.
In addition, mere aggregation of another work not based on the Library
with the Library (or with a work based on the Library) on a volume of
a storage or distribution medium does not bring the other work under
the scope of this License.
3. You may opt to apply the terms of the ordinary GNU General Public
License instead of this License to a given copy of the Library. To do
this, you must alter all the notices that refer to this License, so
that they refer to the ordinary GNU General Public License, version 2,
instead of to this License. (If a newer version than version 2 of the
ordinary GNU General Public License has appeared, then you can specify
that version instead if you wish.) Do not make any other change in
these notices.
Once this change is made in a given copy, it is irreversible for
that copy, so the ordinary GNU General Public License applies to all
subsequent copies and derivative works made from that copy.
This option is useful when you wish to copy part of the code of
the Library into a program that is not a library.
4. You may copy and distribute the Library (or a portion or
derivative of it, under Section 2) in object code or executable form
under the terms of Sections 1 and 2 above provided that you accompany
it with the complete corresponding machine-readable source code, which
must be distributed under the terms of Sections 1 and 2 above on a
medium customarily used for software interchange.
If distribution of object code is made by offering access to copy
from a designated place, then offering equivalent access to copy the
source code from the same place satisfies the requirement to
distribute the source code, even though third parties are not
compelled to copy the source along with the object code.
5. A program that contains no derivative of any portion of the
Library, but is designed to work with the Library by being compiled or
linked with it, is called a "work that uses the Library". Such a
work, in isolation, is not a derivative work of the Library, and
therefore falls outside the scope of this License.
However, linking a "work that uses the Library" with the Library
creates an executable that is a derivative of the Library (because it
contains portions of the Library), rather than a "work that uses the
library". The executable is therefore covered by this License.
Section 6 states terms for distribution of such executables.
When a "work that uses the Library" uses material from a header file
that is part of the Library, the object code for the work may be a
derivative work of the Library even though the source code is not.
Whether this is true is especially significant if the work can be
linked without the Library, or if the work is itself a library. The
threshold for this to be true is not precisely defined by law.
If such an object file uses only numerical parameters, data
structure layouts and accessors, and small macros and small inline
functions (ten lines or less in length), then the use of the object
file is unrestricted, regardless of whether it is legally a derivative
work. (Executables containing this object code plus portions of the
Library will still fall under Section 6.)
Otherwise, if the work is a derivative of the Library, you may
distribute the object code for the work under the terms of Section 6.
Any executables containing that work also fall under Section 6,
whether or not they are linked directly with the Library itself.
6. As an exception to the Sections above, you may also combine or
link a "work that uses the Library" with the Library to produce a
work containing portions of the Library, and distribute that work
under terms of your choice, provided that the terms permit
modification of the work for the customer's own use and reverse
engineering for debugging such modifications.
You must give prominent notice with each copy of the work that the
Library is used in it and that the Library and its use are covered by
this License. You must supply a copy of this License. If the work
during execution displays copyright notices, you must include the
copyright notice for the Library among them, as well as a reference
directing the user to the copy of this License. Also, you must do one
of these things:
a) Accompany the work with the complete corresponding
machine-readable source code for the Library including whatever
changes were used in the work (which must be distributed under
Sections 1 and 2 above); and, if the work is an executable linked
with the Library, with the complete machine-readable "work that
uses the Library", as object code and/or source code, so that the
user can modify the Library and then relink to produce a modified
executable containing the modified Library. (It is understood
that the user who changes the contents of definitions files in the
Library will not necessarily be able to recompile the application
to use the modified definitions.)
b) Use a suitable shared library mechanism for linking with the
Library. A suitable mechanism is one that (1) uses at run time a
copy of the library already present on the user's computer system,
rather than copying library functions into the executable, and (2)
will operate properly with a modified version of the library, if
the user installs one, as long as the modified version is
interface-compatible with the version that the work was made with.
c) Accompany the work with a written offer, valid for at
least three years, to give the same user the materials
specified in Subsection 6a, above, for a charge no more
than the cost of performing this distribution.
d) If distribution of the work is made by offering access to copy
from a designated place, offer equivalent access to copy the above
specified materials from the same place.
e) Verify that the user has already received a copy of these
materials or that you have already sent this user a copy.
For an executable, the required form of the "work that uses the
Library" must include any data and utility programs needed for
reproducing the executable from it. However, as a special exception,
the materials to be distributed need not include anything that is
normally distributed (in either source or binary form) with the major
components (compiler, kernel, and so on) of the operating system on
which the executable runs, unless that component itself accompanies
the executable.
It may happen that this requirement contradicts the license
restrictions of other proprietary libraries that do not normally
accompany the operating system. Such a contradiction means you cannot
use both them and the Library together in an executable that you
distribute.
7. You may place library facilities that are a work based on the
Library side-by-side in a single library together with other library
facilities not covered by this License, and distribute such a combined
library, provided that the separate distribution of the work based on
the Library and of the other library facilities is otherwise
permitted, and provided that you do these two things:
a) Accompany the combined library with a copy of the same work
based on the Library, uncombined with any other library
facilities. This must be distributed under the terms of the
Sections above.
b) Give prominent notice with the combined library of the fact
that part of it is a work based on the Library, and explaining
where to find the accompanying uncombined form of the same work.
8. You may not copy, modify, sublicense, link with, or distribute
the Library except as expressly provided under this License. Any
attempt otherwise to copy, modify, sublicense, link with, or
distribute the Library is void, and will automatically terminate your
rights under this License. However, parties who have received copies,
or rights, from you under this License will not have their licenses
terminated so long as such parties remain in full compliance.
9. You are not required to accept this License, since you have not
signed it. However, nothing else grants you permission to modify or
distribute the Library or its derivative works. These actions are
prohibited by law if you do not accept this License. Therefore, by
modifying or distributing the Library (or any work based on the
Library), you indicate your acceptance of this License to do so, and
all its terms and conditions for copying, distributing or modifying
the Library or works based on it.
10. Each time you redistribute the Library (or any work based on the
Library), the recipient automatically receives a license from the
original licensor to copy, distribute, link with or modify the Library
subject to these terms and conditions. You may not impose any further
restrictions on the recipients' exercise of the rights granted herein.
You are not responsible for enforcing compliance by third parties with
this License.
11. If, as a consequence of a court judgment or allegation of patent
infringement or for any other reason (not limited to patent issues),
conditions are imposed on you (whether by court order, agreement or
otherwise) that contradict the conditions of this License, they do not
excuse you from the conditions of this License. If you cannot
distribute so as to satisfy simultaneously your obligations under this
License and any other pertinent obligations, then as a consequence you
may not distribute the Library at all. For example, if a patent
license would not permit royalty-free redistribution of the Library by
all those who receive copies directly or indirectly through you, then
the only way you could satisfy both it and this License would be to
refrain entirely from distribution of the Library.
If any portion of this section is held invalid or unenforceable under any
particular circumstance, the balance of the section is intended to apply,
and the section as a whole is intended to apply in other circumstances.
It is not the purpose of this section to induce you to infringe any
patents or other property right claims or to contest validity of any
such claims; this section has the sole purpose of protecting the
integrity of the free software distribution system which is
implemented by public license practices. Many people have made
generous contributions to the wide range of software distributed
through that system in reliance on consistent application of that
system; it is up to the author/donor to decide if he or she is willing
to distribute software through any other system and a licensee cannot
impose that choice.
This section is intended to make thoroughly clear what is believed to
be a consequence of the rest of this License.
12. If the distribution and/or use of the Library is restricted in
certain countries either by patents or by copyrighted interfaces, the
original copyright holder who places the Library under this License may add
an explicit geographical distribution limitation excluding those countries,
so that distribution is permitted only in or among countries not thus
excluded. In such case, this License incorporates the limitation as if
written in the body of this License.
13. The Free Software Foundation may publish revised and/or new
versions of the Lesser General Public License from time to time.
Such new versions will be similar in spirit to the present version,
but may differ in detail to address new problems or concerns.
Each version is given a distinguishing version number. If the Library
specifies a version number of this License which applies to it and
"any later version", you have the option of following the terms and
conditions either of that version or of any later version published by
the Free Software Foundation. If the Library does not specify a
license version number, you may choose any version ever published by
the Free Software Foundation.
14. If you wish to incorporate parts of the Library into other free
programs whose distribution conditions are incompatible with these,
write to the author to ask for permission. For software which is
copyrighted by the Free Software Foundation, write to the Free
Software Foundation; we sometimes make exceptions for this. Our
decision will be guided by the two goals of preserving the free status
of all derivatives of our free software and of promoting the sharing
and reuse of software generally.
NO WARRANTY
15. BECAUSE THE LIBRARY IS LICENSED FREE OF CHARGE, THERE IS NO
WARRANTY FOR THE LIBRARY, TO THE EXTENT PERMITTED BY APPLICABLE LAW.
EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR
OTHER PARTIES PROVIDE THE LIBRARY "AS IS" WITHOUT WARRANTY OF ANY
KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE
LIBRARY IS WITH YOU. SHOULD THE LIBRARY PROVE DEFECTIVE, YOU ASSUME
THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
16. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN
WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY
AND/OR REDISTRIBUTE THE LIBRARY AS PERMITTED ABOVE, BE LIABLE TO YOU
FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR
CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE
LIBRARY (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING
RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A
FAILURE OF THE LIBRARY TO OPERATE WITH ANY OTHER SOFTWARE), EVEN IF
SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH
DAMAGES.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Libraries
If you develop a new library, and you want it to be of the greatest
possible use to the public, we recommend making it free software that
everyone can redistribute and change. You can do so by permitting
redistribution under these terms (or, alternatively, under the terms of the
ordinary General Public License).
To apply these terms, attach the following notices to the library. It is
safest to attach them to the start of each source file to most effectively
convey the exclusion of warranty; and each file should have at least the
"copyright" line and a pointer to where the full notice is found.
<one line to give the library's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
Also add information on how to contact you by electronic and paper mail.
You should also get your employer (if you work as a programmer) or your
school, if any, to sign a "copyright disclaimer" for the library, if
necessary. Here is a sample; alter the names:
Yoyodyne, Inc., hereby disclaims all copyright interest in the
library `Frob' (a library for tweaking knobs) written by James Random Hacker.
<signature of Ty Coon>, 1 April 1990
Ty Coon, President of Vice
That's all there is to it!
src/libs/nmea/README.TXT deleted 100755 → 0
View file @ 44d3d10d
NMEA library
Disclaimer
The National Marine Electronics Association (NMEA) has developed a specification that defines the interface between various pieces of marine electronic equipment. The standard permits marine electronics to send information to computers and to other marine equipment.
Most computer programs that provide real time position information understand and expect data to be in NMEA format. This data includes the complete PVT (position, velocity, time) solution computed by the GPS receiver. The idea of NMEA is to send a line of data called a sentence that is totally self contained and independent from other sentences. All NMEA sentences is sequences of ACSII symbols begins with a '$' and ends with a carriage return/line feed sequence and can be no longer than 80 characters of visible text (plus the line terminators).
Introduction
We present library in 'C' programming language for work with NMEA protocol. Small and easy to use. The library build on different compilers under different platforms (see below). The code was tested in real projects. Just download and try...
Features
- Analysis NMEA sentences and granting GPS data in C structures
- Generate NMEA sentences
- Supported sentences: GPGGA, GPGSA, GPGSV, GPRMC, GPVTG
- Multilevel architecture of algorithms
- Additional functions of geographical mathematics and work with navigation data
Supported (tested) platforms
- Microsoft Windows (MS Visual Studio 8.0, GCC)
- Windows Mobile, Windows CE (MS Visual Studio 8.0)
- UNIX (GCC)
Licence: LGPL
src/libs/nmea/context.c deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: context.c 17 2008-03-11 11:56:11Z xtimor $
*
*/
#include "nmea/context.h"
#include <string.h>
#include <stdarg.h>
#include <stdio.h>
nmeaPROPERTY * nmea_property()
{
static nmeaPROPERTY prop = {
0, 0, NMEA_DEF_PARSEBUFF
};
return &prop;
}
void nmea_trace(const char *str, ...)
{
int size;
va_list arg_list;
char buff[NMEA_DEF_PARSEBUFF];
nmeaTraceFunc func = nmea_property()->trace_func;
if(func)
{
va_start(arg_list, str);
size = NMEA_POSIX(vsnprintf)(&buff[0], NMEA_DEF_PARSEBUFF - 1, str, arg_list);
va_end(arg_list);
if(size > 0)
(*func)(&buff[0], size);
}
}
void nmea_trace_buff(const char *buff, int buff_size)
{
nmeaTraceFunc func = nmea_property()->trace_func;
if(func && buff_size)
(*func)(buff, buff_size);
}
void nmea_error(const char *str, ...)
{
int size;
va_list arg_list;
char buff[NMEA_DEF_PARSEBUFF];
nmeaErrorFunc func = nmea_property()->error_func;
if(func)
{
va_start(arg_list, str);
size = NMEA_POSIX(vsnprintf)(&buff[0], NMEA_DEF_PARSEBUFF - 1, str, arg_list);
va_end(arg_list);
if(size > 0)
(*func)(&buff[0], size);
}
}
src/libs/nmea/generate.c deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: generate.c 17 2008-03-11 11:56:11Z xtimor $
*
*/
#include "nmea/tok.h"
#include "nmea/sentence.h"
#include "nmea/generate.h"
#include "nmea/units.h"
#include <string.h>
#include <stdlib.h>
#include <math.h>
int nmea_gen_GPGGA(char *buff, int buff_sz, nmeaGPGGA *pack)
{
return nmea_printf(buff, buff_sz,
"$GPGGA,%02d%02d%02d.%02d,%07.4f,%C,%07.4f,%C,%1d,%02d,%03.1f,%03.1f,%C,%03.1f,%C,%03.1f,%04d",
pack->utc.hour, pack->utc.min, pack->utc.sec, pack->utc.hsec,
pack->lat, pack->ns, pack->lon, pack->ew,
pack->sig, pack->satinuse, pack->HDOP, pack->elv, pack->elv_units,
pack->diff, pack->diff_units, pack->dgps_age, pack->dgps_sid);
}
int nmea_gen_GPGSA(char *buff, int buff_sz, nmeaGPGSA *pack)
{
return nmea_printf(buff, buff_sz,
"$GPGSA,%C,%1d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%02d,%03.1f,%03.1f,%03.1f",
pack->fix_mode, pack->fix_type,
pack->sat_prn[0], pack->sat_prn[1], pack->sat_prn[2], pack->sat_prn[3], pack->sat_prn[4], pack->sat_prn[5],
pack->sat_prn[6], pack->sat_prn[7], pack->sat_prn[8], pack->sat_prn[9], pack->sat_prn[10], pack->sat_prn[11],
pack->PDOP, pack->HDOP, pack->VDOP);
}
int nmea_gen_GPGSV(char *buff, int buff_sz, nmeaGPGSV *pack)
{
return nmea_printf(buff, buff_sz,
"$GPGSV,%1d,%1d,%02d,"
"%02d,%02d,%03d,%02d,"
"%02d,%02d,%03d,%02d,"
"%02d,%02d,%03d,%02d,"
"%02d,%02d,%03d,%02d",
pack->pack_count, pack->pack_index + 1, pack->sat_count,
pack->sat_data[0].id, pack->sat_data[0].elv, pack->sat_data[0].azimuth, pack->sat_data[0].sig,
pack->sat_data[1].id, pack->sat_data[1].elv, pack->sat_data[1].azimuth, pack->sat_data[1].sig,
pack->sat_data[2].id, pack->sat_data[2].elv, pack->sat_data[2].azimuth, pack->sat_data[2].sig,
pack->sat_data[3].id, pack->sat_data[3].elv, pack->sat_data[3].azimuth, pack->sat_data[3].sig);
}
int nmea_gen_GPRMC(char *buff, int buff_sz, nmeaGPRMC *pack)
{
return nmea_printf(buff, buff_sz,
"$GPRMC,%02d%02d%02d.%02d,%C,%07.4f,%C,%07.4f,%C,%03.1f,%03.1f,%02d%02d%02d,%03.1f,%C,%C",
pack->utc.hour, pack->utc.min, pack->utc.sec, pack->utc.hsec,
pack->status, pack->lat, pack->ns, pack->lon, pack->ew,
pack->speed, pack->direction,
pack->utc.day, pack->utc.mon + 1, pack->utc.year - 100,
pack->declination, pack->declin_ew, pack->mode);
}
int nmea_gen_GPVTG(char *buff, int buff_sz, nmeaGPVTG *pack)
{
return nmea_printf(buff, buff_sz,
"$GPVTG,%.1f,%C,%.1f,%C,%.1f,%C,%.1f,%C",
pack->dir, pack->dir_t,
pack->dec, pack->dec_m,
pack->spn, pack->spn_n,
pack->spk, pack->spk_k);
}
void nmea_info2GPGGA(const nmeaINFO *info, nmeaGPGGA *pack)
{
nmea_zero_GPGGA(pack);
pack->utc = info->utc;
pack->lat = fabs(info->lat);
pack->ns = ((info->lat > 0)?'N':'S');
pack->lon = fabs(info->lon);
pack->ew = ((info->lon > 0)?'E':'W');
pack->sig = info->sig;
pack->satinuse = info->satinfo.inuse;
pack->HDOP = info->HDOP;
pack->elv = info->elv;
}
void nmea_info2GPGSA(const nmeaINFO *info, nmeaGPGSA *pack)
{
int it;
nmea_zero_GPGSA(pack);
pack->fix_type = info->fix;
pack->PDOP = info->PDOP;
pack->HDOP = info->HDOP;
pack->VDOP = info->VDOP;
for(it = 0; it < NMEA_MAXSAT; ++it)
{
pack->sat_prn[it] =
((info->satinfo.sat[it].in_use)?info->satinfo.sat[it].id:0);
}
}
int nmea_gsv_npack(int sat_count)
{
int pack_count = (int)ceil(((double)sat_count) / NMEA_SATINPACK);
if(0 == pack_count)
pack_count = 1;
return pack_count;
}
void nmea_info2GPGSV(const nmeaINFO *info, nmeaGPGSV *pack, int pack_idx)
{
int sit, pit;
nmea_zero_GPGSV(pack);
pack->sat_count = (info->satinfo.inview <= NMEA_MAXSAT)?info->satinfo.inview:NMEA_MAXSAT;
pack->pack_count = nmea_gsv_npack(pack->sat_count);
if(pack->pack_count == 0)
pack->pack_count = 1;
if(pack_idx >= pack->pack_count)
pack->pack_index = pack_idx % pack->pack_count;
else
pack->pack_index = pack_idx;
for(pit = 0, sit = pack->pack_index * NMEA_SATINPACK; pit < NMEA_SATINPACK; ++pit, ++sit)
pack->sat_data[pit] = info->satinfo.sat[sit];
}
void nmea_info2GPRMC(const nmeaINFO *info, nmeaGPRMC *pack)
{
nmea_zero_GPRMC(pack);
pack->utc = info->utc;
pack->status = ((info->sig > 0)?'A':'V');
pack->lat = fabs(info->lat);
pack->ns = ((info->lat > 0)?'N':'S');
pack->lon = fabs(info->lon);
pack->ew = ((info->lon > 0)?'E':'W');
pack->speed = info->speed / NMEA_TUD_KNOTS;
pack->direction = info->direction;
pack->declination = info->declination;
pack->declin_ew = 'E';
pack->mode = ((info->sig > 0)?'A':'N');
}
void nmea_info2GPVTG(const nmeaINFO *info, nmeaGPVTG *pack)
{
nmea_zero_GPVTG(pack);
pack->dir = info->direction;
pack->dec = info->declination;
pack->spn = info->speed / NMEA_TUD_KNOTS;
pack->spk = info->speed;
}
int nmea_generate(
char *buff, int buff_sz,
const nmeaINFO *info,
int generate_mask
)
{
int gen_count = 0, gsv_it, gsv_count;
int pack_mask = generate_mask;
nmeaGPGGA gga;
nmeaGPGSA gsa;
nmeaGPGSV gsv;
nmeaGPRMC rmc;
nmeaGPVTG vtg;
if(!buff)
return 0;
while(pack_mask)
{
if(pack_mask & GPGGA)
{
nmea_info2GPGGA(info, &gga);
gen_count += nmea_gen_GPGGA(buff + gen_count, buff_sz - gen_count, &gga);
pack_mask &= ~GPGGA;
}
else if(pack_mask & GPGSA)
{
nmea_info2GPGSA(info, &gsa);
gen_count += nmea_gen_GPGSA(buff + gen_count, buff_sz - gen_count, &gsa);
pack_mask &= ~GPGSA;
}
else if(pack_mask & GPGSV)
{
gsv_count = nmea_gsv_npack(info->satinfo.inview);
for(gsv_it = 0; gsv_it < gsv_count && buff_sz - gen_count > 0; ++gsv_it)
{
nmea_info2GPGSV(info, &gsv, gsv_it);
gen_count += nmea_gen_GPGSV(buff + gen_count, buff_sz - gen_count, &gsv);
}
pack_mask &= ~GPGSV;
}
else if(pack_mask & GPRMC)
{
nmea_info2GPRMC(info, &rmc);
gen_count += nmea_gen_GPRMC(buff + gen_count, buff_sz - gen_count, &rmc);
pack_mask &= ~GPRMC;
}
else if(pack_mask & GPVTG)
{
nmea_info2GPVTG(info, &vtg);
gen_count += nmea_gen_GPVTG(buff + gen_count, buff_sz - gen_count, &vtg);
pack_mask &= ~GPVTG;
}
else
break;
if(buff_sz - gen_count <= 0)
break;
}
return gen_count;
}
src/libs/nmea/generator.c deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: generator.c 17 2008-03-11 11:56:11Z xtimor $
*
*/
#include "nmea/gmath.h"
#include "nmea/generate.h"
#include "nmea/generator.h"
#include "nmea/context.h"
#include <string.h>
#include <stdlib.h>
#if defined(NMEA_WIN) && defined(_MSC_VER)
# pragma warning(disable: 4100) /* unreferenced formal parameter */
#endif
double nmea_random(double min, double max)
{
static double rand_max = RAND_MAX;
double rand_val = rand();
double bounds = max - min;
return min + (rand_val * bounds) / rand_max;
}
/*
* low level
*/
int nmea_gen_init(nmeaGENERATOR *gen, nmeaINFO *info)
{
int RetVal = 1; int smask = info->smask;
nmeaGENERATOR *igen = gen;
nmea_zero_INFO(info);
info->smask = smask;
info->lat = NMEA_DEF_LAT;
info->lon = NMEA_DEF_LON;
while(RetVal && igen)
{
if(igen->init_call)
RetVal = (*igen->init_call)(igen, info);
igen = igen->next;
}
return RetVal;
}
int nmea_gen_loop(nmeaGENERATOR *gen, nmeaINFO *info)
{
int RetVal = 1;
if(gen->loop_call)
RetVal = (*gen->loop_call)(gen, info);
if(RetVal && gen->next)
RetVal = nmea_gen_loop(gen->next, info);
return RetVal;
}
int nmea_gen_reset(nmeaGENERATOR *gen, nmeaINFO *info)
{
int RetVal = 1;
if(gen->reset_call)
RetVal = (*gen->reset_call)(gen, info);
return RetVal;
}
void nmea_gen_destroy(nmeaGENERATOR *gen)
{
if(gen->next)
{
nmea_gen_destroy(gen->next);
gen->next = 0;
}
if(gen->destroy_call)
(*gen->destroy_call)(gen);
free(gen);
}
void nmea_gen_add(nmeaGENERATOR *to, nmeaGENERATOR *gen)
{
if(to->next)
nmea_gen_add(to->next, gen);
else
to->next = gen;
}
int nmea_generate_from(
char *buff, int buff_sz,
nmeaINFO *info,
nmeaGENERATOR *gen,
int generate_mask
)
{
int retval;
if(0 != (retval = nmea_gen_loop(gen, info)))
retval = nmea_generate(buff, buff_sz, info, generate_mask);
return retval;
}
/*
* NOISE generator
*/
int nmea_igen_noise_init(nmeaGENERATOR *gen, nmeaINFO *info)
{
Q_UNUSED(gen);
return 1;
}
int nmea_igen_noise_loop(nmeaGENERATOR *gen, nmeaINFO *info)
{
int it;
int in_use;
info->sig = (int)nmea_random(1, 3);
info->PDOP = nmea_random(0, 9);
info->HDOP = nmea_random(0, 9);
info->VDOP = nmea_random(0, 9);
info->fix = (int)nmea_random(2, 3);
info->lat = nmea_random(0, 100);
info->lon = nmea_random(0, 100);
info->speed = nmea_random(0, 100);
info->direction = nmea_random(0, 360);
info->declination = nmea_random(0, 360);
info->elv = (int)nmea_random(-100, 100);
info->satinfo.inuse = 0;
info->satinfo.inview = 0;
for(it = 0; it < 12; ++it)
{
info->satinfo.sat[it].id = it;
info->satinfo.sat[it].in_use = in_use = (int)nmea_random(0, 3);
info->satinfo.sat[it].elv = (int)nmea_random(0, 90);
info->satinfo.sat[it].azimuth = (int)nmea_random(0, 359);
info->satinfo.sat[it].sig = (int)(in_use?nmea_random(40, 99):nmea_random(0, 40));
if(in_use)
info->satinfo.inuse++;
if(info->satinfo.sat[it].sig > 0)
info->satinfo.inview++;
}
return 1;
}
int nmea_igen_noise_reset(nmeaGENERATOR *gen, nmeaINFO *info)
{
Q_UNUSED(gen);
return 1;
}
/*
* STATIC generator
*/
int nmea_igen_static_loop(nmeaGENERATOR *gen, nmeaINFO *info)
{
Q_UNUSED(gen);
nmea_time_now(&info->utc);
return 1;
};
int nmea_igen_static_reset(nmeaGENERATOR *gen, nmeaINFO *info)
{
Q_UNUSED(gen);
info->satinfo.inuse = 4;
info->satinfo.inview = 4;
info->satinfo.sat[0].id = 1;
info->satinfo.sat[0].in_use = 1;
info->satinfo.sat[0].elv = 50;
info->satinfo.sat[0].azimuth = 0;
info->satinfo.sat[0].sig = 99;
info->satinfo.sat[1].id = 2;
info->satinfo.sat[1].in_use = 1;
info->satinfo.sat[1].elv = 50;
info->satinfo.sat[1].azimuth = 90;
info->satinfo.sat[1].sig = 99;
info->satinfo.sat[2].id = 3;
info->satinfo.sat[2].in_use = 1;
info->satinfo.sat[2].elv = 50;
info->satinfo.sat[2].azimuth = 180;
info->satinfo.sat[2].sig = 99;
info->satinfo.sat[3].id = 4;
info->satinfo.sat[3].in_use = 1;
info->satinfo.sat[3].elv = 50;
info->satinfo.sat[3].azimuth = 270;
info->satinfo.sat[3].sig = 99;
return 1;
}
int nmea_igen_static_init(nmeaGENERATOR *gen, nmeaINFO *info)
{
info->sig = 3;
info->fix = 3;
nmea_igen_static_reset(gen, info);
return 1;
}
/*
* SAT_ROTATE generator
*/
int nmea_igen_rotate_loop(nmeaGENERATOR *gen, nmeaINFO *info)
{
int it;
int count = info->satinfo.inview;
double deg = 360 / (count?count:1);
double srt = (count?(info->satinfo.sat[0].azimuth):0) + 5;
nmea_time_now(&info->utc);
for(it = 0; it < count; ++it)
{
info->satinfo.sat[it].azimuth =
(int)((srt >= 360)?srt - 360:srt);
srt += deg;
}
return 1;
};
int nmea_igen_rotate_reset(nmeaGENERATOR *gen, nmeaINFO *info)
{
int it;
double deg = 360 / 8;
double srt = 0;
info->satinfo.inuse = 8;
info->satinfo.inview = 8;
for(it = 0; it < info->satinfo.inview; ++it)
{
info->satinfo.sat[it].id = it + 1;
info->satinfo.sat[it].in_use = 1;
info->satinfo.sat[it].elv = 5;
info->satinfo.sat[it].azimuth = (int)srt;
info->satinfo.sat[it].sig = 80;
srt += deg;
}
return 1;
}
int nmea_igen_rotate_init(nmeaGENERATOR *gen, nmeaINFO *info)
{
info->sig = 3;
info->fix = 3;
nmea_igen_rotate_reset(gen, info);
return 1;
}
/*
* POS_RANDMOVE generator
*/
int nmea_igen_pos_rmove_init(nmeaGENERATOR *gen, nmeaINFO *info)
{
info->sig = 3;
info->fix = 3;
info->direction = info->declination = 0;
info->speed = 20;
return 1;
}
int nmea_igen_pos_rmove_loop(nmeaGENERATOR *gen, nmeaINFO *info)
{
Q_UNUSED(gen);
nmeaPOS crd;
info->direction += nmea_random(-10, 10);
info->speed += nmea_random(-2, 3);
if(info->direction < 0)
info->direction = 359 + info->direction;
if(info->direction > 359)
info->direction -= 359;
if(info->speed > 40)
info->speed = 40;
if(info->speed < 1)
info->speed = 1;
nmea_info2pos(info, &crd);
nmea_move_horz(&crd, &crd, info->direction, info->speed / 3600);
nmea_pos2info(&crd, info);
info->declination = info->direction;
return 1;
};
int nmea_igen_pos_rmove_destroy(nmeaGENERATOR *gen)
{
return 1;
};
/*
* generator create
*/
nmeaGENERATOR * __nmea_create_generator(int type, nmeaINFO *info)
{
nmeaGENERATOR *gen = 0;
switch(type)
{
case NMEA_GEN_NOISE:
if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
nmea_error("Insufficient memory!");
else
{
memset(gen, 0, sizeof(nmeaGENERATOR));
gen->init_call = &nmea_igen_noise_init;
gen->loop_call = &nmea_igen_noise_loop;
gen->reset_call = &nmea_igen_noise_reset;
}
break;
case NMEA_GEN_STATIC:
case NMEA_GEN_SAT_STATIC:
if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
nmea_error("Insufficient memory!");
else
{
memset(gen, 0, sizeof(nmeaGENERATOR));
gen->init_call = &nmea_igen_static_init;
gen->loop_call = &nmea_igen_static_loop;
gen->reset_call = &nmea_igen_static_reset;
}
break;
case NMEA_GEN_SAT_ROTATE:
if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
nmea_error("Insufficient memory!");
else
{
memset(gen, 0, sizeof(nmeaGENERATOR));
gen->init_call = &nmea_igen_rotate_init;
gen->loop_call = &nmea_igen_rotate_loop;
gen->reset_call = &nmea_igen_rotate_reset;
}
break;
case NMEA_GEN_POS_RANDMOVE:
if(0 == (gen = malloc(sizeof(nmeaGENERATOR))))
nmea_error("Insufficient memory!");
else
{
memset(gen, 0, sizeof(nmeaGENERATOR));
gen->init_call = &nmea_igen_pos_rmove_init;
gen->loop_call = &nmea_igen_pos_rmove_loop;
gen->destroy_call = &nmea_igen_pos_rmove_destroy;
}
break;
case NMEA_GEN_ROTATE:
gen = __nmea_create_generator(NMEA_GEN_SAT_ROTATE, info);
nmea_gen_add(gen, __nmea_create_generator(NMEA_GEN_POS_RANDMOVE, info));
break;
};
return gen;
}
nmeaGENERATOR * nmea_create_generator(int type, nmeaINFO *info)
{
nmeaGENERATOR *gen = __nmea_create_generator(type, info);
if(gen)
nmea_gen_init(gen, info);
return gen;
}
void nmea_destroy_generator(nmeaGENERATOR *gen)
{
nmea_gen_destroy(gen);
}
#if defined(NMEA_WIN) && defined(_MSC_VER)
# pragma warning(default: 4100)
#endif
src/libs/nmea/gmath.c deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: gmath.c 17 2008-03-11 11:56:11Z xtimor $
*
*/
/*! \file gmath.h */
#include "nmea/gmath.h"
#include <math.h>
#include <float.h>
/**
* \fn nmea_degree2radian
* \brief Convert degree to radian
*/
double nmea_degree2radian(double val)
{ return (val * NMEA_PI180); }
/**
* \fn nmea_radian2degree
* \brief Convert radian to degree
*/
double nmea_radian2degree(double val)
{ return (val / NMEA_PI180); }
/**
* \brief Convert NDEG (NMEA degree) to fractional degree
*/
double nmea_ndeg2degree(double val)
{
double deg = ((int)(val / 100));
val = deg + (val - deg * 100) / 60;
return val;
}
/**
* \brief Convert fractional degree to NDEG (NMEA degree)
*/
double nmea_degree2ndeg(double val)
{
double int_part;
double fra_part;
fra_part = modf(val, &int_part);
val = int_part * 100 + fra_part * 60;
return val;
}
/**
* \fn nmea_ndeg2radian
* \brief Convert NDEG (NMEA degree) to radian
*/
double nmea_ndeg2radian(double val)
{ return nmea_degree2radian(nmea_ndeg2degree(val)); }
/**
* \fn nmea_radian2ndeg
* \brief Convert radian to NDEG (NMEA degree)
*/
double nmea_radian2ndeg(double val)
{ return nmea_degree2ndeg(nmea_radian2degree(val)); }
/**
* \brief Calculate PDOP (Position Dilution Of Precision) factor
*/
double nmea_calc_pdop(double hdop, double vdop)
{
return sqrt(pow(hdop, 2) + pow(vdop, 2));
}
double nmea_dop2meters(double dop)
{ return (dop * NMEA_DOP_FACTOR); }
double nmea_meters2dop(double meters)
{ return (meters / NMEA_DOP_FACTOR); }
/**
* \brief Calculate distance between two points
* \return Distance in meters
*/
double nmea_distance(
const nmeaPOS *from_pos, /**< From position in radians */
const nmeaPOS *to_pos /**< To position in radians */
)
{
double dist = ((double)NMEA_EARTHRADIUS_M) * acos(
sin(to_pos->lat) * sin(from_pos->lat) +
cos(to_pos->lat) * cos(from_pos->lat) * cos(to_pos->lon - from_pos->lon)
);
return dist;
}
/**
* \brief Calculate distance between two points
* This function uses an algorithm for an oblate spheroid earth model.
* The algorithm is described here:
* http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf
* \return Distance in meters
*/
double nmea_distance_ellipsoid(
const nmeaPOS *from_pos, /**< From position in radians */
const nmeaPOS *to_pos, /**< To position in radians */
double *from_azimuth, /**< (O) azimuth at "from" position in radians */
double *to_azimuth /**< (O) azimuth at "to" position in radians */
)
{
/* All variables */
double f, a, b, sqr_a, sqr_b;
double L, phi1, phi2, U1, U2, sin_U1, sin_U2, cos_U1, cos_U2;
double sigma, sin_sigma, cos_sigma, cos_2_sigmam, sqr_cos_2_sigmam, sqr_cos_alpha, lambda, sin_lambda, cos_lambda, delta_lambda;
int remaining_steps;
double sqr_u, A, B, delta_sigma;
/* Check input */
NMEA_ASSERT(from_pos != 0);
NMEA_ASSERT(to_pos != 0);
if ((from_pos->lat == to_pos->lat) && (from_pos->lon == to_pos->lon))
{ /* Identical points */
if ( from_azimuth != 0 )
*from_azimuth = 0;
if ( to_azimuth != 0 )
*to_azimuth = 0;
return 0;
} /* Identical points */
/* Earth geometry */
f = NMEA_EARTH_FLATTENING;
a = NMEA_EARTH_SEMIMAJORAXIS_M;
b = (1 - f) * a;
sqr_a = a * a;
sqr_b = b * b;
/* Calculation */
L = to_pos->lon - from_pos->lon;
phi1 = from_pos->lat;
phi2 = to_pos->lat;
U1 = atan((1 - f) * tan(phi1));
U2 = atan((1 - f) * tan(phi2));
sin_U1 = sin(U1);
sin_U2 = sin(U2);
cos_U1 = cos(U1);
cos_U2 = cos(U2);
/* Initialize iteration */
sigma = 0;
sin_sigma = sin(sigma);
cos_sigma = cos(sigma);
cos_2_sigmam = 0;
sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
sqr_cos_alpha = 0;
lambda = L;
sin_lambda = sin(lambda);
cos_lambda = cos(lambda);
delta_lambda = lambda;
remaining_steps = 20;
while ((delta_lambda > 1e-12) && (remaining_steps > 0))
{ /* Iterate */
/* Variables */
double tmp1, tmp2, tan_sigma, sin_alpha, cos_alpha, C, lambda_prev;
/* Calculation */
tmp1 = cos_U2 * sin_lambda;
tmp2 = cos_U1 * sin_U2 - sin_U1 * cos_U2 * cos_lambda;
sin_sigma = sqrt(tmp1 * tmp1 + tmp2 * tmp2);
cos_sigma = sin_U1 * sin_U2 + cos_U1 * cos_U2 * cos_lambda;
tan_sigma = sin_sigma / cos_sigma;
sin_alpha = cos_U1 * cos_U2 * sin_lambda / sin_sigma;
cos_alpha = cos(asin(sin_alpha));
sqr_cos_alpha = cos_alpha * cos_alpha;
cos_2_sigmam = cos_sigma - 2 * sin_U1 * sin_U2 / sqr_cos_alpha;
sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
C = f / 16 * sqr_cos_alpha * (4 + f * (4 - 3 * sqr_cos_alpha));
lambda_prev = lambda;
sigma = asin(sin_sigma);
lambda = L +
(1 - C) * f * sin_alpha
* (sigma + C * sin_sigma * (cos_2_sigmam + C * cos_sigma * (-1 + 2 * sqr_cos_2_sigmam)));
delta_lambda = lambda_prev - lambda;
if ( delta_lambda < 0 ) delta_lambda = -delta_lambda;
sin_lambda = sin(lambda);
cos_lambda = cos(lambda);
remaining_steps--;
} /* Iterate */
/* More calculation */
sqr_u = sqr_cos_alpha * (sqr_a - sqr_b) / sqr_b;
A = 1 + sqr_u / 16384 * (4096 + sqr_u * (-768 + sqr_u * (320 - 175 * sqr_u)));
B = sqr_u / 1024 * (256 + sqr_u * (-128 + sqr_u * (74 - 47 * sqr_u)));
delta_sigma = B * sin_sigma * (
cos_2_sigmam + B / 4 * (
cos_sigma * (-1 + 2 * sqr_cos_2_sigmam) -
B / 6 * cos_2_sigmam * (-3 + 4 * sin_sigma * sin_sigma) * (-3 + 4 * sqr_cos_2_sigmam)
));
/* Calculate result */
if ( from_azimuth != 0 )
{
double tan_alpha_1 = cos_U2 * sin_lambda / (cos_U1 * sin_U2 - sin_U1 * cos_U2 * cos_lambda);
*from_azimuth = atan(tan_alpha_1);
}
if ( to_azimuth != 0 )
{
double tan_alpha_2 = cos_U1 * sin_lambda / (-sin_U1 * cos_U2 + cos_U1 * sin_U2 * cos_lambda);
*to_azimuth = atan(tan_alpha_2);
}
return b * A * (sigma - delta_sigma);
}
/**
* \brief Horizontal move of point position
*/
int nmea_move_horz(
const nmeaPOS *start_pos, /**< Start position in radians */
nmeaPOS *end_pos, /**< Result position in radians */
double azimuth, /**< Azimuth (degree) [0, 359] */
double distance /**< Distance (km) */
)
{
nmeaPOS p1 = *start_pos;
int RetVal = 1;
distance /= NMEA_EARTHRADIUS_KM; /* Angular distance covered on earth's surface */
azimuth = nmea_degree2radian(azimuth);
end_pos->lat = asin(
sin(p1.lat) * cos(distance) + cos(p1.lat) * sin(distance) * cos(azimuth));
end_pos->lon = p1.lon + atan2(
sin(azimuth) * sin(distance) * cos(p1.lat), cos(distance) - sin(p1.lat) * sin(end_pos->lat));
if(NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon))
{
end_pos->lat = 0; end_pos->lon = 0;
RetVal = 0;
}
return RetVal;
}
/**
* \brief Horizontal move of point position
* This function uses an algorithm for an oblate spheroid earth model.
* The algorithm is described here:
* http://www.ngs.noaa.gov/PUBS_LIB/inverse.pdf
*/
int nmea_move_horz_ellipsoid(
const nmeaPOS *start_pos, /**< Start position in radians */
nmeaPOS *end_pos, /**< (O) Result position in radians */
double azimuth, /**< Azimuth in radians */
double distance, /**< Distance (km) */
double *end_azimuth /**< (O) Azimuth at end position in radians */
)
{
/* Variables */
double f, a, b, sqr_a, sqr_b;
double phi1, tan_U1, sin_U1, cos_U1, s, alpha1, sin_alpha1, cos_alpha1;
double tan_sigma1, sigma1, sin_alpha, cos_alpha, sqr_cos_alpha, sqr_u, A, B;
double sigma_initial, sigma, sigma_prev, sin_sigma, cos_sigma, cos_2_sigmam, sqr_cos_2_sigmam, delta_sigma;
int remaining_steps;
double tmp1, phi2, lambda, C, L;
/* Check input */
NMEA_ASSERT(start_pos != 0);
NMEA_ASSERT(end_pos != 0);
if (fabs(distance) < 1e-12)
{ /* No move */
*end_pos = *start_pos;
if ( end_azimuth != 0 ) *end_azimuth = azimuth;
return ! (NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon));
} /* No move */
/* Earth geometry */
f = NMEA_EARTH_FLATTENING;
a = NMEA_EARTH_SEMIMAJORAXIS_M;
b = (1 - f) * a;
sqr_a = a * a;
sqr_b = b * b;
/* Calculation */
phi1 = start_pos->lat;
tan_U1 = (1 - f) * tan(phi1);
cos_U1 = 1 / sqrt(1 + tan_U1 * tan_U1);
sin_U1 = tan_U1 * cos_U1;
s = distance;
alpha1 = azimuth;
sin_alpha1 = sin(alpha1);
cos_alpha1 = cos(alpha1);
tan_sigma1 = tan_U1 / cos_alpha1;
sigma1 = atan2(tan_U1, cos_alpha1);
sin_alpha = cos_U1 * sin_alpha1;
sqr_cos_alpha = 1 - sin_alpha * sin_alpha;
cos_alpha = sqrt(sqr_cos_alpha);
sqr_u = sqr_cos_alpha * (sqr_a - sqr_b) / sqr_b;
A = 1 + sqr_u / 16384 * (4096 + sqr_u * (-768 + sqr_u * (320 - 175 * sqr_u)));
B = sqr_u / 1024 * (256 + sqr_u * (-128 + sqr_u * (74 - 47 * sqr_u)));
/* Initialize iteration */
sigma_initial = s / (b * A);
sigma = sigma_initial;
sin_sigma = sin(sigma);
cos_sigma = cos(sigma);
cos_2_sigmam = cos(2 * sigma1 + sigma);
sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
delta_sigma = 0;
sigma_prev = 2 * NMEA_PI;
remaining_steps = 20;
while ((fabs(sigma - sigma_prev) > 1e-12) && (remaining_steps > 0))
{ /* Iterate */
cos_2_sigmam = cos(2 * sigma1 + sigma);
sqr_cos_2_sigmam = cos_2_sigmam * cos_2_sigmam;
sin_sigma = sin(sigma);
cos_sigma = cos(sigma);
delta_sigma = B * sin_sigma * (
cos_2_sigmam + B / 4 * (
cos_sigma * (-1 + 2 * sqr_cos_2_sigmam) -
B / 6 * cos_2_sigmam * (-3 + 4 * sin_sigma * sin_sigma) * (-3 + 4 * sqr_cos_2_sigmam)
));
sigma_prev = sigma;
sigma = sigma_initial + delta_sigma;
remaining_steps --;
} /* Iterate */
/* Calculate result */
tmp1 = (sin_U1 * sin_sigma - cos_U1 * cos_sigma * cos_alpha1);
phi2 = atan2(
sin_U1 * cos_sigma + cos_U1 * sin_sigma * cos_alpha1,
(1 - f) * sqrt(sin_alpha * sin_alpha + tmp1 * tmp1)
);
lambda = atan2(
sin_sigma * sin_alpha1,
cos_U1 * cos_sigma - sin_U1 * sin_sigma * cos_alpha1
);
C = f / 16 * sqr_cos_alpha * (4 + f * (4 - 3 * sqr_cos_alpha));
L = lambda -
(1 - C) * f * sin_alpha * (
sigma + C * sin_sigma *
(cos_2_sigmam + C * cos_sigma * (-1 + 2 * sqr_cos_2_sigmam))
);
/* Result */
end_pos->lon = start_pos->lon + L;
end_pos->lat = phi2;
if ( end_azimuth != 0 )
{
*end_azimuth = atan2(
sin_alpha, -sin_U1 * sin_sigma + cos_U1 * cos_sigma * cos_alpha1
);
}
return ! (NMEA_POSIX(isnan)(end_pos->lat) || NMEA_POSIX(isnan)(end_pos->lon));
}
/**
* \brief Convert position from INFO to radians position
*/
void nmea_info2pos(const nmeaINFO *info, nmeaPOS *pos)
{
pos->lat = nmea_ndeg2radian(info->lat);
pos->lon = nmea_ndeg2radian(info->lon);
}
/**
* \brief Convert radians position to INFOs position
*/
void nmea_pos2info(const nmeaPOS *pos, nmeaINFO *info)
{
info->lat = nmea_radian2ndeg(pos->lat);
info->lon = nmea_radian2ndeg(pos->lon);
}
src/libs/nmea/include/nmea/config.h deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: config.h 17 2008-03-11 11:56:11Z xtimor $
*
*/
#ifndef __NMEA_CONFIG_H__
#define __NMEA_CONFIG_H__
#define NMEA_VERSION ("0.5.3")
#define NMEA_VERSION_MAJOR (0)
#define NMEA_VERSION_MINOR (5)
#define NMEA_VERSION_PATCH (3)
#define NMEA_CONVSTR_BUF (256)
#define NMEA_TIMEPARSE_BUF (256)
#if defined(WINCE) || defined(UNDER_CE)
# define NMEA_CE
#endif
#if defined(WIN32) || defined(NMEA_CE)
# define NMEA_WIN
#else
# define NMEA_UNI
#endif
#if defined(NMEA_WIN) && (_MSC_VER >= 1400)
# pragma warning(disable: 4996) /* declared deprecated */
#endif
#if defined(_MSC_VER)
# define NMEA_POSIX(x) _##x
# define NMEA_INLINE __inline
#else
# define NMEA_POSIX(x) x
# define NMEA_INLINE inline
#endif
#if !defined(NDEBUG) && !defined(NMEA_CE)
# include <assert.h>
# define NMEA_ASSERT(x) assert(x)
#else
# define NMEA_ASSERT(x)
#endif
#endif /* __NMEA_CONFIG_H__ */
src/libs/nmea/include/nmea/context.h deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: context.h 4 2007-08-27 13:11:03Z xtimor $
*
*/
#ifndef __NMEA_CONTEXT_H__
#define __NMEA_CONTEXT_H__
#include "config.h"
#define NMEA_DEF_PARSEBUFF (1024)
#define NMEA_MIN_PARSEBUFF (256)
#ifdef __cplusplus
extern "C" {
#endif
typedef void (*nmeaTraceFunc)(const char *str, int str_size);
typedef void (*nmeaErrorFunc)(const char *str, int str_size);
typedef struct _nmeaPROPERTY
{
nmeaTraceFunc trace_func;
nmeaErrorFunc error_func;
int parse_buff_size;
} nmeaPROPERTY;
nmeaPROPERTY * nmea_property();
void nmea_trace(const char *str, ...);
void nmea_trace_buff(const char *buff, int buff_size);
void nmea_error(const char *str, ...);
#ifdef __cplusplus
}
#endif
#endif /* __NMEA_CONTEXT_H__ */
src/libs/nmea/include/nmea/generate.h deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: generate.h 4 2007-08-27 13:11:03Z xtimor $
*
*/
#ifndef __NMEA_GENERATE_H__
#define __NMEA_GENERATE_H__
#include "sentence.h"
#ifdef __cplusplus
extern "C" {
#endif
int nmea_generate(
char *buff, int buff_sz, /* buffer */
const nmeaINFO *info, /* source info */
int generate_mask /* mask of sentence`s (e.g. GPGGA | GPGSA) */
);
int nmea_gen_GPGGA(char *buff, int buff_sz, nmeaGPGGA *pack);
int nmea_gen_GPGSA(char *buff, int buff_sz, nmeaGPGSA *pack);
int nmea_gen_GPGSV(char *buff, int buff_sz, nmeaGPGSV *pack);
int nmea_gen_GPRMC(char *buff, int buff_sz, nmeaGPRMC *pack);
int nmea_gen_GPVTG(char *buff, int buff_sz, nmeaGPVTG *pack);
void nmea_info2GPGGA(const nmeaINFO *info, nmeaGPGGA *pack);
void nmea_info2GPGSA(const nmeaINFO *info, nmeaGPGSA *pack);
void nmea_info2GPRMC(const nmeaINFO *info, nmeaGPRMC *pack);
void nmea_info2GPVTG(const nmeaINFO *info, nmeaGPVTG *pack);
int nmea_gsv_npack(int sat_count);
void nmea_info2GPGSV(const nmeaINFO *info, nmeaGPGSV *pack, int pack_idx);
#ifdef __cplusplus
}
#endif
#endif /* __NMEA_GENERATE_H__ */
src/libs/nmea/include/nmea/generator.h deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: generator.h 4 2007-08-27 13:11:03Z xtimor $
*
*/
#ifndef __NMEA_GENERATOR_H__
#define __NMEA_GENERATOR_H__
#include "info.h"
#ifdef __cplusplus
extern "C" {
#endif
/*
* high level
*/
struct _nmeaGENERATOR;
enum nmeaGENTYPE
{
NMEA_GEN_NOISE = 0,
NMEA_GEN_STATIC,
NMEA_GEN_ROTATE,
NMEA_GEN_SAT_STATIC,
NMEA_GEN_SAT_ROTATE,
NMEA_GEN_POS_RANDMOVE,
NMEA_GEN_LAST
};
struct _nmeaGENERATOR * nmea_create_generator(int type, nmeaINFO *info);
void nmea_destroy_generator(struct _nmeaGENERATOR *gen);
int nmea_generate_from(
char *buff, int buff_sz, /* buffer */
nmeaINFO *info, /* source info */
struct _nmeaGENERATOR *gen, /* generator */
int generate_mask /* mask of sentence`s (e.g. GPGGA | GPGSA) */
);
/*
* low level
*/
typedef int (*nmeaNMEA_GEN_INIT)(struct _nmeaGENERATOR *gen, nmeaINFO *info);
typedef int (*nmeaNMEA_GEN_LOOP)(struct _nmeaGENERATOR *gen, nmeaINFO *info);
typedef int (*nmeaNMEA_GEN_RESET)(struct _nmeaGENERATOR *gen, nmeaINFO *info);
typedef int (*nmeaNMEA_GEN_DESTROY)(struct _nmeaGENERATOR *gen);
typedef struct _nmeaGENERATOR
{
void *gen_data;
nmeaNMEA_GEN_INIT init_call;
nmeaNMEA_GEN_LOOP loop_call;
nmeaNMEA_GEN_RESET reset_call;
nmeaNMEA_GEN_DESTROY destroy_call;
struct _nmeaGENERATOR *next;
} nmeaGENERATOR;
int nmea_gen_init(nmeaGENERATOR *gen, nmeaINFO *info);
int nmea_gen_loop(nmeaGENERATOR *gen, nmeaINFO *info);
int nmea_gen_reset(nmeaGENERATOR *gen, nmeaINFO *info);
void nmea_gen_destroy(nmeaGENERATOR *gen);
void nmea_gen_add(nmeaGENERATOR *to, nmeaGENERATOR *gen);
#ifdef __cplusplus
}
#endif
#endif /* __NMEA_GENERATOR_H__ */
src/libs/nmea/include/nmea/gmath.h deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: gmath.h 17 2008-03-11 11:56:11Z xtimor $
*
*/
#ifndef __NMEA_GMATH_H__
#define __NMEA_GMATH_H__
#include "info.h"
#define NMEA_PI (3.141592653589793) /**< PI value */
#define NMEA_PI180 (NMEA_PI / 180) /**< PI division by 180 */
#define NMEA_EARTHRADIUS_KM (6378) /**< Earth's mean radius in km */
#define NMEA_EARTHRADIUS_M (NMEA_EARTHRADIUS_KM * 1000) /**< Earth's mean radius in m */
#define NMEA_EARTH_SEMIMAJORAXIS_M (6378137.0) /**< Earth's semi-major axis in m according WGS84 */
#define NMEA_EARTH_SEMIMAJORAXIS_KM (NMEA_EARTHMAJORAXIS_KM / 1000) /**< Earth's semi-major axis in km according WGS 84 */
#define NMEA_EARTH_FLATTENING (1 / 298.257223563) /**< Earth's flattening according WGS 84 */
#define NMEA_DOP_FACTOR (5) /**< Factor for translating DOP to meters */
#ifdef __cplusplus
extern "C" {
#endif
/*
* degree VS radian
*/
double nmea_degree2radian(double val);
double nmea_radian2degree(double val);
/*
* NDEG (NMEA degree)
*/
double nmea_ndeg2degree(double val);
double nmea_degree2ndeg(double val);
double nmea_ndeg2radian(double val);
double nmea_radian2ndeg(double val);
/*
* DOP
*/
double nmea_calc_pdop(double hdop, double vdop);
double nmea_dop2meters(double dop);
double nmea_meters2dop(double meters);
/*
* positions work
*/
void nmea_info2pos(const nmeaINFO *info, nmeaPOS *pos);
void nmea_pos2info(const nmeaPOS *pos, nmeaINFO *info);
double nmea_distance(
const nmeaPOS *from_pos,
const nmeaPOS *to_pos
);
double nmea_distance_ellipsoid(
const nmeaPOS *from_pos,
const nmeaPOS *to_pos,
double *from_azimuth,
double *to_azimuth
);
int nmea_move_horz(
const nmeaPOS *start_pos,
nmeaPOS *end_pos,
double azimuth,
double distance
);
int nmea_move_horz_ellipsoid(
const nmeaPOS *start_pos,
nmeaPOS *end_pos,
double azimuth,
double distance,
double *end_azimuth
);
#ifdef __cplusplus
}
#endif
#endif /* __NMEA_GMATH_H__ */
src/libs/nmea/include/nmea/info.h deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: info.h 10 2007-11-15 14:50:15Z xtimor $
*
*/
/*! \file */
#ifndef __NMEA_INFO_H__
#define __NMEA_INFO_H__
#include "time.h"
#define NMEA_SIG_BAD (0)
#define NMEA_SIG_LOW (1)
#define NMEA_SIG_MID (2)
#define NMEA_SIG_HIGH (3)
#define NMEA_FIX_BAD (1)
#define NMEA_FIX_2D (2)
#define NMEA_FIX_3D (3)
#define NMEA_MAXSAT (12)
#define NMEA_SATINPACK (4)
#define NMEA_NSATPACKS (NMEA_MAXSAT / NMEA_SATINPACK)
#define NMEA_DEF_LAT (5001.2621)
#define NMEA_DEF_LON (3613.0595)
#ifdef __cplusplus
extern "C" {
#endif
/**
* Position data in fractional degrees or radians
*/
typedef struct _nmeaPOS
{
double lat; /**< Latitude */
double lon; /**< Longitude */
} nmeaPOS;
/**
* Information about satellite
* @see nmeaSATINFO
* @see nmeaGPGSV
*/
typedef struct _nmeaSATELLITE
{
int id; /**< Satellite PRN number */
int in_use; /**< Used in position fix */
int elv; /**< Elevation in degrees, 90 maximum */
int azimuth; /**< Azimuth, degrees from true north, 000 to 359 */
int sig; /**< Signal, 00-99 dB */
} nmeaSATELLITE;
/**
* Information about all satellites in view
* @see nmeaINFO
* @see nmeaGPGSV
*/
typedef struct _nmeaSATINFO
{
int inuse; /**< Number of satellites in use (not those in view) */
int inview; /**< Total number of satellites in view */
nmeaSATELLITE sat[NMEA_MAXSAT]; /**< Satellites information */
} nmeaSATINFO;
/**
* Summary GPS information from all parsed packets,
* used also for generating NMEA stream
* @see nmea_parse
* @see nmea_GPGGA2info, nmea_...2info
*/
typedef struct _nmeaINFO
{
int smask; /**< Mask specifying types of packages from which data have been obtained */
nmeaTIME utc; /**< UTC of position */
int sig; /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */
int fix; /**< Operating mode, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D) */
double PDOP; /**< Position Dilution Of Precision */
double HDOP; /**< Horizontal Dilution Of Precision */
double VDOP; /**< Vertical Dilution Of Precision */
double lat; /**< Latitude in NDEG - +/-[degree][min].[sec/60] */
double lon; /**< Longitude in NDEG - +/-[degree][min].[sec/60] */
double elv; /**< Antenna altitude above/below mean sea level (geoid) in meters */
double speed; /**< Speed over the ground in kilometers/hour */
double direction; /**< Track angle in degrees True */
double declination; /**< Magnetic variation degrees (Easterly var. subtracts from true course) */
nmeaSATINFO satinfo; /**< Satellites information */
} nmeaINFO;
void nmea_zero_INFO(nmeaINFO *info);
#ifdef __cplusplus
}
#endif
#endif /* __NMEA_INFO_H__ */
src/libs/nmea/include/nmea/nmea.h deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: nmea.h 17 2008-03-11 11:56:11Z xtimor $
*
*/
#ifndef __NMEA_H__
#define __NMEA_H__
#include "./config.h"
#include "./units.h"
#include "./gmath.h"
#include "./info.h"
#include "./sentence.h"
#include "./generate.h"
#include "./generator.h"
#include "./parse.h"
#include "./parser.h"
#include "./context.h"
#endif /* __NMEA_H__ */
src/libs/nmea/include/nmea/parse.h deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: parse.h 4 2007-08-27 13:11:03Z xtimor $
*
*/
#ifndef __NMEA_PARSE_H__
#define __NMEA_PARSE_H__
#include "sentence.h"
#ifdef __cplusplus
extern "C" {
#endif
int nmea_pack_type(const char *buff, int buff_sz);
int nmea_find_tail(const char *buff, int buff_sz, int *res_crc);
int nmea_parse_GPGGA(const char *buff, int buff_sz, nmeaGPGGA *pack);
int nmea_parse_GPGSA(const char *buff, int buff_sz, nmeaGPGSA *pack);
int nmea_parse_GPGSV(const char *buff, int buff_sz, nmeaGPGSV *pack);
int nmea_parse_GPRMC(const char *buff, int buff_sz, nmeaGPRMC *pack);
int nmea_parse_GPVTG(const char *buff, int buff_sz, nmeaGPVTG *pack);
void nmea_GPGGA2info(nmeaGPGGA *pack, nmeaINFO *info);
void nmea_GPGSA2info(nmeaGPGSA *pack, nmeaINFO *info);
void nmea_GPGSV2info(nmeaGPGSV *pack, nmeaINFO *info);
void nmea_GPRMC2info(nmeaGPRMC *pack, nmeaINFO *info);
void nmea_GPVTG2info(nmeaGPVTG *pack, nmeaINFO *info);
#ifdef __cplusplus
}
#endif
#endif /* __NMEA_PARSE_H__ */
src/libs/nmea/include/nmea/parser.h deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: parser.h 4 2007-08-27 13:11:03Z xtimor $
*
*/
#ifndef __NMEA_PARSER_H__
#define __NMEA_PARSER_H__
#include "info.h"
#ifdef __cplusplus
extern "C" {
#endif
/*
* high level
*/
typedef struct _nmeaPARSER
{
void *top_node;
void *end_node;
unsigned char *buffer;
int buff_size;
int buff_use;
} nmeaPARSER;
int nmea_parser_init(nmeaPARSER *parser);
void nmea_parser_destroy(nmeaPARSER *parser);
int nmea_parse(
nmeaPARSER *parser,
const char *buff, int buff_sz,
nmeaINFO *info
);
/*
* low level
*/
int nmea_parser_push(nmeaPARSER *parser, const char *buff, int buff_sz);
int nmea_parser_top(nmeaPARSER *parser);
int nmea_parser_pop(nmeaPARSER *parser, void **pack_ptr);
int nmea_parser_peek(nmeaPARSER *parser, void **pack_ptr);
int nmea_parser_drop(nmeaPARSER *parser);
int nmea_parser_buff_clear(nmeaPARSER *parser);
int nmea_parser_queue_clear(nmeaPARSER *parser);
#ifdef __cplusplus
}
#endif
#endif /* __NMEA_PARSER_H__ */
src/libs/nmea/include/nmea/sentence.h deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: sentence.h 17 2008-03-11 11:56:11Z xtimor $
*
*/
/*! \file */
#ifndef __NMEA_SENTENCE_H__
#define __NMEA_SENTENCE_H__
#include "info.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* NMEA packets type which parsed and generated by library
*/
enum nmeaPACKTYPE
{
GPNON = 0x0000, /**< Unknown packet type. */
GPGGA = 0x0001, /**< GGA - Essential fix data which provide 3D location and accuracy data. */
GPGSA = 0x0002, /**< GSA - GPS receiver operating mode, SVs used for navigation, and DOP values. */
GPGSV = 0x0004, /**< GSV - Number of SVs in view, PRN numbers, elevation, azimuth & SNR values. */
GPRMC = 0x0008, /**< RMC - Recommended Minimum Specific GPS/TRANSIT Data. */
GPVTG = 0x0010 /**< VTG - Actual track made good and speed over ground. */
};
/**
* GGA packet information structure (Global Positioning System Fix Data)
*/
typedef struct _nmeaGPGGA
{
nmeaTIME utc; /**< UTC of position (just time) */
double lat; /**< Latitude in NDEG - [degree][min].[sec/60] */
char ns; /**< [N]orth or [S]outh */
double lon; /**< Longitude in NDEG - [degree][min].[sec/60] */
char ew; /**< [E]ast or [W]est */
int sig; /**< GPS quality indicator (0 = Invalid; 1 = Fix; 2 = Differential, 3 = Sensitive) */
int satinuse; /**< Number of satellites in use (not those in view) */
double HDOP; /**< Horizontal dilution of precision */
double elv; /**< Antenna altitude above/below mean sea level (geoid) */
char elv_units; /**< [M]eters (Antenna height unit) */
double diff; /**< Geoidal separation (Diff. between WGS-84 earth ellipsoid and mean sea level. '-' = geoid is below WGS-84 ellipsoid) */
char diff_units; /**< [M]eters (Units of geoidal separation) */
double dgps_age; /**< Time in seconds since last DGPS update */
int dgps_sid; /**< DGPS station ID number */
} nmeaGPGGA;
/**
* GSA packet information structure (Satellite status)
*/
typedef struct _nmeaGPGSA
{
char fix_mode; /**< Mode (M = Manual, forced to operate in 2D or 3D; A = Automatic, 3D/2D) */
int fix_type; /**< Type, used for navigation (1 = Fix not available; 2 = 2D; 3 = 3D) */
int sat_prn[NMEA_MAXSAT]; /**< PRNs of satellites used in position fix (null for unused fields) */
double PDOP; /**< Dilution of precision */
double HDOP; /**< Horizontal dilution of precision */
double VDOP; /**< Vertical dilution of precision */
} nmeaGPGSA;
/**
* GSV packet information structure (Satellites in view)
*/
typedef struct _nmeaGPGSV
{
int pack_count; /**< Total number of messages of this type in this cycle */
int pack_index; /**< Message number */
int sat_count; /**< Total number of satellites in view */
nmeaSATELLITE sat_data[NMEA_SATINPACK];
} nmeaGPGSV;
/**
* RMC packet information structure (Recommended Minimum sentence C)
*/
typedef struct _nmeaGPRMC
{
nmeaTIME utc; /**< UTC of position */
char status; /**< Status (A = active or V = void) */
double lat; /**< Latitude in NDEG - [degree][min].[sec/60] */
char ns; /**< [N]orth or [S]outh */
double lon; /**< Longitude in NDEG - [degree][min].[sec/60] */
char ew; /**< [E]ast or [W]est */
double speed; /**< Speed over the ground in knots */
double direction; /**< Track angle in degrees True */
double declination; /**< Magnetic variation degrees (Easterly var. subtracts from true course) */
char declin_ew; /**< [E]ast or [W]est */
char mode; /**< Mode indicator of fix type (A = autonomous, D = differential, E = estimated, N = not valid, S = simulator) */
} nmeaGPRMC;
/**
* VTG packet information structure (Track made good and ground speed)
*/
typedef struct _nmeaGPVTG
{
double dir; /**< True track made good (degrees) */
char dir_t; /**< Fixed text 'T' indicates that track made good is relative to true north */
double dec; /**< Magnetic track made good */
char dec_m; /**< Fixed text 'M' */
double spn; /**< Ground speed, knots */
char spn_n; /**< Fixed text 'N' indicates that speed over ground is in knots */
double spk; /**< Ground speed, kilometers per hour */
char spk_k; /**< Fixed text 'K' indicates that speed over ground is in kilometers/hour */
} nmeaGPVTG;
void nmea_zero_GPGGA(nmeaGPGGA *pack);
void nmea_zero_GPGSA(nmeaGPGSA *pack);
void nmea_zero_GPGSV(nmeaGPGSV *pack);
void nmea_zero_GPRMC(nmeaGPRMC *pack);
void nmea_zero_GPVTG(nmeaGPVTG *pack);
#ifdef __cplusplus
}
#endif
#endif /* __NMEA_SENTENCE_H__ */
src/libs/nmea/include/nmea/time.h deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: time.h 4 2007-08-27 13:11:03Z xtimor $
*
*/
/*! \file */
#ifndef __NMEA_TIME_H__
#define __NMEA_TIME_H__
#include "config.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* Date and time data
* @see nmea_time_now
*/
typedef struct _nmeaTIME
{
int year; /**< Years since 1900 */
int mon; /**< Months since January - [0,11] */
int day; /**< Day of the month - [1,31] */
int hour; /**< Hours since midnight - [0,23] */
int min; /**< Minutes after the hour - [0,59] */
int sec; /**< Seconds after the minute - [0,59] */
int hsec; /**< Hundredth part of second - [0,99] */
} nmeaTIME;
/**
* \brief Get time now to nmeaTIME structure
*/
void nmea_time_now(nmeaTIME *t);
#ifdef __cplusplus
}
#endif
#endif /* __NMEA_TIME_H__ */
src/libs/nmea/include/nmea/tok.h deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: tok.h 4 2007-08-27 13:11:03Z xtimor $
*
*/
#ifndef __NMEA_TOK_H__
#define __NMEA_TOK_H__
#include "config.h"
#ifdef __cplusplus
extern "C" {
#endif
int nmea_calc_crc(const char *buff, int buff_sz);
int nmea_atoi(const char *str, int str_sz, int radix);
double nmea_atof(const char *str, int str_sz);
int nmea_printf(char *buff, int buff_sz, const char *format, ...);
int nmea_scanf(const char *buff, int buff_sz, const char *format, ...);
#ifdef __cplusplus
}
#endif
#endif /* __NMEA_TOK_H__ */
src/libs/nmea/include/nmea/units.h deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: units.h 4 2007-08-27 13:11:03Z xtimor $
*
*/
#ifndef __NMEA_UNITS_H__
#define __NMEA_UNITS_H__
#include "config.h"
/*
* Distance units
*/
#define NMEA_TUD_YARDS (1.0936) /**< Yeards, meter * NMEA_TUD_YARDS = yard */
#define NMEA_TUD_KNOTS (1.852) /**< Knots, kilometer / NMEA_TUD_KNOTS = knot */
#define NMEA_TUD_MILES (1.609) /**< Miles, kilometer / NMEA_TUD_MILES = mile */
/*
* Speed units
*/
#define NMEA_TUS_MS (3.6) /**< Meters per seconds, (k/h) / NMEA_TUS_MS= (m/s) */
#endif /* __NMEA_UNITS_H__ */
src/libs/nmea/info.c deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: info.c 17 2008-03-11 11:56:11Z xtimor $
*
*/
#include <string.h>
#include "nmea/info.h"
void nmea_zero_INFO(nmeaINFO *info)
{
memset(info, 0, sizeof(nmeaINFO));
nmea_time_now(&info->utc);
info->sig = NMEA_SIG_BAD;
info->fix = NMEA_FIX_BAD;
}
src/libs/nmea/nmea.pri deleted 100644 → 0
View file @ 44d3d10d
DEPENDPATH += src/libs/nmea src/libs/nmea/include
INCLUDEPATH += src/libs/nmea/include
# Input
HEADERS += include/nmea/config.h \
include/nmea/context.h \
include/nmea/gmath.h \
include/nmea/info.h \
include/nmea/nmea.h \
include/nmea/parse.h \
include/nmea/parser.h \
include/nmea/sentence.h \
include/nmea/time.h \
include/nmea/tok.h \
include/nmea/units.h
SOURCES += context.c \
gmath.c \
info.c \
parse.c \
parser.c \
sentence.c \
time.c \
tok.c
src/libs/nmea/parse.c deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: parse.c 17 2008-03-11 11:56:11Z xtimor $
*
*/
/**
* \file parse.h
* \brief Functions of a low level for analysis of
* packages of NMEA stream.
*
* \code
* ...
* ptype = nmea_pack_type(
* (const char *)parser->buffer + nparsed + 1,
* parser->buff_use - nparsed - 1);
*
* if(0 == (node = malloc(sizeof(nmeaParserNODE))))
* goto mem_fail;
*
* node->pack = 0;
*
* switch(ptype)
* {
* case GPGGA:
* if(0 == (node->pack = malloc(sizeof(nmeaGPGGA))))
* goto mem_fail;
* node->packType = GPGGA;
* if(!nmea_parse_GPGGA(
* (const char *)parser->buffer + nparsed,
* sen_sz, (nmeaGPGGA *)node->pack))
* {
* free(node);
* node = 0;
* }
* break;
* case GPGSA:
* if(0 == (node->pack = malloc(sizeof(nmeaGPGSA))))
* goto mem_fail;
* node->packType = GPGSA;
* if(!nmea_parse_GPGSA(
* (const char *)parser->buffer + nparsed,
* sen_sz, (nmeaGPGSA *)node->pack))
* {
* free(node);
* node = 0;
* }
* break;
* ...
* \endcode
*/
#include "nmea/tok.h"
#include "nmea/parse.h"
#include "nmea/context.h"
#include "nmea/gmath.h"
#include "nmea/units.h"
#include <string.h>
#include <stdio.h>
int _nmea_parse_time(const char *buff, int buff_sz, nmeaTIME *res)
{
int success = 0;
switch(buff_sz)
{
case sizeof("hhmmss") - 1:
success = (3 == nmea_scanf(buff, buff_sz,
"%2d%2d%2d", &(res->hour), &(res->min), &(res->sec)
));
break;
case sizeof("hhmmss.s") - 1:
case sizeof("hhmmss.ss") - 1:
case sizeof("hhmmss.sss") - 1:
success = (4 == nmea_scanf(buff, buff_sz,
"%2d%2d%2d.%d", &(res->hour), &(res->min), &(res->sec), &(res->hsec)
));
break;
default:
nmea_error("Parse of time error (format error)!");
success = 0;
break;
}
return (success?0:-1);
}
/**
* \brief Define packet type by header (nmeaPACKTYPE).
* @param buff a constant character pointer of packet buffer.
* @param buff_sz buffer size.
* @return The defined packet type
* @see nmeaPACKTYPE
*/
int nmea_pack_type(const char *buff, int buff_sz)
{
static const char *pheads[] = {
"GPGGA",
"GPGSA",
"GPGSV",
"GPRMC",
"GPVTG",
};
NMEA_ASSERT(buff);
if(buff_sz < 5)
return GPNON;
else if(0 == memcmp(buff, pheads[0], 5))
return GPGGA;
else if(0 == memcmp(buff, pheads[1], 5))
return GPGSA;
else if(0 == memcmp(buff, pheads[2], 5))
return GPGSV;
else if(0 == memcmp(buff, pheads[3], 5))
return GPRMC;
else if(0 == memcmp(buff, pheads[4], 5))
return GPVTG;
return GPNON;
}
/**
* \brief Find tail of packet ("\r\n") in buffer and check control sum (CRC).
* @param buff a constant character pointer of packets buffer.
* @param buff_sz buffer size.
* @param res_crc a integer pointer for return CRC of packet (must be defined).
* @return Number of bytes to packet tail.
*/
int nmea_find_tail(const char *buff, int buff_sz, int *res_crc)
{
static const int tail_sz = 3 /* *[CRC] */ + 2 /* \r\n */;
const char *end_buff = buff + buff_sz;
int nread = 0;
int crc = 0;
NMEA_ASSERT(buff && res_crc);
*res_crc = -1;
for(;buff < end_buff; ++buff, ++nread)
{
if(('$' == *buff) && nread)
{
buff = 0;
break;
}
else if('*' == *buff)
{
if(buff + tail_sz <= end_buff && '\r' == buff[3] && '\n' == buff[4])
{
*res_crc = nmea_atoi(buff + 1, 2, 16);
nread = buff_sz - (int)(end_buff - (buff + tail_sz));
if(*res_crc != crc)
{
*res_crc = -1;
buff = 0;
}
}
break;
}
else if(nread)
crc ^= (int)*buff;
}
if(*res_crc < 0 && buff)
nread = 0;
return nread;
}
/**
* \brief Parse GGA packet from buffer.
* @param buff a constant character pointer of packet buffer.
* @param buff_sz buffer size.
* @param pack a pointer of packet which will filled by function.
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
*/
int nmea_parse_GPGGA(const char *buff, int buff_sz, nmeaGPGGA *pack)
{
char time_buff[NMEA_TIMEPARSE_BUF];
NMEA_ASSERT(buff && pack);
memset(pack, 0, sizeof(nmeaGPGGA));
nmea_trace_buff(buff, buff_sz);
if(14 != nmea_scanf(buff, buff_sz,
"$GPGGA,%s,%f,%C,%f,%C,%d,%d,%f,%f,%C,%f,%C,%f,%d*",
&(time_buff[0]),
&(pack->lat), &(pack->ns), &(pack->lon), &(pack->ew),
&(pack->sig), &(pack->satinuse), &(pack->HDOP), &(pack->elv), &(pack->elv_units),
&(pack->diff), &(pack->diff_units), &(pack->dgps_age), &(pack->dgps_sid)))
{
nmea_error("GPGGA parse error!");
return 0;
}
if(0 != _nmea_parse_time(&time_buff[0], (int)strlen(&time_buff[0]), &(pack->utc)))
{
nmea_error("GPGGA time parse error!");
return 0;
}
return 1;
}
/**
* \brief Parse GSA packet from buffer.
* @param buff a constant character pointer of packet buffer.
* @param buff_sz buffer size.
* @param pack a pointer of packet which will filled by function.
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
*/
int nmea_parse_GPGSA(const char *buff, int buff_sz, nmeaGPGSA *pack)
{
NMEA_ASSERT(buff && pack);
memset(pack, 0, sizeof(nmeaGPGSA));
nmea_trace_buff(buff, buff_sz);
if(17 != nmea_scanf(buff, buff_sz,
"$GPGSA,%C,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f,%f,%f*",
&(pack->fix_mode), &(pack->fix_type),
&(pack->sat_prn[0]), &(pack->sat_prn[1]), &(pack->sat_prn[2]), &(pack->sat_prn[3]), &(pack->sat_prn[4]), &(pack->sat_prn[5]),
&(pack->sat_prn[6]), &(pack->sat_prn[7]), &(pack->sat_prn[8]), &(pack->sat_prn[9]), &(pack->sat_prn[10]), &(pack->sat_prn[11]),
&(pack->PDOP), &(pack->HDOP), &(pack->VDOP)))
{
nmea_error("GPGSA parse error!");
return 0;
}
return 1;
}
/**
* \brief Parse GSV packet from buffer.
* @param buff a constant character pointer of packet buffer.
* @param buff_sz buffer size.
* @param pack a pointer of packet which will filled by function.
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
*/
int nmea_parse_GPGSV(const char *buff, int buff_sz, nmeaGPGSV *pack)
{
int nsen, nsat;
NMEA_ASSERT(buff && pack);
memset(pack, 0, sizeof(nmeaGPGSV));
nmea_trace_buff(buff, buff_sz);
nsen = nmea_scanf(buff, buff_sz,
"$GPGSV,%d,%d,%d,"
"%d,%d,%d,%d,"
"%d,%d,%d,%d,"
"%d,%d,%d,%d,"
"%d,%d,%d,%d*",
&(pack->pack_count), &(pack->pack_index), &(pack->sat_count),
&(pack->sat_data[0].id), &(pack->sat_data[0].elv), &(pack->sat_data[0].azimuth), &(pack->sat_data[0].sig),
&(pack->sat_data[1].id), &(pack->sat_data[1].elv), &(pack->sat_data[1].azimuth), &(pack->sat_data[1].sig),
&(pack->sat_data[2].id), &(pack->sat_data[2].elv), &(pack->sat_data[2].azimuth), &(pack->sat_data[2].sig),
&(pack->sat_data[3].id), &(pack->sat_data[3].elv), &(pack->sat_data[3].azimuth), &(pack->sat_data[3].sig));
nsat = (pack->pack_index - 1) * NMEA_SATINPACK;
nsat = (nsat + NMEA_SATINPACK > pack->sat_count)?pack->sat_count - nsat:NMEA_SATINPACK;
nsat = nsat * 4 + 3 /* first three sentence`s */;
if(nsen < nsat || nsen > (NMEA_SATINPACK * 4 + 3))
{
nmea_error("GPGSV parse error!");
return 0;
}
return 1;
}
/**
* \brief Parse RMC packet from buffer.
* @param buff a constant character pointer of packet buffer.
* @param buff_sz buffer size.
* @param pack a pointer of packet which will filled by function.
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
*/
int nmea_parse_GPRMC(const char *buff, int buff_sz, nmeaGPRMC *pack)
{
int nsen;
char time_buff[NMEA_TIMEPARSE_BUF];
NMEA_ASSERT(buff && pack);
memset(pack, 0, sizeof(nmeaGPRMC));
nmea_trace_buff(buff, buff_sz);
nsen = nmea_scanf(buff, buff_sz,
"$GPRMC,%s,%C,%f,%C,%f,%C,%f,%f,%2d%2d%2d,%f,%C,%C*",
&(time_buff[0]),
&(pack->status), &(pack->lat), &(pack->ns), &(pack->lon), &(pack->ew),
&(pack->speed), &(pack->direction),
&(pack->utc.day), &(pack->utc.mon), &(pack->utc.year),
&(pack->declination), &(pack->declin_ew), &(pack->mode));
if(nsen != 13 && nsen != 14)
{
nmea_error("GPRMC parse error!");
return 0;
}
if(0 != _nmea_parse_time(&time_buff[0], (int)strlen(&time_buff[0]), &(pack->utc)))
{
nmea_error("GPRMC time parse error!");
return 0;
}
if(pack->utc.year < 90)
pack->utc.year += 100;
pack->utc.mon -= 1;
return 1;
}
/**
* \brief Parse VTG packet from buffer.
* @param buff a constant character pointer of packet buffer.
* @param buff_sz buffer size.
* @param pack a pointer of packet which will filled by function.
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
*/
int nmea_parse_GPVTG(const char *buff, int buff_sz, nmeaGPVTG *pack)
{
NMEA_ASSERT(buff && pack);
memset(pack, 0, sizeof(nmeaGPVTG));
nmea_trace_buff(buff, buff_sz);
if(8 != nmea_scanf(buff, buff_sz,
"$GPVTG,%f,%C,%f,%C,%f,%C,%f,%C*",
&(pack->dir), &(pack->dir_t),
&(pack->dec), &(pack->dec_m),
&(pack->spn), &(pack->spn_n),
&(pack->spk), &(pack->spk_k)))
{
nmea_error("GPVTG parse error!");
return 0;
}
if( pack->dir_t != 'T' ||
pack->dec_m != 'M' ||
pack->spn_n != 'N' ||
pack->spk_k != 'K')
{
nmea_error("GPVTG parse error (format error)!");
return 0;
}
return 1;
}
/**
* \brief Fill nmeaINFO structure by GGA packet data.
* @param pack a pointer of packet structure.
* @param info a pointer of summary information structure.
*/
void nmea_GPGGA2info(nmeaGPGGA *pack, nmeaINFO *info)
{
NMEA_ASSERT(pack && info);
info->utc.hour = pack->utc.hour;
info->utc.min = pack->utc.min;
info->utc.sec = pack->utc.sec;
info->utc.hsec = pack->utc.hsec;
info->sig = pack->sig;
info->HDOP = pack->HDOP;
info->elv = pack->elv;
info->lat = ((pack->ns == 'N')?pack->lat:-(pack->lat));
info->lon = ((pack->ew == 'E')?pack->lon:-(pack->lon));
info->smask |= GPGGA;
}
/**
* \brief Fill nmeaINFO structure by GSA packet data.
* @param pack a pointer of packet structure.
* @param info a pointer of summary information structure.
*/
void nmea_GPGSA2info(nmeaGPGSA *pack, nmeaINFO *info)
{
int i, j, nuse = 0;
NMEA_ASSERT(pack && info);
info->fix = pack->fix_type;
info->PDOP = pack->PDOP;
info->HDOP = pack->HDOP;
info->VDOP = pack->VDOP;
for(i = 0; i < NMEA_MAXSAT; ++i)
{
for(j = 0; j < info->satinfo.inview; ++j)
{
if(pack->sat_prn[i] && pack->sat_prn[i] == info->satinfo.sat[j].id)
{
info->satinfo.sat[j].in_use = 1;
nuse++;
}
}
}
info->satinfo.inuse = nuse;
info->smask |= GPGSA;
}
/**
* \brief Fill nmeaINFO structure by GSV packet data.
* @param pack a pointer of packet structure.
* @param info a pointer of summary information structure.
*/
void nmea_GPGSV2info(nmeaGPGSV *pack, nmeaINFO *info)
{
int isat, isi, nsat;
NMEA_ASSERT(pack && info);
if(pack->pack_index > pack->pack_count ||
pack->pack_index * NMEA_SATINPACK > NMEA_MAXSAT)
return;
if(pack->pack_index < 1)
pack->pack_index = 1;
info->satinfo.inview = pack->sat_count;
nsat = (pack->pack_index - 1) * NMEA_SATINPACK;
nsat = (nsat + NMEA_SATINPACK > pack->sat_count)?pack->sat_count - nsat:NMEA_SATINPACK;
for(isat = 0; isat < nsat; ++isat)
{
isi = (pack->pack_index - 1) * NMEA_SATINPACK + isat;
info->satinfo.sat[isi].id = pack->sat_data[isat].id;
info->satinfo.sat[isi].elv = pack->sat_data[isat].elv;
info->satinfo.sat[isi].azimuth = pack->sat_data[isat].azimuth;
info->satinfo.sat[isi].sig = pack->sat_data[isat].sig;
}
info->smask |= GPGSV;
}
/**
* \brief Fill nmeaINFO structure by RMC packet data.
* @param pack a pointer of packet structure.
* @param info a pointer of summary information structure.
*/
void nmea_GPRMC2info(nmeaGPRMC *pack, nmeaINFO *info)
{
NMEA_ASSERT(pack && info);
if('A' == pack->status)
{
if(NMEA_SIG_BAD == info->sig)
info->sig = NMEA_SIG_MID;
if(NMEA_FIX_BAD == info->fix)
info->fix = NMEA_FIX_2D;
}
else if('V' == pack->status)
{
info->sig = NMEA_SIG_BAD;
info->fix = NMEA_FIX_BAD;
}
info->utc = pack->utc;
info->lat = ((pack->ns == 'N')?pack->lat:-(pack->lat));
info->lon = ((pack->ew == 'E')?pack->lon:-(pack->lon));
info->speed = pack->speed * NMEA_TUD_KNOTS;
info->direction = pack->direction;
info->smask |= GPRMC;
}
/**
* \brief Fill nmeaINFO structure by VTG packet data.
* @param pack a pointer of packet structure.
* @param info a pointer of summary information structure.
*/
void nmea_GPVTG2info(nmeaGPVTG *pack, nmeaINFO *info)
{
NMEA_ASSERT(pack && info);
info->direction = pack->dir;
info->declination = pack->dec;
info->speed = pack->spk;
info->smask |= GPVTG;
}
src/libs/nmea/parser.c deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: parser.c 17 2008-03-11 11:56:11Z xtimor $
*
*/
/**
* \file parser.h
*/
#include "nmea/tok.h"
#include "nmea/parse.h"
#include "nmea/parser.h"
#include "nmea/context.h"
#include <string.h>
#include <stdlib.h>
typedef struct _nmeaParserNODE
{
int packType;
void *pack;
struct _nmeaParserNODE *next_node;
} nmeaParserNODE;
/*
* high level
*/
/**
* \brief Initialization of parser object
* @return true (1) - success or false (0) - fail
*/
int nmea_parser_init(nmeaPARSER *parser)
{
int resv = 0;
int buff_size = nmea_property()->parse_buff_size;
NMEA_ASSERT(parser);
if(buff_size < NMEA_MIN_PARSEBUFF)
buff_size = NMEA_MIN_PARSEBUFF;
memset(parser, 0, sizeof(nmeaPARSER));
if(0 == (parser->buffer = malloc(buff_size)))
nmea_error("Insufficient memory!");
else
{
parser->buff_size = buff_size;
resv = 1;
}
return resv;
}
/**
* \brief Destroy parser object
*/
void nmea_parser_destroy(nmeaPARSER *parser)
{
NMEA_ASSERT(parser && parser->buffer);
free(parser->buffer);
nmea_parser_queue_clear(parser);
memset(parser, 0, sizeof(nmeaPARSER));
}
/**
* \brief Analysis of buffer and put results to information structure
* @return Number of packets wos parsed
*/
int nmea_parse(
nmeaPARSER *parser,
const char *buff, int buff_sz,
nmeaINFO *info
)
{
int ptype, nread = 0;
void *pack = 0;
NMEA_ASSERT(parser && parser->buffer);
nmea_parser_push(parser, buff, buff_sz);
while(GPNON != (ptype = nmea_parser_pop(parser, &pack)))
{
nread++;
switch(ptype)
{
case GPGGA:
nmea_GPGGA2info((nmeaGPGGA *)pack, info);
break;
case GPGSA:
nmea_GPGSA2info((nmeaGPGSA *)pack, info);
break;
case GPGSV:
nmea_GPGSV2info((nmeaGPGSV *)pack, info);
break;
case GPRMC:
nmea_GPRMC2info((nmeaGPRMC *)pack, info);
break;
case GPVTG:
nmea_GPVTG2info((nmeaGPVTG *)pack, info);
break;
};
free(pack);
}
return nread;
}
/*
* low level
*/
int nmea_parser_real_push(nmeaPARSER *parser, const char *buff, int buff_sz)
{
int nparsed = 0, crc, sen_sz, ptype;
nmeaParserNODE *node = 0;
NMEA_ASSERT(parser && parser->buffer);
/* clear unuse buffer (for debug) */
/*
memset(
parser->buffer + parser->buff_use, 0,
parser->buff_size - parser->buff_use
);
*/
/* add */
if(parser->buff_use + buff_sz >= parser->buff_size)
nmea_parser_buff_clear(parser);
memcpy(parser->buffer + parser->buff_use, buff, buff_sz);
parser->buff_use += buff_sz;
/* parse */
for(;;node = 0)
{
sen_sz = nmea_find_tail(
(const char *)parser->buffer + nparsed,
(int)parser->buff_use - nparsed, &crc);
if(!sen_sz)
{
if(nparsed)
memcpy(
parser->buffer,
parser->buffer + nparsed,
parser->buff_use -= nparsed);
break;
}
else if(crc >= 0)
{
ptype = nmea_pack_type(
(const char *)parser->buffer + nparsed + 1,
parser->buff_use - nparsed - 1);
if(0 == (node = malloc(sizeof(nmeaParserNODE))))
goto mem_fail;
node->pack = 0;
switch(ptype)
{
case GPGGA:
if(0 == (node->pack = malloc(sizeof(nmeaGPGGA))))
goto mem_fail;
node->packType = GPGGA;
if(!nmea_parse_GPGGA(
(const char *)parser->buffer + nparsed,
sen_sz, (nmeaGPGGA *)node->pack))
{
free(node);
node = 0;
}
break;
case GPGSA:
if(0 == (node->pack = malloc(sizeof(nmeaGPGSA))))
goto mem_fail;
node->packType = GPGSA;
if(!nmea_parse_GPGSA(
(const char *)parser->buffer + nparsed,
sen_sz, (nmeaGPGSA *)node->pack))
{
free(node);
node = 0;
}
break;
case GPGSV:
if(0 == (node->pack = malloc(sizeof(nmeaGPGSV))))
goto mem_fail;
node->packType = GPGSV;
if(!nmea_parse_GPGSV(
(const char *)parser->buffer + nparsed,
sen_sz, (nmeaGPGSV *)node->pack))
{
free(node);
node = 0;
}
break;
case GPRMC:
if(0 == (node->pack = malloc(sizeof(nmeaGPRMC))))
goto mem_fail;
node->packType = GPRMC;
if(!nmea_parse_GPRMC(
(const char *)parser->buffer + nparsed,
sen_sz, (nmeaGPRMC *)node->pack))
{
free(node);
node = 0;
}
break;
case GPVTG:
if(0 == (node->pack = malloc(sizeof(nmeaGPVTG))))
goto mem_fail;
node->packType = GPVTG;
if(!nmea_parse_GPVTG(
(const char *)parser->buffer + nparsed,
sen_sz, (nmeaGPVTG *)node->pack))
{
free(node);
node = 0;
}
break;
default:
free(node);
node = 0;
break;
};
if(node)
{
if(parser->end_node)
((nmeaParserNODE *)parser->end_node)->next_node = node;
parser->end_node = node;
if(!parser->top_node)
parser->top_node = node;
node->next_node = 0;
}
}
nparsed += sen_sz;
}
return nparsed;
mem_fail:
if(node)
free(node);
nmea_error("Insufficient memory!");
return -1;
}
/**
* \brief Analysis of buffer and keep results into parser
* @return Number of bytes wos parsed from buffer
*/
int nmea_parser_push(nmeaPARSER *parser, const char *buff, int buff_sz)
{
int nparse, nparsed = 0;
do
{
if(buff_sz > parser->buff_size)
nparse = parser->buff_size;
else
nparse = buff_sz;
nparsed += nmea_parser_real_push(
parser, buff, nparse);
buff_sz -= nparse;
} while(buff_sz);
return nparsed;
}
/**
* \brief Get type of top packet keeped into parser
* @return Type of packet
* @see nmeaPACKTYPE
*/
int nmea_parser_top(nmeaPARSER *parser)
{
int retval = GPNON;
nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
NMEA_ASSERT(parser && parser->buffer);
if(node)
retval = node->packType;
return retval;
}
/**
* \brief Withdraw top packet from parser
* @return Received packet type
* @see nmeaPACKTYPE
*/
int nmea_parser_pop(nmeaPARSER *parser, void **pack_ptr)
{
int retval = GPNON;
nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
NMEA_ASSERT(parser && parser->buffer);
if(node)
{
*pack_ptr = node->pack;
retval = node->packType;
parser->top_node = node->next_node;
if(!parser->top_node)
parser->end_node = 0;
free(node);
}
return retval;
}
/**
* \brief Get top packet from parser without withdraw
* @return Received packet type
* @see nmeaPACKTYPE
*/
int nmea_parser_peek(nmeaPARSER *parser, void **pack_ptr)
{
int retval = GPNON;
nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
NMEA_ASSERT(parser && parser->buffer);
if(node)
{
*pack_ptr = node->pack;
retval = node->packType;
}
return retval;
}
/**
* \brief Delete top packet from parser
* @return Deleted packet type
* @see nmeaPACKTYPE
*/
int nmea_parser_drop(nmeaPARSER *parser)
{
int retval = GPNON;
nmeaParserNODE *node = (nmeaParserNODE *)parser->top_node;
NMEA_ASSERT(parser && parser->buffer);
if(node)
{
if(node->pack)
free(node->pack);
retval = node->packType;
parser->top_node = node->next_node;
if(!parser->top_node)
parser->end_node = 0;
free(node);
}
return retval;
}
/**
* \brief Clear cache of parser
* @return true (1) - success
*/
int nmea_parser_buff_clear(nmeaPARSER *parser)
{
NMEA_ASSERT(parser && parser->buffer);
parser->buff_use = 0;
return 1;
}
/**
* \brief Clear packets queue into parser
* @return true (1) - success
*/
int nmea_parser_queue_clear(nmeaPARSER *parser)
{
NMEA_ASSERT(parser);
while(parser->top_node)
nmea_parser_drop(parser);
return 1;
}
src/libs/nmea/sentence.c deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: sentence.c 17 2008-03-11 11:56:11Z xtimor $
*
*/
#include "nmea/sentence.h"
#include <string.h>
void nmea_zero_GPGGA(nmeaGPGGA *pack)
{
memset(pack, 0, sizeof(nmeaGPGGA));
nmea_time_now(&pack->utc);
pack->ns = 'N';
pack->ew = 'E';
pack->elv_units = 'M';
pack->diff_units = 'M';
}
void nmea_zero_GPGSA(nmeaGPGSA *pack)
{
memset(pack, 0, sizeof(nmeaGPGSA));
pack->fix_mode = 'A';
pack->fix_type = NMEA_FIX_BAD;
}
void nmea_zero_GPGSV(nmeaGPGSV *pack)
{
memset(pack, 0, sizeof(nmeaGPGSV));
}
void nmea_zero_GPRMC(nmeaGPRMC *pack)
{
memset(pack, 0, sizeof(nmeaGPRMC));
nmea_time_now(&pack->utc);
pack->status = 'V';
pack->ns = 'N';
pack->ew = 'E';
pack->declin_ew = 'E';
}
void nmea_zero_GPVTG(nmeaGPVTG *pack)
{
memset(pack, 0, sizeof(nmeaGPVTG));
pack->dir_t = 'T';
pack->dec_m = 'M';
pack->spn_n = 'N';
pack->spk_k = 'K';
}
src/libs/nmea/time.c deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: time.c 4 2007-08-27 13:11:03Z xtimor $
*
*/
/*! \file time.h */
#include "nmea/time.h"
#ifdef NMEA_WIN
# pragma warning(disable: 4201)
# pragma warning(disable: 4214)
# pragma warning(disable: 4115)
# include <windows.h>
# pragma warning(default: 4201)
# pragma warning(default: 4214)
# pragma warning(default: 4115)
#else
# include <time.h>
#endif
#ifdef NMEA_WIN
void nmea_time_now(nmeaTIME *stm)
{
SYSTEMTIME st;
GetSystemTime(&st);
stm->year = st.wYear - 1900;
stm->mon = st.wMonth - 1;
stm->day = st.wDay;
stm->hour = st.wHour;
stm->min = st.wMinute;
stm->sec = st.wSecond;
stm->hsec = st.wMilliseconds / 10;
}
#else /* NMEA_WIN */
void nmea_time_now(nmeaTIME *stm)
{
time_t lt;
struct tm *tt;
time(&lt);
tt = gmtime(&lt);
stm->year = tt->tm_year;
stm->mon = tt->tm_mon;
stm->day = tt->tm_mday;
stm->hour = tt->tm_hour;
stm->min = tt->tm_min;
stm->sec = tt->tm_sec;
stm->hsec = 0;
}
#endif
src/libs/nmea/tok.c deleted 100755 → 0
View file @ 44d3d10d
/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim (xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: tok.c 17 2008-03-11 11:56:11Z xtimor $
*
*/
/*! \file tok.h */
#include "nmea/tok.h"
#include <stdarg.h>
#include <stdlib.h>
#include <stdio.h>
#include <ctype.h>
#include <string.h>
#include <limits.h>
#define NMEA_TOKS_COMPARE (1)
#define NMEA_TOKS_PERCENT (2)
#define NMEA_TOKS_WIDTH (3)
#define NMEA_TOKS_TYPE (4)
/**
* \brief Calculate control sum of binary buffer
*/
int nmea_calc_crc(const char *buff, int buff_sz)
{
int chsum = 0,
it;
for(it = 0; it < buff_sz; ++it)
chsum ^= (int)buff[it];
return chsum;
}
/**
* \brief Convert string to number
*/
int nmea_atoi(const char *str, int str_sz, int radix)
{
char *tmp_ptr;
char buff[NMEA_CONVSTR_BUF];
int res = 0;
if(str_sz < NMEA_CONVSTR_BUF)
{
memcpy(&buff[0], str, str_sz);
buff[str_sz] = '\0';
res = strtol(&buff[0], &tmp_ptr, radix);
}
return res;
}
/**
* \brief Convert string to fraction number
*/
double nmea_atof(const char *str, int str_sz)
{
char *tmp_ptr;
char buff[NMEA_CONVSTR_BUF];
double res = 0;
if(str_sz < NMEA_CONVSTR_BUF)
{
memcpy(&buff[0], str, str_sz);
buff[str_sz] = '\0';
res = strtod(&buff[0], &tmp_ptr);
}
return res;
}
/**
* \brief Formating string (like standart printf) with CRC tail (*CRC)
*/
int nmea_printf(char *buff, int buff_sz, const char *format, ...)
{
int retval, add = 0;
va_list arg_ptr;
if(buff_sz <= 0)
return 0;
va_start(arg_ptr, format);
retval = NMEA_POSIX(vsnprintf)(buff, buff_sz, format, arg_ptr);
if(retval > 0)
{
add = NMEA_POSIX(snprintf)(
buff + retval, buff_sz - retval, "*%02x\r\n",
nmea_calc_crc(buff + 1, retval - 1));
}
retval += add;
if(retval < 0 || retval > buff_sz)
{
memset(buff, ' ', buff_sz);
retval = buff_sz;
}
va_end(arg_ptr);
return retval;
}
/**
* \brief Analyse string (specificate for NMEA sentences)
*/
int nmea_scanf(const char *buff, int buff_sz, const char *format, ...)
{
const char *beg_tok;
const char *end_buf = buff + buff_sz;
va_list arg_ptr;
int tok_type = NMEA_TOKS_COMPARE;
int width = 0;
const char *beg_fmt = 0;
int snum = 0, unum = 0;
int tok_count = 0;
void *parg_target;
va_start(arg_ptr, format);
for(; *format && buff < end_buf; ++format)
{
switch(tok_type)
{
case NMEA_TOKS_COMPARE:
if('%' == *format)
tok_type = NMEA_TOKS_PERCENT;
else if(*buff++ != *format)
goto fail;
break;
case NMEA_TOKS_PERCENT:
width = 0;
beg_fmt = format;
tok_type = NMEA_TOKS_WIDTH;
case NMEA_TOKS_WIDTH:
if(isdigit(*format))
break;
{
tok_type = NMEA_TOKS_TYPE;
if(format > beg_fmt)
width = nmea_atoi(beg_fmt, (int)(format - beg_fmt), 10);
}
case NMEA_TOKS_TYPE:
beg_tok = buff;
if(!width && ('c' == *format || 'C' == *format) && *buff != format[1])
width = 1;
if(width)
{
if(buff + width <= end_buf)
buff += width;
else
goto fail;
}
else
{
if(!format[1] || (0 == (buff = (char *)memchr(buff, format[1], end_buf - buff))))
buff = end_buf;
}
if(buff > end_buf)
goto fail;
tok_type = NMEA_TOKS_COMPARE;
tok_count++;
parg_target = 0; width = (int)(buff - beg_tok);
switch(*format)
{
case 'c':
case 'C':
parg_target = (void *)va_arg(arg_ptr, char *);
if(width && 0 != (parg_target))
*((char *)parg_target) = *beg_tok;
break;
case 's':
case 'S':
parg_target = (void *)va_arg(arg_ptr, char *);
if(width && 0 != (parg_target))
{
memcpy(parg_target, beg_tok, width);
((char *)parg_target)[width] = '\0';
}
break;
case 'f':
case 'g':
case 'G':
case 'e':
case 'E':
parg_target = (void *)va_arg(arg_ptr, double *);
if(width && 0 != (parg_target))
*((double *)parg_target) = nmea_atof(beg_tok, width);
break;
};
if(parg_target)
break;
if(0 == (parg_target = (void *)va_arg(arg_ptr, int *)))
break;
if(!width)
break;
switch(*format)
{
case 'd':
case 'i':
snum = nmea_atoi(beg_tok, width, 10);
memcpy(parg_target, &snum, sizeof(int));
break;
case 'u':
unum = nmea_atoi(beg_tok, width, 10);
memcpy(parg_target, &unum, sizeof(unsigned int));
break;
case 'x':
case 'X':
unum = nmea_atoi(beg_tok, width, 16);
memcpy(parg_target, &unum, sizeof(unsigned int));
break;
case 'o':
unum = nmea_atoi(beg_tok, width, 8);
memcpy(parg_target, &unum, sizeof(unsigned int));
break;
default:
goto fail;
};
break;
};
}
fail:
va_end(arg_ptr);
return tok_count;
}
src/ui/CommConfigurationWindow.cc
View file @ 309d547c
......@@ -71,10 +71,8 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
ui.linkType->addItem(tr("Xbee API"),QGC_LINK_XBEE);
#endif // XBEELINK
ui.linkType->setEditable(false);
//ui.linkType->setEnabled(false);
ui.connectionType->addItem("MAVLink", QGC_PROTOCOL_MAVLINK);
//ui.connectionType->addItem("GPS NMEA", QGC_PROTOCOL_NMEA);
// Create action to open this menu
// Create configuration action for this link
......@@ -116,21 +114,13 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
SerialLink* serial = dynamic_cast<SerialLink*>(link);
if(serial != 0) {
QWidget* conf = new SerialConfigurationWindow(serial, this);
//QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.linkGroupBox);
//layout->addWidget(conf);
ui.linkScrollArea->setWidget(conf);
//ui.linkScrollArea->setLayout(layout);
ui.linkGroupBox->setTitle(tr("Serial Link"));
ui.linkType->setCurrentIndex(0);
//ui.linkGroupBox->setTitle(link->getName());
//connect(link, SIGNAL(nameChanged(QString)), ui.linkGroupBox, SLOT(setTitle(QString)));
}
UDPLink* udp = dynamic_cast<UDPLink*>(link);
if (udp != 0) {
QWidget* conf = new QGCUDPLinkConfiguration(udp, this);
//QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.linkGroupBox);
//layout->addWidget(conf);
//ui.linkGroupBox->setLayout(layout);
ui.linkScrollArea->setWidget(conf);
ui.linkGroupBox->setTitle(tr("UDP Link"));
ui.linkType->setCurrentIndex(1);
......@@ -182,9 +172,6 @@ CommConfigurationWindow::CommConfigurationWindow(LinkInterface* link, ProtocolIn
MAVLinkProtocol* mavlink = dynamic_cast<MAVLinkProtocol*>(protocol);
if (mavlink != 0) {
QWidget* conf = new MAVLinkSettingsWidget(mavlink, this);
//QBoxLayout* layout = new QBoxLayout(QBoxLayout::LeftToRight, ui.protocolGroupBox);
//layout->addWidget(conf);
//ui.protocolGroupBox->setLayout(layout);
ui.protocolScrollArea->setWidget(conf);
ui.protocolGroupBox->setTitle(protocol->getName()+" (Global Settings)");
} else {
......
src/ui/CommConfigurationWindow.h
View file @ 309d547c
......@@ -52,7 +52,6 @@ enum qgc_link_t {
enum qgc_protocol_t {
QGC_PROTOCOL_MAVLINK,
QGC_PROTOCOL_NMEA
};
......
Markdown is supported
0% or
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment