| /* Copyright (c) 2012-2013, 2015-2020 The Linux Foundation. All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions are |
| * met: |
| * * Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * * Redistributions in binary form must reproduce the above |
| * copyright notice, this list of conditions and the following |
| * disclaimer in the documentation and/or other materials provided |
| * with the distribution. |
| * * Neither the name of The Linux Foundation nor the names of its |
| * contributors may be used to endorse or promote products derived |
| * from this software without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED |
| * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF |
| * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS |
| * BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR |
| * BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, |
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| * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN |
| * IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
| * |
| */ |
| |
| #ifndef LOC_ENG_NMEA_H |
| #define LOC_ENG_NMEA_H |
| |
| #include <gps_extended.h> |
| #include <vector> |
| #include <string> |
| #define NMEA_SENTENCE_MAX_LENGTH 200 |
| |
| /** gnss datum type */ |
| #define LOC_GNSS_DATUM_WGS84 0 |
| #define LOC_GNSS_DATUM_PZ90 1 |
| |
| /* len of semi major axis of ref ellips*/ |
| #define MAJA (6378137.0) |
| /* flattening coef of ref ellipsoid*/ |
| #define FLAT (1.0/298.2572235630) |
| /* 1st eccentricity squared*/ |
| #define ESQR (FLAT*(2.0 - FLAT)) |
| /*1 minus eccentricity squared*/ |
| #define OMES (1.0 - ESQR) |
| #define MILARCSEC2RAD (4.848136811095361e-09) |
| /*semi major axis */ |
| #define C_PZ90A (6378136.0) |
| /*semi minor axis */ |
| #define C_PZ90B (6356751.3618) |
| /* Transformation from WGS84 to PZ90 |
| * Cx,Cy,Cz,Rs,Rx,Ry,Rz,C_SYS_A,C_SYS_B*/ |
| const double DatumConstFromWGS84[9] = |
| {+0.003, +0.001, 0.000, (1.0+(0.000*1E-6)), (-0.019*MILARCSEC2RAD), |
| (+0.042*MILARCSEC2RAD), (-0.002*MILARCSEC2RAD), C_PZ90A, C_PZ90B}; |
| |
| /** Represents a LTP*/ |
| typedef struct { |
| double lat; |
| double lon; |
| double alt; |
| } LocLla; |
| |
| /** Represents a ECEF*/ |
| typedef struct { |
| double X; |
| double Y; |
| double Z; |
| } LocEcef; |
| |
| void loc_nmea_generate_sv(const GnssSvNotification &svNotify, |
| std::vector<std::string> &nmeaArraystr); |
| |
| void loc_nmea_generate_pos(const UlpLocation &location, |
| const GpsLocationExtended &locationExtended, |
| const LocationSystemInfo &systemInfo, |
| unsigned char generate_nmea, |
| bool custom_gga_fix_quality, |
| std::vector<std::string> &nmeaArraystr, |
| int& indexOfGGA); |
| |
| #define DEBUG_NMEA_MINSIZE 6 |
| #define DEBUG_NMEA_MAXSIZE 4096 |
| inline bool loc_nmea_is_debug(const char* nmea, int length) { |
| return ((nullptr != nmea) && |
| (length >= DEBUG_NMEA_MINSIZE) && (length <= DEBUG_NMEA_MAXSIZE) && |
| (nmea[0] == '$') && (nmea[1] == 'P') && (nmea[2] == 'Q') && (nmea[3] == 'W')); |
| } |
| |
| #endif // LOC_ENG_NMEA_H |