diff --git a/src/algorithms/PVT/libs/nmea_printer.cc b/src/algorithms/PVT/libs/nmea_printer.cc index c06653680..7253b9f79 100644 --- a/src/algorithms/PVT/libs/nmea_printer.cc +++ b/src/algorithms/PVT/libs/nmea_printer.cc @@ -377,99 +377,10 @@ std::string Nmea_Printer::get_UTC_NMEA_time(boost::posix_time::ptime d_position_ std::string Nmea_Printer::get_GPRMC() { // Sample -> $GPRMC,161229.487,A,3723.2475,N,12158.3416,W,0.13,309.62,120598,*10 - bool valid_fix = d_PVT_data->is_valid_position(); - - // ToDo: Compute speed and course over ground - double speed_over_ground_knots = 0; - double course_over_ground_deg = 0; - - // boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time(); - std::stringstream sentence_str; - - // GPRMC (RMC-Recommended,Minimum Specific GNSS Data) - std::string sentence_header; - sentence_header = "$GPRMC,"; - sentence_str << sentence_header; - - // UTC Time: hhmmss.sss - sentence_str << get_UTC_NMEA_time(d_PVT_data->get_position_UTC_time()); - - // Status: A: data valid, V: data NOT valid - if (valid_fix == true) - { - sentence_str << ",A"; - } - else - { - sentence_str << ",V"; - }; - - if (print_avg_pos == true) - { - // Latitude ddmm.mmmm,(N or S) - sentence_str << "," << latitude_to_hm(d_PVT_data->get_avg_latitude()); - // longitude dddmm.mmmm,(E or W) - sentence_str << "," << longitude_to_hm(d_PVT_data->get_avg_longitude()); - } - else - { - // Latitude ddmm.mmmm,(N or S) - sentence_str << "," << latitude_to_hm(d_PVT_data->get_latitude()); - // longitude dddmm.mmmm,(E or W) - sentence_str << "," << longitude_to_hm(d_PVT_data->get_longitude()); - } - - // Speed over ground (knots) - sentence_str << ","; - sentence_str.setf(std::ios::fixed, std::ios::floatfield); - sentence_str.precision(2); - sentence_str << speed_over_ground_knots; - - // course over ground (degrees) - sentence_str << ","; - sentence_str.setf(std::ios::fixed, std::ios::floatfield); - sentence_str.precision(2); - sentence_str << course_over_ground_deg; - - // Date ddmmyy - boost::gregorian::date sentence_date = d_PVT_data->get_position_UTC_time().date(); - unsigned int year = sentence_date.year(); - unsigned int day = sentence_date.day(); - unsigned int month = sentence_date.month(); - - sentence_str << ","; - sentence_str.width(2); - sentence_str.fill('0'); - sentence_str << day; - sentence_str.width(2); - sentence_str.fill('0'); - sentence_str << month; - - std::stringstream year_strs; - year_strs << std::dec << year; - sentence_str << std::dec << year_strs.str().substr(2); - - // Magnetic Variation (degrees) - // ToDo: Implement magnetic compass - sentence_str << ","; - - // Magnetic Variation (E or W) - // ToDo: Implement magnetic compass - sentence_str << ","; - - // Checksum - char checksum; - std::string tmpstr; - tmpstr = sentence_str.str(); - checksum = checkSum(tmpstr.substr(1)); - sentence_str << "*"; - sentence_str.width(2); - sentence_str.fill('0'); - sentence_str << std::hex << static_cast(checksum); - - // end NMEA sentence - sentence_str << "\r\n"; + unsigned char buff[1024] = {0}; + outnmea_rmc(buff, &d_PVT_data->pvt_sol); + sentence_str << buff; return sentence_str.str(); } @@ -478,82 +389,10 @@ std::string Nmea_Printer::get_GPGSA() { // $GPGSA,A,3,07,02,26,27,09,04,15, , , , , ,1.8,1.0,1.5*33 // GSA-GNSS DOP and Active Satellites - bool valid_fix = d_PVT_data->is_valid_position(); - int n_sats_used = d_PVT_data->get_num_valid_observations(); - double pdop = d_PVT_data->get_pdop(); - double hdop = d_PVT_data->get_hdop(); - double vdop = d_PVT_data->get_vdop(); - std::stringstream sentence_str; - std::string sentence_header; - sentence_header = "$GPGSA,"; - sentence_str << sentence_header; - - // mode1: - // (M) Manual-forced to operate in 2D or 3D mode - // (A) Automatic-allowed to automatically switch 2D/3D - std::string mode1 = "M"; - sentence_str << mode1; - - // mode2: - // 1 fix not available - // 2 fix 2D - // 3 fix 3D - if (valid_fix == true) - { - sentence_str << ",3"; - } - else - { - sentence_str << ",1"; - }; - - // Used satellites - for (int i = 0; i < 12; i++) - { - sentence_str << ","; - if (i < n_sats_used) - { - sentence_str.width(2); - sentence_str.fill('0'); - sentence_str << d_PVT_data->get_visible_satellites_ID(i); - } - } - - // PDOP - sentence_str << ","; - sentence_str.setf(std::ios::fixed, std::ios::floatfield); - sentence_str.width(2); - sentence_str.precision(1); - sentence_str.fill('0'); - sentence_str << pdop; - // HDOP - sentence_str << ","; - sentence_str.setf(std::ios::fixed, std::ios::floatfield); - sentence_str.width(2); - sentence_str.precision(1); - sentence_str.fill('0'); - sentence_str << hdop; - // VDOP - sentence_str << ","; - sentence_str.setf(std::ios::fixed, std::ios::floatfield); - sentence_str.width(2); - sentence_str.precision(1); - sentence_str.fill('0'); - sentence_str << vdop; - - // Checksum - char checksum; - std::string tmpstr; - tmpstr = sentence_str.str(); - checksum = checkSum(tmpstr.substr(1)); - sentence_str << "*"; - sentence_str.width(2); - sentence_str.fill('0'); - sentence_str << std::hex << static_cast(checksum); - - // end NMEA sentence - sentence_str << "\r\n"; + unsigned char buff[1024] = {0}; + outnmea_gsa(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat); + sentence_str << buff; return sentence_str.str(); } @@ -564,7 +403,7 @@ std::string Nmea_Printer::get_GPGSV() // $GPGSV,2,1,07,07,79,048,42,02,51,062,43,26,36,256,42,27,27,138,42*71 // Notice that NMEA 2.1 only supports 12 channels std::stringstream sentence_str; - unsigned char buff[200]; + unsigned char buff[1024] = {0}; outnmea_gsv(buff, &d_PVT_data->pvt_sol, d_PVT_data->pvt_ssat); sentence_str << buff; return sentence_str.str(); @@ -573,112 +412,10 @@ std::string Nmea_Printer::get_GPGSV() std::string Nmea_Printer::get_GPGGA() { - // boost::posix_time::ptime d_position_UTC_time=boost::posix_time::microsec_clock::universal_time(); - bool valid_fix = d_PVT_data->is_valid_position(); - int n_channels = d_PVT_data->get_num_valid_observations(); //d_nchannels - double hdop = d_PVT_data->get_hdop(); - double MSL_altitude; - - if (d_PVT_data->is_averaging() == true) - { - MSL_altitude = d_PVT_data->get_avg_height(); - } - else - { - MSL_altitude = d_PVT_data->get_height(); - } - std::stringstream sentence_str; - - // GPGGA (Global Positioning System Fixed Data) - std::string sentence_header; - sentence_header = "$GPGGA,"; - sentence_str << sentence_header; - - // UTC Time: hhmmss.sss - sentence_str << get_UTC_NMEA_time(d_PVT_data->get_position_UTC_time()); - - if (d_PVT_data->is_averaging() == true) - { - // Latitude ddmm.mmmm,(N or S) - sentence_str << "," << latitude_to_hm(d_PVT_data->get_avg_latitude()); - // longitude dddmm.mmmm,(E or W) - sentence_str << "," << longitude_to_hm(d_PVT_data->get_avg_longitude()); - } - else - { - // Latitude ddmm.mmmm,(N or S) - sentence_str << "," << latitude_to_hm(d_PVT_data->get_latitude()); - // longitude dddmm.mmmm,(E or W) - sentence_str << "," << longitude_to_hm(d_PVT_data->get_longitude()); - } - - // Position fix indicator - // 0 - Fix not available or invalid - // 1 - GPS SPS Mode, fix valid - // 2 - Differential GPS, SPS Mode, fix valid - // 3-5 - Not supported - // 6 - Dead Reckoning Mode, fix valid - // ToDo: Update PVT module to identify the fix mode - - if (valid_fix == true) - { - sentence_str << ",1"; - } - else - { - sentence_str << ",0"; - } - - // Number of satellites used in PVT - sentence_str << ","; - if (n_channels < 10) - { - sentence_str << '0' << n_channels; - } - else - { - sentence_str << n_channels; - } - - // HDOP - sentence_str << ","; - sentence_str.setf(std::ios::fixed, std::ios::floatfield); - sentence_str.width(2); - sentence_str.precision(1); - sentence_str.fill('0'); - sentence_str << hdop; - - // MSL Altitude - sentence_str << ","; - sentence_str.precision(1); - sentence_str << MSL_altitude; - sentence_str << ",M"; - - // Geoid-to-ellipsoid separation. Ellipsoid altitude = MSL Altitude + Geoid Separation. - // ToDo: Compute this value - sentence_str << ","; - sentence_str << "0.0"; - sentence_str << ",M"; - - // Age of Diff. Corr. (Seconds) Null fields when DGPS is not used - // Diff. Ref. Station ID (0000) - // ToDo: Implement this fields for Differential GPS - sentence_str << ","; - sentence_str << "0.0,0000"; - - // Checksum - char checksum; - std::string tmpstr; - tmpstr = sentence_str.str(); - checksum = checkSum(tmpstr.substr(1)); - sentence_str << "*"; - sentence_str.width(2); - sentence_str.fill('0'); - sentence_str << std::hex << static_cast(checksum); - - // end NMEA sentence - sentence_str << "\r\n"; + unsigned char buff[1024] = {0}; + outnmea_gga(buff, &d_PVT_data->pvt_sol); + sentence_str << buff; return sentence_str.str(); // $GPGGA,104427.591,5920.7009,N,01803.2938,E,1,05,3.3,78.2,M,23.2,M,0.0,0000*4A }