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/home/brennan/n-sim/OrbisQuartus/server/gps_sensor.cpp Go to the documentation of this file. /* * Copyright 2007. Los Alamos National Security, LLC. This material * was produced under U.S. Government contract DE-AC52-06NA25396 for * Los Alamos National Laboratory (LANL), which is operated by Los * Alamos National Security, LLC, for the Department of Energy. The * U.S. Government has rights to use, reproduce, and distribute this * software. NEITHER THE GOVERNMENT NOR LOS ALAMOS NATIONAL SECURITY, * LLC, MAKES ANY WARRANTY, EXPRESS OR IMPLIED, OR ASSUMES ANY LEGAL * LIABILITY FOR THE USE OF THIS SOFTWARE. If software is modified to * produce derivative works, such modified software should be clearly * marked, so as not to confuse it with the version available from LANL. * * Additionally, this program 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; version 2 of * the License. Accordingly, this program is distributed in the hope * 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. */ #include <time.h> #include <math.h> #include "gps_sensor.h" #define SENTENCE_LEN 1024 GPS_sensor::GPS_sensor(unsigned int ident, char *type) : Sensor_device(ident, type) { sentence = NMEA_GGA; satellites = 6; h_dilution = 0.9; v_dilution = 2.1; } GPS_sensor::GPS_sensor(unsigned int ident, char *type, unsigned int sats, double h, double v) : Sensor_device(ident, type) { sentence = NMEA_GGA; satellites = sats; h_dilution = h; v_dilution = v; } char *GPS_sensor::nmea_sentence(Sensor_node *node, Signal unused) { if (sentence == NMEA_GGA) return _nmea_gga(node); if (sentence == NMEA_GLL) return _nmea_gll(node); if (sentence == NMEA_GSA) return _nmea_gsa(node); if (sentence == NMEA_GSV) return _nmea_gsv(node); if (sentence == NMEA_RMC) return _nmea_rmc(node); return ""; } static char __latitude_direction(double lat) { if (lat < 0) return 'S'; else return 'N'; } static char __longitude_direction(double lon) { if (lon < 0) return 'W'; else return 'E'; } static int __UTC_hhmmss(void) { time_t tick = time(NULL); struct tm *now = gmtime(&tick); int utc = now->tm_hour * 10000; utc += (now->tm_min * 100); utc += now->tm_sec; return utc; } static int __UTC_date(void) { time_t tick = time(NULL); struct tm *now = gmtime(&tick); int utc = now->tm_mday * 10000; utc += (now->tm_mon * 100); utc += (now->tm_year % 100); return utc; } static double __coord_transform(double value) { int degrees = (int) floor(fabs(value)); double minutes = (fabs(value) - degrees) * 60; degrees *= 100; return degrees + minutes; } char *GPS_sensor::_nmea_gga(Sensor_node *node) { int chksum = 0; char *gps_string; char temp[SENTENCE_LEN]; sprintf(temp, "$GPGGA,%06d,%.3lf,%c,%.3lf,%c,1,%02d," "%.1f,%.1f,M,%.1f,M,,", __UTC_hhmmss(), __coord_transform(node->coords.lat), __latitude_direction(node->coords.lat), __coord_transform(node->coords.lon), __longitude_direction(node->coords.lon), satellites, h_dilution, node->coords.altitude, node->coords.get_geoid_diff()); chksum = strlen(temp); gps_string = new char[chksum + 32]; sprintf(gps_string, "%s*%d\n", temp, chksum); return gps_string; } char *GPS_sensor::_nmea_gll(Sensor_node *node) { int chksum = 0; char *gps_string; char temp[SENTENCE_LEN]; sprintf(temp, "$GPGLL,%.2f,%c,%.2f,%c,%6d,A,", __coord_transform(node->coords.lat), __latitude_direction(node->coords.lat), __coord_transform(node->coords.lon), __longitude_direction(node->coords.lon), __UTC_hhmmss()); chksum = strlen(temp); gps_string = new char[chksum + 32]; sprintf(gps_string, "%s*%d\n", temp, chksum); return gps_string; } char *GPS_sensor::_nmea_gsa(Sensor_node *node) { int chksum = 0; char *gps_string; char temp[SENTENCE_LEN]; sprintf(temp, "$GPGSA,A,3,,,,,,,,,,,,,2.1,%f,%f", h_dilution, v_dilution); chksum = strlen(temp); gps_string = new char[chksum + 32]; sprintf(gps_string, "%s*%d\n", temp, chksum); return gps_string; } char *GPS_sensor::_nmea_gsv(Sensor_node *node) { int chksum = 0; char *gps_string; char temp[SENTENCE_LEN]; sprintf(temp, "$GPGSV,1,1,0%d,01,40,083,46", satellites > 9 ? 9 : satellites); chksum = strlen(temp); gps_string = new char[chksum + 32]; sprintf(gps_string, "%s*%d\n", temp, chksum); return gps_string; } char *GPS_sensor::_nmea_rmc(Sensor_node *node) { double speed = 0, angle = 0; double mag_var = 3.1; char mag_dir = 'W'; int chksum = 0; char *gps_string; char temp[SENTENCE_LEN]; sprintf(temp, "$GPRMC,%06d,A,%.3f,%c,%.3f,%c," "%3.1f,%3.1f,%06d,%3.1f,%c", __UTC_hhmmss(), __coord_transform(node->coords.lat), __latitude_direction(node->coords.lat), __coord_transform(node->coords.lon), __longitude_direction(node->coords.lon), speed, // knots angle, __UTC_date(), mag_var, mag_dir); chksum = strlen(temp); gps_string = new char[chksum + 32]; sprintf(gps_string, "%s*%d\n", temp, chksum); return gps_string; }

© 2007, Los Alamos National Security, LLC.