93 lines
3.6 KiB
C
93 lines
3.6 KiB
C
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/* Copyright (c) 2012-2013, 2015-2017 The Linux Foundation. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are
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* met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of The Linux Foundation nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED
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* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT
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* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
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* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
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* BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
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* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
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* IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef LOC_ENG_NMEA_H
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#define LOC_ENG_NMEA_H
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#include <gps_extended.h>
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#include <vector>
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#include <string>
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#define NMEA_SENTENCE_MAX_LENGTH 200
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/** gnss datum type */
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#define LOC_GNSS_DATUM_WGS84 0
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#define LOC_GNSS_DATUM_PZ90 1
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/* len of semi major axis of ref ellips*/
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#define MAJA (6378137.0)
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/* flattening coef of ref ellipsoid*/
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#define FLAT (1.0/298.2572235630)
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/* 1st eccentricity squared*/
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#define ESQR (FLAT*(2.0 - FLAT))
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/*1 minus eccentricity squared*/
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#define OMES (1.0 - ESQR)
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#define MILARCSEC2RAD (4.848136811095361e-09)
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/*semi major axis */
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#define C_PZ90A (6378136.0)
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/*semi minor axis */
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#define C_PZ90B (6356751.3618)
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/* Transformation from WGS84 to PZ90
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* Cx,Cy,Cz,Rs,Rx,Ry,Rz,C_SYS_A,C_SYS_B*/
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const double DatumConstFromWGS84[9] =
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{+0.003, +0.001, 0.000, (1.0+(0.000*1E-6)), (-0.019*MILARCSEC2RAD),
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(+0.042*MILARCSEC2RAD), (-0.002*MILARCSEC2RAD), C_PZ90A, C_PZ90B};
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/** Represents a LTP*/
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typedef struct {
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double lat;
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double lon;
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double alt;
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} LocLla;
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/** Represents a ECEF*/
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typedef struct {
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double X;
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double Y;
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double Z;
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} LocEcef;
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void loc_nmea_generate_sv(const GnssSvNotification &svNotify,
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std::vector<std::string> &nmeaArraystr);
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void loc_nmea_generate_pos(const UlpLocation &location,
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const GpsLocationExtended &locationExtended,
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const LocationSystemInfo &systemInfo,
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unsigned char generate_nmea,
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std::vector<std::string> &nmeaArraystr);
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#define DEBUG_NMEA_MINSIZE 6
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#define DEBUG_NMEA_MAXSIZE 4096
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inline bool loc_nmea_is_debug(const char* nmea, int length) {
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return ((nullptr != nmea) &&
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(length >= DEBUG_NMEA_MINSIZE) && (length <= DEBUG_NMEA_MAXSIZE) &&
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(nmea[0] == '$') && (nmea[1] == 'P') && (nmea[2] == 'Q') && (nmea[3] == 'W'));
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}
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#endif // LOC_ENG_NMEA_H
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