From 6bc10c567a253008aa7078f2cd41ca776075c6b6 Mon Sep 17 00:00:00 2001 From: Tushar Janefalkar Date: Tue, 26 Mar 2013 15:52:00 -0700 Subject: [PATCH] Generate position report NMEAs only on final fix Position report NMEAs will be generated only if the position report is a final fix and not an intermediate fix. Blank NMEAs will be sent otherwise. CRs-fixed: 467575 Change-Id: I60e63faf3e4503f5a6ce93211d4017aa7695b78b --- loc_api/libloc_api_50001/loc_eng.cpp | 5 +- loc_api/libloc_api_50001/loc_eng_nmea.cpp | 770 +++++++++++----------- loc_api/libloc_api_50001/loc_eng_nmea.h | 2 +- 3 files changed, 401 insertions(+), 376 deletions(-) diff --git a/loc_api/libloc_api_50001/loc_eng.cpp b/loc_api/libloc_api_50001/loc_eng.cpp index 21cee3e0..7413051f 100644 --- a/loc_api/libloc_api_50001/loc_eng.cpp +++ b/loc_api/libloc_api_50001/loc_eng.cpp @@ -1620,7 +1620,10 @@ static void loc_eng_deferred_action_thread(void* arg) if (loc_eng_data_p->generateNmea && rpMsg->location.position_source == ULP_LOCATION_IS_FROM_GNSS) { - loc_eng_nmea_generate_pos(loc_eng_data_p, rpMsg->location, rpMsg->locationExtended); + unsigned char generate_nmea = reported && (rpMsg->status != LOC_SESS_FAILURE); + loc_eng_nmea_generate_pos(loc_eng_data_p, rpMsg->location, + rpMsg->locationExtended, + generate_nmea); } // Free the allocated memory for rawData diff --git a/loc_api/libloc_api_50001/loc_eng_nmea.cpp b/loc_api/libloc_api_50001/loc_eng_nmea.cpp index 9f087ca5..c4be2ab8 100644 --- a/loc_api/libloc_api_50001/loc_eng_nmea.cpp +++ b/loc_api/libloc_api_50001/loc_eng_nmea.cpp @@ -110,7 +110,9 @@ SIDE EFFECTS ===========================================================================*/ void loc_eng_nmea_generate_pos(loc_eng_data_s_type *loc_eng_data_p, - const UlpLocation &location, const GpsLocationExtended &locationExtended) + const UlpLocation &location, + const GpsLocationExtended &locationExtended, + unsigned char generate_nmea) { ENTRY_LOG(); @@ -128,46 +130,32 @@ void loc_eng_nmea_generate_pos(loc_eng_data_s_type *loc_eng_data_p, int utcMinutes = pTm->tm_min; int utcSeconds = pTm->tm_sec; - // ------------------ - // ------$GPGSA------ - // ------------------ + if (generate_nmea) { + // ------------------ + // ------$GPGSA------ + // ------------------ - uint32_t svUsedCount = 0; - uint32_t svUsedList[32] = {0}; - uint32_t mask = loc_eng_data_p->sv_used_mask; - for (uint8_t i = 1; mask > 0 && svUsedCount < 32; i++) - { - if (mask & 1) - svUsedList[svUsedCount++] = i; - mask = mask >> 1; - } - // clear the cache so they can't be used again - loc_eng_data_p->sv_used_mask = 0; + uint32_t svUsedCount = 0; + uint32_t svUsedList[32] = {0}; + uint32_t mask = loc_eng_data_p->sv_used_mask; + for (uint8_t i = 1; mask > 0 && svUsedCount < 32; i++) + { + if (mask & 1) + svUsedList[svUsedCount++] = i; + mask = mask >> 1; + } + // clear the cache so they can't be used again + loc_eng_data_p->sv_used_mask = 0; - char fixType; - if (svUsedCount == 0) - fixType = '1'; // no fix - else if (svUsedCount <= 3) - fixType = '2'; // 2D fix - else - fixType = '3'; // 3D fix - - length = snprintf(pMarker, lengthRemaining, "$GPGSA,A,%c,", fixType); - - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); - return; - } - pMarker += length; - lengthRemaining -= length; - - for (uint8_t i = 0; i < 12; i++) // only the first 12 sv go in sentence - { - if (i < svUsedCount) - length = snprintf(pMarker, lengthRemaining, "%02d,", svUsedList[i]); + char fixType; + if (svUsedCount == 0) + fixType = '1'; // no fix + else if (svUsedCount <= 3) + fixType = '2'; // 2D fix else - length = snprintf(pMarker, lengthRemaining, ","); + fixType = '3'; // 3D fix + + length = snprintf(pMarker, lengthRemaining, "$GPGSA,A,%c,", fixType); if (length < 0 || length >= lengthRemaining) { @@ -176,378 +164,412 @@ void loc_eng_nmea_generate_pos(loc_eng_data_s_type *loc_eng_data_p, } pMarker += length; lengthRemaining -= length; - } - if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP) - { // dop is in locationExtended, (QMI) - length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f", - locationExtended.pdop, - locationExtended.hdop, - locationExtended.vdop); - } - else if (loc_eng_data_p->pdop > 0 && loc_eng_data_p->hdop > 0 && loc_eng_data_p->vdop > 0) - { // dop was cached from sv report (RPC) - length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f", - loc_eng_data_p->pdop, - loc_eng_data_p->hdop, - loc_eng_data_p->vdop); - } - else - { // no dop - length = snprintf(pMarker, lengthRemaining, ",,"); - } + for (uint8_t i = 0; i < 12; i++) // only the first 12 sv go in sentence + { + if (i < svUsedCount) + length = snprintf(pMarker, lengthRemaining, "%02d,", svUsedList[i]); + else + length = snprintf(pMarker, lengthRemaining, ","); - length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); - loc_eng_nmea_send(sentence, length, loc_eng_data_p); + if (length < 0 || length >= lengthRemaining) + { + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + } - // ------------------ - // ------$GPVTG------ - // ------------------ + if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP) + { // dop is in locationExtended, (QMI) + length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f", + locationExtended.pdop, + locationExtended.hdop, + locationExtended.vdop); + } + else if (loc_eng_data_p->pdop > 0 && loc_eng_data_p->hdop > 0 && loc_eng_data_p->vdop > 0) + { // dop was cached from sv report (RPC) + length = snprintf(pMarker, lengthRemaining, "%.1f,%.1f,%.1f", + loc_eng_data_p->pdop, + loc_eng_data_p->hdop, + loc_eng_data_p->vdop); + } + else + { // no dop + length = snprintf(pMarker, lengthRemaining, ",,"); + } - pMarker = sentence; - lengthRemaining = sizeof(sentence); + length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); + loc_eng_nmea_send(sentence, length, loc_eng_data_p); + + // ------------------ + // ------$GPVTG------ + // ------------------ + + pMarker = sentence; + lengthRemaining = sizeof(sentence); + + if (location.gpsLocation.flags & GPS_LOCATION_HAS_BEARING) + { + float magTrack = location.gpsLocation.bearing; + if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_MAG_DEV) + { + float magTrack = location.gpsLocation.bearing - locationExtended.magneticDeviation; + if (magTrack < 0.0) + magTrack += 360.0; + else if (magTrack > 360.0) + magTrack -= 360.0; + } + + length = snprintf(pMarker, lengthRemaining, "$GPVTG,%.1lf,T,%.1lf,M,", location.gpsLocation.bearing, magTrack); + } + else + { + length = snprintf(pMarker, lengthRemaining, "$GPVTG,,T,,M,"); + } + + if (length < 0 || length >= lengthRemaining) + { + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + + if (location.gpsLocation.flags & GPS_LOCATION_HAS_SPEED) + { + float speedKnots = location.gpsLocation.speed * (3600.0/1852.0); + float speedKmPerHour = location.gpsLocation.speed * 3.6; + + length = snprintf(pMarker, lengthRemaining, "%.1lf,N,%.1lf,K,", speedKnots, speedKmPerHour); + } + else + { + length = snprintf(pMarker, lengthRemaining, ",N,,K,"); + } + + if (length < 0 || length >= lengthRemaining) + { + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + + if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG)) + length = snprintf(pMarker, lengthRemaining, "%c", 'N'); // N means no fix + else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->client_handle->getPositionMode().mode) + length = snprintf(pMarker, lengthRemaining, "%c", 'A'); // A means autonomous + else + length = snprintf(pMarker, lengthRemaining, "%c", 'D'); // D means differential + + length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); + loc_eng_nmea_send(sentence, length, loc_eng_data_p); + + // ------------------ + // ------$GPRMC------ + // ------------------ + + pMarker = sentence; + lengthRemaining = sizeof(sentence); + + length = snprintf(pMarker, lengthRemaining, "$GPRMC,%02d%02d%02d,A," , + utcHours, utcMinutes, utcSeconds); + + if (length < 0 || length >= lengthRemaining) + { + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + + if (location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG) + { + double latitude = location.gpsLocation.latitude; + double longitude = location.gpsLocation.longitude; + char latHemisphere; + char lonHemisphere; + double latMinutes; + double lonMinutes; + + if (latitude > 0) + { + latHemisphere = 'N'; + } + else + { + latHemisphere = 'S'; + latitude *= -1.0; + } + + if (longitude < 0) + { + lonHemisphere = 'W'; + longitude *= -1.0; + } + else + { + lonHemisphere = 'E'; + } + + latMinutes = fmod(latitude * 60.0 , 60.0); + lonMinutes = fmod(longitude * 60.0 , 60.0); + + length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,", + (uint8_t)floor(latitude), latMinutes, latHemisphere, + (uint8_t)floor(longitude),lonMinutes, lonHemisphere); + } + else + { + length = snprintf(pMarker, lengthRemaining,",,,,"); + } + + if (length < 0 || length >= lengthRemaining) + { + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + + if (location.gpsLocation.flags & GPS_LOCATION_HAS_SPEED) + { + float speedKnots = location.gpsLocation.speed * (3600.0/1852.0); + length = snprintf(pMarker, lengthRemaining, "%.1lf,", speedKnots); + } + else + { + length = snprintf(pMarker, lengthRemaining, ","); + } + + if (length < 0 || length >= lengthRemaining) + { + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + + if (location.gpsLocation.flags & GPS_LOCATION_HAS_BEARING) + { + length = snprintf(pMarker, lengthRemaining, "%.1lf,", location.gpsLocation.bearing); + } + else + { + length = snprintf(pMarker, lengthRemaining, ","); + } + + if (length < 0 || length >= lengthRemaining) + { + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + + length = snprintf(pMarker, lengthRemaining, "%2.2d%2.2d%2.2d,", + utcDay, utcMonth, utcYear); + + if (length < 0 || length >= lengthRemaining) + { + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; - if (location.gpsLocation.flags & GPS_LOCATION_HAS_BEARING) - { - float magTrack = location.gpsLocation.bearing; if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_MAG_DEV) { - float magTrack = location.gpsLocation.bearing - locationExtended.magneticDeviation; - if (magTrack < 0.0) - magTrack += 360.0; - else if (magTrack > 360.0) - magTrack -= 360.0; - } + float magneticVariation = locationExtended.magneticDeviation; + char direction; + if (magneticVariation < 0.0) + { + direction = 'W'; + magneticVariation *= -1.0; + } + else + { + direction = 'E'; + } - length = snprintf(pMarker, lengthRemaining, "$GPVTG,%.1lf,T,%.1lf,M,", location.gpsLocation.bearing, magTrack); - } - else - { - length = snprintf(pMarker, lengthRemaining, "$GPVTG,,T,,M,"); - } - - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); - return; - } - pMarker += length; - lengthRemaining -= length; - - if (location.gpsLocation.flags & GPS_LOCATION_HAS_SPEED) - { - float speedKnots = location.gpsLocation.speed * (3600.0/1852.0); - float speedKmPerHour = location.gpsLocation.speed * 3.6; - - length = snprintf(pMarker, lengthRemaining, "%.1lf,N,%.1lf,K,", speedKnots, speedKmPerHour); - } - else - { - length = snprintf(pMarker, lengthRemaining, ",N,,K,"); - } - - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); - return; - } - pMarker += length; - lengthRemaining -= length; - - if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG)) - length = snprintf(pMarker, lengthRemaining, "%c", 'N'); // N means no fix - else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->client_handle->getPositionMode().mode) - length = snprintf(pMarker, lengthRemaining, "%c", 'A'); // A means autonomous - else - length = snprintf(pMarker, lengthRemaining, "%c", 'D'); // D means differential - - length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); - loc_eng_nmea_send(sentence, length, loc_eng_data_p); - - // ------------------ - // ------$GPRMC------ - // ------------------ - - pMarker = sentence; - lengthRemaining = sizeof(sentence); - - length = snprintf(pMarker, lengthRemaining, "$GPRMC,%02d%02d%02d,A," , - utcHours, utcMinutes, utcSeconds); - - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); - return; - } - pMarker += length; - lengthRemaining -= length; - - if (location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG) - { - double latitude = location.gpsLocation.latitude; - double longitude = location.gpsLocation.longitude; - char latHemisphere; - char lonHemisphere; - double latMinutes; - double lonMinutes; - - if (latitude > 0) - { - latHemisphere = 'N'; + length = snprintf(pMarker, lengthRemaining, "%.1lf,%c,", + magneticVariation, direction); } else { - latHemisphere = 'S'; - latitude *= -1.0; + length = snprintf(pMarker, lengthRemaining, ",,"); } - if (longitude < 0) + if (length < 0 || length >= lengthRemaining) { - lonHemisphere = 'W'; - longitude *= -1.0; + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + + if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG)) + length = snprintf(pMarker, lengthRemaining, "%c", 'N'); // N means no fix + else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->client_handle->getPositionMode().mode) + length = snprintf(pMarker, lengthRemaining, "%c", 'A'); // A means autonomous + else + length = snprintf(pMarker, lengthRemaining, "%c", 'D'); // D means differential + + length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); + loc_eng_nmea_send(sentence, length, loc_eng_data_p); + + // ------------------ + // ------$GPGGA------ + // ------------------ + + pMarker = sentence; + lengthRemaining = sizeof(sentence); + + length = snprintf(pMarker, lengthRemaining, "$GPGGA,%02d%02d%02d," , + utcHours, utcMinutes, utcSeconds); + + if (length < 0 || length >= lengthRemaining) + { + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + + if (location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG) + { + double latitude = location.gpsLocation.latitude; + double longitude = location.gpsLocation.longitude; + char latHemisphere; + char lonHemisphere; + double latMinutes; + double lonMinutes; + + if (latitude > 0) + { + latHemisphere = 'N'; + } + else + { + latHemisphere = 'S'; + latitude *= -1.0; + } + + if (longitude < 0) + { + lonHemisphere = 'W'; + longitude *= -1.0; + } + else + { + lonHemisphere = 'E'; + } + + latMinutes = fmod(latitude * 60.0 , 60.0); + lonMinutes = fmod(longitude * 60.0 , 60.0); + + length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,", + (uint8_t)floor(latitude), latMinutes, latHemisphere, + (uint8_t)floor(longitude),lonMinutes, lonHemisphere); } else { - lonHemisphere = 'E'; + length = snprintf(pMarker, lengthRemaining,",,,,"); } - latMinutes = fmod(latitude * 60.0 , 60.0); - lonMinutes = fmod(longitude * 60.0 , 60.0); - - length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,", - (uint8_t)floor(latitude), latMinutes, latHemisphere, - (uint8_t)floor(longitude),lonMinutes, lonHemisphere); - } - else - { - length = snprintf(pMarker, lengthRemaining,",,,,"); - } - - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); - return; - } - pMarker += length; - lengthRemaining -= length; - - if (location.gpsLocation.flags & GPS_LOCATION_HAS_SPEED) - { - float speedKnots = location.gpsLocation.speed * (3600.0/1852.0); - length = snprintf(pMarker, lengthRemaining, "%.1lf,", speedKnots); - } - else - { - length = snprintf(pMarker, lengthRemaining, ","); - } - - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); - return; - } - pMarker += length; - lengthRemaining -= length; - - if (location.gpsLocation.flags & GPS_LOCATION_HAS_BEARING) - { - length = snprintf(pMarker, lengthRemaining, "%.1lf,", location.gpsLocation.bearing); - } - else - { - length = snprintf(pMarker, lengthRemaining, ","); - } - - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); - return; - } - pMarker += length; - lengthRemaining -= length; - - length = snprintf(pMarker, lengthRemaining, "%2.2d%2.2d%2.2d,", - utcDay, utcMonth, utcYear); - - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); - return; - } - pMarker += length; - lengthRemaining -= length; - - if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_MAG_DEV) - { - float magneticVariation = locationExtended.magneticDeviation; - char direction; - if (magneticVariation < 0.0) + if (length < 0 || length >= lengthRemaining) { - direction = 'W'; - magneticVariation *= -1.0; + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + + char gpsQuality; + if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG)) + gpsQuality = '0'; // 0 means no fix + else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->client_handle->getPositionMode().mode) + gpsQuality = '1'; // 1 means GPS fix + else + gpsQuality = '2'; // 2 means DGPS fix + + if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP) + { // dop is in locationExtended, (QMI) + length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,", + gpsQuality, svUsedCount, locationExtended.hdop); + } + else if (loc_eng_data_p->pdop > 0 && loc_eng_data_p->hdop > 0 && loc_eng_data_p->vdop > 0) + { // dop was cached from sv report (RPC) + length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,", + gpsQuality, svUsedCount, loc_eng_data_p->hdop); + } + else + { // no hdop + length = snprintf(pMarker, lengthRemaining, "%c,%02d,,", + gpsQuality, svUsedCount); + } + + if (length < 0 || length >= lengthRemaining) + { + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + + if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL) + { + length = snprintf(pMarker, lengthRemaining, "%.1lf,M,", + locationExtended.altitudeMeanSeaLevel); } else { - direction = 'E'; + length = snprintf(pMarker, lengthRemaining,",,"); } - length = snprintf(pMarker, lengthRemaining, "%.1lf,%c,", - magneticVariation, direction); - } - else - { - length = snprintf(pMarker, lengthRemaining, ",,"); - } - - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); - return; - } - pMarker += length; - lengthRemaining -= length; - - if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG)) - length = snprintf(pMarker, lengthRemaining, "%c", 'N'); // N means no fix - else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->client_handle->getPositionMode().mode) - length = snprintf(pMarker, lengthRemaining, "%c", 'A'); // A means autonomous - else - length = snprintf(pMarker, lengthRemaining, "%c", 'D'); // D means differential - - length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); - loc_eng_nmea_send(sentence, length, loc_eng_data_p); - - // ------------------ - // ------$GPGGA------ - // ------------------ - - pMarker = sentence; - lengthRemaining = sizeof(sentence); - - length = snprintf(pMarker, lengthRemaining, "$GPGGA,%02d%02d%02d," , - utcHours, utcMinutes, utcSeconds); - - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); - return; - } - pMarker += length; - lengthRemaining -= length; - - if (location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG) - { - double latitude = location.gpsLocation.latitude; - double longitude = location.gpsLocation.longitude; - char latHemisphere; - char lonHemisphere; - double latMinutes; - double lonMinutes; - - if (latitude > 0) + if (length < 0 || length >= lengthRemaining) { - latHemisphere = 'N'; + LOC_LOGE("NMEA Error in string formatting"); + return; + } + pMarker += length; + lengthRemaining -= length; + + if ((location.gpsLocation.flags & GPS_LOCATION_HAS_ALTITUDE) && + (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL)) + { + length = snprintf(pMarker, lengthRemaining, "%.1lf,M,,", + location.gpsLocation.altitude - locationExtended.altitudeMeanSeaLevel); } else { - latHemisphere = 'S'; - latitude *= -1.0; + length = snprintf(pMarker, lengthRemaining,",,,"); } - if (longitude < 0) - { - lonHemisphere = 'W'; - longitude *= -1.0; - } - else - { - lonHemisphere = 'E'; - } + length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); + loc_eng_nmea_send(sentence, length, loc_eng_data_p); - latMinutes = fmod(latitude * 60.0 , 60.0); - lonMinutes = fmod(longitude * 60.0 , 60.0); + } + //Send blank NMEA reports for non-final fixes + else { + strlcpy(sentence, "$GPGSA,A,1,,,,,,,,,,,,,,,", sizeof(sentence)); + length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); + loc_eng_nmea_send(sentence, length, loc_eng_data_p); - length = snprintf(pMarker, lengthRemaining, "%02d%09.6lf,%c,%03d%09.6lf,%c,", - (uint8_t)floor(latitude), latMinutes, latHemisphere, - (uint8_t)floor(longitude),lonMinutes, lonHemisphere); - } - else - { - length = snprintf(pMarker, lengthRemaining,",,,,"); - } + strlcpy(sentence, "$GPVTG,,T,,M,,N,,K,N", sizeof(sentence)); + length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); + loc_eng_nmea_send(sentence, length, loc_eng_data_p); - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); - return; - } - pMarker += length; - lengthRemaining -= length; + strlcpy(sentence, "$GPRMC,,V,,,,,,,,,,N", sizeof(sentence)); + length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); + loc_eng_nmea_send(sentence, length, loc_eng_data_p); - char gpsQuality; - if (!(location.gpsLocation.flags & GPS_LOCATION_HAS_LAT_LONG)) - gpsQuality = '0'; // 0 means no fix - else if (LOC_POSITION_MODE_STANDALONE == loc_eng_data_p->client_handle->getPositionMode().mode) - gpsQuality = '1'; // 1 means GPS fix - else - gpsQuality = '2'; // 2 means DGPS fix - - if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_DOP) - { // dop is in locationExtended, (QMI) - length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,", - gpsQuality, svUsedCount, locationExtended.hdop); + strlcpy(sentence, "$GPGGA,,,,,,0,,,,,,,,", sizeof(sentence)); + length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); + loc_eng_nmea_send(sentence, length, loc_eng_data_p); } - else if (loc_eng_data_p->pdop > 0 && loc_eng_data_p->hdop > 0 && loc_eng_data_p->vdop > 0) - { // dop was cached from sv report (RPC) - length = snprintf(pMarker, lengthRemaining, "%c,%02d,%.1f,", - gpsQuality, svUsedCount, loc_eng_data_p->hdop); - } - else - { // no hdop - length = snprintf(pMarker, lengthRemaining, "%c,%02d,,", - gpsQuality, svUsedCount); - } - - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); - return; - } - pMarker += length; - lengthRemaining -= length; - - if (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL) - { - length = snprintf(pMarker, lengthRemaining, "%.1lf,M,", - locationExtended.altitudeMeanSeaLevel); - } - else - { - length = snprintf(pMarker, lengthRemaining,",,"); - } - - if (length < 0 || length >= lengthRemaining) - { - LOC_LOGE("NMEA Error in string formatting"); - return; - } - pMarker += length; - lengthRemaining -= length; - - if ((location.gpsLocation.flags & GPS_LOCATION_HAS_ALTITUDE) && - (locationExtended.flags & GPS_LOCATION_EXTENDED_HAS_ALTITUDE_MEAN_SEA_LEVEL)) - { - length = snprintf(pMarker, lengthRemaining, "%.1lf,M,,", - location.gpsLocation.altitude - locationExtended.altitudeMeanSeaLevel); - } - else - { - length = snprintf(pMarker, lengthRemaining,",,,"); - } - - length = loc_eng_nmea_put_checksum(sentence, sizeof(sentence)); - loc_eng_nmea_send(sentence, length, loc_eng_data_p); - // clear the dop cache so they can't be used again loc_eng_data_p->pdop = 0; loc_eng_data_p->hdop = 0; diff --git a/loc_api/libloc_api_50001/loc_eng_nmea.h b/loc_api/libloc_api_50001/loc_eng_nmea.h index 69305937..40c6dbbd 100644 --- a/loc_api/libloc_api_50001/loc_eng_nmea.h +++ b/loc_api/libloc_api_50001/loc_eng_nmea.h @@ -37,6 +37,6 @@ void loc_eng_nmea_send(char *pNmea, int length, loc_eng_data_s_type *loc_eng_data_p); int loc_eng_nmea_put_checksum(char *pNmea, int maxSize); void loc_eng_nmea_generate_sv(loc_eng_data_s_type *loc_eng_data_p, const GpsSvStatus &svStatus, const GpsLocationExtended &locationExtended); -void loc_eng_nmea_generate_pos(loc_eng_data_s_type *loc_eng_data_p, const UlpLocation &location, const GpsLocationExtended &locationExtended); +void loc_eng_nmea_generate_pos(loc_eng_data_s_type *loc_eng_data_p, const UlpLocation &location, const GpsLocationExtended &locationExtended, unsigned char generate_nmea); #endif // LOC_ENG_NMEA_H