nmealib解析-----（8）-----parse

最新推荐文章于 2023-06-30 23:55:27 发布

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最新推荐文章于 2023-06-30 23:55:27 发布

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原文链接：http://blog.51cto.com/no001/357011

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/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim ( xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: parse.h 4 2007-08-27 13:11:03Z xtimor $
*
*/

#ifndef __NMEA_PARSE_H__
#define __NMEA_PARSE_H__

#include "sentence.h"

#ifdef __cplusplus
extern "C" {
#endif

int nmea_pack_type(const char *buff, int buff_sz);// 确定打包类型
int nmea_find_tail(const char *buff, int buff_sz, int *res_crc); // 找到结尾

//因为前面就定义了这五种结构，所以这几只能分析这五种

int nmea_parse_GPGGA(const char *buff, int buff_sz, nmeaGPGGA *pack);
int nmea_parse_GPGSA(const char *buff, int buff_sz, nmeaGPGSA *pack);
int nmea_parse_GPGSV(const char *buff, int buff_sz, nmeaGPGSV *pack);
int nmea_parse_GPRMC(const char *buff, int buff_sz, nmeaGPRMC *pack);
int nmea_parse_GPVTG(const char *buff, int buff_sz, nmeaGPVTG *pack);

void nmea_GPGGA2info(nmeaGPGGA *pack, nmeaINFO *info);
void nmea_GPGSA2info(nmeaGPGSA *pack, nmeaINFO *info);
void nmea_GPGSV2info(nmeaGPGSV *pack, nmeaINFO *info);
void nmea_GPRMC2info(nmeaGPRMC *pack, nmeaINFO *info);
void nmea_GPVTG2info(nmeaGPVTG *pack, nmeaINFO *info);

#ifdef __cplusplus
}
#endif

#endif /* __NMEA_PARSE_H__ */

/*
*
* NMEA library
* URL: http://nmea.sourceforge.net
* Author: Tim ( xtimor@gmail.com)
* Licence: http://www.gnu.org/licenses/lgpl.html
* $Id: parse.c 17 2008-03-11 11:56:11Z xtimor $
*
*/

/**
* \file parse.h
* \brief Functions of a low level for analysis of
* packages of NMEA stream.
*//一个底层的分析nmea数据流函数集
*/

#include "nmea/tok.h"
#include "nmea/parse.h"
#include "nmea/context.h"
#include "nmea/gmath.h"
#include "nmea/units.h"

#include <string.h>
#include <stdio.h>

int _nmea_parse_time(const char *buff, int buff_sz, nmeaTIME *res)
{ //这里的这个buff，里面就是时间，不是指的原始数据流
int success = 0;

    switch(buff_sz)
    {
    case sizeof("hhmmss") - 1:
        success = (3 == nmea_scanf(buff, buff_sz,
            "%2d%2d%2d", &(res->hour), &(res->min), &(res->sec)
            ));
        break;
    case sizeof("hhmmss.s") - 1:
    case sizeof("hhmmss.ss") - 1:
    case sizeof("hhmmss.sss") - 1:
        success = (4 == nmea_scanf(buff, buff_sz,
            "%2d%2d%2d.%d", &(res->hour), &(res->min), &(res->sec), &(res->hsec)
            ));
        break;
    default:
        nmea_error("Parse of time error (format error)!");
        success = 0;
        break;
    }

return (success?0:-1);
}

/**
* \brief Define packet type by header (nmeaPACKTYPE).
* @param buff a constant character pointer of packet buffer.
* @param buff_sz buffer size.
* @return The defined packet type
* @see nmeaPACKTYPE
*/
int nmea_pack_type(const char *buff, int buff_sz)
{ //这里的这个buff，里面就是打包头，不是指的原始数据流

    static const char *pheads[] = {
        "GPGGA",
        "GPGSA",
        "GPGSV",
        "GPRMC",
        "GPVTG",
    };

NMEA_ASSERT(buff);

    if(buff_sz < 5)
        return GPNON;
    else if(0 == memcmp(buff, pheads[0], 5))
        return GPGGA;
    else if(0 == memcmp(buff, pheads[1], 5))
        return GPGSA;
    else if(0 == memcmp(buff, pheads[2], 5))
        return GPGSV;
    else if(0 == memcmp(buff, pheads[3], 5))
        return GPRMC;
    else if(0 == memcmp(buff, pheads[4], 5))
        return GPVTG;

return GPNON;
}

/**
* \brief Find tail of packet ("\r\n") in buffer and check control sum (CRC).
* @param buff a constant character pointer of packets buffer.
* @param buff_sz buffer size.
* @param res_crc a integer pointer for return CRC of packet (must be defined).
* @return Number of bytes to packet tail.
*/
int nmea_find_tail (const char *buff, int buff_sz, int *res_crc)
{ // 这个buff不知道是从哪里开始的？
static const int tail_sz = 3 /* *[CRC] */ + 2 /* \r\n */;

    const char *end_buff = buff + buff_sz; // 这里的形式很奇怪，地址的相加
    int nread = 0;
    int crc = 0;

NMEA_ASSERT(buff && res_crc);

*res_crc = -1;

    for(;buff < end_buff; ++buff, ++nread)
    {
        if(('$' == *buff) && nread) // 如果是$，就结束，why？
        {
            buff = 0;
            break;
        }
        else if('*' == *buff) // 直到检测到*，因为*后面就是crc
        {
            if(buff + tail_sz <= end_buff && '\r' == buff[3] && '\n' == buff[4])
            {
                *res_crc = nmea_atoi(buff + 1, 2, 16); //这个crc真简单
                nread = buff_sz - (int)(end_buff - (buff + tail_sz));
                if(*res_crc != crc)
                {
                    *res_crc = -1;
                    buff = 0;
                }
            }

            break;
        }
        else if(nread)
            crc ^= (int)*buff; // 这里抑或得crc
    }

if(*res_crc < 0 && buff)
nread = 0;

return nread;
}

/**
* \brief Parse GGA packet from buffer.
* @param buff a constant character pointer of packet buffer.
* @param buff_sz buffer size.
* @param pack a pointer of packet which will filled by function.
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
*/
int nmea_parse_GPGGA(const char *buff, int buff_sz, nmeaGPGGA *pack)
{// 这里的分析，buff刚好就是真正的数据流，还没涉及到断句的部分，作者的水平太高了，总是用这些个稀奇古怪的函数。。要是我的话，直接就结构体赋值，呵呵。
char time_buff[NMEA_TIMEPARSE_BUF];

NMEA_ASSERT(buff && pack);

memset(pack, 0, sizeof(nmeaGPGGA));

nmea_trace_buff(buff, buff_sz); // 这个函数还不是很理解

    if(14 != nmea_scanf(buff, buff_sz,
        "$GPGGA,%s,%f,%C,%f,%C,%d,%d,%f,%f,%C,%f,%C,%f,%d*",
        &(time_buff[0]),
        &(pack->lat), &(pack->ns), &(pack->lon), &(pack->ew),
        &(pack->sig), &(pack->satinuse), &(pack->HDOP), &(pack->elv), &(pack->elv_units),
        &(pack->diff), &(pack->diff_units), &(pack->dgps_age), &(pack->dgps_sid)))
    {
        nmea_error("GPGGA parse error!");
        return 0;
    }

    if(0 != _nmea_parse_time(&time_buff[0], (int)strlen(&time_buff[0]), &(pack->utc)))
    {
        nmea_error("GPGGA time parse error!");
        return 0;
    }

return 1;
}

/**
* \brief Parse GSA packet from buffer.
* @param buff a constant character pointer of packet buffer.
* @param buff_sz buffer size.
* @param pack a pointer of packet which will filled by function.
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
*/
int nmea_parse_GPGSA(const char *buff, int buff_sz, nmeaGPGSA *pack)
{ // 同上。这些函数结构都一样
NMEA_ASSERT(buff && pack);

memset(pack, 0, sizeof(nmeaGPGSA));

nmea_trace_buff(buff, buff_sz);

    if(17 != nmea_scanf(buff, buff_sz,
        "$GPGSA,%C,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%f,%f,%f*",
        &(pack->fix_mode), &(pack->fix_type),
        &(pack->sat_prn[0]), &(pack->sat_prn[1]), &(pack->sat_prn[2]), &(pack->sat_prn[3]), &(pack->sat_prn[4]), &(pack->sat_prn[5]),
        &(pack->sat_prn[6]), &(pack->sat_prn[7]), &(pack->sat_prn[8]), &(pack->sat_prn[9]), &(pack->sat_prn[10]), &(pack->sat_prn[11]),
        &(pack->PDOP), &(pack->HDOP), &(pack->VDOP)))
    {
        nmea_error("GPGSA parse error!");
        return 0;
    }

return 1;
}

/**
* \brief Parse GSV packet from buffer.
* @param buff a constant character pointer of packet buffer.
* @param buff_sz buffer size.
* @param pack a pointer of packet which will filled by function.
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
*/
int nmea_parse_GPGSV(const char *buff, int buff_sz, nmeaGPGSV *pack)
{
int nsen, nsat;

NMEA_ASSERT(buff && pack);

memset(pack, 0, sizeof(nmeaGPGSV));

nmea_trace_buff(buff, buff_sz);// 目前的理解就是把当前的buff暂时缓存起来

对于前面context章节中，所说：

根据typedef用法的深入理解，文中定义的func不可理解为函数，可以理解为一个变量，所以就没有函数的实现部分。只是相当于给一个变量赋值。

    nsen = nmea_scanf(buff, buff_sz,
        "$GPGSV,%d,%d,%d,"
        "%d,%d,%d,%d,"
        "%d,%d,%d,%d,"
        "%d,%d,%d,%d,"
        "%d,%d,%d,%d*",
        &(pack->pack_count), &(pack->pack_index), &(pack->sat_count),
        &(pack->sat_data[0].id), &(pack->sat_data[0].elv), &(pack->sat_data[0].azimuth), &(pack->sat_data[0].sig),
        &(pack->sat_data[1].id), &(pack->sat_data[1].elv), &(pack->sat_data[1].azimuth), &(pack->sat_data[1].sig),
        &(pack->sat_data[2].id), &(pack->sat_data[2].elv), &(pack->sat_data[2].azimuth), &(pack->sat_data[2].sig),
        &(pack->sat_data[3].id), &(pack->sat_data[3].elv), &(pack->sat_data[3].azimuth), &(pack->sat_data[3].sig));

    nsat = (pack->pack_index - 1) * NMEA_SATINPACK;
    nsat = (nsat + NMEA_SATINPACK > pack->sat_count)?pack->sat_count - nsat:NMEA_SATINPACK;
    nsat = nsat * 4 + 3 /* first three sentence`s */;

    if(nsen < nsat || nsen > (NMEA_SATINPACK * 4 + 3))
    {
        nmea_error("GPGSV parse error!");
        return 0;
    }

return 1;
}

/**
* \brief Parse RMC packet from buffer.
* @param buff a constant character pointer of packet buffer.
* @param buff_sz buffer size.
* @param pack a pointer of packet which will filled by function.
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
*/
int nmea_parse_GPRMC(const char *buff, int buff_sz, nmeaGPRMC *pack)
{
int nsen;
char time_buff[NMEA_TIMEPARSE_BUF];

NMEA_ASSERT(buff && pack);

memset(pack, 0, sizeof(nmeaGPRMC));

nmea_trace_buff(buff, buff_sz);

    nsen = nmea_scanf(buff, buff_sz,
        "$GPRMC,%s,%C,%f,%C,%f,%C,%f,%f,%2d%2d%2d,%f,%C,%C*",
        &(time_buff[0]),
        &(pack->status), &(pack->lat), &(pack->ns), &(pack->lon), &(pack->ew),
        &(pack->speed), &(pack->direction),
        &(pack->utc.day), &(pack->utc.mon), &(pack->utc.year),
        &(pack->declination), &(pack->declin_ew), &(pack->mode));

    if(nsen != 13 && nsen != 14)
    {
        nmea_error("GPRMC parse error!");
        return 0;
    }

    if(0 != _nmea_parse_time(&time_buff[0], (int)strlen(&time_buff[0]), &(pack->utc)))
    {
        nmea_error("GPRMC time parse error!");
        return 0;
    }

    if(pack->utc.year < 90)
        pack->utc.year += 100;
    pack->utc.mon -= 1;

return 1;
}

/**
* \brief Parse VTG packet from buffer.
* @param buff a constant character pointer of packet buffer.
* @param buff_sz buffer size.
* @param pack a pointer of packet which will filled by function.
* @return 1 (true) - if parsed successfully or 0 (false) - if fail.
*/
int nmea_parse_GPVTG(const char *buff, int buff_sz, nmeaGPVTG *pack)
{
NMEA_ASSERT(buff && pack);

memset(pack, 0, sizeof(nmeaGPVTG));

nmea_trace_buff(buff, buff_sz);

    if(8 != nmea_scanf(buff, buff_sz,
        "$GPVTG,%f,%C,%f,%C,%f,%C,%f,%C*",
        &(pack->dir), &(pack->dir_t),
        &(pack->dec), &(pack->dec_m),
        &(pack->spn), &(pack->spn_n),
        &(pack->spk), &(pack->spk_k)))
    {
        nmea_error("GPVTG parse error!");
        return 0;
    }

    if( pack->dir_t != 'T' ||
        pack->dec_m != 'M' ||
        pack->spn_n != 'N' ||
        pack->spk_k != 'K')
    {
        nmea_error("GPVTG parse error (format error)!");
        return 0;
    }

return 1;
}

/**
* \brief Fill nmeaINFO structure by GGA packet data.
* @param pack a pointer of packet structure.
* @param info a pointer of summary information structure.
*/
void nmea_GPGGA2info(nmeaGPGGA *pack, nmeaINFO *info)
{
NMEA_ASSERT(pack && info);

// 结构体直接赋值，这样多清楚。他们之间的关系错综复杂，这里就不深究了

    info->utc.hour = pack->utc.hour;
    info->utc.min = pack->utc.min;
    info->utc.sec = pack->utc.sec;
    info->utc.hsec = pack->utc.hsec;
    info->sig = pack->sig;
    info->HDOP = pack->HDOP;
    info->elv = pack->elv;
    info->lat = ((pack->ns == 'N')?pack->lat:-(pack->lat));
    info->lon = ((pack->ew == 'E')?pack->lon:-(pack->lon));
    info->smask |= GPGGA;
}

/**
* \brief Fill nmeaINFO structure by GSA packet data.
* @param pack a pointer of packet structure.
* @param info a pointer of summary information structure.
*/
void nmea_GPGSA2info(nmeaGPGSA *pack, nmeaINFO *info)
{
int i, j, nuse = 0;

NMEA_ASSERT(pack && info);

    info->fix = pack->fix_type;
    info->PDOP = pack->PDOP;
    info->HDOP = pack->HDOP;
    info->VDOP = pack->VDOP;

    for(i = 0; i < NMEA_MAXSAT; ++i)
    {
        for(j = 0; j < info->satinfo.inview; ++j)
        {
            if(pack->sat_prn[i] && pack->sat_prn[i] == info->satinfo.sat[j].id)
            {
                info->satinfo.sat[j].in_use = 1;
                nuse++;
            }
        }
    }

info->satinfo.inuse = nuse;
info->smask |= GPGSA;
}

/**
* \brief Fill nmeaINFO structure by GSV packet data.
* @param pack a pointer of packet structure.
* @param info a pointer of summary information structure.
*/
void nmea_GPGSV2info(nmeaGPGSV *pack, nmeaINFO *info)
{
int isat, isi, nsat;

NMEA_ASSERT(pack && info);

    if(pack->pack_index > pack->pack_count ||
        pack->pack_index * NMEA_SATINPACK > NMEA_MAXSAT)
        return;

if(pack->pack_index < 1)
pack->pack_index = 1;

info->satinfo.inview = pack->sat_count;

nsat = (pack->pack_index - 1) * NMEA_SATINPACK;
nsat = (nsat + NMEA_SATINPACK > pack->sat_count)?pack->sat_count - nsat:NMEA_SATINPACK;

    for(isat = 0; isat < nsat; ++isat)
    {
        isi = (pack->pack_index - 1) * NMEA_SATINPACK + isat;
        info->satinfo.sat[isi].id = pack->sat_data[isat].id;
        info->satinfo.sat[isi].elv = pack->sat_data[isat].elv;
        info->satinfo.sat[isi].azimuth = pack->sat_data[isat].azimuth;
        info->satinfo.sat[isi].sig = pack->sat_data[isat].sig;
    }

info->smask |= GPGSV;
}

/**
* \brief Fill nmeaINFO structure by RMC packet data.
* @param pack a pointer of packet structure.
* @param info a pointer of summary information structure.
*/
void nmea_GPRMC2info(nmeaGPRMC *pack, nmeaINFO *info)
{
NMEA_ASSERT(pack && info);

    if('A' == pack->status)
    {
        if(NMEA_SIG_BAD == info->sig)
            info->sig = NMEA_SIG_MID;
        if(NMEA_FIX_BAD == info->fix)
            info->fix = NMEA_FIX_2D;
    }
    else if('V' == pack->status)
    {
        info->sig = NMEA_SIG_BAD;
        info->fix = NMEA_FIX_BAD;
    }

    info->utc = pack->utc;
    info->lat = ((pack->ns == 'N')?pack->lat:-(pack->lat));
    info->lon = ((pack->ew == 'E')?pack->lon:-(pack->lon));
    info->speed = pack->speed * NMEA_TUD_KNOTS;
    info->direction = pack->direction;
    info->smask |= GPRMC;
}

/**
* \brief Fill nmeaINFO structure by VTG packet data.
* @param pack a pointer of packet structure.
* @param info a pointer of summary information structure.
*/
void nmea_GPVTG2info(nmeaGPVTG *pack, nmeaINFO *info)
{
NMEA_ASSERT(pack && info);

    info->direction = pack->dir;
    info->declination = pack->dec;
    info->speed = pack->spk;
    info->smask |= GPVTG;
}

转载于:https://blog.51cto.com/no001/357011