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Fix Non-GPS Messages v2 #25

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Fix Non-GPS Messages v2 #25

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1a60552
[ADD] other service messages other than GP
maladzenkau Aug 28, 2024
342293b
[FIX] removed superflous line breaks and carriage returns
maladzenkau Aug 28, 2024
2a4af97
[ADD] GPGLL messages support
maladzenkau Aug 28, 2024
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1 change: 1 addition & 0 deletions include/nmeaparse/GPSService.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,6 +28,7 @@ class GPSService {
void read_GPGSV (const NMEASentence& nmea);
void read_GPRMC (const NMEASentence& nmea);
void read_GPVTG (const NMEASentence& nmea);
void read_GPGLL (const NMEASentence& nmea);

public:
GPSFix fix;
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153 changes: 152 additions & 1 deletion src/GPSService.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,7 +91,64 @@ void GPSService::attachToParser(NMEAParser& _parser){
_parser.setSentenceHandler("GPVTG", [this](const NMEASentence& nmea){
this->read_GPVTG(nmea);
});

_parser.setSentenceHandler("GPGLL", [this](const NMEASentence& nmea){
this->read_GPGLL(nmea);
});

// https://gpsd.gitlab.io/gpsd/NMEA.html
// * GP for GPS only solutions
// * GL for GLONASS only solutions
// * GA for GALILEO only solutions
// * GN for multi GNSS solutions

_parser.setSentenceHandler("GLGGA", [this](const NMEASentence& nmea){
this->read_GPGGA(nmea);
});
_parser.setSentenceHandler("GLGSA", [this](const NMEASentence& nmea){
this->read_GPGSA(nmea);
});
_parser.setSentenceHandler("GLGSV", [this](const NMEASentence& nmea){
this->read_GPGSV(nmea);
});
_parser.setSentenceHandler("GLRMC", [this](const NMEASentence& nmea){
this->read_GPRMC(nmea);
});
_parser.setSentenceHandler("GLVTG", [this](const NMEASentence& nmea){
this->read_GPVTG(nmea);
});
_parser.setSentenceHandler("GAGGA", [this](const NMEASentence& nmea){
this->read_GPGGA(nmea);
});
_parser.setSentenceHandler("GAGSA", [this](const NMEASentence& nmea){
this->read_GPGSA(nmea);
});
_parser.setSentenceHandler("GAGSV", [this](const NMEASentence& nmea){
this->read_GPGSV(nmea);
});
_parser.setSentenceHandler("GARMC", [this](const NMEASentence& nmea){
this->read_GPRMC(nmea);
});
_parser.setSentenceHandler("GAVTG", [this](const NMEASentence& nmea){
this->read_GPVTG(nmea);
});
_parser.setSentenceHandler("GNGGA", [this](const NMEASentence& nmea){
this->read_GPGGA(nmea);
});
_parser.setSentenceHandler("GNGSA", [this](const NMEASentence& nmea){
this->read_GPGSA(nmea);
});
_parser.setSentenceHandler("GNGSV", [this](const NMEASentence& nmea){
this->read_GPGSV(nmea);
});
_parser.setSentenceHandler("GNRMC", [this](const NMEASentence& nmea){
this->read_GPRMC(nmea);
});
_parser.setSentenceHandler("GNVTG", [this](const NMEASentence& nmea){
this->read_GPVTG(nmea);
});
_parser.setSentenceHandler("GNGLL", [this](const NMEASentence& nmea){
this->read_GPGLL(nmea);
});
}


Expand Down Expand Up @@ -509,3 +566,97 @@ void GPSService::read_GPVTG(const NMEASentence& nmea){
}
}

void GPSService::read_GPGLL(const NMEASentence& nmea){
/*
$GPGLL,3723.2475,N,12158.3416,W,161229.487,A,A*41

Where:
GLL GLL protocol header (Geographic Position - Latitude/Longitude)
[0] 3723.2475 Latitude 37 deg 23.2475' N (ddmm.mmmm)
[1] N Latitude Direction: N = North (N=north or S=south)
[2] 12158.3416 Longitude 121 deg 58.3416' W (ddmm.mmmm)
[3] W Longitude Direction: W = West (E=east or W=west)
[4] 161229.487 Fix taken at 16:12:29.487 UTC (hhmmss.sss)
[5] A Status: A = Data valid (A=data valid or V=data not valid)
[6] A Mode: A = Autonomous (A=Autonomous, D=DGPS, E=DR (Only present in NMEA v3.00))
[7] *41 The checksum data, always begins with *
*/

try
{
if (!nmea.checksumOK()){
throw NMEAParseError("Checksum is invalid!");
}

if (nmea.parameters.size() < 7){
throw NMEAParseError("GPS data is missing parameters.");
}

string sll;
string dir;
// LAT
sll = nmea.parameters[0];
dir = nmea.parameters[1];
if (!sll.empty()){
this->fix.latitude = convertLatLongToDeg(sll, dir);
}

// LONG
sll = nmea.parameters[2];
dir = nmea.parameters[3];
if (!sll.empty()){
this->fix.longitude = convertLatLongToDeg(sll, dir);
}

// TIMESTAMP
this->fix.timestamp.setTime(parseDouble(nmea.parameters[4]));

// ACTIVE
bool lockupdate = false;
char status = 'V';
if (!nmea.parameters[5].empty()){
status = nmea.parameters[5][0];
}
this->fix.status = status;
if (status == 'V'){
lockupdate = this->fix.setlock(false);
}
else if (status == 'A') {
lockupdate = this->fix.setlock(true);
}
else {
lockupdate = this->fix.setlock(false); //not A or V, so must be wrong... no lock
}

if (!nmea.parameters[6].empty()){
if (nmea.parameters[6] == "A"){
this->fix.quality = 1;
}
else if (nmea.parameters[6] == "D"){
this->fix.quality = 2;
}
else if (nmea.parameters[6] == "E"){
this->fix.quality = 6;
}
else {}
}

else {}
//calling handlers
if (lockupdate){
this->onLockStateChanged(this->fix.haslock);
}
this->onUpdate();
}
catch (NumberConversionError& ex)
{
NMEAParseError pe("GPS Number Bad Format [$GPGLL] :: " + ex.message, nmea);
throw pe;
}
catch (NMEAParseError& ex)
{
NMEAParseError pe("GPS Data Bad Format [$GPGLL] :: " + ex.message, nmea);
throw pe;
}
}

9 changes: 8 additions & 1 deletion src/NMEAParser.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -441,6 +441,7 @@ void NMEAParser::parseText(NMEASentence& nmea, string txt){
onInfo(nmea, sz.str());

//possible checksum at end...
string tmp_str;
size_t endi = nmea.parameters.size() - 1;
size_t checki = nmea.parameters[endi].find_last_of('*');
if (checki != string::npos){
Expand All @@ -450,7 +451,13 @@ void NMEAParser::parseText(NMEASentence& nmea, string txt){
onError(nmea, "Checksum '*' character at end, but no data.");
}
else{
nmea.checksum = last.substr(checki + 1, last.size() - checki); //extract checksum without '*'
//extract checksum without '*' and \n,\r
// copy into temporary string
tmp_str = last.substr(checki + 1, last.size() - checki);
// remove superflous line breaks and carriage returns
tmp_str.erase(std::remove(tmp_str.begin(), tmp_str.end(), '\n'),tmp_str.end());
tmp_str.erase(std::remove(tmp_str.begin(), tmp_str.end(), '\r'),tmp_str.end());
nmea.checksum = tmp_str;

onInfo(nmea, string("Found checksum. (\"*") + nmea.checksum + "\")");

Expand Down