#include "NMEA.h" #include "BicamConsts.h" #include "stdio.h" /** \file GPRMC.cc */ /****************************************************************************/ /* Copyright (c) 2008 MBARI */ /* MBARI Proprietary Information. All rights reserved. */ /****************************************************************************/ /* Summary : */ /* Filename : GPRMC.cc */ /* Author : K Headley */ /* Project : Benthic Imaging AUV */ /* Created : 04/01/2008 */ /****************************************************************************/ /* Modification History: */ /* $Id: GPRMC.cc,v 1.4 2009/04/09 23:35:21 rob Exp $ */ /* $Name: FastSim $ */ /****************************************************************************/ /** Default no argument constructor */ GPRMC::GPRMC(){ time_t tm; struct timeval tv; // set message type _type=t_GPRMC; // initialze fields _fields[RMCMSG].setValue("$GPRMC"); time(&tm); tv.tv_sec=tm; tv.tv_usec=0; _fields[RMCTIME].setValue((time_t)tm); _fields[RMCTVTIME].setValue((struct timeval)tv); _fields[RMCSTAT].setValue((char)'?'); _fields[RMCLATD].setValue((int)0); _fields[RMCLATM].setValue((double)0.0); _fields[RMCLATH].setValue((char)'?'); _fields[RMCLOND].setValue((int)0); _fields[RMCLONM].setValue((double)0.0); _fields[RMCLONH].setValue((char)'?'); _fields[RMCSOG].setValue((double)0.0); _fields[RMCCOG].setValue((double)0.0); _fields[RMCDATE].setValue((time_t)tm); _fields[RMCMVM].setValue((double)0); _fields[RMCMVD].setValue((double)0); _fields[RMCCHK].setValue((unsigned char)0); } /** Set time field @param time new value @return OK on success, ERROR otherwise */ int GPRMC::setTIME(time_t time){ setField(NMEA::FIELD_1,time); return 0; } /** Set status field @param stat new value @return OK on success, ERROR otherwise */ int GPRMC::setSTAT(char stat){ if(stat!='A' && stat!='V') return ERROR; setField(NMEA::FIELD_2,stat); return OK; } /** Set lat degrees field @param latd new value @return OK on success, ERROR otherwise */ int GPRMC::setLATD(int latd){ if(latd>90 || latd<-90) return ERROR; setField(NMEA::FIELD_3,latd); return OK; } /** Set lat minutes field @param latm new value @return OK on success, ERROR otherwise */ int GPRMC::setLATM(double latm){ if(latm<0.0000 || latm>59.9999) return ERROR; setField(NMEA::FIELD_4,latm); return OK; } /** Set lat hemisphere field @param lath new value @return OK on success, ERROR otherwise */ int GPRMC::setLATH(char lath){ if(lath!='S' && lath!='N') return ERROR; setField(NMEA::FIELD_5,lath); return OK; } /** Set lon degrees field @param lond new value @return OK on success, ERROR otherwise */ int GPRMC::setLOND(int lond){ if(lond>180 || lond<-180) return ERROR; setField(NMEA::FIELD_6,lond); return OK; } /** Set lon min field @param lonm new value @return OK on success, ERROR otherwise */ int GPRMC::setLONM(double lonm){ if(lonm<0.0000 || lonm>59.9999) return ERROR; setField(NMEA::FIELD_7,lonm); return OK; } /** Set lon hemisphere field @param lonh new value @return OK on success, ERROR otherwise */ int GPRMC::setLONH(char lonh){ if(lonh!='E' && lonh!='W') return ERROR; setField(NMEA::FIELD_8,lonh); return OK; } /** Set speed over ground field @param sog new value @return OK on success, ERROR otherwise */ int GPRMC::setSOG(double sog){ if(sog<000.0 || sog>999.9) return ERROR; setField(NMEA::FIELD_9,sog); return OK; } /** Set course over ground field @param cog new value @return OK on success, ERROR otherwise */ int GPRMC::setCOG(double cog){ if(cog<0000.0 || cog>359.9) return ERROR; setField(NMEA::FIELD_10,cog); return OK; } /** Set date field @param date new value @return OK on success, ERROR otherwise */ int GPRMC::setDATE(time_t date){ setField(NMEA::FIELD_11,date); return 0; } /** Set Magnetic Variation Magnitude @param mvm (0.0-180.0 degrees) @return OK on success, ERROR otherwise (may indicate input range error) */ int GPRMC::setMVM(double mvm){ if(mvm<000.0 || mvm>180.0) return ERROR; setField(NMEA::FIELD_12,mvm); return OK; } /** Set Magnetic Variation Direction @param mvd ('E':East|'W':West) @return OK on success, ERROR otherwise (may indicate input range error) */ int GPRMC::setMVD(char mvd){ if(mvd!='E' && mvd!='W') return ERROR; setField(NMEA::FIELD_13,mvd); return OK; } /** Set time field @param time new value @return OK on success, ERROR otherwise */ int GPRMC::setTIME(struct timeval time){ setField(NMEA::FIELD_15,(struct timeval)time); return OK; } /** Generate NMEA string from current field values @return string representation of NMEA message. */ const char *GPRMC::toString(){ return toString(NMEA::NOTERM); } const char *GPRMC::toString(NMEA::LineEnd lineEnd){ int hours; int min; int mon,day,year; double sec; struct tm *pt; struct timeval tvtime; char *bp=_outputBuf; unsigned int chksum; Field f=this->_fields[GPRMC::RMCTVTIME]; tvtime=f.tvalValue(); pt=gmtime( &tvtime.tv_sec ); hours= pt->tm_hour; min = pt->tm_min; sec = (double)pt->tm_sec+((double)tvtime.tv_usec/1000000.0); mon = pt->tm_mon+1; day = pt->tm_mday; year = pt->tm_year; while(year>100) year-=100; sprintf(bp,"%6s,",this->_fields[GPRMC::RMCMSG].pcharValue()); bp=_outputBuf+strlen(_outputBuf); sprintf(bp,"%02d%02d%0*.*f,",hours,min,(_timestampRes+3),_timestampRes,sec); bp=_outputBuf+strlen(_outputBuf); sprintf(bp,"%c,",this->_fields[GPRMC::RMCSTAT].charValue()); bp=_outputBuf+strlen(_outputBuf); sprintf(bp,"%d%07.4f,%c,",this->_fields[GPRMC::RMCLATD].intValue(),this->_fields[GPRMC::RMCLATM].doubleValue(),this->_fields[GPRMC::RMCLATH].charValue()); bp=_outputBuf+strlen(_outputBuf); sprintf(bp,"%d%07.4f,%c,",this->_fields[GPRMC::RMCLOND].intValue(),this->_fields[GPRMC::RMCLONM].doubleValue(),this->_fields[GPRMC::RMCLONH].charValue()); bp=_outputBuf+strlen(_outputBuf); sprintf(bp,"%05.1f,",this->_fields[GPRMC::RMCSOG].doubleValue()); bp=_outputBuf+strlen(_outputBuf); sprintf(bp,"%05.1f,",this->_fields[GPRMC::RMCCOG].doubleValue()); bp=_outputBuf+strlen(_outputBuf); sprintf(bp,"%02d%02d%02d,",day,mon,year); bp=_outputBuf+strlen(_outputBuf); sprintf(bp,"%05.1f,",this->_fields[GPRMC::RMCMVM].doubleValue()); bp=_outputBuf+strlen(_outputBuf); sprintf(bp,"%c*",this->_fields[GPRMC::RMCMVD].charValue()); bp=_outputBuf+strlen(_outputBuf); chksum=this->checksum(_outputBuf); sprintf(bp,"%02x",chksum); if(lineEnd!=NMEA::NOTERM){ bp=_outputBuf+strlen(_outputBuf); sprintf(bp,"\r\n"); } return _outputBuf; } /** output stream operator. Formats object for output stream insertion @param output output stream handle @param n Field object pointer */ ostream& operator<<(ostream& output,GPRMC& n) { /* #ifdef _QNX char buf[128]; ostrstream outs(buf,128); #else ostringstream outs; #endif output<