TnbNmea0183.h

[詳解]

#pragma once
#include "TnbSync.h"
#include "TnbStrVector.h"
#include "TnbReport.h"
#include "TnbQueueingReport.h"
 
 
 
//TNB Library
namespace TNB
{
 
 
 
class CNmea0183
{
public:
 
    class CLineInfo
    {
    public:
        CLineInfo(void)
        {
        }
 
        CLineInfo(const CStrVector& vs) : m_astr(vs) 
        {
        }
 
        size_t GetSize(void) const
        {
            return m_astr.GetSize();
        }
 
        LPCTSTR GetName(void) const
        {
            return m_astr.IsEmpty() ? _T("") : m_astr[0];
        }
 
        LPCTSTR GetString(INDEX index) const
        {
            return m_astr.IsInRange(index) ? m_astr[index] : _T("");
        }
 
        int GetInt(INDEX index) const
        {
            return m_astr.IsInRange(index) ? m_astr[index].ToInt() : 0;
        }
 
        double GetDouble(INDEX index) const
        {
            return m_astr.IsInRange(index) ? m_astr[index].ToDouble() : 0.0;
        }
 
        CStr MakeLineString(bool withCheckSum = true) const
        {
            CStr s;
            loop ( i, m_astr.GetSize() )
            {
                if ( i != 0 )
                {
                    s += _T(",");
                }
                s += m_astr[i];
            }
            if ( withCheckSum )
            {
                BYTE sum = 0;
                loop ( i, s.GetLength() )
                {
                    sum ^= s[i];
                }
                s += CStr::Fmt(_T("*%02X"), sum);
            }
            return _T("$") + s;
        }
    private:
        CStrVector      m_astr;     
    };
 
    struct TGpGga
    {
        WORD    hour;               
        WORD    minute;             
        WORD    second;             
        WORD    ms;                 
        bool    isNorth;            
        double  latitude;           
        bool    isEast;             
        double  longitude;          
        WORD    gpsQuality;         
        WORD    satelliteNumber;    
        double  hdop;               
        double  height;             
        double  altitudeDifference; 
        double  dgpsData;           
        WORD    dgpsId;             
    };
 
    struct TGpGsv
    {
        WORD    satelliteNumber;    
        WORD    angleOfElevation;   
        WORD    direction;          
        WORD    snr;                
    };
 
    struct TGpRmc
    {
        bool        isValid;        
        SYSTEMTIME  utc;            
        bool        isNorth;        
        double      latitude;       
        bool        isEast;         
        double      longitude;      
        double      speed;          
        double      degree;         
    };
 
    enum EErrorCode
    {
        EC_UnknownDatas = 1,        
        EC_CheckSumError,           
        EC_Connect,                 
        EC_Disconnect,              
        EC_End,                     
    };
 
    struct IListener
    {
        virtual ~IListener(void) {}
        virtual void OnNmeaReceivedLine(const CLineInfo& li) = 0;
        virtual void OnNmeaError(EErrorCode e, LPARAM lParam) = 0;
    };
 
 
    //----------------------
 
    
    CNmea0183(void)
    {
    }
 
    void SetEnvironment(IReport* pReport, IListener* pListener = NULL)
    {
        m_queue.SetEnvironment(pReport, &m_inner);
        m_inner.m_pListener = pListener;
    }
 
    bool GetZdaData(SYSTEMTIME& _tm, DWORD tick = 2000) const
    {
        if ( ExistGps() )
        {
            EXCLUSIVE(&m_inner.m_dataSync);
            FILETIME ft1;
            FILETIME ft2;
            if ( ::SystemTimeToFileTime(&m_inner.m_gpZda, &ft1) && ::FileTimeToLocalFileTime(&ft1, &ft2) )
            {
                ::FileTimeToSystemTime(&ft2, &_tm);
                DWORD r = ::GetTickCount() - m_inner.m_tickZda;
                return (r < tick);
            }
        }
        return false;
    }
 
    bool GetGgaData(TGpGga& _gga, DWORD tick = 2000) const
    {
        if ( ExistGps() )
        {
            EXCLUSIVE(&m_inner.m_dataSync);
            _gga = m_inner.m_gpGga;
            DWORD r = ::GetTickCount() - m_inner.m_tickGga;
            return (r < tick);
        }
        return false;
    }
 
    bool GetGsvData(CVectorT<TGpGsv>& _gsvs, DWORD tick = 2000) const
    {
        if ( ExistGps() )
        {
            EXCLUSIVE(&m_inner.m_dataSync);
            _gsvs = m_inner.m_gpGsvs;
            DWORD r = ::GetTickCount() - m_inner.m_tickGsv;
            #ifdef _DEBUG
                if ( r < tick )
                {
                    loop ( i, _gsvs.GetSize() )
                    {
                        TRACE2("Nmea;GSV[%d] 衛星No=%d, ", i + 1, _gsvs[i].satelliteNumber);
                        TRACE3("仰角=%d, 方位=%d, SNR=%d\n", _gsvs[i].angleOfElevation, _gsvs[i].direction, _gsvs[i].snr);
                    }
                }
            #endif
            return (r < tick);
        }
        return false;
    }
 
    bool GetRmcData(TGpRmc& _rmc, DWORD tick = 2000) const
    {
        if ( ExistGps() )
        {
            EXCLUSIVE(&m_inner.m_dataSync);
            _rmc = m_inner.m_gpRmc;
            DWORD r = ::GetTickCount() - m_inner.m_tickRmc;
            return (r < tick);
        }
        return false;
    }
 
    virtual bool ExistGps(void) const
    {
        if ( ! m_queue.IsAlive() )
        {
            //開始していない
            return false;
        }
        return m_queue.IsConnect();
    }
 
private:
    struct TInner : CQueueingReport::IListener
    {
        DEFPARENTLISTENER(CNmea0183, IParentListener);
        //-
        IParentListener*    m_pListener;    
        //- 解析用
        bool                m_isAnalying;   
        BYTE                m_checkSum;     
        size_t              m_checkSize;    
        CStrVector          m_queStr;       
        //- 受信情報
        CSyncSection        m_dataSync;     
        SYSTEMTIME          m_gpZda;        
        DWORD               m_tickZda;      
        TGpGga              m_gpGga;        
        DWORD               m_tickGga;      
        CVectorT<TGpGsv>    m_gpGsvs;       
        CVectorT<TGpGsv>    m_gpGsvsTmp;        
        DWORD               m_tickGsv;      
        TGpRmc              m_gpRmc;        
        DWORD               m_tickRmc;      
        TInner(void) : m_isAnalying(false), m_pListener(NULL)
        {
            DWORD w = ::GetTickCount();
            w += 0x80000000;
            m_tickZda = w;
            m_tickGga = w;
            m_tickGsv = w;
        }
        void NotifyNmeaReceivedLine(const CLineInfo& li)
        {
            if ( STRLIB::Compare(li.GetName(), _T("GPZDA")) == 0 )
            {
                //== Time & Date
                SYSTEMTIME sm;
                sm.wYear = static_cast<WORD>(li.GetInt(4));
                sm.wMonth = static_cast<WORD>(li.GetInt(2));
                sm.wDay = static_cast<WORD>(li.GetInt(3));
                sm.wDayOfWeek = 0;
                double tm = li.GetDouble(1);
                sm.wHour = static_cast<WORD>(int(tm / 10000) % 100);
                sm.wMinute = static_cast<WORD>(int(tm / 100) % 100);
                sm.wSecond = static_cast<WORD>(int(tm) % 100);
                sm.wMilliseconds = static_cast<WORD>(int(tm * 1000) % 1000);
                EXCLUSIVE(&m_dataSync);
                m_tickZda = ::GetTickCount();
                m_gpZda = sm;
            }
            else if ( STRLIB::Compare(li.GetName(), _T("GPRMC")) == 0 )
            {
                //== GNSS Data
                TGpRmc g;
                // 測位時刻(UTC)
                double tm = li.GetDouble(1);
                g.utc.wHour = static_cast<WORD>(int(tm / 10000) % 100);
                g.utc.wMinute = static_cast<WORD>(int(tm / 100) % 100);
                g.utc.wSecond = static_cast<WORD>(int(tm) % 100);
                g.utc.wMilliseconds = static_cast<WORD>(int(tm * 1000) % 1000);
                // 有効無効
                g.isValid = (li.GetString(2)[0] == 'A');
                // 緯度（北緯 南緯）
                g.latitude = li.GetDouble(3);
                g.isNorth = (li.GetString(4)[0] == 'N');
                // 経度 (東経 西経)
                g.longitude = li.GetDouble(5);
                g.isEast = (li.GetString(6)[0] == 'E');
                // 対地速度(ノット)
                g.speed = li.GetDouble(7);
                // 進行方向
                g.degree = li.GetDouble(8);
                //
                int sm = li.GetInt(9);
                int y = sm % 100;
                g.utc.wYear = static_cast<WORD>(y + ((y < 50) ? 2000 : 1900));
                g.utc.wMonth = static_cast<WORD>((sm / 100) % 100);
                g.utc.wDay = static_cast<WORD>((sm / 10000) % 100);
                g.utc.wDayOfWeek = 0;
                //
                EXCLUSIVE(&m_dataSync);
                m_tickRmc = ::GetTickCount();
                m_gpRmc = g;
            }
            else if ( STRLIB::Compare(li.GetName(), _T("GPGGA")) == 0 )
            {
                //== Global Positioning System Fix Data
                TGpGga g;
                // 測位時刻(UTC)
                double tm = li.GetDouble(1);
                g.hour = static_cast<WORD>(int(tm / 10000) % 100);
                g.minute = static_cast<WORD>(int(tm / 100) % 100);
                g.second = static_cast<WORD>(int(tm) % 100);
                g.ms = static_cast<WORD>(int(tm * 1000) % 1000);
                // 緯度（北緯 南緯）
                g.latitude = li.GetDouble(2);
                g.isNorth = (li.GetString(3)[0] == 'N');
                // 経度 (東経 西経)
                g.longitude = li.GetDouble(4);
                g.isEast = (li.GetString(5)[0] == 'E');
                //
                g.gpsQuality = static_cast<WORD>(li.GetInt(6));         // GPSクオリティ 0=受信不能 1=単独測位 2=DGPS
                g.satelliteNumber = static_cast<WORD>(li.GetInt(7));        // 受信衛星数
                g.hdop = li.GetDouble(8);               // HDOP
                g.height = li.GetDouble(9);             // 平均海水面からのアンテナ高度(m)
                if ( li.GetString(10)[0] == 'f' )
                {
                    //feetだったのでmに変換
                    g.height *= 0.3048;
                }
                g.altitudeDifference = li.GetDouble(11);// 平均高度差(m)
                if ( li.GetString(12)[0] == 'f' )
                {
                    //feetだったのでmに変換
                    g.altitudeDifference *= 0.3048;
                }
                g.dgpsData = li.GetDouble(13);          // DGPSデータのエイジ(秒)
                g.dgpsId = static_cast<WORD>(li.GetInt(14));                // DGPS基準局のID
                //
                EXCLUSIVE(&m_dataSync);
                m_tickGga = ::GetTickCount();
                m_gpGga = g;
            }
            else if ( STRLIB::Compare(li.GetName(), _T("GPGSV")) == 0 )
            {
                //== Satellites in View
                int all = li.GetInt(1); // 全メッセージ数
                int no = li.GetInt(2); // メッセージ番号
//              int sate = li.GetInt(3); //衛星数
                EXCLUSIVE(&m_dataSync);
                if ( no == 1 )
                {
                    m_gpGsvsTmp.RemoveAll();
                }
                loop ( i, 4 )
                {
                    INDEX j = 4 + i * 4;
                    if ( li.GetSize() <= j + 3 )
                    {
                        break;
                    }
                    TGpGsv g;
                    g.satelliteNumber = static_cast<WORD>(li.GetInt(j));
                    g.angleOfElevation = static_cast<WORD>(li.GetInt(j + 1));
                    g.direction = static_cast<WORD>(li.GetInt(j + 2));
                    g.snr = static_cast<WORD>(li.GetInt(j + 3));
                    m_gpGsvsTmp.Add(g);
                }
                if ( all == no )
                {
                    EXCLUSIVE(&m_dataSync);
//                  ASSERT( sate == m_gpGsvs.GetSize() ); //いっちするはず
                    m_tickGsv = ::GetTickCount();
                    m_gpGsvs = m_gpGsvsTmp;
                }
            }
            if ( m_pListener != NULL )
            {
                m_pListener->OnNmeaReceivedLine(li);
            }
        }
        void NotifyNmeaError(EErrorCode e, LPARAM lParam)
        {
            if ( m_pListener != NULL )
            {
                m_pListener->OnNmeaError(e, lParam);
            }
        }
        virtual bool OnReportEvent(const CReportEvent& ev)
        {
            ASSERT ( ev.HasEvent() );
            switch ( ev.GetEvent() )
            {
            case ReportEvent_Disconnect:
                NotifyNmeaError(EC_Disconnect, 0);
                break;
            case ReportEvent_Connect:
                NotifyNmeaError(EC_Connect, 0);
                break;
            case ReportEvent_End:
                NotifyNmeaError(EC_End, 0);
                break;
            }
            return true;
        }
        virtual size_t OnReportData(bool boIsLast, const IConstCollectionT<BYTE>& c)
        {
            size_t len = c.GetSize();
            if ( ! m_isAnalying )
            {
                //=== ヘッダ検索中
                if ( len > 0 )
                {
                    BYTE b = c.At(0);
                    if ( b == '\n' || b == '\r' || b == 0 )
                    {
                        return 1;
                    }
                    if ( b != '$' )
                    {
                        // ヘッダ文字'$'じゃない
                        for ( size_t i = 1; i < len; i++ )
                        {
                            if ( c.At(i) == '$' )
                            {
                                TRACE1("Nmea;skip %d\n", i);
                                NotifyNmeaError(EC_UnknownDatas, i);
                                return i;
                            }
                        }
                        TRACE1("Nmea;skip %d\n", len);
                        NotifyNmeaError(EC_UnknownDatas, len);
                        return len;
                    }
                }
                if ( len < 1 + 1 + 3 )
                {
                    return 0; // 絶対足りない
                }
                m_isAnalying = true;
                m_checkSum = 0;
                m_checkSize = 1;
                m_queStr.RemoveAll();
                TRACE0("Nmea;found header'$'\n");
                return 1; // '$' をスキップ
            }
            //=== ライン解析中
            loop ( i, len )
            {
                BYTE b = c.At(i);
                if ( b == '\n' || b == '$' || b == 0 )
                {
                    // 異常
                    TRACE0("Nmea;found known char\n");
                    m_isAnalying = false;
                    NotifyNmeaError(EC_UnknownDatas, i + 1);
                    return i + 1;
                }
                else if ( b == '*' && (len - i) < 3 )
                {
                    return 0; //足りない
                }
                else if ( b == ',' || b == '*' )
                {
                    // , か * の場合
                    CStr s;
                    loop ( j, i )
                    {
                        s += c.At(j);
                        m_checkSum ^= c.At(j);
                        m_checkSize++;
                    }
                    TRACE2("(%d) %s\n", m_queStr.GetSize(), s);
                    m_queStr.Add(s);
                    if ( b == ',' )
                    {
                        // , の場合
                        m_checkSum ^= b;
                        m_checkSize++;
                        return i + 1;
                    }
                    // * の場合
                    if ( len >= 3 )
                    {
                        int h = STRLIB::HexCharToInt(c.At(i + 1));
                        int l = STRLIB::HexCharToInt(c.At(i + 2));
                        if ( h < 0 || l < 0 )
                        {
                            TRACE1("Nmea;invalid checksum char skip %d\n", m_checkSize + 1);
                            NotifyNmeaError(EC_UnknownDatas, m_checkSize + 1);
                            m_isAnalying = false;
                            return i + 1;
                        }
                        BYTE sum = static_cast<BYTE>(h << 4 | l);
                        if ( m_checkSum == sum )
                        {
                            //発見！
                            TRACE0("Nmea;found valid line!!\n");
                            CLineInfo li(m_queStr);
                            NotifyNmeaReceivedLine(li);
                        }
                        else
                        {
                            TRACE1("Nmea;checksum error!! skip %d\n", m_checkSize + 3);
                            if ( m_pListener != NULL )
                            {
                                m_pListener->OnNmeaError(EC_CheckSumError, MAKELONG(m_checkSum, sum));
                            }
                        }
                        m_isAnalying = false;
                        return i + 3;
                    }
                    return i;
                }
            }
            return 0;
        }
    };
 
    //- 読込み用
    CQueueingReport m_queue;        
    TInner          m_inner;        
    friend class CNmea0183Test;
};
 
 
 
}; // TNB