qgsnmeaconnection.cpp

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/***************************************************************************
                          qgsnmeaconnection.cpp  -  description
                          ---------------------
    begin                : November 30th, 2009
    copyright            : (C) 2009 by Marco Hugentobler
    email                : marco at hugis dot net
 ***************************************************************************/
 
/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   (at your option) any later version.                                   *
 *                                                                         *
 ***************************************************************************/
 
#include "qgsnmeaconnection.h"
 
#include "qgslogger.h"
 
#include <QApplication>
#include <QIODevice>
#include <QRegularExpression>
#include <QString>
#include <QStringList>
 
#include "moc_qgsnmeaconnection.cpp"
 
using namespace Qt::StringLiterals;
 
//from libnmea
#include "parse.h"
#include "gmath.h"
#include "info.h"
 
// for sqrt
#include <math.h>
 
#define KNOTS_TO_KMH 1.852
 
QgsNmeaConnection::QgsNmeaConnection( QIODevice *device )
  : QgsGpsConnection( device )
{}
 
void QgsNmeaConnection::parseData()
{
  if ( !mSource )
  {
    return;
  }
 
  //print out the data as a test
  qint64 numBytes = 0;
  if ( !mSource->isSequential() ) //necessary because of a bug in QExtSerialPort   //SLM - bytesAvailable() works on Windows, so I reversed the logic (added ! ); this is what QIODevice docs say to do; the orig impl of win_qextserialport had an (unsigned int)-1 return on error - it should be (qint64)-1, which was fixed by ?
  {
    numBytes = mSource->size();
  }
  else
  {
    numBytes = mSource->bytesAvailable();
  }
 
  QgsDebugMsgLevel( "numBytes:" + QString::number( numBytes ), 2 );
 
  if ( numBytes >= 6 )
  {
    QgsDebugMsgLevel( u"Got %1 NMEA bytes"_s.arg( numBytes ), 3 );
    QgsDebugMsgLevel( u"Current NMEA device status is %1"_s.arg( mStatus ), 3 );
    if ( mStatus != GPSDataReceived )
    {
      QgsDebugMsgLevel( u"Setting device status to DataReceived"_s, 3 );
      mStatus = DataReceived;
    }
 
    //append new data to the remaining results from last parseData() call
    mStringBuffer.append( mSource->read( numBytes ) );
    processStringBuffer();
    QgsDebugMsgLevel( u"Processed buffer"_s, 3 );
 
    QgsDebugMsgLevel( u"New status is %1"_s.arg( mStatus ), 3 );
    if ( mStatus == GPSDataReceived )
    {
      emit stateChanged( mLastGPSInformation );
    }
  }
}
 
void QgsNmeaConnection::processStringBuffer()
{
  int endSentenceIndex = 0;
  int dollarIndex;
 
  while ( ( endSentenceIndex = mStringBuffer.indexOf( "\r\n"_L1 ) ) && endSentenceIndex != -1 )
  {
    endSentenceIndex = mStringBuffer.indexOf( "\r\n"_L1 );
 
    dollarIndex = mStringBuffer.indexOf( '$'_L1 );
    if ( endSentenceIndex == -1 )
    {
      break;
    }
 
    if ( endSentenceIndex >= dollarIndex )
    {
      if ( dollarIndex != -1 )
      {
        const QString substring = mStringBuffer.mid( dollarIndex, endSentenceIndex );
        QByteArray ba = substring.toLocal8Bit();
        const thread_local QRegularExpression rxSentence( u"^\\$([A-Z]{2})([A-Z]{3})"_s );
        const QRegularExpressionMatch sentenceMatch = rxSentence.match( substring );
        const QString sentenceId = sentenceMatch.captured( 2 );
        if ( sentenceId == "GGA"_L1 )
        {
          QgsDebugMsgLevel( substring, 2 );
          mLastGPSInformation.satInfoComplete = true;
          processGgaSentence( ba.data(), ba.length() );
          mStatus = GPSDataReceived;
          QgsDebugMsgLevel( u"*******************GPS data received****************"_s, 2 );
        }
        else if ( sentenceId == "RMC"_L1 )
        {
          QgsDebugMsgLevel( substring, 2 );
          mLastGPSInformation.satInfoComplete = true;
          processRmcSentence( ba.data(), ba.length() );
          mStatus = GPSDataReceived;
          QgsDebugMsgLevel( u"*******************GPS data received****************"_s, 2 );
        }
        else if ( sentenceId == "GSV"_L1 )
        {
          QgsDebugMsgLevel( substring, 2 );
          mLastGPSInformation.satInfoComplete = false;
          processGsvSentence( ba.data(), ba.length() );
          mStatus = GPSDataReceived;
          QgsDebugMsgLevel( u"*******************GPS data received****************"_s, 2 );
        }
        else if ( sentenceId == "VTG"_L1 )
        {
          QgsDebugMsgLevel( substring, 2 );
          mLastGPSInformation.satInfoComplete = true;
          processVtgSentence( ba.data(), ba.length() );
          mStatus = GPSDataReceived;
          QgsDebugMsgLevel( u"*******************GPS data received****************"_s, 2 );
        }
        else if ( sentenceId == "GSA"_L1 )
        {
          QgsDebugMsgLevel( substring, 2 );
          processGsaSentence( ba.data(), ba.length() );
          mStatus = GPSDataReceived;
          QgsDebugMsgLevel( u"*******************GPS data received****************"_s, 2 );
        }
        else if ( sentenceId == "GST"_L1 )
        {
          QgsDebugMsgLevel( substring, 2 );
          mLastGPSInformation.satInfoComplete = true;
          processGstSentence( ba.data(), ba.length() );
          mStatus = GPSDataReceived;
          QgsDebugMsgLevel( u"*******************GPS data received****************"_s, 2 );
        }
        else if ( sentenceId == "HDT"_L1 )
        {
          QgsDebugMsgLevel( substring, 2 );
          mLastGPSInformation.satInfoComplete = true;
          processHdtSentence( ba.data(), ba.length() );
          mStatus = GPSDataReceived;
          QgsDebugMsgLevel( u"*******************GPS data received****************"_s, 2 );
        }
        else if ( sentenceId == "HDG"_L1 )
        {
          QgsDebugMsgLevel( substring, 2 );
          mLastGPSInformation.satInfoComplete = true;
          processHchdgSentence( ba.data(), ba.length() );
          mStatus = GPSDataReceived;
          QgsDebugMsgLevel( u"*******************GPS data received****************"_s, 2 );
        }
        else
        {
          mLastGPSInformation.satInfoComplete = true;
          QgsDebugMsgLevel( u"unknown nmea sentence: %1"_s.arg( substring ), 2 );
        }
        emit nmeaSentenceReceived( substring ); // added to be able to save raw data
      }
      else
      {
        //other text strings that do not start with '$'
        mLastGPSInformation.satInfoComplete = true;
      }
    }
    mStringBuffer.remove( 0, endSentenceIndex + 2 );
  }
}
 
void QgsNmeaConnection::processGgaSentence( const char *data, int len )
{
  nmeaGPGGA result;
  if ( nmea_parse_GPGGA( data, len, &result ) )
  {
    //update mLastGPSInformation
    double longitude = result.lon;
    if ( result.ew == 'W' )
    {
      longitude = -longitude;
    }
    double latitude = result.lat;
    if ( result.ns == 'S' )
    {
      latitude = -latitude;
    }
 
    mLastGPSInformation.longitude = nmea_ndeg2degree( longitude );
    mLastGPSInformation.latitude = nmea_ndeg2degree( latitude );
    mLastGPSInformation.elevation = result.elv;
    mLastGPSInformation.elevation_diff = result.diff;
 
    const QTime time( result.utc.hour, result.utc.min, result.utc.sec, result.utc.msec );
    if ( time.isValid() )
    {
      mLastGPSInformation.utcTime = time;
      if ( mLastGPSInformation.utcDateTime.isValid() )
      {
        mLastGPSInformation.utcDateTime.setTimeSpec( Qt::UTC );
        mLastGPSInformation.utcDateTime.setTime( time );
      }
      QgsDebugMsgLevel( u"utc time:"_s, 2 );
      QgsDebugMsgLevel( mLastGPSInformation.utcTime.toString(), 2 );
    }
 
    mLastGPSInformation.quality = result.sig;
    if ( result.sig >= 0 && result.sig <= 8 )
    {
      mLastGPSInformation.qualityIndicator = static_cast<Qgis::GpsQualityIndicator>( result.sig );
    }
    else
    {
      mLastGPSInformation.qualityIndicator = Qgis::GpsQualityIndicator::Unknown;
    }
    mLastGGAQualityIndicator = mLastGPSInformation.qualityIndicator;
 
    // use GSA for satellites in use;
  }
}
 
void QgsNmeaConnection::processGstSentence( const char *data, int len )
{
  nmeaGPGST result;
  if ( nmea_parse_GPGST( data, len, &result ) )
  {
    //update mLastGPSInformation
    const double sig_lat = result.sig_lat;
    const double sig_lon = result.sig_lon;
    const double sig_alt = result.sig_alt;
 
    // Horizontal RMS
    mLastGPSInformation.hacc = sqrt( ( pow( sig_lat, 2 ) + pow( sig_lon, 2 ) ) / 2.0 );
    // Vertical RMS
    mLastGPSInformation.vacc = sig_alt;
    // 3D RMS
    mLastGPSInformation.hvacc = sqrt( ( pow( sig_lat, 2 ) + pow( sig_lon, 2 ) + pow( sig_alt, 2 ) ) / 3.0 );
  }
}
 
void QgsNmeaConnection::processHdtSentence( const char *data, int len )
{
  nmeaGPHDT result;
  if ( nmea_parse_GPHDT( data, len, &result ) )
  {
    mLastGPSInformation.direction = result.heading;
  }
}
 
void QgsNmeaConnection::processHchdgSentence( const char *data, int len )
{
  nmeaHCHDG result;
  if ( nmea_parse_HCHDG( data, len, &result ) )
  {
    mLastGPSInformation.direction = result.mag_heading;
    if ( result.ew_variation == 'E' )
      mLastGPSInformation.direction += result.mag_variation;
    else
      mLastGPSInformation.direction -= result.mag_variation;
  }
}
 
void QgsNmeaConnection::processRmcSentence( const char *data, int len )
{
  nmeaGPRMC result;
  if ( nmea_parse_GPRMC( data, len, &result ) )
  {
    double longitude = result.lon;
    if ( result.ew == 'W' )
    {
      longitude = -longitude;
    }
    double latitude = result.lat;
    if ( result.ns == 'S' )
    {
      latitude = -latitude;
    }
    mLastGPSInformation.longitude = nmea_ndeg2degree( longitude );
    mLastGPSInformation.latitude = nmea_ndeg2degree( latitude );
    mLastGPSInformation.speed = KNOTS_TO_KMH * result.speed;
    if ( !std::isnan( result.direction ) )
      mLastGPSInformation.direction = result.direction;
    mLastGPSInformation.status = result.status; // A,V
 
    const QDate date( result.utc.year + 1900, result.utc.mon + 1, result.utc.day );
    const QTime time( result.utc.hour, result.utc.min, result.utc.sec, result.utc.msec );
    if ( date.isValid() && time.isValid() )
    {
      mLastGPSInformation.utcTime = time;
      mLastGPSInformation.utcDateTime.setTimeSpec( Qt::UTC );
      mLastGPSInformation.utcDateTime.setDate( date );
      mLastGPSInformation.utcDateTime.setTime( time );
      QgsDebugMsgLevel( u"utc date/time:"_s, 2 );
      QgsDebugMsgLevel( mLastGPSInformation.utcDateTime.toString(), 2 );
      QgsDebugMsgLevel( u"local date/time:"_s, 2 );
      QgsDebugMsgLevel( mLastGPSInformation.utcDateTime.toLocalTime().toString(), 2 );
    }
 
    // convert mode to signal (aka quality) indicator
    // (see https://gitlab.com/fhuberts/nmealib/-/blob/master/src/info.c#L27)
    // UM98x Status == D  (Differential)
    Qgis::GpsQualityIndicator rmcQualityIndicator = Qgis::GpsQualityIndicator::Invalid;
    if ( result.status == 'A' || result.status == 'D' )
    {
      if ( result.mode == 'A' )
      {
        rmcQualityIndicator = Qgis::GpsQualityIndicator::GPS;
      }
      else if ( result.mode == 'D' )
      {
        rmcQualityIndicator = Qgis::GpsQualityIndicator::DGPS;
      }
      else if ( result.mode == 'P' )
      {
        rmcQualityIndicator = Qgis::GpsQualityIndicator::PPS;
      }
      else if ( result.mode == 'R' )
      {
        rmcQualityIndicator = Qgis::GpsQualityIndicator::RTK;
      }
      else if ( result.mode == 'F' )
      {
        rmcQualityIndicator = Qgis::GpsQualityIndicator::FloatRTK;
      }
      else if ( result.mode == 'E' )
      {
        rmcQualityIndicator = Qgis::GpsQualityIndicator::Estimated;
      }
      else if ( result.mode == 'M' )
      {
        rmcQualityIndicator = Qgis::GpsQualityIndicator::Manual;
      }
      else if ( result.mode == 'S' )
      {
        rmcQualityIndicator = Qgis::GpsQualityIndicator::Simulation;
      }
      else
      {
        rmcQualityIndicator = Qgis::GpsQualityIndicator::Unknown;
      }
    }
    else if ( result.status == 'V' )
    {
      rmcQualityIndicator = Qgis::GpsQualityIndicator::Invalid;
    }
 
    // some GNSS devices will fail to report an RTK quality through RMC sentences,
    // use the better quality value from GGA and RMC sentences
    if ( mLastGGAQualityIndicator != Qgis::GpsQualityIndicator::RTK && mLastGGAQualityIndicator != Qgis::GpsQualityIndicator::FloatRTK )
    {
      mLastGPSInformation.quality = static_cast<int>( rmcQualityIndicator );
      mLastGPSInformation.qualityIndicator = rmcQualityIndicator;
    }
 
    // for other cases: quality and qualityIndicator read by GGA
  }
 
  if ( result.navstatus == 'S' )
  {
    mLastGPSInformation.setNavigationStatus( Qgis::GpsNavigationStatus::Safe );
  }
  else if ( result.navstatus == 'C' )
  {
    mLastGPSInformation.setNavigationStatus( Qgis::GpsNavigationStatus::Caution );
  }
  else if ( result.navstatus == 'U' )
  {
    mLastGPSInformation.setNavigationStatus( Qgis::GpsNavigationStatus::Unsafe );
  }
  else
  {
    mLastGPSInformation.setNavigationStatus( Qgis::GpsNavigationStatus::NotValid );
  }
}
 
void QgsNmeaConnection::processGsvSentence( const char *data, int len )
{
  nmeaGPGSV result;
  if ( nmea_parse_GPGSV( data, len, &result ) )
  {
    // for determining when to graph sat info
    for ( int i = 0; i < NMEA_SATINPACK; ++i )
    {
      const nmeaSATELLITE currentSatellite = result.sat_data[i];
      QgsSatelliteInfo satelliteInfo;
      satelliteInfo.azimuth = currentSatellite.azimuth;
      satelliteInfo.elevation = currentSatellite.elv;
      satelliteInfo.id = currentSatellite.id;
      satelliteInfo.inUse = false;
      for ( int k = 0; k < mLastGPSInformation.satPrn.size(); ++k )
      {
        if ( mLastGPSInformation.satPrn.at( k ) == currentSatellite.id )
        {
          satelliteInfo.inUse = true;
        }
      }
      satelliteInfo.signal = currentSatellite.sig;
      satelliteInfo.satType = result.talkerId[1];
 
      if ( result.talkerId[0] == 'G' )
      {
        if ( result.talkerId[1] == 'P' )
        {
          satelliteInfo.mConstellation = Qgis::GnssConstellation::Gps;
        }
        else if ( result.talkerId[1] == 'L' )
        {
          satelliteInfo.mConstellation = Qgis::GnssConstellation::Glonass;
        }
        else if ( result.talkerId[1] == 'A' )
        {
          satelliteInfo.mConstellation = Qgis::GnssConstellation::Galileo;
        }
        else if ( result.talkerId[1] == 'B' )
        {
          satelliteInfo.mConstellation = Qgis::GnssConstellation::BeiDou;
        }
        else if ( result.talkerId[1] == 'Q' )
        {
          satelliteInfo.mConstellation = Qgis::GnssConstellation::Qzss;
        }
      }
 
      if ( satelliteInfo.satType == 'P' && satelliteInfo.id > 32 )
      {
        satelliteInfo.mConstellation = Qgis::GnssConstellation::Sbas;
        satelliteInfo.satType = 'S';
        satelliteInfo.id = currentSatellite.id + 87;
      }
 
      bool idAlreadyPresent = false;
      if ( mLastGPSInformation.satellitesInView.size() > NMEA_SATINPACK )
      {
        for ( int i = 0; i < mLastGPSInformation.satellitesInView.size(); ++i )
        {
          QgsSatelliteInfo &existingSatInView = mLastGPSInformation.satellitesInView[i];
          if ( existingSatInView.id == currentSatellite.id )
          {
            idAlreadyPresent = true;
            // Signal averaging
            if ( existingSatInView.signal == 0 )
            {
              existingSatInView.signal = currentSatellite.sig;
            }
            else if ( currentSatellite.sig != 0 )
            {
              existingSatInView.signal = ( existingSatInView.signal + currentSatellite.sig ) / 2;
            }
            break;
          }
        }
      }
 
      if ( !idAlreadyPresent && currentSatellite.azimuth > 0 && currentSatellite.elv > 0 )
      {
        mLastGPSInformation.satellitesInView.append( satelliteInfo );
      }
    }
  }
}
 
void QgsNmeaConnection::processVtgSentence( const char *data, int len )
{
  nmeaGPVTG result;
  if ( nmea_parse_GPVTG( data, len, &result ) )
  {
    mLastGPSInformation.speed = result.spk;
    if ( !std::isnan( result.dir ) )
      mLastGPSInformation.direction = result.dir;
  }
}
 
void QgsNmeaConnection::processGsaSentence( const char *data, int len )
{
  if ( mLastGPSInformation.satInfoComplete )
  {
    //clear satellite information when a new series of packs arrives
    mLastGPSInformation.satPrn.clear();
    mLastGPSInformation.satellitesInView.clear();
    mLastGPSInformation.satellitesUsed = 0;
    mLastGPSInformation.satInfoComplete = false;
  }
  nmeaGPGSA result;
  if ( nmea_parse_GPGSA( data, len, &result ) )
  {
    // clear() on GGA
    mLastGPSInformation.hdop = result.HDOP;
    mLastGPSInformation.pdop = result.PDOP;
    mLastGPSInformation.vdop = result.VDOP;
    mLastGPSInformation.fixMode = result.fix_mode;
    mLastGPSInformation.fixType = result.fix_type;
 
    Qgis::GnssConstellation commonConstellation = Qgis::GnssConstellation::Unknown;
    bool mixedConstellation = false;
    for ( int i = 0; i < NMEA_MAXSAT; i++ )
    {
      if ( result.sat_prn[i] > 0 )
      {
        mLastGPSInformation.satPrn.append( result.sat_prn[i] );
        mLastGPSInformation.satellitesUsed += 1;
 
        Qgis::GnssConstellation constellation = Qgis::GnssConstellation::Unknown;
        if ( ( result.talkerId[0] == 'G' && result.talkerId[1] == 'L' ) || result.sat_prn[i] > 64 )
          constellation = Qgis::GnssConstellation::Glonass;
        else if ( result.sat_prn[i] >= 1 && result.sat_prn[i] <= 32 )
          constellation = Qgis::GnssConstellation::Gps;
        else if ( result.sat_prn[i] > 32 && result.sat_prn[i] <= 64 )
          constellation = Qgis::GnssConstellation::Sbas;
 
        // cppcheck-suppress identicalInnerCondition
        if ( result.sat_prn[i] > 0 )
        {
          if ( mixedConstellation || ( commonConstellation != Qgis::GnssConstellation::Unknown && commonConstellation != constellation ) )
          {
            mixedConstellation = true;
          }
          else
          {
            commonConstellation = constellation;
          }
        }
      }
    }
    if ( mixedConstellation )
      commonConstellation = Qgis::GnssConstellation::Unknown;
 
    switch ( result.fix_type )
    {
      case 1:
        mLastGPSInformation.mConstellationFixStatus[commonConstellation] = Qgis::GpsFixStatus::NoFix;
        break;
 
      case 2:
        mLastGPSInformation.mConstellationFixStatus[commonConstellation] = Qgis::GpsFixStatus::Fix2D;
        break;
 
      case 3:
        mLastGPSInformation.mConstellationFixStatus[commonConstellation] = Qgis::GpsFixStatus::Fix3D;
        break;
    }
  }
}