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/* Copyright (c) 2012-2013, 2015-2017 The Linux Foundation. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are
* met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of The Linux Foundation nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED "AS IS" AND ANY EXPRESS OR IMPLIED
* WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NON-INFRINGEMENT
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS
* BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR
* BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN
* IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef LOC_ENG_NMEA_H
#define LOC_ENG_NMEA_H
#include <gps_extended.h>
#include <vector>
#include <string>
#define NMEA_SENTENCE_MAX_LENGTH 200
/** gnss datum type */
#define LOC_GNSS_DATUM_WGS84 0
#define LOC_GNSS_DATUM_PZ90 1
/* len of semi major axis of ref ellips*/
#define MAJA (6378137.0)
/* flattening coef of ref ellipsoid*/
#define FLAT (1.0/298.2572235630)
/* 1st eccentricity squared*/
#define ESQR (FLAT*(2.0 - FLAT))
/*1 minus eccentricity squared*/
#define OMES (1.0 - ESQR)
#define MILARCSEC2RAD (4.848136811095361e-09)
/*semi major axis */
#define C_PZ90A (6378136.0)
/*semi minor axis */
#define C_PZ90B (6356751.3618)
/* Transformation from WGS84 to PZ90
* Cx,Cy,Cz,Rs,Rx,Ry,Rz,C_SYS_A,C_SYS_B*/
const double DatumConstFromWGS84[9] =
{+0.003, +0.001, 0.000, (1.0+(0.000*1E-6)), (-0.019*MILARCSEC2RAD),
(+0.042*MILARCSEC2RAD), (-0.002*MILARCSEC2RAD), C_PZ90A, C_PZ90B};
/** Represents a LTP*/
typedef struct {
double lat;
double lon;
double alt;
} LocLla;
/** Represents a ECEF*/
typedef struct {
double X;
double Y;
double Z;
} LocEcef;
void loc_nmea_generate_sv(const GnssSvNotification &svNotify,
std::vector<std::string> &nmeaArraystr);
void loc_nmea_generate_pos(const UlpLocation &location,
const GpsLocationExtended &locationExtended,
const LocationSystemInfo &systemInfo,
unsigned char generate_nmea,
bool custom_gga_fix_quality,
std::vector<std::string> &nmeaArraystr);
#define DEBUG_NMEA_MINSIZE 6
#define DEBUG_NMEA_MAXSIZE 4096
inline bool loc_nmea_is_debug(const char* nmea, int length) {
return ((nullptr != nmea) &&
(length >= DEBUG_NMEA_MINSIZE) && (length <= DEBUG_NMEA_MAXSIZE) &&
(nmea[0] == '$') && (nmea[1] == 'P') && (nmea[2] == 'Q') && (nmea[3] == 'W'));
}
#endif // LOC_ENG_NMEA_H
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