// ----------------------------------------------------------------------------// Copyright 2006-2007, Martin D. Flynn// All rights reserved// ----------------------------------------------------------------------------//// Licensed under the Apache License, Version 2.0 (the "License");// you may not use this file except in compliance with the License.// You may obtain a copy of the License at// // http://www.apache.org/licenses/LICENSE-2.0// // Unless required by applicable law or agreed to in writing, software// distributed under the License is distributed on an "AS IS" BASIS,// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.// See the License for the specific language governing permissions and// limitations under the License.//// ----------------------------------------------------------------------------#ifndef _GPSTOOLS_H#define _GPSTOOLS_H#ifdef __cplusplusextern "C" {#endif#include "tools/utctools.h"// ----------------------------------------------------------------------------/* standard constants */#define PI                          (3.14159265358979323846) // math.h:M_PI#define TWO_PI                      (PI * 2.0)#define RADIANS                     (PI / 180.0)#define EPSILON                     (1.0E-9)#define POW2_24F                    (  16777216.0)       // 2^24#define POW2_31F                    (2147483648.0)       // 2^31#define POW2_32F                    (4294967296.0)       // 2^32/* distance conversions */#define FEET_PER_MILE               (5280.0)#define METERS_PER_FOOT             (0.3048)#define FEET_PER_METER              (1.0 / METERS_PER_FOOT)#define METERS_PER_MILE             (METERS_PER_FOOT * FEET_PER_MILE) // 1609.344#define KILOMETERS_PER_KNOT         (1.85200000)#define MILES_PER_KILOMETER         (0.621371192) // 0.621371192237334#define KILOMETERS_TO_MILES(K)      ((K) * MILES_PER_KILOMETER)/* average earth radius */#define EARTH_EQUATORIAL_RADIUS_KM  (6378.1370) // Km: a#define EARTH_POLOR_RADIUS_KM       (6356.7523) // Km: b#define EARTH_RADIUS_KM             (6371.0088) // Km: (2a + b)/3 (average)#define EARTH_RADIUS_METERS         (EARTH_RADIUS_KM * 1000.0) #define EARTH_RADIUS_MILES          (EARTH_RADIUS_METERS / METERS_PER_MILE) /* undefined GPS values */#define GPS_UNDEFINED_LATITUDE      0.0#define GPS_UNDEFINED_LONGITUDE     0.0#define GPS_UNDEFINED_ACCURACY      0.0#define GPS_UNDEFINED_MAG_VARIATION 0.0#define GPS_UNDEFINED_GEOID_HEIGHT  0.0#define GPS_UNDEFINED_DOP           0.0#define GPS_UNDEFINED_SPEED         0.0#define GPS_UNDEFINED_HEADING       0.0#define GPS_UNDEFINED_ALTITUDE      0.0#define GPS_UNDEFINED_DISTANCE      0.0#define GPS_UNDEFINED_TEMPERATURE   0.0// ----------------------------------------------------------------------------typedef struct {    double          latitude;    double          longitude;} GPSPoint_t;// ----------------------------------------------------------------------------#define NMEA0183_GPRMC              0x00000001L#define NMEA0183_GPGGA              0x00000002L#define NMEA0183_GPGSA              0x00000004Ltypedef struct {    // Note:     //  - Items added to this structure should also be copied to the event    //    in the function "evSetEventGPS".    //  - Ideally, 'systime' and 'fixtime' should be identical.  However, because    //    this is unlikely (due to 'drift' in the system clock), 'systime' is used    //    here to determine how recent a fix was based on comparison to the current    //    system clock.    // These items must be the same as GPSShort_t    GPSPoint_t      point;      // <-- first entry (to allow casting to GPSPoint_t)    UInt32          fixtime;    // seconds (from gps record)    // Other data follows    TimerSec_t      ageTimer;   // age timer (not copied)    double          accuracy;   // meters    double          speedKPH;   // kph    double          heading;    // degrees    double          altitude;   // meters    double          pdop;       // PDOP    double          hdop;       // HDOP    double          vdop;       // VDOP    UInt16          fixtype;    // Quality [1=GPS, 2=DGPS]    UInt32          nmea;       // NMEA-0183 record types in this sample} GPS_t;// ----------------------------------------------------------------------------typedef struct {    GPSPoint_t      point;      // <-- first entry    UInt32          fixtime;    // seconds} GPSShort_t;typedef struct {    GPSPoint_t      point;      // <-- first entry    UInt32          fixtime;    // seconds    UInt32          meters;     // odometer meters} GPSOdometer_t;// ----------------------------------------------------------------------------// This structure must be able to be cast to a (UInt32[])typedef struct{    UInt32          lastSampleTime;    UInt32          lastValidTime;    UInt32          sampleCount_A;    UInt32          sampleCount_V;    UInt32          restartCount;} GPSDiagnostics_t;// ----------------------------------------------------------------------------void gpsPointClear(GPSPoint_t *gp);GPSPoint_t *gpsPoint(GPSPoint_t *gp, double lat, double lon);GPSPoint_t *gpsPointCopy(GPSPoint_t *d, const GPSPoint_t *s);utBool gpsPointIsValid(const GPSPoint_t *gp);GPS_t *gpsClear(GPS_t *gps);GPS_t *gpsCopy(GPS_t *dest, const GPS_t *src);utBool gpsIsValid(const GPS_t *gps);// ----------------------------------------------------------------------------// distance calcsdouble gpsRadiansToPoint(const GPSPoint_t *gpS, const GPSPoint_t *gpE);double gpsMetersToPoint(const GPSPoint_t *gpS, const GPSPoint_t *gpE);double gpsKilometersToPoint(const GPSPoint_t *gpS, const GPSPoint_t *gpE);// ----------------------------------------------------------------------------// lat/lon encoding/decodingUInt8 *gpsPointEncode6(UInt8 *buf, const GPSPoint_t *gps);GPSPoint_t *gpsPointDecode6(GPSPoint_t *gps, const UInt8 *buf);UInt8 *gpsPointEncode8(UInt8 *buf, const GPSPoint_t *gps);GPSPoint_t *gpsPointDecode8(GPSPoint_t *gps, const UInt8 *buf);// ----------------------------------------------------------------------------// lat/lon string encodingGPS_t *gpsParseString(GPS_t *gps, const char *s);const char *gpsToString(GPS_t *gps, utBool all, char *s, int slen);GPSOdometer_t *gpsOdomParseString(GPSOdometer_t *gps, const char *s);const char *gpsOdomToString(GPSOdometer_t *gps, char *, int slen);// ----------------------------------------------------------------------------#ifdef __cplusplus}#endif#endif