/**************************************************************************/
/*                                                                        */
/* Copyright (c) 2000-2008  YULONG Company             　　　　　　　     */
/*                 宇龍計(jì)算機(jī)通信科技（深圳）有限公司  版權(quán)所有 2000-2008 */
/*                                                                        */
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/* the terms of the license.                                              */
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/*                                                                        */
/**************************************************************************/
#ifndef _NMEASTRING_H_
#define _NMEASTRING_H_

//#include "GpsDevice.h"
#include "Gpsapi.h"

////////////////////////////////////////////////////////////

//#define   READ_DATA_FROM_FILE
//#define   WRITE_GPS_DATA_TO_FILE

//#define  _COMPLEX_KALMAN_FILTER_

///////////////////////////////////////////////////////////////////
//#define _DISABLE_8360_GPS_
#define _VER_8360_
#define DATA_FILE_PATH     "\\SD\\gps.txt"

//#ifdef WRITE_GPS_DATA_TO_FILE
#define WRITE_FILE_PATH    "\\SD\\gps.txt"
//#endif

/*
#ifdef _COMPLEX_KALMAN_FILTER_
#include "kalman.h"
#endif
*/

#define GPSDATA_ARRAY_LEN       3
#define DEFAULT_NEMASTRING_LEN  1024
#define MAX_STAR_NUM            12

//記錄GPS衛(wèi)星的時(shí)間
//typedef struct 
//{
//	unsigned int iYear:12;
//	unsigned int iMonth:4;
//	unsigned int iDay:9;
//	unsigned int iHour:5;
//	unsigned int iMinute:7;
//	unsigned int iSeconds:7;
//}GPSTime;

typedef struct  
{
	double		dLong;    // 經(jīng)度 單位為秒
	double		dLat;     // 緯度	
	double		dSpeed;   // 速度 公里/小時(shí)
	double      dAngle;   //
	
	int			iQuality;
	int			iStarNum; //定位衛(wèi)星數(shù)
	SYSTEMTIME  gTime;    //時(shí)間	
}GPSData;

typedef struct 
{
	unsigned int iMode;
	unsigned int iType;
	double       dPdop;
	double       dHdop;
	double       dVdop;
}GSAData;

typedef struct  
{
	unsigned int id    :5;
	unsigned int angleV:7;
	unsigned int angleH:9;
	unsigned int sar   :7;
}STARData;

class NmeaString
{
public:
	NmeaString();		
	~NmeaString();

	//得到原始的GPS數(shù)據(jù)
	GPSData* GetGPSData();
	GPSData* GetLastGPSData();

	//得到處理過(guò)后的GPS數(shù)據(jù)
	GPSData* GetFiltedData();

	//添加接收到GPS串口數(shù)據(jù)
	BOOL AppendBuffer(char* str,int len);
//#ifdef READ_DATA_FROM_FILE
	//測(cè)試接口 
	void SetTestMessage(HWND hWnd,DWORD message);
	HWND m_hWnd;
	DWORD m_message;
//#endif
	//2007.11.20
	void FreeBuf();

private:
	//nmea frame parser
	int ParserRMC(int istart);	
	int ParserGGA(int istart);
	int ParserGSV(int istart);
	int ParserGSA(int istart);

	BOOL Checksum(int istart,int len);//checksum核實(shí)數(shù)據(jù)的有效性，有效返回TRUE，否則返回FALSE

	//字符處理及工具
	double GetDecimalDegrees(double dCoordinate);
	double Distance(double nX1, double nY1, double nX2, double nY2);

	double Str2Double(char* str);
	char* StringTok(char* str, char seps);
	int  StringFind(char* str,char chr);
	
	//improved kalman	
	void InitKalman();
	void FiltData();
	double ComputeKGain();

//private:
public:
	char* m_pBuffer;
	int m_size;
	int m_lengh;
	int m_pos;

	GPSData m_gpsData[GPSDATA_ARRAY_LEN];
	int m_vLen;
	int m_pointer;

	//kalman數(shù)據(jù)
	GPSData m_gpsFiltedData[GPSDATA_ARRAY_LEN];	
	int     m_iFilterPointer;
	double  m_kgain;	
	BOOL    m_bFirst;	
//#ifdef _COMPLEX_KALMAN_FILTER_
//	CKalman kalman;
//#endif
	//GPS數(shù)據(jù)	
	int			m_iStarNum;	      //定位衛(wèi)星數(shù)
	SYSTEMTIME  m_gTime;          //時(shí)間
	double		m_dHigh;          //高程 米 

	//衛(wèi)星數(shù)據(jù)
	int         m_iStarNumCon;    //有訊號(hào)衛(wèi)星總數(shù)
	STARData    m_sStarData[GPS_MAX_SATELLITES];
	int         m_iStarDataLen;	
	GSAData     m_sGSAData;

	//配置項(xiàng)
	int m_bLogGpsData;
	int m_bReadFromFile;
};

#endif