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# NemaTode
*Cross platform C++ 11 NMEA Parser & GPS Framework*
NemaTode is yet another lightweight generic NMEA parser.
It also comes with a GPS data interface to handle the most popular GPS NMEA sentences.
Confirmed on MSVC 2013 and GCC 4.8.4.
## It's too easy!
This is all you need to use the GPS NMEA sentence data.
NMEAParser parser;
GPSService gps(parser);
// (optional) Called when a sentence is valid syntax
parser.onSentence += [](const NMEASentence& nmea){
cout << "Received $" << nmea.name << endl;
};
// (optional) Called when data is read/changed
gps.onUpdate += [](GPSService& gps){
// There are *tons* of GPSFix properties
if( gps.fix.locked() ){
cout << " # Position: " << gps.fix.latitude << ", " << gps.fix.longitude << endl;
} else {
cout << " # Searching..." << endl;
}
};
// Send in a log file or a byte stream
try {
parser.readLine("FILL WITH A NMEA MESSAGE");
} catch (NMEAParseError&) {
// Syntax error, skip
}
----
##Features
* **NMEA Parsing** of standard and custom sentences.
- Standard:
````
GPGGA, GPGSA, GPGSV, GPRMC, GPVTG
````
* **NMEA Generation** of "standard" and custom sentences.
- SiRF Control sentences: ```` PSRF100, PSRF103 ````
* **GPS Fix** class to manage and organize all the GPS related data.
* **Flexible**
- Stream data directly from a hardware byte stream
- Read log files, even if they are cluttered with other unrelated data.
- Easily hook into the parser to handle custom sentences and get their data.
- Simplified GPS data
* **C++ 11 features**
- Those fancy event handlers...
- If you are on an embedded system... sorry. This might not work for you because of compiler restrictions. Make sure there is full support for lambdas and variadic templates. Tested GCC 4.8.4, confirmed.
## Details
NMEA is very popular with GPS. Unfortunately the GPS data is fragmented
between many different NMEA sentences. Sometimes there is even conflicting
information in them!
The underlying **NMEAParser** can read a byte stream from a hardware device or
it can read log files with flexibility in the formatting. The accepted strings are...
````
"$[name:alphanum],[param[i]:alphanum],...(*alphanum[2]\r)\n"
````
The params allow '-' and any combination of whitespace.
The handler for "MYNMEA" is called. This is where you can catch the sentence and process it.
parser.setSentenceHandler("MYNMEA",[](const NMEASentence& nmea){
if( ! nmea.checksumOK() ){
// bad checksum, but valid syntax
}
if( nmea.parameters.size() < 3 ){
// missing data, throw something.
// catch it at the read*() call.
}
int mydata = parseInt(nmea.parameters[2]);
};
There are 2 ways to operate...
* **LAX** It will eat anything.
- Useful for reading log files.
- Call ````readByte(), readBuffer(), readLine()````
* **STRICT** It will throw errors on anything that's not explicitly NMEA.
- Call ```` readSentence() ````
## Demos
**"demo_simple.cpp"**
* Just reads the GPS position data.
**"demo_advanced.cpp"**
* Reads **all** the data
* Sentence Generation
* Custom Sentence handling
**Generation**
NMEACommand mycmd;
mycmd.name = "MYCMD";
mycmd.message = "your,data,csv";
string nmea = mycmd.toString(); // Creates: $MYCMD,your,data,csv*15
There are 2 included NMEACommands that can configure a GPS.
* ```` PSRF103```` Configures message output ID and rate, and whether or not to use checksums.
* ```` PSRF100```` Configures the UART serial connection (if the chip has one).
## Include NemaTode in your project
You can include NemaTode via [CMake](https://cmake.org) in our project.
Your basic CMakeLists.txt file could look like:
cmake_minimum_required(VERSION 3.1)
project(MyProject)
find_package(NemaTode REQUIRED CONFIG)
add_executable(${PROJECT_NAME} mycode.cpp)
target_link_libraries(${PROJECT_NAME} NemaTode::NemaTode)
## GPS Fix data available
Available data when all 5 GPS sentences are received. If some are missing then some parameters will never change from their default values.
All data is checked for consistency. For example, visible satellites can never be less than the tracking satellites, etc.
**GPSFix**
GPSAlmanac almanac;
GPSTimestamp timestamp;
char status; // Status: A=active, V=void (not locked)
uint8_t type; // Type: 1=none, 2=2d, 3=3d
uint8_t quality; // Quality (1-6)
double dilution; // Combination of Vertical & Horizontal
double horizontalDilution; // Horizontal dilution of precision, initialized to 10, best =1, worst = >20
double verticalDilution; // Vertical is less accurate
double altitude; // meters
double latitude; // degrees N
double longitude; // degrees E
double speed; // km/h
double travelAngle; // degrees true north (0-359)
int32_t trackingSatellites;
int32_t visibleSatellites;
bool locked(); // Whether or not the position is locked on, or accurate.
double horizontalAccuracy(); // Gets accuracy of position in meters
double verticalAccuracy();
bool hasEstimate(); // If no fix is available, this says the position data is close to a real fix.
std::chrono::seconds timeSinceLastUpdate(); // Returns time from last timestamp to right now, in seconds.
**GPSSatellite**
double snr; // Signal-to-noise ratio. 0-99 dB
uint32_t prn; // pseudo-random number. (basically a satellite id)
double elevation; // 0-90 deg
double azimuth; // 0-359 deg
**GPSAlmanac**
std::vector<GPSSatellite> satellites; // mapped by prn (id number)
double averageSNR();
double minSNR();
double maxSNR();
double percentComplete(); // if all the satellite information is loaded (0-100)
**GPSTimestamp** *(UTC Time)*
int32_t hour; // Parsed values from GPS
int32_t min;
double sec;
int32_t month;
int32_t day;
int32_t year;
double rawTime; // Values collected directly from the GPS
int32_t rawDate;
time_t getTime(); // Converts timestamp into Epoch time, seconds since 1/1/1970.
# NemaTode?
NMEA -> ME -> EM -> NEMA
+Tode
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