[8378] | 1 | // License: GPL. For details, see LICENSE file.
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[738] | 2 | package org.openstreetmap.josm.io;
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| 3 |
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| 4 | import java.io.BufferedReader;
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[7596] | 5 | import java.io.IOException;
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[738] | 6 | import java.io.InputStream;
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| 7 | import java.io.InputStreamReader;
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[7082] | 8 | import java.nio.charset.StandardCharsets;
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[1167] | 9 | import java.text.ParsePosition;
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| 10 | import java.text.SimpleDateFormat;
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[738] | 11 | import java.util.ArrayList;
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| 12 | import java.util.Collection;
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[2907] | 13 | import java.util.Collections;
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[1167] | 14 | import java.util.Date;
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[738] | 15 |
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[6287] | 16 | import org.openstreetmap.josm.Main;
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[738] | 17 | import org.openstreetmap.josm.data.coor.LatLon;
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[7518] | 18 | import org.openstreetmap.josm.data.gpx.GpxConstants;
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[738] | 19 | import org.openstreetmap.josm.data.gpx.GpxData;
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[2907] | 20 | import org.openstreetmap.josm.data.gpx.ImmutableGpxTrack;
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[738] | 21 | import org.openstreetmap.josm.data.gpx.WayPoint;
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[11374] | 22 | import org.openstreetmap.josm.tools.JosmRuntimeException;
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[10475] | 23 | import org.openstreetmap.josm.tools.date.DateUtils;
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[738] | 24 |
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| 25 | /**
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[7049] | 26 | * Reads a NMEA file. Based on information from
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| 27 | * <a href="http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm">http://www.kowoma.de</a>
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[1167] | 28 | *
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[738] | 29 | * @author cbrill
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| 30 | */
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| 31 | public class NmeaReader {
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| 32 |
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[1169] | 33 | // GPVTG
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[8836] | 34 | public enum GPVTG {
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[8510] | 35 | COURSE(1), COURSE_REF(2), // true course
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[1169] | 36 | COURSE_M(3), COURSE_M_REF(4), // magnetic course
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| 37 | SPEED_KN(5), SPEED_KN_UNIT(6), // speed in knots
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| 38 | SPEED_KMH(7), SPEED_KMH_UNIT(8), // speed in km/h
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| 39 | REST(9); // version-specific rest
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[738] | 40 |
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[1169] | 41 | public final int position;
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[1167] | 42 |
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[1169] | 43 | GPVTG(int position) {
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| 44 | this.position = position;
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| 45 | }
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| 46 | }
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[1167] | 47 |
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[1169] | 48 | // The following only applies to GPRMC
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[8836] | 49 | public enum GPRMC {
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[1169] | 50 | TIME(1),
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| 51 | /** Warning from the receiver (A = data ok, V = warning) */
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| 52 | RECEIVER_WARNING(2),
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| 53 | WIDTH_NORTH(3), WIDTH_NORTH_NAME(4), // Latitude, NS
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| 54 | LENGTH_EAST(5), LENGTH_EAST_NAME(6), // Longitude, EW
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| 55 | SPEED(7), COURSE(8), DATE(9), // Speed in knots
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| 56 | MAGNETIC_DECLINATION(10), UNKNOWN(11), // magnetic declination
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| 57 | /**
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| 58 | * Mode (A = autonom; D = differential; E = estimated; N = not valid; S
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| 59 | * = simulated)
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| 60 | *
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| 61 | * @since NMEA 2.3
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| 62 | */
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| 63 | MODE(12);
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[738] | 64 |
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[1169] | 65 | public final int position;
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[738] | 66 |
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[1169] | 67 | GPRMC(int position) {
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| 68 | this.position = position;
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| 69 | }
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| 70 | }
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[738] | 71 |
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[1169] | 72 | // The following only applies to GPGGA
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[8836] | 73 | public enum GPGGA {
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[1169] | 74 | TIME(1), LATITUDE(2), LATITUDE_NAME(3), LONGITUDE(4), LONGITUDE_NAME(5),
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| 75 | /**
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| 76 | * Quality (0 = invalid, 1 = GPS, 2 = DGPS, 6 = estimanted (@since NMEA
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| 77 | * 2.3))
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| 78 | */
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| 79 | QUALITY(6), SATELLITE_COUNT(7),
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| 80 | HDOP(8), // HDOP (horizontal dilution of precision)
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| 81 | HEIGHT(9), HEIGHT_UNTIS(10), // height above NN (above geoid)
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| 82 | HEIGHT_2(11), HEIGHT_2_UNTIS(12), // height geoid - height ellipsoid (WGS84)
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[8510] | 83 | GPS_AGE(13), // Age of differential GPS data
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[1169] | 84 | REF(14); // REF station
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[738] | 85 |
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[1169] | 86 | public final int position;
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| 87 | GPGGA(int position) {
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| 88 | this.position = position;
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| 89 | }
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| 90 | }
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[738] | 91 |
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[8836] | 92 | public enum GPGSA {
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[1169] | 93 | AUTOMATIC(1),
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| 94 | FIX_TYPE(2), // 1 = not fixed, 2 = 2D fixed, 3 = 3D fixed)
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| 95 | // PRN numbers for max 12 satellites
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| 96 | PRN_1(3), PRN_2(4), PRN_3(5), PRN_4(6), PRN_5(7), PRN_6(8),
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| 97 | PRN_7(9), PRN_8(10), PRN_9(11), PRN_10(12), PRN_11(13), PRN_12(14),
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| 98 | PDOP(15), // PDOP (precision)
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| 99 | HDOP(16), // HDOP (horizontal precision)
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[8449] | 100 | VDOP(17); // VDOP (vertical precision)
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[738] | 101 |
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[1169] | 102 | public final int position;
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| 103 | GPGSA(int position) {
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| 104 | this.position = position;
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| 105 | }
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| 106 | }
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[738] | 107 |
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[1169] | 108 | public GpxData data;
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[738] | 109 |
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[7049] | 110 | private final SimpleDateFormat rmcTimeFmt = new SimpleDateFormat("ddMMyyHHmmss.SSS");
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| 111 | private final SimpleDateFormat rmcTimeFmtStd = new SimpleDateFormat("ddMMyyHHmmss");
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[1167] | 112 |
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[6889] | 113 | private Date readTime(String p) {
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[7049] | 114 | Date d = rmcTimeFmt.parse(p, new ParsePosition(0));
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[2626] | 115 | if (d == null) {
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[7049] | 116 | d = rmcTimeFmtStd.parse(p, new ParsePosition(0));
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[2626] | 117 | }
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[1381] | 118 | if (d == null)
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[11374] | 119 | throw new JosmRuntimeException("Date is malformed");
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[1381] | 120 | return d;
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| 121 | }
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| 122 |
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[1169] | 123 | // functons for reading the error stats
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| 124 | public NMEAParserState ps;
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[1167] | 125 |
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[1169] | 126 | public int getParserUnknown() {
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| 127 | return ps.unknown;
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| 128 | }
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[8510] | 129 |
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[1169] | 130 | public int getParserZeroCoordinates() {
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[8346] | 131 | return ps.zeroCoord;
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[1169] | 132 | }
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[8510] | 133 |
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[1169] | 134 | public int getParserChecksumErrors() {
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[8346] | 135 | return ps.checksumErrors+ps.noChecksum;
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[1169] | 136 | }
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[8510] | 137 |
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[1169] | 138 | public int getParserMalformed() {
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| 139 | return ps.malformed;
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| 140 | }
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[8510] | 141 |
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[1169] | 142 | public int getNumberOfCoordinates() {
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| 143 | return ps.success;
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| 144 | }
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[1167] | 145 |
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[7596] | 146 | public NmeaReader(InputStream source) throws IOException {
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[10475] | 147 | rmcTimeFmt.setTimeZone(DateUtils.UTC);
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| 148 | rmcTimeFmtStd.setTimeZone(DateUtils.UTC);
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[1167] | 149 |
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[1169] | 150 | // create the data tree
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| 151 | data = new GpxData();
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[7005] | 152 | Collection<Collection<WayPoint>> currentTrack = new ArrayList<>();
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[738] | 153 |
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[7082] | 154 | try (BufferedReader rd = new BufferedReader(new InputStreamReader(source, StandardCharsets.UTF_8))) {
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[6822] | 155 | StringBuilder sb = new StringBuilder(1024);
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[10001] | 156 | int loopstartChar = rd.read();
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[1453] | 157 | ps = new NMEAParserState();
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[10001] | 158 | if (loopstartChar == -1)
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[1169] | 159 | //TODO tell user about the problem?
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| 160 | return;
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[10001] | 161 | sb.append((char) loopstartChar);
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[8510] | 162 | ps.pDate = "010100"; // TODO date problem
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| 163 | while (true) {
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[1169] | 164 | // don't load unparsable files completely to memory
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[8510] | 165 | if (sb.length() >= 1020) {
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[2626] | 166 | sb.delete(0, sb.length()-1);
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| 167 | }
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[1169] | 168 | int c = rd.read();
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[8510] | 169 | if (c == '$') {
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[6287] | 170 | parseNMEASentence(sb.toString(), ps);
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[1169] | 171 | sb.delete(0, sb.length());
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| 172 | sb.append('$');
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[8510] | 173 | } else if (c == -1) {
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[1169] | 174 | // EOF: add last WayPoint if it works out
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[8510] | 175 | parseNMEASentence(sb.toString(), ps);
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[1169] | 176 | break;
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[2626] | 177 | } else {
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[8510] | 178 | sb.append((char) c);
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[2626] | 179 | }
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[1169] | 180 | }
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[2907] | 181 | currentTrack.add(ps.waypoints);
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| 182 | data.tracks.add(new ImmutableGpxTrack(currentTrack, Collections.<String, Object>emptyMap()));
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[1167] | 183 |
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[7596] | 184 | } catch (IllegalDataException e) {
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[6287] | 185 | Main.warn(e);
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[1169] | 186 | }
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| 187 | }
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[7037] | 188 |
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[2626] | 189 | private static class NMEAParserState {
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[7005] | 190 | protected Collection<WayPoint> waypoints = new ArrayList<>();
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[8346] | 191 | protected String pTime;
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| 192 | protected String pDate;
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| 193 | protected WayPoint pWp;
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[738] | 194 |
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[8840] | 195 | protected int success; // number of successfully parsed sentences
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| 196 | protected int malformed;
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| 197 | protected int checksumErrors;
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| 198 | protected int noChecksum;
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| 199 | protected int unknown;
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| 200 | protected int zeroCoord;
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[1169] | 201 | }
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[738] | 202 |
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[1169] | 203 | // Parses split up sentences into WayPoints which are stored
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| 204 | // in the collection in the NMEAParserState object.
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| 205 | // Returns true if the input made sence, false otherwise.
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[6287] | 206 | private boolean parseNMEASentence(String s, NMEAParserState ps) throws IllegalDataException {
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[1169] | 207 | try {
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[6287] | 208 | if (s.isEmpty()) {
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| 209 | throw new IllegalArgumentException("s is empty");
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| 210 | }
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[1167] | 211 |
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[1169] | 212 | // checksum check:
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[6296] | 213 | // the bytes between the $ and the * are xored
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[1169] | 214 | // if there is no * or other meanities it will throw
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| 215 | // and result in a malformed packet.
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| 216 | String[] chkstrings = s.split("\\*");
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[8395] | 217 | if (chkstrings.length > 1) {
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[7082] | 218 | byte[] chb = chkstrings[0].getBytes(StandardCharsets.UTF_8);
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[8510] | 219 | int chk = 0;
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[6248] | 220 | for (int i = 1; i < chb.length; i++) {
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[2626] | 221 | chk ^= chb[i];
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| 222 | }
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[8510] | 223 | if (Integer.parseInt(chkstrings[1].substring(0, 2), 16) != chk) {
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[8346] | 224 | ps.checksumErrors++;
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[8510] | 225 | ps.pWp = null;
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[1388] | 226 | return false;
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| 227 | }
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[2626] | 228 | } else {
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[8346] | 229 | ps.noChecksum++;
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[1169] | 230 | }
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| 231 | // now for the content
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| 232 | String[] e = chkstrings[0].split(",");
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| 233 | String accu;
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[1167] | 234 |
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[8346] | 235 | WayPoint currentwp = ps.pWp;
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| 236 | String currentDate = ps.pDate;
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[1167] | 237 |
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[1169] | 238 | // handle the packet content
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[8510] | 239 | if ("$GPGGA".equals(e[0]) || "$GNGGA".equals(e[0])) {
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[1169] | 240 | // Position
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| 241 | LatLon latLon = parseLatLon(
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| 242 | e[GPGGA.LATITUDE_NAME.position],
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| 243 | e[GPGGA.LONGITUDE_NAME.position],
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| 244 | e[GPGGA.LATITUDE.position],
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| 245 | e[GPGGA.LONGITUDE.position]
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[2626] | 246 | );
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[8510] | 247 | if (latLon == null) {
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[6287] | 248 | throw new IllegalDataException("Malformed lat/lon");
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| 249 | }
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[1167] | 250 |
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[8384] | 251 | if (LatLon.ZERO.equals(latLon)) {
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[8346] | 252 | ps.zeroCoord++;
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[1169] | 253 | return false;
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| 254 | }
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[1167] | 255 |
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[1169] | 256 | // time
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| 257 | accu = e[GPGGA.TIME.position];
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[1381] | 258 | Date d = readTime(currentDate+accu);
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[1167] | 259 |
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[8510] | 260 | if ((ps.pTime == null) || (currentwp == null) || !ps.pTime.equals(accu)) {
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[1169] | 261 | // this node is newer than the previous, create a new waypoint.
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[8510] | 262 | // no matter if previous WayPoint was null, we got something better now.
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| 263 | ps.pTime = accu;
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[1169] | 264 | currentwp = new WayPoint(latLon);
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| 265 | }
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[8510] | 266 | if (!currentwp.attr.containsKey("time")) {
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[1169] | 267 | // As this sentence has no complete time only use it
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| 268 | // if there is no time so far
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[9740] | 269 | currentwp.setTime(d);
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[1169] | 270 | }
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| 271 | // elevation
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[8510] | 272 | accu = e[GPGGA.HEIGHT_UNTIS.position];
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| 273 | if ("M".equals(accu)) {
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[2626] | 274 | // Ignore heights that are not in meters for now
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[8510] | 275 | accu = e[GPGGA.HEIGHT.position];
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| 276 | if (!accu.isEmpty()) {
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[1169] | 277 | Double.parseDouble(accu);
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| 278 | // if it throws it's malformed; this should only happen if the
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| 279 | // device sends nonstandard data.
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[8510] | 280 | if (!accu.isEmpty()) { // FIX ? same check
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[7518] | 281 | currentwp.put(GpxConstants.PT_ELE, accu);
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[2626] | 282 | }
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[1169] | 283 | }
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| 284 | }
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| 285 | // number of sattelites
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[8510] | 286 | accu = e[GPGGA.SATELLITE_COUNT.position];
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[1169] | 287 | int sat = 0;
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[8510] | 288 | if (!accu.isEmpty()) {
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[1169] | 289 | sat = Integer.parseInt(accu);
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[7518] | 290 | currentwp.put(GpxConstants.PT_SAT, accu);
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[1169] | 291 | }
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| 292 | // h-dilution
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[8510] | 293 | accu = e[GPGGA.HDOP.position];
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| 294 | if (!accu.isEmpty()) {
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[8390] | 295 | currentwp.put(GpxConstants.PT_HDOP, Float.valueOf(accu));
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[2626] | 296 | }
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[1169] | 297 | // fix
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[8510] | 298 | accu = e[GPGGA.QUALITY.position];
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| 299 | if (!accu.isEmpty()) {
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[1169] | 300 | int fixtype = Integer.parseInt(accu);
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| 301 | switch(fixtype) {
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| 302 | case 0:
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[7518] | 303 | currentwp.put(GpxConstants.PT_FIX, "none");
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[1169] | 304 | break;
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| 305 | case 1:
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[8510] | 306 | if (sat < 4) {
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[7518] | 307 | currentwp.put(GpxConstants.PT_FIX, "2d");
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[2626] | 308 | } else {
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[7518] | 309 | currentwp.put(GpxConstants.PT_FIX, "3d");
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[2626] | 310 | }
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[1169] | 311 | break;
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| 312 | case 2:
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[7518] | 313 | currentwp.put(GpxConstants.PT_FIX, "dgps");
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[1169] | 314 | break;
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| 315 | default:
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| 316 | break;
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| 317 | }
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| 318 | }
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[8510] | 319 | } else if ("$GPVTG".equals(e[0]) || "$GNVTG".equals(e[0])) {
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[1169] | 320 | // COURSE
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| 321 | accu = e[GPVTG.COURSE_REF.position];
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[8510] | 322 | if ("T".equals(accu)) {
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[1169] | 323 | // other values than (T)rue are ignored
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| 324 | accu = e[GPVTG.COURSE.position];
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[8510] | 325 | if (!accu.isEmpty()) {
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[1169] | 326 | Double.parseDouble(accu);
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[7518] | 327 | currentwp.put("course", accu);
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[1169] | 328 | }
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| 329 | }
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| 330 | // SPEED
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| 331 | accu = e[GPVTG.SPEED_KMH_UNIT.position];
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[8510] | 332 | if (accu.startsWith("K")) {
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[1169] | 333 | accu = e[GPVTG.SPEED_KMH.position];
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[8510] | 334 | if (!accu.isEmpty()) {
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[1169] | 335 | double speed = Double.parseDouble(accu);
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| 336 | speed /= 3.6; // speed in m/s
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[7518] | 337 | currentwp.put("speed", Double.toString(speed));
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[1169] | 338 | }
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| 339 | }
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[8510] | 340 | } else if ("$GPGSA".equals(e[0]) || "$GNGSA".equals(e[0])) {
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[1169] | 341 | // vdop
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[8510] | 342 | accu = e[GPGSA.VDOP.position];
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| 343 | if (!accu.isEmpty()) {
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[8390] | 344 | currentwp.put(GpxConstants.PT_VDOP, Float.valueOf(accu));
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[2626] | 345 | }
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[1169] | 346 | // hdop
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[8510] | 347 | accu = e[GPGSA.HDOP.position];
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| 348 | if (!accu.isEmpty()) {
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[8390] | 349 | currentwp.put(GpxConstants.PT_HDOP, Float.valueOf(accu));
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[2626] | 350 | }
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[1169] | 351 | // pdop
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[8510] | 352 | accu = e[GPGSA.PDOP.position];
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| 353 | if (!accu.isEmpty()) {
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[8390] | 354 | currentwp.put(GpxConstants.PT_PDOP, Float.valueOf(accu));
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[2626] | 355 | }
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[8510] | 356 | } else if ("$GPRMC".equals(e[0]) || "$GNRMC".equals(e[0])) {
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[1169] | 357 | // coordinates
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| 358 | LatLon latLon = parseLatLon(
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| 359 | e[GPRMC.WIDTH_NORTH_NAME.position],
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| 360 | e[GPRMC.LENGTH_EAST_NAME.position],
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| 361 | e[GPRMC.WIDTH_NORTH.position],
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| 362 | e[GPRMC.LENGTH_EAST.position]
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[2626] | 363 | );
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[8384] | 364 | if (LatLon.ZERO.equals(latLon)) {
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[8346] | 365 | ps.zeroCoord++;
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[1169] | 366 | return false;
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| 367 | }
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| 368 | // time
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| 369 | currentDate = e[GPRMC.DATE.position];
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| 370 | String time = e[GPRMC.TIME.position];
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[1167] | 371 |
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[1381] | 372 | Date d = readTime(currentDate+time);
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[1167] | 373 |
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[8510] | 374 | if (ps.pTime == null || currentwp == null || !ps.pTime.equals(time)) {
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[1169] | 375 | // this node is newer than the previous, create a new waypoint.
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[8510] | 376 | ps.pTime = time;
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[1169] | 377 | currentwp = new WayPoint(latLon);
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| 378 | }
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| 379 | // time: this sentence has complete time so always use it.
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[9740] | 380 | currentwp.setTime(d);
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[1169] | 381 | // speed
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| 382 | accu = e[GPRMC.SPEED.position];
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[8510] | 383 | if (!accu.isEmpty() && !currentwp.attr.containsKey("speed")) {
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[1169] | 384 | double speed = Double.parseDouble(accu);
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| 385 | speed *= 0.514444444; // to m/s
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[7518] | 386 | currentwp.put("speed", Double.toString(speed));
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[1169] | 387 | }
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| 388 | // course
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| 389 | accu = e[GPRMC.COURSE.position];
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[8510] | 390 | if (!accu.isEmpty() && !currentwp.attr.containsKey("course")) {
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[1169] | 391 | Double.parseDouble(accu);
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[7518] | 392 | currentwp.put("course", accu);
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[1169] | 393 | }
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[1167] | 394 |
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[1169] | 395 | // TODO fix?
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| 396 | // * Mode (A = autonom; D = differential; E = estimated; N = not valid; S
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| 397 | // * = simulated)
|
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| 398 | // *
|
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| 399 | // * @since NMEA 2.3
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| 400 | //
|
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| 401 | //MODE(12);
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| 402 | } else {
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| 403 | ps.unknown++;
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| 404 | return false;
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| 405 | }
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[8346] | 406 | ps.pDate = currentDate;
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[8510] | 407 | if (ps.pWp != currentwp) {
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| 408 | if (ps.pWp != null) {
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[8346] | 409 | ps.pWp.setTime();
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[1169] | 410 | }
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[8346] | 411 | ps.pWp = currentwp;
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[1169] | 412 | ps.waypoints.add(currentwp);
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| 413 | ps.success++;
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| 414 | return true;
|
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| 415 | }
|
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| 416 | return true;
|
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[1167] | 417 |
|
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[6248] | 418 | } catch (RuntimeException x) {
|
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[1169] | 419 | // out of bounds and such
|
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[10627] | 420 | Main.debug(x);
|
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[1169] | 421 | ps.malformed++;
|
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[8510] | 422 | ps.pWp = null;
|
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[1169] | 423 | return false;
|
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| 424 | }
|
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| 425 | }
|
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[738] | 426 |
|
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[10632] | 427 | private static LatLon parseLatLon(String ns, String ew, String dlat, String dlon) {
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[1169] | 428 | String widthNorth = dlat.trim();
|
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| 429 | String lengthEast = dlon.trim();
|
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[1167] | 430 |
|
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[1169] | 431 | // return a zero latlon instead of null so it is logged as zero coordinate
|
---|
| 432 | // instead of malformed sentence
|
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[9214] | 433 | if (widthNorth.isEmpty() && lengthEast.isEmpty()) return LatLon.ZERO;
|
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[1167] | 434 |
|
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[1169] | 435 | // The format is xxDDLL.LLLL
|
---|
| 436 | // xx optional whitespace
|
---|
| 437 | // DD (int) degres
|
---|
| 438 | // LL.LLLL (double) latidude
|
---|
| 439 | int latdegsep = widthNorth.indexOf('.') - 2;
|
---|
| 440 | if (latdegsep < 0) return null;
|
---|
[1167] | 441 |
|
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[1169] | 442 | int latdeg = Integer.parseInt(widthNorth.substring(0, latdegsep));
|
---|
| 443 | double latmin = Double.parseDouble(widthNorth.substring(latdegsep));
|
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[8510] | 444 | if (latdeg < 0) {
|
---|
[1388] | 445 | latmin *= -1.0;
|
---|
[2626] | 446 | }
|
---|
[1169] | 447 | double lat = latdeg + latmin / 60;
|
---|
| 448 | if ("S".equals(ns)) {
|
---|
| 449 | lat = -lat;
|
---|
| 450 | }
|
---|
[738] | 451 |
|
---|
[1169] | 452 | int londegsep = lengthEast.indexOf('.') - 2;
|
---|
| 453 | if (londegsep < 0) return null;
|
---|
[1167] | 454 |
|
---|
[1169] | 455 | int londeg = Integer.parseInt(lengthEast.substring(0, londegsep));
|
---|
| 456 | double lonmin = Double.parseDouble(lengthEast.substring(londegsep));
|
---|
[8510] | 457 | if (londeg < 0) {
|
---|
[1388] | 458 | lonmin *= -1.0;
|
---|
[2626] | 459 | }
|
---|
[1169] | 460 | double lon = londeg + lonmin / 60;
|
---|
| 461 | if ("W".equals(ew)) {
|
---|
| 462 | lon = -lon;
|
---|
| 463 | }
|
---|
| 464 | return new LatLon(lat, lon);
|
---|
| 465 | }
|
---|
[738] | 466 | }
|
---|