source: josm/trunk/src/org/openstreetmap/josm/io/NmeaReader.java@ 2198

Last change on this file since 2198 was 1724, checked in by stoecker, 15 years ago

some more changes and bug fixes related to new projection stuff - GPX should now work also
File size: 16.9 KB
Line 
1//License: GPL. Copyright 2008 by Christoph Brill
2
3package org.openstreetmap.josm.io;
4
5import java.io.BufferedReader;
6import java.io.File;
7import java.io.IOException;
8import java.io.InputStream;
9import java.io.InputStreamReader;
10import java.text.ParsePosition;
11import java.text.SimpleDateFormat;
12import java.util.ArrayList;
13import java.util.Collection;
14import java.util.Date;
15
16import org.openstreetmap.josm.data.coor.LatLon;
17import org.openstreetmap.josm.data.gpx.GpxData;
18import org.openstreetmap.josm.data.gpx.GpxTrack;
19import org.openstreetmap.josm.data.gpx.WayPoint;
20import org.openstreetmap.josm.tools.DateUtils;
21
22/**
23 * Read a nmea file. Based on information from
24 * http://www.kowoma.de/gps/zusatzerklaerungen/NMEA.htm
25 *
26 * @author cbrill
27 */
28public class NmeaReader {
29
30 /** Handler for the different types that NMEA speaks. */
31 public static enum NMEA_TYPE {
32
33 /** RMC = recommended minimum sentence C. */
34 GPRMC("$GPRMC"),
35 /** GPS positions. */
36 GPGGA("$GPGGA"),
37 /** SA = satellites active. */
38 GPGSA("$GPGSA"),
39 /** Course over ground and ground speed */
40 GPVTG("$GPVTG");
41
42 private final String type;
43
44 NMEA_TYPE(String type) {
45 this.type = type;
46 }
47
48 public String getType() {
49 return this.type;
50 }
51
52 public boolean equals(String type) {
53 return this.type.equals(type);
54 }
55 }
56
57 // GPVTG
58 public static enum GPVTG {
59 COURSE(1),COURSE_REF(2), // true course
60 COURSE_M(3), COURSE_M_REF(4), // magnetic course
61 SPEED_KN(5), SPEED_KN_UNIT(6), // speed in knots
62 SPEED_KMH(7), SPEED_KMH_UNIT(8), // speed in km/h
63 REST(9); // version-specific rest
64
65 public final int position;
66
67 GPVTG(int position) {
68 this.position = position;
69 }
70 }
71
72 // The following only applies to GPRMC
73 public static enum GPRMC {
74 TIME(1),
75 /** Warning from the receiver (A = data ok, V = warning) */
76 RECEIVER_WARNING(2),
77 WIDTH_NORTH(3), WIDTH_NORTH_NAME(4), // Latitude, NS
78 LENGTH_EAST(5), LENGTH_EAST_NAME(6), // Longitude, EW
79 SPEED(7), COURSE(8), DATE(9), // Speed in knots
80 MAGNETIC_DECLINATION(10), UNKNOWN(11), // magnetic declination
81 /**
82 * Mode (A = autonom; D = differential; E = estimated; N = not valid; S
83 * = simulated)
84 *
85 * @since NMEA 2.3
86 */
87 MODE(12);
88
89 public final int position;
90
91 GPRMC(int position) {
92 this.position = position;
93 }
94 }
95
96 // The following only applies to GPGGA
97 public static enum GPGGA {
98 TIME(1), LATITUDE(2), LATITUDE_NAME(3), LONGITUDE(4), LONGITUDE_NAME(5),
99 /**
100 * Quality (0 = invalid, 1 = GPS, 2 = DGPS, 6 = estimanted (@since NMEA
101 * 2.3))
102 */
103 QUALITY(6), SATELLITE_COUNT(7),
104 HDOP(8), // HDOP (horizontal dilution of precision)
105 HEIGHT(9), HEIGHT_UNTIS(10), // height above NN (above geoid)
106 HEIGHT_2(11), HEIGHT_2_UNTIS(12), // height geoid - height ellipsoid (WGS84)
107 GPS_AGE(13),// Age of differential GPS data
108 REF(14); // REF station
109
110 public final int position;
111 GPGGA(int position) {
112 this.position = position;
113 }
114 }
115
116 public static enum GPGSA {
117 AUTOMATIC(1),
118 FIX_TYPE(2), // 1 = not fixed, 2 = 2D fixed, 3 = 3D fixed)
119 // PRN numbers for max 12 satellites
120 PRN_1(3), PRN_2(4), PRN_3(5), PRN_4(6), PRN_5(7), PRN_6(8),
121 PRN_7(9), PRN_8(10), PRN_9(11), PRN_10(12), PRN_11(13), PRN_12(14),
122 PDOP(15), // PDOP (precision)
123 HDOP(16), // HDOP (horizontal precision)
124 VDOP(17), ; // VDOP (vertical precision)
125
126 public final int position;
127 GPGSA(int position) {
128 this.position = position;
129 }
130 }
131
132 public GpxData data;
133
134// private final static SimpleDateFormat GGATIMEFMT =
135// new SimpleDateFormat("HHmmss.SSS");
136 private final static SimpleDateFormat RMCTIMEFMT =
137 new SimpleDateFormat("ddMMyyHHmmss.SSS");
138 private final static SimpleDateFormat RMCTIMEFMTSTD =
139 new SimpleDateFormat("ddMMyyHHmmss");
140
141 private Date readTime(String p)
142 {
143 Date d = RMCTIMEFMT.parse(p, new ParsePosition(0));
144 if (d == null)
145 d = RMCTIMEFMTSTD.parse(p, new ParsePosition(0));
146 if (d == null) throw(null); // malformed
147 return d;
148 }
149
150 // functons for reading the error stats
151 public NMEAParserState ps;
152
153 public int getParserUnknown() {
154 return ps.unknown;
155 }
156 public int getParserZeroCoordinates() {
157 return ps.zero_coord;
158 }
159 public int getParserChecksumErrors() {
160 return ps.checksum_errors+ps.no_checksum;
161 }
162 public int getParserMalformed() {
163 return ps.malformed;
164 }
165 public int getNumberOfCoordinates() {
166 return ps.success;
167 }
168
169 public NmeaReader(InputStream source, File relativeMarkerPath) {
170
171 // create the data tree
172 data = new GpxData();
173 GpxTrack currentTrack = new GpxTrack();
174 data.tracks.add(currentTrack);
175
176 try {
177 BufferedReader rd =
178 new BufferedReader(new InputStreamReader(source));
179
180 StringBuffer sb = new StringBuffer(1024);
181 int loopstart_char = rd.read();
182 ps = new NMEAParserState();
183 if(loopstart_char == -1) {// zero size file
184 //TODO tell user about the problem?
185 return;
186 }
187 sb.append((char)loopstart_char);
188 ps.p_Date="010100"; // TODO date problem
189 while(true) {
190 // don't load unparsable files completely to memory
191 if(sb.length()>=1020) sb.delete(0, sb.length()-1);
192 int c = rd.read();
193 if(c=='$') {
194 ParseNMEASentence(sb.toString(), ps);
195 sb.delete(0, sb.length());
196 sb.append('$');
197 } else if(c == -1) {
198 // EOF: add last WayPoint if it works out
199 ParseNMEASentence(sb.toString(),ps);
200 break;
201 } else sb.append((char)c);
202 }
203 rd.close();
204 currentTrack.trackSegs.add(ps.waypoints);
205 data.recalculateBounds();
206
207 } catch (final IOException e) {
208 // TODO tell user about the problem?
209 }
210 }
211 private class NMEAParserState {
212 protected Collection<WayPoint> waypoints = new ArrayList<WayPoint>();
213 protected String p_Time;
214 protected String p_Date;
215 protected WayPoint p_Wp;
216
217 protected int success = 0; // number of successfully parsend sentences
218 protected int malformed = 0;
219 protected int checksum_errors = 0;
220 protected int no_checksum = 0;
221 protected int unknown = 0;
222 protected int zero_coord = 0;
223 }
224
225 // Parses split up sentences into WayPoints which are stored
226 // in the collection in the NMEAParserState object.
227 // Returns true if the input made sence, false otherwise.
228 private boolean ParseNMEASentence(String s, NMEAParserState ps) {
229 try {
230 if(s.equals("")) throw(null);
231
232 // checksum check:
233 // the bytes between the $ and the * are xored;
234 // if there is no * or other meanities it will throw
235 // and result in a malformed packet.
236 String[] chkstrings = s.split("\\*");
237 if(chkstrings.length > 1)
238 {
239 byte[] chb = chkstrings[0].getBytes();
240 int chk=0;
241 for(int i = 1; i < chb.length; i++) chk ^= chb[i];
242 if(Integer.parseInt(chkstrings[1].substring(0,2),16) != chk) {
243 //System.out.println("Checksum error");
244 ps.checksum_errors++;
245 ps.p_Wp=null;
246 return false;
247 }
248 }
249 else
250 ps.no_checksum++;
251 // now for the content
252 String[] e = chkstrings[0].split(",");
253 String accu;
254
255 WayPoint currentwp = ps.p_Wp;
256 String currentDate = ps.p_Date;
257
258 // handle the packet content
259 if(e[0].equals("$GPGGA")) {
260 // Position
261 LatLon latLon = parseLatLon(
262 e[GPGGA.LATITUDE_NAME.position],
263 e[GPGGA.LONGITUDE_NAME.position],
264 e[GPGGA.LATITUDE.position],
265 e[GPGGA.LONGITUDE.position]
266 );
267 if(latLon==null) throw(null); // malformed
268
269 if((latLon.lat()==0.0) && (latLon.lon()==0.0)) {
270 ps.zero_coord++;
271 return false;
272 }
273
274 // time
275 accu = e[GPGGA.TIME.position];
276 Date d = readTime(currentDate+accu);
277
278 if((ps.p_Time==null) || (currentwp==null) || !ps.p_Time.equals(accu)) {
279 // this node is newer than the previous, create a new waypoint.
280 // no matter if previous WayPoint was null, we got something
281 // better now.
282 ps.p_Time=accu;
283 currentwp = new WayPoint(latLon);
284 }
285 if(!currentwp.attr.containsKey("time")) {
286 // As this sentence has no complete time only use it
287 // if there is no time so far
288 currentwp.attr.put("time", DateUtils.fromDate(d));
289 }
290 // elevation
291 accu=e[GPGGA.HEIGHT_UNTIS.position];
292 if(accu.equals("M")) {
293 // Ignore heights that are not in meters for now
294 accu=e[GPGGA.HEIGHT.position];
295 if(!accu.equals("")) {
296 Double.parseDouble(accu);
297 // if it throws it's malformed; this should only happen if the
298 // device sends nonstandard data.
299 if(!accu.equals("")) currentwp.attr.put("ele", accu);
300 }
301 }
302 // number of sattelites
303 accu=e[GPGGA.SATELLITE_COUNT.position];
304 int sat = 0;
305 if(!accu.equals("")) {
306 sat = Integer.parseInt(accu);
307 currentwp.attr.put("sat", accu);
308 }
309 // h-dilution
310 accu=e[GPGGA.HDOP.position];
311 if(!accu.equals(""))
312 currentwp.attr.put("hdop", Float.parseFloat(accu));
313 // fix
314 accu=e[GPGGA.QUALITY.position];
315 if(!accu.equals("")) {
316 int fixtype = Integer.parseInt(accu);
317 switch(fixtype) {
318 case 0:
319 currentwp.attr.put("fix", "none");
320 break;
321 case 1:
322 if(sat < 4) currentwp.attr.put("fix", "2d");
323 else currentwp.attr.put("fix", "3d");
324 break;
325 case 2:
326 currentwp.attr.put("fix", "dgps");
327 break;
328 default:
329 break;
330 }
331 }
332 } else if(e[0].equals("$GPVTG")) {
333 // COURSE
334 accu = e[GPVTG.COURSE_REF.position];
335 if(accu.equals("T")) {
336 // other values than (T)rue are ignored
337 accu = e[GPVTG.COURSE.position];
338 if(!accu.equals("")) {
339 Double.parseDouble(accu);
340 currentwp.attr.put("course", accu);
341 }
342 }
343 // SPEED
344 accu = e[GPVTG.SPEED_KMH_UNIT.position];
345 if(accu.startsWith("K")) {
346 accu = e[GPVTG.SPEED_KMH.position];
347 if(!accu.equals("")) {
348 double speed = Double.parseDouble(accu);
349 speed /= 3.6; // speed in m/s
350 currentwp.attr.put("speed", Double.toString(speed));
351 }
352 }
353 } else if(e[0].equals("$GPGSA")) {
354 // vdop
355 accu=e[GPGSA.VDOP.position];
356 if(!accu.equals(""))
357 currentwp.attr.put("vdop", Float.parseFloat(accu));
358 // hdop
359 accu=e[GPGSA.HDOP.position];
360 if(!accu.equals(""))
361 currentwp.attr.put("hdop", Float.parseFloat(accu));
362 // pdop
363 accu=e[GPGSA.PDOP.position];
364 if(!accu.equals(""))
365 currentwp.attr.put("pdop", Float.parseFloat(accu));
366 }
367 else if(e[0].equals("$GPRMC")) {
368 // coordinates
369 LatLon latLon = parseLatLon(
370 e[GPRMC.WIDTH_NORTH_NAME.position],
371 e[GPRMC.LENGTH_EAST_NAME.position],
372 e[GPRMC.WIDTH_NORTH.position],
373 e[GPRMC.LENGTH_EAST.position]
374 );
375 if(latLon==null) throw(null);
376 if((latLon.lat()==0.0) && (latLon.lon()==0.0)) {
377 ps.zero_coord++;
378 return false;
379 }
380 // time
381 currentDate = e[GPRMC.DATE.position];
382 String time = e[GPRMC.TIME.position];
383
384 Date d = readTime(currentDate+time);
385
386 if((ps.p_Time==null) || (currentwp==null) || !ps.p_Time.equals(time)) {
387 // this node is newer than the previous, create a new waypoint.
388 ps.p_Time=time;
389 currentwp = new WayPoint(latLon);
390 }
391 // time: this sentence has complete time so always use it.
392 currentwp.attr.put("time", DateUtils.fromDate(d));
393 // speed
394 accu = e[GPRMC.SPEED.position];
395 if(!accu.equals("") && !currentwp.attr.containsKey("speed")) {
396 double speed = Double.parseDouble(accu);
397 speed *= 0.514444444; // to m/s
398 currentwp.attr.put("speed", Double.toString(speed));
399 }
400 // course
401 accu = e[GPRMC.COURSE.position];
402 if(!accu.equals("") && !currentwp.attr.containsKey("course")) {
403 Double.parseDouble(accu);
404 currentwp.attr.put("course", accu);
405 }
406
407 // TODO fix?
408 // * Mode (A = autonom; D = differential; E = estimated; N = not valid; S
409 // * = simulated)
410 // *
411 // * @since NMEA 2.3
412 //
413 //MODE(12);
414 } else {
415 ps.unknown++;
416 return false;
417 }
418 ps.p_Date = currentDate;
419 if(ps.p_Wp != currentwp) {
420 if(ps.p_Wp!=null) {
421 ps.p_Wp.setTime();
422 }
423 ps.p_Wp = currentwp;
424 ps.waypoints.add(currentwp);
425 ps.success++;
426 return true;
427 }
428 return true;
429
430 } catch(Exception x) {
431 // out of bounds and such
432 // x.printStackTrace();
433 // System.out.println("Malformed line: "+s.toString().trim());
434 ps.malformed++;
435 ps.p_Wp=null;
436 return false;
437 }
438 }
439
440 private LatLon parseLatLon(String ns, String ew, String dlat, String dlon)
441 throws NumberFormatException {
442 String widthNorth = dlat.trim();
443 String lengthEast = dlon.trim();
444
445 // return a zero latlon instead of null so it is logged as zero coordinate
446 // instead of malformed sentence
447 if(widthNorth.equals("")&&lengthEast.equals("")) return new LatLon(0.0,0.0);
448
449 // The format is xxDDLL.LLLL
450 // xx optional whitespace
451 // DD (int) degres
452 // LL.LLLL (double) latidude
453 int latdegsep = widthNorth.indexOf('.') - 2;
454 if (latdegsep < 0) return null;
455
456 int latdeg = Integer.parseInt(widthNorth.substring(0, latdegsep));
457 double latmin = Double.parseDouble(widthNorth.substring(latdegsep));
458 if(latdeg < 0) // strange data with '-' sign
459 latmin *= -1.0;
460 double lat = latdeg + latmin / 60;
461 if ("S".equals(ns)) {
462 lat = -lat;
463 }
464
465 int londegsep = lengthEast.indexOf('.') - 2;
466 if (londegsep < 0) return null;
467
468 int londeg = Integer.parseInt(lengthEast.substring(0, londegsep));
469 double lonmin = Double.parseDouble(lengthEast.substring(londegsep));
470 if(londeg < 0) // strange data with '-' sign
471 lonmin *= -1.0;
472 double lon = londeg + lonmin / 60;
473 if ("W".equals(ew)) {
474 lon = -lon;
475 }
476 return new LatLon(lat, lon);
477 }
478}
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