source: josm/trunk/src/org/openstreetmap/josm/io/NmeaReader.java@ 6852

Last change on this file since 6852 was 6822, checked in by bastiK, 10 years ago

see #8902 - Small performance enhancements / coding style (patch by shinigami, updated, modified)

stringbuilder.diff: StringBuffer => StringBuilder
  • Property svn:eol-style set to native
File size: 17.4 KB
Line 
1//License: GPL. See README for details.
2package org.openstreetmap.josm.io;
3
4import java.io.BufferedReader;
5import java.io.InputStream;
6import java.io.InputStreamReader;
7import java.text.ParsePosition;
8import java.text.SimpleDateFormat;
9import java.util.ArrayList;
10import java.util.Collection;
11import java.util.Collections;
12import java.util.Date;
13
14import org.openstreetmap.josm.Main;
15import org.openstreetmap.josm.data.coor.LatLon;
16import org.openstreetmap.josm.data.gpx.GpxData;
17import org.openstreetmap.josm.data.gpx.ImmutableGpxTrack;
18import org.openstreetmap.josm.data.gpx.WayPoint;
19import org.openstreetmap.josm.tools.DateUtils;
20import org.openstreetmap.josm.tools.Utils;
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 }
147 if (d == null)
148 throw new RuntimeException("Date is malformed"); // malformed
149 return d;
150 }
151
152 // functons for reading the error stats
153 public NMEAParserState ps;
154
155 public int getParserUnknown() {
156 return ps.unknown;
157 }
158 public int getParserZeroCoordinates() {
159 return ps.zero_coord;
160 }
161 public int getParserChecksumErrors() {
162 return ps.checksum_errors+ps.no_checksum;
163 }
164 public int getParserMalformed() {
165 return ps.malformed;
166 }
167 public int getNumberOfCoordinates() {
168 return ps.success;
169 }
170
171 public NmeaReader(InputStream source) {
172
173 // create the data tree
174 data = new GpxData();
175 Collection<Collection<WayPoint>> currentTrack = new ArrayList<Collection<WayPoint>>();
176
177 BufferedReader rd = null;
178 try {
179 rd = new BufferedReader(new InputStreamReader(source));
180
181 StringBuilder sb = new StringBuilder(1024);
182 int loopstart_char = rd.read();
183 ps = new NMEAParserState();
184 if(loopstart_char == -1)
185 //TODO tell user about the problem?
186 return;
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) {
192 sb.delete(0, sb.length()-1);
193 }
194 int c = rd.read();
195 if(c=='$') {
196 parseNMEASentence(sb.toString(), ps);
197 sb.delete(0, sb.length());
198 sb.append('$');
199 } else if(c == -1) {
200 // EOF: add last WayPoint if it works out
201 parseNMEASentence(sb.toString(),ps);
202 break;
203 } else {
204 sb.append((char)c);
205 }
206 }
207 currentTrack.add(ps.waypoints);
208 data.tracks.add(new ImmutableGpxTrack(currentTrack, Collections.<String, Object>emptyMap()));
209
210 } catch (Exception e) {
211 Main.warn(e);
212 } finally {
213 Utils.close(rd);
214 }
215 }
216 private static class NMEAParserState {
217 protected Collection<WayPoint> waypoints = new ArrayList<WayPoint>();
218 protected String p_Time;
219 protected String p_Date;
220 protected WayPoint p_Wp;
221
222 protected int success = 0; // number of successfully parsend sentences
223 protected int malformed = 0;
224 protected int checksum_errors = 0;
225 protected int no_checksum = 0;
226 protected int unknown = 0;
227 protected int zero_coord = 0;
228 }
229
230 // Parses split up sentences into WayPoints which are stored
231 // in the collection in the NMEAParserState object.
232 // Returns true if the input made sence, false otherwise.
233 private boolean parseNMEASentence(String s, NMEAParserState ps) throws IllegalDataException {
234 try {
235 if (s.isEmpty()) {
236 throw new IllegalArgumentException("s is empty");
237 }
238
239 // checksum check:
240 // the bytes between the $ and the * are xored
241 // if there is no * or other meanities it will throw
242 // and result in a malformed packet.
243 String[] chkstrings = s.split("\\*");
244 if(chkstrings.length > 1)
245 {
246 byte[] chb = chkstrings[0].getBytes();
247 int chk=0;
248 for (int i = 1; i < chb.length; i++) {
249 chk ^= chb[i];
250 }
251 if (Integer.parseInt(chkstrings[1].substring(0,2),16) != chk) {
252 ps.checksum_errors++;
253 ps.p_Wp=null;
254 return false;
255 }
256 } else {
257 ps.no_checksum++;
258 }
259 // now for the content
260 String[] e = chkstrings[0].split(",");
261 String accu;
262
263 WayPoint currentwp = ps.p_Wp;
264 String currentDate = ps.p_Date;
265
266 // handle the packet content
267 if(e[0].equals("$GPGGA") || e[0].equals("$GNGGA")) {
268 // Position
269 LatLon latLon = parseLatLon(
270 e[GPGGA.LATITUDE_NAME.position],
271 e[GPGGA.LONGITUDE_NAME.position],
272 e[GPGGA.LATITUDE.position],
273 e[GPGGA.LONGITUDE.position]
274 );
275 if (latLon==null) {
276 throw new IllegalDataException("Malformed lat/lon");
277 }
278
279 if ((latLon.lat()==0.0) && (latLon.lon()==0.0)) {
280 ps.zero_coord++;
281 return false;
282 }
283
284 // time
285 accu = e[GPGGA.TIME.position];
286 Date d = readTime(currentDate+accu);
287
288 if((ps.p_Time==null) || (currentwp==null) || !ps.p_Time.equals(accu)) {
289 // this node is newer than the previous, create a new waypoint.
290 // no matter if previous WayPoint was null, we got something
291 // better now.
292 ps.p_Time=accu;
293 currentwp = new WayPoint(latLon);
294 }
295 if(!currentwp.attr.containsKey("time")) {
296 // As this sentence has no complete time only use it
297 // if there is no time so far
298 currentwp.attr.put("time", DateUtils.fromDate(d));
299 }
300 // elevation
301 accu=e[GPGGA.HEIGHT_UNTIS.position];
302 if(accu.equals("M")) {
303 // Ignore heights that are not in meters for now
304 accu=e[GPGGA.HEIGHT.position];
305 if(!accu.isEmpty()) {
306 Double.parseDouble(accu);
307 // if it throws it's malformed; this should only happen if the
308 // device sends nonstandard data.
309 if(!accu.isEmpty()) { // FIX ? same check
310 currentwp.attr.put("ele", accu);
311 }
312 }
313 }
314 // number of sattelites
315 accu=e[GPGGA.SATELLITE_COUNT.position];
316 int sat = 0;
317 if(!accu.isEmpty()) {
318 sat = Integer.parseInt(accu);
319 currentwp.attr.put("sat", accu);
320 }
321 // h-dilution
322 accu=e[GPGGA.HDOP.position];
323 if(!accu.isEmpty()) {
324 currentwp.attr.put("hdop", Float.parseFloat(accu));
325 }
326 // fix
327 accu=e[GPGGA.QUALITY.position];
328 if(!accu.isEmpty()) {
329 int fixtype = Integer.parseInt(accu);
330 switch(fixtype) {
331 case 0:
332 currentwp.attr.put("fix", "none");
333 break;
334 case 1:
335 if(sat < 4) {
336 currentwp.attr.put("fix", "2d");
337 } else {
338 currentwp.attr.put("fix", "3d");
339 }
340 break;
341 case 2:
342 currentwp.attr.put("fix", "dgps");
343 break;
344 default:
345 break;
346 }
347 }
348 } else if(e[0].equals("$GPVTG") || e[0].equals("$GNVTG")) {
349 // COURSE
350 accu = e[GPVTG.COURSE_REF.position];
351 if(accu.equals("T")) {
352 // other values than (T)rue are ignored
353 accu = e[GPVTG.COURSE.position];
354 if(!accu.isEmpty()) {
355 Double.parseDouble(accu);
356 currentwp.attr.put("course", accu);
357 }
358 }
359 // SPEED
360 accu = e[GPVTG.SPEED_KMH_UNIT.position];
361 if(accu.startsWith("K")) {
362 accu = e[GPVTG.SPEED_KMH.position];
363 if(!accu.isEmpty()) {
364 double speed = Double.parseDouble(accu);
365 speed /= 3.6; // speed in m/s
366 currentwp.attr.put("speed", Double.toString(speed));
367 }
368 }
369 } else if(e[0].equals("$GPGSA") || e[0].equals("$GNGSA")) {
370 // vdop
371 accu=e[GPGSA.VDOP.position];
372 if(!accu.isEmpty()) {
373 currentwp.attr.put("vdop", Float.parseFloat(accu));
374 }
375 // hdop
376 accu=e[GPGSA.HDOP.position];
377 if(!accu.isEmpty()) {
378 currentwp.attr.put("hdop", Float.parseFloat(accu));
379 }
380 // pdop
381 accu=e[GPGSA.PDOP.position];
382 if(!accu.isEmpty()) {
383 currentwp.attr.put("pdop", Float.parseFloat(accu));
384 }
385 }
386 else if(e[0].equals("$GPRMC") || e[0].equals("$GNRMC")) {
387 // coordinates
388 LatLon latLon = parseLatLon(
389 e[GPRMC.WIDTH_NORTH_NAME.position],
390 e[GPRMC.LENGTH_EAST_NAME.position],
391 e[GPRMC.WIDTH_NORTH.position],
392 e[GPRMC.LENGTH_EAST.position]
393 );
394 if((latLon.lat()==0.0) && (latLon.lon()==0.0)) {
395 ps.zero_coord++;
396 return false;
397 }
398 // time
399 currentDate = e[GPRMC.DATE.position];
400 String time = e[GPRMC.TIME.position];
401
402 Date d = readTime(currentDate+time);
403
404 if((ps.p_Time==null) || (currentwp==null) || !ps.p_Time.equals(time)) {
405 // this node is newer than the previous, create a new waypoint.
406 ps.p_Time=time;
407 currentwp = new WayPoint(latLon);
408 }
409 // time: this sentence has complete time so always use it.
410 currentwp.attr.put("time", DateUtils.fromDate(d));
411 // speed
412 accu = e[GPRMC.SPEED.position];
413 if(!accu.isEmpty() && !currentwp.attr.containsKey("speed")) {
414 double speed = Double.parseDouble(accu);
415 speed *= 0.514444444; // to m/s
416 currentwp.attr.put("speed", Double.toString(speed));
417 }
418 // course
419 accu = e[GPRMC.COURSE.position];
420 if(!accu.isEmpty() && !currentwp.attr.containsKey("course")) {
421 Double.parseDouble(accu);
422 currentwp.attr.put("course", accu);
423 }
424
425 // TODO fix?
426 // * Mode (A = autonom; D = differential; E = estimated; N = not valid; S
427 // * = simulated)
428 // *
429 // * @since NMEA 2.3
430 //
431 //MODE(12);
432 } else {
433 ps.unknown++;
434 return false;
435 }
436 ps.p_Date = currentDate;
437 if(ps.p_Wp != currentwp) {
438 if(ps.p_Wp!=null) {
439 ps.p_Wp.setTime();
440 }
441 ps.p_Wp = currentwp;
442 ps.waypoints.add(currentwp);
443 ps.success++;
444 return true;
445 }
446 return true;
447
448 } catch (RuntimeException x) {
449 // out of bounds and such
450 ps.malformed++;
451 ps.p_Wp=null;
452 return false;
453 }
454 }
455
456 private LatLon parseLatLon(String ns, String ew, String dlat, String dlon)
457 throws NumberFormatException {
458 String widthNorth = dlat.trim();
459 String lengthEast = dlon.trim();
460
461 // return a zero latlon instead of null so it is logged as zero coordinate
462 // instead of malformed sentence
463 if(widthNorth.isEmpty() && lengthEast.isEmpty()) return new LatLon(0.0,0.0);
464
465 // The format is xxDDLL.LLLL
466 // xx optional whitespace
467 // DD (int) degres
468 // LL.LLLL (double) latidude
469 int latdegsep = widthNorth.indexOf('.') - 2;
470 if (latdegsep < 0) return null;
471
472 int latdeg = Integer.parseInt(widthNorth.substring(0, latdegsep));
473 double latmin = Double.parseDouble(widthNorth.substring(latdegsep));
474 if(latdeg < 0) {
475 latmin *= -1.0;
476 }
477 double lat = latdeg + latmin / 60;
478 if ("S".equals(ns)) {
479 lat = -lat;
480 }
481
482 int londegsep = lengthEast.indexOf('.') - 2;
483 if (londegsep < 0) return null;
484
485 int londeg = Integer.parseInt(lengthEast.substring(0, londegsep));
486 double lonmin = Double.parseDouble(lengthEast.substring(londegsep));
487 if(londeg < 0) {
488 lonmin *= -1.0;
489 }
490 double lon = londeg + lonmin / 60;
491 if ("W".equals(ew)) {
492 lon = -lon;
493 }
494 return new LatLon(lat, lon);
495 }
496}
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