Index: trunk/src/org/openstreetmap/josm/io/nmea/NmeaParser.java
===================================================================
--- trunk/src/org/openstreetmap/josm/io/nmea/NmeaParser.java (revision 18787)
+++ trunk/src/org/openstreetmap/josm/io/nmea/NmeaParser.java (revision 18787)
@@ -0,0 +1,602 @@
+// License: GPL. For details, see LICENSE file.
+package org.openstreetmap.josm.io.nmea;
+
+import java.nio.charset.StandardCharsets;
+import java.text.ParsePosition;
+import java.text.SimpleDateFormat;
+import java.time.Instant;
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.Collection;
+import java.util.Collections;
+import java.util.Date;
+import java.util.Locale;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+import org.openstreetmap.josm.data.coor.LatLon;
+import org.openstreetmap.josm.data.gpx.GpxConstants;
+import org.openstreetmap.josm.data.gpx.WayPoint;
+import org.openstreetmap.josm.io.IllegalDataException;
+import org.openstreetmap.josm.tools.Logging;
+import org.openstreetmap.josm.tools.date.DateUtils;
+
+/**
+ * Parses NMEA 0183 data. Based on information from
+ * http://www.catb.org/gpsd.
+ *
+ * NMEA data is in printable ASCII form and may include information such as position,
+ * speed, depth, frequency allocation, etc.
+ * Typical messages might be 11 to a maximum of 79 characters in length.
+ *
+ * NMEA standard aims to support one-way serial data transmission from a single "talker"
+ * to one or more "listeners". The type of talker is identified by a 2-character mnemonic.
+ *
+ * NMEA information is encoded through a list of "sentences".
+ * @since 18787
+ */
+public class NmeaParser {
+
+ /**
+ * Course Over Ground and Ground Speed.
+ *
+ * The actual course and speed relative to the ground
+ */
+ enum VTG {
+ COURSE(1), COURSE_REF(2), // true course
+ COURSE_M(3), COURSE_M_REF(4), // magnetic course
+ SPEED_KN(5), SPEED_KN_UNIT(6), // speed in knots
+ SPEED_KMH(7), SPEED_KMH_UNIT(8), // speed in km/h
+ REST(9); // version-specific rest
+
+ final int position;
+
+ VTG(int position) {
+ this.position = position;
+ }
+ }
+
+ /**
+ * Recommended Minimum Specific GNSS Data.
+ *
+ * Time, date, position, course and speed data provided by a GNSS navigation receiver.
+ * This sentence is transmitted at intervals not exceeding 2-seconds.
+ * RMC is the recommended minimum data to be provided by a GNSS receiver.
+ * All data fields must be provided, null fields used only when data is temporarily unavailable.
+ */
+ enum RMC {
+ TIME(1),
+ /** Warning from the receiver (A = data ok, V = warning) */
+ RECEIVER_WARNING(2),
+ WIDTH_NORTH(3), WIDTH_NORTH_NAME(4), // Latitude, NS
+ LENGTH_EAST(5), LENGTH_EAST_NAME(6), // Longitude, EW
+ SPEED(7), COURSE(8), DATE(9), // Speed in knots
+ MAGNETIC_DECLINATION(10), UNKNOWN(11), // magnetic declination
+ /**
+ * Mode (A = autonom; D = differential; E = estimated; N = not valid; S = simulated)
+ *
+ * @since NMEA 2.3
+ */
+ MODE(12);
+
+ final int position;
+
+ RMC(int position) {
+ this.position = position;
+ }
+ }
+
+ /**
+ * Global Positioning System Fix Data.
+ *
+ * Time, position and fix related data for a GPS receiver.
+ */
+ enum GGA {
+ TIME(1), LATITUDE(2), LATITUDE_NAME(3), LONGITUDE(4), LONGITUDE_NAME(5),
+ /**
+ * Quality (0 = invalid, 1 = GPS, 2 = DGPS, 6 = estimanted (@since NMEA 2.3))
+ */
+ QUALITY(6), SATELLITE_COUNT(7),
+ HDOP(8), // HDOP (horizontal dilution of precision)
+ HEIGHT(9), HEIGHT_UNTIS(10), // height above NN (above geoid)
+ HEIGHT_2(11), HEIGHT_2_UNTIS(12), // height geoid - height ellipsoid (WGS84)
+ GPS_AGE(13), // Age of differential GPS data
+ REF(14); // REF station
+
+ final int position;
+ GGA(int position) {
+ this.position = position;
+ }
+ }
+
+ /**
+ * GNSS DOP and Active Satellites.
+ *
+ * GNSS receiver operating mode, satellites used in the navigation solution reported by the GGA or GNS sentence,
+ * and DOP values.
+ * If only GPS, GLONASS, etc. is used for the reported position solution the talker ID is GP, GL, etc.
+ * and the DOP values pertain to the individual system. If GPS, GLONASS, etc. are combined to obtain the
+ * reported position solution multiple GSA sentences are produced, one with the GPS satellites, another with
+ * the GLONASS satellites, etc. Each of these GSA sentences shall have talker ID GN, to indicate that the
+ * satellites are used in a combined solution and each shall have the PDOP, HDOP and VDOP for the
+ * combined satellites used in the position.
+ */
+ enum GSA {
+ AUTOMATIC(1),
+ FIX_TYPE(2), // 1 = not fixed, 2 = 2D fixed, 3 = 3D fixed)
+ // PRN numbers for max 12 satellites
+ PRN_1(3), PRN_2(4), PRN_3(5), PRN_4(6), PRN_5(7), PRN_6(8),
+ PRN_7(9), PRN_8(10), PRN_9(11), PRN_10(12), PRN_11(13), PRN_12(14),
+ PDOP(15), // PDOP (precision)
+ HDOP(16), // HDOP (horizontal precision)
+ VDOP(17); // VDOP (vertical precision)
+
+ final int position;
+ GSA(int position) {
+ this.position = position;
+ }
+ }
+
+ /**
+ * Geographic Position - Latitude/Longitude.
+ *
+ * Latitude and Longitude of vessel position, time of position fix and status.
+ */
+ enum GLL {
+ LATITUDE(1), LATITUDE_NS(2), // Latitude, NS
+ LONGITUDE(3), LONGITUDE_EW(4), // Latitude, EW
+ UTC(5), // Universal Time Coordinated
+ STATUS(6), // Status: A = Data valid, V = Data not valid
+ /**
+ * Mode (A = autonom; D = differential; E = estimated; N = not valid; S = simulated)
+ * @since NMEA 2.3
+ */
+ MODE(7);
+
+ final int position;
+ GLL(int position) {
+ this.position = position;
+ }
+ }
+
+ private static final Pattern DATE_TIME_PATTERN = Pattern.compile("(\\d{12})(\\.\\d+)?");
+
+ private final SimpleDateFormat rmcTimeFmt = new SimpleDateFormat("ddMMyyHHmmss.SSS", Locale.ENGLISH);
+
+ private Instant readTime(String p) throws IllegalDataException {
+ // NMEA defines time with "a variable number of digits for decimal-fraction of seconds"
+ // This variable decimal fraction cannot be parsed by SimpleDateFormat
+ Matcher m = DATE_TIME_PATTERN.matcher(p);
+ if (m.matches()) {
+ String date = m.group(1);
+ double milliseconds = 0d;
+ if (m.groupCount() > 1 && m.group(2) != null) {
+ milliseconds = 1000d * Double.parseDouble("0" + m.group(2));
+ }
+ // Add milliseconds on three digits to match SimpleDateFormat pattern
+ date += String.format(".%03d", (int) milliseconds);
+ Date d = rmcTimeFmt.parse(date, new ParsePosition(0));
+ if (d != null)
+ return d.toInstant();
+ }
+ throw new IllegalDataException("Date is malformed: '" + p + "'");
+ }
+
+ protected Collection waypoints = new ArrayList<>();
+ protected String pTime;
+ protected String pDate;
+ /* Waypoint currently in work */
+ protected WayPoint pWp;
+ /* number of successfully parsed sentences */
+ protected int success;
+ protected int malformed;
+ protected int checksumErrors;
+ protected int noChecksum;
+ protected int unknown;
+ protected int zeroCoord;
+
+ /**
+ * Number of unknown sentences
+ * @return the number of unknown sentences encountered
+ */
+ public int getParserUnknown() {
+ return unknown;
+ }
+
+ /**
+ * Number of empty coordinates
+ * @return the number of coordinates which have been zero
+ */
+ public int getParserZeroCoordinates() {
+ return zeroCoord;
+ }
+
+ /**
+ * Number of checksum errors
+ * @return the number of sentences with checksum errors
+ */
+ public int getParserChecksumErrors() {
+ return checksumErrors+noChecksum;
+ }
+
+ /**
+ * Number of malformed errors
+ * @return the number of malformed sentences
+ */
+ public int getParserMalformed() {
+ return malformed;
+ }
+
+ /**
+ * Number of successful coordinates
+ * @return the number of successfully read coordinates
+ */
+ public int getSuccess() {
+ return success;
+ }
+
+ /**
+ * List of collected coordinates
+ * When parsing a stream the last entry may be still incomplete
+ * @return the collection of points collected
+ */
+ public Collection getWaypoints() {
+ return Collections.unmodifiableCollection(waypoints);
+ }
+
+ /**
+ * Return list of collected coordinates and drop old data
+ * When parsing a stream the last entry may be still incomplete and usually
+ * will not be dropped
+ * @return the collection of points collected
+ */
+ public Collection getAndDropWaypoints() {
+ Collection r = getWaypoints();
+ dropOldWaypoints();
+ return r;
+ }
+
+ /**
+ * Get rid of older data no longer needed, drops everything except current
+ * coordinate
+ */
+ public void dropOldWaypoints() {
+ waypoints.clear();
+ if (pWp != null)
+ waypoints.add(pWp);
+ }
+
+ /**
+ * Constructs a new {@code NmeaParser}
+ */
+ public NmeaParser() {
+ rmcTimeFmt.setTimeZone(DateUtils.UTC);
+ pDate = "010100"; // TODO date problem
+ }
+
+ /**
+ * Determines if the given address denotes the given NMEA sentence formatter of a known talker.
+ * @param address first tag of an NMEA sentence
+ * @param formatter sentence formatter mnemonic code
+ * @return {@code true} if the {@code address} denotes the given NMEA sentence formatter of a known talker
+ */
+ static boolean isSentence(String address, Sentence formatter) {
+ return Arrays.stream(TalkerId.values())
+ .anyMatch(talker -> address.equals('$' + talker.name() + formatter.name()));
+ }
+
+ /**
+ * Parses split up sentences into WayPoints which are stored
+ * in the collection in the NMEAParserState object.
+ * @param s data to parse
+ * @return {@code true} if the input made sense, {@code false} otherwise.
+ */
+ public boolean parseNMEASentence(String s) throws IllegalDataException {
+ try {
+ if (s.isEmpty()) {
+ throw new IllegalArgumentException("s is empty");
+ }
+
+ // checksum check:
+ // the bytes between the $ and the * are xored
+ // if there is no * or other meanities it will throw
+ // and result in a malformed packet.
+ String[] chkstrings = s.split("\\*", -1);
+ if (chkstrings.length > 1) {
+ byte[] chb = chkstrings[0].getBytes(StandardCharsets.UTF_8);
+ int chk = 0;
+ for (int i = 1; i < chb.length; i++) {
+ chk ^= chb[i];
+ }
+ if (Integer.parseInt(chkstrings[1].substring(0, 2), 16) != chk) {
+ checksumErrors++;
+ pWp = null;
+ return false;
+ }
+ } else {
+ noChecksum++;
+ }
+ // now for the content
+ String[] e = chkstrings[0].split(",", -1);
+ String accu;
+
+ WayPoint currentwp = pWp;
+ String currentDate = pDate;
+
+ // handle the packet content
+ if (isSentence(e[0], Sentence.GGA)) {
+ // Position
+ LatLon latLon = parseLatLon(
+ e[GGA.LATITUDE_NAME.position],
+ e[GGA.LONGITUDE_NAME.position],
+ e[GGA.LATITUDE.position],
+ e[GGA.LONGITUDE.position]
+ );
+ if (latLon == null) {
+ throw new IllegalDataException("Malformed lat/lon");
+ }
+
+ if (LatLon.ZERO.equals(latLon)) {
+ zeroCoord++;
+ return false;
+ }
+
+ // time
+ accu = e[GGA.TIME.position];
+ Instant instant = readTime(currentDate+accu);
+
+ if ((pTime == null) || (currentwp == null) || !pTime.equals(accu)) {
+ // this node is newer than the previous, create a new waypoint.
+ // no matter if previous WayPoint was null, we got something better now.
+ pTime = accu;
+ currentwp = new WayPoint(latLon);
+ }
+ if (!currentwp.attr.containsKey("time")) {
+ // As this sentence has no complete time only use it
+ // if there is no time so far
+ currentwp.setInstant(instant);
+ }
+ // elevation
+ accu = e[GGA.HEIGHT_UNTIS.position];
+ if ("M".equals(accu)) {
+ // Ignore heights that are not in meters for now
+ accu = e[GGA.HEIGHT.position];
+ if (!accu.isEmpty()) {
+ Double.parseDouble(accu);
+ // if it throws it's malformed; this should only happen if the
+ // device sends nonstandard data.
+ if (!accu.isEmpty()) { // FIX ? same check
+ currentwp.put(GpxConstants.PT_ELE, accu);
+ }
+ }
+ }
+ // number of satellites
+ accu = e[GGA.SATELLITE_COUNT.position];
+ int sat = 0;
+ if (!accu.isEmpty()) {
+ sat = Integer.parseInt(accu);
+ currentwp.put(GpxConstants.PT_SAT, accu);
+ }
+ // h-dilution
+ accu = e[GGA.HDOP.position];
+ if (!accu.isEmpty()) {
+ currentwp.put(GpxConstants.PT_HDOP, Float.valueOf(accu));
+ }
+ // fix
+ accu = e[GGA.QUALITY.position];
+ if (!accu.isEmpty()) {
+ int fixtype = Integer.parseInt(accu);
+ switch(fixtype) {
+ case 0:
+ currentwp.put(GpxConstants.PT_FIX, "none");
+ break;
+ case 1:
+ if (sat < 4) {
+ currentwp.put(GpxConstants.PT_FIX, "2d");
+ } else {
+ currentwp.put(GpxConstants.PT_FIX, "3d");
+ }
+ break;
+ case 2:
+ currentwp.put(GpxConstants.PT_FIX, "dgps");
+ break;
+ case 3:
+ currentwp.put(GpxConstants.PT_FIX, "pps");
+ break;
+ case 4:
+ currentwp.put(GpxConstants.PT_FIX, "rtk");
+ break;
+ case 5:
+ currentwp.put(GpxConstants.PT_FIX, "float rtk");
+ break;
+ case 6:
+ currentwp.put(GpxConstants.PT_FIX, "estimated");
+ break;
+ case 7:
+ currentwp.put(GpxConstants.PT_FIX, "manual");
+ break;
+ case 8:
+ currentwp.put(GpxConstants.PT_FIX, "simulated");
+ break;
+ default:
+ break;
+ }
+ }
+ // reference ID
+ if (GGA.REF.position < e.length) {
+ accu = e[GGA.REF.position];
+ if (!accu.isEmpty()) {
+ currentwp.put(GpxConstants.PT_DGPSID, accu);
+ }
+ }
+ } else if (isSentence(e[0], Sentence.VTG)) {
+ // COURSE
+ accu = e[VTG.COURSE_REF.position];
+ if ("T".equals(accu)) {
+ // other values than (T)rue are ignored
+ accu = e[VTG.COURSE.position];
+ if (!accu.isEmpty() && currentwp != null) {
+ Double.parseDouble(accu);
+ currentwp.put("course", accu);
+ }
+ }
+ // SPEED
+ accu = e[VTG.SPEED_KMH_UNIT.position];
+ if (accu.startsWith("K")) {
+ accu = e[VTG.SPEED_KMH.position];
+ if (!accu.isEmpty() && currentwp != null) {
+ double speed = Double.parseDouble(accu);
+ currentwp.put("speed", Double.toString(speed)); // speed in km/h
+ }
+ }
+ } else if (isSentence(e[0], Sentence.GSA)) {
+ // vdop
+ accu = e[GSA.VDOP.position];
+ if (!accu.isEmpty() && currentwp != null) {
+ currentwp.put(GpxConstants.PT_VDOP, Float.valueOf(accu));
+ }
+ // hdop
+ accu = e[GSA.HDOP.position];
+ if (!accu.isEmpty() && currentwp != null) {
+ currentwp.put(GpxConstants.PT_HDOP, Float.valueOf(accu));
+ }
+ // pdop
+ accu = e[GSA.PDOP.position];
+ if (!accu.isEmpty() && currentwp != null) {
+ currentwp.put(GpxConstants.PT_PDOP, Float.valueOf(accu));
+ }
+ } else if (isSentence(e[0], Sentence.RMC)) {
+ // coordinates
+ LatLon latLon = parseLatLon(
+ e[RMC.WIDTH_NORTH_NAME.position],
+ e[RMC.LENGTH_EAST_NAME.position],
+ e[RMC.WIDTH_NORTH.position],
+ e[RMC.LENGTH_EAST.position]
+ );
+ if (LatLon.ZERO.equals(latLon)) {
+ zeroCoord++;
+ return false;
+ }
+ // time
+ currentDate = e[RMC.DATE.position];
+ String time = e[RMC.TIME.position];
+
+ Instant instant = readTime(currentDate+time);
+
+ if (pTime == null || currentwp == null || !pTime.equals(time)) {
+ // this node is newer than the previous, create a new waypoint.
+ pTime = time;
+ currentwp = new WayPoint(latLon);
+ }
+ // time: this sentence has complete time so always use it.
+ currentwp.setInstant(instant);
+ // speed
+ accu = e[RMC.SPEED.position];
+ if (!accu.isEmpty() && !currentwp.attr.containsKey("speed")) {
+ double speed = Double.parseDouble(accu);
+ speed *= 0.514444444 * 3.6; // to km/h
+ currentwp.put("speed", Double.toString(speed));
+ }
+ // course
+ accu = e[RMC.COURSE.position];
+ if (!accu.isEmpty() && !currentwp.attr.containsKey("course")) {
+ Double.parseDouble(accu);
+ currentwp.put("course", accu);
+ }
+
+ // TODO fix?
+ // * Mode (A = autonom; D = differential; E = estimated; N = not valid; S = simulated)
+ // *
+ // * @since NMEA 2.3
+ //
+ //MODE(12);
+ } else if (isSentence(e[0], Sentence.GLL)) {
+ // coordinates
+ LatLon latLon = parseLatLon(
+ e[GLL.LATITUDE_NS.position],
+ e[GLL.LONGITUDE_EW.position],
+ e[GLL.LATITUDE.position],
+ e[GLL.LONGITUDE.position]
+ );
+ if (LatLon.ZERO.equals(latLon)) {
+ zeroCoord++;
+ return false;
+ }
+ // only consider valid data
+ if (!"A".equals(e[GLL.STATUS.position])) {
+ return false;
+ }
+
+ // RMC sentences contain a full date while GLL sentences contain only time,
+ // so create new waypoints only of the NMEA file does not contain RMC sentences
+ if (pTime == null || currentwp == null) {
+ currentwp = new WayPoint(latLon);
+ }
+ } else {
+ unknown++;
+ return false;
+ }
+ pDate = currentDate;
+ if (pWp != currentwp) {
+ if (pWp != null) {
+ pWp.getInstant();
+ }
+ pWp = currentwp;
+ waypoints.add(currentwp);
+ success++;
+ return true;
+ }
+ return true;
+
+ } catch (IllegalArgumentException | IndexOutOfBoundsException | IllegalDataException ex) {
+ if (malformed < 5) {
+ Logging.warn(ex);
+ } else {
+ Logging.debug(ex);
+ }
+ malformed++;
+ pWp = null;
+ return false;
+ }
+ }
+
+ private static LatLon parseLatLon(String ns, String ew, String dlat, String dlon) {
+ String widthNorth = dlat.trim();
+ String lengthEast = dlon.trim();
+
+ // return a zero latlon instead of null so it is logged as zero coordinate
+ // instead of malformed sentence
+ if (widthNorth.isEmpty() && lengthEast.isEmpty()) return LatLon.ZERO;
+
+ // The format is xxDDLL.LLLL
+ // xx optional whitespace
+ // DD (int) degres
+ // LL.LLLL (double) latidude
+ int latdegsep = widthNorth.indexOf('.') - 2;
+ if (latdegsep < 0) return null;
+
+ int latdeg = Integer.parseInt(widthNorth.substring(0, latdegsep));
+ double latmin = Double.parseDouble(widthNorth.substring(latdegsep));
+ if (latdeg < 0) {
+ latmin *= -1.0;
+ }
+ double lat = latdeg + latmin / 60;
+ if ("S".equals(ns)) {
+ lat = -lat;
+ }
+
+ int londegsep = lengthEast.indexOf('.') - 2;
+ if (londegsep < 0) return null;
+
+ int londeg = Integer.parseInt(lengthEast.substring(0, londegsep));
+ double lonmin = Double.parseDouble(lengthEast.substring(londegsep));
+ if (londeg < 0) {
+ lonmin *= -1.0;
+ }
+ double lon = londeg + lonmin / 60;
+ if ("W".equals(ew)) {
+ lon = -lon;
+ }
+ return new LatLon(lat, lon);
+ }
+}
Index: trunk/src/org/openstreetmap/josm/io/nmea/NmeaReader.java
===================================================================
--- trunk/src/org/openstreetmap/josm/io/nmea/NmeaReader.java (revision 18786)
+++ trunk/src/org/openstreetmap/josm/io/nmea/NmeaReader.java (revision 18787)
@@ -7,19 +7,9 @@
import java.io.InputStreamReader;
import java.nio.charset.StandardCharsets;
-import java.text.ParsePosition;
-import java.text.SimpleDateFormat;
-import java.time.Instant;
import java.util.ArrayList;
-import java.util.Arrays;
import java.util.Collection;
import java.util.Collections;
-import java.util.Date;
-import java.util.Locale;
import java.util.Objects;
-import java.util.regex.Matcher;
-import java.util.regex.Pattern;
-import org.openstreetmap.josm.data.coor.LatLon;
-import org.openstreetmap.josm.data.gpx.GpxConstants;
import org.openstreetmap.josm.data.gpx.GpxData;
import org.openstreetmap.josm.data.gpx.GpxTrack;
@@ -28,6 +18,4 @@
import org.openstreetmap.josm.io.IllegalDataException;
import org.openstreetmap.josm.tools.Logging;
-import org.openstreetmap.josm.tools.date.DateUtils;
-import org.xml.sax.SAXException;
/**
@@ -48,167 +36,39 @@
public class NmeaReader implements IGpxReader {
+ private final InputStream source;
+ GpxData data;
+
+ private NmeaParser ps;
+
+ /* functions for reading the error stats */
+
/**
- * Course Over Ground and Ground Speed.
- *
- * The actual course and speed relative to the ground
+ * Number of unknown sentences
+ * @return return the number of unknown sentences encountered
*/
- enum VTG {
- COURSE(1), COURSE_REF(2), // true course
- COURSE_M(3), COURSE_M_REF(4), // magnetic course
- SPEED_KN(5), SPEED_KN_UNIT(6), // speed in knots
- SPEED_KMH(7), SPEED_KMH_UNIT(8), // speed in km/h
- REST(9); // version-specific rest
-
- final int position;
-
- VTG(int position) {
- this.position = position;
- }
+ public int getParserUnknown() {
+ return ps.getParserUnknown();
}
/**
- * Recommended Minimum Specific GNSS Data.
- *
- * Time, date, position, course and speed data provided by a GNSS navigation receiver.
- * This sentence is transmitted at intervals not exceeding 2-seconds.
- * RMC is the recommended minimum data to be provided by a GNSS receiver.
- * All data fields must be provided, null fields used only when data is temporarily unavailable.
+ * Number of empty coordinates
+ * @return return the number of coordinates which have been zero
*/
- enum RMC {
- TIME(1),
- /** Warning from the receiver (A = data ok, V = warning) */
- RECEIVER_WARNING(2),
- WIDTH_NORTH(3), WIDTH_NORTH_NAME(4), // Latitude, NS
- LENGTH_EAST(5), LENGTH_EAST_NAME(6), // Longitude, EW
- SPEED(7), COURSE(8), DATE(9), // Speed in knots
- MAGNETIC_DECLINATION(10), UNKNOWN(11), // magnetic declination
- /**
- * Mode (A = autonom; D = differential; E = estimated; N = not valid; S = simulated)
- *
- * @since NMEA 2.3
- */
- MODE(12);
-
- final int position;
-
- RMC(int position) {
- this.position = position;
- }
- }
-
- /**
- * Global Positioning System Fix Data.
- *
- * Time, position and fix related data for a GPS receiver.
- */
- enum GGA {
- TIME(1), LATITUDE(2), LATITUDE_NAME(3), LONGITUDE(4), LONGITUDE_NAME(5),
- /**
- * Quality (0 = invalid, 1 = GPS, 2 = DGPS, 6 = estimanted (@since NMEA 2.3))
- */
- QUALITY(6), SATELLITE_COUNT(7),
- HDOP(8), // HDOP (horizontal dilution of precision)
- HEIGHT(9), HEIGHT_UNTIS(10), // height above NN (above geoid)
- HEIGHT_2(11), HEIGHT_2_UNTIS(12), // height geoid - height ellipsoid (WGS84)
- GPS_AGE(13), // Age of differential GPS data
- REF(14); // REF station
-
- final int position;
- GGA(int position) {
- this.position = position;
- }
- }
-
- /**
- * GNSS DOP and Active Satellites.
- *
- * GNSS receiver operating mode, satellites used in the navigation solution reported by the GGA or GNS sentence,
- * and DOP values.
- * If only GPS, GLONASS, etc. is used for the reported position solution the talker ID is GP, GL, etc.
- * and the DOP values pertain to the individual system. If GPS, GLONASS, etc. are combined to obtain the
- * reported position solution multiple GSA sentences are produced, one with the GPS satellites, another with
- * the GLONASS satellites, etc. Each of these GSA sentences shall have talker ID GN, to indicate that the
- * satellites are used in a combined solution and each shall have the PDOP, HDOP and VDOP for the
- * combined satellites used in the position.
- */
- enum GSA {
- AUTOMATIC(1),
- FIX_TYPE(2), // 1 = not fixed, 2 = 2D fixed, 3 = 3D fixed)
- // PRN numbers for max 12 satellites
- PRN_1(3), PRN_2(4), PRN_3(5), PRN_4(6), PRN_5(7), PRN_6(8),
- PRN_7(9), PRN_8(10), PRN_9(11), PRN_10(12), PRN_11(13), PRN_12(14),
- PDOP(15), // PDOP (precision)
- HDOP(16), // HDOP (horizontal precision)
- VDOP(17); // VDOP (vertical precision)
-
- final int position;
- GSA(int position) {
- this.position = position;
- }
- }
-
- /**
- * Geographic Position - Latitude/Longitude.
- *
- * Latitude and Longitude of vessel position, time of position fix and status.
- */
- enum GLL {
- LATITUDE(1), LATITUDE_NS(2), // Latitude, NS
- LONGITUDE(3), LONGITUDE_EW(4), // Latitude, EW
- UTC(5), // Universal Time Coordinated
- STATUS(6), // Status: A = Data valid, V = Data not valid
- /**
- * Mode (A = autonom; D = differential; E = estimated; N = not valid; S = simulated)
- * @since NMEA 2.3
- */
- MODE(7);
-
- final int position;
- GLL(int position) {
- this.position = position;
- }
- }
-
- private final InputStream source;
- GpxData data;
-
- private static final Pattern DATE_TIME_PATTERN = Pattern.compile("(\\d{12})(\\.\\d+)?");
-
- private final SimpleDateFormat rmcTimeFmt = new SimpleDateFormat("ddMMyyHHmmss.SSS", Locale.ENGLISH);
-
- private Instant readTime(String p) throws IllegalDataException {
- // NMEA defines time with "a variable number of digits for decimal-fraction of seconds"
- // This variable decimal fraction cannot be parsed by SimpleDateFormat
- Matcher m = DATE_TIME_PATTERN.matcher(p);
- if (m.matches()) {
- String date = m.group(1);
- double milliseconds = 0d;
- if (m.groupCount() > 1 && m.group(2) != null) {
- milliseconds = 1000d * Double.parseDouble("0" + m.group(2));
- }
- // Add milliseconds on three digits to match SimpleDateFormat pattern
- date += String.format(".%03d", (int) milliseconds);
- Date d = rmcTimeFmt.parse(date, new ParsePosition(0));
- if (d != null)
- return d.toInstant();
- }
- throw new IllegalDataException("Date is malformed: '" + p + "'");
- }
-
- // functons for reading the error stats
- public NMEAParserState ps;
-
- public int getParserUnknown() {
- return ps.unknown;
- }
-
public int getParserZeroCoordinates() {
return ps.zeroCoord;
}
+ /**
+ * Number of checksum errors
+ * @return return the number of sentences with checksum errors
+ */
public int getParserChecksumErrors() {
return ps.checksumErrors+ps.noChecksum;
}
+ /**
+ * Number of malformed errors
+ * @return return the number of malformed sentences
+ */
public int getParserMalformed() {
return ps.malformed;
@@ -217,5 +77,5 @@
@Override
public int getNumberOfCoordinates() {
- return ps.success;
+ return ps.getSuccess();
}
@@ -227,9 +87,8 @@
public NmeaReader(InputStream source) throws IOException {
this.source = Objects.requireNonNull(source);
- rmcTimeFmt.setTimeZone(DateUtils.UTC);
}
@Override
- public boolean parse(boolean tryToFinish) throws SAXException, IOException {
+ public boolean parse(boolean tryToFinish) throws IOException {
// create the data tree
data = new GpxData();
@@ -239,10 +98,9 @@
StringBuilder sb = new StringBuilder(1024);
int loopstartChar = rd.read();
- ps = new NMEAParserState();
+ ps = new NmeaParser();
if (loopstartChar == -1)
//TODO tell user about the problem?
return false;
sb.append((char) loopstartChar);
- ps.pDate = "010100"; // TODO date problem
while (true) {
// don't load unparsable files completely to memory
@@ -252,10 +110,10 @@
int c = rd.read();
if (c == '$') {
- parseNMEASentence(sb.toString(), ps);
+ ps.parseNMEASentence(sb.toString());
sb.delete(0, sb.length());
sb.append('$');
} else if (c == -1) {
// EOF: add last WayPoint if it works out
- parseNMEASentence(sb.toString(), ps);
+ ps.parseNMEASentence(sb.toString());
break;
} else {
@@ -263,5 +121,5 @@
}
}
- currentTrack.add(ps.waypoints);
+ currentTrack.add(ps.getWaypoints());
data.tracks.add(new GpxTrack(currentTrack, Collections.emptyMap()));
@@ -273,341 +131,4 @@
}
- private static class NMEAParserState {
- protected Collection waypoints = new ArrayList<>();
- protected String pTime;
- protected String pDate;
- protected WayPoint pWp;
-
- protected int success; // number of successfully parsed sentences
- protected int malformed;
- protected int checksumErrors;
- protected int noChecksum;
- protected int unknown;
- protected int zeroCoord;
- }
-
- /**
- * Determines if the given address denotes the given NMEA sentence formatter of a known talker.
- * @param address first tag of an NMEA sentence
- * @param formatter sentence formatter mnemonic code
- * @return {@code true} if the {@code address} denotes the given NMEA sentence formatter of a known talker
- */
- static boolean isSentence(String address, Sentence formatter) {
- return Arrays.stream(TalkerId.values())
- .anyMatch(talker -> address.equals('$' + talker.name() + formatter.name()));
- }
-
- // Parses split up sentences into WayPoints which are stored
- // in the collection in the NMEAParserState object.
- // Returns true if the input made sense, false otherwise.
- private boolean parseNMEASentence(String s, NMEAParserState ps) throws IllegalDataException {
- try {
- if (s.isEmpty()) {
- throw new IllegalArgumentException("s is empty");
- }
-
- // checksum check:
- // the bytes between the $ and the * are xored
- // if there is no * or other meanities it will throw
- // and result in a malformed packet.
- String[] chkstrings = s.split("\\*", -1);
- if (chkstrings.length > 1) {
- byte[] chb = chkstrings[0].getBytes(StandardCharsets.UTF_8);
- int chk = 0;
- for (int i = 1; i < chb.length; i++) {
- chk ^= chb[i];
- }
- if (Integer.parseInt(chkstrings[1].substring(0, 2), 16) != chk) {
- ps.checksumErrors++;
- ps.pWp = null;
- return false;
- }
- } else {
- ps.noChecksum++;
- }
- // now for the content
- String[] e = chkstrings[0].split(",", -1);
- String accu;
-
- WayPoint currentwp = ps.pWp;
- String currentDate = ps.pDate;
-
- // handle the packet content
- if (isSentence(e[0], Sentence.GGA)) {
- // Position
- LatLon latLon = parseLatLon(
- e[GGA.LATITUDE_NAME.position],
- e[GGA.LONGITUDE_NAME.position],
- e[GGA.LATITUDE.position],
- e[GGA.LONGITUDE.position]
- );
- if (latLon == null) {
- throw new IllegalDataException("Malformed lat/lon");
- }
-
- if (LatLon.ZERO.equals(latLon)) {
- ps.zeroCoord++;
- return false;
- }
-
- // time
- accu = e[GGA.TIME.position];
- Instant instant = readTime(currentDate+accu);
-
- if ((ps.pTime == null) || (currentwp == null) || !ps.pTime.equals(accu)) {
- // this node is newer than the previous, create a new waypoint.
- // no matter if previous WayPoint was null, we got something better now.
- ps.pTime = accu;
- currentwp = new WayPoint(latLon);
- }
- if (!currentwp.attr.containsKey("time")) {
- // As this sentence has no complete time only use it
- // if there is no time so far
- currentwp.setInstant(instant);
- }
- // elevation
- accu = e[GGA.HEIGHT_UNTIS.position];
- if ("M".equals(accu)) {
- // Ignore heights that are not in meters for now
- accu = e[GGA.HEIGHT.position];
- if (!accu.isEmpty()) {
- Double.parseDouble(accu);
- // if it throws it's malformed; this should only happen if the
- // device sends nonstandard data.
- if (!accu.isEmpty()) { // FIX ? same check
- currentwp.put(GpxConstants.PT_ELE, accu);
- }
- }
- }
- // number of satellites
- accu = e[GGA.SATELLITE_COUNT.position];
- int sat = 0;
- if (!accu.isEmpty()) {
- sat = Integer.parseInt(accu);
- currentwp.put(GpxConstants.PT_SAT, accu);
- }
- // h-dilution
- accu = e[GGA.HDOP.position];
- if (!accu.isEmpty()) {
- currentwp.put(GpxConstants.PT_HDOP, Float.valueOf(accu));
- }
- // fix
- accu = e[GGA.QUALITY.position];
- if (!accu.isEmpty()) {
- int fixtype = Integer.parseInt(accu);
- switch(fixtype) {
- case 0:
- currentwp.put(GpxConstants.PT_FIX, "none");
- break;
- case 1:
- if (sat < 4) {
- currentwp.put(GpxConstants.PT_FIX, "2d");
- } else {
- currentwp.put(GpxConstants.PT_FIX, "3d");
- }
- break;
- case 2:
- currentwp.put(GpxConstants.PT_FIX, "dgps");
- break;
- case 3:
- currentwp.put(GpxConstants.PT_FIX, "pps");
- break;
- case 4:
- currentwp.put(GpxConstants.PT_FIX, "rtk");
- break;
- case 5:
- currentwp.put(GpxConstants.PT_FIX, "float rtk");
- break;
- case 6:
- currentwp.put(GpxConstants.PT_FIX, "estimated");
- break;
- case 7:
- currentwp.put(GpxConstants.PT_FIX, "manual");
- break;
- case 8:
- currentwp.put(GpxConstants.PT_FIX, "simulated");
- break;
- default:
- break;
- }
- }
- // reference ID
- if (GGA.REF.position < e.length) {
- accu = e[GGA.REF.position];
- if (!accu.isEmpty()) {
- currentwp.put(GpxConstants.PT_DGPSID, accu);
- }
- }
- } else if (isSentence(e[0], Sentence.VTG)) {
- // COURSE
- accu = e[VTG.COURSE_REF.position];
- if ("T".equals(accu)) {
- // other values than (T)rue are ignored
- accu = e[VTG.COURSE.position];
- if (!accu.isEmpty() && currentwp != null) {
- Double.parseDouble(accu);
- currentwp.put("course", accu);
- }
- }
- // SPEED
- accu = e[VTG.SPEED_KMH_UNIT.position];
- if (accu.startsWith("K")) {
- accu = e[VTG.SPEED_KMH.position];
- if (!accu.isEmpty() && currentwp != null) {
- double speed = Double.parseDouble(accu);
- currentwp.put("speed", Double.toString(speed)); // speed in km/h
- }
- }
- } else if (isSentence(e[0], Sentence.GSA)) {
- // vdop
- accu = e[GSA.VDOP.position];
- if (!accu.isEmpty() && currentwp != null) {
- currentwp.put(GpxConstants.PT_VDOP, Float.valueOf(accu));
- }
- // hdop
- accu = e[GSA.HDOP.position];
- if (!accu.isEmpty() && currentwp != null) {
- currentwp.put(GpxConstants.PT_HDOP, Float.valueOf(accu));
- }
- // pdop
- accu = e[GSA.PDOP.position];
- if (!accu.isEmpty() && currentwp != null) {
- currentwp.put(GpxConstants.PT_PDOP, Float.valueOf(accu));
- }
- } else if (isSentence(e[0], Sentence.RMC)) {
- // coordinates
- LatLon latLon = parseLatLon(
- e[RMC.WIDTH_NORTH_NAME.position],
- e[RMC.LENGTH_EAST_NAME.position],
- e[RMC.WIDTH_NORTH.position],
- e[RMC.LENGTH_EAST.position]
- );
- if (LatLon.ZERO.equals(latLon)) {
- ps.zeroCoord++;
- return false;
- }
- // time
- currentDate = e[RMC.DATE.position];
- String time = e[RMC.TIME.position];
-
- Instant instant = readTime(currentDate+time);
-
- if (ps.pTime == null || currentwp == null || !ps.pTime.equals(time)) {
- // this node is newer than the previous, create a new waypoint.
- ps.pTime = time;
- currentwp = new WayPoint(latLon);
- }
- // time: this sentence has complete time so always use it.
- currentwp.setInstant(instant);
- // speed
- accu = e[RMC.SPEED.position];
- if (!accu.isEmpty() && !currentwp.attr.containsKey("speed")) {
- double speed = Double.parseDouble(accu);
- speed *= 0.514444444 * 3.6; // to km/h
- currentwp.put("speed", Double.toString(speed));
- }
- // course
- accu = e[RMC.COURSE.position];
- if (!accu.isEmpty() && !currentwp.attr.containsKey("course")) {
- Double.parseDouble(accu);
- currentwp.put("course", accu);
- }
-
- // TODO fix?
- // * Mode (A = autonom; D = differential; E = estimated; N = not valid; S = simulated)
- // *
- // * @since NMEA 2.3
- //
- //MODE(12);
- } else if (isSentence(e[0], Sentence.GLL)) {
- // coordinates
- LatLon latLon = parseLatLon(
- e[GLL.LATITUDE_NS.position],
- e[GLL.LONGITUDE_EW.position],
- e[GLL.LATITUDE.position],
- e[GLL.LONGITUDE.position]
- );
- if (LatLon.ZERO.equals(latLon)) {
- ps.zeroCoord++;
- return false;
- }
- // only consider valid data
- if (!"A".equals(e[GLL.STATUS.position])) {
- return false;
- }
-
- // RMC sentences contain a full date while GLL sentences contain only time,
- // so create new waypoints only of the NMEA file does not contain RMC sentences
- if (ps.pTime == null || currentwp == null) {
- currentwp = new WayPoint(latLon);
- }
- } else {
- ps.unknown++;
- return false;
- }
- ps.pDate = currentDate;
- if (ps.pWp != currentwp) {
- if (ps.pWp != null) {
- ps.pWp.getInstant();
- }
- ps.pWp = currentwp;
- ps.waypoints.add(currentwp);
- ps.success++;
- return true;
- }
- return true;
-
- } catch (IllegalArgumentException | IndexOutOfBoundsException | IllegalDataException ex) {
- if (ps.malformed < 5) {
- Logging.warn(ex);
- } else {
- Logging.debug(ex);
- }
- ps.malformed++;
- ps.pWp = null;
- return false;
- }
- }
-
- private static LatLon parseLatLon(String ns, String ew, String dlat, String dlon) {
- String widthNorth = dlat.trim();
- String lengthEast = dlon.trim();
-
- // return a zero latlon instead of null so it is logged as zero coordinate
- // instead of malformed sentence
- if (widthNorth.isEmpty() && lengthEast.isEmpty()) return LatLon.ZERO;
-
- // The format is xxDDLL.LLLL
- // xx optional whitespace
- // DD (int) degres
- // LL.LLLL (double) latidude
- int latdegsep = widthNorth.indexOf('.') - 2;
- if (latdegsep < 0) return null;
-
- int latdeg = Integer.parseInt(widthNorth.substring(0, latdegsep));
- double latmin = Double.parseDouble(widthNorth.substring(latdegsep));
- if (latdeg < 0) {
- latmin *= -1.0;
- }
- double lat = latdeg + latmin / 60;
- if ("S".equals(ns)) {
- lat = -lat;
- }
-
- int londegsep = lengthEast.indexOf('.') - 2;
- if (londegsep < 0) return null;
-
- int londeg = Integer.parseInt(lengthEast.substring(0, londegsep));
- double lonmin = Double.parseDouble(lengthEast.substring(londegsep));
- if (londeg < 0) {
- lonmin *= -1.0;
- }
- double lon = londeg + lonmin / 60;
- if ("W".equals(ew)) {
- lon = -lon;
- }
- return new LatLon(lat, lon);
- }
-
@Override
public GpxData getGpxData() {