diff options
| -rw-r--r-- | host/lib/usrp/gpsd_iface.cpp | 63 |
1 files changed, 62 insertions, 1 deletions
diff --git a/host/lib/usrp/gpsd_iface.cpp b/host/lib/usrp/gpsd_iface.cpp index 5dbeebb97..dbf04c348 100644 --- a/host/lib/usrp/gpsd_iface.cpp +++ b/host/lib/usrp/gpsd_iface.cpp @@ -64,7 +64,8 @@ public: _bthread.swap(t); - _sensors = boost::assign::list_of("gps_locked")("gps_time")("gps_position")("gps_gprmc"); + _sensors = boost::assign::list_of("gps_locked")("gps_time") \ + ("gps_position")("gps_gpgga")("gps_gprmc"); } virtual ~gpsd_iface_impl(void) @@ -90,6 +91,9 @@ public: } else if (key == "gps_time") { return sensor_value_t( "GPS epoch time", int(_epoch_time()), "seconds"); + } else if (key == "gps_gpgga") { + return sensor_value_t( + "GPGGA", _gps_gpgga(), ""); } else if (key == "gps_gprmc") { return sensor_value_t( "GPRMC", _gps_gprmc(), ""); @@ -227,6 +231,63 @@ private: // member functions return string; } + std::string _gps_gpgga(void) + { + struct tm tm; + time_t intfixtime; + + // currently not supported, make it blank + float mag_var = NAN; + + boost::shared_lock<boost::shared_mutex> l(_d_mutex); + + intfixtime = (time_t) _gps_data.fix.time; + (void) gmtime_r(&intfixtime, &tm); + + std::string string = str(boost::format( + "$GPGGA,%02d%02d%02d,%09.4f,%c,%010.4f,%c,%d,%02d,") + % tm.tm_hour + % tm.tm_min + % tm.tm_sec + % _deg_to_dm(std::fabs(_gps_data.fix.latitude)) + % ((_gps_data.fix.latitude > 0) ? 'N' : 'S') + % _deg_to_dm(std::fabs(_gps_data.fix.longitude)) + % ((_gps_data.fix.longitude > 0) ? 'E' : 'W') + % _gps_data.status + % _gps_data.satellites_used); + + if (std::isnan(_gps_data.dop.hdop)) + string.append(","); + else + string.append( + str(boost::format("%.2f,") % _gps_data.dop.hdop)); + + if (std::isnan(_gps_data.fix.altitude)) + string.append(","); + else + string.append( + str(boost::format("%.2f,M,") % _gps_data.fix.altitude)); + + if (std::isnan(_gps_data.separation)) + string.append(","); + else + string.append( + str(boost::format("%.3f,M,") % _gps_data.separation)); + + if (std::isnan(mag_var)) + string.append(","); + else { + string.append( + str(boost::format("%3.2f,%s") % std::fabs(mag_var) + % (mag_var > 0 ? "E" : "W"))); + } + + string.append(str( + boost::format("*%02X") % _nmea_checksum(string))); + + return string; + } + private: // members std::vector<std::string> _sensors; bool _detected; |