garmin_api.c

It is a software to decode information received by a normal GPS like GARMIN, UBLOX if it sends NMEA

#include <termios.h> 
#include <string.h>                                                        
#include <stdio.h>  
#include <stdlib.h>                                                         
#include <unistd.h>                                                          
#include <fcntl.h>                                                           
#include <sys/signal.h>                                                      
#include <sys/types.h>
#include <sys/stat.h>
#include <fcntl.h>
#include <errno.h>
#include "garmin_api.h"



//inicializar variáveis com filas
GPALM GPALM_VAR=NULL;
GPGSV GPGSV_VAR=NULL;
//inicializar variáveis sem filas
PGRMI PGRMI_VAR;
PGRMC PGRMC_VAR;
PGRMC1 PGRMC1_VAR;
PGRMO PGRMO_VAR;
GPGGA GPGGA_VAR;
GPGSA GPGSA_VAR;
GPRMC GPRMC_VAR;
GPVTG GPVTG_VAR;
GPGLL GPGLL_VAR;
PGRME PGRME_VAR;
PGRMF PGRMF_VAR;
PGRMT PGRMT_VAR;
PGRMV PGRMV_VAR;
PGRMB PGRMB_VAR;
sat_info satelites;
pos_info position;


/*
int main()
{
	
	nmea_in("$GPRMC,170505,A,4011.1868,N,00825.0232,W,000.0,015.1,230908,004.0,W*7E");
	nmea_in("$GPGGA,170505,4011.1868,N,00825.0232,W,1,06,2.0,40.0,M,51.3,M,,*6E");
	nmea_in("$GPGSA,A,3,03,06,,16,18,,,22,31,,,,2.4,2.0,1.0*3E");
	nmea_in("$GPGSV,3,1,11,03,49,291,52,06,63,303,51,14,19,163,00,16,40,356,47*76");
	nmea_in("$GPGSV,3,2,11,18,32,067,49,19,05,293,00,21,17,026,00,22,56,113,45*79");
	nmea_in("$GPGSV,3,3,11,31,16,189,45,33,43,191,49,34,00,000,00*49");
	
	nmea_in("$GPGSV,3,1,11,03,49,291,52,06,63,303,51,14,19,163,00,16,40,356,47*76");
	nmea_in("$GPGSV,3,2,11,18,32,067,49,19,05,293,00,21,17,026,00,22,56,113,45*79");
	print(10);
	return 0;
}
*/

	
	
int nmea_in(char *message)
{
	char string[1000];
	strcpy(string,message);
	char *command, *parameter[50];	
	int n_par=0;
	int i,a;	
	
	
	
	//if(correct_stc(&message[0]))
	//{	
		a=strlen(string);
		for(i=0;i<=a;i++)
		{
					
			if(string[i]==36)
			{			
				string[i]=0;
				command=&string[i+1];
			}else if(string[i]==44)
			{
				/*if(string[i+1]==42)
				{
					string[i+1]=0;
					break;
				}else*/ 
					string[i]=0;
					parameter[n_par]=&string[i+1];				
					n_par++;			
			}
			if(string[i]==42) {			
				string[i]=0;
				break;
			}		
		}	
		
		
		
		/*
		printf("\nCommand %s\nParameters:",command);	
		//printf("\nParameter 1 %s",parameter[0]);
		for(i=0;i<n_par;i++)
		{
			printf("\n%d - %s",i,parameter[i]);
		}
		*/
		
					
		if(strcmp("GPALM",command)==0){
			//printf("\nGlobal Positioning System Almanac Data (ALM)");
			if(strcmp(parameter[1],"1")==0)
			{
				//indica a chegada de uma nova mensagem logo apaga a informação ja existente
				inic_GPALM(&GPALM_VAR);
				inserir_GPALM(&GPALM_VAR,n_par,&parameter[0]);
			}else 
			inserir_GPALM(&GPALM_VAR,n_par,&parameter[0]);
		}else if(strcmp("GPGGA",command)==0){
			//printf("\nGlobal Positioning System Fix Data (GGA)");
			inserir_GPGGA(&GPGGA_VAR,n_par,&parameter[0]);
		}else if(strcmp("GPGSA",command)==0){
			//printf("\nGPS DOP and Active Satellites (GSA)");
			inserir_GPGSA(&GPGSA_VAR,n_par,&parameter[0]);
		}else if(strcmp("GPGSV",command)==0){
			//printf("\nGPS Satellites in View (GSV)");
			if(strcmp(parameter[1],"1")==0) limpa_sat_info();
			insert_sat_info(n_par,&parameter[0]);
			if(strcmp(parameter[1],"1")==0)
			{
				//indica a chegada de uma nova mensagem logo apaga a informação ja existente
				inic_GPGSV(&GPGSV_VAR);
				inserir_GPGSV(&GPGSV_VAR,n_par,&parameter[0]);
			}else 
			inserir_GPGSV(&GPGSV_VAR,n_par,&parameter[0]);
		}else if(strcmp("GPRMC",command)==0){	
			//printf("\nRecommended Minimum Specific GPS/TRANSIT Data (RMC)");					
			inserir_GPRMC(& GPRMC_VAR,n_par,&parameter[0]);
		}else if(strcmp("GPVTG",command)==0){
			//printf("\nTrack Made Good and Ground Speed (VTG)");
			inserir_GPVTG(&GPVTG_VAR,n_par,&parameter[0]);
		}else if(strcmp("GPGLL",command)==0){
			//printf("\nGeographic Position (GLL)");
			inserir_GPGLL(&GPGLL_VAR,n_par,&parameter[0]);
		}else if(strcmp("PGRME",command)==0){
			//printf("\nEstimated Error Information (PGRME)");
			inserir_PGRME(&PGRME_VAR,n_par,&parameter[0]);
		}else if(strcmp("PGRMF",command)==0){
			//printf("\nGPS Fix Data Sentence (PGRMF)");
			inserir_PGRMF(&PGRMF_VAR,n_par,&parameter[0]);
		}else if(strcmp("PGRMT",command)==0){
			//printf("\nSensor Status Information (PGRMT)");
			inserir_PGRMT(&PGRMT_VAR,n_par,&parameter[0]);
		}else if(strcmp("PGRMV",command)==0){
			//printf("\n3D Velocity Information (PGRMV)");
			inserir_PGRMV(&PGRMV_VAR,n_par,&parameter[0]);
		}else if(strcmp("PGRMB",command)==0){
			//printf("\nDGPS Beacon Information (PGRMB)");
			inserir_PGRMB(&PGRMB_VAR,n_par,&parameter[0]);
		}else if(strcmp("PGRMI",command)==0){
			//printf("\nSensor Initialization Information (PGRMI)");
			inserir_PGRMI(&PGRMI_VAR,n_par,&parameter[0]);
		}else if(strcmp("PGRMC",command)==0){
			//printf("\nSensor Configuration Information (PGRMC)");
			inserir_PGRMC(&PGRMC_VAR,n_par,&parameter[0]);
		}else if(strcmp("PGRMC1",command)==0){
			//printf("\nAdditional Sensor Configuration Information (PGRMC1)");
			inserir_PGRMC1(&PGRMC1_VAR,n_par,&parameter[0]);
		}else if(strcmp("PGRMO",command)==0){
			//printf("\nOutput Sentence Enable/Disable (PGRMO)");
			inserir_PGRMO(&PGRMO_VAR,n_par,&parameter[0]);
		}else {
			//printf("\nERROR\n%s ---> Sentence don't exist in memory",message);
				}	
				
	//}	
	return 0;
}

void inic_GPALM(GPALM *fila)
{
	*fila=NULL;
}

void inic_GPGSV(GPGSV *fila)
{
	*fila=NULL;
}

/*
void carrega_GPALM(int argc,char *argv[],GPALM *fila)
{
	
	if(strcmp(argv[1],"1")==0)
	{
		//indica a chegada de uma nova mensagem logo apaga a informação ja existente
		inic(fila);
		inserir_GPALM(fila,argc,&argv[0]);
	}
	else 
		inserir_GPALM(fila,argc,&argv[0]);
				
}
*/

void inserir_GPALM(GPALM *fila, int argc,char *argv[])
{
	if(*fila==NULL)
	{
		*fila=(GPALM) malloc(sizeof(GPALM_TYP));
		if (*fila==NULL) return;
		if(argv[0]!=NULL) strcpy((*fila)->n_1,argv[0]);
		if(argv[1]!=NULL) strcpy((*fila)->n_2,argv[1]);
		if(argv[2]!=NULL) strcpy((*fila)->n_3,argv[2]);
		if(argv[3]!=NULL) strcpy((*fila)->n_4,argv[3]);
		if(argv[4]!=NULL) strcpy((*fila)->n_5,argv[4]);
		if(argv[5]!=NULL) strcpy((*fila)->n_6,argv[5]);
		if(argv[6]!=NULL) strcpy((*fila)->n_7,argv[6]);
		if(argv[7]!=NULL) strcpy((*fila)->n_8,argv[7]);
		if(argv[8]!=NULL) strcpy((*fila)->n_9,argv[8]);
		if(argv[9]!=NULL) strcpy((*fila)->n_10,argv[9]);
		if(argv[10]!=NULL) strcpy((*fila)->n_11,argv[10]);
		if(argv[11]!=NULL) strcpy((*fila)->n_12,argv[11]);
		if(argv[12]!=NULL) strcpy((*fila)->n_13,argv[12]);
		if(argv[13]!=NULL) strcpy((*fila)->n_14,argv[13]);
		if(argv[14]!=NULL) strcpy((*fila)->n_15,argv[14]);
		
		int fd = open("./GPALM", O_CREAT | O_APPEND | O_WRONLY , S_IRUSR | S_IWUSR );
		if (fd < 0){
			printf("open error: %s\n", strerror(errno));
			_exit(0);
		}

		int bytes_written = write(fd,(*fila), sizeof(GPALM_TYP));
		if (bytes_written < 0){
			printf("\nwrite error: %s\n", strerror(errno));
			_exit(0);
			}
		
		close(fd);
		
		(**fila).prox=NULL;
	}else
	{
		inserir_GPALM(&(**fila).prox,argc, &argv[0]);
	}
	
	
} 

void inserir_GPGSV(GPGSV *fila, int argc,char *argv[])
{
	if(*fila==NULL)
	{
		*fila=(GPGSV) malloc(sizeof(GPGSV_TYP));
		if (*fila==NULL) return;
		if(argv[0]!=NULL) strcpy((*fila)->n_1,argv[0]);
		if(argv[1]!=NULL) strcpy((*fila)->n_2,argv[1]);
		if(argv[2]!=NULL) strcpy((*fila)->n_3,argv[2]);
		if(argv[3]!=NULL) strcpy((*fila)->n_4,argv[3]);
		if(argv[4]!=NULL) strcpy((*fila)->n_5,argv[4]);
		if(argv[5]!=NULL) strcpy((*fila)->n_6,argv[5]);
		if(argv[6]!=NULL) strcpy((*fila)->n_7,argv[6]);
		
		int fd = open("./GPGSV", O_CREAT | O_APPEND | O_WRONLY , S_IRUSR | S_IWUSR );
		if (fd < 0){
			printf("open error: %s\n", strerror(errno));
			_exit(0);
		}

		int bytes_written = write(fd,(*fila), sizeof(GPGSV_TYP));
		if (bytes_written < 0){
			printf("\nwrite error: %s\n", strerror(errno));
			_exit(0);
			}
		
		close(fd);
		
		
	}else
	{
		inserir_GPGSV(&(**fila).prox,argc, &argv[0]);
	}
	
	
	
} 

void listar_GPALM(GPALM fila)
{
	if(fila==NULL) return;
	
	printf("\nnumero de setenças: %s\nsetenca actual: %s",fila->n_1,fila->n_2);
	listar_GPALM(fila->prox);
}

void listar_GPGSV(GPGSV fila)
{
	if(fila==NULL) return;
	
	printf("\nnumero de setenças: %s\nsetenca actual: %s",fila->n_1,fila->n_2);
	listar_GPGSV(fila->prox);
}

void inserir_PGRMI(PGRMI *estrutura, int argc,char *argv[])
{
	if(argv[0]!=NULL) strcpy(estrutura->n_1,argv[0]);
	if(argv[2]!=NULL) strcpy(estrutura->n_2,argv[1]);
	if(argv[3]!=NULL) strcpy(estrutura->n_3,argv[2]);
	if(argv[4]!=NULL) strcpy(estrutura->n_4,argv[3]);
	if(argv[5]!=NULL) strcpy(estrutura->n_5,argv[4]);
	if(argv[6]!=NULL) strcpy(estrutura->n_6,argv[5]);
	if(argv[7]!=NULL) strcpy(estrutura->n_7,argv[6]);
	

	int fd = open("./PGRMI", O_CREAT | O_APPEND | O_WRONLY , S_IRUSR | S_IWUSR );
	if (fd < 0){
		printf("open error: %s\n", strerror(errno));
		_exit(0);
	}

	int bytes_written = write(fd,&estrutura, sizeof(PGRMI));
	if (bytes_written < 0){
		printf("\nwrite error: %s\n", strerror(errno));
		_exit(0);
		}
	
	close(fd);
		
}

void inserir_PGRMC(PGRMC *estrutura, int argc,char *argv[])
{
	
	if(argv[0]!=NULL) strcpy(estrutura->n_1,argv[0]);
	if(argv[1]!=NULL) strcpy(estrutura->n_2,argv[1]);
	if(argv[2]!=NULL) strcpy(estrutura->n_3,argv[2]);
	if(argv[3]!=NULL) strcpy(estrutura->n_4,argv[3]);
	if(argv[4]!=NULL) strcpy(estrutura->n_5,argv[4]);
	if(argv[5]!=NULL) strcpy(estrutura->n_6,argv[5]);
	if(argv[6]!=NULL) strcpy(estrutura->n_7,argv[6]);
	if(argv[7]!=NULL) strcpy(estrutura->n_8,argv[7]);
	if(argv[8]!=NULL) strcpy(estrutura->n_9,argv[8]);
	if(argv[9]!=NULL) strcpy(estrutura->n_10,argv[9]);
	if(argv[10]!=NULL) strcpy(estrutura->n_11,argv[10]);
	if(argv[11]!=NULL) strcpy(estrutura->n_12,argv[11]);
	if(argv[12]!=NULL) strcpy(estrutura->n_13,argv[12]);
	if(argv[13]!=NULL) strcpy(estrutura->n_14,argv[13]);
	

	int fd = open("./PGRMC", O_CREAT | O_APPEND | O_WRONLY , S_IRUSR | S_IWUSR );
	if (fd < 0){
		printf("open error: %s\n", strerror(errno));
		_exit(0);
	}

	int bytes_written = write(fd,&estrutura, sizeof(PGRMC));
	if (bytes_written < 0){
		printf("\nwrite error: %s\n", strerror(errno));
		_exit(0);
		}
	
	close(fd);
		
}

void inserir_PGRMC1(PGRMC1 *estrutura, int argc,char *argv[])
{
	if(argv[0]!=NULL) strcpy(estrutura->n_1,argv[0]);
	if(argv[1]!=NULL) strcpy(estrutura->n_2,argv[1]);
	if(argv[2]!=NULL) strcpy(estrutura->n_3,argv[2]);
	if(argv[3]!=NULL) strcpy(estrutura->n_4,argv[3]);
	if(argv[4]!=NULL) strcpy(estrutura->n_5,argv[4]);
	if(argv[5]!=NULL) strcpy(estrutura->n_6,argv[5]);
	if(argv[6]!=NULL) strcpy(estrutura->n_7,argv[6]);
	if(argv[7]!=NULL) strcpy(estrutura->n_8,argv[7]);
	if(argv[8]!=NULL) strcpy(estrutura->n_9,argv[8]);
	if(argv[9]!=NULL) strcpy(estrutura->n_10,argv[9]);
	if(argv[10]!=NULL) strcpy(estrutura->n_11,argv[10]);
	if(argv[11]!=NULL) strcpy(estrutura->n_12,argv[11]);
	if(argv[12]!=NULL) strcpy(estrutura->n_13,argv[12]);
	

	int fd = open("./PGRMC1", O_CREAT | O_APPEND | O_WRONLY , S_IRUSR | S_IWUSR );
	if (fd < 0){
		printf("open error: %s\n", strerror(errno));
		_exit(0);
	}

	int bytes_written = write(fd,&estrutura, sizeof(PGRMC1));
	if (bytes_written < 0){
		printf("\nwrite error: %s\n", strerror(errno));
		_exit(0);
		}
	
	close(fd);
	
}

void inserir_PGRMO(PGRMO *estrutura, int argc,char *argv[])
{
	if(argv[0]!=NULL) strcpy(estrutura->n_1,argv[0]);
	if(argv[1]!=NULL) strcpy(estrutura->n_2,argv[1]);
	

	int fd = open("./PGRMO", O_CREAT | O_APPEND | O_WRONLY , S_IRUSR | S_IWUSR );
	if (fd < 0){
		printf("open error: %s\n", strerror(errno));
		_exit(0);
	}

	int bytes_written = write(fd,&estrutura, sizeof(PGRMO));
	if (bytes_written < 0){
		printf("\nwrite error: %s\n", strerror(errno));
		_exit(0);
		}
	
	close(fd);
	
}

void inserir_GPGGA(GPGGA *estrutura, int argc,char *argv[])
{
	if(argv[0]!=NULL) strcpy(estrutura->n_1,argv[0]);
	if(argv[1]!=NULL) strcpy(estrutura->n_2,argv[1]);
	if(argv[2]!=NULL) strcpy(estrutura->n_3,argv[2]);
	if(argv[3]!=NULL) strcpy(estrutura->n_4,argv[3]);
	if(argv[4]!=NULL) strcpy(estrutura->n_5,argv[4]);
	if(argv[5]!=NULL) strcpy(estrutura->n_6,argv[5]);
	if(argv[6]!=NULL) strcpy(estrutura->n_7,argv[6]);