garmin_api_1ver.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;


/*
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[30];	
	int n_par=0;
	int i,a;	
	//printf("\n%s",message);
	a=strlen(string);
	for(i=0;i<=a;i++)
	{
		//printf("\n %d de %d - %c - %d",i,a,string[i],string[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;
		strcpy((*fila)->n_1,argv[0]);
		strcpy((*fila)->n_2,argv[1]);
		strcpy((*fila)->n_3,argv[2]);
		strcpy((*fila)->n_4,argv[3]);
		strcpy((*fila)->n_5,argv[4]);
		strcpy((*fila)->n_6,argv[5]);
		strcpy((*fila)->n_7,argv[6]);
		strcpy((*fila)->n_8,argv[7]);
		strcpy((*fila)->n_9,argv[8]);
		strcpy((*fila)->n_10,argv[9]);
		strcpy((*fila)->n_11,argv[10]);
		strcpy((*fila)->n_12,argv[11]);
		strcpy((*fila)->n_13,argv[12]);
		strcpy((*fila)->n_14,argv[13]);
		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;
		strcpy((*fila)->n_1,argv[0]);
		strcpy((*fila)->n_2,argv[1]);
		strcpy((*fila)->n_3,argv[2]);
		strcpy((*fila)->n_4,argv[3]);
		strcpy((*fila)->n_5,argv[4]);
		strcpy((*fila)->n_6,argv[5]);
		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[])
{
	strcpy(estrutura.n_1,argv[0]);
	strcpy(estrutura.n_2,argv[1]);
	strcpy(estrutura.n_3,argv[2]);
	strcpy(estrutura.n_4,argv[3]);
	strcpy(estrutura.n_5,argv[4]);
	strcpy(estrutura.n_6,argv[5]);
	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[])
{
	
	strcpy(estrutura.n_1,argv[0]);
	strcpy(estrutura.n_2,argv[1]);
	strcpy(estrutura.n_3,argv[2]);
	strcpy(estrutura.n_4,argv[3]);
	strcpy(estrutura.n_5,argv[4]);
	strcpy(estrutura.n_6,argv[5]);
	strcpy(estrutura.n_7,argv[6]);
	strcpy(estrutura.n_8,argv[7]);
	strcpy(estrutura.n_9,argv[8]);
	strcpy(estrutura.n_10,argv[9]);
	strcpy(estrutura.n_11,argv[10]);
	strcpy(estrutura.n_12,argv[11]);
	strcpy(estrutura.n_13,argv[12]);
	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[])
{
	strcpy(estrutura.n_1,argv[0]);
	strcpy(estrutura.n_2,argv[1]);
	strcpy(estrutura.n_3,argv[2]);
	strcpy(estrutura.n_4,argv[3]);
	strcpy(estrutura.n_5,argv[4]);
	strcpy(estrutura.n_6,argv[5]);
	strcpy(estrutura.n_7,argv[6]);
	strcpy(estrutura.n_8,argv[7]);
	strcpy(estrutura.n_9,argv[8]);
	strcpy(estrutura.n_10,argv[9]);
	strcpy(estrutura.n_11,argv[10]);
	strcpy(estrutura.n_12,argv[11]);
	strcpy(estrutura.n_13,argv[12]);
	

	int fd = open("./PGRMC1", O_CREAT | O_APPEND | O_WRONLY , S_IRUSR | S_IWUSR );
	if (fd < 0){