//
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// Created by YY on 2019/12/23.
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//
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#include <cstring>
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#include <cstdio>
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#include <cmath>
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#include <cstdlib>
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#include <cctype>
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#include <thread>
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#include "rtk.h"
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#include "parse_gps.h"
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#include "../common/serial_port.h"
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#include "../jni_log.h"
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#include "../driver_test.h"
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#include "../utils/num.h"
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#include "../defs.h"
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#include "../common/apptimer.h"
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#include "../rtk_platform/platform.h"
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#include "../native-lib.h"
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#include "virtual_rtk.h"
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#include "../mcu/mcu_if.h"
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#include "../mcu/ahp.h"
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#include "../utils/xconvert.h"
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#define DEBUG(fmt, args...) LOGD("<rtk> <%s>: " fmt, __func__, ##args)
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#define PARSE_BUFF_SIZE 4096
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const static char FACTORY[] = "FRESET\r\n";
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const static char REBOOT[] = "RESET\r\n";
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const static char INQ_PJK_PARAM[] = "LOG PJKPARA\r\n";
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const static char AY_PJKPARAM[] = "set pjkpara 6378137 298.257223563 29.51245330924 106.4553361945 0 0\r\n";
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const static char UNLOGALL[] = "unlogall\r\n";
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const static char IFCOM2[] = "interfacemode com2 auto auto on\r\n";
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const static char SAVECONFIG[] = "saveconfig\r\n";
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const static char *PJKITEMS[] = {"gptra", "ptnlpjk"};
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const static char *GPSITEMS[] = {"gpgga", "gprmc", "gpvtg"};
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const char CMD_VERSION[] = "log version\r\n";
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static gpsStatus_t gpsStatus;
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static char rtkModel[32] = {0};
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static bool needSetPjk = false;
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static int lostCnt;
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// 组合PJK和TRA的消息内容
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static struct {
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int year;
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int month;
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int day;
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int hour;
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int min;
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int sec;
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int millisec;
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int qf;
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double heading;
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double pitch;
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double roll;
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double x;
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double y;
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} xy_temp;
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static void CheckPjkParam(void);
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static void CheckPjkParamTimeout(apptimer_var_t val);
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static int WriteBluetooth(int id, const void *buf, int len);
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static void GetModuleVersion(void);
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static void VersionTimeout(apptimer_var_t val);
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static void GpsDataTimeout(apptimer_var_t val);
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// 蓝牙连接后
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void ConfigRTKModuleLater(void)
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{
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AppTimer_delete(GpsDataTimeout);
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AppTimer_delete(VersionTimeout);
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AppTimer_delete(CheckPjkParamTimeout);
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AppTimer_add(CheckPjkParamTimeout, D_SEC(1));
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}
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void FactorySettings(void)
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{
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WriteRtkCommand(FACTORY, strlen(FACTORY));
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}
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void RebootModule(void)
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{
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WriteRtkCommand(REBOOT, strlen(REBOOT));
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}
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void handleRTKRebootComp(const struct nmea *s)
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{
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DEBUG("RTK Reboot complete!!");
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// CheckPjkParam();
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GetModuleVersion();
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}
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void handlePJKParam(const struct nmea *s) {
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DEBUG("handlePJKParam");
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AppTimer_delete(CheckPjkParamTimeout);
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SetAYFactoryParam(5);
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needSetPjk = true;
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lostCnt = 0;
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AppTimer_delete(GpsDataTimeout);
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AppTimer_add(GpsDataTimeout, D_SEC(5));
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uint8_t buff[33];
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memcpy(buff, rtkModel, 32);
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buff[32] = 1;
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PlatformStatusChanged(RTK_STATUS_EVT, buff, 33);
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}
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void SetAYFactoryParam(int freq)
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{
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WriteRtkCommand(UNLOGALL, strlen(UNLOGALL));
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WriteRtkCommand(IFCOM2, strlen(IFCOM2));
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if (freq == 0)
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freq = 5;
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for (int i = 0; i < sizeof(PJKITEMS)/ sizeof(PJKITEMS[0]); ++i) {
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char cmd[64];
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sprintf(cmd, "log com1 %s ontime %0.1f\r\n", PJKITEMS[i], 1.0/(double)freq);
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WriteRtkCommand(cmd, strlen(cmd));
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}
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for (int i = 0; i < sizeof(GPSITEMS)/ sizeof(GPSITEMS[0]); ++i) {
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char cmd[64];
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sprintf(cmd, "log com1 %s ontime %0.1f\r\n", GPSITEMS[i], 1.0/(double)freq);
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WriteRtkCommand(cmd, strlen(cmd));
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}
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// WriteSerialPort(RTK_MODULE_UART, AY_PJKPARAM, strlen(AY_PJKPARAM));
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// WriteSerialPort(RTK_MODULE_UART, SAVECONFIG, strlen(SAVECONFIG));
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}
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void SetPjkPara(int centLon)
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{
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char buff[64];
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sprintf(buff, "set pjkpara 6378137 298.257223563 0 %d 0 500000\r\n", centLon);
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WriteRtkCommand(buff, strlen(buff));
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DEBUG("%s", buff);
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}
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void GetGpsStatus(gpsStatus_t &data)
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{
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data = gpsStatus;
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}
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void handleUnrecognisedNMEA(const uint8_t *data, uint16_t length) {
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char buff[4096] = {0};
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memcpy(buff, data, MIN(length, 4000));
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DEBUG("handleUnrecognisedNMEA: %s", buff);
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if (length >= 100) {
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string cs(buff);
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if (cs.find("K708") != string::npos) {
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// 最初的标准基站模块
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DEBUG("K708 模块");
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strcpy(rtkModel, "K708");
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AppTimer_delete(VersionTimeout);
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CheckPjkParam();
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} else if (cs.find("K726") != string::npos) {
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// 移动站模块，也可以用做基站功能
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DEBUG("K726 模块");
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strcpy(rtkModel, "K726");
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AppTimer_delete(VersionTimeout);
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CheckPjkParam();
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}
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}
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}
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static bool bbs = false;
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void handleGPGGA(const struct nmea *s)
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{
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static uint32_t qfCnt = 0;
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// DEBUG("handleGPGGA num = %d", s->nmea_num);
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if (s->nmea_num >= 10) {
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if (!bbs) {
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bbs = true;
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RebootModule();
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}
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lostCnt = 0;
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AppTimer_delete(GpsDataTimeout);
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AppTimer_add(GpsDataTimeout, D_SEC(5));
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gpsStatus.gps_status = str2int(s->nmea_value[5].data, s->nmea_value[5].length);
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int hh = str2int(s->nmea_value[0].data, 2);
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int mm = str2int(s->nmea_value[0].data + 2, 2);
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int ss = str2int(s->nmea_value[0].data + 4, 2);
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int mss = str2int(s->nmea_value[0].data + 7, 2);
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double lat1, lat2, lon1, lon2, alt;
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str2float(&lat1, s->nmea_value[1].data, 2);
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str2float(&lat2, s->nmea_value[1].data+2, s->nmea_value[1].length-2);
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str2float(&lon1, s->nmea_value[3].data, 3);
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str2float(&lon2, s->nmea_value[3].data+3, s->nmea_value[3].length-3);
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lat1 = lat1 + lat2/60.0;
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lon1 = lon1 + lon2/60.0;
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str2float(&alt, s->nmea_value[8].data, s->nmea_value[8].length);
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gpsStatus.latitude = lat1;
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gpsStatus.longitude = lon1;
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gpsStatus.altitude = alt;
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gpsStatus.satNum = str2int(s->nmea_value[6].data, s->nmea_value[6].length);
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if (hh == gpsStatus.hh && mm == gpsStatus.mm && ss == gpsStatus.ss && mss == gpsStatus.mss) {
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// 同步的RMC消息也收集了
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PlatformStatusChanged(GPS_UPDATE_EVT, (uint8_t *)&gpsStatus, sizeof(gpsStatus));
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}
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gpsStatus.hh = hh;
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gpsStatus.mm = mm;
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gpsStatus.ss = ss;
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gpsStatus.mss = mss;
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// 计算中央子午线
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int qf = str2int(s->nmea_value[5].data, s->nmea_value[5].length);
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if (qf > 0) {
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qfCnt++;
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if (needSetPjk && qfCnt >= 3) {
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needSetPjk = false;
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DEBUG("set pjkpara 原始经度 %f", lon1);
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SetPjkPara(((int) (lon1 / 3.0 + 0.5)) * 3);
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}
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} else {
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qfCnt = 0;
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}
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}
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}
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void handleGPGSA(const struct nmea *s) {
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}
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void handleGPGSV(const struct nmea *s) {
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}
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void handleGPRMC(const struct nmea *s)
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{
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// DEBUG("handleGPRMC num = %d", s->nmea_num);
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if (s->nmea_num >= 9) {
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int hh = str2int(s->nmea_value[0].data, 2);
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int mm = str2int(s->nmea_value[0].data + 2, 2);
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int ss = str2int(s->nmea_value[0].data + 4, 2);
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int mss = str2int(s->nmea_value[0].data + 7, 2);
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gpsStatus.DD = str2int(s->nmea_value[8].data, 2);
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gpsStatus.MM = str2int(s->nmea_value[8].data + 2, 2);
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gpsStatus.YY = str2int(s->nmea_value[8].data + 4, 2);
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double speed;
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str2float(&speed, s->nmea_value[6].data, s->nmea_value[6].length);
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gpsStatus.speed = speed * 1.85184; // 节 -> 公里
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double trackTure;
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str2float(&trackTure, s->nmea_value[7].data, s->nmea_value[7].length);
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gpsStatus.trackTure = trackTure;
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if (hh == gpsStatus.hh && mm == gpsStatus.mm && ss == gpsStatus.ss && mss == gpsStatus.mss) {
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// 同步的GGA消息也收集了
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PlatformStatusChanged(GPS_UPDATE_EVT, (uint8_t *)&gpsStatus, sizeof(gpsStatus));
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}
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gpsStatus.hh = hh;
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gpsStatus.mm = mm;
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gpsStatus.ss = ss;
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gpsStatus.mss = mss;
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}
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}
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const char *GPS_SOL_OK = "SOL_COMPUTED";
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const char *GPS_SOL_OBS = "INSUFFICIENT_OBS";
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const char *GPS_SOL_CS = "COLD_START";
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const char *GPS_POS_NONE = "NONE";
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const char *GPS_POS_FIX = "FIXEDPOS";
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const char *GPS_POS_SIG = "SINGLE";
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const char *GPS_POS_PDIFF = "PSRDIFF";
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const char *GPS_POS_NARF = "NARROW_FLOAT";
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const char *GPS_POS_WIDI = "WIDE_INT";
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const char *GPS_POS_NARI = "NARROW_INT";
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const char *GPS_POS_SWIDL = "SUPER WIDE-LANE";
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void handleBESTPOSA(const struct nmea *s) {
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DEBUG("handleBESTPOSA num = %d", s->nmea_num);
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double lat, lon;
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if (memcmp(s->nmea_value[0].data, GPS_SOL_OK, s->nmea_value[0].length)) {
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str2float(&lat, s->nmea_value[2].data, s->nmea_value[2].length);
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str2float(&lon, s->nmea_value[3].data, s->nmea_value[3].length);
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}
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}
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void handleGPVTG(const struct nmea *s) {
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}
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void handleGPGLL(const struct nmea *s) {
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}
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void handleGPZDA(const struct nmea *s) {
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}
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void handlePJK(const struct nmea *s) {
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// DEBUG("handlePJK num = %d", s->nmea_num);
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int hh = str2int(s->nmea_value[0].data, 2);
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int mm = str2int(s->nmea_value[0].data + 2, 2);
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int ss = str2int(s->nmea_value[0].data + 4, 2);
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int dss = str2int(s->nmea_value[0].data + 7, 2);
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xy_temp.month = str2int(s->nmea_value[1].data, 2);
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xy_temp.day = str2int(s->nmea_value[1].data + 2, 2);
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xy_temp.year = str2int(s->nmea_value[1].data + 4, 2);
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xy_temp.qf = str2int(s->nmea_value[6].data, s->nmea_value[6].length);
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// NOTE: RTK模块是以南北向为X轴，西东向为Y轴，我们交换下，以符合一般逻辑
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str2float(&xy_temp.y, s->nmea_value[2].data, s->nmea_value[2].length);
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str2float(&xy_temp.x, s->nmea_value[4].data, s->nmea_value[4].length);
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if (xy_temp.hour == hh && xy_temp.min == mm && xy_temp.sec == ss && xy_temp.millisec == dss) {
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rtk_info_t rtk;
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rtk.qf = xy_temp.qf;
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rtk.utc_time = static_cast<int64_t>(TimeMakeComposite(2000 + xy_temp.year, xy_temp.month, xy_temp.day, xy_temp.hour, xy_temp.min, xy_temp.sec))*static_cast<int64_t>(1000) + static_cast<int64_t>(dss*10);
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rtk.x = xy_temp.x;
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rtk.y = xy_temp.y;
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rtk.heading = xy_temp.heading;
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rtk.pitch = xy_temp.pitch;
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rtk.roll = xy_temp.roll;
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PlatformStatusChanged(RTK_UPDATE_EVT, (uint8_t *)&rtk, sizeof(rtk));
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}
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xy_temp.hour = hh;
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xy_temp.min = mm;
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xy_temp.sec = ss;
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xy_temp.millisec = dss;
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}
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void handleGPTRA(const struct nmea *s) {
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// DEBUG("handleGPTRA num = %d", s->nmea_num);
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int hh = str2int(s->nmea_value[0].data, 2);
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int mm = str2int(s->nmea_value[0].data + 2, 2);
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int ss = str2int(s->nmea_value[0].data + 4, 2);
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int dss = str2int(s->nmea_value[0].data + 7, 2);
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str2float(&xy_temp.heading, s->nmea_value[1].data, s->nmea_value[1].length);
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str2float(&xy_temp.pitch, s->nmea_value[2].data, s->nmea_value[2].length);
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str2float(&xy_temp.roll, s->nmea_value[3].data, s->nmea_value[3].length);
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if (xy_temp.hour == hh && xy_temp.min == mm && xy_temp.sec == ss && xy_temp.millisec == dss) {
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rtk_info_t rtk;
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rtk.qf = xy_temp.qf;
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rtk.utc_time = static_cast<int64_t>(TimeMakeComposite(2000 + xy_temp.year, xy_temp.month, xy_temp.day, xy_temp.hour, xy_temp.min, xy_temp.sec))*static_cast<int64_t>(1000) + static_cast<int64_t>(dss*10);
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rtk.x = xy_temp.x;
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rtk.y = xy_temp.y;
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rtk.heading = xy_temp.heading;
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rtk.pitch = xy_temp.pitch;
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rtk.roll = xy_temp.roll;
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PlatformStatusChanged(RTK_UPDATE_EVT, (uint8_t *)&rtk, sizeof(rtk));
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}
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xy_temp.hour = hh;
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xy_temp.min = mm;
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xy_temp.sec = ss;
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xy_temp.millisec = dss;
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}
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static void CheckPjkParam(void)
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{
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WriteRtkCommand(INQ_PJK_PARAM, strlen(INQ_PJK_PARAM));
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DEBUG("获取PJK参数...");
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AppTimer_delete(CheckPjkParamTimeout);
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AppTimer_add(CheckPjkParamTimeout, D_SEC(3));
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}
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static void CheckPjkParamTimeout(apptimer_var_t val) {
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DEBUG("获取PJK参数超时");
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uint8_t buff[33];
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memcpy(buff, rtkModel, 32);
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buff[32] = 0;
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PlatformStatusChanged(RTK_STATUS_EVT, buff, 33);
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GetModuleVersion();
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}
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static int WriteBluetooth(int id, const void *buf, int len)
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{
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// SendToBluetooth((uint8_t *)buf, len);
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// SendMcuCommand(0x000B, (uint8_t *)buf, len);
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return len;
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}
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static void GetModuleVersion(void)
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{
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AppTimer_delete(VersionTimeout);
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AppTimer_add(VersionTimeout, D_SEC(3));
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WriteRtkCommand(CMD_VERSION, strlen(CMD_VERSION));
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DEBUG("获取版本...");
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}
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static void VersionTimeout(apptimer_var_t val)
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{
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DEBUG("版本获取超时");
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GetModuleVersion();
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uint8_t buff[33];
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memcpy(buff, rtkModel, 32);
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buff[32] = 0;
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PlatformStatusChanged(RTK_STATUS_EVT, buff, 33);
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}
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static void GpsDataTimeout(apptimer_var_t val)
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{
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if (++lostCnt >= 3) {
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DEBUG("RTK模块收不到GPS数据");
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GetModuleVersion();
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} else {
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AppTimer_add(GpsDataTimeout, D_SEC(5));
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}
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}
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