diff --git a/LICENSE b/LICENSE index 0273d99..c670e16 100644 --- a/LICENSE +++ b/LICENSE @@ -1,21 +1,190 @@ -MIT License + Apache License + Version 2.0, January 2004 + http://www.apache.org/licenses/ -Copyright (c) 2024 Richard Patching + TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: + 1. 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In no event and under no legal theory, + whether in tort (including negligence), contract, or otherwise, + unless required by applicable law (such as deliberate and grossly + negligent acts) or agreed to in writing, shall any Contributor be + liable to You for damages, including any direct, indirect, special, + incidental, or consequential damages of any character arising as a + result of this License or out of the use or inability to use the + Work (including but not limited to damages for loss of goodwill, + work stoppage, computer failure or malfunction, or any and all + other commercial damages or losses), even if such Contributor + has been advised of the possibility of such damages. + + 9. Accepting Warranty or Additional Liability. While redistributing + the Work or Derivative Works thereof, You may choose to offer, + and charge a fee for, acceptance of support, warranty, indemnity, + or other liability obligations and/or rights consistent with this + License. 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+use aniker_gps::gps::{is_valid_nmea_sentence, parse_gll}; +use aniker_gps::{parse_gga, GpsError, Position}; use esp_idf_hal::peripherals::Peripherals; use esp_idf_hal::prelude::*; use esp_idf_hal::uart::{UartConfig, UartDriver}; @@ -22,79 +23,22 @@ fn decimal_to_dms(decimal: f32) -> (i32, i32, f32) { (degrees, minutes, seconds) } -fn format_coordinates(lat: f32, long: f32) -> String { - // Decimal degrees (DD) - let dd = format!("Decimal degrees (DD): {:.5}, {:.5}", lat, long); - - // Degrees, minutes and seconds (DMS) - let (lat_deg, lat_min, lat_sec) = decimal_to_dms(lat); - let (long_deg, long_min, long_sec) = decimal_to_dms(long); - let dms = format!( - "Degrees, minutes and seconds (DMS): {}°{}'{:.1}\"{}, {}°{}'{:.1}\"{}", - lat_deg, - lat_min, - lat_sec, - if lat >= 0.0 { "N" } else { "S" }, - long_deg, - long_min, - long_sec, - if long >= 0.0 { "E" } else { "W" } - ); - - // Degrees and decimal minutes (DMM) - let dmm = format!( - "Degrees and decimal minutes (DMM): {} {:.4}, {} {:.4}", - lat_deg, - (lat.abs() - lat_deg as f32) * 60.0, - long_deg, - (long.abs() - long_deg as f32) * 60.0 - ); - - format!("{}\n{}\n{}", dd, dms, dmm) -} - -fn parse_gll(sentence: &str) -> Option<(f32, f32)> { - let parts: Vec<&str> = sentence.split(',').collect(); - if parts.len() < 7 { - return None; - } - - // Parse latitude (DDMM.MMMM format) - if let (Ok(lat_deg), Ok(lat_min)) = (parts[1][..2].parse::(), parts[1][2..].parse::()) - { - let lat = lat_deg + lat_min / 60.0; - let lat = if parts[2] == "S" { -lat } else { lat }; - - // Parse longitude (DDDMM.MMMM format) - if let (Ok(long_deg), Ok(long_min)) = - (parts[3][..3].parse::(), parts[3][3..].parse::()) - { - let long = long_deg + long_min / 60.0; - let long = if parts[4] == "W" { -long } else { long }; - - return Some((lat, long)); +fn format_coordinate_dms(value: f32, is_longitude: bool) -> String { + let (deg, min, sec) = decimal_to_dms(value); + let direction = if is_longitude { + if value >= 0.0 { + "E" + } else { + "W" } - } - None -} - -fn is_valid_nmea_sentence(sentence: &str) -> bool { - // Check if sentence starts with $ and ends with * followed by checksum - if !sentence.starts_with('$') || !sentence.contains('*') { - return false; - } - - // Check if sentence has at least 6 characters (minimum valid NMEA length) - if sentence.len() < 6 { - return false; - } - - // Check if sentence has at least one comma (all NMEA sentences have fields) - if !sentence.contains(',') { - return false; - } - - true + } else { + if value >= 0.0 { + "N" + } else { + "S" + } + }; + format!("{}°{}'{:.1}\"{}", deg, min, sec, direction) } fn main() -> Result<(), Box> { @@ -145,7 +89,7 @@ fn main() -> Result<(), Box> { let mut last_data_time = 0; let start_time = 0; let mut partial_sentence = String::new(); - let mut last_position: Option<(f32, f32)> = None; + let mut last_position: Option = None; loop { let current_time = last_data_time + 1; @@ -177,9 +121,19 @@ fn main() -> Result<(), Box> { match parse_gga(&mut sentence.clone()) { Ok(position) => { info!("Successfully parsed GPS data from GGA:"); - info!("{}", format_coordinates(position.lat, position.long)); - info!(" Altitude: {:.1} meters", position.alt); - last_position = Some((position.lat, position.long)); + info!( + "Latitude: {}", + format_coordinate_dms(position.lat, false) + ); + info!( + "Longitude: {}", + format_coordinate_dms(position.long, true) + ); + info!( + " Altitude: {:.1} {}", + position.alt, position.altitude_unit + ); + last_position = Some(position); } Err(e) => { info!("Error parsing GGA sentence:"); @@ -198,10 +152,34 @@ fn main() -> Result<(), Box> { } } } else if sentence.starts_with("$GPGLL") { - if let Some((lat, long)) = parse_gll(&sentence) { - info!("Successfully parsed GPS data from GLL:"); - info!("{}", format_coordinates(lat, long)); - last_position = Some((lat, long)); + match parse_gll(&sentence) { + Ok(position) => { + info!("Successfully parsed GPS data from GLL:"); + info!( + "Latitude: {}", + format_coordinate_dms(position.lat, false) + ); + info!( + "Longitude: {}", + format_coordinate_dms(position.long, true) + ); + last_position = Some(position); + } + Err(e) => { + info!("Error parsing GLL sentence:"); + match e { + GpsError::InvalidMessageType => { + info!(" Invalid message type, expected GLL") + } + GpsError::InvalidLength => { + info!(" Invalid GLL sentence length") + } + GpsError::ParseError(msg) => { + info!(" Parse error: {}", msg) + } + GpsError::Other(msg) => info!(" Other error: {}", msg), + } + } } } else if sentence.starts_with("$GPRMC") { // Parse RMC for speed and course @@ -224,8 +202,10 @@ fn main() -> Result<(), Box> { partial_sentence.clear(); } - if last_position != None { - info!("Last position: {:?}", last_position); + if let Some(position) = &last_position { + info!("Last position:"); + info!("Latitude: {}", format_coordinate_dms(position.lat, false)); + info!("Longitude: {}", format_coordinate_dms(position.long, true)); } // Add a small delay between reads to prevent buffer overflow