From d03325d4c8e4b3b4255d8145b9aeb42b413fe259 Mon Sep 17 00:00:00 2001
From: Adrien van den Bossche <vandenbo@univ-tlse2.fr>
Date: Mon, 20 Jul 2020 22:18:56 +0200
Subject: [PATCH] Add `valid_gnss_position` flag
---
arduino/Locapack/Locapack.cpp | 27 ++++++++++++++++++---------
arduino/Locapack/Locapack.h | 5 +++--
2 files changed, 21 insertions(+), 11 deletions(-)
diff --git a/arduino/Locapack/Locapack.cpp b/arduino/Locapack/Locapack.cpp
index 787edcd..8631142 100644
--- a/arduino/Locapack/Locapack.cpp
+++ b/arduino/Locapack/Locapack.cpp
@@ -134,16 +134,19 @@ int Locapack::decodePacket(protocol_version_t* protocol_version, uint8_t* moveme
}
-int Locapack::makeUniversalGnssPayload(float latitude, float longitude, bool altitude_present, float altitude,
+int Locapack::makeUniversalGnssPayload(bool valid_gnss_position, float latitude, float longitude, bool altitude_present, float altitude,
bool dop_present, float dop, uint8_t* buffer)
{
int len = 0;
- buffer[0] = (altitude_present == true ? 0x80 : 0) | (dop_present == true ? 0x40 : 0);
+ buffer[0] = (altitude_present == true ? 0x80 : 0) | (dop_present == true ? 0x40 : 0) | (valid_gnss_position == true ? 0x20 : 0);
len += 1;
-
- encodeFloat(latitude, &buffer[len]); len += 4;
- encodeFloat(longitude, &buffer[len]); len += 4;
+
+ if (valid_gnss_position)
+ {
+ encodeFloat(latitude, &buffer[len]); len += 4;
+ encodeFloat(longitude, &buffer[len]); len += 4;
+ }
if (altitude_present)
{
encodeFloat(altitude, &buffer[len]); len += 4;
@@ -156,16 +159,20 @@ int Locapack::makeUniversalGnssPayload(float latitude, float longitude, bool alt
}
-int Locapack::decodeUniversalGnssPayload(float* latitude, float* longitude, bool* altitude_present, float* altitude,
+int Locapack::decodeUniversalGnssPayload(bool* valid_gnss_position, float* latitude, float* longitude, bool* altitude_present, float* altitude,
bool* dop_present, float* dop, uint8_t* buffer)
{
int len = 0;
if (buffer[0] & 0x80) *altitude_present = true; else *altitude_present = false;
if (buffer[0] & 0x40) *dop_present = true; else *dop_present = false;
+ if (buffer[0] & 0x20) *valid_gnss_position = true; else *valid_gnss_position = false;
len += 1;
- *latitude = decodeFloat(&buffer[len]); len += 4;
- *longitude = decodeFloat(&buffer[len]); len += 4;
+ if (*valid_gnss_position)
+ {
+ *latitude = decodeFloat(&buffer[len]); len += 4;
+ *longitude = decodeFloat(&buffer[len]); len += 4;
+ }
if (*altitude_present)
{
*altitude = decodeFloat(&buffer[len]); len += 4;
@@ -185,6 +192,7 @@ int Locapack::createUniversalGnssPacket(universalGnssPacket_t* universalGnssPack
int payload_buffer_len = 0;
payload_buffer_len = makeUniversalGnssPayload(
+ universalGnssPacket->valid_gnss_position,
universalGnssPacket->latitude,
universalGnssPacket->longitude,
universalGnssPacket->altitude_present,
@@ -327,7 +335,8 @@ int Locapack::parseLocaPacket(locapacket_t* locapacket, uint8_t* buffer)
switch (packet_type)
{
case PACKET_TYPE_UNIVERSAL_GNSS:
- decoded_payload_len = decodeUniversalGnssPayload(&locapacket->universalGnssPacket.latitude,
+ decoded_payload_len = decodeUniversalGnssPayload(&locapacket->universalGnssPacket.valid_gnss_position,
+ &locapacket->universalGnssPacket.latitude,
&locapacket->universalGnssPacket.longitude,
&locapacket->universalGnssPacket.altitude_present,
&locapacket->universalGnssPacket.altitude,
diff --git a/arduino/Locapack/Locapack.h b/arduino/Locapack/Locapack.h
index 6b96708..7347edd 100644
--- a/arduino/Locapack/Locapack.h
+++ b/arduino/Locapack/Locapack.h
@@ -45,6 +45,7 @@ class Locapack {
/// @brief
///
typedef struct {
+ bool valid_gnss_position;
float latitude;
float longitude;
bool altitude_present;
@@ -149,14 +150,14 @@ class Locapack {
/// @brief
/// @param
///
- int makeUniversalGnssPayload(float latitude, float longitude, bool altitude_present, float altitude,
+ int makeUniversalGnssPayload(bool valid_gnss_position, float latitude, float longitude, bool altitude_present, float altitude,
bool dop_present, float dop, uint8_t* buffer);
///
/// @brief
/// @param
///
- int decodeUniversalGnssPayload(float* latitude, float* longitude, bool* altitude_present, float* altitude,
+ int decodeUniversalGnssPayload(bool* valid_gnss_position, float* latitude, float* longitude, bool* altitude_present, float* altitude,
bool* dop_present, float* dop, uint8_t* buffer);
///
--
GitLab