Révision 408
Ajouté par Lea DUVIVIER il y a environ 3 ans
| tag/rc_1/branch/duvivier_lea/sp4a12/main.c | ||
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#include <stdio.h>
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#include <stdlib.h>
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#include <strings.h>
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#include "trame.h"
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#include <math.h>
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/*Trames de tests ? modifier si n?cessaire.*/
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char * trames[]= {"$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C", /* Tableau avec differentes trames*/
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"$GPGSV,3,3,10,22,39,053,50,28,15,320,*7E",
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"$GPRMC,141914.00,A,4545.6424,N,00306.6036,E,0.4,99.4,010206,,*0C",
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"$GPGLL,4545.6424,N,00306.6036,E,141914.00,A*0E",
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"$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*7D",
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"$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39",
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"$GPVTG,99.4,T,,M,0.4,N,0.7,K*57",
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"$GPZDA,141914.00,01,02,2006,00,00*69",
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/* Declaration des structures positions, Zones et du tableau contenant des zones*/ 0};
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typedef struct{ /* Definition de la position */
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float latitude;
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float longitude;
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}Position;
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Position p1,p2,p3,p4,p5,p6,p7,p8,p9,p10;
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typedef struct{
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Position rpos;
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float vitmax;
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}Zone;
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Zone zones[]= /*Definition des zones dangereuses*/
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{
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{{44.7887762, -3.012}, 50},
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{{44.7891220, -3.013},70},
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};
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float latitude_nbf(char* c) /* Fonction qui convertit une latitude en latitude mais en nombre flottant*/
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{
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int degre;
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int minute1;
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int minute2;
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float minute11;
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float minute22;
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float degre11;
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float resultat;
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degre=decode_nombre(&c[0],2); /* Ici on recupere les termes qui nous interessent et on separe les degres et les minutes*/
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minute1=decode_nombre(&c[0+2],2);
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minute2=decode_nombre(&c[0+5],4);
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degre11=(float)degre; /* On convertit les int en flottant*/
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minute11=(float)minute1;
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minute22=(float)minute2;
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resultat=degre11+(minute11/60)+(minute22/600000); /* On additionne chaque terme "modifi?" pour avoir le resultat en flottant*/
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return resultat;
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}
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float longitude_nbf(char* c) /* Fonction qui convertit une longitude en longitude mais en nombre flottant*/
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{
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int degre;
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int minute1;
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int minute2;
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float minute11;
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float minute22;
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float degre11;
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float resultat;
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degre=decode_nombre(&c[0],3); /* Memes operations que pour la latitude_nbf*/
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minute1=decode_nombre(&c[0+3],2);
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minute2=decode_nombre(&c[0+3],4);
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degre11=(float)degre;
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minute11=(float)minute1;
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minute22=(float)minute2;
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resultat=degre11+(minute11/60)+(minute22/600000);
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return resultat;
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}
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float lat_lon(char* c) /*Fonction qui decode indifferemment une latitude et une longitude*/
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{
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float resultat;
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if(c[4]==46) /*On regarde ici si le caract?re 5 est un point et si oui on sait que ?a correspond ? une latitude*/
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{
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resultat=latitude_nbf(c);
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}
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else{
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resultat=longitude_nbf(c);
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}
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return resultat;
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}
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int trame_cmp(char * trame, char * type) /*Fonction qui regarde si la trame commence par la chaine de caract?re type*/
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{
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int i;
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int ok;
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ok=1; /* On part du principe que la trame est correcte donc ok=1*/
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for(i=0;i<5;i=i+1) /* Ici on parcourt 5 fois car il y a 5 lettres sur les debuts de trames*/
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{
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if(trame[i+1]!=type[i]) /* On compare element par element jusqu'? trouver une difference ou non*/
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{
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ok=0; /* Si difference trame incorrecte donc ok passe ? 0*/
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}
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}
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return ok;
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}
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int decode_int(char c) /* Fonction qui renvoie la valeur en decimale d'un caract?re*/
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{
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int decode;
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if(c<='9' && c>='0') /* on regarde si il est compris entre 0 et 9 dans la table ascii*/
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{
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decode=c-48; /* on soustrait 48 ("0") car on veut afficher la bonne correspondance*/
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}
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else
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{
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decode=-1; /* Sinon ce n'est pas un chiffre donc on retourne -1*/
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}
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return decode;
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}
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int decode_nombre(char *ch, int n) /*Fonction qui renvoit la valeur decimale des n premiers caract?res de la chaine*/
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{
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int i;
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int resultat=0;
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for(i=0;i<n;i=i+1) /* Parcourt la chaine jusqu'au nombre de caract?re souhait?*/
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{
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resultat=(resultat*10)+decode_int(ch[i]); /* On utilise ici *10 pour ne pas perdre le precedent chiffre ? chaque iteration */
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}
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return resultat;
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}
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int decode_trame(char* trame,Position* p) /*Fonction qui permet de verifier si une trame est correcte et qui recup?re la latitude et la longitude dans une structure*/
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{
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int ok;
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ok=0;
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if(trame[16]!=trame[17] && trame[28]!=trame[29]) /* Verifie si la trame est correcte, si il n'y a pas deux virgules ? c?t?*/
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{
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if(trame_cmp(trame,"GPGGA")==1) /* Regarde si la trame commence bien par GPGGA*/
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{
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p->latitude=latitude_nbf(&trame[17]); /* On recupere la latitude et la longitude et on les places dans la structure, 17, et 29 correspondent aux positions de latitude et longitude dans la trame*/
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p->longitude=longitude_nbf(&trame[29]);
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ok=1;
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}
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}
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return ok;
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}
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float calcule_distance(Position p1, Position p2) /*Fonction qui permet d'obtenir la distance entre deux points qui ont comme coordonn?es la latitude et la longitude*/
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{
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float distance;
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distance=((2*3.14*6370)/360)*sqrt((p2.latitude-p1.latitude)*(p2.latitude-p1.latitude)+(p2.longitude-p1.longitude)*(p2.longitude-p1.longitude));
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return distance;
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}
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float calcule_vitesse(Position p1, Position p2) /*Fonction qui calcule la vitesse en km/h*/
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{
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float vitesse;
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vitesse=(calcule_distance(p1,p2)*3600); /* *3600 pour passer en km/h*/
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return vitesse;
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}
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int distance_a_la_plus_proche_zone(Position p, Zone r[], int nb_zones, float *d) /*Fonction qui retourne le numero de la zone dont la distance est la plus proche*/
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{
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*d=calcule_distance(p,r[0].rpos); /*recup?re la distance entre la position p et la position initiale de la zone dangereuse*/
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float distance;
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int i;
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int numero_tab=0;
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if (nb_zones>0) /* regarde si il y a des zones dans la table*/
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{
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for(i=1;i<nb_zones;i++) /*On parcourt le tableau des zones dangereuses*/
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{
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distance=calcule_distance(p,r[i].rpos); /*On recalcule la distance entre la position p et la zone actuelle*/
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if(distance<(*d)) /*On regarde si la distance est inferieur ? celle qui compare p et la premiere zone dangereuse soit l'initialisation*/
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{
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(*d)=distance;
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numero_tab=i; /*On increment le numero_tab pour recuperer le numero de la zone dangereuse*/
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}
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}
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return numero_tab;
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}
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else{
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return (-1);
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}
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}
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void test_distance_a_la_plus_proche_zone(void) /*Test qui permet de tester la fonction de la distance de la plus proche zone*/
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{
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Position p,p1,p2;
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p1.latitude=44.7887762; /* Valeurs des deux positions des zones dangereuses. Permet de verifier si la distance affich?e est bien celle dans les watches pour comparer et verifier le bon fonctionnement*/
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p1.longitude=-3.012;
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p2.latitude=44.7891220;
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p2.longitude=-3.013;
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decode_trame("$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*7D", &p); /*Cette trame permet de faire un test pour verifier que la fonction fonctionne*/
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float d1,d2;
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d1=calcule_distance(p,p1); /*On calcul les distaances pour comparer ? celles dans les watchs quand on debug*/
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d2=calcule_distance(p,p2);
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printf("%f\n", d1);
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printf("%f\n", d2);
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int nb_zone;
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float *d;
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nb_zone=distance_a_la_plus_proche_zone(p,zones,2,&d); /*On recupere le numero de la zone dont la distance est la plus proche ? celle de la trame*/
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if(nb_zone!=0) /* Ici la distance la plus courte est celle de la premiere zone donc correspond ? l'indice 0 dans le tableau des zones*/
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{
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printf("Erreur dans la zone la plus proche");
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exit(-1);
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}
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}
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/*Fonction ? modifier !!!!!*/
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void traitement(char * trame)
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{
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/*int i=0;
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if(i==0)
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{
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test_distance_a_la_plus_proche_zone(); /* Appel de la fonction de test */
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/*i=1;
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exit(-1);
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}*/
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int trame_valide,d; /*Initialisation des variables*/
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float vitesse,distance;
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Position posi,posi_initiale;
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if(trame_cmp(trame,"GPGGA")==1) /* Ici si la trame est correcte et commence par GPGGA, on l'affiche */
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{
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printf ("> %s\n",trame); /* On affiche toutes les trames GPGGA*/
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decode_trame("$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*7D",&posi_initiale); /*Ici je prends la premiere trame et je la considere comme la trame initiale et je recupere sa latitude et sa longitude dans une structure*/
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trame_valide=decode_trame(trame,&posi); /*Met les valeurs de latitude et longitude de la trame "du moment" dans une structure pour l'utiliser dans les calculs d'apr?s*/
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vitesse=calcule_vitesse(posi,posi_initiale); /* Calcul de la vitesse entre les trames et la position "initiale"*/
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distance=calcule_distance(posi,posi_initiale);
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d=distance_a_la_plus_proche_zone(posi,zones,2,&distance); /*Donne le numero de la zone dangereuse la plus proche qui va permettre le declenchement de l'alarme si on est trop proche*/
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if(distance<687.68 && vitesse>zones[d].vitmax) /* Compare la distance ? un seuil et la vitesse ? la vitesse max ce qui va permettre de declencher l'alarme si on est trop proche de la zone*/
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{
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printf("Alarme : on \n"); /* Declenchement des alarmes et affichages des distances et des vitesses pour chaque trame*/
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printf("La distance est : ");
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printf("%f \n", distance);
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printf("La vitesse est : ");
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printf("%f\n", vitesse);
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}
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else{
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printf("Alarme : Off \n");
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posi_initiale=posi; /* Si l'alarme se declenche pas on change la position initiale ? la position actuelle*/
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}
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}
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}
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/*float lat,lat2,lat3,lat4;
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float longi,longi2,longi3,longi4;
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int i;
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i=0;
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if (i==0) /*Pour faire qu'une fois le test*/
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/*{
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/*decode_trame("$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*7D", &p1);
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decode_trame("$GPGGA,141914.00,5078.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*7D", &p2); /*Test unitaires qui valident le fonctionnement de decode trame*/
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/*decode_trame("$GPGGA,141915.00,4545.0242,N,00306.6039,E,1,05,3.4,499.5,M,,M,,*72", &p3);
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decode_trame("$GPGGA,141915.00,4554.0242,N,00306.8039,E,1,05,3.4,499.5,M,,M,,*72", &p4);
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lat4=p4.latitude;
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longi4=p4.longitude;
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lat3=p3.latitude;
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longi3=p3.longitude;
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lat2=p2.latitude;
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longi2=p2.longitude;
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lat=p1.latitude;
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longi=p1.longitude;
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/* printf("%s", "La latitude et la longitude de la premiere trame sont : "); /*Affichage pour chaque trame de la position et verification que tout marche*/
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/* printf("%f , %f\n", lat, longi);
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printf("%s", "La latitude et la longitude de la deuxieme trame sont : ");
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printf("%f , %f\n", lat2, longi2);
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printf("%s", "La latitude et la longitude de la troisieme trame sont : ");
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printf("%f , %f\n", lat3, longi3);
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printf("%s", "La latitude et la longitude de la quatrieme trame sont : ");
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printf("%f , %f\n", lat4, longi4);
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p5.latitude=latitude_nbf("4545.0000"); /* Test avec les trames donn?es dans le sujet */
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/*p5.longitude=longitude_nbf("00306.6036");
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p6.latitude=latitude_nbf("4545.0242");
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p6.longitude=longitude_nbf("00306.6039");
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printf("%s", "La distance est :");
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printf("%f%s", calcule_distance(p5,p6)," km\n");/*Test unitaire de calcul distance*/
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/*p7.latitude=latitude_nbf("4852.0010"); /* Test distance entre Paris et Toulouse : Paris:p7 et Toulouse:p8*/
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/*p7.longitude=longitude_nbf("00219.5999");
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p8.latitude=latitude_nbf("4335.5999");
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p8.longitude=longitude_nbf("00125.5999");
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printf("%s", "La distance entre Paris et Toulouse est :");
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printf("%f%s", calcule_distance(p7,p8)," km\n");
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p9.latitude=latitude_nbf("4317.6000"); /* Test distance entre Marseille et Toulouse : Marseille:p5 et Toulouse:p6 ( comparaison avec travail preparatoire tout est coherent)*/
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/*p9.longitude=longitude_nbf("00524.0000");
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p10.latitude=latitude_nbf("4335.5999");
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p10.longitude=longitude_nbf("00125.5999");
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printf("%s", "La distance entre Marseille et Toulouse est :");
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printf("%f%s", calcule_distance(p9,p10)," km\n");
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printf("%s", "La vitesse est :"); /*Test unitaire pour verifier que le calcul de la vitesse est correct*/
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/*printf("%f", calcule_vitesse(p1,p2)); /* Test de calcul Vitesse*/
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/*
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i=1;
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exit(-1);
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}*/
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/*}
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/*Ajouter vos tests unitaires dans cette fonction.*/
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void tests_unitaires(void){
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if (5!=5){
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printf ("Erreur Test unitaire basique.\n");
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exit(-1);
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}
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if (trame_cmp("$GPGGA suite chaine","GPGGA")!=1){
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printf ("Erreur Test unitaire trame_cmp.\n");
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exit(-1);
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}
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if (trame_cmp("$GPRMC suite chaine","GPGGA")!=0){
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printf ("Erreur Test unitaire trame_cmp.\n");
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exit(-1);
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}
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if (trame_cmp("$GPRMC... ", "GPRMC" )!=1){
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printf ("Erreur Test unitaire trame_cmp.\n");
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exit(-1);
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}
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if (trame_cmp("$APRMC...", "GPGGA")!=0){
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printf ("Erreur Test unitaire trame_cmp.\n");
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exit(-1);
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}
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if(decode_int('5')!=5)
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{
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printf("Erreur du test decode int\n");
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exit(-1);
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}
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if((decode_int('9'))!=9)
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{
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printf("Erreur du test decode int\n");
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exit(-1);
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}
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if(decode_nombre("9555",2)!=95)
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{
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printf("Erreur du test decode nombre\n");
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exit(-1);
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}
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||
|
if((latitude_nbf("3723.2475")-37.38)>0.01) /* On regarde combien ca nous donne ? l'aide d'une calculatrice et on met une marge d'erreur pour savoir si le nombre retourn? correspond car on ne peut pas faire tr?s precis */
|
||
|
{
|
||
|
printf("Erreur du test pour la latitude\n");
|
||
|
exit(-1);
|
||
|
|
||
|
}
|
||
|
if((longitude_nbf("00306.6036")-3.11)>0.01)
|
||
|
{
|
||
|
printf("Erreur du test pour la latitude\n");
|
||
|
exit(-1);
|
||
|
|
||
|
}
|
||
|
if ((lat_lon("00306.6036")-3.11)>0.01)
|
||
|
{
|
||
|
printf("Erreur de test pour la combinaison des deux fonctions\n");
|
||
|
exit(-1);
|
||
|
}
|
||
|
if ((lat_lon("3723.2475")-37.38)>0.01)
|
||
|
{
|
||
|
printf("Erreur de test pour la combinaison des deux fonctions\n");
|
||
|
exit(-1);
|
||
|
}
|
||
|
if((lat_lon("2526.4536")-25.44)>0.01)
|
||
|
{
|
||
|
printf("Erreur de test pour la combinaison de deux fonctions\n");
|
||
|
exit(-1);
|
||
|
}
|
||
|
if ((lat_lon("01304,6025")-13.07)>0.01)
|
||
|
{
|
||
|
printf("Erreur de test pour la combinaison de deux fonctions\n");
|
||
|
exit(-1);
|
||
|
}
|
||
|
|
||
|
|
||
|
/*if(decode_trame("$GPGPA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*7D", &p1)!=1)
|
||
|
{
|
||
|
printf("Erreur de test pour decode trame");
|
||
|
exit(-1);
|
||
|
}*/ /*Trame incorrect car differente de GPGPA donc on quitte le programme*/
|
||
|
|
||
|
if(decode_trame("$GPGGA,141914.00,5078.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*7D", &p2)!=1)
|
||
|
{
|
||
|
printf("Erreur de test pour decode trame");
|
||
|
exit(-1);
|
||
|
}
|
||
|
/*if(decode_trame("$XPGGA,141915.00,4545.0242,N,00306.6039,E,1,05,3.4,499.5,M,,M,,*72", &p3)!=1)
|
||
|
{
|
||
|
printf("Erreur de test pour decode trame");
|
||
|
exit(-1);
|
||
|
}*/ /*Trame incorrect car commence par X donc quitte le programme*/
|
||
|
if(decode_trame("$GPGGA,141915.00,4554.0242,N,00306.8039,E,1,05,3.4,499.5,M,,M,,*72", &p4)!=1)
|
||
|
{
|
||
|
printf("Erreur de test pour decode trame");
|
||
|
exit(-1);
|
||
|
}
|
||
|
|
||
|
|
||
|
|
||
|
|
||
|
}
|
||
|
|
||
|
/* Ne pas modifier cette fonction*/
|
||
|
int main(int argc,char ** argv)
|
||
|
{
|
||
|
|
||
|
tests_unitaires();
|
||
|
|
||
|
/* Affichage des trames definies dans la table trames.*/
|
||
|
printf ("Trames de tests tableau trames:\n");
|
||
|
int i=0;
|
||
|
while (trames[i])
|
||
|
traitement(trames[i++]);
|
||
|
|
||
|
if (!trame_init())
|
||
|
exit(-1);
|
||
|
/*Affichage des trames du fichier gps.log*/
|
||
|
char *trame;
|
||
|
printf ("Trames de tests du fichier gps.log\n");
|
||
|
while ((trame = trame_suivante()))
|
||
|
traitement(trame);
|
||
|
|
||
|
return 0;
|
||
|
}
|
||
|
|
||
| tag/rc_1/branch/duvivier_lea/sp4a12/gps.log | ||
|---|---|---|
|
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
|
||
|
$GPGSV,3,3,10,22,39,053,50,28,15,320,*7E
|
||
|
$GPRMC,141914.00,A,4545.6424,N,00306.6036,E,0.4,99.4,010206,,*0C
|
||
|
$GPGLL,4545.6424,N,00306.6036,E,141914.00,A*0E
|
||
|
$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*79
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,99.4,T,,M,0.4,N,0.7,K*57
|
||
|
$GPZDA,141914.00,01,02,2006,00,00*69
|
||
|
$GPGSV,3,1,10,01,13,142,46,03,48,144,47,11,41,277,,14,27,104,42*75
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
|
||
|
$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
|
||
|
$GPRMC,141915.00,A,4545.6423,N,00306.6039,E,0.6,110.2,010206,,*31
|
||
|
$GPGLL,4545.6423,N,00306.6039,E,141915.00,A*07
|
||
|
$GPGGA,141915.00,4545.0242,N,00306.6039,E,1,05,3.4,499.5,M,,M,,*75
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,110.2,T,,M,0.6,N,1.2,K*67
|
||
|
$GPZDA,141915.00,01,02,2006,00,00*68
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,41*75
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
|
||
|
$GPGSV,3,3,10,22,39,053,49,28,15,320,*76
|
||
|
$GPRMC,141916.00,A,4545.6422,N,00306.6037,E,0.1,211.1,010206,,*3B
|
||
|
$GPGLL,4545.6422,N,00306.6037,E,141916.00,A*0B
|
||
|
$GPGGA,141916.00,4545.0484,N,00306.6037,E,1,05,3.4,500.0,M,,M,,*70
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,211.1,T,,M,0.1,N,0.2,K*60
|
||
|
$GPZDA,141916.00,01,02,2006,00,00*6B
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,48,11,41,277,,14,27,104,43*78
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,44,19,85,271,,20,08,214,*7A
|
||
|
$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
|
||
|
$GPRMC,141917.00,A,4545.6422,N,00306.6039,E,0.3,122.3,010206,,*37
|
||
|
$GPGLL,4545.6422,N,00306.6039,E,141917.00,A*04
|
||
|
$GPGGA,141917.00,4545.0726,N,00306.6039,E,1,05,3.4,499.6,M,,M,,*73
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,122.3,T,,M,0.3,N,0.5,K*64
|
||
|
$GPZDA,141917.00,01,02,2006,00,00*6A
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,46,11,41,277,,14,27,104,41*74
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
|
||
|
$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
|
||
|
$GPRMC,141918.00,A,4545.6421,N,00306.6034,E,0.5,252.2,010206,,*35
|
||
|
$GPGLL,4545.6421,N,00306.6034,E,141918.00,A*05
|
||
|
$GPGGA,141918.00,4545.0968,N,00306.6034,E,1,05,3.4,498.8,M,,M,,*7A
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,252.2,T,,M,0.5,N,1.0,K*63
|
||
|
$GPZDA,141918.00,01,02,2006,00,00*65
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,48,11,41,277,,14,27,104,42*79
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
|
||
|
$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
|
||
|
$GPRMC,141919.00,A,4545.6420,N,00306.6040,E,0.6,95.2,010206,,*0C
|
||
|
$GPGLL,4545.6420,N,00306.6040,E,141919.00,A*06
|
||
|
$GPGGA,141919.00,4545.1210,N,00306.6040,E,1,05,3.4,500.2,M,,M,,*77
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,95.2,T,,M,0.6,N,1.2,K*5B
|
||
|
$GPZDA,141919.00,01,02,2006,00,00*64
|
||
|
$GPGSV,3,1,10,01,13,142,46,03,48,144,49,11,41,277,,14,27,104,42*7B
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
|
||
|
$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
|
||
|
$GPRMC,141920.00,A,4545.6419,N,00306.6039,E,0.2,133.1,010206,,*38
|
||
|
$GPGLL,4545.6419,N,00306.6039,E,141920.00,A*08
|
||
|
$GPGGA,141920.00,4545.1410,N,00306.6039,E,1,05,3.4,500.0,M,,M,,*77
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,133.1,T,,M,0.2,N,0.4,K*66
|
||
|
$GPZDA,141920.00,01,02,2006,00,00*6E
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,46,11,41,277,,14,27,104,43*76
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
|
||
|
$GPGSV,3,3,10,22,38,053,50,28,15,320,*7F
|
||
|
$GPRMC,141921.00,A,4545.6419,N,00306.6043,E,0.6,103.1,010206,,*33
|
||
|
$GPGLL,4545.6419,N,00306.6043,E,141921.00,A*04
|
||
|
$GPGGA,141921.00,4545.1610,N,00306.6043,E,1,05,3.4,499.8,M,,M,,*70
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,103.1,T,,M,0.6,N,1.1,K*65
|
||
|
$GPZDA,141921.00,01,02,2006,00,00*6F
|
||
|
$GPGSV,3,1,10,01,13,142,46,03,48,144,48,11,41,277,,14,27,104,42*7A
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
|
||
|
$GPGSV,3,3,10,22,38,053,48,28,15,320,*76
|
||
|
$GPRMC,141922.00,A,4545.6418,N,00306.6046,E,0.7,96.9,010206,,*00
|
||
|
$GPGLL,4545.6418,N,00306.6046,E,141922.00,A*03
|
||
|
$GPGGA,141922.00,4545.1810,N,00306.6046,E,1,05,3.4,500.6,M,,M,,*77
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,96.9,T,,M,0.7,N,1.3,K*53
|
||
|
$GPZDA,141922.00,01,02,2006,00,00*6C
|
||
|
$GPGSV,3,1,10,01,13,142,47,03,48,144,46,11,41,277,,14,27,104,43*74
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
|
||
|
$GPGSV,3,3,10,22,38,053,48,28,15,320,*76
|
||
|
$GPRMC,141923.00,A,4545.6417,N,00306.6046,E,0.3,113.6,010206,,*39
|
||
|
$GPGLL,4545.6417,N,00306.6046,E,141923.00,A*0D
|
||
|
$GPGGA,141923.00,4545.2010,N,00306.6046,E,1,05,3.4,500.6,M,,M,,*7D
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,113.6,T,,M,0.3,N,0.7,K*61
|
||
|
$GPZDA,141923.00,01,02,2006,00,00*6D
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,41*75
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
|
||
|
$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
|
||
|
$GPRMC,141924.00,A,4545.6416,N,00306.6044,E,0.2,197.7,010206,,*31
|
||
|
$GPGLL,4545.6416,N,00306.6044,E,141924.00,A*09
|
||
|
$GPGGA,141924.00,4545.2210,N,00306.6044,E,1,05,3.4,500.5,M,,M,,*79
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,197.7,T,,M,0.2,N,0.4,K*6E
|
||
|
$GPZDA,141924.00,01,02,2006,00,00*6A
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,40*74
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,43,19,85,271,,20,08,214,*7D
|
||
|
$GPGSV,3,3,10,22,38,053,49,28,15,320,*77
|
||
|
$GPRMC,141925.00,A,4545.6415,N,00306.6046,E,0.2,130.8,010206,,*33
|
||
|
$GPGLL,4545.6415,N,00306.6046,E,141925.00,A*09
|
||
|
$GPGGA,141925.00,4545.2410,N,00306.6046,E,1,05,3.4,501.4,M,,M,,*7C
|
||
|
$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
|
||
|
$GPVTG,130.8,T,,M,0.2,N,0.5,K*6D
|
||
|
$GPZDA,141925.00,01,02,2006,00,00*6B
|
||
|
$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,40*74
|
||
|
$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
|
||
|
$GPGSV,3,3,10,22,38,053,47,28,15,320,*79
|
||
|
$GPRMC,141926.?E,0.2,260.8,010206,,*34
|
||
| tag/rc_1/branch/duvivier_lea/sp4a12/trame.c | ||
|---|---|---|
|
/* Fichier trames.c - Gestion et decodage des trames */
|
||
|
/* Ce fichier sera fourni */
|
||
|
|
||
|
#include <stdio.h>
|
||
|
#include <stdlib.h>
|
||
|
#include "trame.h"
|
||
|
|
||
|
#define FICHIER_TRAMES "gps.log" /* Par exemple */
|
||
|
|
||
|
#define MAX_FRAME_LENGTH 80
|
||
|
|
||
|
static char trame_buf[MAX_FRAME_LENGTH];
|
||
|
static FILE *trame_fic;
|
||
|
|
||
|
int trame_init(void)
|
||
|
{
|
||
|
trame_fic = fopen(FICHIER_TRAMES, "r");
|
||
|
if (trame_fic)
|
||
|
return 1;
|
||
|
|
||
|
fprintf(stderr, "Impossible d'ouvrir le fichier %s\n", FICHIER_TRAMES);
|
||
|
return 0;
|
||
|
}
|
||
|
|
||
|
char *trame_suivante(void)
|
||
|
{
|
||
|
return fgets(trame_buf, MAX_FRAME_LENGTH-1, trame_fic);
|
||
|
}
|
||
| tag/rc_1/branch/duvivier_lea/sp4a12/sp4a.cbp | ||
|---|---|---|
|
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
|
||
|
<CodeBlocks_project_file>
|
||
|
<FileVersion major="1" minor="6" />
|
||
|
<Project>
|
||
|
<Option title="sp4a" />
|
||
|
<Option pch_mode="2" />
|
||
|
<Option compiler="gcc" />
|
||
|
<Build>
|
||
|
<Target title="Debug">
|
||
|
<Option output="sp4a" prefix_auto="1" extension_auto="1" />
|
||
|
<Option object_output=".\debug" />
|
||
|
<Option type="1" />
|
||
|
<Option compiler="gcc" />
|
||
|
<Compiler>
|
||
|
<Add option="-g" />
|
||
|
</Compiler>
|
||
|
</Target>
|
||
|
</Build>
|
||
|
<Compiler>
|
||
|
<Add option="-Wall" />
|
||
|
</Compiler>
|
||
|
<Unit filename="gps.log" />
|
||
|
<Unit filename="main.c">
|
||
|
<Option compilerVar="CC" />
|
||
|
</Unit>
|
||
|
<Unit filename="trame.c">
|
||
|
<Option compilerVar="CC" />
|
||
|
</Unit>
|
||
|
<Unit filename="trame.h" />
|
||
|
<Extensions>
|
||
|
<code_completion />
|
||
|
<envvars />
|
||
|
<debugger />
|
||
|
<lib_finder disable_auto="1" />
|
||
|
</Extensions>
|
||
|
</Project>
|
||
|
</CodeBlocks_project_file>
|
||
| tag/rc_1/branch/duvivier_lea/sp4a12/trame.h | ||
|---|---|---|
|
|
||
|
int trame_init(void);
|
||
|
char * trame_suivante(void);
|
||
| tag/rc_1/branch/duvivier_lea/sp4a3/sp4a3_kalman.cbp | ||
|---|---|---|
|
<?xml version="1.0" encoding="UTF-8" standalone="yes" ?>
|
||
|
<CodeBlocks_project_file>
|
||
|
<FileVersion major="1" minor="6" />
|
||
|
<Project>
|
||
|
<Option title="sp4a3_kalman" />
|
||
|
<Option pch_mode="2" />
|
||
|
<Option compiler="gcc" />
|
||
|
<Build>
|
||
|
<Target title="Debug">
|
||
|
<Option output="./test_kalman" prefix_auto="1" extension_auto="1" />
|
||
|
<Option object_output="." />
|
||
|
<Option type="1" />
|
||
|
<Option compiler="gcc" />
|
||
|
<Option parameters="debug" />
|
||
|
<Compiler>
|
||
|
<Add option="-g" />
|
||
|
</Compiler>
|
||
|
</Target>
|
||
|
<Target title="Release">
|
||
|
<Option output="./test_kalman" prefix_auto="1" extension_auto="1" />
|
||
|
<Option object_output="." />
|
||
|
<Option type="1" />
|
||
|
<Option compiler="gcc" />
|
||
|
<Compiler>
|
||
|
<Add option="-O2" />
|
||
|
</Compiler>
|
||
|
<Linker>
|
||
|
<Add option="-s" />
|
||
|
</Linker>
|
||
|
</Target>
|
||
|
</Build>
|
||
|
<Compiler>
|
||
|
<Add option="-Wall" />
|
||
|
</Compiler>
|
||
|
<Unit filename="sp4a3_kalman.c">
|
||
|
<Option compilerVar="CC" />
|
||
|
</Unit>
|
||
|
<Unit filename="sp4a3_kalman_extra.c">
|
||
|
<Option compilerVar="CC" />
|
||
|
</Unit>
|
||
|
<Unit filename="sp4a3_kalman_extra.h" />
|
||
|
<Extensions>
|
||
|
<code_completion />
|
||
|
<envvars />
|
||
|
<debugger />
|
||
|
<lib_finder disable_auto="1" />
|
||
|
</Extensions>
|
||
|
</Project>
|
||
|
</CodeBlocks_project_file>
|
||
| tag/rc_1/branch/duvivier_lea/sp4a3/sp4a3_kalman_extra.c | ||
|---|---|---|
|
#include <stdlib.h>
|
||
|
#include <stdio.h>
|
||
|
#include <math.h>
|
||
|
|
||
|
|
||
|
#define error(a) _error(__LINE__,a)
|
||
|
void _error(int l,char * r){
|
||
|
printf("Erreur Ligne (%d) : %s",l,r);
|
||
|
exit(1);
|
||
|
}
|
||
|
|
||
|
int debug=1;
|
||
|
void _Plot_Mat(int n,int m,double in[n][m], const char* name){
|
||
|
int i,j;
|
||
|
if (!debug) return;
|
||
|
printf("\n%s[%d][%d]\n",name,n,m);
|
||
|
for (i=0;i<n;i++)
|
||
|
{
|
||
|
for (j=0;j<m;j++)
|
||
|
printf("%f\t",in[i][j]);
|
||
|
printf("\n");
|
||
|
}
|
||
|
}
|
||
|
|
||
|
#define Equal_Mat_Mat(Mat_A,Mat_B) _Equal_Mat_Mat(sizeof(Mat_A)/sizeof(Mat_A[0]),sizeof(Mat_A[0])/sizeof(Mat_A[0][0]),Mat_A,sizeof(Mat_B)/sizeof(Mat_B[0]),sizeof(Mat_B[0])/sizeof(Mat_B[0][0]),Mat_B)
|
||
|
int _Equal_Mat_Mat(int na,int ma,double A[na][ma],int nb,int mb,double B[nb][mb]){
|
||
|
int i,j;
|
||
|
if (na!=nb) return 0;
|
||
|
if (ma!=mb) return 0;
|
||
|
for(i=0;i<na;i++)
|
||
|
for(j=0;j<ma;j++){
|
||
|
if (fabs(A[i][j]-B[i][j])>1e-6)
|
||
|
return 0;
|
||
|
}
|
||
|
return 1;
|
||
|
}
|
||
| tag/rc_1/branch/duvivier_lea/sp4a3/vitesse_reelle.dat | ||
|---|---|---|
|
120000.100000 0.000000
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|
120000.200000 0.000000
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||
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|
||
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|
||
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||
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||
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120029.200000 1.431315
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|
||
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120029.500000 1.431314
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||
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120029.600000 1.431314
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||
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120029.700000 1.431314
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||
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||
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|
||
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|
||
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|
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||
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|
||
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|
||
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|
||
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|
||
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|
||
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|
||
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120031.100000 1.544936
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120031.200000 1.604724
|
||
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120031.300000 1.604724
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120031.400000 1.604723
|
||
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120031.500000 1.544935
|
||
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120031.600000 1.661504
|
||
|
120031.700000 1.661504
|
||
|
120031.800000 1.661503
|
||
|
120031.900000 1.604722
|
||
|
120032.000000 1.604721
|
||
|
120032.100000 1.604721
|
||
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120032.200000 1.683079
|
||
|
120032.300000 1.727569
|
||
|
120032.400000 1.556722
|
||
|
120032.500000 1.727568
|
||
|
120032.600000 1.727567
|
||
|
120032.700000 1.604719
|
||
|
120032.800000 1.840959
|
||
|
120032.900000 1.726200
|
||
|
120033.000000 1.840959
|
||
|
120033.100000 1.797962
|
||
|
120033.200000 1.840958
|
||
|
120033.300000 1.840958
|
||
|
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||
|
120073.300000 2.254793
|
||
|
120073.400000 2.320141
|
||
|
120073.500000 2.198006
|
||
|
120073.600000 2.272423
|
||
|
120073.700000 2.272424
|
||
|
120073.800000 2.231251
|
||
|
120073.900000 2.231251
|
||
|
120074.000000 2.196990
|
||
|
120074.100000 2.196991
|
||
|
120074.200000 2.231254
|
||
|
120074.300000 2.196993
|
||
|
120074.400000 2.301350
|
||
|
120074.500000 2.169973
|
||
|
120074.600000 2.196996
|
||
|
120074.700000 2.169975
|
||
|
120074.800000 2.282968
|
||
|
120074.900000 2.150468
|
||
|
120075.000000 2.150469
|
||
|
120075.100000 2.005520
|
||
|
120075.200000 1.867893
|
||
|
120075.300000 2.001315
|
||
|
120075.400000 1.867894
|
||
|
120075.500000 1.734474
|
||
|
120075.600000 1.872403
|
||
|
120075.700000 1.601054
|
||
|
120075.800000 1.606311
|
||
|
120075.900000 1.606311
|
||
|
120076.000000 1.490430
|
||
|
120076.100000 1.647755
|
||
|
120076.200000 1.604802
|
||
|
120076.300000 1.604802
|
||
|
120076.400000 1.604803
|
||
|
120076.500000 1.727664
|
||
|
120076.600000 1.604803
|
||
|
120076.700000 1.727665
|
||
|
120076.800000 1.544991
|
||
|
120076.900000 1.604804
|
||
|
120077.000000 1.544992
|
||
Formats disponibles : Unified diff
Remise du code, version finale