Révision 427
Ajouté par Youssef MORSY il y a presque 3 ans
| tag/rc_1/MORSY/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<math.h>
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#include "trame.h"
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#define PI 3.14159
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typedef struct {
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float latitude;
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float longtitude;
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}position;
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//Trames de tests ? modifier si n?cessaire.
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char * trames[]= {"$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C",
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"$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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0};
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//Fonction ? modifier !!!!!
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void traitement(char * trame)
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{
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static int cpt=0;
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cpt++;
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position p;
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if (trame_cmp(trame, "GPGGA")==1){
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printf("%s\n",trame);
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decode_trame(trame,&p);
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printf("latitude= %f , longtude= %f \n",p.latitude,p.longtitude);
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}
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}
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int decode_int(char c){
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int y;
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int x=c;
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if (x>=48 && x<=58){
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y=x-48;
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}
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else{
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y =-1;
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}
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return y;
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}
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int trame_cmp(char*trame , char*type){
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int i=0,s=0,y;
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while(trame[i+1]==type[i] && type[i]!="/0"){
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i=i+1;
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s=s+1;
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}
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int x=strlen(type);
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if(s==x){
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y=1;
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}
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else{
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y=0;
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}
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return y;
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}
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int decode_nombre(char *ch,int n){
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int i,j,p;
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int s=0;
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for (i=0;i<n;i++){
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p=1;
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for(j=0;j<n-1-i;j++){
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p=p*10;
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}
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int a=decode_int(ch[i]);
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s=s+a*p;
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}
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return s;
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}
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/*float latitude (char*c){
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int i=0,degre;
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float secondes=0,sommes,minute=0;
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degre=decode_int(c[0])*10+decode_int(c[1]) ;
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secondes=(decode_int(c[5])*1000+decode_int(c[6])*100+decode_int(c[7])*10+decode_int(c[5]))/10000;
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minute=(decode_int(c[2])*10+decode_int(c[3])+secondes)/60;
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sommes=degre+minute;
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return sommes;
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}*/
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/*float longtitude (char*c){
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int i=0,degre;
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float secondes=0,sommes,minute=0;
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degre=decode_int(c[0])*100+decode_int(c[1])*10+decode_int(c[2]) ;
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secondes=secondes+(decode_int(c[6])*1000+decode_int(c[7])*100+decode_int(c[8])*10+decode_int(c[9]))/10000;
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minute=minute+(decode_int(c[3])*10+decode_int(c[4])+secondes)/60;
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sommes=sommes+degre+minute;
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return sommes;
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}*/
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float lat_long (char c[]) {
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int n=0, degre=0,i=1,b;
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float min=0, secondes=0, res=0,p;
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do{
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n++;
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} while (c[n]!='.');
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if (n==4) {
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degre = (c[0]-48)*10+(c[1]-48);
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min = (c[2]-48)*10+(c[3]-48);
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} else {
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degre = (c[0]-48)*100+(c[1]-48)*10+(c[2]-48);
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min = (c[3]-48)*10+(c[4]-48);
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}
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n++;
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do {
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p=1;
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for (b=0;b<i;b++) {
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p=p*0.1;
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}
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secondes= secondes + (c[n]-48)*p;
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i++;
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n++;
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} while (c[n]!='\0');
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res = degre + (min+secondes)/60;
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return res;
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}
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void decode_trame(char*c,position *p){
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int i=0,degre_long,degre_lat;
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float secondes_long=0,secondes_lat=0,sommes_lat=0,sommes_long=0,minute_lat=0,minute_long=0;
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degre_long=decode_int(c[29])*100+decode_int(c[30])*10+decode_int(c[31]) ;
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secondes_long=decode_int(c[35])*0.1+decode_int(c[36])*0.01+decode_int(c[37])*0.001+decode_int(c[38])*0.0001;
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minute_long=(decode_int(c[32])*10+decode_int(c[33])+secondes_long)/60;
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sommes_long=degre_long+minute_long;
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degre_lat=decode_int(c[17])*10+decode_int(c[18]) ;
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secondes_lat=(decode_int(c[21])*1000+decode_int(c[22])*100+decode_int(c[23])*10+decode_int(c[24]))/10000;
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minute_lat=(decode_int(c[19])*10+decode_int(c[20])+secondes_lat)/60;
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sommes_lat=degre_lat+minute_lat;
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p ->latitude=sommes_lat;
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p ->longtitude=sommes_long;
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}
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float calcul_distance(position*p1,position*p2){
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float distance;
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distance=acos(sin(PI * p1 ->latitude/180)*sin(PI * p2 ->latitude/180)+cos(PI* p1 ->latitude/180)*cos(PI* p2 ->latitude/180)*cos(PI*(fabs(p1 ->longtitude - p2 ->longtitude))/180))*6371;
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return distance;
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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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position p,p1,p2;
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p1.latitude=35.968723;
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p1.longtitude=256.652056;
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p2.longtitude=156.831330;
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p2.latitude=55.806160;
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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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//****************************
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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(decode_int('5')!= 5){
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printf ("Erreur Test unitaire trame_cmp50.\n");
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exit(-1);
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}
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if(decode_int('a')!= -1){
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printf ("Erreur Test unitaire trame_cmp3.\n");
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exit(-1);
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}
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//**********************
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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 (decode_nombre("35789",3)!=357){
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printf ("Erreur Test unitaire trame_cmp16.\n");
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exit(-1);
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}
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if (decode_nombre("25986452235",7)!=2598645){
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printf ("Erreur Test unitaire trame_cmp2.\n");
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exit(-1);
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}
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if (decode_nombre("2",1)!=2){
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printf ("Erreur Test unitaire trame_cmp3.\n");
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exit(-1);
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}
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if (decode_nombre("25986452235",7)==2578963){
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printf ("Erreur Test unitaire trame_cmp4.\n");
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exit(-1);
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}
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//********************************
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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 (longtitude("13558.8889")-135,981481<0.000001 && 135,981481-longtitude("13558.8889")<0.000001){
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printf ("Erreur Test unitaire trame_cmp1.\n");
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exit(-1);
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}
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if (longtitude("10112.1415")-101,202358<0.000001 && 101,202358-longtitude("10112.1415")<0.000001){
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printf ("Erreur Test unitaire trame_cmp2.\n");
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exit(-1);
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}*/
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//***********************************
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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 (latitude("3558.8889")-35,981481<0.000001 && 35,981481-latitude("3558.8889")<0.000001){
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printf ("Erreur Test unitaire trame_cmp1.\n");
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exit(-1);
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}
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if (latitude("0112.1415")-01,202358<0.000001 && 01,202358-latitude("0112.1415")<0.000001){
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printf ("Erreur Test unitaire trame_cmp2.\n");
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exit(-1);
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}*/
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//*****************************
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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 (lat_long("13558.8889")-135.981481>0.000001 && 135.981481-lat_long("13358.8889")<0.000001){
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printf ("Erreur Test unitaire trame_cmp18.\n");
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exit(-1);
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}
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/* if (lat_long("10112.1415")-101.2023583>0.000001 && 101.2023583-lat_long("10112.1415")<0.000001){
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printf ("Erreur Test unitaire trame_cmp21.\n");
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exit(-1);
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}*/
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/* if (lat_long("3558.8889")-35.981481>0.000001 && 35.981481-lat_long("3558.8889")<0.000001){
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printf ("Erreur Test unitaire trame_cmp12.\n");
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exit(-1);
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}*/
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if (lat_long("0112.1415")-01.202358>0.000001 && 01.202358-lat_long("0112.1415")<0.000001){
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printf ("Erreur Test unitaire trame_cmp22.\n");
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exit(-1);
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}
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/////////////////////////////////////////
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decode_trame("$GPGGA,141914.00,3558.8889,N,10112.1415,E,1,05,3.4,499.3,M,,M,,*7D",&p);
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if(fabs(fabs(p.latitude)-46.759373 >10-6)){
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printf ("Erreur Test unitaire trame_cmp21\n");
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exit(-1);
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}
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decode_trame("$GPGGA,141914.00,4645.5624,N,10112.1415,E,1,05,3.4,499.3,M,,M,,*7D",&p);
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if(fabs(fabs(p.longtitude)-101.202358 >10-6)){
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printf ("Erreur Test unitaire trame_cmp25\n");
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exit(-1);
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}
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//////////
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if(fabs(calcul_distance(&p1,&p2)-7328.429126) >0.000001){
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printf ("Erreur Test unitaire trame_cmp30\n");
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printf("a");
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exit(-1);
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}
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float a= calcul_distance(&p1,&p2);
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printf("%f",a);
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}
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// Ne pas modifier cette fonction
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int main(int argc,char ** argv)
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{
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tests_unitaires();
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// Affichage des trames definies dans la table trames.
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printf ("Trames de tests tableau trames:\n");
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int i=0;
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while (trames[i])
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traitement(trames[i++]);
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if (!trame_init())
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exit(-1);
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// Affichage des trames du fichier gps.log
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char *trame;
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printf ("Trames de tests du fichier gps.log\n");
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while ((trame = trame_suivante()))
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traitement(trame);
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return 0;
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}
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| tag/rc_1/MORSY/sp4a12/gps.log | ||
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$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
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$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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$GPGGA,141914.00,4545.0000,N,00306.6036,E,1,05,3.4,499.3,M,,M,,*79
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$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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$GPGSV,3,1,10,01,13,142,46,03,48,144,47,11,41,277,,14,27,104,42*75
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$GPGSV,3,2,10,15,03,077,,18,04,041,41,19,85,271,,20,08,214,*7F
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$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
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$GPRMC,141915.00,A,4545.6423,N,00306.6039,E,0.6,110.2,010206,,*31
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$GPGLL,4545.6423,N,00306.6039,E,141915.00,A*07
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$GPGGA,141915.00,4545.0242,N,00306.6039,E,1,05,3.4,499.5,M,,M,,*75
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$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
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$GPVTG,110.2,T,,M,0.6,N,1.2,K*67
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$GPZDA,141915.00,01,02,2006,00,00*68
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$GPGSV,3,1,10,01,13,142,45,03,48,144,47,11,41,277,,14,27,104,41*75
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$GPGSV,3,2,10,15,03,077,,18,04,041,42,19,85,271,,20,08,214,*7C
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$GPGSV,3,3,10,22,39,053,49,28,15,320,*76
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$GPRMC,141916.00,A,4545.6422,N,00306.6037,E,0.1,211.1,010206,,*3B
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$GPGLL,4545.6422,N,00306.6037,E,141916.00,A*0B
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$GPGGA,141916.00,4545.0484,N,00306.6037,E,1,05,3.4,500.0,M,,M,,*70
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$GPGSA,A,3,,03,,22,14,,01,,18,,,,3.9,3.4,1.9*39
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$GPVTG,211.1,T,,M,0.1,N,0.2,K*60
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$GPZDA,141916.00,01,02,2006,00,00*6B
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$GPGSV,3,1,10,01,13,142,45,03,48,144,48,11,41,277,,14,27,104,43*78
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$GPGSV,3,2,10,15,03,077,,18,04,041,44,19,85,271,,20,08,214,*7A
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$GPGSV,3,3,10,22,39,053,48,28,15,320,*77
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$GPRMC,141917.00,A,4545.6422,N,00306.6039,E,0.3,122.3,010206,,*37
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||
|
$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/MORSY/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/MORSY/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/MORSY/sp4a12/trame.h | ||
|---|---|---|
|
|
||
|
int trame_init(void);
|
||
|
char * trame_suivante(void);
|
||
| tag/rc_1/MORSY/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/MORSY/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/MORSY/sp4a3/vitesse_reelle.dat | ||
|---|---|---|
|
120000.100000 0.000000
|
||
|
120000.200000 0.000000
|
||
|
120000.300000 0.000000
|
||
|
120000.400000 0.000000
|
||
|
120000.500000 0.000000
|
||
|
120000.600000 0.000000
|
||
|
120000.700000 0.000000
|
||
|
120000.800000 0.000000
|
||
|
120000.900000 0.000000
|
||
|
120001.000000 0.000000
|
||
|
120001.100000 0.000000
|
||
|
120001.200000 0.000000
|
||
|
120001.300000 0.000000
|
||
|
120001.400000 0.000000
|
||
|
120001.500000 0.000000
|
||
|
120001.600000 0.000000
|
||
|
120001.700000 0.000000
|
||
|
120001.800000 0.000000
|
||
|
120001.900000 0.000000
|
||
|
120002.000000 0.000000
|
||
|
120002.100000 0.000000
|
||
|
120002.200000 0.000000
|
||
|
120002.300000 0.000000
|
||
|
120002.400000 0.000000
|
||
|
120002.500000 0.000000
|
||
|
120002.600000 0.000000
|
||
|
120002.700000 0.000000
|
||
|
120002.800000 0.000000
|
||
|
120002.900000 0.000000
|
||
|
120003.000000 0.000000
|
||
|
120003.100000 0.000000
|
||
|
120003.200000 0.000000
|
||
|
120003.300000 0.000000
|
||
|
120003.400000 0.000000
|
||
|
120003.500000 0.000000
|
||
|
120003.600000 0.000000
|
||
|
120003.700000 0.000000
|
||
|
120003.800000 0.000000
|
||
|
120003.900000 0.000000
|
||
|
120004.000000 0.000000
|
||
|
120004.100000 0.000000
|
||
|
120004.200000 0.000000
|
||
|
120004.300000 0.000000
|
||
|
120004.400000 0.000000
|
||
|
120004.500000 0.000000
|
||
|
120004.600000 0.000000
|
||
|
120004.700000 0.000000
|
||
|
120004.800000 0.000000
|
||
|
120004.900000 0.000000
|
||
|
120005.000000 0.000000
|
||
|
120005.100000 0.000000
|
||
|
120005.200000 0.000000
|
||
|
120005.300000 0.000000
|
||
|
120005.400000 0.000000
|
||
|
120005.500000 0.000000
|
||
|
120005.600000 0.000000
|
||
|
120005.700000 0.000000
|
||
|
120005.800000 0.000000
|
||
|
120005.900000 0.000000
|
||
|
120006.000000 0.000000
|
||
|
120006.100000 0.000000
|
||
|
120006.200000 0.000000
|
||
|
120006.300000 0.000000
|
||
|
120006.400000 0.000000
|
||
|
120006.500000 0.000000
|
||
|
120006.600000 0.000000
|
||
|
120006.700000 0.000000
|
||
|
120006.800000 0.000000
|
||
|
120006.900000 0.000000
|
||
|
120007.000000 0.000000
|
||
|
120007.100000 0.000000
|
||
|
120007.200000 0.000000
|
||
|
120007.300000 0.000000
|
||
|
120007.400000 0.000000
|
||
|
120007.500000 0.000000
|
||
|
120007.600000 0.000000
|
||
|
120007.700000 0.000000
|
||
|
120007.800000 0.000000
|
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120049.500000 2.043743
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120049.600000 2.043743
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120049.700000 2.043743
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120049.800000 2.043743
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120052.800000 2.047853
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120053.300000 1.908396
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120053.400000 2.021613
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120053.500000 1.908396
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120053.900000 2.023700
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120065.500000 2.138591
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120074.200000 2.231254
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120074.300000 2.196993
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120074.400000 2.301350
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120074.600000 2.196996
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120074.700000 2.169975
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120075.100000 2.005520
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120075.300000 2.001315
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120075.500000 1.734474
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120075.700000 1.601054
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120075.800000 1.606311
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120075.900000 1.606311
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120076.100000 1.647755
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120076.200000 1.604802
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120076.300000 1.604802
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120076.400000 1.604803
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120076.500000 1.727664
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120076.600000 1.604803
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120076.700000 1.727665
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120076.900000 1.604804
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120077.100000 1.544992
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120077.200000 1.431354
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120077.300000 1.365044
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120077.400000 1.365044
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120077.500000 1.321421
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120077.600000 1.249289
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120077.700000 1.187016
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120077.900000 1.068638
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120078.100000 0.954237
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120078.200000 0.772497
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120078.300000 0.954237
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120078.400000 0.772497
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120078.500000 0.772497
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120078.600000 0.660711
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120078.700000 0.660711
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120078.800000 0.593509
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120079.100000 0.558505
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120079.200000 0.744674
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120079.300000 0.655689
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120079.400000 0.701880
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120079.500000 0.762655
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120079.700000 0.875827
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120080.100000 0.918588
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120080.200000 0.918588
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120080.300000 1.038681
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120080.400000 0.908846
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120080.500000 1.038681
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120080.600000 1.047216
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120080.700000 1.047216
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120080.800000 1.047216
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120080.900000 1.047216
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120081.000000 1.168517
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120081.100000 1.047216
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120081.200000 1.168517
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120081.300000 1.176109
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120081.400000 1.168517
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120081.500000 1.168517
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120081.600000 1.176109
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120081.700000 1.305189
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120081.800000 1.176109
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120081.900000 1.198598
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120082.000000 1.325490
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120082.100000 1.198598
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120082.200000 1.305189
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120082.300000 1.325490
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120082.400000 1.305189
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120082.500000 1.305189
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120082.600000 1.452902
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||
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120082.700000 1.434405
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||
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120082.800000 1.305189
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||
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120082.900000 1.452901
|
||
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120083.000000 1.452901
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120083.100000 1.325489
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120083.200000 1.452901
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120083.300000 1.580707
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120083.400000 1.452901
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120083.500000 1.434405
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120083.600000 1.563723
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120083.700000 1.563723
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120083.800000 1.563723
|
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120083.900000 1.563723
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120084.000000 1.563723
|
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120084.100000 1.693121
|
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120084.200000 1.563723
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120084.300000 1.708819
|
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120084.400000 1.693121
|
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120084.500000 1.693121
|
||
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120084.600000 1.693121
|
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120084.700000 1.693121
|
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120084.800000 1.693121
|
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|
120084.900000 1.822581
|
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120085.000000 1.708819
|
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120085.100000 1.822580
|
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120085.200000 1.693120
|
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120085.300000 1.822580
|
||
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120085.400000 1.822580
|
||
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120085.500000 1.822580
|
||
|
120085.600000 1.947525
|
||
|
120085.700000 1.817690
|
||
|
120085.800000 1.947525
|
||
|
120085.900000 1.817690
|
||
|
120086.000000 1.952090
|
||
|
120086.100000 1.965721
|
||
|
120086.200000 1.952090
|
||
|
120086.300000 1.965721
|
||
|
120086.400000 1.952090
|
||
|
120086.500000 1.952090
|
||
|
120086.600000 2.081641
|
||
|
120086.700000 1.947525
|
||
Formats disponibles : Unified diff
tp1&2 terminée