Merge pull request #538 from foonix/gpsd-sbas-detection

Gpsd SBAS detection

main/gpsd.go

@@ -8,21 +8,49 @@ import (
 	"sync"
 )
 
-func getNMEAName(sv int) string {
-	// GPS NMEA = PRN. GLONASS NMEA = PRN + 65. SBAS is PRN; needs to be converted to NMEA for compatiblity with GSV messages.
-	if sv < 33 { // indicates GPS
-		return fmt.Sprintf("G%d", sv)
-	} else if sv < 65 { // indicates SBAS: WAAS, EGNOS, MSAS, etc.
-		return fmt.Sprintf("S%d", sv+87) // add 87 to convert from NMEA to PRN.
-	} else if sv < 97 { // GLONASS
-		return fmt.Sprintf("R%d", sv-64) // subtract 64 to convert from NMEA to PRN.
-	} else if (sv >= 120) && (sv < 162) { // indicates SBAS: WAAS, EGNOS, MSAS, etc.
-		return fmt.Sprintf("S%d", sv)
-	} else { // TO-DO: Galileo
-		return fmt.Sprintf("U%d", sv)
+// Determine type of satellite based on PRN number.
+func satelliteType(prnId int) uint8 {
+	// TODO: Galileo
+	switch {
+	case 0 < prnId && prnId <= 32:
+		return SAT_TYPE_GPS
+	case 32 < prnId && prnId <= 64:
+		// This is actually the NMEA id range for SBAS: WAAS, EGNOS, MSAS, etc.
+		return SAT_TYPE_SBAS
+	case 64 < prnId && prnId <= 96:
+		return SAT_TYPE_GLONASS
+	case 120 <= prnId && prnId <= 138:
+		return SAT_TYPE_SBAS
+	default:
+		return SAT_TYPE_UNKNOWN
 	}
 }
 
+func satelliteTypeCode(satType uint8) string {
+	switch satType {
+	case SAT_TYPE_GPS:
+		return "G"
+	case SAT_TYPE_SBAS:
+		return "S"
+	case SAT_TYPE_GLONASS:
+		return "R"
+	case SAT_TYPE_UNKNOWN:
+		return "U"
+	default:
+		return "U"
+	}
+}
+
+// Caller must protect Satellites with satelliteMutex.
+func isSbasInSolution() bool {
+	for _, satellite := range Satellites {
+		if satellite.Type == SAT_TYPE_SBAS && satellite.InSolution {
+			return true
+		}
+	}
+	return false
+}
+
 func processDEVICES(r interface{}) {
 	devices := r.(*gpsd.DEVICESReport)
 	log.Printf("DEVICES (%d)", len(devices.Devices))
@@ -53,12 +81,14 @@ func processTPV(r interface{}) {
 	log.Printf("TPV", tpv.Device, tpv.Mode, tpv.Time, tpv.Tag)
 
 	mySituation.mu_GPS.Lock()
+	satelliteMutex.Lock()
 
 	defer func() {
 		if globalSettings.DEBUG {
 			logSituation()
 		}
 		mySituation.mu_GPS.Unlock()
+		satelliteMutex.Unlock()
 	}()
 
 	// 0 = No gps data, 1 = No fix, 2 = 2D fix, 3 = 3D fix
@@ -75,7 +105,12 @@ func processTPV(r interface{}) {
 		return
 	}
 
+	if isSbasInSolution() {
+		mySituation.Quality = 2
+	} else {
 		mySituation.Quality = 1
+	}
+
 	mySituation.Alt = float32(tpv.Alt) * 3.28084 // meters to feet
 	mySituation.AccuracyVert = float32(tpv.Epv)
 	mySituation.GPSVertVel = float32(tpv.Climb)
@@ -107,7 +142,9 @@ func processSKY(r interface{}) {
 
 	for _, satellite := range sky.Satellites {
 		var thisSatellite SatelliteInfo
-		thisSatellite.SatelliteID = getNMEAName(int(satellite.PRN)) // fmt.Sprintf("%v", satellite.PRN)
+		thisSatellite.Type = satelliteType(int(satellite.PRN))
+		thisSatellite.SatelliteID = fmt.Sprint(satelliteTypeCode(thisSatellite.Type), int(satellite.PRN))
+		thisSatellite.Prn = uint8(satellite.PRN)
 		thisSatellite.Azimuth = int16(satellite.Az)
 		thisSatellite.Elevation = int16(satellite.El)
 		thisSatellite.Signal = int8(satellite.Ss)

main/ry835ai.go

@@ -40,7 +40,7 @@ const (
 )
 
 type SatelliteInfo struct {
-	SatelliteNMEA    uint8     // NMEA ID of the satellite. 1-32 is GPS, 33-54 is SBAS, 65-88 is Glonass.
+	Prn              uint8     // PRN ID of the satellite. 1-32 is GPS, 65-88 is Glonass, 120-138 is SBAS
 	SatelliteID      string    // Formatted code indicating source and PRN code. e.g. S138==WAAS satellite 138, G2==GPS satellites 2
 	Elevation        int16     // Angle above local horizon, -xx to +90
 	Azimuth          int16     // Bearing (degrees true), 0-359
@@ -716,7 +716,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
 					//log.Printf("UBX,03: Satellite %s already seen. Retrieving from 'Satellites'.\n", svStr) // DEBUG
 				} else { // this satellite isn't in the Satellites data structure
 					thisSatellite.SatelliteID = svStr
-					thisSatellite.SatelliteNMEA = uint8(sv)
+					thisSatellite.Prn = uint8(sv)
 					thisSatellite.Type = uint8(svType)
 					//log.Printf("UBX,03: Creating new satellite %s\n", svStr) // DEBUG
 				}
@@ -1125,7 +1125,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
 					//log.Printf("Satellite %s already seen. Retrieving from 'Satellites'.\n", svStr)
 				} else { // this satellite isn't in the Satellites data structure, so create it
 					thisSatellite.SatelliteID = svStr
-					thisSatellite.SatelliteNMEA = uint8(sv)
+					thisSatellite.Prn = uint8(sv)
 					thisSatellite.Type = uint8(svType)
 					//log.Printf("Creating new satellite %s from GSA message\n", svStr) // DEBUG
 				}
@@ -1250,7 +1250,7 @@ func processNMEALine(l string) (sentenceUsed bool) {
 				//log.Printf("Satellite %s already seen. Retrieving from 'Satellites'.\n", svStr) // DEBUG
 			} else { // this satellite isn't in the Satellites data structure, so create it new
 				thisSatellite.SatelliteID = svStr
-				thisSatellite.SatelliteNMEA = uint8(sv)
+				thisSatellite.Prn = uint8(sv)
 				thisSatellite.Type = uint8(svType)
 				//log.Printf("Creating new satellite %s\n", svStr) // DEBUG
 			}

web/plates/gps.html

@@ -63,16 +63,16 @@
 			<div class="panel-body towers-page">
 				<div class="row">
 					<span class="col-xs-3"><strong>Satellite</strong></span>
-					<!--<span class="col-xs-2 text-right"><strong>NMEA Code</strong></span>-->
+					<!--<span class="col-xs-2 text-right"><strong>PRN Code</strong></span>-->
 					<span class="col-xs-3 text-right"><strong>Elevation</strong></span>
 					<span class="col-xs-3 text-right"><strong>Azimuth</strong></span>
 					<span class="col-xs-3 text-right"><strong>Signal</strong></span>
 				</div>
 
-				<div class="row" ng-repeat="satellite in data_list | orderBy: 'SatelliteNMEA'">
+				<div class="row" ng-repeat="satellite in data_list | orderBy: 'Prn'">
 					<div class="separator"></div>
 					<span class="col-xs-3">{{satellite.SatelliteID}}<span ng-show="satellite.InSolution">&nbsp;&#x2705;</span></span>
-					<!--<span class="col-xs-2 text-right">{{satellite.SatelliteNMEA}}</span>-->
+					<!--<span class="col-xs-2 text-right">{{satellite.Prn}}</span>-->
 					<span class="col-xs-3 text-right">{{satellite.Elevation < -5 ? "---" : satellite.Elevation}}&deg;</span>
 					<span class="col-xs-3 text-right">{{satellite.Azimuth < 0 ? "---" : satellite.Azimuth}}&deg;</span>
 					<span class="col-xs-3 text-right">{{satellite.Signal < 1 ? "---" : satellite.Signal}}<span style="font-size:50%">&nbsp;dB-Hz</span></span>

web/plates/js/gps.js

@@ -129,7 +129,7 @@ function GPSCtrl($rootScope, $scope, $state, $http, $interval) {
 	};
 
 	function setSatellite(obj, new_satellite) {
-		new_satellite.SatelliteNMEA = obj.SatelliteNMEA;
+		new_satellite.Prn = obj.Prn;
 		new_satellite.SatelliteID = obj.SatelliteID;     // Formatted code indicating source and PRN code. e.g. S138==WAAS satellite 138, G2==GPS satellites 2
 		new_satellite.Elevation = obj.Elevation;        // Angle above local horizon, -xx to +90
 		new_satellite.Azimuth = obj.Azimuth;         // Bearing (degrees true), 0-359