C++实现GNSS/GPS的NMEA数据格式解析类示例

nmea数据具体各字段的含义请参考标准定义，这里给出一个C++实现的例子，环境是Android，本文只解析了几个常用的字段；

本示例的关键方法有split、startswith方法和stringToNumber模版函数

bool GnssNmeaParser::startsWith(const std::string &src, const std::string &str)
{
    int srcpos = 0;
    int srclen = src.length();
    int sublen = str.length();
    if (srclen < sublen) {
        return false;
    }
    return (0 == src.compare(srcpos, sublen, str));
}
 
bool GnssNmeaParser::endsWith(const std::string &src, const std::string &str)
{
    int srcpos = 0;
    int srclen = src.length();
    int sublen = str.length();
    if (srclen < sublen) {
        return false;
    }
    srcpos = srclen - sublen;
    return (0 == src.compare(srcpos, sublen, str));
}

template <class T>
T stringToNumber(const std::string &sstr)
{
    T number {};
    std::istringstream iss {};
    iss.str(sstr);
    iss >> number; /* can auto remove leading 0 */
    return number;
}

size_t GnssNmeaParser::split(const std::string &line, const std::string &delim, std::vector<std::string> &vstr)
{
    size_t pstart = 0;
    size_t phit = 0;
    std::string sstr;
    size_t length = line.length();
 
    vstr.clear();
    for (;pstart <= length;)
    {
        phit = line.find(delim, pstart);
        if (std::string::npos != phit)
        {
            /* find delim, get substr */
            sstr = line.substr(pstart, phit-pstart);
            vstr.push_back(sstr);
            pstart = phit + delim.size();
        } else {
            /* not find delim, append remaining str and break */
            vstr.push_back(line.substr(pstart));
            break;
        }
    }
    return vstr.size();
}

for Android Gnss V1.0

解析.h头文件

#ifndef HAL_GNSS_V1_0_GNSSNMEAPARSER_H
#define HAL_GNSS_V1_0_GNSSNMEAPARSER_H
 
#include <cstdio>
#include <iostream>
#include <sstream>
#include <bitset>
#include <vector>
#include <map>
#include <queue>
 
#include <hardware/gps.h>
 
#define GNSS_NMEA_LINE_SEP "\n"
#define GNSS_NMEA_ELEMENT_SEP ","
#define GNSS_NMEA_PARSER_VERSION "v1.0-20.0716"
 
 
#if __GNSS_HAL_DEBUG_ON__
/* Flags that indicate information about the satellite */
typedef uint8_t                                 LocGnssSvFlags;
#define GNSS_SV_FLAGS_NONE                      0
#define GNSS_SV_FLAGS_HAS_EPHEMERIS_DATA        (1)
#define GNSS_SV_FLAGS_HAS_ALMANAC_DATA          (2)
#define GNSS_SV_FLAGS_USED_IN_FIX               (4)
 
//hardware/libhardware/include/hardware/gps.h
typedef int64_t GpsUtcTime;
/**
 * Flags that indicate information about the satellite
 */
typedef uint8_t                                 GnssSvFlags;
 
/**
 * Constellation type of GnssSvInfo
 */
typedef uint8_t                         GnssConstellationType;
 
/** Represents a location. */
typedef struct {
    /** set to sizeof(GpsLocation) */
    size_t          size;
    /** Contains GpsLocationFlags bits. */
    uint16_t        flags;
    /** Represents latitude in degrees. */
    double          latitude;
    /** Represents longitude in degrees. */
    double          longitude;
    /**
     * Represents altitude in meters above the WGS 84 reference ellipsoid.
     */
    double          altitude;
    /** Represents speed in meters per second. */
    float           speed;
    /** Represents heading in degrees. */
    float           bearing;
    /** Represents expected accuracy in meters. */
    float           accuracy;
    /** Timestamp for the location fix. */
    GpsUtcTime      timestamp;
} GpsLocation;
 
typedef struct {
    /** set to sizeof(GnssSvInfo) */
    size_t size;
 
    /**
     * Pseudo-random number for the SV, or FCN/OSN number for Glonass. The
     * distinction is made by looking at constellation field. Values should be
     * in the range of:
     *
     * - GPS:     1-32
     * - SBAS:    120-151, 183-192
     * - GLONASS: 1-24, the orbital slot number (OSN), if known.  Or, if not:
     *            93-106, the frequency channel number (FCN) (-7 to +6) offset by + 100
     *            i.e. report an FCN of -7 as 93, FCN of 0 as 100, and FCN of +6 as 106.
     * - QZSS:    193-200
     * - Galileo: 1-36
     * - Beidou:  1-37
     */
    int16_t svid;
 
    /**
     * Defines the constellation of the given SV. Value should be one of those
     * GNSS_CONSTELLATION_* constants
     */
    GnssConstellationType constellation;
 
    /**
     * Carrier-to-noise density in dB-Hz, typically in the range [0, 63].
     * It contains the measured C/N0 value for the signal at the antenna port.
     *
     * This is a mandatory value.
     */
    float c_n0_dbhz;
 
    /** Elevation of SV in degrees. */
    float elevation;
 
    /** Azimuth of SV in degrees. */
    float azimuth;
 
    /**
     * Contains additional data about the given SV. Value should be one of those
     * GNSS_SV_FLAGS_* constants
     */
    GnssSvFlags flags;
 
} GnssSvInfo;
 
/**
 * Legacy struct to represents SV information.
 * Deprecated, to be removed in the next Android release.
 * Use GnssSvInfo instead.
 */
typedef struct {
    /** set to sizeof(GpsSvInfo) */
    size_t          size;
    /** Pseudo-random number for the SV. */
    int     prn;
    /** Signal to noise ratio. */
    float   snr;
    /** Elevation of SV in degrees. */
    float   elevation;
    /** Azimuth of SV in degrees. */
    float   azimuth;
} GpsSvInfo;
 
/**
 * Legacy struct to represents SV status.
 * Deprecated, to be removed in the next Android release.
 * Use GnssSvStatus instead.
 */
typedef struct {
    /** set to sizeof(GpsSvStatus) */
    size_t size;
    int num_svs;
    GpsSvInfo sv_list[GPS_MAX_SVS];
    uint32_t ephemeris_mask;
    uint32_t almanac_mask;
    uint32_t used_in_fix_mask;
} GpsSvStatus;
 
typedef struct {
    /** set to sizeof(GnssSvStatus) */
    size_t size;
    /** Number of GPS SVs currently visible, refers to the SVs stored in sv_list */
    int num_svs;
    /**
     * Pointer to an array of SVs information for all GNSS constellations,
     * except GPS, which is reported using sv_list
     */
    GnssSvInfo gnss_sv_list[GNSS_MAX_SVS];
} GnssSvStatus;
#endif
 
 
//GGA 定位信息
enum eGNSS_GGA_ITEM_T {
    eGGA_Header = 0,
    eGGA_UTCTime = 1,
    eGGA_Latitude = 2,
    eGGA_LatitudeHemi = 3,
    eGGA_Longitude = 4,
    eGGA_LongitudeHemi = 5,
    eGGA_StatusIndicator = 6,
    eGGA_SatellitesCount = 7,
    eGGA_HDOP = 8,
    eGGA_Altitude = 9,
    eGGA_AltitudeUnit = 10,
    eGGA_GeoidHeight = 11,
    eGGA_GeoidHeightUnit = 12,
    eGGA_DiffTemporal = 13,
    eGGA_DiffStationId = 14,
    eGGA_CheckSum = 15,
};
 
//GLL 定位地理信息
enum eGNSS_GLL_ITEM_T {
    eGLL_Header = 0,
    eGLL_Latitude = 1,
    eGLL_LatitudeHemi = 2,
    eGLL_Longitude = 3,
    eGLL_LongitudeHemi = 4,
    eGLL_UTCTime = 5,
    eGLL_FixStatus = 6,
    eGLL_PositioningMode = 7, //optional
    eGLL_CheckSum = 8,
};
 
//GSA 当前卫星信息
enum eGNSS_GSA_ITEM_T {
    eGSA_Header = 0,
    eGSA_Mode = 1,
    eGSA_Type = 2,
    eGSA_PRN1 = 3,
    eGSA_PRN2 = 4,
    eGSA_PRN3 = 5,
    eGSA_PRN4 = 6,
    eGSA_PRN5 = 7,
    eGSA_PRN6 = 8,
    eGSA_PRN7 = 9,
    eGSA_PRN8 = 10,
    eGSA_PRN9 = 11,
    eGSA_PRN10 = 12,
    eGSA_PRN11 = 13,
    eGSA_PRN12 = 14,
    eGSA_PDOP = 15,
    eGSA_HDOP = 16,
    eGSA_VDOP = 17,
    eGSA_CheckSum = 18,
};
 
//GSV 可见卫星信息
enum eGNSS_GSV_ITEM_T {
    eGSV_Header = 0,
    eGSV_ItemCount = 1,
    eGSV_ItemSequence = 2,
    eGSV_SatellitesCount = 3,
    eGSV_PRNCode = 4,
    eGSV_SatelliteElevation = 5,
    eGSV_SatelliteAzimuth = 6,
    eGSV_SignalNoiseRatio = 7,
    eGSV_PRNCode2 = 8,
    eGSV_SatelliteElevation2 = 9,
    eGSV_SatelliteAzimuth2 = 10,
    eGSV_SignalNoiseRatio2 = 11,
    eGSV_PRNCode3 = 12,
    eGSV_SatelliteElevation3 = 13,
    eGSV_SatelliteAzimuth3 = 14,
    eGSV_SignalNoiseRatio3 = 15,
    eGSV_PRNCode4 = 16,
    eGSV_SatelliteElevation4 = 17,
    eGSV_SatelliteAzimuth4 = 18,
    eGSV_SignalNoiseRatio4 = 19,
    eGSV_CheckSum = 20,
};
 
// RMC
enum eGNSS_RMC_ITEM_T {
    eRMC_Header = 0,
    eRMC_UTCTime = 1,
    eRMC_FixStatus = 2,
    eRMC_Latitude = 3,
    eRMC_LatitudeHemi = 4,
    eRMC_Longitude = 5,
    eRMC_LongitudeHemi = 6,
    eRMC_SpeedKnots = 7,
    eRMC_Azimuth = 8,
    eRMC_UTCDate = 9,
    eRMC_MagneticDeclination = 10,
    eRMC_MagneticDeclinationDirection = 11,
    eRMC_PositioningMode = 12, //optional
    eRMC_CheckSum = 13,
};
 
//VTG 地面速度信息
enum eGNSS_VTG_ITEM_T {
    eVTG_Header = 0,
    eVTG_MovementAngle = 1,
    eVTG_TrueNorthRef = 2,
    eVTG_MovementAngle2 = 3,
    eVTG_MagneticNorthRef = 4,
    eVTG_HorizontalMoveSpeed = 5,
    eVTG_SpeedKnots = 6,
    eVTG_HorizontalMoveSpeed2 = 7,
    eVTG_SpeedKmh = 8,
    eVTG_PositioningMode = 9, //optional
    eVTG_CheckSum = 10,
};
 
 
//(GGA)GPS定位信息 Global Positioning System Fix Data
//$GPGGA,014434.70,3817.13334637,N,12139.72994196,E,4,07,1.5,6.571,M,8.942,M,0.7,0016*7B
struct XXGGA_Info_T {
    double UTCTime;    //UTC时间,格式为hhmmss.sss
    double Latitude;   //纬度,格式为ddmm.mmmm
    char LatitudeHemi; //纬度半球,N或S
    double Longitude;  //经度,格式为dddmm.mmmm
    char LongitudeHemi;//经度半球,E或W
    uint16_t StatusIndicator;//GPS状态:0初始化,1单点定位,2码差分,3无效PPS,4固定解,5浮点解,6正在估算,7人工输入固定值,8模拟模式,9WAAS差分
    size_t SatellitesCount;  //使用卫星数量,从00到12
    float HDOP;        //HDOP-水平精度因子,0.5到99.9,一般认为HDOP越小,质量越好
    double Altitude;   //椭球高,-9999.9到9999.9米
    char AltitudeUnit; //M指单位米
    float GeoidHeight; //大地水准面高度异常差值,-9999.9到9999.9米
    char GeoidHeightUnit; //M指单位米
    int64_t DiffTemporal; //差分GPS数据期限(RTCM SC-104),最后设立RTCM传送的秒数量,如不是差分定位则为空
    int16_t DiffStationId;//差分参考基站标号,从0000到1023
    //char CheckSum[4]; //从$开始到*之间的所有ASCII码的异或校验
    std::bitset<16> BitFlags;
};
 
//(GLL)定位地理信息 Geographic Position
struct XXGLL_Info_T {
    double Latitude;   //纬度ddmm.mmmm(度分)格式
    char LatitudeHemi; //纬度半球N或S
    double Longitude;  //经度dddmm.mmmm(度分)格式
    char LongitudeHemi;//经度半球E或W
    int UTCTimeInt;       //UTC时间,hhmmss(时分秒)格式
    char FixStatus;    //定位状态,A=有效定位,V=无效定位
    char PositioningMode;  //模式指示,仅NMEA0183 v3.00输出,A=自主定位,D=差分,E=估算,N=数据无效
    //char CheckSum[4];
    std::bitset<16> BitFlags;
};
 
//GSA 当前卫星信息 GPS DOP and Active Satellites (GSA)当前卫星信息
#define GSA_INFO_PRN_CNT 12
struct XXGSA_Info_T {
    char Mode;     //定位模式,A=自动手动2D/3D,M=手动2D/3D
    uint16_t Type; //定位类型,1=未定位,2=2D定位,3=3D定位
    int PRNList[GSA_INFO_PRN_CNT]; //PRN码-伪随机噪声码,第x信道正在使用的卫星PRN码编号
    float PDOP; //accuracy PDOP综合位置精度因子,0.5-99.9
    float HDOP; //HDOP水平精度因子0.5-99.9
    float VDOP; //VDOP垂直精度因子0.5-99.9
    //char CheckSum[4];
    std::bitset<32> BitFlags;
};
 
//(GSV)可见卫星信息 可见卫星信息 GPS Satellites in View
struct XXGSV_Info_T {
    uint8_t Ext_constellation;  //UNKNOWN==0/GPS==1/SBAS==2/GLONASS==3/QZSS==4/BEIDOU==5/GALILEO==6
    size_t ItemCount;    //GSV语句的总数
    int ItemSequence;    //本句GSV的编号
    int SatellitesCount; //可见卫星的总数,00~12,前面的0也将被传输
    int PRNCode;             //PRN码-伪随机噪声码,前面的0也将被传输;GPS:1-32,Beidou:1-37,GLONASS:1-24,Galileo:1-36,...
    float SatelliteElevation;//卫星仰角,00~90度,前面的0也将被传输
    float SatelliteAzimuth;  //卫星方位角,000~359度,前面的0也将被传输
    float SignalNoiseRatio;  //信噪比,00~99dB,没有跟踪到卫星时为空,前面的0也将被传输
    int PRNCode2; //按照每颗卫星进行循环显示,每条GSV语句最多可以显示4颗卫星的信息
    float SatelliteElevation2;
    float SatelliteAzimuth2;
    float SignalNoiseRatio2;
    int PRNCode3;
    float SatelliteElevation3;
    float SatelliteAzimuth3;
    float SignalNoiseRatio3;
    int PRNCode4;
    float SatelliteElevation4;
    float SatelliteAzimuth4;
    float SignalNoiseRatio4;
    //char CheckSum[4];
    std::bitset<32> BitFlags;
};
 
// (RMC)推荐定位信息 Recommended Minimum Specific GPS/TRANSIT Data
//$GPRMC,200808.000,A,3114.4591,N,12118.0993,E,0.82,282.15,191220,,,A*61
struct XXRMC_Info_T {
    double UTCTime;             //UTC时间,hhmmss.sss格式,格林尼治时间;
    char FixStatus;             //状态,A=定位,V=未定位;当给GPS复位时为V,不输出速度,角度,时间数据;
    double Latitude;            //纬度ddmm.mmmm,度分格式
    char LatitudeHemi;          //纬度N或S
    double Longitude;           //经度dddmm.mmmm,度分格式
    char LongitudeHemi;         //经度E或W
    float SpeedKnots;           //速度,节,Knots
    float Azimuth;              //方位角,度 Azimuth/bearing
    int UTCDate;                //UTC日期,DDMMYY格式
    float MagneticDeclination;  //磁偏角,000-180度
    char MagneticDeclinationDirection;//磁偏角方向,E或W
    char PositioningMode; //模式指示,仅NMEA0183 v3.00输出,A=自主定位,D=差分,E=估算,N=数据无效
    //char CheckSum[4];
    std::bitset<16> BitFlags;
};
 
//(VTG)地面速度信息 Track Made Good and Ground Speed
struct XXVTG_Info_T {
    float MovementAngleTN;    //以真北为参考基准的地面航向,000~359度,前面的0也将被传输
    char TrueNorthRef;      //T
    float MovementAngleMN;   //以磁北为参考基准的地面航向,000~359度,前面的0也将被传输
    char MagneticNorthRef;      //M
    float HorizontalMoveSpeedKn;  //地面速率,000.0~999.9节,前面的0也将被传输
    char SpeedKnots;            //N
    float HorizontalMoveSpeedKm; //地面速率,0000.0~1851.8Km/h,前面的0也将被传输
    char SpeedKmh;              //K
    char PositioningMode;  //模式指示,仅NMEA0183 v3.00输出,A=自主定位,D=差分,E=估算,N=数据无效
    //char CheckSum[4];
    std::bitset<16> BitFlags;
};
 
template <class T>
T stringToNumber(const std::string &sstr)
{
    T number {};
    std::istringstream iss {};
    iss.str(sstr);
    iss >> number; /* can auto remove leading 0 */
    return number;
}
 
template <class T>
std::string toString(T &value)
{
    std::ostringstream oss {};
    oss << value;
    return oss.str();
}
 
template <int BS_MAX_SIZE>
void bitsFlagSet(std::bitset<BS_MAX_SIZE> &bs, size_t pos)
{
    bs.set(pos);
}
 
template <int BS_MAX_SIZE>
void bitsFlagReset(std::bitset<BS_MAX_SIZE> &bs, size_t pos)
{
    bs.reset(pos);
}
 
template <int BS_MAX_SIZE>
void bitsFlagClear(std::bitset<BS_MAX_SIZE> &bs)
{
    bs.reset();
}
 
template <int BS_MAX_SIZE>
bool bitsFlagTest(std::bitset<BS_MAX_SIZE> bs, size_t pos)
{
    return bs.test(pos);
}
 
template <int BS_MAX_SIZE>
std::string bitsFlagToString(std::bitset<BS_MAX_SIZE> &bs)
{
    return bs.to_string();
}
 
class GnssNmeaParser
{
public:
    GnssNmeaParser();
    ~GnssNmeaParser();
    int parse(const std::string &nmea);
    int getNmeaLines(std::vector<std::string> &lines);
    bool getGnssLocation(GpsLocation &gnssLocation);
    bool getGnssSvStatus(GnssSvStatus &gnssSvStatus);
    GpsUtcTime getUtcTime();
    //bool getGpsSvStatus(GpsSvStatus &gpsSvStatus);
    //bool getGpsStatus(GpsStatus &gpsStatus);
 
private:
    int procGGA(XXGGA_Info_T &gga);
    int procGLL(XXGLL_Info_T &gll);
    int procGSA(std::vector<XXGSA_Info_T> &gsaVect);
    int procGSV(std::vector<XXGSV_Info_T> &gsvVect);
    int procRMC(XXRMC_Info_T &rmc);
    int procVTG(XXVTG_Info_T &vtg);
 
    /* convert latitude(ddmm.mmmm) and longitude(dddmm.mmmm) to degrees */
    double latLongToDegree(const double dddmm_mmmm);
    int gnssSvFlagUsedInFix(const int svid);
    void updateUtcTime(const int ddmmyy, const double hhmmss_sss);
    void updateLatLong(const double latitude, const char latHemi, const double longtitude, const char longHemi);
    void updateAltitude(const double altitude);
    void updateBearing(const float bearing);
    void updateMagDec(const float magDec, const char magDecDir);
    void updateAccuracy(const float pdop, const float hdop, const float vdop);
    void updateSpeed(const float speed);
    void updateGnssSvStatus(const std::vector<XXGSV_Info_T> &gsvVectInfoT);
    void removeChecksum(std::string &str);
    uint8_t getNConstellation(const std::string &nmeaHead);
    bool startsWith(const std::string &src, const std::string &str);
    bool endsWith(const std::string &src, const std::string &str);
    std::string replace(const std::string &raw, const std::string &oldstr, const std::string &newstr);
    size_t split(const std::string &line, const std::string &delim, std::vector<std::string> &vstr);
    void reset();
 
    std::vector<std::string> m_nmeaLines;
    std::string m_nmeaLineSep = GNSS_NMEA_LINE_SEP;
    std::string m_nmeaElementSep = GNSS_NMEA_ELEMENT_SEP;
 
    std::vector<std::string> m_nmeaGGAvect;
    std::vector<std::string> m_nmeaGLLvect;
    std::vector<std::vector<std::string>> m_nmeaGSAvec2d;
    std::vector<std::vector<std::string>> m_nmeaGSVvec2d;
    std::vector<std::string> m_nmeaRMCvect;
    std::vector<std::string> m_nmeaVTGvect;
 
    XXGGA_Info_T m_ggaInfoT;
    XXGLL_Info_T m_gllInfoT;
    std::vector<XXGSA_Info_T> m_gsaVectInfoT;
    std::vector<XXGSV_Info_T> m_gsvVectInfoT;
    XXRMC_Info_T m_rmcInfoT;
    XXVTG_Info_T m_vtgInfoT;
 
    GpsUtcTime m_gnssUtcTime;
    GpsLocation m_gnssLocation;
    GnssSvStatus m_gnssSvStatus;
 
    GpsStatus m_gpsStatus;
};
 
#endif  // HAL_GNSS_V1_0_GNSSNMEAPARSER_H
 

解析.cpp实现文件

#include <log/log.h>
#include "GnssNmeaParser.h"
 
#ifdef LOG_TAG
#undef LOG_TAG
#endif
#define LOG_TAG  "GnssNmeaParserV1.0"
 
GnssNmeaParser::GnssNmeaParser()
{
    m_nmeaLineSep = GNSS_NMEA_LINE_SEP;
    m_nmeaElementSep = GNSS_NMEA_ELEMENT_SEP;
    ALOGI("GnssNmeaParser created. %s", GNSS_NMEA_PARSER_VERSION);
    reset();
}
 
GnssNmeaParser::~GnssNmeaParser()
{
    reset();
}
 
int GnssNmeaParser::parse(const std::string &nmea)
{
    reset();
    int gpCount = 0;
    if (0 == nmea.size()) {
        return 0;
    }
    (void)split(nmea, m_nmeaLineSep, m_nmeaLines);
 
    std::vector<std::string>::iterator vsit;
    std::vector<std::string> nmeaGSAvect;
    std::vector<std::string> nmeaGSVvect;
    std::string line;
    for (vsit = m_nmeaLines.begin(); vsit != m_nmeaLines.end(); vsit++) {
        line = *vsit;
        if (line.size() <= 6) {
            //$GPxxx
            continue;
        }
        removeChecksum(line);
        gpCount += 1;
 
        if (startsWith(line, "$GPGGA")) { //GGA
            (void)split(line, m_nmeaElementSep, m_nmeaGGAvect);
        } else if (startsWith(line, "$GLGGA")) {
            (void)split(line, m_nmeaElementSep, m_nmeaGGAvect);
        } else if (startsWith(line, "$BDGGA")) {
            (void)split(line, m_nmeaElementSep, m_nmeaGGAvect);
        } else if (startsWith(line, "$GNGGA")) {
            (void)split(line, m_nmeaElementSep, m_nmeaGGAvect);
        }
 
        else if (startsWith(line, "$GPGLL")) { //GLL
            (void)split(line, m_nmeaElementSep, m_nmeaGLLvect);
        } else if (startsWith(line, "$GLGLL")) {
            (void)split(line, m_nmeaElementSep, m_nmeaGLLvect);
        } else if (startsWith(line, "$BDGLL")) {
            (void)split(line, m_nmeaElementSep, m_nmeaGLLvect);
        } else if (startsWith(line, "$GNGLL")) {
            (void)split(line, m_nmeaElementSep, m_nmeaGLLvect);
        }
 
        else if (startsWith(line, "$GPGSA")) { //GSA
            // may contain multi-line
            (void)split(line, m_nmeaElementSep, nmeaGSAvect);
            m_nmeaGSAvec2d.push_back(nmeaGSAvect);
        } else if (startsWith(line, "$GLGSA")) {
            (void)split(line, m_nmeaElementSep, nmeaGSAvect);
            m_nmeaGSAvec2d.push_back(nmeaGSAvect);
        } else if (startsWith(line, "$BDGSA")) {
            (void)split(line, m_nmeaElementSep, nmeaGSAvect);
            m_nmeaGSAvec2d.push_back(nmeaGSAvect);
        } else if (startsWith(line, "$GNGSA")) {
            (void)split(line, m_nmeaElementSep, nmeaGSAvect);
            m_nmeaGSAvec2d.push_back(nmeaGSAvect);
        }
 
        else if (startsWith(line, "$GPGSV")) { //GSV
            // may contain multi-line
            (void)split(line, m_nmeaElementSep, nmeaGSVvect);
            m_nmeaGSVvec2d.push_back(nmeaGSVvect);
        } else if (startsWith(line, "$GLGSV")) {
            (void)split(line, m_nmeaElementSep, nmeaGSVvect);
            m_nmeaGSVvec2d.push_back(nmeaGSVvect);
        } else if (startsWith(line, "$BDGSV")) {
            (void)split(line, m_nmeaElementSep, nmeaGSVvect);
            m_nmeaGSVvec2d.push_back(nmeaGSVvect);
        }
 
        else if (startsWith(line, "$GPRMC")) { //RMC
            (void)split(line, m_nmeaElementSep, m_nmeaRMCvect);
        } else if (startsWith(line, "$GLRMC")) {
            (void)split(line, m_nmeaElementSep, m_nmeaRMCvect);
        } else if (startsWith(line, "$BDRMC")) {
            (void)split(line, m_nmeaElementSep, m_nmeaRMCvect);
        } else if (startsWith(line, "$GNRMC")) {
            (void)split(line, m_nmeaElementSep, m_nmeaRMCvect);
        }
 
        else if (startsWith(line, "$GPVTG")) { //VTG
            (void)split(line, m_nmeaElementSep, m_nmeaVTGvect);
        } else if (startsWith(line, "$GLVTG")) {
            (void)split(line, m_nmeaElementSep, m_nmeaVTGvect);
        } else if (startsWith(line, "$BDVTG")) {
            (void)split(line, m_nmeaElementSep, m_nmeaVTGvect);
        } else if (startsWith(line, "$GNVTG")) {
            (void)split(line, m_nmeaElementSep, m_nmeaVTGvect);
        }
 
        else {
            ALOGD("unkown line:%s", line.c_str());
        }
    }
 
    (void)procGGA(m_ggaInfoT);
    (void)procGLL(m_gllInfoT);
    (void)procGSA(m_gsaVectInfoT);
    (void)procGSV(m_gsvVectInfoT);
    (void)procRMC(m_rmcInfoT);
    (void)procVTG(m_vtgInfoT);
    m_gnssLocation.size = sizeof(m_gnssLocation);
    m_gnssSvStatus.size = sizeof(m_gnssSvStatus);
    return gpCount;
}
 
int GnssNmeaParser::getNmeaLines(std::vector<std::string> &lines)
{
    std::vector<std::string>::iterator vsit;
    for (vsit = m_nmeaLines.begin(); vsit != m_nmeaLines.end(); vsit++) {
        lines.push_back(*vsit+m_nmeaLineSep);
    }
    return lines.size();
}
 
int GnssNmeaParser::procGGA(XXGGA_Info_T &gga)
{
    size_t vecSize = m_nmeaGGAvect.size();
    if (vecSize != eGGA_CheckSum) {
        ALOGD("%s invalid vector size:%zu, expected(%d)",
                __func__, vecSize, eGGA_CheckSum);
        return 0;
    }
    bitsFlagClear<16>(gga.BitFlags);
 
    for (int i = 1; i < (int)vecSize; i++)
    {
        if (m_nmeaGGAvect[i].length() != 0)
        {
            bitsFlagSet<16>(gga.BitFlags, i);
        }
    }
    gga.UTCTime = stringToNumber<double>(m_nmeaGGAvect[eGGA_UTCTime]);
    gga.Latitude = stringToNumber<double>(m_nmeaGGAvect[eGGA_Latitude]);
    gga.LatitudeHemi = stringToNumber<char>(m_nmeaGGAvect[eGGA_LatitudeHemi]);
    gga.Longitude = stringToNumber<double>(m_nmeaGGAvect[eGGA_Longitude]);
    gga.LongitudeHemi = stringToNumber<char>(m_nmeaGGAvect[eGGA_LongitudeHemi]);
    gga.StatusIndicator = stringToNumber<uint16_t>(m_nmeaGGAvect[eGGA_StatusIndicator]);
    gga.SatellitesCount = stringToNumber<size_t>(m_nmeaGGAvect[eGGA_SatellitesCount]);
    gga.HDOP = stringToNumber<float>(m_nmeaGGAvect[eGGA_HDOP]);
    gga.Altitude = stringToNumber<double>(m_nmeaGGAvect[eGGA_Altitude]);
    gga.AltitudeUnit = stringToNumber<char>(m_nmeaGGAvect[eGGA_AltitudeUnit]);
    gga.GeoidHeight = stringToNumber<float>(m_nmeaGGAvect[eGGA_GeoidHeight]);
    gga.GeoidHeightUnit = stringToNumber<char>(m_nmeaGGAvect[eGGA_GeoidHeightUnit]);
    gga.DiffTemporal = stringToNumber<long>(m_nmeaGGAvect[eGGA_DiffTemporal]);
    gga.DiffStationId = stringToNumber<int>(m_nmeaGGAvect[eGGA_DiffStationId]);
 
    m_gpsStatus.size = sizeof(m_gpsStatus);
    if (gga.StatusIndicator != 0) {
        updateLatLong(gga.Latitude, gga.LatitudeHemi, gga.Longitude, gga.LongitudeHemi);
        updateAltitude(gga.Altitude);
        updateAccuracy(0.0f, gga.HDOP, 0.0f);
    }
    return m_nmeaGGAvect.size();
}
 
int GnssNmeaParser::procGLL(XXGLL_Info_T &gll)
{
    size_t vecSize = m_nmeaGLLvect.size();
    if ((vecSize != eGLL_CheckSum)
        && (vecSize != eGLL_CheckSum-1)) {
        //PositioningMode is optional, only NMEA0183 v3.00 can provide PositioningMode
        ALOGD("%s invalid vector size:%zu, expected(%d/%d)",
                __func__, vecSize, eGLL_CheckSum, eGLL_CheckSum-1);
        return 0;
    }
    bitsFlagClear<16>(gll.BitFlags);
    for (int i = 1; i < (int)vecSize; i++)
    {
        if (m_nmeaGLLvect[i].length() != 0)
        {
            bitsFlagSet<16>(gll.BitFlags, i);
        }
    }
    gll.Latitude = stringToNumber<double>(m_nmeaGLLvect[eGLL_Latitude]);
    gll.LatitudeHemi = stringToNumber<char>(m_nmeaGLLvect[eGLL_LatitudeHemi]);
    gll.Longitude = stringToNumber<double>(m_nmeaGLLvect[eGLL_Longitude]);
    gll.LongitudeHemi = stringToNumber<char>(m_nmeaGLLvect[eGLL_LongitudeHemi]);
    gll.UTCTimeInt = stringToNumber<int>(m_nmeaGLLvect[eGLL_UTCTime]);
    gll.FixStatus = stringToNumber<char>(m_nmeaGLLvect[eGLL_FixStatus]);
    if (vecSize == eGLL_CheckSum) {
        gll.PositioningMode = stringToNumber<char>(m_nmeaGLLvect[eGLL_PositioningMode]);//optional
    }
 
    if ((gll.FixStatus == 'A') && (gll.PositioningMode != 'N')) {
        updateLatLong(gll.Latitude, gll.LatitudeHemi, gll.Longitude, gll.LongitudeHemi);
    }
    return m_nmeaGLLvect.size();
}
 
int GnssNmeaParser::procGSA(std::vector<XXGSA_Info_T> &gsaVect)
{
    if (m_nmeaGSAvec2d.size() == 0) {
        ALOGD("%s invalid vector size:%zu", __func__, m_nmeaGSAvec2d.size());
        return 0;
    }
    std::vector<std::vector<std::string>>::iterator vvsit;
    std::vector<std::string> nmeaGSAvect {};
    XXGSA_Info_T gsa {};
    int prnSn = 0;
    size_t vecSize = 0;
    std::string nmeaHeader;
    for (vvsit = m_nmeaGSAvec2d.begin(); vvsit != m_nmeaGSAvec2d.end(); vvsit++) {
        nmeaGSAvect = *vvsit;
        (void)memset((void *)&gsa, 0, sizeof(gsa));
        bitsFlagClear<32>(gsa.BitFlags);
        vecSize = nmeaGSAvect.size();
 
        if (vecSize != eGSA_CheckSum) {
            ALOGI("%s invalid vector size:%zu, expected(%d)",
                    __func__, vecSize, eGSA_CheckSum);
            continue;
        }
        for (int i = 1; i < (int)vecSize; i++)
        {
            if (nmeaGSAvect[i].length() != 0)
            {
                bitsFlagSet<32>(gsa.BitFlags, i);
            }
        }
 
        nmeaHeader = (nmeaGSAvect[eGSA_Header]);
 
        gsa.Mode = stringToNumber<char>(nmeaGSAvect[eGSA_Mode]);
        gsa.Type = stringToNumber<uint16_t>(nmeaGSAvect[eGSA_Type]);
        for (prnSn = 0; prnSn < GSA_INFO_PRN_CNT; prnSn++) {
            gsa.PRNList[prnSn] = stringToNumber<int>(nmeaGSAvect[eGSA_PRN1+prnSn]);;
        }
        gsa.PDOP = stringToNumber<int>(nmeaGSAvect[eGSA_PDOP]);
        gsa.HDOP = stringToNumber<int>(nmeaGSAvect[eGSA_HDOP]);
        gsa.VDOP = stringToNumber<int>(nmeaGSAvect[eGSA_VDOP]);
        gsaVect.push_back(gsa);
 
        if ((gsa.Type <= 1)) {
            ALOGD("%s Positioning Mode is %hu(1-untargeted,2-2D,3-3D)", __func__, gsa.Type);
        } else {
            updateAccuracy(gsa.PDOP, gsa.HDOP, gsa.VDOP);
        }
    }
    return m_nmeaGSAvec2d.size();
}
 
int GnssNmeaParser::procGSV(std::vector<XXGSV_Info_T> &gsvVect)
{
    if (m_nmeaGSVvec2d.size() == 0) {
        ALOGD("%s invalid vector size:%zu", __func__, m_nmeaGSVvec2d.size());
        return 0;
    }
    std::vector<std::vector<std::string>>::iterator vvsit;
    std::vector<std::string> nmeaGSVvect {};
    XXGSV_Info_T gsv {};
    std::string nmeaHeader;
    size_t vecSize = 0;
    for (vvsit = m_nmeaGSVvec2d.begin(); vvsit != m_nmeaGSVvec2d.end(); vvsit++) {
        nmeaGSVvect = *vvsit;
        (void)memset((void *)&gsv, 0, sizeof(gsv));
        bitsFlagClear<32>(gsv.BitFlags);
        vecSize = nmeaGSVvect.size();
 
        if ((0 != (vecSize % 4)) || (vecSize < eGSV_PRNCode)) {
            ALOGI("%s invalid vector size:%zu, expected(8/12/16/20)", __func__, vecSize);
            continue;
        }
        for (int i = 1; i < (int)vecSize; i++)
        {
            if (nmeaGSVvect[i].length() != 0)
            {
                bitsFlagSet<32>(gsv.BitFlags, i);
            }
        }
        nmeaHeader = nmeaGSVvect[eGSV_Header];
        gsv.Ext_constellation = getNConstellation(nmeaHeader);
 
        gsv.ItemCount = stringToNumber<size_t>(nmeaGSVvect[eGSV_ItemCount]);
        gsv.ItemSequence = stringToNumber<int>(nmeaGSVvect[eGSV_ItemSequence]);
        gsv.SatellitesCount = stringToNumber<int>(nmeaGSVvect[eGSV_SatellitesCount]);
 
        /* gsv slices count maybe 8/12/16/20 */
        if (vecSize >= eGSV_PRNCode2) {
            gsv.PRNCode = stringToNumber<int>(nmeaGSVvect[eGSV_PRNCode]);
            gsv.SatelliteElevation = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteElevation]);
            gsv.SatelliteAzimuth = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteAzimuth]);
            gsv.SignalNoiseRatio = stringToNumber<float>(nmeaGSVvect[eGSV_SignalNoiseRatio]);
        }
        if (vecSize >= eGSV_PRNCode3) {
            gsv.PRNCode2 = stringToNumber<int>(nmeaGSVvect[eGSV_PRNCode2]);
            gsv.SatelliteElevation2 = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteElevation2]);
            gsv.SatelliteAzimuth2 = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteAzimuth2]);
            gsv.SignalNoiseRatio2 = stringToNumber<float>(nmeaGSVvect[eGSV_SignalNoiseRatio2]);
        }
        if (vecSize >= eGSV_PRNCode4) {
            gsv.PRNCode3 = stringToNumber<int>(nmeaGSVvect[eGSV_PRNCode3]);
            gsv.SatelliteElevation3 = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteElevation3]);
            gsv.SatelliteAzimuth3 = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteAzimuth3]);
            gsv.SignalNoiseRatio3 = stringToNumber<float>(nmeaGSVvect[eGSV_SignalNoiseRatio3]);
        }
        if (vecSize == eGSV_CheckSum) {
            gsv.PRNCode4 = stringToNumber<int>(nmeaGSVvect[eGSV_PRNCode4]);
            gsv.SatelliteElevation4 = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteElevation4]);
            gsv.SatelliteAzimuth4 = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteAzimuth4]);
            gsv.SignalNoiseRatio4 = stringToNumber<float>(nmeaGSVvect[eGSV_SignalNoiseRatio4]);
        }
        gsvVect.push_back(gsv);
    }
 
    updateGnssSvStatus(gsvVect);
    return m_nmeaGSVvec2d.size();
}
 
int GnssNmeaParser::procRMC(XXRMC_Info_T &rmc)
{
    size_t vecSize = m_nmeaRMCvect.size();
    if ((vecSize != eRMC_CheckSum)
        && (vecSize != eRMC_CheckSum-1)) {
        //PositioningMode is optional, only NMEA0183 v3.00 can provide PositioningMode
        ALOGD("%s invalid vector size:%zu, expected(%d/%d)",
                __func__, vecSize, eRMC_CheckSum, eRMC_CheckSum-1);
        return 0;
    }
    bitsFlagClear<16>(rmc.BitFlags);
    for (int i = 1; i < (int)vecSize; i++)
    {
        if (m_nmeaRMCvect[i].length() != 0)
        {
            bitsFlagSet<16>(rmc.BitFlags, i);
        }
    }
    rmc.UTCTime = stringToNumber<double>(m_nmeaRMCvect[eRMC_UTCTime]);
    rmc.FixStatus = stringToNumber<char>(m_nmeaRMCvect[eRMC_FixStatus]);
    rmc.Latitude = stringToNumber<double>(m_nmeaRMCvect[eRMC_Latitude]);
    rmc.LatitudeHemi = stringToNumber<char>(m_nmeaRMCvect[eRMC_LatitudeHemi]);
    rmc.Longitude = stringToNumber<double>(m_nmeaRMCvect[eRMC_Longitude]);
    rmc.LongitudeHemi = stringToNumber<char>(m_nmeaRMCvect[eRMC_LongitudeHemi]);
    rmc.SpeedKnots = stringToNumber<float>(m_nmeaRMCvect[eRMC_SpeedKnots]);
    rmc.Azimuth = stringToNumber<float>(m_nmeaRMCvect[eRMC_Azimuth]);
    rmc.UTCDate = stringToNumber<int>(m_nmeaRMCvect[eRMC_UTCDate]);
    rmc.MagneticDeclination = stringToNumber<float>(m_nmeaRMCvect[eRMC_MagneticDeclination]);
    rmc.MagneticDeclinationDirection = stringToNumber<char>(m_nmeaRMCvect[eRMC_MagneticDeclinationDirection]);
    if (vecSize == eRMC_CheckSum) {
        rmc.PositioningMode = stringToNumber<char>(m_nmeaRMCvect[eRMC_PositioningMode]);//optional
    }
 
    if (rmc.FixStatus == 'A') {
        updateUtcTime(rmc.UTCDate, rmc.UTCTime);
        updateLatLong(rmc.Latitude, rmc.LatitudeHemi, rmc.Longitude, rmc.LongitudeHemi);
        updateBearing(rmc.Azimuth);
        updateSpeed((1.852f * rmc.SpeedKnots / 3.6f));
        updateMagDec(rmc.MagneticDeclination, rmc.MagneticDeclinationDirection);
    } else if (rmc.FixStatus == 'V') {
        ALOGW("%s FixStatus is V(A-targeted,V-untargeted)", __func__);
        // UTCDate and UTCTime may be empty
        //updateUtcTime(rmc.UTCDate, rmc.UTCTime);
        updateLatLong(rmc.Latitude, rmc.LatitudeHemi, rmc.Longitude, rmc.LongitudeHemi);
        //updateBearing(rmc.Azimuth);
    } else {
        //invalid data
        ALOGD("%s invalid FixStatus(%c)", __func__, rmc.FixStatus);
    }
    return m_nmeaRMCvect.size();
}
 
int GnssNmeaParser::procVTG(XXVTG_Info_T &vtg)
{
    size_t vecSize = m_nmeaVTGvect.size();
    if ((vecSize != eVTG_CheckSum)
        && (vecSize != eVTG_CheckSum-1)) {
        //PositioningMode is optional, only NMEA0183 v3.00 can provide PositioningMode
        ALOGD("%s invalid vector size:%zu, expected(%d/%d)",
                __func__, vecSize, eVTG_CheckSum, eVTG_CheckSum-1);
        return 0;
    }
    bitsFlagClear<16>(vtg.BitFlags);
    for (int i = 1; i < (int)vecSize; i++)
    {
        if (m_nmeaVTGvect[i].length() != 0)
        {
            bitsFlagSet<16>(vtg.BitFlags, i);
        }
    }
    vtg.MovementAngleTN = stringToNumber<float>(m_nmeaVTGvect[eVTG_MovementAngle]);
    vtg.TrueNorthRef = stringToNumber<char>(m_nmeaVTGvect[eVTG_TrueNorthRef]);
    vtg.MovementAngleMN = stringToNumber<float>(m_nmeaVTGvect[eVTG_MovementAngle2]);
    vtg.MagneticNorthRef = stringToNumber<char>(m_nmeaVTGvect[eVTG_MagneticNorthRef]);
    vtg.HorizontalMoveSpeedKn = stringToNumber<float>(m_nmeaVTGvect[eVTG_HorizontalMoveSpeed]);
    vtg.SpeedKnots = stringToNumber<char>(m_nmeaVTGvect[eVTG_SpeedKnots]);
    vtg.HorizontalMoveSpeedKm = stringToNumber<float>(m_nmeaVTGvect[eVTG_HorizontalMoveSpeed2]);
    vtg.SpeedKmh = stringToNumber<char>(m_nmeaVTGvect[eVTG_SpeedKmh]);
    if (vecSize == eVTG_CheckSum) {
        vtg.PositioningMode = stringToNumber<char>(m_nmeaVTGvect[eVTG_PositioningMode]);//optional
    }
 
    if ((vtg.PositioningMode == 'A') || (vtg.PositioningMode == 'D')) {
        updateSpeed(vtg.HorizontalMoveSpeedKm/3.6f);
    }
    return m_nmeaVTGvect.size();
}
 
void GnssNmeaParser::updateUtcTime(const int ddmmyy, const double hhmmss_sss)
{
    //get utc diff
    time_t time_now = time(NULL);
    struct tm tm_local {};
    struct tm tm_utc {};
    long time_local_sec = 0;
    long time_utc_sec = 0;
    long utc_diff_sec = 0;
 
    //get fixed time
    struct tm tm_gnss {};
    time_t time_fixed = 0;
    int utc_year = 0;
    int utc_month = 0;
    int utc_day = 0;
    int utc_hour = 0;
    int utc_minute = 0;
    int utc_seconds = 0;
    int hhmmss = (int)hhmmss_sss;
    int milliseconds = 0;
 
    gmtime_r(&time_now, &tm_utc);
    localtime_r(&time_now, &tm_local);
 
    time_local_sec = tm_local.tm_sec +
                    60*(tm_local.tm_min +
                        60*(tm_local.tm_hour +
                            24*(tm_local.tm_yday +
                                365*tm_local.tm_year)));
 
    time_utc_sec = tm_utc.tm_sec +
                    60*(tm_utc.tm_min +
                        60*(tm_utc.tm_hour +
                            24*(tm_utc.tm_yday +
                                365*tm_utc.tm_year)));
 
    utc_diff_sec = time_local_sec - time_utc_sec;
 
    utc_day = (ddmmyy / 100) / 100;
    utc_month = (ddmmyy / 100) % 100;
    utc_year = (ddmmyy % 100) + 2000;
    utc_hour = ((hhmmss / 100) / 100);
    utc_minute = ((hhmmss / 100) % 100);
    utc_seconds = (hhmmss % 100);
    //milliseconds = (int)((hhmmss_sss - hhmmss) * 1000); //will less precise
    milliseconds = (int)((hhmmss_sss * 1000) - (hhmmss * 1000)); //Improve accuracy
 
    tm_gnss.tm_hour  = utc_hour;
    tm_gnss.tm_min   = utc_minute;
    tm_gnss.tm_sec   = utc_seconds;
    tm_gnss.tm_year  = utc_year - 1900;
    tm_gnss.tm_mon   = utc_month - 1;
    tm_gnss.tm_mday  = utc_day;
    tm_gnss.tm_isdst = -1;
 
    time_fixed = mktime(&tm_gnss) + utc_diff_sec;
    m_gnssUtcTime = (long long)time_fixed * 1000 + milliseconds;
    m_gnssLocation.timestamp = m_gnssUtcTime;
 
    if ((0 == ddmmyy) || (0 == hhmmss)) {
        ALOGW("%s invalid UTCDate=%d, UTCTime=%d", __func__, ddmmyy, hhmmss);
        //use local stored utc time
        time_fixed = mktime(&tm_utc) + utc_diff_sec;
        m_gnssUtcTime = (long long)time_fixed * 1000;
        m_gnssLocation.timestamp = m_gnssUtcTime;
    }
}
 
void GnssNmeaParser::updateLatLong(const double latitude, const char latHemi, const double longtitude, const char longHemi)
{
    double lat = latitude;
    double lon = longtitude;
    if (latHemi == 'S') {
        lat = -lat;
    }
    if (longHemi == 'W') {
        lon = -lon;
    }
    m_gnssLocation.flags    |= GPS_LOCATION_HAS_LAT_LONG;
    m_gnssLocation.latitude  = latLongToDegree(lat);
    m_gnssLocation.longitude = latLongToDegree(lon);
}
 
void GnssNmeaParser::updateAltitude(const double altitude)
{
    double alt = altitude;
    m_gnssLocation.flags   |= GPS_LOCATION_HAS_ALTITUDE;
    m_gnssLocation.altitude = alt;
}
 
void GnssNmeaParser::updateBearing(const float bearing)
{
    float bea = bearing;
    m_gnssLocation.flags   |= GPS_LOCATION_HAS_BEARING;
    m_gnssLocation.bearing  = bea;
}
 
void GnssNmeaParser::updateMagDec(const float magDec, const char magDecDir)
{
    (void)magDec;
    (void)magDecDir;
}
 
void GnssNmeaParser::updateAccuracy(const float pdop, const float hdop, const float vdop)
{
    /* GSA HDOP */
    (void)pdop;
    (void)vdop;
    if ((0.1f <= hdop)) {
        m_gnssLocation.flags   |= GPS_LOCATION_HAS_HORIZONTAL_ACCURACY;
        m_gnssLocation.accuracy = hdop;
    }
}
 
void GnssNmeaParser::updateSpeed(const float speed)
{
    float velocity = speed;
    m_gnssLocation.flags   |= GPS_LOCATION_HAS_SPEED;
    m_gnssLocation.speed    = velocity;
}
 
void GnssNmeaParser::updateGnssSvStatus(const std::vector<XXGSV_Info_T> &gsvVectInfoT)
{
    std::vector<XXGSV_Info_T>::const_iterator vit;
    int itemsCount = 0;
    int itemSequence = 0;
    int sateSeq = 0;
 
    m_gnssSvStatus.size = sizeof(m_gnssSvStatus);
    m_gnssSvStatus.num_svs = 0;
    for (vit = gsvVectInfoT.begin(); vit != gsvVectInfoT.end(); vit++) {
        itemsCount = vit->ItemCount;
        itemSequence = vit->ItemSequence;
 
        if ((sateSeq+3) > (GNSS_MAX_SVS-1)) {
            /* preventing arrays from out of bounds */
            ALOGW(" gnssSvStatus num more than GNSS_MAX_SVS:%d", GNSS_MAX_SVS);
            break;
        }
 
        //m_gnssSvStatus.gnss_sv_list[sateSeq].size = sizeof(GnssSvInfo);
        m_gnssSvStatus.gnss_sv_list[sateSeq].svid = vit->PRNCode;
        m_gnssSvStatus.gnss_sv_list[sateSeq].elevation = vit->SatelliteElevation;
        m_gnssSvStatus.gnss_sv_list[sateSeq].azimuth = vit->SatelliteAzimuth;
        m_gnssSvStatus.gnss_sv_list[sateSeq].c_n0_dbhz = vit->SignalNoiseRatio;
        m_gnssSvStatus.gnss_sv_list[sateSeq].flags = 0;
        if (bitsFlagTest<32>((*vit).BitFlags, eGSV_SignalNoiseRatio)) {
            //m_gnssSvStatus.gnss_sv_list[sateSeq].flags |= GNSS_SV_FLAGS_HAS_CARRIER_FREQUENCY;
        }
        m_gnssSvStatus.gnss_sv_list[sateSeq].constellation = vit->Ext_constellation;
        if (vit->PRNCode > 0) {
            /* check and set flag whether available satellite */
            m_gnssSvStatus.gnss_sv_list[sateSeq].flags |= gnssSvFlagUsedInFix(vit->PRNCode);
            /* increase visible satellites count */
            sateSeq += 1;
        }
 
        //m_gnssSvStatus.gnss_sv_list[sateSeq].size = sizeof(GnssSvInfo);
        m_gnssSvStatus.gnss_sv_list[sateSeq].svid = vit->PRNCode2;
        m_gnssSvStatus.gnss_sv_list[sateSeq].elevation = vit->SatelliteElevation2;
        m_gnssSvStatus.gnss_sv_list[sateSeq].azimuth = vit->SatelliteAzimuth2;
        m_gnssSvStatus.gnss_sv_list[sateSeq].c_n0_dbhz = vit->SignalNoiseRatio2;
        m_gnssSvStatus.gnss_sv_list[sateSeq].flags = 0;
        if ( bitsFlagTest<32>(vit->BitFlags, eGSV_SignalNoiseRatio2) ) {
            //m_gnssSvStatus.gnss_sv_list[sateSeq].flags |= GNSS_SV_FLAGS_HAS_CARRIER_FREQUENCY;
        }
        m_gnssSvStatus.gnss_sv_list[sateSeq].constellation = vit->Ext_constellation;
        if (vit->PRNCode2 > 0) {
            m_gnssSvStatus.gnss_sv_list[sateSeq].flags |= gnssSvFlagUsedInFix(vit->PRNCode2);
            sateSeq += 1;
        }
 
        //m_gnssSvStatus.gnss_sv_list[sateSeq].size = sizeof(GnssSvInfo);
        m_gnssSvStatus.gnss_sv_list[sateSeq].svid = vit->PRNCode3;
        m_gnssSvStatus.gnss_sv_list[sateSeq].elevation = vit->SatelliteElevation3;
        m_gnssSvStatus.gnss_sv_list[sateSeq].azimuth = vit->SatelliteAzimuth3;
        m_gnssSvStatus.gnss_sv_list[sateSeq].c_n0_dbhz = vit->SignalNoiseRatio3;
        m_gnssSvStatus.gnss_sv_list[sateSeq].flags = 0;
        if (bitsFlagTest<32>(vit->BitFlags, eGSV_SignalNoiseRatio3)) {
            //m_gnssSvStatus.gnss_sv_list[sateSeq].flags |= GNSS_SV_FLAGS_HAS_CARRIER_FREQUENCY;
        }
        m_gnssSvStatus.gnss_sv_list[sateSeq].constellation = vit->Ext_constellation;
        if (vit->PRNCode3 > 0) {
            m_gnssSvStatus.gnss_sv_list[sateSeq].flags |= gnssSvFlagUsedInFix(vit->PRNCode3);
            sateSeq += 1;
        }
 
        //m_gnssSvStatus.gnss_sv_list[sateSeq].size = sizeof(GnssSvInfo);
        m_gnssSvStatus.gnss_sv_list[sateSeq].svid = vit->PRNCode4;
        m_gnssSvStatus.gnss_sv_list[sateSeq].elevation = vit->SatelliteElevation4;
        m_gnssSvStatus.gnss_sv_list[sateSeq].azimuth = vit->SatelliteAzimuth4;
        m_gnssSvStatus.gnss_sv_list[sateSeq].c_n0_dbhz = vit->SignalNoiseRatio4;
        m_gnssSvStatus.gnss_sv_list[sateSeq].flags = 0;
        if (bitsFlagTest<32>(vit->BitFlags, eGSV_SignalNoiseRatio4)) {
            //m_gnssSvStatus.gnss_sv_list[sateSeq].flags |= GNSS_SV_FLAGS_HAS_CARRIER_FREQUENCY;
        }
        m_gnssSvStatus.gnss_sv_list[sateSeq].constellation = vit->Ext_constellation;
        if (vit->PRNCode4 > 0) {
            m_gnssSvStatus.gnss_sv_list[sateSeq].flags |= gnssSvFlagUsedInFix(vit->PRNCode4);
            sateSeq += 1;
        }
    }
    m_gnssSvStatus.num_svs = sateSeq;
}
 
double GnssNmeaParser::latLongToDegree(const double dddmm_mmmm)
{
    // eg.: 12031.0902 -> 120.51817(120+(31.0902/60.0=0.51817))
    int    ddd = (int)(dddmm_mmmm/100);
    double mm_mmmm = dddmm_mmmm - (ddd*100.0);
    double ddd_xxx = ddd + (mm_mmmm / 60.0);
    return ddd_xxx;
}
 
int GnssNmeaParser::gnssSvFlagUsedInFix(const int svid) {
    int fixed = 0;
    int prnSn = 0;
    std::vector<XXGSA_Info_T>::iterator gsaIt;
    for (gsaIt = m_gsaVectInfoT.begin(); gsaIt != m_gsaVectInfoT.end(); gsaIt++) {
        for (prnSn = 0; prnSn < GSA_INFO_PRN_CNT; prnSn++) {
            if (svid == gsaIt->PRNList[prnSn]) {
                fixed = GNSS_SV_FLAGS_USED_IN_FIX;
                break;
            }
        }
    }
    return fixed;
}
 
bool GnssNmeaParser::getGnssLocation(GpsLocation &gnssLocation)
{
    (void)memcpy(&gnssLocation, &m_gnssLocation, sizeof(m_gnssLocation));
    return true;
}
 
bool GnssNmeaParser::getGnssSvStatus(GnssSvStatus &gnssSvStatus)
{
#if 1
    int numSv = m_gnssSvStatus.num_svs;
    ALOGD("getGnssSvStatus size:%zu, num_svs:%d", m_gnssSvStatus.size, m_gnssSvStatus.num_svs);
    for(int tmp = 0; tmp < numSv; tmp++)
    {
        ALOGD("getGnssSvStatus (id=%d,elevation=%f,azimuth=%f,dbhz=%f,CX=%d,svFlag=0x%x)",
                m_gnssSvStatus.gnss_sv_list[tmp].svid,
                m_gnssSvStatus.gnss_sv_list[tmp].elevation,
                m_gnssSvStatus.gnss_sv_list[tmp].azimuth,
                m_gnssSvStatus.gnss_sv_list[tmp].c_n0_dbhz,
                (int)m_gnssSvStatus.gnss_sv_list[tmp].constellation,
                (int)m_gnssSvStatus.gnss_sv_list[tmp].flags);
    }
#endif
    (void)memcpy(&gnssSvStatus, &m_gnssSvStatus, sizeof(gnssSvStatus));
    return true;
}
 
GpsUtcTime GnssNmeaParser::getUtcTime()
{
    return m_gnssUtcTime;
}
 
void GnssNmeaParser::reset()
{
    m_nmeaLines.clear();
    m_nmeaGGAvect.clear();
    m_nmeaGLLvect.clear();
    m_nmeaGSAvec2d.clear();
    m_nmeaGSVvec2d.clear();
    m_nmeaRMCvect.clear();
    m_nmeaVTGvect.clear();
 
    m_gnssUtcTime = 0;
    (void)memset(&m_ggaInfoT, 0, sizeof(m_ggaInfoT));
    (void)memset(&m_gllInfoT, 0, sizeof(m_gllInfoT));
 
    m_gsaVectInfoT.clear();
    m_gsvVectInfoT.clear();
    (void)memset(&m_rmcInfoT, 0, sizeof(m_rmcInfoT));
    (void)memset(&m_vtgInfoT, 0, sizeof(m_vtgInfoT));
 
    (void)memset(&m_gnssLocation, 0, sizeof(m_gnssLocation));
    (void)memset(&m_gnssSvStatus, 0, sizeof(m_gnssSvStatus));
}
 
void GnssNmeaParser::removeChecksum(std::string &str)
{
    // get rid of checksum at the end of the sentecne
    // remove chars after *
    size_t phit = 0;
    phit = str.find("*");
    if (std::string::npos != phit)
    {
        str.erase(phit);
    }
}
 
uint8_t GnssNmeaParser::getNConstellation(const std::string &nmeaHead)
{
    uint8_t constellation = GNSS_CONSTELLATION_UNKNOWN;
    if (startsWith(nmeaHead, "$GP")) {
        constellation = GNSS_CONSTELLATION_GPS;
    } else if (startsWith(nmeaHead, "$GL")) {
        constellation = GNSS_CONSTELLATION_GLONASS;
    } else if (startsWith(nmeaHead, "$BD")) {
        constellation = GNSS_CONSTELLATION_BEIDOU;
    } else {
        constellation = GNSS_CONSTELLATION_UNKNOWN;
    }
    return constellation;
}
 
bool GnssNmeaParser::startsWith(const std::string &src, const std::string &str)
{
    int srcpos = 0;
    int srclen = src.length();
    int sublen = str.length();
    if (srclen < sublen) {
        return false;
    }
    return (0 == src.compare(srcpos, sublen, str));
}
 
bool GnssNmeaParser::endsWith(const std::string &src, const std::string &str)
{
    int srcpos = 0;
    int srclen = src.length();
    int sublen = str.length();
    if (srclen < sublen) {
        return false;
    }
    srcpos = srclen - sublen;
    return (0 == src.compare(srcpos, sublen, str));
}
 
std::string GnssNmeaParser::replace(const std::string &raw, const std::string &oldstr, const std::string &newstr) {
    std::string res_string = raw;
    size_t startpos = 0;
    size_t retpos = 0;
    while (std::string::npos != (retpos = res_string.find(oldstr, startpos)))
    {
        if (oldstr.size() == newstr.size()) {
            (void)res_string.replace(retpos, oldstr.size(), newstr);
        } else {
            (void)res_string.erase(retpos, oldstr.size());
            (void)res_string.insert(retpos, newstr);
        }
        startpos = retpos + oldstr.size();
    }
    return res_string;
}
 
size_t GnssNmeaParser::split(const std::string &line, const std::string &delim, std::vector<std::string> &vstr)
{
    size_t pstart = 0;
    size_t phit = 0;
    std::string sstr;
    size_t length = line.length();
 
    vstr.clear();
    for (;pstart <= length;)
    {
        phit = line.find(delim, pstart);
        if (std::string::npos != phit)
        {
            /* find delim, get substr */
            sstr = line.substr(pstart, phit-pstart);
            vstr.push_back(sstr);
            pstart = phit + delim.size();
        } else {
            /* not find delim, append remaining str and break */
            vstr.push_back(line.substr(pstart));
            break;
        }
    }
    return vstr.size();
}
 
 

for Android Gnss V1.1

#ifndef HAL_GNSS_V1_0_GNSSNMEAPARSER_H
#define HAL_GNSS_V1_0_GNSSNMEAPARSER_H
 
#include <cstdio>
#include <iostream>
#include <sstream>
#include <bitset>
#include <vector>
#include <map>
#include <queue>
 
//#include <hardware/gps.h>
#include <android/hardware/gnss/1.1/IGnss.h>
 
#define GNSS_NMEA_LINE_SEP "\n"
#define GNSS_NMEA_ELEMENT_SEP ","
#define GNSS_NMEA_PARSER_VERSION "v1.0-20.0716"
 
using GnssSvFlags = ::android::hardware::gnss::V1_0::IGnssCallback::GnssSvFlags;
using GnssStatusValue = ::android::hardware::gnss::V1_0::IGnssCallback::GnssStatusValue;
using GnssLocationFlags = android::hardware::gnss::V1_0::GnssLocationFlags;
using GnssMax = ::android::hardware::gnss::V1_0::GnssMax;
 
using GnssLocation = ::android::hardware::gnss::V1_0::GnssLocation;
using GnssConstellationType = ::android::hardware::gnss::V1_0::GnssConstellationType;
using GnssSvInfo = ::android::hardware::gnss::V1_0::IGnssCallback::GnssSvInfo;
using GnssSvStatus = ::android::hardware::gnss::V1_0::IGnssCallback::GnssSvStatus;
 
using GnssUtcTime = ::android::hardware::gnss::V1_0::GnssUtcTime;
using GnssAidingData = ::android::hardware::gnss::V1_0::IGnss::GnssAidingData;
using GnssPositionMode = ::android::hardware::gnss::V1_0::IGnss::GnssPositionMode;
using GnssPositionRecurrence = ::android::hardware::gnss::V1_0::IGnss::GnssPositionRecurrence;
 
 
//GGA 定位信息
enum eGNSS_GGA_ITEM_T {
    eGGA_Header = 0,
    eGGA_UTCTime = 1,
    eGGA_Latitude = 2,
    eGGA_LatitudeHemi = 3,
    eGGA_Longitude = 4,
    eGGA_LongitudeHemi = 5,
    eGGA_StatusIndicator = 6,
    eGGA_SatellitesCount = 7,
    eGGA_HDOP = 8,
    eGGA_Altitude = 9,
    eGGA_AltitudeUnit = 10,
    eGGA_GeoidHeight = 11,
    eGGA_GeoidHeightUnit = 12,
    eGGA_DiffTemporal = 13,
    eGGA_DiffStationId = 14,
    eGGA_CheckSum = 15,
};
 
//GLL 定位地理信息
enum eGNSS_GLL_ITEM_T {
    eGLL_Header = 0,
    eGLL_Latitude = 1,
    eGLL_LatitudeHemi = 2,
    eGLL_Longitude = 3,
    eGLL_LongitudeHemi = 4,
    eGLL_UTCTime = 5,
    eGLL_FixStatus = 6,
    eGLL_PositioningMode = 7, //optional
    eGLL_CheckSum = 8,
};
 
//GSA 当前卫星信息
enum eGNSS_GSA_ITEM_T {
    eGSA_Header = 0,
    eGSA_Mode = 1,
    eGSA_Type = 2,
    eGSA_PRN1 = 3,
    eGSA_PRN2 = 4,
    eGSA_PRN3 = 5,
    eGSA_PRN4 = 6,
    eGSA_PRN5 = 7,
    eGSA_PRN6 = 8,
    eGSA_PRN7 = 9,
    eGSA_PRN8 = 10,
    eGSA_PRN9 = 11,
    eGSA_PRN10 = 12,
    eGSA_PRN11 = 13,
    eGSA_PRN12 = 14,
    eGSA_PDOP = 15,
    eGSA_HDOP = 16,
    eGSA_VDOP = 17,
    eGSA_CheckSum = 18,
};
 
//GSV 可见卫星信息
enum eGNSS_GSV_ITEM_T {
    eGSV_Header = 0,
    eGSV_ItemCount = 1,
    eGSV_ItemSequence = 2,
    eGSV_SatellitesCount = 3,
    eGSV_PRNCode = 4,
    eGSV_SatelliteElevation = 5,
    eGSV_SatelliteAzimuth = 6,
    eGSV_SignalNoiseRatio = 7,
    eGSV_PRNCode2 = 8,
    eGSV_SatelliteElevation2 = 9,
    eGSV_SatelliteAzimuth2 = 10,
    eGSV_SignalNoiseRatio2 = 11,
    eGSV_PRNCode3 = 12,
    eGSV_SatelliteElevation3 = 13,
    eGSV_SatelliteAzimuth3 = 14,
    eGSV_SignalNoiseRatio3 = 15,
    eGSV_PRNCode4 = 16,
    eGSV_SatelliteElevation4 = 17,
    eGSV_SatelliteAzimuth4 = 18,
    eGSV_SignalNoiseRatio4 = 19,
    eGSV_CheckSum = 20,
};
 
// RMC
enum eGNSS_RMC_ITEM_T {
    eRMC_Header = 0,
    eRMC_UTCTime = 1,
    eRMC_FixStatus = 2,
    eRMC_Latitude = 3,
    eRMC_LatitudeHemi = 4,
    eRMC_Longitude = 5,
    eRMC_LongitudeHemi = 6,
    eRMC_SpeedKnots = 7,
    eRMC_Azimuth = 8,
    eRMC_UTCDate = 9,
    eRMC_MagneticDeclination = 10,
    eRMC_MagneticDeclinationDirection = 11,
    eRMC_PositioningMode = 12, //optional
    eRMC_CheckSum = 13,
};
 
//VTG 地面速度信息
enum eGNSS_VTG_ITEM_T {
    eVTG_Header = 0,
    eVTG_MovementAngle = 1,
    eVTG_TrueNorthRef = 2,
    eVTG_MovementAngle2 = 3,
    eVTG_MagneticNorthRef = 4,
    eVTG_HorizontalMoveSpeed = 5,
    eVTG_SpeedKnots = 6,
    eVTG_HorizontalMoveSpeed2 = 7,
    eVTG_SpeedKmh = 8,
    eVTG_PositioningMode = 9, //optional
    eVTG_CheckSum = 10,
};
 
 
//(GGA)GPS定位信息 Global Positioning System Fix Data
//$GPGGA,014434.70,3817.13334637,N,12139.72994196,E,4,07,1.5,6.571,M,8.942,M,0.7,0016*7B
struct XXGGA_Info_T {
    double UTCTime;    //UTC时间,格式为hhmmss.sss
    double Latitude;   //纬度,格式为ddmm.mmmm
    char LatitudeHemi; //纬度半球,N或S
    double Longitude;  //经度,格式为dddmm.mmmm
    char LongitudeHemi;//经度半球,E或W
    uint16_t StatusIndicator;//GPS状态:0初始化,1单点定位,2码差分,3无效PPS,4固定解,5浮点解,6正在估算,7人工输入固定值,8模拟模式,9WAAS差分
    size_t SatellitesCount;  //使用卫星数量,从00到12
    float HDOP;        //HDOP-水平精度因子,0.5到99.9,一般认为HDOP越小,质量越好
    double Altitude;   //椭球高,-9999.9到9999.9米
    char AltitudeUnit; //M指单位米
    float GeoidHeight; //大地水准面高度异常差值,-9999.9到9999.9米
    char GeoidHeightUnit; //M指单位米
    int64_t DiffTemporal; //差分GPS数据期限(RTCM SC-104),最后设立RTCM传送的秒数量,如不是差分定位则为空
    int16_t DiffStationId;//差分参考基站标号,从0000到1023
    //char CheckSum[4]; //从$开始到*之间的所有ASCII码的异或校验
    std::bitset<16> BitFlags;
};
 
//(GLL)定位地理信息 Geographic Position
struct XXGLL_Info_T {
    double Latitude;   //纬度ddmm.mmmm(度分)格式
    char LatitudeHemi; //纬度半球N或S
    double Longitude;  //经度dddmm.mmmm(度分)格式
    char LongitudeHemi;//经度半球E或W
    int UTCTimeInt;       //UTC时间,hhmmss(时分秒)格式
    char FixStatus;    //定位状态,A=有效定位,V=无效定位
    char PositioningMode;  //模式指示,仅NMEA0183 v3.00输出,A=自主定位,D=差分,E=估算,N=数据无效
    //char CheckSum[4];
    std::bitset<16> BitFlags;
};
 
//GSA 当前卫星信息 GPS DOP and Active Satellites (GSA)当前卫星信息
#define GSA_INFO_PRN_CNT 12
struct XXGSA_Info_T {
    char Mode;     //定位模式,A=自动手动2D/3D,M=手动2D/3D
    uint16_t Type; //定位类型,1=未定位,2=2D定位,3=3D定位
    int PRNList[GSA_INFO_PRN_CNT]; //PRN码-伪随机噪声码,第x信道正在使用的卫星PRN码编号
    float PDOP; //accuracy PDOP综合位置精度因子,0.5-99.9
    float HDOP; //HDOP水平精度因子0.5-99.9
    float VDOP; //VDOP垂直精度因子0.5-99.9
    //char CheckSum[4];
    std::bitset<32> BitFlags;
};
 
//(GSV)可见卫星信息 可见卫星信息 GPS Satellites in View
struct XXGSV_Info_T {
    uint8_t Ext_constellation;  //UNKNOWN==0/GPS==1/SBAS==2/GLONASS==3/QZSS==4/BEIDOU==5/GALILEO==6
    size_t ItemCount;    //GSV语句的总数
    int ItemSequence;    //本句GSV的编号
    int SatellitesCount; //可见卫星的总数,00~12,前面的0也将被传输
    int PRNCode;             //PRN码-伪随机噪声码,前面的0也将被传输;GPS:1-32,Beidou:1-37,GLONASS:1-24,Galileo:1-36,...
    float SatelliteElevation;//卫星仰角,00~90度,前面的0也将被传输
    float SatelliteAzimuth;  //卫星方位角,000~359度,前面的0也将被传输
    float SignalNoiseRatio;  //信噪比,00~99dB,没有跟踪到卫星时为空,前面的0也将被传输
    int PRNCode2; //按照每颗卫星进行循环显示,每条GSV语句最多可以显示4颗卫星的信息
    float SatelliteElevation2;
    float SatelliteAzimuth2;
    float SignalNoiseRatio2;
    int PRNCode3;
    float SatelliteElevation3;
    float SatelliteAzimuth3;
    float SignalNoiseRatio3;
    int PRNCode4;
    float SatelliteElevation4;
    float SatelliteAzimuth4;
    float SignalNoiseRatio4;
    //char CheckSum[4];
    std::bitset<32> BitFlags;
};
 
// (RMC)推荐定位信息 Recommended Minimum Specific GPS/TRANSIT Data
//$GPRMC,200808.000,A,3114.4591,N,12118.0993,E,0.82,282.15,191220,,,A*61
struct XXRMC_Info_T {
    double UTCTime;             //UTC时间,hhmmss.sss格式,格林尼治时间;
    char FixStatus;             //状态,A=定位,V=未定位;当给GPS复位时为V,不输出速度,角度,时间数据;
    double Latitude;            //纬度ddmm.mmmm,度分格式
    char LatitudeHemi;          //纬度N或S
    double Longitude;           //经度dddmm.mmmm,度分格式
    char LongitudeHemi;         //经度E或W
    float SpeedKnots;           //速度,节,Knots
    float Azimuth;              //方位角,度 Azimuth/bearing
    int UTCDate;                //UTC日期,DDMMYY格式
    float MagneticDeclination;  //磁偏角,000-180度
    char MagneticDeclinationDirection;//磁偏角方向,E或W
    char PositioningMode; //模式指示,仅NMEA0183 v3.00输出,A=自主定位,D=差分,E=估算,N=数据无效
    //char CheckSum[4];
    std::bitset<16> BitFlags;
};
 
//(VTG)地面速度信息 Track Made Good and Ground Speed
struct XXVTG_Info_T {
    float MovementAngleTN;    //以真北为参考基准的地面航向,000~359度,前面的0也将被传输
    char TrueNorthRef;      //T
    float MovementAngleMN;   //以磁北为参考基准的地面航向,000~359度,前面的0也将被传输
    char MagneticNorthRef;      //M
    float HorizontalMoveSpeedKn;  //地面速率,000.0~999.9节,前面的0也将被传输
    char SpeedKnots;            //N
    float HorizontalMoveSpeedKm; //地面速率,0000.0~1851.8Km/h,前面的0也将被传输
    char SpeedKmh;              //K
    char PositioningMode;  //模式指示,仅NMEA0183 v3.00输出,A=自主定位,D=差分,E=估算,N=数据无效
    //char CheckSum[4];
    std::bitset<16> BitFlags;
};
 
template <class T>
T stringToNumber(const std::string &sstr)
{
    T number {};
    std::istringstream iss {};
    iss.str(sstr);
    iss >> number; /* can auto remove leading 0 */
    return number;
}
 
template <class T>
std::string toString(T &value)
{
    std::ostringstream oss {};
    oss << value;
    return oss.str();
}
 
template <int BS_MAX_SIZE>
void bitsFlagSet(std::bitset<BS_MAX_SIZE> &bs, size_t pos)
{
    bs.set(pos);
}
 
template <int BS_MAX_SIZE>
void bitsFlagReset(std::bitset<BS_MAX_SIZE> &bs, size_t pos)
{
    bs.reset(pos);
}
 
template <int BS_MAX_SIZE>
void bitsFlagClear(std::bitset<BS_MAX_SIZE> &bs)
{
    bs.reset();
}
 
template <int BS_MAX_SIZE>
bool bitsFlagTest(std::bitset<BS_MAX_SIZE> bs, size_t pos)
{
    return bs.test(pos);
}
 
template <int BS_MAX_SIZE>
std::string bitsFlagToString(std::bitset<BS_MAX_SIZE> &bs)
{
    return bs.to_string();
}
 
class GnssNmeaParser
{
public:
    GnssNmeaParser();
    ~GnssNmeaParser();
    int parse(const std::string &nmea);
    int getNmeaLines(std::vector<std::string> &lines);
    bool getGnssLocation(GnssLocation &gnssLocation);
    bool getGnssSvStatus(GnssSvStatus &gnssSvStatus);
    GnssUtcTime getUtcTime();
 
private:
    int procGGA(XXGGA_Info_T &gga);
    int procGLL(XXGLL_Info_T &gll);
    int procGSA(std::vector<XXGSA_Info_T> &gsaVect);
    int procGSV(std::vector<XXGSV_Info_T> &gsvVect);
    int procRMC(XXRMC_Info_T &rmc);
    int procVTG(XXVTG_Info_T &vtg);
 
    /* convert latitude(ddmm.mmmm) and longitude(dddmm.mmmm) to degrees */
    double latLongToDegree(const double dddmm_mmmm);
    int gnssSvFlagUsedInFix(const int svid);
    void updateUtcTime(const int ddmmyy, const double hhmmss_sss);
    void updateLatLong(const double latitude, const char latHemi, const double longtitude, const char longHemi);
    void updateAltitude(const double altitude);
    void updateBearing(const float bearing);
    void updateMagDec(const float magDec, const char magDecDir);
    void updateAccuracy(const float pdop, const float hdop, const float vdop);
    void updateSpeed(const float speed);
    void updateGnssSvStatus(const std::vector<XXGSV_Info_T> &gsvVectInfoT);
    void removeChecksum(std::string &str);
    uint8_t getNConstellation(const std::string &nmeaHead);
    bool startsWith(const std::string &src, const std::string &str);
    bool endsWith(const std::string &src, const std::string &str);
    std::string replace(const std::string &raw, const std::string &oldstr, const std::string &newstr);
    size_t split(const std::string &line, const std::string &delim, std::vector<std::string> &vstr);
    void reset();
 
    std::vector<std::string> m_nmeaLines;
    std::string m_nmeaLineSep = GNSS_NMEA_LINE_SEP;
    std::string m_nmeaElementSep = GNSS_NMEA_ELEMENT_SEP;
 
    std::vector<std::string> m_nmeaGGAvect;
    std::vector<std::string> m_nmeaGLLvect;
    std::vector<std::vector<std::string>> m_nmeaGSAvec2d;
    std::vector<std::vector<std::string>> m_nmeaGSVvec2d;
    std::vector<std::string> m_nmeaRMCvect;
    std::vector<std::string> m_nmeaVTGvect;
 
    XXGGA_Info_T m_ggaInfoT;
    XXGLL_Info_T m_gllInfoT;
    std::vector<XXGSA_Info_T> m_gsaVectInfoT;
    std::vector<XXGSV_Info_T> m_gsvVectInfoT;
    XXRMC_Info_T m_rmcInfoT;
    XXVTG_Info_T m_vtgInfoT;
 
    GnssUtcTime m_gnssUtcTime;
    GnssLocation m_gnssLocation;
    GnssSvStatus m_gnssSvStatus;
    //GnssStatusValue m_gnssStatus;
};
 
#endif  // HAL_GNSS_V1_0_GNSSNMEAPARSER_H
 

#include <log/log.h>
#include "GnssNmeaParser.h"
 
#ifdef LOG_TAG
#undef LOG_TAG
#endif
#define LOG_TAG  "GnssNmeaParserV1.1"
 
GnssNmeaParser::GnssNmeaParser()
{
    m_nmeaLineSep = GNSS_NMEA_LINE_SEP;
    m_nmeaElementSep = GNSS_NMEA_ELEMENT_SEP;
    ALOGI("GnssNmeaParser created. %s", GNSS_NMEA_PARSER_VERSION);
    reset();
}
 
GnssNmeaParser::~GnssNmeaParser()
{
    reset();
}
 
int GnssNmeaParser::parse(const std::string &nmea)
{
    reset();
    int gpCount = 0;
    if (0 == nmea.size()) {
        return 0;
    }
    (void)split(nmea, m_nmeaLineSep, m_nmeaLines);
 
    std::vector<std::string>::iterator vsit;
    std::vector<std::string> nmeaGSAvect;
    std::vector<std::string> nmeaGSVvect;
    std::string line;
    for (vsit = m_nmeaLines.begin(); vsit != m_nmeaLines.end(); vsit++) {
        line = *vsit;
        if (line.size() <= 6) {
            //$GPxxx
            continue;
        }
        removeChecksum(line);
        gpCount += 1;
 
        if (startsWith(line, "$GPGGA")) { //GGA
            (void)split(line, m_nmeaElementSep, m_nmeaGGAvect);
        } else if (startsWith(line, "$GLGGA")) {
            (void)split(line, m_nmeaElementSep, m_nmeaGGAvect);
        } else if (startsWith(line, "$BDGGA")) {
            (void)split(line, m_nmeaElementSep, m_nmeaGGAvect);
        } else if (startsWith(line, "$GNGGA")) {
            (void)split(line, m_nmeaElementSep, m_nmeaGGAvect);
        }
 
        else if (startsWith(line, "$GPGLL")) { //GLL
            (void)split(line, m_nmeaElementSep, m_nmeaGLLvect);
        } else if (startsWith(line, "$GLGLL")) {
            (void)split(line, m_nmeaElementSep, m_nmeaGLLvect);
        } else if (startsWith(line, "$BDGLL")) {
            (void)split(line, m_nmeaElementSep, m_nmeaGLLvect);
        } else if (startsWith(line, "$GNGLL")) {
            (void)split(line, m_nmeaElementSep, m_nmeaGLLvect);
        }
 
        else if (startsWith(line, "$GPGSA")) { //GSA
            // may contain multi-line
            (void)split(line, m_nmeaElementSep, nmeaGSAvect);
            m_nmeaGSAvec2d.push_back(nmeaGSAvect);
        } else if (startsWith(line, "$GLGSA")) {
            (void)split(line, m_nmeaElementSep, nmeaGSAvect);
            m_nmeaGSAvec2d.push_back(nmeaGSAvect);
        } else if (startsWith(line, "$BDGSA")) {
            (void)split(line, m_nmeaElementSep, nmeaGSAvect);
            m_nmeaGSAvec2d.push_back(nmeaGSAvect);
        } else if (startsWith(line, "$GNGSA")) {
            (void)split(line, m_nmeaElementSep, nmeaGSAvect);
            m_nmeaGSAvec2d.push_back(nmeaGSAvect);
        }
 
        else if (startsWith(line, "$GPGSV")) { //GSV
            // may contain multi-line
            (void)split(line, m_nmeaElementSep, nmeaGSVvect);
            m_nmeaGSVvec2d.push_back(nmeaGSVvect);
        } else if (startsWith(line, "$GLGSV")) {
            (void)split(line, m_nmeaElementSep, nmeaGSVvect);
            m_nmeaGSVvec2d.push_back(nmeaGSVvect);
        } else if (startsWith(line, "$BDGSV")) {
            (void)split(line, m_nmeaElementSep, nmeaGSVvect);
            m_nmeaGSVvec2d.push_back(nmeaGSVvect);
        }
 
        else if (startsWith(line, "$GPRMC")) { //RMC
            (void)split(line, m_nmeaElementSep, m_nmeaRMCvect);
        } else if (startsWith(line, "$GLRMC")) {
            (void)split(line, m_nmeaElementSep, m_nmeaRMCvect);
        } else if (startsWith(line, "$BDRMC")) {
            (void)split(line, m_nmeaElementSep, m_nmeaRMCvect);
        } else if (startsWith(line, "$GNRMC")) {
            (void)split(line, m_nmeaElementSep, m_nmeaRMCvect);
        }
 
        else if (startsWith(line, "$GPVTG")) { //VTG
            (void)split(line, m_nmeaElementSep, m_nmeaVTGvect);
        } else if (startsWith(line, "$GLVTG")) {
            (void)split(line, m_nmeaElementSep, m_nmeaVTGvect);
        } else if (startsWith(line, "$BDVTG")) {
            (void)split(line, m_nmeaElementSep, m_nmeaVTGvect);
        } else if (startsWith(line, "$GNVTG")) {
            (void)split(line, m_nmeaElementSep, m_nmeaVTGvect);
        }
 
        else {
            ALOGD("unkown line:%s", line.c_str());
        }
    }
 
    (void)procGGA(m_ggaInfoT);
    (void)procGLL(m_gllInfoT);
    (void)procGSA(m_gsaVectInfoT);
    (void)procGSV(m_gsvVectInfoT);
    (void)procRMC(m_rmcInfoT);
    (void)procVTG(m_vtgInfoT);
    return gpCount;
}
 
int GnssNmeaParser::getNmeaLines(std::vector<std::string> &lines)
{
    std::vector<std::string>::iterator vsit;
    for (vsit = m_nmeaLines.begin(); vsit != m_nmeaLines.end(); vsit++) {
        lines.push_back(*vsit+m_nmeaLineSep);
    }
    return lines.size();
}
 
int GnssNmeaParser::procGGA(XXGGA_Info_T &gga)
{
    size_t vecSize = m_nmeaGGAvect.size();
    if (vecSize != eGGA_CheckSum) {
        ALOGD("%s invalid vector size:%zu, expected(%d)",
                __func__, vecSize, eGGA_CheckSum);
        return 0;
    }
    bitsFlagClear<16>(gga.BitFlags);
 
    for (int i = 1; i < (int)vecSize; i++)
    {
        if (m_nmeaGGAvect[i].length() != 0)
        {
            bitsFlagSet<16>(gga.BitFlags, i);
        }
    }
    gga.UTCTime = stringToNumber<double>(m_nmeaGGAvect[eGGA_UTCTime]);
    gga.Latitude = stringToNumber<double>(m_nmeaGGAvect[eGGA_Latitude]);
    gga.LatitudeHemi = stringToNumber<char>(m_nmeaGGAvect[eGGA_LatitudeHemi]);
    gga.Longitude = stringToNumber<double>(m_nmeaGGAvect[eGGA_Longitude]);
    gga.LongitudeHemi = stringToNumber<char>(m_nmeaGGAvect[eGGA_LongitudeHemi]);
    gga.StatusIndicator = stringToNumber<uint16_t>(m_nmeaGGAvect[eGGA_StatusIndicator]);
    gga.SatellitesCount = stringToNumber<size_t>(m_nmeaGGAvect[eGGA_SatellitesCount]);
    gga.HDOP = stringToNumber<float>(m_nmeaGGAvect[eGGA_HDOP]);
    gga.Altitude = stringToNumber<double>(m_nmeaGGAvect[eGGA_Altitude]);
    gga.AltitudeUnit = stringToNumber<char>(m_nmeaGGAvect[eGGA_AltitudeUnit]);
    gga.GeoidHeight = stringToNumber<float>(m_nmeaGGAvect[eGGA_GeoidHeight]);
    gga.GeoidHeightUnit = stringToNumber<char>(m_nmeaGGAvect[eGGA_GeoidHeightUnit]);
    gga.DiffTemporal = stringToNumber<long>(m_nmeaGGAvect[eGGA_DiffTemporal]);
    gga.DiffStationId = stringToNumber<int>(m_nmeaGGAvect[eGGA_DiffStationId]);
 
    if (gga.StatusIndicator != 0) {
        updateLatLong(gga.Latitude, gga.LatitudeHemi, gga.Longitude, gga.LongitudeHemi);
        updateAltitude(gga.Altitude);
        updateAccuracy(0.0f, gga.HDOP, 0.0f);
    }
    return m_nmeaGGAvect.size();
}
 
int GnssNmeaParser::procGLL(XXGLL_Info_T &gll)
{
    size_t vecSize = m_nmeaGLLvect.size();
    if ((vecSize != eGLL_CheckSum)
        && (vecSize != eGLL_CheckSum-1)) {
        //PositioningMode is optional, only NMEA0183 v3.00 can provide PositioningMode
        ALOGD("%s invalid vector size:%zu, expected(%d/%d)",
                __func__, vecSize, eGLL_CheckSum, eGLL_CheckSum-1);
        return 0;
    }
    bitsFlagClear<16>(gll.BitFlags);
    for (int i = 1; i < (int)vecSize; i++)
    {
        if (m_nmeaGLLvect[i].length() != 0)
        {
            bitsFlagSet<16>(gll.BitFlags, i);
        }
    }
    gll.Latitude = stringToNumber<double>(m_nmeaGLLvect[eGLL_Latitude]);
    gll.LatitudeHemi = stringToNumber<char>(m_nmeaGLLvect[eGLL_LatitudeHemi]);
    gll.Longitude = stringToNumber<double>(m_nmeaGLLvect[eGLL_Longitude]);
    gll.LongitudeHemi = stringToNumber<char>(m_nmeaGLLvect[eGLL_LongitudeHemi]);
    gll.UTCTimeInt = stringToNumber<int>(m_nmeaGLLvect[eGLL_UTCTime]);
    gll.FixStatus = stringToNumber<char>(m_nmeaGLLvect[eGLL_FixStatus]);
    if (vecSize == eGLL_CheckSum) {
        gll.PositioningMode = stringToNumber<char>(m_nmeaGLLvect[eGLL_PositioningMode]);//optional
    }
 
    if ((gll.FixStatus == 'A') && (gll.PositioningMode != 'N')) {
        updateLatLong(gll.Latitude, gll.LatitudeHemi, gll.Longitude, gll.LongitudeHemi);
    }
    return m_nmeaGLLvect.size();
}
 
int GnssNmeaParser::procGSA(std::vector<XXGSA_Info_T> &gsaVect)
{
    if (m_nmeaGSAvec2d.size() == 0) {
        ALOGD("%s invalid vector size:%zu", __func__, m_nmeaGSAvec2d.size());
        return 0;
    }
    std::vector<std::vector<std::string>>::iterator vvsit;
    std::vector<std::string> nmeaGSAvect {};
    XXGSA_Info_T gsa {};
    int prnSn = 0;
    size_t vecSize = 0;
    std::string nmeaHeader;
    for (vvsit = m_nmeaGSAvec2d.begin(); vvsit != m_nmeaGSAvec2d.end(); vvsit++) {
        nmeaGSAvect = *vvsit;
        (void)memset((void *)&gsa, 0, sizeof(gsa));
        bitsFlagClear<32>(gsa.BitFlags);
        vecSize = nmeaGSAvect.size();
 
        if (vecSize != eGSA_CheckSum) {
            ALOGI("%s invalid vector size:%zu, expected(%d)",
                    __func__, vecSize, eGSA_CheckSum);
            continue;
        }
        for (int i = 1; i < (int)vecSize; i++)
        {
            if (nmeaGSAvect[i].length() != 0)
            {
                bitsFlagSet<32>(gsa.BitFlags, i);
            }
        }
 
        nmeaHeader = (nmeaGSAvect[eGSA_Header]);
 
        gsa.Mode = stringToNumber<char>(nmeaGSAvect[eGSA_Mode]);
        gsa.Type = stringToNumber<uint16_t>(nmeaGSAvect[eGSA_Type]);
        for (prnSn = 0; prnSn < GSA_INFO_PRN_CNT; prnSn++) {
            gsa.PRNList[prnSn] = stringToNumber<int>(nmeaGSAvect[eGSA_PRN1+prnSn]);;
        }
        gsa.PDOP = stringToNumber<int>(nmeaGSAvect[eGSA_PDOP]);
        gsa.HDOP = stringToNumber<int>(nmeaGSAvect[eGSA_HDOP]);
        gsa.VDOP = stringToNumber<int>(nmeaGSAvect[eGSA_VDOP]);
        gsaVect.push_back(gsa);
 
        if ((gsa.Type <= 1)) {
            ALOGD("%s Positioning Mode is %hu(1-untargeted,2-2D,3-3D)", __func__, gsa.Type);
        } else {
            updateAccuracy(gsa.PDOP, gsa.HDOP, gsa.VDOP);
        }
    }
    return m_nmeaGSAvec2d.size();
}
 
int GnssNmeaParser::procGSV(std::vector<XXGSV_Info_T> &gsvVect)
{
    if (m_nmeaGSVvec2d.size() == 0) {
        ALOGD("%s invalid vector size:%zu", __func__, m_nmeaGSVvec2d.size());
        return 0;
    }
    std::vector<std::vector<std::string>>::iterator vvsit;
    std::vector<std::string> nmeaGSVvect {};
    XXGSV_Info_T gsv {};
    std::string nmeaHeader;
    size_t vecSize = 0;
    for (vvsit = m_nmeaGSVvec2d.begin(); vvsit != m_nmeaGSVvec2d.end(); vvsit++) {
        nmeaGSVvect = *vvsit;
        (void)memset((void *)&gsv, 0, sizeof(gsv));
        bitsFlagClear<32>(gsv.BitFlags);
        vecSize = nmeaGSVvect.size();
 
        if ((0 != (vecSize % 4)) || (vecSize < eGSV_PRNCode)) {
            ALOGI("%s invalid vector size:%zu, expected(8/12/16/20)", __func__, vecSize);
            continue;
        }
        for (int i = 1; i < (int)vecSize; i++)
        {
            if (nmeaGSVvect[i].length() != 0)
            {
                bitsFlagSet<32>(gsv.BitFlags, i);
            }
        }
        nmeaHeader = nmeaGSVvect[eGSV_Header];
        gsv.Ext_constellation = getNConstellation(nmeaHeader);
 
        gsv.ItemCount = stringToNumber<size_t>(nmeaGSVvect[eGSV_ItemCount]);
        gsv.ItemSequence = stringToNumber<int>(nmeaGSVvect[eGSV_ItemSequence]);
        gsv.SatellitesCount = stringToNumber<int>(nmeaGSVvect[eGSV_SatellitesCount]);
 
        /* gsv slices count maybe 8/12/16/20 */
        if (vecSize >= eGSV_PRNCode2) {
            gsv.PRNCode = stringToNumber<int>(nmeaGSVvect[eGSV_PRNCode]);
            gsv.SatelliteElevation = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteElevation]);
            gsv.SatelliteAzimuth = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteAzimuth]);
            gsv.SignalNoiseRatio = stringToNumber<float>(nmeaGSVvect[eGSV_SignalNoiseRatio]);
        }
        if (vecSize >= eGSV_PRNCode3) {
            gsv.PRNCode2 = stringToNumber<int>(nmeaGSVvect[eGSV_PRNCode2]);
            gsv.SatelliteElevation2 = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteElevation2]);
            gsv.SatelliteAzimuth2 = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteAzimuth2]);
            gsv.SignalNoiseRatio2 = stringToNumber<float>(nmeaGSVvect[eGSV_SignalNoiseRatio2]);
        }
        if (vecSize >= eGSV_PRNCode4) {
            gsv.PRNCode3 = stringToNumber<int>(nmeaGSVvect[eGSV_PRNCode3]);
            gsv.SatelliteElevation3 = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteElevation3]);
            gsv.SatelliteAzimuth3 = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteAzimuth3]);
            gsv.SignalNoiseRatio3 = stringToNumber<float>(nmeaGSVvect[eGSV_SignalNoiseRatio3]);
        }
        if (vecSize == eGSV_CheckSum) {
            gsv.PRNCode4 = stringToNumber<int>(nmeaGSVvect[eGSV_PRNCode4]);
            gsv.SatelliteElevation4 = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteElevation4]);
            gsv.SatelliteAzimuth4 = stringToNumber<float>(nmeaGSVvect[eGSV_SatelliteAzimuth4]);
            gsv.SignalNoiseRatio4 = stringToNumber<float>(nmeaGSVvect[eGSV_SignalNoiseRatio4]);
        }
        gsvVect.push_back(gsv);
    }
 
    updateGnssSvStatus(gsvVect);
    return m_nmeaGSVvec2d.size();
}
 
int GnssNmeaParser::procRMC(XXRMC_Info_T &rmc)
{
    size_t vecSize = m_nmeaRMCvect.size();
    if ((vecSize != eRMC_CheckSum)
        && (vecSize != eRMC_CheckSum-1)) {
        //PositioningMode is optional, only NMEA0183 v3.00 can provide PositioningMode
        ALOGD("%s invalid vector size:%zu, expected(%d/%d)",
                __func__, vecSize, eRMC_CheckSum, eRMC_CheckSum-1);
        return 0;
    }
    bitsFlagClear<16>(rmc.BitFlags);
    for (int i = 1; i < (int)vecSize; i++)
    {
        if (m_nmeaRMCvect[i].length() != 0)
        {
            bitsFlagSet<16>(rmc.BitFlags, i);
        }
    }
    rmc.UTCTime = stringToNumber<double>(m_nmeaRMCvect[eRMC_UTCTime]);
    rmc.FixStatus = stringToNumber<char>(m_nmeaRMCvect[eRMC_FixStatus]);
    rmc.Latitude = stringToNumber<double>(m_nmeaRMCvect[eRMC_Latitude]);
    rmc.LatitudeHemi = stringToNumber<char>(m_nmeaRMCvect[eRMC_LatitudeHemi]);
    rmc.Longitude = stringToNumber<double>(m_nmeaRMCvect[eRMC_Longitude]);
    rmc.LongitudeHemi = stringToNumber<char>(m_nmeaRMCvect[eRMC_LongitudeHemi]);
    rmc.SpeedKnots = stringToNumber<float>(m_nmeaRMCvect[eRMC_SpeedKnots]);
    rmc.Azimuth = stringToNumber<float>(m_nmeaRMCvect[eRMC_Azimuth]);
    rmc.UTCDate = stringToNumber<int>(m_nmeaRMCvect[eRMC_UTCDate]);
    rmc.MagneticDeclination = stringToNumber<float>(m_nmeaRMCvect[eRMC_MagneticDeclination]);
    rmc.MagneticDeclinationDirection = stringToNumber<char>(m_nmeaRMCvect[eRMC_MagneticDeclinationDirection]);
    if (vecSize == eRMC_CheckSum) {
        rmc.PositioningMode = stringToNumber<char>(m_nmeaRMCvect[eRMC_PositioningMode]);//optional
    }
 
    if (rmc.FixStatus == 'A') {
        updateUtcTime(rmc.UTCDate, rmc.UTCTime);
        updateLatLong(rmc.Latitude, rmc.LatitudeHemi, rmc.Longitude, rmc.LongitudeHemi);
        updateBearing(rmc.Azimuth);
        updateSpeed((1.852f * rmc.SpeedKnots / 3.6f));
        updateMagDec(rmc.MagneticDeclination, rmc.MagneticDeclinationDirection);
    } else if (rmc.FixStatus == 'V') {
        ALOGW("%s FixStatus is V(A-targeted,V-untargeted)", __func__);
        // UTCDate and UTCTime may be empty
        //updateUtcTime(rmc.UTCDate, rmc.UTCTime);
        updateLatLong(rmc.Latitude, rmc.LatitudeHemi, rmc.Longitude, rmc.LongitudeHemi);
        //updateBearing(rmc.Azimuth);
    } else {
        //invalid data
        ALOGD("%s invalid FixStatus(%c)", __func__, rmc.FixStatus);
    }
    return m_nmeaRMCvect.size();
}
 
int GnssNmeaParser::procVTG(XXVTG_Info_T &vtg)
{
    size_t vecSize = m_nmeaVTGvect.size();
    if ((vecSize != eVTG_CheckSum)
        && (vecSize != eVTG_CheckSum-1)) {
        //PositioningMode is optional, only NMEA0183 v3.00 can provide PositioningMode
        ALOGD("%s invalid vector size:%zu, expected(%d/%d)",
                __func__, vecSize, eVTG_CheckSum, eVTG_CheckSum-1);
        return 0;
    }
    bitsFlagClear<16>(vtg.BitFlags);
    for (int i = 1; i < (int)vecSize; i++)
    {
        if (m_nmeaVTGvect[i].length() != 0)
        {
            bitsFlagSet<16>(vtg.BitFlags, i);
        }
    }
    vtg.MovementAngleTN = stringToNumber<float>(m_nmeaVTGvect[eVTG_MovementAngle]);
    vtg.TrueNorthRef = stringToNumber<char>(m_nmeaVTGvect[eVTG_TrueNorthRef]);
    vtg.MovementAngleMN = stringToNumber<float>(m_nmeaVTGvect[eVTG_MovementAngle2]);
    vtg.MagneticNorthRef = stringToNumber<char>(m_nmeaVTGvect[eVTG_MagneticNorthRef]);
    vtg.HorizontalMoveSpeedKn = stringToNumber<float>(m_nmeaVTGvect[eVTG_HorizontalMoveSpeed]);
    vtg.SpeedKnots = stringToNumber<char>(m_nmeaVTGvect[eVTG_SpeedKnots]);
    vtg.HorizontalMoveSpeedKm = stringToNumber<float>(m_nmeaVTGvect[eVTG_HorizontalMoveSpeed2]);
    vtg.SpeedKmh = stringToNumber<char>(m_nmeaVTGvect[eVTG_SpeedKmh]);
    if (vecSize == eVTG_CheckSum) {
        vtg.PositioningMode = stringToNumber<char>(m_nmeaVTGvect[eVTG_PositioningMode]);//optional
    }
 
    if ((vtg.PositioningMode == 'A') || (vtg.PositioningMode == 'D')) {
        updateSpeed(vtg.HorizontalMoveSpeedKm/3.6f);
    }
    return m_nmeaVTGvect.size();
}
 
void GnssNmeaParser::updateUtcTime(const int ddmmyy, const double hhmmss_sss)
{
    //get utc diff
    time_t time_now = time(NULL);
    struct tm tm_local {};
    struct tm tm_utc {};
    long time_local_sec = 0;
    long time_utc_sec = 0;
    long utc_diff_sec = 0;
 
    //get fixed time
    struct tm tm_gnss {};
    time_t time_fixed = 0;
    int utc_year = 0;
    int utc_month = 0;
    int utc_day = 0;
    int utc_hour = 0;
    int utc_minute = 0;
    int utc_seconds = 0;
    int hhmmss = (int)hhmmss_sss;
    int milliseconds = 0;
 
    gmtime_r(&time_now, &tm_utc);
    localtime_r(&time_now, &tm_local);
 
    time_local_sec = tm_local.tm_sec +
                    60*(tm_local.tm_min +
                        60*(tm_local.tm_hour +
                            24*(tm_local.tm_yday +
                                365*tm_local.tm_year)));
 
    time_utc_sec = tm_utc.tm_sec +
                    60*(tm_utc.tm_min +
                        60*(tm_utc.tm_hour +
                            24*(tm_utc.tm_yday +
                                365*tm_utc.tm_year)));
 
    utc_diff_sec = time_local_sec - time_utc_sec;
 
    utc_day = (ddmmyy / 100) / 100;
    utc_month = (ddmmyy / 100) % 100;
    utc_year = (ddmmyy % 100) + 2000;
    utc_hour = ((hhmmss / 100) / 100);
    utc_minute = ((hhmmss / 100) % 100);
    utc_seconds = (hhmmss % 100);
    //milliseconds = (int)((hhmmss_sss - hhmmss) * 1000); //will less precise
    milliseconds = (int)((hhmmss_sss * 1000) - (hhmmss * 1000)); //Improve accuracy
 
    tm_gnss.tm_hour  = utc_hour;
    tm_gnss.tm_min   = utc_minute;
    tm_gnss.tm_sec   = utc_seconds;
    tm_gnss.tm_year  = utc_year - 1900;
    tm_gnss.tm_mon   = utc_month - 1;
    tm_gnss.tm_mday  = utc_day;
    tm_gnss.tm_isdst = -1;
 
    time_fixed = mktime(&tm_gnss) + utc_diff_sec;
    m_gnssUtcTime = (long long)time_fixed * 1000 + milliseconds;
    m_gnssLocation.timestamp = m_gnssUtcTime;
 
    if ((0 == ddmmyy) || (0 == hhmmss)) {
        ALOGW("%s invalid UTCDate=%d, UTCTime=%d", __func__, ddmmyy, hhmmss);
        //use local stored utc time
        time_fixed = mktime(&tm_utc) + utc_diff_sec;
        m_gnssUtcTime = (long long)time_fixed * 1000;
        m_gnssLocation.timestamp = m_gnssUtcTime;
    }
}
 
void GnssNmeaParser::updateLatLong(const double latitude, const char latHemi, const double longtitude, const char longHemi)
{
    double lat = latitude;
    double lon = longtitude;
    if (latHemi == 'S') {
        lat = -lat;
    }
    if (longHemi == 'W') {
        lon = -lon;
    }
    m_gnssLocation.gnssLocationFlags   |= GnssLocationFlags::HAS_LAT_LONG;
    m_gnssLocation.latitudeDegrees  = latLongToDegree(lat);
    m_gnssLocation.longitudeDegrees = latLongToDegree(lon);
}
 
void GnssNmeaParser::updateAltitude(const double altitude)
{
    double alt = altitude;
    m_gnssLocation.gnssLocationFlags   |= GnssLocationFlags::HAS_ALTITUDE;
    m_gnssLocation.altitudeMeters = alt;
}
 
void GnssNmeaParser::updateBearing(const float bearing)
{
    float bea = bearing;
    m_gnssLocation.gnssLocationFlags   |= GnssLocationFlags::HAS_BEARING;
    m_gnssLocation.bearingDegrees  = bea;
}
 
void GnssNmeaParser::updateMagDec(const float magDec, const char magDecDir)
{
    (void)magDec;
    (void)magDecDir;
}
 
void GnssNmeaParser::updateAccuracy(const float pdop, const float hdop, const float vdop)
{
    /* GSA HDOP */
    (void)pdop;
    (void)vdop;
    if ((0.1f <= hdop)) {
        m_gnssLocation.gnssLocationFlags   |= GnssLocationFlags::HAS_HORIZONTAL_ACCURACY;
        m_gnssLocation.horizontalAccuracyMeters = hdop;
    }
    if ((0.1f <= vdop)) {
        m_gnssLocation.gnssLocationFlags   |= GnssLocationFlags::HAS_VERTICAL_ACCURACY;
        m_gnssLocation.verticalAccuracyMeters = vdop;
    }
}
 
void GnssNmeaParser::updateSpeed(const float speed)
{
    float velocity = speed;
    m_gnssLocation.gnssLocationFlags   |= GnssLocationFlags::HAS_SPEED;
    m_gnssLocation.speedMetersPerSec    = velocity;
}
 
void GnssNmeaParser::updateGnssSvStatus(const std::vector<XXGSV_Info_T> &gsvVectInfoT)
{
    std::vector<XXGSV_Info_T>::const_iterator vit;
    int itemsCount = 0;
    int itemSequence = 0;
    int sateSeq = 0;
 
    m_gnssSvStatus.numSvs = 0;
    for (vit = gsvVectInfoT.begin(); vit != gsvVectInfoT.end(); vit++) {
        itemsCount = vit->ItemCount;
        itemSequence = vit->ItemSequence;
 
        if ((sateSeq+3) > ((int)GnssMax::SVS_COUNT)-1) {
            /* preventing arrays from out of bounds */
            ALOGW("gnssSvStatus num more than SVS_COUNT:%d", GnssMax::SVS_COUNT);
            break;
        }
 
        m_gnssSvStatus.gnssSvList[sateSeq].svid = vit->PRNCode;
        m_gnssSvStatus.gnssSvList[sateSeq].elevationDegrees = vit->SatelliteElevation;
        m_gnssSvStatus.gnssSvList[sateSeq].azimuthDegrees = vit->SatelliteAzimuth;
        m_gnssSvStatus.gnssSvList[sateSeq].cN0Dbhz = vit->SignalNoiseRatio;
        m_gnssSvStatus.gnssSvList[sateSeq].svFlag = 0;
        if (bitsFlagTest<32>((*vit).BitFlags, eGSV_SignalNoiseRatio)) {
            //m_gnssSvStatus.gnssSvList[sateSeq].svFlag |= GnssSvFlags:HAS_CARRIER_FREQUENCY;
        }
        m_gnssSvStatus.gnssSvList[sateSeq].constellation = (GnssConstellationType)vit->Ext_constellation;
        if (vit->PRNCode > 0) {
            /* check and set flag whether available satellite */
            m_gnssSvStatus.gnssSvList[sateSeq].svFlag |= gnssSvFlagUsedInFix(vit->PRNCode);
            /* increase visible satellites count */
            sateSeq += 1;
        }
 
        m_gnssSvStatus.gnssSvList[sateSeq].svid = vit->PRNCode2;
        m_gnssSvStatus.gnssSvList[sateSeq].elevationDegrees = vit->SatelliteElevation2;
        m_gnssSvStatus.gnssSvList[sateSeq].azimuthDegrees = vit->SatelliteAzimuth2;
        m_gnssSvStatus.gnssSvList[sateSeq].cN0Dbhz = vit->SignalNoiseRatio2;
        m_gnssSvStatus.gnssSvList[sateSeq].svFlag = 0;
        if ( bitsFlagTest<32>(vit->BitFlags, eGSV_SignalNoiseRatio2) ) {
            //m_gnssSvStatus.gnssSvList[sateSeq].svFlag |= GnssSvFlags:HAS_CARRIER_FREQUENCY;
        }
        m_gnssSvStatus.gnssSvList[sateSeq].constellation = (GnssConstellationType)vit->Ext_constellation;
        if (vit->PRNCode2 > 0) {
            m_gnssSvStatus.gnssSvList[sateSeq].svFlag |= gnssSvFlagUsedInFix(vit->PRNCode2);
            sateSeq += 1;
        }
 
        m_gnssSvStatus.gnssSvList[sateSeq].svid = vit->PRNCode3;
        m_gnssSvStatus.gnssSvList[sateSeq].elevationDegrees = vit->SatelliteElevation3;
        m_gnssSvStatus.gnssSvList[sateSeq].azimuthDegrees = vit->SatelliteAzimuth3;
        m_gnssSvStatus.gnssSvList[sateSeq].cN0Dbhz = vit->SignalNoiseRatio3;
        m_gnssSvStatus.gnssSvList[sateSeq].svFlag = 0;
        if (bitsFlagTest<32>(vit->BitFlags, eGSV_SignalNoiseRatio3)) {
            //m_gnssSvStatus.gnssSvList[sateSeq].svFlag |= GnssSvFlags:HAS_CARRIER_FREQUENCY;
        }
        m_gnssSvStatus.gnssSvList[sateSeq].constellation = (GnssConstellationType)vit->Ext_constellation;
        if (vit->PRNCode3 > 0) {
            m_gnssSvStatus.gnssSvList[sateSeq].svFlag |= gnssSvFlagUsedInFix(vit->PRNCode3);
            sateSeq += 1;
        }
 
        m_gnssSvStatus.gnssSvList[sateSeq].svid = vit->PRNCode4;
        m_gnssSvStatus.gnssSvList[sateSeq].elevationDegrees = vit->SatelliteElevation4;
        m_gnssSvStatus.gnssSvList[sateSeq].azimuthDegrees = vit->SatelliteAzimuth4;
        m_gnssSvStatus.gnssSvList[sateSeq].cN0Dbhz = vit->SignalNoiseRatio4;
        m_gnssSvStatus.gnssSvList[sateSeq].svFlag = 0;
        if (bitsFlagTest<32>(vit->BitFlags, eGSV_SignalNoiseRatio4)) {
            //m_gnssSvStatus.gnssSvList[sateSeq].svFlag |= GnssSvFlags:HAS_CARRIER_FREQUENCY;
        }
        m_gnssSvStatus.gnssSvList[sateSeq].constellation = (GnssConstellationType)vit->Ext_constellation;
        if (vit->PRNCode4 > 0) {
            m_gnssSvStatus.gnssSvList[sateSeq].svFlag |= gnssSvFlagUsedInFix(vit->PRNCode4);
            sateSeq += 1;
        }
    }
    m_gnssSvStatus.numSvs = sateSeq;
}
 
double GnssNmeaParser::latLongToDegree(const double dddmm_mmmm)
{
    // eg.: 12031.0902 -> 120.51817(120+(31.0902/60.0=0.51817))
    int    ddd = (int)(dddmm_mmmm/100);
    double mm_mmmm = dddmm_mmmm - (ddd*100.0);
    double ddd_xxx = ddd + (mm_mmmm / 60.0);
    return ddd_xxx;
}
 
int GnssNmeaParser::gnssSvFlagUsedInFix(const int svid) {
    int fixed = 0;
    int prnSn = 0;
    std::vector<XXGSA_Info_T>::iterator gsaIt;
    for (gsaIt = m_gsaVectInfoT.begin(); gsaIt != m_gsaVectInfoT.end(); gsaIt++) {
        for (prnSn = 0; prnSn < GSA_INFO_PRN_CNT; prnSn++) {
            if (svid == gsaIt->PRNList[prnSn]) {
                fixed = (int)GnssSvFlags::USED_IN_FIX;
                break;
            }
        }
    }
    return fixed;
}
 
bool GnssNmeaParser::getGnssLocation(GnssLocation &gnssLocation)
{
    (void)memcpy(&gnssLocation, &m_gnssLocation, sizeof(m_gnssLocation));
    return true;
}
 
bool GnssNmeaParser::getGnssSvStatus(GnssSvStatus &gnssSvStatus)
{
#if 1
    int numSv = m_gnssSvStatus.numSvs;
    ALOGD("getGnssSvStatus numSvs:%d", m_gnssSvStatus.numSvs);
    for(int tmp = 0; tmp < numSv; tmp++)
    {
        ALOGD("getGnssSvStatus (svid=%d,elevation=%f,azimuth=%f,dbhz=%f,CX=%d,svFlag=0x%x)",
                m_gnssSvStatus.gnssSvList[tmp].svid,
                m_gnssSvStatus.gnssSvList[tmp].elevationDegrees,
                m_gnssSvStatus.gnssSvList[tmp].azimuthDegrees,
                m_gnssSvStatus.gnssSvList[tmp].cN0Dbhz,
                (int)m_gnssSvStatus.gnssSvList[tmp].constellation,
                (int)m_gnssSvStatus.gnssSvList[tmp].svFlag);
    }
#endif
    (void)memcpy(&gnssSvStatus, &m_gnssSvStatus, sizeof(gnssSvStatus));
    return true;
}
 
GnssUtcTime GnssNmeaParser::getUtcTime()
{
    return m_gnssUtcTime;
}
 
void GnssNmeaParser::reset()
{
    m_nmeaLines.clear();
    m_nmeaGGAvect.clear();
    m_nmeaGLLvect.clear();
    m_nmeaGSAvec2d.clear();
    m_nmeaGSVvec2d.clear();
    m_nmeaRMCvect.clear();
    m_nmeaVTGvect.clear();
 
    m_gnssUtcTime = 0;
    (void)memset(&m_ggaInfoT, 0, sizeof(m_ggaInfoT));
    (void)memset(&m_gllInfoT, 0, sizeof(m_gllInfoT));
 
    m_gsaVectInfoT.clear();
    m_gsvVectInfoT.clear();
    (void)memset(&m_rmcInfoT, 0, sizeof(m_rmcInfoT));
    (void)memset(&m_vtgInfoT, 0, sizeof(m_vtgInfoT));
 
    (void)memset(&m_gnssLocation, 0, sizeof(m_gnssLocation));
    (void)memset(&m_gnssSvStatus, 0, sizeof(m_gnssSvStatus));
}
 
void GnssNmeaParser::removeChecksum(std::string &str)
{
    // get rid of checksum at the end of the sentecne
    // remove chars after *
    size_t phit = 0;
    phit = str.find("*");
    if (std::string::npos != phit)
    {
        str.erase(phit);
    }
}
 
uint8_t GnssNmeaParser::getNConstellation(const std::string &nmeaHead)
{
    uint8_t constellation = (uint8_t)GnssConstellationType::UNKNOWN;
    if (startsWith(nmeaHead, "$GP")) {
        constellation = (uint8_t)GnssConstellationType::GPS;
    } else if (startsWith(nmeaHead, "$GL")) {
        constellation = (uint8_t)GnssConstellationType::GLONASS;
    } else if (startsWith(nmeaHead, "$BD")) {
        constellation = (uint8_t)GnssConstellationType::BEIDOU;
    } else {
        constellation = (uint8_t)GnssConstellationType::UNKNOWN;
    }
    return constellation;
}
 
bool GnssNmeaParser::startsWith(const std::string &src, const std::string &str)
{
    int srcpos = 0;
    int srclen = src.length();
    int sublen = str.length();
    if (srclen < sublen) {
        return false;
    }
    return (0 == src.compare(srcpos, sublen, str));
}
 
bool GnssNmeaParser::endsWith(const std::string &src, const std::string &str)
{
    int srcpos = 0;
    int srclen = src.length();
    int sublen = str.length();
    if (srclen < sublen) {
        return false;
    }
    srcpos = srclen - sublen;
    return (0 == src.compare(srcpos, sublen, str));
}
 
std::string GnssNmeaParser::replace(const std::string &raw, const std::string &oldstr, const std::string &newstr) {
    std::string res_string = raw;
    size_t startpos = 0;
    size_t retpos = 0;
    while (std::string::npos != (retpos = res_string.find(oldstr, startpos)))
    {
        if (oldstr.size() == newstr.size()) {
            (void)res_string.replace(retpos, oldstr.size(), newstr);
        } else {
            (void)res_string.erase(retpos, oldstr.size());
            (void)res_string.insert(retpos, newstr);
        }
        startpos = retpos + oldstr.size();
    }
    return res_string;
}
 
size_t GnssNmeaParser::split(const std::string &line, const std::string &delim, std::vector<std::string> &vstr)
{
    size_t pstart = 0;
    size_t phit = 0;
    std::string sstr;
    size_t length = line.length();
 
    vstr.clear();
    for (;pstart <= length;)
    {
        phit = line.find(delim, pstart);
        if (std::string::npos != phit)
        {
            /* find delim, get substr */
            sstr = line.substr(pstart, phit-pstart);
            vstr.push_back(sstr);
            pstart = phit + delim.size();
        } else {
            /* not find delim, append remaining str and break */
            vstr.push_back(line.substr(pstart));
            break;
        }
    }
    return vstr.size();
}