unit MagGpsLoc; {$IFNDEF VER140} {$WARN UNSAFE_TYPE off} {$WARN UNSAFE_CAST off} {$WARN UNSAFE_CODE off} {$ENDIF} { Magenta GPS and Location Component Updated by Angus Robertson, Magenta Systems Ltd, England, 2nd February 2022 delphi@magsys.co.uk, https://www.magsys.co.uk/delphi/ Copyright Magenta Systems Ltd The TMagGpsLoc component is designed to process GPS location data from various sources with an event triggered when movement is detected. Sources supported are: 1 - Windows Location API, available on most Windows tablets and higher end laptops with a GPS sensor. 2 - NMEA 0183 sentences commonly generated by GPS receivers, these are text lines starting with $. NMEA 0183 sentences processed are: GGA, GSA, GSV, RMC, GLL and VTG, others are ignored. 3 - GT02 GPS Tracker Protocol, used by Concox TR02 vehicle trackers that combine GPS, GPRS and GSM is a small 12V driven package designed for mounting in vehicles. 4 - TK102/103 Tracker Protocol, essentially the NMEA RMC sentence, preceded by date/time and mobile number, followed by useful stuff from other NMEA sentences like satellite count, mobile IMEI and cell station stuff. 5 - WondeX/TK5000 Tracker Protocol used by VT-10, VT300 and other devices is a simple format with IMEI, time, co-ordinates, speed and direction. Further description and samples of these protocols will be found in the functions that decode them. Some of these GPS protocols are also generated by Android and iOS mobile apps for location tracking. There is a sample application Sensortest that provides serial, UDP and TCP Server support for NMEA 0183 sentences, and TCP Server for all the other protocols, showing position and movement on a Google map. Most testing was with a GlobalSat BU-353-S4 USB GPS Receiver a two inch diameter device with a roof magnet that presents as a Prolific serial port (a version with a real serial connector is also available), a DIYmalls VK-162 USB GPS/Glonass Dongle using an eighth generation U-Blox module, and the Concox TR02 vehicle tracker. Also tested were a battery operated GlobalSat BT-359 Bluetooth CoPilot GPS device (but Bluetooth serial ports are not always very reliable) and NMEA 0183 streaming from Android tablets and phones. GlobalSat, DIYmalls and TK102/103 devices are available from Amazon. Android GPSd Forwarder is available in the Play store and sends raw NMEA packets to a UDP server (no IMEI). } { 24 March 2013 - Angus - baseline 17 June 2014 - Messing 24 Apr 2015 - Added GT02 GPS Tracker Commmunications Protocol for Concox TR02 11 May 2015 - TR02 event for handshakes 24 July 2017 - Added Xenun TK102/TLK103 and WondeX/TK5000 protocols, both generated by Android app MyLiveTracker by Michael Skerwiderski RMC packet using date from sentence 10 Oct 2017 - TK102 mobile stuff may be missing from packet 23 Jan 2021 - Added documentation Show satellites in view from all constallations, probably only works on recent GPS devices (NMEA updated spec in 2018). } interface uses Windows, SysUtils, Classes, ActiveX, OleServer, ExtCtrls, Registry, Math, DateUtils, magsubs1, magsubs4, MagGpsConv, LocationApiLib_TLB ; const MaxSatellites = 16 ; MaxSystems = 6; // Different constallations SystemIdGP = 1; // GPS USA SystemIdGL = 2; // Glonass Russia (GN is mixed GPS/Glonass) SystemIdGA = 3; // Galileo Europe SystemIdBD = 4; // BeiDou System (GB/BD) China SystemIdGQ = 5; // QZSS Japan SystemIdGI = 6; // NavIC India SystemNames: array[1..MaxSystems] of String = ('GPS', 'Glonass', 'Galileo', 'BeiDou', 'QZSS', 'NavIC'); // Concox GT02 protocol, mostly terminal client makes requests and server responds Gt02ProtoIP = $0A; // IP request and response Gt02ProtoData = $10; // GPS data Gt02ProtoHeartbeat = $1A; // Heartbeat request and response Gt02ProtoAddrResp = $97; // Address response, English Gt02ProtoAddrReq = $1B; // Address request Gt02ProtoInst = $1C; // Issued instruction request and response Gt02StartIP: word = $7878; // IP request and response Gt02StartData: word = $6868; // GPS data Gt02StartHeartbeatReq: word = $6868; // Heartbeat request Gt02StartHeartbeatResp: word = Swap ($5468); // Heartbeat response Gt02StartAddrResp: word = $7878; // Address response, English Gt02StartAddrReq: word = $6868; // Address request Gt02StartInstReq: word = $8888; // Issued instruction request, from server Gt02StartInstResp: word = $6868; // Issued instruction response, from terminal Gt02StatGpsFix = $01 ; // Status masks Gt02StatLatDir = $02 ; Gt02StatLongDir = $04 ; type TGpsType = (GpsTypeNone, GpsTypeLocApi, GpsTypeNMEA, GpsTypeGT02, GpsTypeTK10X, GpsTypeWondeX) ; TGpsSatInfo = record Prn: integer ; Elevation: integer ; Azimuth: integer ; SigNoise: integer ; end ; // Heartbeat request packet from terminal TGpsGt02HBPacket = packed record Start: Word ; PackLen: Byte ; Volts: Byte ; GsmSig: Byte ; TermId: array [0..7] of AnsiChar; Serial: Word ; Protocol: Byte ; State: Byte ; SatTot: Byte ; SatSNR: array [1..MaxSatellites] of Byte ; end ; PGpsGt02HBPacket = ^TGpsGt02HBPacket ; // Heartbeat response packet to terminal TGpsGt02HBResp = packed record Start: Word ; Protocol: Byte ; Stop: array [0..1] of AnsiChar; end; // GPS Data packet from terminal TGpsGt02DataPacket = packed record Start: Word ; PackLen: Byte ; LAC: Word ; TermId: array [0..7] of AnsiChar ; Serial: Word ; Protocol: Byte ; DateTime: array [1..6] of Byte ; Lat: LongWord ; Long: LongWord ; Speed: Byte ; Course: Word ; MNC: Byte ; CellId: Word ; Status: LongWord ; end ; PGpsGt02DataPacket = ^TGpsGt02DataPacket; // issue command instruction to terminal - ie STATUS,666666 TGpsGt02CmdSendPacket = packed record Start: Word ; PackLen: Byte ; Protocol: Byte ; CmdLen: Byte ; ServerFlags: Longword; // variable length command // Stop CRLF end ; PGpsGt02CmdSendPacket = ^TGpsGt02CmdSendPacket ; // command instruction response from terminal TGpsGt02CmdRespPacket = packed record Start: Word ; PackLen: Byte ; Resv: Word ; TermId: array [0..7] of AnsiChar ; Serial: Word ; Protocol: Byte ; CmdLen: Byte ; ServerFlags: Longword; CmdData: array [0..99] of AnsiChar ; end ; PGpsGt02CmdRespPacket = ^TGpsGt02CmdRespPacket; TGpsSendDataEvent = procedure (Sender: TObject; const Data: string) of object; TGpsLogEvent = procedure (Sender: TObject; const Data: string) of object; TMagGpsLoc = class(TComponent) private { Private declarations } FActive: boolean; FGpsType: TGpsType; FLocApiOK: boolean; FLocation: TLocation; FLocationEvents: ILocationEvents; FLatitude: double; FLastLatitude: double; FLongitude: double; FLastLongitude: double; FAltitude: double; FErrorRadius: double; FErrorAltitude: double; FGpsTalker: string ; FGpsQuality: integer ; // FGpsSatellView: integer ; // FGpsSatellFix: integer ; FGpsAltUnits: string ; FGpsGeoidalSep: double ; FGpsGeoUnits: string ; FGpsSpeedKnots: double ; FGpsSpeedKm: double ; FGpsDegreeTrue: double ; FGpsDegreeMag: double ; FGpsMagDir: string ; FTimeStamp: TDateTime; FDistance: integer ; FSensorID: string; FLocAreaCode: string ; FMobNetCode: string ; FMobCellId: string ; FGsmSigLev: string ; FDevVolt: String ; FStatus: integer; FPacketSerial: Integer; FStatusStr: string; FRequestPermission: boolean; FMobileNum: string; // July 2017 FMinInterval: integer; FMaxInterval: integer; FMinEventTrg: longword; FMaxEventTrg: longword; FMonitorTimer: TTimer; FLastErrorStr: string; FLastCmdResponse: string ; FExtendedRep: boolean; FOnLocChange: TNotifyEvent; FOnStatusChange: TNotifyEvent; FOnGpsSendData: TGpsSendDataEvent; FOnGpsLog: TGpsLogEvent; procedure LocationChangedEvent(Sender: TObject; const LocationReport: ILocationReport; const ReportType: TGUID); procedure LocationStatusEvent(Sender: TObject; const newStatus: LOCATION_REPORT_STATUS; const ReportType: TGUID); procedure KeepLocation(const LocationReport: ILocationReport); procedure MonitorTimerTimer(Sender: TObject); protected { Protected declarations } procedure SetActive (Active: Boolean); procedure ClearSatInfo (SysId: Integer) ; function FindSysId (const Talker: String): Integer ; function GetGpsSatellView: integer ; function GetGpsSatellFix: integer ; public { Public declarations } GpsSatInfo: array [0..MaxSatellites, 1..MaxSystems] of TGpsSatInfo ; // 0=totals GpsSatFix: array [0..12, 1..MaxSystems] of integer ; // 0=totals GpsPDOP: double ; GpsHDOP: double ; GpsVDOP: double ; constructor Create(AOwner: TComponent); override; destructor Destroy; override; procedure StopLocApi ; function StartLocApi: boolean ; function GetStatus (IgnoreActive: boolean = false): boolean ; function GetLocation: boolean ; function GetSensorInfo: string ; function GetLocComma: string; function GetLocText: string; function GetDistance (Lat1, Long1, Lat2, Long2: double): integer; function SetNMEASentence (const Sentence: string): boolean; function SetGT02Packet (const Packet: string): boolean; function SetRecvData (const Info: string): boolean; function GetNmeaInfo: string ; function SendGT02Cmd (const Cmd: string): boolean; function SetTK10XPacket (const Packet: string): boolean; // July 2017 function SetWondeXPacket (const Packet: string): boolean; // July 2017 published { Published declarations } property GpsType: TGpsType read FGpsType write FGpsType; property LocApiOK: boolean read FLocApiOK; property Active: boolean read FActive write SetActive; property ExtendedRep: boolean read FExtendedRep write FExtendedRep; property Latitude: double read FLatitude; property Longitude: double read FLongitude; property Altitude: double read FAltitude; property GpsQuality: integer read FGpsQuality ; property GpsSatellView: integer read GetGpsSatellView ; property GpsSatellFix: integer read GetGpsSatellFix ; property GpsAltUnits: string read FGpsAltUnits ; property GpsGeoidalSep: double read FGpsGeoidalSep ; property GpsGeoUnits: string read FGpsGeoUnits ; property GpsSpeedKnots: double read FGpsSpeedKnots ; property GpsSpeedKm: double read FGpsSpeedKm ; property GpsDegreeTrue: double read FGpsDegreeTrue ; property GpsDegreeMag: double read FGpsDegreeMag; property GpsMagDir: string read FGpsMagDir; property ErrorRadius: double read FErrorRadius; property ErrorAltitude: double read FErrorAltitude; property TimeStamp: TDateTime read FTimeStamp; property Distance: integer read FDistance; property SensorID: string read FSensorID; property Status: integer read FStatus; property PacketSerial: Integer read FPacketSerial; property LocAreaCode: string read FLocAreaCode; property MobNetCode: string read FMobNetCode; property MobCellId: string read FMobCellId; property GsmSigLev: string read FGsmSigLev; property DevVolt: String read FDevVolt; property StatusStr: string read FStatusStr; property LastErrorStr: string read FLastErrorStr; property MobileNum: string read FMobileNum; // July 2017 property RequestPermission: boolean read FRequestPermission write FRequestPermission; property MinInterval: integer read FMinInterval write FMinInterval; property MaxInterval: integer read FMaxInterval write FMaxInterval; property OnLocationChange: TNotifyEvent read FOnLocChange write FOnLocChange; property OnStatusChange: TNotifyEvent read FOnStatusChange write FOnStatusChange; property OnGpsSendData: TGpsSendDataEvent read FOnGpsSendData write FOnGpsSendData ; property OnGpsLog: TGpsLogEvent read FOnGpsLog write FOnGpsLog; end; TLocationChangedEvent = procedure (Sender: TObject; const LocationReport: ILocationReport; const ReportType: TGUID) of object; TLocationStatusEvent = procedure (Sender: TObject; const newStatus: LOCATION_REPORT_STATUS; const ReportType: TGUID) of object; TLocationSinkEvent = class(TInterfacedObject, ILocationEvents) private FLocationChanged: TLocationChangedEvent; FLocationStatusEvent: TLocationStatusEvent; protected function OnLocationChanged(var reportType: TGUID; const pLocationReport: ILocationReport): HResult; stdcall; function OnStatusChanged(var reportType: TGUID; newStatus: LOCATION_REPORT_STATUS): HResult; stdcall; public constructor Create(LocationChanged: TLocationChangedEvent; LocationStatusEvent: TLocationStatusEvent = Nil); end; procedure Register; implementation procedure Register; begin RegisterComponents('Magenta Systems', [TMagGpsLoc]); end; { TLocationSinkEvent } constructor TLocationSinkEvent.Create(LocationChanged: TLocationChangedEvent; LocationStatusEvent: TLocationStatusEvent); begin inherited Create; FLocationChanged := LocationChanged; FLocationStatusEvent := LocationStatusEvent; end; function TLocationSinkEvent.OnLocationChanged(var reportType: TGUID; const pLocationReport: ILocationReport): HResult; begin try if Assigned(FLocationChanged) then FLocationChanged(Self, pLocationReport, reportType); Result := S_OK; except Result := E_UNEXPECTED; end; end; function TLocationSinkEvent.OnStatusChanged(var reportType: TGUID; newStatus: LOCATION_REPORT_STATUS): HResult; begin try if Assigned(FLocationStatusEvent) then FLocationStatusEvent(Self, newStatus, reportType); Result := S_OK; except Result := E_UNEXPECTED; end; end; function ReportStatus (const Status: TOleEnum): string ; begin case status of REPORT_NOT_SUPPORTED: Result := 'Report Not Supported' ; REPORT_ERROR: Result := 'Report Error' ; REPORT_ACCESS_DENIED: Result := 'Report Access Denied' ; REPORT_INITIALIZING: Result := 'Report Initialising' ; REPORT_RUNNING: Result := 'Report Running' ; else Result := 'Unknown Result' ; end; end; function ReportOleResult (const myresult: hresult): string ; var win32err: integer ; begin case myresult of S_OK: Result := 'No Error' ; E_ACCESSDENIED: Result := 'No Permission for Location Provider' ; E_FAIL: Result := 'Sensor Disconnected or Failed' ; E_INVALIDARG: Result := 'Report Values Out of Bounds' ; else begin win32err := HResultCode (myresult) ; case win32err of ERROR_NOT_SUPPORTED: Result := 'Invalid Report Request' ; ERROR_NO_DATA: Result := 'No Data Available' ; ERROR_CANCELLED: Result := 'Permission Refused for Location Provider' ; ERROR_ALREADY_REGISTERED: Result := 'Event Already Registered' ; else Result := 'Unknown Result (' + IntToHex (myresult, 8) + ')' ; end; end; end; end; function GetSensorType (SensType: TGUID): string ; begin if IsEqualGUID (SensType, SENSOR_TYPE_LOCATION_GPS) then Result := 'GPS' else if IsEqualGUID (SensType, SENSOR_TYPE_LOCATION_STATIC) then Result := 'Static' else if IsEqualGUID (SensType, SENSOR_TYPE_LOCATION_LOOKUP) then Result := 'Lookup' else if IsEqualGUID (SensType, SENSOR_TYPE_LOCATION_TRIANGULATION) then Result := 'Triangulation' else if IsEqualGUID (SensType, SENSOR_TYPE_LOCATION_BROADCAST) then Result := 'Broadcast' else if IsEqualGUID (SensType, SENSOR_TYPE_LOCATION_DEAD_RECKONING) then Result := 'DeadReckoning' else if IsEqualGUID (SensType, SENSOR_TYPE_LOCATION_OTHER) then Result := 'Other' else Result := GUIDToString(SensType) ; end; { TMagGpsLoc } constructor TMagGpsLoc.Create(AOwner: TComponent); begin FGpsType := GpsTypeNMEA ; FLocApiOK := false ; FMinInterval := 2; // minimum interval between reports, may be ignored so sent more often FMaxInterval := 30; // maximum interval, repeats last report if nothing new FRequestPermission := false; FMonitorTimer := TTimer.Create(Self); FMonitorTimer.OnTimer := MonitorTimerTimer; FMonitorTimer.Interval := 1 * TicksPerSecond ; FMonitorTimer.Enabled := false ; // test if location classes registered, does not mean it has any sensors with TRegistry.Create do try RootKey := HKEY_CLASSES_ROOT ; Access := KEY_READ ; FLocApiOK := OpenKey ('CLSID\{E5B8E079-EE6D-4E33-A438-C87F2E959254}\InprocServer32', false) ; // CLASS_Location CloseKey ; if FLocApiOK then begin FLocApiOK := OpenKey ('Interface\{7FED806D-0EF8-4F07-80AC-36A0BEAE3134}', false) ; // IID_ILatLongReport CloseKey ; end; finally Free ; end ; inherited Create(AOwner); end; destructor TMagGpsLoc.Destroy; begin SetActive (false); inherited; end; procedure TMagGpsLoc.ClearSatInfo(SysId: Integer) ; var I, J: integer ; begin for J := 1 to MaxSystems do begin if (J <> SysId) and (SysId > 0) then continue; for I := 0 to MaxSatellites do // 0 is total begin GpsSatInfo [I,J].Prn := 0 ; GpsSatInfo [I,J].Elevation := 0 ; GpsSatInfo [I,J].Azimuth := 0 ; GpsSatInfo [I,J].SigNoise := 0 ; end; end; end ; function TMagGpsLoc.GetGpsSatellView: integer ; var J: Integer; begin Result := 0; for J := 1 to MaxSystems do Result := Result + GpsSatInfo [0,J].Prn; end; function TMagGpsLoc.GetGpsSatellFix: integer ; var J: Integer; begin Result := 0; for J := 1 to MaxSystems do Result := Result + GpsSatFix [0,J]; end; function TMagGpsLoc.FindSysId (const Talker: String): Integer ; begin Result := 0; if Talker = 'GP' then result := SystemIdGP else if Talker = 'GL' then result := SystemIdGL else if Talker = 'GA' then result := SystemIdGA else if Talker = 'QZ' then result := SystemIdGQ else if Talker = 'BD' then result := SystemIdBD else if Talker = 'GB' then result := SystemIdBD else if Talker = 'GI' then result := SystemIdGI else if Talker = 'GQ' then result := SystemIdGQ; // ignore GN means mixed GPS/Glonass end; // start Windows Location API COM object function TMagGpsLoc.StartLocApi: boolean ; var myresult: hresult; hParent: _RemotableHandle ; reportGuid: TGUID ; interval: DWORD; flag: boolean ; loop: integer ; begin result := false ; if NOT FLocApiOK then begin FLastErrorStr := 'Location Error - Not Supported' ; exit ; end ; try FLocation := TLocation.Create (Nil); FLocation.Connect ; // request permissions - optional!!!! if FRequestPermission then begin reportGuid := IID_ILatLongReport ; myresult := FLocation.RequestPermissions (hParent, reportGuid, 1, 0) ; if myresult <> S_OK then begin FLastErrorStr := 'Request Permission Error - ' + ReportOleResult (myresult) ; exit ; end ; end; // see if main report is available, wait 500ms since may not initialise immediately for loop := 1 to 5 do begin flag := GetStatus (true) ; if NOT flag then exit; if (FStatus <> REPORT_NOT_SUPPORTED) then break; sleep (100) ; end; if (FStatus = REPORT_NOT_SUPPORTED) or (FStatus = REPORT_ERROR) or (FStatus = REPORT_ACCESS_DENIED) then begin FLastErrorStr := 'LatLongReport Error - ' + ReportStatus (FStatus) ; exit ; end; // warning - report might not be ready for a few moments // set events if Assigned (FOnLocChange) then begin FLocationEvents := TLocationSinkEvent.Create(LocationChangedEvent, LocationStatusEvent); // warning, report interval may be ingored myresult := FLocation.RegisterForReport (FLocationEvents, IID_ILatLongReport, LongWord (FMinInterval) * TicksPerSecond) ; if myresult <> S_OK then begin FLastErrorStr := 'Failed to Start Events - ' + ReportOleResult (myresult) ; exit ; end ; myresult := FLocation.GetReportInterval (IID_ILatLongReport, interval) ; if myresult <> S_OK then begin FLastErrorStr := 'Failed to Get Interval - ' + ReportOleResult (myresult) ; exit ; end ; myresult := FLocation.SetReportInterval (IID_ILatLongReport, LongWord (FMinInterval) * TicksPerSecond) ; if myresult <> S_OK then begin FLastErrorStr := 'Failed to Set Interval - ' + ReportOleResult (myresult) ; exit ; end ; end; FGpsAltUnits := 'm' ; FActive := true; result := true ; except FLastErrorStr := 'Location Error - ' + GetExceptMess (ExceptObject) ; if Pos ('Class not', FLastErrorStr) > 1 then FLastErrorStr := 'Location Error - Not Supported' ; FActive := false; FMonitorTimer.Enabled := false ; end; end; procedure TMagGpsLoc.StopLocApi ; begin if NOT Assigned (FLocation) then exit ; try if Assigned (FLocationEvents) then begin FLocation.UnregisterForReport (IID_ILatLongReport); end; FLocation.Disconnect; except end; FLocationEvents := Nil ; FLocation.Destroy; FLocation := Nil ; end; procedure TMagGpsLoc.SetActive (Active: Boolean); var J: Integer; begin if Active = FActive then exit; FLastErrorStr := ''; FActive := false; if Active then begin FLastErrorStr := 'Unknown SetActiveError'; FLatitude := 0; FLongitude := 0; FLastLatitude := 0; FLastLongitude := 0; FAltitude := 0; FErrorRadius := 0; FErrorAltitude := 0; FTimeStamp := 0; FSensorID := ''; FStatus := 0; FStatusStr := ''; FGpsQuality := 0 ; FGpsSpeedKnots := 0 ; FGpsSpeedKm := 0 ; FGpsDegreeTrue := 0 ; FGpsDegreeMag := 0 ; FGpsMagDir := '' ; FGsmSigLev := '' ; FDevVolt := '' ; FLocAreaCode := '' ; FMobNetCode := '' ; FMobCellId := '' ; FMobileNum := ''; ClearSatInfo (0) ; for J := 1 to MaxSystems do GpsSatFix [0,J] := 0; FMinEventTrg := TriggerImmediate ; if FGpsType = GpsTypeLocApi then begin StartLocApi ; end else if FGpsType = GpsTypeNMEA then FActive := true else if FGpsType = GpsTypeGT02 then FActive := true else if GpsType = GpsTypeTK10X then FActive := true else if GpsType = GpsTypeWondeX then FActive := true else FLastErrorStr := 'Unsupported GPS Type'; end; if FActive then begin if FMaxInterval > 0 then begin FMaxEventTrg := TriggerImmediate ; FMonitorTimer.Enabled := true ; end; exit; end; // close down FMonitorTimer.Enabled := false ; if FGpsType = GpsTypeLocApi then StopLocApi ; end; function TMagGpsLoc.GetStatus (IgnoreActive: boolean = false): boolean ; var mystatus: TOleEnum ; myresult: hresult; begin result := false ; if (NOT FActive) and (NOT IgnoreActive) then begin FStatus := REPORT_NOT_SUPPORTED ; FStatusStr := 'Location Inactive' ; FLastErrorStr := FStatusStr ; exit ; end; if NOT Assigned (FLocation) then exit ; myresult := FLocation.GetReportStatus (IID_ILatLongReport, mystatus) ; if myresult <> S_OK then begin FLastErrorStr := 'Failed to Get LatLong Report Status - ' + ReportOleResult (myresult) ; exit ; end else begin result := true ; FStatus := mystatus ; FStatusStr := ReportStatus (mystatus) ; end; end; function TMagGpsLoc.GetLocation: boolean ; var myresult: hresult; LocationReport: ILocationReport ; begin result := false ; if NOT FActive then exit ; if NOT GetStatus then exit ; if (FStatus = REPORT_NOT_SUPPORTED) or (FStatus = REPORT_ERROR) or (FStatus = REPORT_ACCESS_DENIED) then begin FLastErrorStr := 'LatLongReport Error - ' + ReportStatus (FStatus) ; exit ; end; // get location report myresult := FLocation.GetReport (IID_ILatLongReport, LocationReport) ; if myresult <> S_OK then begin FLastErrorStr := 'Failed to Get LatLong Report - ' + ReportOleResult (myresult) ; end else if Assigned (LocationReport) then begin KeepLocation (LocationReport); result := true ; end ; end; function TMagGpsLoc.GetSensorInfo: string ; var myresult: hresult; LocationReport: ILocationReport ; reportGuid: TGUID ; Value: TPropVariant; begin result := '' ; if NOT FActive then exit ; // get location report myresult := FLocation.GetReport (IID_ILatLongReport, LocationReport) ; if myresult <> S_OK then begin result := 'Failed to Get LatLong Report - ' + ReportOleResult (myresult) ; end else if Assigned (LocationReport) then begin KeepLocation (LocationReport); LocationReport.GetSensorID (reportGuid) ; // GPS sensors vary on exactly what values they support result := result + 'SensorId = ' + GUIDToString (reportGuid) + CRLF_ ; { if Succeeded (LocationReport.GetValue (SENSOR_DATA_TYPE_LATITUDE_DEGREES, Value)) then result := result + 'Latitude = ' + FloatToStr (Value.dblVal) + CRLF_ ; if Succeeded (LocationReport.GetValue (SENSOR_DATA_TYPE_LONGITUDE_DEGREES, Value)) then result := result + 'Longitude = ' + FloatToStr (Value.dblVal) + CRLF_ ; } if Succeeded (LocationReport.GetValue (SENSOR_DATA_TYPE_SATELLITES_IN_VIEW, Value)) then result := result + 'Satellites in View = ' + IntToStr (Value.lVal) + CRLF_ ; if Succeeded (LocationReport.GetValue (SENSOR_DATA_TYPE_SATELLITES_USED_COUNT, Value)) then result := result + 'Satellites Used = ' + IntToStr (Value.lVal) + CRLF_ ; if FErrorRadius <> 0 then result := result + 'Error Radius = ' + FloatToStr (FErrorRadius) + CRLF_ ; if Succeeded (LocationReport.GetValue (SENSOR_DATA_TYPE_SPEED_KNOTS, Value)) then result := result + 'Speed (Knots) = ' + FloatToStr (Value.dblVal) + CRLF_ ; if Succeeded (LocationReport.GetValue (SENSOR_DATA_TYPE_TRUE_HEADING_DEGREES, Value)) then result := result + 'True Heading = ' + FloatToStr (Value.dblVal) + CRLF_ ; if Succeeded (LocationReport.GetValue (SENSOR_DATA_TYPE_CITY, Value)) then result := result + 'City = ' + Value.bstrVal + CRLF_ ; if Succeeded (LocationReport.GetValue (SENSOR_DATA_TYPE_NMEA_SENTENCE, Value)) then result := result + 'NMEA Sentence = ' + Value.bstrVal + CRLF_ ; if Succeeded (LocationReport.GetValue (SENSOR_PROPERTY_TYPE, Value)) then result := result + 'Sensor Type = ' + GetSensorType (Value.puuid^) + CRLF_ ; if Succeeded (LocationReport.GetValue (SENSOR_PROPERTY_MANUFACTURER, Value)) then result := result + 'Manufacturer = ' + Value.bstrVal + CRLF_ ; if Succeeded (LocationReport.GetValue (SENSOR_PROPERTY_FRIENDLY_NAME, Value)) then result := result + 'Sensor Name = ' + Value.bstrVal + CRLF_ ; end else result := 'Failed to get Location Report'; end; procedure TMagGpsLoc.KeepLocation(const LocationReport: ILocationReport); var MyReport: ILatLongReport ; myresult: hresult; Timestamp: TSystemTime ; reportGuid: TGUID ; begin if NOT Assigned (LocationReport) then exit ; myresult := LocationReport.QueryInterface (ILatLongReport, MyReport) ; if (myresult = S_OK) and Assigned (MyReport) then begin if NOT Succeeded (MyReport.GetLatitude (FLatitude)) then exit ; MyReport.GetLongitude (FLongitude) ; MyReport.GetErrorRadius (FErrorRadius) ; if Succeeded (MyReport.GetAltitude (FAltitude)) then begin MyReport.GetAltitudeError (FErrorAltitude) ; end; MyReport.GetTimestamp (Timestamp) ; FTimeStamp := SystemTimeToDateTime (Windows._SYSTEMTIME (timestamp)) ; if FSensorID = '' then begin LocationReport.GetSensorID (reportGuid) ; FSensorId := GUIDToString (reportGuid) ; end; end ; end; function TMagGpsLoc.GetLocComma: string; begin result := '' ; // if (NOT FActive) then exit ; if (FLatitude = 0) and (FLongitude = 0) then exit; // Oct 2017 return old info result := Double2EStr (FLatitude, 5) + ',' + Double2EStr (FLongitude, 5) + ',' + IntToStr (Trunc (FAltitude)) + FGpsAltUnits; if FExtendedRep then result := result + ',' + IntToStr (Trunc (FGpsSpeedKnots)) + ',' + IntToStr (Trunc (FGpsDegreeTrue)) + ',' + FSensorID; result := result + ',' + DT2ISODT (FTimeStamp) ; end; function TMagGpsLoc.GetLocText: string; begin result := '' ; // if (NOT FActive) then exit ; if (FLatitude = 0) and (FLongitude = 0) then exit; // Oct 2017 return old info result := 'Latitude ' + Double2EStr (FLatitude, 5) + ', Longitude ' + Double2EStr (FLongitude, 5) + ', Altitude ' + IntToStr (Trunc (FAltitude)) + FGpsAltUnits; if FExtendedRep then result := result + ', Speed ' + IntToStr (Trunc (FGpsSpeedKnots)) + ', Course ' + IntToStr (Trunc (FGpsDegreeTrue)) + ', ID ' + FSensorID + ', PackSer ' + IntToStr(FPacketSerial) ; result := result + ', Time ' + DateTimetoStr (FTimeStamp) ; end; // timer is used to get location periodically if no events are being triggered procedure TMagGpsLoc.MonitorTimerTimer(Sender: TObject); begin if (NOT FActive) then exit ; if NOT TestTrgTick (FMaxEventTrg) then exit ; FMaxEventTrg := AddTrgSecs (GetTickCountX, FMaxInterval) ; if FTimeStamp = 0 then exit ; if GpsType = GpsTypeLocApi then begin if NOT GetLocation then exit ; end else if GpsType >= GpsTypeGT02 then exit ; // event every 3 mins due to handshake if Assigned (FOnLocChange) then FOnLocChange (Self) ; end; // event called rapidly, perhaps for each new NMEA sentence, even if not changed procedure TMagGpsLoc.LocationChangedEvent(Sender: TObject; const LocationReport: ILocationReport; const ReportType: TGUID); begin if NOT Assigned (LocationReport) then exit ; if NOT IsEqualGUID (ReportType, IID_ILatLongReport) then exit ; if FMinInterval > 0 then begin if NOT TestTrgTick (FMinEventTrg) then exit ; // don't want too many events FMinEventTrg := AddTrgSecs (GetTickCountX, FMinInterval) ; // set next triggger FMaxEventTrg := AddTrgSecs (GetTickCountX, FMaxInterval) ; end; KeepLocation (LocationReport) ; if FLastLatitude <> 0 then FDistance := GetDistance (FLatitude, FLongitude, FLastLatitude, FLastLongitude) else FDistance := 0 ; FLastLatitude := FLatitude ; FLastLongitude := FLongitude ; if Assigned (FOnLocChange) then FOnLocChange (Self) ; end; procedure TMagGpsLoc.LocationStatusEvent(Sender: TObject; const newStatus: LOCATION_REPORT_STATUS; const ReportType: TGUID); begin if NOT IsEqualGUID (ReportType, IID_ILatLongReport) then exit ; FStatus := newStatus ; FStatusStr := ReportStatus (newStatus) ; if Assigned (FOnStatusChange) then FOnStatusChange (Self) ; end; // http://janmatuschek.de/LatitudeLongitudeBoundingCoordinates // http://www.movable-type.co.uk/scripts/latlong.html // dist = arccos(sin(lat1) * sin(lat2) + cos(lat1) *· cos(lat2) *· cos(lon1 - lon2)) *· 6371009 function TMagGpsLoc.GetDistance (Lat1, Long1, Lat2, Long2: double): integer; begin result := 0 ; if (Lat1 = Lat2) and (Long1 = Long2) then Exit ; try result := Trunc (Arccos (Sin (DegToRad (Lat1)) * Sin (DegToRad (Lat2)) + Cos (DegToRad (Lat1)) * Cos (DegToRad (Lat2)) * Cos (DegToRad (Long1) - DegToRad (Long2))) * 6371009) ; // magic number is average earth diameter ellipsoid in metres except result := 0 ; end; end; // converts Degree Minutes to Decimal Degrees, making negative for East or South function DM2DD (const DM, Sign: string; var DD: double): boolean ; var sep: integer ; begin result := false ; try if (DM = '') or (Sign = '') then exit ; if NOT (IsDigitsDec (DM, true)) then exit ; sep := Pos ('.', DM) ; if (sep = 5) then // 5122.987473 - latitude begin DD := Str2Ext (Copy (DM, 1, 2)) + (Str2Ext (Copy (DM, 3, 9)) / 60) ; if Sign = 'S' then DD := 0 - DD ; result := true ; end else if (sep = 6) then // 00005.157330 longitude begin DD := Str2Ext (Copy (DM, 1, 3)) + (Str2Ext (Copy (DM, 4, 9)) / 60) ; if Sign = 'W' then DD := 0 - DD ; result := true ; end; except end; end; // convert ASCII time (HHMMSS-NN) and date (DDMMYY) with optional millisecs to TDateTime as today if no date function Time2DT (STime, SDate: string; var DT: TDateTime): boolean ; var sep: integer ; yy, mm, dd: Word; begin result := false ; if (Length (STime) < 6) or (NOT (IsDigitsDec (STime, true))) then exit ; if (Length (SDate) <> 6) or (NOT (IsDigitsDec (SDate, false))) then DT := Date else begin dd := Str2Word (copy (SDate, 1, 2)) ; mm := Str2Word (copy (SDate, 3, 2)) ; yy := Str2Word (copy (SDate, 5, 2)) + 2000; if NOT TryEncodeDate (yy, mm, dd, DT) then DT := Date; end; sep := Pos ('.', STime) ; // 154734.00 if sep = 7 then STime [7] := '-' ; DT := DT + TimeOf(Packed2Time (STime)); end ; // convert ASCII floating number to double function Num2Double (Num: string; var Float: Double): boolean ; begin result := false ; if num = '' then exit ; if NOT (IsDigitsDec (num, true)) then exit ; Float := Str2Ext (Num) ; result := true ; end; function TMagGpsLoc.SetNMEASentence (const Sentence: string): boolean; var Fields: TStringList; TypeMsg: string; I, J, fnr, satnr, systemid: integer ; locflag: boolean ; // locate checksum at end of NMEA-0183 sentence and check line not corrupted function NMEACheckSumOK (const S1: string): boolean; var I, J: integer; Checksum: integer; ChecksumVal: string; begin Checksum := 0; result := false ; J := Pos ('*', S1) ; if J < 5 then exit ; for I := 2 to (J - 1) do //Checksum done on everthing between $ and * . Checksum := Checksum XOR Ord (S1 [I]) ; ChecksumVal := IntToHex (Checksum, 2) ; result := (ChecksumVal = Copy (S1, J + 1, 2)) ; end; begin result := false ; locflag := false ; FLastErrorStr := '' ; if NOT FActive then begin FLastErrorStr := 'Can not save data, inactive' ; exit ; end; if Length (Sentence) < 10 then exit ; if Sentence [1] <> '$' then exit ; // all sentences start with $ if Sentence [2] = 'P' then exit ; // ignore proprietary messages TypeMsg := Copy (Sentence, 4, 3); // Get the message type if NOT NMEACheckSumOK (Sentence) then begin FLastErrorStr := 'NMEA-0183 sentence check sum failure - ' + Sentence; exit ; end; Fields := TStringList.Create; Fields.Delimiter := ',' ; try // sentence descriptions from: https://gpsd.gitlab.io/gpsd/NMEA.html // system Id, constellations or talker: GP=GPS, GL=Glonass, GN=Mixed GPS/Glonass, QZ=QZSS, BD=BeiDou, GA=Galileo, GQ=QZSS, GI=IRNSS // note lots of other listeners for compasses, transducers, gyros, etc. // NMEA GGA Sentence format - Global Positioning System Fix Data // 11 // 1 2 3 4 5 6 7 8 9 10 | 12 13 14 15 // | | | | | | | | | | | | | | | // $--GGA,hhmmss.ss,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx*hh // $GPGGA,154734.00,5122.987473,N,00005.157330,W,1,08,1.2,68.2,M,47.1,M,,*4F // $GPGGA,154738.00,5122.989193,N,00005.156894,W,1,08,0.8,67.6,M,47.1,M,,*42 // $GPGGA,184459.00,,,,,0,00,300.0,,M,,M,,*60 // $GNGGA,182237.00,5122.988318,N,00005.156333,W,1,12,0.6,56.4,M,47.0,M,,*5F // 0) message type tag, $, constellation XX, packet type XXX // 1) Universal Time Coordinated (UTC) - time only hhmmss-zz // 2) Latitude - 5122.987473 = 51 degrees, 22.9874 minutes - not decimal degrees // 3) N or S (North or South) // 4) Longitude - 00005.157330 = 00 degrees, 5.157330 minutes // 5) E or W (East or West) // 6) GPS Quality Indicator, // 0 - fix not available, // 1 - GPS fix, // 2 - Differential GPS fix // 7) Number of satellites in view, 00 - 12 // 8) Horizontal Dilution of precision (metres) // 9) Antenna Altitude above/below mean-sea-level (geoid) //10) Units of antenna altitude, meters //11) Geoidal separation, the difference between the WGS-84 earth ellipsoid and mean-sea-level (geoid), // "-" means mean-sea-level below ellipsoid //12) Units of geoidal separation, meters //13) Age of differential GPS data, time in seconds since last SC104 // type 1 or 9 update, null field when DGPS is not used //14) Differential reference station ID, 0000-1023 //15) Checksum if TypeMsg = 'GGA' then // Global Positioning System Fix Data begin Fields.CommaText := Sentence ; // Split the message into different parts. if Fields.Count < 14 then exit ; FGpsTalker := Copy (Sentence, 2, 2) ; // keep fix talker constellation, GP=GPS, GL=Glonass, GN=Mixed GPS/Glonass, QZ=Japanese FGpsQuality := AscToInt (Fields [6]) ; // FGpsSatellFix := AscToInt (Fields [7]) ; systemid := AscToInt (FGpsTalker); if systemid = 0 then systemid := 1; GpsSatFix [0, systemid] := AscToInt (Fields [7]) ; // totals if (FGpsQuality = 1) or (FGpsQuality = 2) then // don't change last location unless got a new one begin if DM2DD (Fields [2], Fields [3], FLatitude) and DM2DD (Fields [4], Fields [5], FLongitude) then begin FAltitude := AscToInt (Fields [9]) ; Time2DT (Fields [1], '', FTimeStamp) ; Num2Double (Fields [8], FErrorRadius) ; FGpsAltUnits := Lowercase (Fields [10]) ; Num2Double (Fields [11], FGpsGeoidalSep) ; FGpsGeoUnits := Lowercase (Fields [12]) ; locflag := true ; end ; end ; result := true ; end // NMEA GSA Sentence format - GPS DOP and active satellites // Implementation note: Number satalites might variate in nature so structure may need to be adjusted. // 1 2 3 14 15 16 17 18 // | | | | | | | | // $--GSA,a,a,x,x,x,x,x,x,x,x,x,x,x,x,x,x,x.x,x.x,x.x*hh // $GNGSA,A,3,08,15,17,18,22,24,26,28,,,,,2.5,1.5,2.1*27 // $QZGSA,A,3,,,,,,,,,,,,,2.5,1.5,2.1*2E // $GNGSA,A,3,04,05,09,18,25,26,29,31,,,,,0.9,0.6,0.6,1*33 // NMEA 4.11, id=1=GPS // $GNGSA,A,3,71,78,79,82,88,,,,,,,,0.9,0.6,0.6,2*36 // NMEA 4.11, id=2=Glonass // $GNGSA,A,3,01,05,24,26,31,,,,,,,,0.9,0.6,0.6,3*3E // NMEA 4.11, id=3=Galileo // 0) message type // 1) Selection mode A=auto fix, M=manual fix // 2) Mode 1=no fix, 2=2d fix, 3=3d fix // 3) to 14) IDs of 1st to 12th satellite used for fix //15) PDOP in meters, dilution of precision //16) HDOP in meters, horiz dilution of precision //17) VDOP in meters, vert dilution of precision //18) System ID (NMEA 4.11 Sept 2018) optional, which constallation //19) checksum else if TypeMsg = 'GSA' then // GPS DOP and active satellites begin Fields.CommaText := Sentence ; // Split the message into different parts. if Fields.Count < 19 then exit ; systemid := AscToInt (Fields [18]); // only available in NMEA 4.11 Sept 2018 if systemid = 0 then systemid := 1; if (Fields [1] = 'A') and ((Fields [2] = '2') or (Fields [2] = '3')) then begin Num2Double (Fields [15], GpsPDOP) ; Num2Double (Fields [16], GpsHDOP) ; Num2Double (Fields [17], GpsVDOP) ; fnr := 3 ; // FGpsSatellFix := 0 ; GpsSatFix [0, systemid] := 0; for I := 1 to 12 do begin GpsSatFix [I, systemid] := AscToInt (Fields [fnr]) ; if GpsSatFix [I, systemid] > 0 then inc (GpsSatFix [0, systemid]); // totals // if GpsSatFix [I] > 0 then inc (FGpsSatellFix) ; inc (fnr) ; end ; end else begin for I := 0 to 12 do GpsSatFix [I, systemid] := 0 ; end; result := true ; end // NMEA GSV Sentence format - Satellites in view, may be multiple constallations // 1 2 3 4 5 6 7 n // | | | | | | | | // $--GSV,x,x,x,x,x,x,x,...*hh // $GPGSV,3,1,12,04,13,309,21,05,14,070,16,09,04,341,18,16,21,291,21,1*65 GPS constallation 1 of 3 // $GPGSV,3,2,12,18,44,156,24,20,13,042,16,25,25,113,16,26,59,289,35,1*63 GPS constallation 2 of 3 // $GPGSV,3,3,12,29,53,061,25,31,50,210,34,02,04,033,,27,00,000,,1*6A GPS constallation 3 of 3 // $GLGSV,2,1,07,78,49,142,22,82,11,212,19,79,72,310,28,88,58,045,15,1*71 Glonass constallation 1 of 2 // $GLGSV,2,2,07,81,61,205,24,71,11,357,13,87,15,036,,1*4B Glonass constallation 2 of 2 // $GAGSV,2,1,07,01,29,122,27,05,08,286,20,24,40,298,19,26,39,053,22,7*7B Galileo constallation 1 of 2 // $GAGSV,2,2,07,31,85,165,23,03,07,336,,12,23,192,,7*42 Galileo constallation 2 of 2 // 0) message type, sysuid/talker/constallation $xx // 1) total number of messages for this constallation, usually 4 satellites per message // 2) message number // 3) satellites in view // 4) satx - satellite number // 5) satx - elevation in degrees // 6) satx - azimuth in degrees to true // 7) satx - SNR in dB // 8) optional, repeat 4) to 7) four times // last) checksum // note no systemid so need to convert talker letters else if TypeMsg = 'GSV' then // GPS Satellites in view begin Fields.CommaText := Sentence ; // Split the message into different parts. if Fields.Count < 8 then exit ; systemid := FindSysId (Copy (Fields[0], 2, 2)); // Jan 2022 if systemid = 0 then systemid := 1; // not available, set GPS J := AscToInt (Fields [2]) ; // message number, 1 to 4 (max 16 satellites} if J = 1 then ClearSatInfo(systemid) ; // first clear everything // FGpsSatellView := AscToInt (Fields [3]) ; // if FGpsSatellView = 0 then exit ; GpsSatInfo [0, systemid].Prn := AscToInt (Fields [3]) ; // total satellites in view if GpsSatInfo [0, systemid].Prn = 0 then exit; // should not happen fnr := 4 ; satnr := ((J - 1) * 4) + 1 ; for I := 0 to 3 do begin if ((fnr + 4) >= Fields.Count) then break ; if satnr >= MaxSatellites then break ; with GpsSatInfo [satnr, systemid] do begin if Fields [fnr] <> '' then begin Prn := AscToInt (Fields [fnr]) ; Elevation := AscToInt (Fields [fnr + 1]) ; Azimuth := AscToInt (Fields [fnr + 2]) ; SigNoise := AscToInt (Fields [fnr + 3]) ; end; end; inc (satnr) ; fnr := fnr + 4 ; end; result := true ; end // NMEA RMC Sentence format - Recommended Minimum Navigation Information // 12 // 1 2 3 4 5 6 7 8 9 10 11| // | | | | | | | | | | | | // $--RMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,xxxx,x.x,a*hh // $GPRMC,135929.00,A,5122.981183,N,00005.154369,W,000.0,323.0,120314,,,A*49 // $GPRMC,135948.00,A,5122.981297,N,00005.154325,W,000.0,323.0,120314,,,A*40 // $GNRMC,182240.00,A,5122.988312,N,00005.156334,W,0.0,,190122,3.1,W,A,V*77 // 0) message type // 1) UTC Time // 2) Status, A = Active, V = Navigation receiver warning // 3) Latitude // 4) N or S // 5) Longitude // 6) E or W // 7) Speed over ground, knots // 8) Track made good, degrees true // 9) Date, ddmmyy //10) Magnetic Variation, degrees //11) E or W //12) FAA mode indicator (NMEA 2.3 and later) //13) Nav Status (NMEA 4.1 and later) A=autonomous, D=differential, E=Estimated, M=Manual input mode N=not valid, S=Simulator, V = Valid //14) Checksum else if TypeMsg = 'RMC' then // Recommended Minimum Navigation Information begin FGpsTalker := Copy (Sentence, 2, 2) ; // keep fix talker constellation, GP=GPS, GL=Glonass, GN=Mixed GPS/Glonass, QZ=Japanese Fields.CommaText := Sentence ; // Split the message into different parts. if Fields.Count < 12 then exit ; FGpsQuality := 0 ; if (Fields [2] = 'A') then FGpsQuality := 1 ; if (FGpsQuality = 1) then // don't change last location unless got a new one begin if DM2DD (Fields [3], Fields [4], FLatitude) and DM2DD (Fields [5], Fields [6], FLongitude) then begin Time2DT (Fields [1], Fields [9], FTimeStamp) ; Num2Double (Fields [7], FGpsSpeedKnots) ; Num2Double (Fields [8], FGpsDegreeTrue) ; Num2Double (Fields [10], FGpsDegreeMag) ; FGpsMagDir := Fields [11] ; locflag := true ; end ; end; result := true ; end // NMEA GLL Sentence format - Geographic Position - Latitude/Longitude // (not seen with any tested devices) // 1 2 3 4 5 6 7 // | | | | | | | // $--GLL,llll.ll,a,yyyyy.yy,a,hhmmss.ss,A*hh // 0) message type // 1) Latitude // 2) N or S (North or South) // 3) Longitude // 4) E or W (East or West) // 5) Universal Time Coordinated (UTC) // 6) Status A - Data Valid, V - Data Invalid // 7) Checksum else if TypeMsg = 'GLL' then // Geographic Position - Latitude/Longitude begin Fields.CommaText := Sentence ; // Split the message into different parts. if Fields.Count < 7 then exit ; FGpsQuality := 0 ; if (Fields [6] = 'A') then FGpsQuality := 1 ; if (FGpsQuality = 1) then // don't change last location unless got a new one begin if DM2DD (Fields [1], Fields [2], FLatitude) and DM2DD (Fields [3], Fields [4], FLongitude) then begin Time2DT (Fields [5], '', FTimeStamp) ; locflag := true ; end ; end; result := true ; end // NMEA VTG Sentence format - Track made good and Ground speed // 1 2 3 4 5 6 7 8 9 // | | | | | | | | | // $--VTG,x.x,T,x.x,M,x.x,N,x.x,K*hh // $GNVTG,,T,,M,0.0,N,0.0,K,A*3D // 0) message type // 1) Track Degrees // 2) T = True // 3) Track Degrees // 4) M = Magnetic // 5) Speed Knots // 6) N = Knots // 7) Speed Kilometers Per Hour // 8) K = Kilometers Per Hour // 9. FAA mode indicator (NMEA 2.3 and later) // 10) Checksum else if TypeMsg = 'VTG' then // Track made good and Ground speed begin Fields.CommaText := Sentence ; // Split the message into different parts. if Fields.Count < 9 then exit ; if Fields [2] <> 'T' then exit ; // might be older version Num2Double (Fields [1], FGpsDegreeTrue) ; Num2Double (Fields [3], FGpsDegreeMag) ; Num2Double (Fields [5], FGpsSpeedKnots) ; Num2Double (Fields [7], FGpsSpeedKm) ; result := true ; end ; finally Fields.Free ; end; // event if NOT result then exit ; // should be earlier... if locflag then begin if FMinInterval > 0 then begin if NOT TestTrgTick (FMinEventTrg) then exit ; // don't want too many events FMinEventTrg := AddTrgSecs (GetTickCountX, FMinInterval) ; // set next triggger FMaxEventTrg := AddTrgSecs (GetTickCountX, FMaxInterval) ; end; if FLastLatitude <> 0 then FDistance := GetDistance (FLatitude, FLongitude, FLastLatitude, FLastLongitude) else FDistance := 0 ; FLastLatitude := FLatitude ; FLastLongitude := FLongitude ; if Assigned (FOnLocChange) then FOnLocChange (Self) ; end; end; function TMagGpsLoc.GetNmeaInfo: string ; var I, J, K: integer ; begin result := '' ; if (FLatitude = 0) and (FLongitude = 0) then result := result + 'No position information available' + CRLF_ ; if FSensorID <> '' then result := result + 'Sensor ID: ' + FSensorID + CRLF_ ; if FMobileNum <> '' then result := result + 'Mobile Number: ' + FMobileNum + CRLF_ ; if FGsmSigLev <> '' then result := result + 'GSM Signal Level: ' + FGsmSigLev + CRLF_ ; if FDevVolt <> '' then result := result + 'Voltage Level: ' + FDevVolt + CRLF_ ; if FLocAreaCode <> '' then result := result + 'Location Area Code: ' + FLocAreaCode + CRLF_ ; if FMobNetCode <> '' then result := result + 'Mobile Network Code: ' + FMobNetCode + CRLF_ ; if FMobCellId <> '' then result := result + 'Mobile Cell Id: ' + FMobCellId + CRLF_ ; result := result + 'Satellites in View = ' + IntToStr (GetGpsSatellView) + CRLF_ ; result := result + 'Satellites Used = ' + IntToStr (GetGpsSatellFix) + CRLF_ ; if FGpsSpeedKnots <> 0 then result := result + 'Speed (Knots) = ' + FloatToStr (FGpsSpeedKnots) + CRLF_ ; if FGpsSpeedKm <> 0 then result := result + 'Speed (Km/Hr) = ' + FloatToStr (FGpsSpeedKm) + CRLF_ ; if FGpsDegreeTrue <> 0 then result := result + 'True Heading = ' + FloatToStr (FGpsDegreeTrue) + CRLF_ ; if FGpsDegreeMag <> 0 then result := result + 'Magnetic Heading = ' + FloatToStr (FGpsDegreeMag) + CRLF_ ; if FErrorRadius <> 0 then result := result + 'Error Radius = ' + FloatToStr (FErrorRadius) + CRLF_ ; if FGpsGeoidalSep <> 0 then result := result + 'Geoidal Separation = ' + FloatToStr (FGpsGeoidalSep) + FGpsGeoUnits + CRLF_ ; if GpsPDOP <> 0 then result := result + 'PDOP = ' + FloatToStr (GpsPDOP) + CRLF_ ; if GpsHDOP <> 0 then result := result + 'HDOP = ' + FloatToStr (GpsHDOP) + CRLF_ ; if GpsVDOP <> 0 then result := result + 'VDOP = ' + FloatToStr (GpsVDOP) + CRLF_ ; for J := 1 to MaxSystems do begin if GpsSatInfo [0, J].Prn = 0 then continue; result := result + 'Constellation: ' + SystemNames[J] + CRLF_ ; for I := 1 to MaxSatellites do begin with GpsSatInfo [I, J] do begin if Prn > 0 then begin result := result + 'Satellite ' + IntToStr (Prn) + ', Azimuth ' + IntToStr (Azimuth) + ', Elevation ' + IntToStr (Elevation) + ', S/N ' + IntToStr (SigNoise) ; for K := 1 to 12 do begin if GpsSatFix [K, J] = Prn then result := result + ', Fix' ; end; result := result + CRLF_ ; end; end; end; end ; end; function TMagGpsLoc.SetGT02Packet (const Packet: string): boolean; var GpsGt02HBPacket: PGpsGt02HBPacket ; GpsGt02DataPacket: TGpsGt02DataPacket ; GpsGt02HBResp: TGpsGt02HBResp ; GpsGt02CmdRespPacket: TGpsGt02CmdRespPacket ; Len, I, DataStatus: Integer ; Sendpacket: string ; DateDT, TimeDT: TDateTime ; begin result := false ; FLastErrorStr := '' ; if NOT FActive then begin FLastErrorStr := 'Can not save data, inactive' ; exit ; end; Len := Length (Packet) ; if Len < 15 then exit ; GpsGt02HBPacket := @Packet [1] ; // need to respond to Heartbeat packet within 10 secs, rapidly on connect, then every three minutes if (GpsGt02HBPacket.Protocol = Gt02ProtoHeartbeat) then begin if (GpsGt02HBPacket.Start = Gt02StartHeartbeatReq) then begin // keep satellite info and stuff ConvHexStr (String(GpsGt02HBPacket.TermId), FSensorID) ; if Pos ('0', FSensorID) = 1 then FSensorID := Copy (FSensorID, 2, 99) ; // strip leading zero FGsmSigLev := IntToStr (GpsGt02HBPacket.GsmSig) ; FDevVolt := IntToStr (GpsGt02HBPacket.Volts) ; FPacketSerial := Swap(GpsGt02HBPacket.Serial); // FGpsSatellFix := 0 ; // FGpsSatellView := GpsGt02HBPacket.SatTot ; // if FGpsSatellView > MaxSatellites then FGpsSatellView := MaxSatellites ; // if FGpsSatellView > 0 then GpsSatInfo [0, 1].Prn := GpsGt02HBPacket.SatTot ; if GpsSatInfo [0, 1].Prn > MaxSatellites then GpsSatInfo [0, 1].Prn := MaxSatellites ; if GpsSatInfo [0, 1].Prn > 0 then begin if GpsGt02HBPacket.State = 1 then GpsSatFix [0, 1] := GpsSatInfo [0, 1].Prn ; for I := 1 to GpsSatInfo [0, 1].Prn do begin with GpsSatInfo [I, 1] do begin Prn := I ; SigNoise := GpsGt02HBPacket.SatSNR [I] ; end; end; end; // now respond GpsGt02HBResp.Start := Gt02StartHeartbeatResp ; GpsGt02HBResp.Protocol := Gt02ProtoHeartbeat ; GpsGt02HBResp.Stop := CRLF_ ; SetLength (Sendpacket, SizeOf (TGpsGt02HBResp)); Move (GpsGt02HBResp.Start, SendPacket [1], Length (SendPacket)); if Assigned (FOnGpsSendData) then begin FOnGpsSendData (Self, SendPacket) ; result := True ; end else FLastErrorStr := 'Can not respond, no SendData event' ; // see if triggering location event with old data if FMinInterval > 0 then begin if NOT TestTrgTick (FMinEventTrg) then exit ; // don't want too many events FMinEventTrg := AddTrgSecs (GetTickCountX, FMinInterval) ; // set next triggger FMaxEventTrg := AddTrgSecs (GetTickCountX, FMaxInterval) ; end; if (FLastLatitude = 0) and (FLastLongitude = 0) then exit ; // only if got something if Assigned (FOnLocChange) then FOnLocChange (Self) ; Exit; end; FLastErrorStr := 'Unknown Heathrbeat Packet: ' + ConvHexQuads (Packet) ; end // read location packet with lat and long, only sent when location changed else if (GpsGt02HBPacket.Protocol = Gt02ProtoData) then begin if (GpsGt02HBPacket.Start = Gt02StartData) then begin result := True ; Move (Packet [1], GpsGt02DataPacket, SizeOf (TGpsGt02DataPacket)); FPacketSerial := Swap(GpsGt02DataPacket.Serial); ConvHexStr (String(GpsGt02HBPacket.TermId), FSensorID) ; if Pos ('0', FSensorID) = 1 then FSensorID := Copy (FSensorID, 2, 99) ; // strip leading zero FLocAreaCode := IntToHex (Swap (GpsGt02DataPacket.LAC), 4) ; FMobNetCode := IntToStr (GpsGt02DataPacket.MNC) ; FMobCellId := IntToStr (Swap (GpsGt02DataPacket.CellId)) ; DataStatus := EndianLong (GpsGt02DataPacket.Status) ; if DataStatus AND Gt02StatGpsFix = Gt02StatGpsFix then begin with GpsGt02DataPacket do begin if TryEncodeDate (DateTime [1] + 2000, DateTime [2], DateTime [3], DateDT) and TryEncodeTime (DateTime [4], DateTime [5], DateTime [6], 0, TimeDT) then FTimeStamp := DateDT + TimeDT ; end; FLatitude := EndianLong (GpsGt02DataPacket.Lat) / 1800000 ; FLongitude := EndianLong (GpsGt02DataPacket.Long) / 1800000 ; FGpsSpeedKnots := GpsGt02DataPacket.Speed ; FGpsDegreeTrue := Swap(GpsGt02DataPacket.Course) ; FGpsDegreeMag := FGpsDegreeTrue ; if DataStatus AND Gt02StatLatDir <> Gt02StatLatDir then FLatitude := -FLatitude ; if DataStatus AND Gt02StatLongDir <> Gt02StatLongDir then FLongitude := -FLongitude ; if FLastLatitude <> 0 then FDistance := GetDistance (FLatitude, FLongitude, FLastLatitude, FLastLongitude) else FDistance := 0 ; FLastLatitude := FLatitude ; FLastLongitude := FLongitude ; if Assigned (FOnLocChange) then FOnLocChange (Self) ; end; end; end // address request packet - seems designed to request a postal street address for the lat/long else if (GpsGt02HBPacket.Protocol = Gt02ProtoAddrReq) then begin if (GpsGt02HBPacket.Start = Gt02StartAddrReq) then begin FPacketSerial := Swap(GpsGt02HBPacket.Serial); FLastErrorStr := 'Address Packet Ignored' ; end; end else if (GpsGt02HBPacket.Protocol = Gt02ProtoInst) then begin if (GpsGt02HBPacket.Start = Gt02StartAddrReq) then begin result := True ; Move (Packet [1], GpsGt02CmdRespPacket, SizeOf (TGpsGt02CmdRespPacket)); FPacketSerial := Swap(GpsGt02CmdRespPacket.Serial); ConvHexStr (String(GpsGt02CmdRespPacket.TermId), FSensorID) ; FLastCmdResponse := String(GpsGt02CmdRespPacket.CmdData) ; SetLength (FLastCmdResponse, GpsGt02CmdRespPacket.CmdLen) ; if Assigned (FOnGpsLog) then FOnGpsLog (Self, FLastCmdResponse); end; end else begin FLastErrorStr := 'Unknown Packet Type: ' + ConvHexQuads (Packet) ; end; end; // protocol for Xenun ARM CPU products(tk102-2,tk103-2, tk202，tk201-2,xt007,xt008) etc) function TMagGpsLoc.SetTK10XPacket (const Packet: string): boolean; // July 2017 var Fields: TStringList; S: string; I: Integer; { The following is the gprs data for ARM CPU products(tk102-2,tk103-2, tk202，tk201-2,xt007,xt008) etc) Essentially the NMEA RMC sentence, preceded by date/time and mobile number, followed by useful stuff from other NMEA sentences like satellite count, mobile IMEI and cell station stuff. 090805215127,+22663173122,GPRMC,215127.083,A,4717.3044,N,01135.0005,E,0.39,217.95,050809,,,A*6D,F,, imei:354776030393299,05,552.4,F:4.06V,0,141,54982,232,01,1A30,0949 170720093445,,GPRMC,093445.7,A,5122.9769,N,00005.1644,W,3.6,184.20,200717,0.0,E,A*21,F,imei:351865085761832,07,132.0,F:4.37V,0,127,,234,10,188ED6E,3890 170720093510,,GPRMC,093510.8,A,5122.9902,N,00005.1538,W,0.0,0.00,200717,0.0,E,A*2E,F,imei:351865085761832,12,96.0,F:4.37V,0,124,,234,10,188ED6E,3890 0) 090805215127 = 2009, 5th,Aug. 21:51:27 1) +22663173122 = admin number, it is the mobile number which you use to set up apn,ip,port 2) GPRMC = Message ID - start of NMEA RMC sentence (add $ to front) 3) 215127.083 = UTC time( 21:51:27:083) the time in your place 4) A = Status, always A never change 5) 4717.3044 = Latitude, from GMS module directly - Degree Minutes 6) N = N or S 7) 01135.0005 = Longitude - Degree Minutes 8) E = E or W 9) 0.39 = speed knots 10) 217.95 = angle it is direction of travel, but not accurate, so please ignore this part 11) 050809 = date it is from GSM module directly, we can not change it DDMMYY 12) 0.0 = Magnetic Variation, degrees 13) E = E or W 14) A*6D = CRC16 correction for GPRMC (end of NMEA RMC sentence) 15) F = valid GPS signal 16) imei:354776030393299 = IMEI 17) 05 = can get signal from 5 satellites the tracker can get satellites for this data 18) 552.4 = the height it is horizon level, not accurate 19) F:4.06V = power left in the battery , it is 4.2V-3.7V 20) 0 = no charging state if the usb connector on the tracker is connected with power , it is 1, otherwise 0 21) 141 = the byte in this data it is the total bytes before 141, count them and will be 141 22) 54982 = CRC16 correction for the whote gprs data, decimal system 23) 232 = MCC Mobile Country Code 24) 01 = MNC Mobile Network Code 25) 1A30 = LAC Location area code 26) 0949 = cell ID } begin result := false ; FLastErrorStr := '' ; if NOT FActive then begin FLastErrorStr := 'Can not save data, inactive' ; exit ; end; if Length (Packet) < 20 then exit ; Fields := TStringList.Create; Fields.Delimiter := ',' ; try Fields.CommaText := Packet ; // Split the message into different parts. if Fields.Count < 23 then // Oct 2017 mobile stuff may be missing begin FLastErrorStr := 'Only found ' + IntToStr(Fields.Count) + ' fields: ' + Packet ; exit ; end; if (Fields [2] = 'GPRMC') then // GPS Recommended Minimum Navigation Information begin FMobileNum := Fields [1]; FSensorID := Fields [16]; if Pos ('imei:', FSensorID) = 1 then FSensorID := Copy (FSensorID, 6, 99) ; // strip imei: S := Fields [19]; if Pos ('F:', S) = 1 then FDevVolt := Copy (S, 3, 9) ; // FGpsSatellFix := AscToInt(Fields [17]); // FGpsSatellView := FGpsSatellFix; // if FGpsSatellView > MaxSatellites then FGpsSatellView := MaxSatellites ; GpsSatFix [0, 1] := AscToInt(Fields [17]); if GpsSatFix [0, 1] > MaxSatellites then GpsSatFix [0, 1] := MaxSatellites ; GpsSatInfo [0, 1].Prn := GpsSatFix [0, 1]; if Fields.Count >= 24 then // Oct 2017 mobile stuff may be missing begin FLocAreaCode := Fields [25]; FMobNetCode := Fields [24]; FMobCellId := Fields [26]; end; // extract and process $GPRMC sentence I := Pos (',GPRMC,', Packet); result := SetNMEASentence ('$' + Copy (Packet, I + 1, 999)) ; if NOT result then exit; end finally Fields.Free ; end; end; function TMagGpsLoc.SetWondeXPacket (const Packet: string): boolean; // July 2017 var Fields: TStringList; S: string; I: integer; Lat, Long: Double; { TK5000 uses WondeX VTxx protocol 2000000001,20080330074922,121.648699,25.060560,0,159,0,5,1,0.0,0,,,0 2000000001,20080330074923,121.648699,25.060560,0,159,0,6,1,0.0,0,,,0 351865085761832,20170720110703,-0.08594539,51.38311989,0.0,0.0,102.0,15,2 351865085761832,20170720110714,-0.0858705,51.383071,0.0,0.0,0.0,7,2 Parameter format for returning string: (RP Header): Header for returning message 0) Device ID: The ID of the device. (Maximum length is 10 digits) 1) DateTime: YYYYMMDDhhmmss (GMT) 2) Longitude: WGS-84 coordinate system 3) Latitude: WGS-84 coordinate system 4) Speed: 0~65535 km/h 5) Heading: 0~360 degrees 6) Altitude: Parameter column Reserved (currently showing ‘0’) 7) Satellite: 0~12 8) Event ID: xxx. Different event ID indicates different meaning of each returning message, Please refer to appendix 8.1 for detailed description. (following missing from some implementations) 9) Mileage: the mileage value in kilometer 10) Input status: Input status indication (bitwise), the returning value is in “decimal” format. Please convert it to “binary” mode to read the input status: 11) Voltage level of Analog 1 : 0.00~30.00 V 12) Voltage level of Analog 2: 0.00~30.00 V 13) Output Status: Output status indication (bitwise), } begin result := false ; FLastErrorStr := '' ; if NOT FActive then begin FLastErrorStr := 'Can not save data, inactive' ; exit ; end; if Length (Packet) < 20 then exit ; Fields := TStringList.Create; Fields.Delimiter := ',' ; try Fields.CommaText := Packet ; // Split the message into different parts. if Fields.Count < 9 then begin FLastErrorStr := 'Only found ' + IntToStr(Fields.Count) + ' fields: ' + Packet ; exit ; end; I := AscToInt (Fields [8]); if (I <= 2) and (Length (Fields [2]) >= 3) then // position data begin Num2Double (Fields [2], long) ; Num2Double (Fields [3], lat) ; if (Abs (long) <= 180) and (Abs (lat) <= 180) then begin FLatitude := lat; FLongitude := long; FSensorID := Fields [0]; S := Fields [1]; if Length (S) >= 12 then FTimeStamp := Packed2Date(Copy (S, 1, 8) + '-' + Copy (S, 7, 6)); Num2Double (Fields [4], FGpsSpeedKnots) ; Num2Double (Fields [5], FGpsDegreeTrue) ; // FGpsSatellFix := AscToInt(Fields [7]); // FGpsSatellView := FGpsSatellFix; // if FGpsSatellView > MaxSatellites then FGpsSatellView := MaxSatellites ; GpsSatFix [0, 1] := AscToInt(Fields [7]); if GpsSatFix [0, 1] > MaxSatellites then GpsSatFix [0, 1] := MaxSatellites ; GpsSatInfo [0, 1].Prn := GpsSatFix [0, 1]; if FLastLatitude <> 0 then FDistance := GetDistance (FLatitude, FLongitude, FLastLatitude, FLastLongitude) else FDistance := 0 ; FLastLatitude := FLatitude ; FLastLongitude := FLongitude ; if Assigned (FOnLocChange) then FOnLocChange (Self) ; end; result := true ; end finally Fields.Free ; end; end; function TMagGpsLoc.SetRecvData (const Info: string): boolean; begin try if GpsType = GpsTypeGT02 then Result := SetGT02Packet (Info) else if GpsType = GpsTypeNMEA then Result := SetNMEASentence (Info) else if GpsType = GpsTypeTK10X then Result := SetTK10XPacket (Info) else if GpsType = GpsTypeWondeX then Result := SetWondeXPacket (Info) else Result := false ; except FLastErrorStr := 'Data Error - ' + GetExceptMess (ExceptObject) ; Result := false ; end; end; // send command instructiob to sensor - not got a response yet!!! function TMagGpsLoc.SendGT02Cmd (const Cmd: string): boolean; var GpsGt02CmdSendPacket: TGpsGt02CmdSendPacket ; Sendpacket: string ; begin result := false ; FLastErrorStr := '' ; if NOT FActive then begin FLastErrorStr := 'Can not send command, inactive' ; exit ; end; if NOT Assigned (FOnGpsSendData) then begin FLastErrorStr := 'Can not send command, no SendData event' ; exit ; end; GpsGt02CmdSendPacket.Start := Gt02StartInstReq ; GpsGt02CmdSendPacket.Protocol := Gt02ProtoInst ; GpsGt02CmdSendPacket.ServerFlags := EndianLong ($12345678) ; GpsGt02CmdSendPacket.CmdLen := Length (Cmd) + 4 ; GpsGt02CmdSendPacket.PackLen := Length (Cmd) + 6 ; SetLength (Sendpacket, 9); Move (GpsGt02CmdSendPacket.Start, SendPacket [1], Length (SendPacket)); SendPacket := SendPacket + Cmd + CRLF_ ; FOnGpsSendData (Self, SendPacket) ; result := True ; end; end.