trunk/src/gps.c

/*
 * Copyright (C) 2008 Till Harbaum <till@harbaum.org>.
 *
 * This file is part of GPXView.
 *
 * GPXView is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * GPXView is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with GPXView.  If not, see <http://www.gnu.org/licenses/>.
 */

#include <stdio.h>
#include <string.h>
#include <math.h>

#include "gpxview.h"


#ifdef USE_MAEMO
#ifdef ENABLE_GPSBT
#include <gpsbt.h>
#include <gpsmgr.h>
#endif
#include <errno.h>
#endif

static void gps_unregister_all(appdata_t *appdata);

#ifndef ENABLE_LIBLOCATION

/* maybe user configurable later on ... */
#define GPSD_HOST "127.0.0.1"
#define GPSD_PORT 2947

gps_sat_t *gps_get_sats(appdata_t *appdata) {
  gps_sat_t *retval = NULL;

  g_mutex_lock(appdata->gps_state->mutex);
  if(appdata->gps_state->gpsdata.set & SATELLITE_SET) {
    int i;
    retval = malloc(sizeof(gps_sat_t));
    retval->num = appdata->gps_state->gpsdata.satellites;

    retval->PRN  = malloc(sizeof(int)*retval->num);
    retval->used = malloc(sizeof(int)*retval->num);
    retval->ss   = malloc(sizeof(int)*retval->num);

    if(retval->num) {
      for(i=0;i<retval->num;i++) {
        retval->PRN[i]  = appdata->gps_state->gpsdata.PRN[i];
        retval->ss[i]   = appdata->gps_state->gpsdata.ss[i];
        retval->used[i] = appdata->gps_state->gpsdata.used[i];
      }
    }
  }

  g_mutex_unlock(appdata->gps_state->mutex);

  return retval;
}

pos_t *gps_get_pos(appdata_t *appdata) {
  static pos_t retval;

  retval.lat = NAN;

  g_mutex_lock(appdata->gps_state->mutex);
  if(appdata->gps_state->gpsdata.set & STATUS_SET)
    if(appdata->gps_state->gpsdata.status != STATUS_NO_FIX)
      if(appdata->gps_state->gpsdata.set & LATLON_SET) 
        retval = appdata->gps_state->gpsdata.fix.pos;

  g_mutex_unlock(appdata->gps_state->mutex);

  if(isnan(retval.lat))
    return NULL;

  return &retval;
}

float gps_get_heading(appdata_t *appdata) {
  float retval = NAN;

  g_mutex_lock(appdata->gps_state->mutex);
  if(appdata->gps_state->gpsdata.set & STATUS_SET)
    if(appdata->gps_state->gpsdata.status != STATUS_NO_FIX) 
      if(appdata->gps_state->gpsdata.set & TRACK_SET) 
        retval = appdata->gps_state->gpsdata.fix.track;

  g_mutex_unlock(appdata->gps_state->mutex);
  return retval;
}

float gps_get_eph(appdata_t *appdata) {
  float retval = NAN;

  g_mutex_lock(appdata->gps_state->mutex);
  if(appdata->gps_state->gpsdata.set & STATUS_SET)
    if(appdata->gps_state->gpsdata.status != STATUS_NO_FIX) 
      retval = appdata->gps_state->gpsdata.fix.eph;

  g_mutex_unlock(appdata->gps_state->mutex);
  return retval;
}

static int gps_connect(gps_state_t *gps_state) {
  GnomeVFSResult vfs_result;
#ifdef USE_MAEMO
  char errstr[256] = "";

  /* We need to start gpsd (via gpsbt) first. */
  memset(&gps_state->context, 0, sizeof(gpsbt_t));
  errno = 0;

  if(gpsbt_start(NULL, 0, 0, 0, errstr, sizeof(errstr),
                 0, &gps_state->context) < 0) {
    printf("gps: Error connecting to GPS receiver: (%d) %s (%s)\n",
           errno, strerror(errno), errstr);
  }
#endif

  /************** from here down pure gnome/gtk/gpsd ********************/

  /* try to connect to gpsd */
  /* Create a socket to interact with GPSD. */

  int retries = 5;
  while(retries && 
        (GNOME_VFS_OK != (vfs_result = gnome_vfs_inet_connection_create(
                &gps_state->iconn, GPSD_HOST, GPSD_PORT, NULL)))) {
    printf("gps: Error creating connection to GPSD, retrying ...\n");

    retries--;
    sleep(1);
  }

  if(!retries) {
    printf("gps: Finally failed ...\n");
    return -1;
  }

  retries = 5;
  while(retries && ((gps_state->socket = 
     gnome_vfs_inet_connection_to_socket(gps_state->iconn)) == NULL)) {
    printf("gps: Error creating connecting GPSD socket, retrying ...\n");

    retries--;
    sleep(1);
  }

  if(!retries) {
    printf("gps: Finally failed ...\n");
    return -1;
  }

  GTimeVal timeout = { 10, 0 };
  if(GNOME_VFS_OK != (vfs_result = gnome_vfs_socket_set_timeout(
        gps_state->socket, &timeout, NULL))) {
    printf("gps: Error setting GPSD timeout\n");
    return -1;
  } 

  printf("gps: GPSD connected ...\n");

  return 0;
}       

void gps_clear_fix(struct gps_fix_t *fixp) {
  fixp->mode = MODE_NOT_SEEN;
  fixp->pos.lat = fixp->pos.lon = NAN;
  fixp->track = NAN;
  fixp->speed = NAN;
  fixp->climb = NAN;
  fixp->altitude = NAN;
  fixp->ept = NAN;
  fixp->eph = NAN;
  fixp->epd = NAN;
  fixp->eps = NAN;
  fixp->epc = NAN;
}

/* unpack a daemon response into a status structure */
static void gps_unpack(char *buf, struct gps_data_t *gpsdata) {
  char *ns, *sp, *tp;

  for(ns = buf; ns; ns = strstr(ns+1, "GPSD")) {
    if(strncmp(ns, "GPSD", 4) == 0) {
      /* the following should execute each time we have a good next sp */
      for (sp = ns + 5; *sp != '\0'; sp = tp+1) {
        tp = sp + strcspn(sp, ",\r\n");
        if (*tp == '\0') tp--;
        else *tp = '\0';
        
        switch (*sp) {
        case 'A':
          if (sp[2] == '?') {
            gpsdata->fix.altitude = NAN;
          } else {
            (void)sscanf(sp, "A=%lf", &gpsdata->fix.altitude);
            gpsdata->set |= ALTITUDE_SET;
          }
          break;
          /* B - baudrate isn't supported by gpxview */
          /* C - cycle isn't supported by gpxview */
          /* D - utc time isn't supported by gpxview */
        case 'E':
          gpsdata->fix.eph = NAN;
          /* epe should always be present if eph or epv is */
          if (sp[2] != '?') {
            char epe[20], eph[20], epv[20];
            (void)sscanf(sp, "E=%s %s %s", epe, eph, epv);
#define DEFAULT(val) (val[0] == '?') ? NAN : g_ascii_strtod(val, NULL)
            gpsdata->fix.eph = DEFAULT(eph);
#undef DEFAULT
          }
          break;
          /* F - device name isn't supported by gpxview */
          /* I - gps id isn't supported by gpxview */
          /* K - known devices list isn't supported by gpxview */
        case 'M':
          if (sp[2] == '?') {
            gpsdata->fix.mode = MODE_NOT_SEEN;
          } else {
            gpsdata->fix.mode = atoi(sp+2);
            gpsdata->set |= MODE_SET;
          }
          break;
          /* N - driver mode reporting isn't supported by gpxview */
        case 'O':
          if (sp[2] == '?') {
            gpsdata->set = 
              (gpsdata->set & SATELLITE_SET) | // fix for below
              MODE_SET | STATUS_SET;  // this clears sat info??
            gpsdata->status = STATUS_NO_FIX;
            gps_clear_fix(&gpsdata->fix);
          } else {
            struct gps_fix_t nf;
            char tag[MAXTAGLEN+1], alt[20];
            char eph[20], epv[20], track[20],speed[20], climb[20];
            char epd[20], eps[20], epc[20], mode[2];
            char timestr[20], ept[20], lat[20], lon[20];
            int st = sscanf(sp+2, 
                            "%8s %19s %19s %19s %19s %19s %19s %19s %19s %19s %19s %19s %19s %19s %1s",
                            tag, timestr, ept, lat, lon,
                            alt, eph, epv, track, speed, climb,
                            epd, eps, epc, mode);
            if (st >= 14) {
#define DEFAULT(val) (val[0] == '?') ? NAN : g_ascii_strtod(val, NULL)
              nf.pos.lat = DEFAULT(lat);
              nf.pos.lon = DEFAULT(lon);
              nf.ept = DEFAULT(ept);
              nf.altitude = DEFAULT(alt);
              nf.eph = DEFAULT(eph);
              nf.track = DEFAULT(track);
              nf.speed = DEFAULT(speed);
              nf.climb = DEFAULT(climb);
              nf.epd = DEFAULT(epd);
              nf.eps = DEFAULT(eps);
              nf.epc = DEFAULT(epc);
#undef DEFAULT
              if (st >= 15)
                nf.mode = (mode[0] == '?') ? MODE_NOT_SEEN : atoi(mode);
              else
                nf.mode = (alt[0] == '?') ? MODE_2D : MODE_3D;
              if (alt[0] != '?')
                gpsdata->set |= ALTITUDE_SET | CLIMB_SET;
              if (isnan(nf.eph)==0)
                gpsdata->set |= HERR_SET;
              if (isnan(nf.track)==0)
                gpsdata->set |= TRACK_SET | SPEED_SET;
              if (isnan(nf.eps)==0)
                gpsdata->set |= SPEEDERR_SET;
              if (isnan(nf.epc)==0)
                gpsdata->set |= CLIMBERR_SET;
              gpsdata->fix = nf;
              gpsdata->set |= TIME_SET|TIMERR_SET|LATLON_SET|MODE_SET;
              gpsdata->status = STATUS_FIX;
              gpsdata->set |= STATUS_SET;
            }
          }
          break;
        case 'P':
          if (sp[2] == '?') {
            gpsdata->fix.pos.lat = NAN;
            gpsdata->fix.pos.lon = NAN;
          } else {
            char lat[20], lon[20];
            (void)sscanf(sp, "P=%19s %19s", lat, lon);
            gpsdata->fix.pos.lat = g_ascii_strtod(lat, NULL);
            gpsdata->fix.pos.lon = g_ascii_strtod(lon, NULL);
            gpsdata->set |= LATLON_SET;
          }
          break;
        case 'Q':
          if (sp[2] == '?') {
            gpsdata->satellites_used = 0;
            gpsdata->pdop = 0;
            gpsdata->hdop = 0;
            gpsdata->vdop = 0;
          } else {
            (void)sscanf(sp, "Q=%d %lf %lf %lf %lf %lf",
                         &gpsdata->satellites_used,
                         &gpsdata->pdop,
                         &gpsdata->hdop,
                         &gpsdata->vdop,
                         &gpsdata->tdop,
                         &gpsdata->gdop);
            gpsdata->set |= HDOP_SET | VDOP_SET | PDOP_SET;
          }
          break;
        case 'S':
          if (sp[2] == '?') {
            gpsdata->status = -1;
          } else {
            gpsdata->status = atoi(sp+2);
            gpsdata->set |= STATUS_SET;
          }
          break;
        case 'T':
          if (sp[2] == '?') {
            gpsdata->fix.track = NAN;
          } else {
            (void)sscanf(sp, "T=%lf", &gpsdata->fix.track);
            gpsdata->set |= TRACK_SET;
          }
          break;
        case 'U':
          if (sp[2] == '?') {
            gpsdata->fix.climb = NAN;
          } else {
            (void)sscanf(sp, "U=%lf", &gpsdata->fix.climb);
            gpsdata->set |= CLIMB_SET;
          }
          break;
        case 'V':
          if (sp[2] == '?') {
            gpsdata->fix.speed = NAN;
          } else {
            (void)sscanf(sp, "V=%lf", &gpsdata->fix.speed);
            /* V reply is in kt, fix.speed is in metres/sec */
            gpsdata->fix.speed = gpsdata->fix.speed / MPS_TO_KNOTS;
            gpsdata->set |= SPEED_SET;
          }
          break;
        case 'X':
          if (sp[2] == '?') 
            gpsdata->online = -1;
          else {
            (void)sscanf(sp, "X=%lf", &gpsdata->online);
            gpsdata->set |= ONLINE_SET;
          }
          break;
        case 'Y':
          if (sp[2] == '?') {
            gpsdata->satellites = 0;
          } else {
            int j, i1, i2, i3, i4, i5;
            int PRN[MAXCHANNELS];
            int elevation[MAXCHANNELS], azimuth[MAXCHANNELS];
            int ss[MAXCHANNELS], used[MAXCHANNELS];
            char tag[MAXTAGLEN+1], timestamp[21];
            
            (void)sscanf(sp, "Y=%8s %20s %d ", 
                         tag, timestamp, &gpsdata->satellites);
            for (j = 0; j < gpsdata->satellites; j++) {
              PRN[j]=elevation[j]=azimuth[j]=ss[j]=used[j]=0;
            }
            //      printf("gps: sats = %d\n", gpsdata->satellites);
            for (j = 0, gpsdata->satellites_used = 0; j < gpsdata->satellites; j++) {
              if ((sp != NULL) && ((sp = strchr(sp, ':')) != NULL)) {
                sp++;
                (void)sscanf(sp, "%d %d %d %d %d", &i1, &i2, &i3, &i4, &i5);
                PRN[j] = i1;
                elevation[j] = i2; azimuth[j] = i3;
                ss[j] = i4; used[j] = i5;
                if (i5 == 1)
                  gpsdata->satellites_used++;
              }
            }
            memcpy(gpsdata->PRN, PRN, sizeof(PRN));
            memcpy(gpsdata->elevation, elevation, sizeof(elevation));
            memcpy(gpsdata->azimuth, azimuth,sizeof(azimuth));
                        memcpy(gpsdata->ss, ss, sizeof(ss));
                        memcpy(gpsdata->used, used, sizeof(used));
                        /*@ +compdef @*/
          }
          gpsdata->set |= SATELLITE_SET;
          break;
          /* Z and $ - profiling isn't supported by gpxview */
        }
      }
    }
  }
}

/* call one of the application provided gps callbacks */
static void do_app_cb(gpointer data, gpointer user_data) {
  appdata_t *appdata = (appdata_t*)user_data;
  gps_cb_t *cb = (gps_cb_t*)data;
  cb->cb(appdata->gps_state, cb->data);
}

/* walk though list of all application provided callbacks */
static gboolean gps_idle_cb(gpointer data) {
  appdata_t *appdata = (appdata_t*)data;
  printf("gps: idle callback, calling app callbacks\n");

  g_slist_foreach(appdata->gps_state->cb, do_app_cb, appdata);

  return FALSE;
}

gpointer gps_thread(gpointer data) {
  GnomeVFSFileSize bytes_read;
  GnomeVFSResult vfs_result;
  char str[512];
  appdata_t *appdata = (appdata_t*)data;
  int cnt=1000;

  const char *msg_pos = "o\r\n";   /* pos request */
  const char *msg_sat = "y\r\n";   /* sat request */

  appdata->gps_state->gpsdata.set = 0;

  gboolean connected = FALSE;

  while(1) {
    if(appdata->use_gps) {
      if(!connected) {
        printf("gps: trying to connect\n");

        if(gps_connect(appdata->gps_state) < 0)
          sleep(10);
        else 
          connected = TRUE;
      } else {
        const char *msg;
        if(!cnt) msg = msg_sat;
        else     msg = msg_pos;
      
        if(GNOME_VFS_OK == 
           (vfs_result = gnome_vfs_socket_write(appdata->gps_state->socket,
                      msg, strlen(msg)+1, &bytes_read, NULL))) {

          /* update every second, wait here to make sure a complete */
          /* reply is received */
          if(cnt <= 1) usleep(500000);
          else         sleep(1);
          
          if(bytes_read == (strlen(msg)+1)) {
            vfs_result = gnome_vfs_socket_read(appdata->gps_state->socket,
                               str, sizeof(str)-1, &bytes_read, NULL);
            if(vfs_result == GNOME_VFS_OK) {
              str[bytes_read] = 0; 
            
              //          printf("gps: msg: %s (%d)\n", str, strlen(str));
              
              g_mutex_lock(appdata->gps_state->mutex);
              
              if(!cnt) appdata->gps_state->gpsdata.set &= ~SATELLITE_SET;
              else     appdata->gps_state->gpsdata.set &= 
                         ~(TIME_SET|TIMERR_SET|LATLON_SET|MODE_SET|STATUS_SET);
            
              gps_unpack(str, &appdata->gps_state->gpsdata);
              g_mutex_unlock(appdata->gps_state->mutex);
              g_idle_add(gps_idle_cb, appdata); 
            }
          }
        }
        if(cnt++ >= 5) cnt = 0;
      }
    } else {
      if(connected) {
        printf("gps: stopping GPS connection due to user request\n");
        gnome_vfs_inet_connection_destroy(appdata->gps_state->iconn, NULL);

#ifdef USE_MAEMO
        gpsbt_stop(&appdata->gps_state->context);
#endif
        connected = FALSE;
      } else
        sleep(1);
    }
  }

  printf("gps: thread ended???\n");
  return NULL;
}

void gps_init(appdata_t *appdata) {
  appdata->gps_state = g_new0(gps_state_t, 1);

  /* start a new thread to listen to gpsd */
  appdata->gps_state->mutex = g_mutex_new();
  appdata->gps_state->thread_p = 
    g_thread_create(gps_thread, appdata, FALSE, NULL);
}

void gps_release(appdata_t *appdata) { 
  gps_unregister_all(appdata);
#ifdef USE_MAEMO
  gpsbt_stop(&appdata->gps_state->context);
#endif
  g_free(appdata->gps_state);
}

#else

static void
location_changed(LocationGPSDevice *device, gps_state_t *gps_state) {

  gps_state->fields = device->fix->fields;

  if(gps_state->fields & LOCATION_GPS_DEVICE_LATLONG_SET) { 
    gps_state->latitude = device->fix->latitude;
    gps_state->longitude = device->fix->longitude;
    gps_state->eph = device->fix->eph/100.0;  // we want eph in meters
  }

  if(gps_state->fields & LOCATION_GPS_DEVICE_TRACK_SET)
    gps_state->heading = device->fix->track;
  
  /* update list of sattelites */

  /* free old list */
  if(gps_state->sats.num) {
    g_free(gps_state->sats.PRN);
    g_free(gps_state->sats.used);
    g_free(gps_state->sats.ss);
    gps_state->sats.num = 0;
  }

  /* build new one */
  if(device->satellites_in_view) {
    gps_state->sats.PRN  = g_new0(int, device->satellites_in_view);
    gps_state->sats.used = g_new0(int, device->satellites_in_view);
    gps_state->sats.ss   = g_new0(int, device->satellites_in_view);

    int i;
    for(i=0;i<device->satellites_in_view;i++) {
      LocationGPSDeviceSatellite *sat = 
        g_ptr_array_index(device->satellites, i);

      gps_state->sats.PRN[i]  = sat->prn;
      gps_state->sats.used[i] = sat->in_use;
      gps_state->sats.ss[i]   = sat->signal_strength;
    }

    gps_state->sats.num  = device->satellites_in_view;
  }
}

void gps_init(appdata_t *appdata) {
  gps_state_t *gps_state = appdata->gps_state = g_new0(gps_state_t, 1);

  printf("gps: init: Using liblocation\n");

  gps_state->device = g_object_new(LOCATION_TYPE_GPS_DEVICE, NULL);  
  if(!gps_state->device) {
    printf("gps: Unable to connect to liblocation\n");
    return;
  }

  gps_state->idd_changed = 
    g_signal_connect(gps_state->device, "changed", 
                     G_CALLBACK(location_changed), gps_state);

  gps_state->control = location_gpsd_control_get_default();

  if(gps_state->control
#if MAEMO_VERSION_MAJOR < 5
     && gps_state->control->can_control
#endif
     ) {

    printf("gps: Having control over GPSD and GPS is to be enabled, starting it\n");
    location_gpsd_control_start(gps_state->control);
  }
}

void gps_release(appdata_t *appdata) {
  gps_state_t *gps_state = appdata->gps_state;
  gps_unregister_all(appdata);
  
  if(!gps_state->device) return;

  if(gps_state->control
#if MAEMO_VERSION_MAJOR < 5
     && gps_state->control->can_control
#endif     
     ) {
    printf("gps: Having control over GPSD, stopping it\n");
    location_gpsd_control_stop(gps_state->control);
  }
  
  /* Disconnect signal */
  g_signal_handler_disconnect(gps_state->device, gps_state->idd_changed);
  
  g_free(appdata->gps_state);
  appdata->gps_state = NULL;
}

pos_t *gps_get_pos(appdata_t *appdata) {   
  static pos_t pos;

  if(!appdata->use_gps)
    return NULL;

  gps_state_t *gps_state = appdata->gps_state;

  if(!(gps_state->fields & LOCATION_GPS_DEVICE_LATLONG_SET))
    return NULL;

  pos.lat = gps_state->latitude;
  pos.lon = gps_state->longitude;

  return &pos; 
}

float gps_get_heading(appdata_t *appdata) { 
  gps_state_t *gps_state = appdata->gps_state;
 
  if(!(gps_state->fields & LOCATION_GPS_DEVICE_TRACK_SET))
    return NAN;

  return gps_state->heading; 
}

float gps_get_eph(appdata_t *appdata) { 
  gps_state_t *gps_state = appdata->gps_state;
 
  if(!(gps_state->fields & LOCATION_GPS_DEVICE_LATLONG_SET))
    return NAN;

  return gps_state->eph; 
}

gps_sat_t *gps_get_sats(appdata_t *appdata) { 
  gps_sat_t *retval = NULL;
  gps_state_t *gps_state = appdata->gps_state;

  if(gps_state->sats.num) {
    retval = g_new0(gps_sat_t, 1);
    retval->num = gps_state->sats.num;
  
    retval->PRN  = g_memdup(gps_state->sats.PRN, 
                            sizeof(int)*gps_state->sats.num);
    retval->used = g_memdup(gps_state->sats.used, 
                            sizeof(int)*gps_state->sats.num);
    retval->ss   = g_memdup(gps_state->sats.ss, 
                            sizeof(int)*gps_state->sats.num);
  }

  return retval;
}


#endif

void *gps_register_callback(appdata_t *appdata, gps_cb cb, gpointer data) {
  printf("gps: register gps callback\n");

  if(!appdata->gps_state)
    return NULL;

  /* allocate callback info strcuture */
  gps_cb_t *cb_info = g_new0(gps_cb_t, 1);
  cb_info->cb = cb;
  cb_info->data = data;

  /* and insert it into list of callbacks */
  appdata->gps_state->cb = g_slist_append(appdata->gps_state->cb, cb_info);

  return cb_info;
}


void gps_unregister_callback(appdata_t *appdata, void *cb) {
  printf("gps: unregister gps callback\n");

  if(!appdata->gps_state)
    return;

  /* the item must be in the list */
  g_assert(g_slist_find(appdata->gps_state->cb, cb));
    
  g_free(cb);
  appdata->gps_state->cb = g_slist_remove(appdata->gps_state->cb, cb);
}

static void gps_unregister_all(appdata_t *appdata) {
  printf("gps: unregister all callbacks: ");

  while(appdata->gps_state->cb) {
    printf(".");
    g_free(appdata->gps_state->cb->data);
    appdata->gps_state->cb = g_slist_remove(appdata->gps_state->cb,
                            appdata->gps_state->cb->data);
  }
  printf("\n");
}
1	harbaum	1	/*
2			* Copyright (C) 2008 Till Harbaum <till@harbaum.org>.
3			*
4			* This file is part of GPXView.
5			*
6			* GPXView is free software: you can redistribute it and/or modify
7			* it under the terms of the GNU General Public License as published by
8			* the Free Software Foundation, either version 3 of the License, or
9			* (at your option) any later version.
10			*
11			* GPXView is distributed in the hope that it will be useful,
12			* but WITHOUT ANY WARRANTY; without even the implied warranty of
13			* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14			* GNU General Public License for more details.
15			*
16			* You should have received a copy of the GNU General Public License
17			* along with GPXView. If not, see <http://www.gnu.org/licenses/>.
18			*/
19
20			#include <stdio.h>
21			#include <string.h>
22			#include <math.h>
23
24			#include "gpxview.h"
25
26
27			#ifdef USE_MAEMO
28			#ifdef ENABLE_GPSBT
29			#include <gpsbt.h>
30			#include <gpsmgr.h>
31			#endif
32			#include <errno.h>
33			#endif
34
35	harbaum	156	static void gps_unregister_all(appdata_t *appdata);
36
37	harbaum	1	#ifndef ENABLE_LIBLOCATION
38
39			/* maybe user configurable later on ... */
40			#define GPSD_HOST "127.0.0.1"
41			#define GPSD_PORT 2947
42
43			gps_sat_t gps_get_sats(appdata_t appdata) {
44			gps_sat_t *retval = NULL;
45
46			g_mutex_lock(appdata->gps_state->mutex);
47			if(appdata->gps_state->gpsdata.set & SATELLITE_SET) {
48			int i;
49			retval = malloc(sizeof(gps_sat_t));
50			retval->num = appdata->gps_state->gpsdata.satellites;
51
52			retval->PRN = malloc(sizeof(int)*retval->num);
53			retval->used = malloc(sizeof(int)*retval->num);
54			retval->ss = malloc(sizeof(int)*retval->num);
55
56			if(retval->num) {
57			for(i=0;i<retval->num;i++) {
58			retval->PRN[i] = appdata->gps_state->gpsdata.PRN[i];
59			retval->ss[i] = appdata->gps_state->gpsdata.ss[i];
60			retval->used[i] = appdata->gps_state->gpsdata.used[i];
61			}
62			}
63			}
64
65			g_mutex_unlock(appdata->gps_state->mutex);
66
67			return retval;
68			}
69
70			pos_t gps_get_pos(appdata_t appdata) {
71			static pos_t retval;
72
73			retval.lat = NAN;
74
75			g_mutex_lock(appdata->gps_state->mutex);
76			if(appdata->gps_state->gpsdata.set & STATUS_SET)
77			if(appdata->gps_state->gpsdata.status != STATUS_NO_FIX)
78			if(appdata->gps_state->gpsdata.set & LATLON_SET)
79			retval = appdata->gps_state->gpsdata.fix.pos;
80
81			g_mutex_unlock(appdata->gps_state->mutex);
82
83			if(isnan(retval.lat))
84			return NULL;
85
86			return &retval;
87			}
88
89			float gps_get_heading(appdata_t *appdata) {
90			float retval = NAN;
91
92			g_mutex_lock(appdata->gps_state->mutex);
93			if(appdata->gps_state->gpsdata.set & STATUS_SET)
94			if(appdata->gps_state->gpsdata.status != STATUS_NO_FIX)
95			if(appdata->gps_state->gpsdata.set & TRACK_SET)
96			retval = appdata->gps_state->gpsdata.fix.track;
97
98			g_mutex_unlock(appdata->gps_state->mutex);
99			return retval;
100			}
101
102	harbaum	53	float gps_get_eph(appdata_t *appdata) {
103	harbaum	1	float retval = NAN;
104
105			g_mutex_lock(appdata->gps_state->mutex);
106			if(appdata->gps_state->gpsdata.set & STATUS_SET)
107			if(appdata->gps_state->gpsdata.status != STATUS_NO_FIX)
108			retval = appdata->gps_state->gpsdata.fix.eph;
109
110			g_mutex_unlock(appdata->gps_state->mutex);
111			return retval;
112			}
113
114			static int gps_connect(gps_state_t *gps_state) {
115			GnomeVFSResult vfs_result;
116			#ifdef USE_MAEMO
117			char errstr[256] = "";
118
119			/* We need to start gpsd (via gpsbt) first. */
120			memset(&gps_state->context, 0, sizeof(gpsbt_t));
121			errno = 0;
122
123			if(gpsbt_start(NULL, 0, 0, 0, errstr, sizeof(errstr),
124			0, &gps_state->context) < 0) {
125	harbaum	156	printf("gps: Error connecting to GPS receiver: (%d) %s (%s)\n",
126	harbaum	1	errno, strerror(errno), errstr);
127			}
128			#endif
129
130			/************ from here down pure gnome/gtk/gpsd ******************/
131
132			/* try to connect to gpsd */
133			/* Create a socket to interact with GPSD. */
134
135			int retries = 5;
136			while(retries &&
137			(GNOME_VFS_OK != (vfs_result = gnome_vfs_inet_connection_create(
138			&gps_state->iconn, GPSD_HOST, GPSD_PORT, NULL)))) {
139	harbaum	156	printf("gps: Error creating connection to GPSD, retrying ...\n");
140	harbaum	1
141			retries--;
142			sleep(1);
143			}
144
145			if(!retries) {
146	harbaum	156	printf("gps: Finally failed ...\n");
147	harbaum	1	return -1;
148			}
149
150			retries = 5;
151			while(retries && ((gps_state->socket =
152			gnome_vfs_inet_connection_to_socket(gps_state->iconn)) == NULL)) {
153	harbaum	156	printf("gps: Error creating connecting GPSD socket, retrying ...\n");
154	harbaum	1
155			retries--;
156			sleep(1);
157			}
158
159			if(!retries) {
160	harbaum	156	printf("gps: Finally failed ...\n");
161	harbaum	1	return -1;
162			}
163
164			GTimeVal timeout = { 10, 0 };
165			if(GNOME_VFS_OK != (vfs_result = gnome_vfs_socket_set_timeout(
166			gps_state->socket, &timeout, NULL))) {
167	harbaum	156	printf("gps: Error setting GPSD timeout\n");
168	harbaum	1	return -1;
169			}
170
171	harbaum	156	printf("gps: GPSD connected ...\n");
172	harbaum	1
173			return 0;
174			}
175
176			void gps_clear_fix(struct gps_fix_t *fixp) {
177			fixp->mode = MODE_NOT_SEEN;
178			fixp->pos.lat = fixp->pos.lon = NAN;
179			fixp->track = NAN;
180			fixp->speed = NAN;
181			fixp->climb = NAN;
182			fixp->altitude = NAN;
183			fixp->ept = NAN;
184			fixp->eph = NAN;
185			fixp->epd = NAN;
186			fixp->eps = NAN;
187			fixp->epc = NAN;
188			}
189
190			/* unpack a daemon response into a status structure */
191			static void gps_unpack(char buf, struct gps_data_t gpsdata) {
192			char ns, sp, *tp;
193
194			for(ns = buf; ns; ns = strstr(ns+1, "GPSD")) {
195			if(strncmp(ns, "GPSD", 4) == 0) {
196			/* the following should execute each time we have a good next sp */
197			for (sp = ns + 5; *sp != '\0'; sp = tp+1) {
198			tp = sp + strcspn(sp, ",\r\n");
199			if (*tp == '\0') tp--;
200			else *tp = '\0';
201
202			switch (*sp) {
203			case 'A':
204			if (sp[2] == '?') {
205			gpsdata->fix.altitude = NAN;
206			} else {
207			(void)sscanf(sp, "A=%lf", &gpsdata->fix.altitude);
208			gpsdata->set \|= ALTITUDE_SET;
209			}
210			break;
211			/* B - baudrate isn't supported by gpxview */
212			/* C - cycle isn't supported by gpxview */
213			/* D - utc time isn't supported by gpxview */
214			case 'E':
215	harbaum	53	gpsdata->fix.eph = NAN;
216	harbaum	1	/* epe should always be present if eph or epv is */
217			if (sp[2] != '?') {
218			char epe[20], eph[20], epv[20];
219			(void)sscanf(sp, "E=%s %s %s", epe, eph, epv);
220			#define DEFAULT(val) (val[0] == '?') ? NAN : g_ascii_strtod(val, NULL)
221			gpsdata->fix.eph = DEFAULT(eph);
222			#undef DEFAULT
223			}
224			break;
225			/* F - device name isn't supported by gpxview */
226			/* I - gps id isn't supported by gpxview */
227			/* K - known devices list isn't supported by gpxview */
228			case 'M':
229			if (sp[2] == '?') {
230			gpsdata->fix.mode = MODE_NOT_SEEN;
231			} else {
232			gpsdata->fix.mode = atoi(sp+2);
233			gpsdata->set \|= MODE_SET;
234			}
235			break;
236			/* N - driver mode reporting isn't supported by gpxview */
237			case 'O':
238			if (sp[2] == '?') {
239			gpsdata->set =
240			(gpsdata->set & SATELLITE_SET) \| // fix for below
241			MODE_SET \| STATUS_SET; // this clears sat info??
242			gpsdata->status = STATUS_NO_FIX;
243			gps_clear_fix(&gpsdata->fix);
244			} else {
245			struct gps_fix_t nf;
246			char tag[MAXTAGLEN+1], alt[20];
247			char eph[20], epv[20], track[20],speed[20], climb[20];
248			char epd[20], eps[20], epc[20], mode[2];
249			char timestr[20], ept[20], lat[20], lon[20];
250			int st = sscanf(sp+2,
251			"%8s %19s %19s %19s %19s %19s %19s %19s %19s %19s %19s %19s %19s %19s %1s",
252			tag, timestr, ept, lat, lon,
253			alt, eph, epv, track, speed, climb,
254			epd, eps, epc, mode);
255			if (st >= 14) {
256			#define DEFAULT(val) (val[0] == '?') ? NAN : g_ascii_strtod(val, NULL)
257			nf.pos.lat = DEFAULT(lat);
258			nf.pos.lon = DEFAULT(lon);
259			nf.ept = DEFAULT(ept);
260			nf.altitude = DEFAULT(alt);
261			nf.eph = DEFAULT(eph);
262			nf.track = DEFAULT(track);
263			nf.speed = DEFAULT(speed);
264			nf.climb = DEFAULT(climb);
265			nf.epd = DEFAULT(epd);
266			nf.eps = DEFAULT(eps);
267			nf.epc = DEFAULT(epc);
268			#undef DEFAULT
269			if (st >= 15)
270			nf.mode = (mode[0] == '?') ? MODE_NOT_SEEN : atoi(mode);
271			else
272			nf.mode = (alt[0] == '?') ? MODE_2D : MODE_3D;
273			if (alt[0] != '?')
274			gpsdata->set \|= ALTITUDE_SET \| CLIMB_SET;
275			if (isnan(nf.eph)==0)
276			gpsdata->set \|= HERR_SET;
277			if (isnan(nf.track)==0)
278			gpsdata->set \|= TRACK_SET \| SPEED_SET;
279			if (isnan(nf.eps)==0)
280			gpsdata->set \|= SPEEDERR_SET;
281			if (isnan(nf.epc)==0)
282			gpsdata->set \|= CLIMBERR_SET;
283			gpsdata->fix = nf;
284			gpsdata->set \|= TIME_SET\|TIMERR_SET\|LATLON_SET\|MODE_SET;
285			gpsdata->status = STATUS_FIX;
286			gpsdata->set \|= STATUS_SET;
287			}
288			}
289			break;
290			case 'P':
291			if (sp[2] == '?') {
292			gpsdata->fix.pos.lat = NAN;
293			gpsdata->fix.pos.lon = NAN;
294			} else {
295			char lat[20], lon[20];
296			(void)sscanf(sp, "P=%19s %19s", lat, lon);
297			gpsdata->fix.pos.lat = g_ascii_strtod(lat, NULL);
298			gpsdata->fix.pos.lon = g_ascii_strtod(lon, NULL);
299			gpsdata->set \|= LATLON_SET;
300			}
301			break;
302			case 'Q':
303			if (sp[2] == '?') {
304			gpsdata->satellites_used = 0;
305			gpsdata->pdop = 0;
306			gpsdata->hdop = 0;
307			gpsdata->vdop = 0;
308			} else {
309			(void)sscanf(sp, "Q=%d %lf %lf %lf %lf %lf",
310			&gpsdata->satellites_used,
311			&gpsdata->pdop,
312			&gpsdata->hdop,
313			&gpsdata->vdop,
314			&gpsdata->tdop,
315			&gpsdata->gdop);
316			gpsdata->set \|= HDOP_SET \| VDOP_SET \| PDOP_SET;
317			}
318			break;
319			case 'S':
320			if (sp[2] == '?') {
321			gpsdata->status = -1;
322			} else {
323			gpsdata->status = atoi(sp+2);
324			gpsdata->set \|= STATUS_SET;
325			}
326			break;
327			case 'T':
328			if (sp[2] == '?') {
329			gpsdata->fix.track = NAN;
330			} else {
331			(void)sscanf(sp, "T=%lf", &gpsdata->fix.track);
332			gpsdata->set \|= TRACK_SET;
333			}
334			break;
335			case 'U':
336			if (sp[2] == '?') {
337			gpsdata->fix.climb = NAN;
338			} else {
339			(void)sscanf(sp, "U=%lf", &gpsdata->fix.climb);
340			gpsdata->set \|= CLIMB_SET;
341			}
342			break;
343			case 'V':
344			if (sp[2] == '?') {
345			gpsdata->fix.speed = NAN;
346			} else {
347			(void)sscanf(sp, "V=%lf", &gpsdata->fix.speed);
348			/* V reply is in kt, fix.speed is in metres/sec */
349			gpsdata->fix.speed = gpsdata->fix.speed / MPS_TO_KNOTS;
350			gpsdata->set \|= SPEED_SET;
351			}
352			break;
353			case 'X':
354			if (sp[2] == '?')
355			gpsdata->online = -1;
356			else {
357			(void)sscanf(sp, "X=%lf", &gpsdata->online);
358			gpsdata->set \|= ONLINE_SET;
359			}
360			break;
361			case 'Y':
362			if (sp[2] == '?') {
363			gpsdata->satellites = 0;
364			} else {
365			int j, i1, i2, i3, i4, i5;
366			int PRN[MAXCHANNELS];
367			int elevation[MAXCHANNELS], azimuth[MAXCHANNELS];
368			int ss[MAXCHANNELS], used[MAXCHANNELS];
369			char tag[MAXTAGLEN+1], timestamp[21];
370
371			(void)sscanf(sp, "Y=%8s %20s %d ",
372			tag, timestamp, &gpsdata->satellites);
373			for (j = 0; j < gpsdata->satellites; j++) {
374			PRN[j]=elevation[j]=azimuth[j]=ss[j]=used[j]=0;
375			}
376	harbaum	156	// printf("gps: sats = %d\n", gpsdata->satellites);
377	harbaum	1	for (j = 0, gpsdata->satellites_used = 0; j < gpsdata->satellites; j++) {
378			if ((sp != NULL) && ((sp = strchr(sp, ':')) != NULL)) {
379			sp++;
380			(void)sscanf(sp, "%d %d %d %d %d", &i1, &i2, &i3, &i4, &i5);
381			PRN[j] = i1;
382			elevation[j] = i2; azimuth[j] = i3;
383			ss[j] = i4; used[j] = i5;
384			if (i5 == 1)
385			gpsdata->satellites_used++;
386			}
387			}
388			memcpy(gpsdata->PRN, PRN, sizeof(PRN));
389			memcpy(gpsdata->elevation, elevation, sizeof(elevation));
390			memcpy(gpsdata->azimuth, azimuth,sizeof(azimuth));
391			memcpy(gpsdata->ss, ss, sizeof(ss));
392			memcpy(gpsdata->used, used, sizeof(used));
393			/@ +compdef @/
394			}
395			gpsdata->set \|= SATELLITE_SET;
396			break;
397			/* Z and $ - profiling isn't supported by gpxview */
398			}
399			}
400			}
401			}
402			}
403
404	harbaum	156	/* call one of the application provided gps callbacks */
405			static void do_app_cb(gpointer data, gpointer user_data) {
406			appdata_t appdata = (appdata_t)user_data;
407			gps_cb_t cb = (gps_cb_t)data;
408			cb->cb(appdata->gps_state, cb->data);
409			}
410
411			/* walk though list of all application provided callbacks */
412			static gboolean gps_idle_cb(gpointer data) {
413			appdata_t appdata = (appdata_t)data;
414			printf("gps: idle callback, calling app callbacks\n");
415
416			g_slist_foreach(appdata->gps_state->cb, do_app_cb, appdata);
417
418			return FALSE;
419			}
420
421	harbaum	1	gpointer gps_thread(gpointer data) {
422			GnomeVFSFileSize bytes_read;
423			GnomeVFSResult vfs_result;
424			char str[512];
425			appdata_t appdata = (appdata_t)data;
426			int cnt=1000;
427
428			const char msg_pos = "o\r\n"; / pos request */
429			const char msg_sat = "y\r\n"; / sat request */
430
431			appdata->gps_state->gpsdata.set = 0;
432
433			gboolean connected = FALSE;
434
435			while(1) {
436			if(appdata->use_gps) {
437			if(!connected) {
438	harbaum	156	printf("gps: trying to connect\n");
439	harbaum	1
440			if(gps_connect(appdata->gps_state) < 0)
441			sleep(10);
442			else
443			connected = TRUE;
444			} else {
445			const char *msg;
446			if(!cnt) msg = msg_sat;
447			else msg = msg_pos;
448
449			if(GNOME_VFS_OK ==
450			(vfs_result = gnome_vfs_socket_write(appdata->gps_state->socket,
451			msg, strlen(msg)+1, &bytes_read, NULL))) {
452
453			/* update every second, wait here to make sure a complete */
454			/* reply is received */
455			if(cnt <= 1) usleep(500000);
456			else sleep(1);
457
458			if(bytes_read == (strlen(msg)+1)) {
459			vfs_result = gnome_vfs_socket_read(appdata->gps_state->socket,
460			str, sizeof(str)-1, &bytes_read, NULL);
461			if(vfs_result == GNOME_VFS_OK) {
462			str[bytes_read] = 0;
463
464	harbaum	156	// printf("gps: msg: %s (%d)\n", str, strlen(str));
465	harbaum	1
466			g_mutex_lock(appdata->gps_state->mutex);
467
468			if(!cnt) appdata->gps_state->gpsdata.set &= ~SATELLITE_SET;
469			else appdata->gps_state->gpsdata.set &=
470			~(TIME_SET\|TIMERR_SET\|LATLON_SET\|MODE_SET\|STATUS_SET);
471
472			gps_unpack(str, &appdata->gps_state->gpsdata);
473			g_mutex_unlock(appdata->gps_state->mutex);
474	harbaum	156	g_idle_add(gps_idle_cb, appdata);
475	harbaum	1	}
476			}
477			}
478			if(cnt++ >= 5) cnt = 0;
479			}
480			} else {
481			if(connected) {
482	harbaum	156	printf("gps: stopping GPS connection due to user request\n");
483	harbaum	1	gnome_vfs_inet_connection_destroy(appdata->gps_state->iconn, NULL);
484
485			#ifdef USE_MAEMO
486			gpsbt_stop(&appdata->gps_state->context);
487			#endif
488			connected = FALSE;
489			} else
490			sleep(1);
491			}
492			}
493
494	harbaum	156	printf("gps: thread ended???\n");
495	harbaum	1	return NULL;
496			}
497
498			void gps_init(appdata_t *appdata) {
499	harbaum	8	appdata->gps_state = g_new0(gps_state_t, 1);
500	harbaum	1
501			/* start a new thread to listen to gpsd */
502			appdata->gps_state->mutex = g_mutex_new();
503			appdata->gps_state->thread_p =
504			g_thread_create(gps_thread, appdata, FALSE, NULL);
505			}
506
507			void gps_release(appdata_t *appdata) {
508	harbaum	156	gps_unregister_all(appdata);
509	harbaum	1	#ifdef USE_MAEMO
510			gpsbt_stop(&appdata->gps_state->context);
511			#endif
512	harbaum	8	g_free(appdata->gps_state);
513	harbaum	1	}
514
515			#else
516
517			static void
518			location_changed(LocationGPSDevice device, gps_state_t gps_state) {
519
520	harbaum	8	gps_state->fields = device->fix->fields;
521
522			if(gps_state->fields & LOCATION_GPS_DEVICE_LATLONG_SET) {
523	harbaum	1	gps_state->latitude = device->fix->latitude;
524			gps_state->longitude = device->fix->longitude;
525	harbaum	53	gps_state->eph = device->fix->eph/100.0; // we want eph in meters
526	harbaum	8	}
527	harbaum	7
528	harbaum	8	if(gps_state->fields & LOCATION_GPS_DEVICE_TRACK_SET)
529			gps_state->heading = device->fix->track;
530
531			/* update list of sattelites */
532	harbaum	7
533	harbaum	8	/* free old list */
534			if(gps_state->sats.num) {
535			g_free(gps_state->sats.PRN);
536			g_free(gps_state->sats.used);
537			g_free(gps_state->sats.ss);
538			gps_state->sats.num = 0;
539	harbaum	1	}
540	harbaum	8
541			/* build new one */
542			if(device->satellites_in_view) {
543			gps_state->sats.PRN = g_new0(int, device->satellites_in_view);
544			gps_state->sats.used = g_new0(int, device->satellites_in_view);
545			gps_state->sats.ss = g_new0(int, device->satellites_in_view);
546
547			int i;
548			for(i=0;i<device->satellites_in_view;i++) {
549			LocationGPSDeviceSatellite *sat =
550			g_ptr_array_index(device->satellites, i);
551
552			gps_state->sats.PRN[i] = sat->prn;
553			gps_state->sats.used[i] = sat->in_use;
554			gps_state->sats.ss[i] = sat->signal_strength;
555			}
556
557			gps_state->sats.num = device->satellites_in_view;
558			}
559	harbaum	1	}
560
561			void gps_init(appdata_t *appdata) {
562			gps_state_t *gps_state = appdata->gps_state = g_new0(gps_state_t, 1);
563
564	harbaum	156	printf("gps: init: Using liblocation\n");
565	harbaum	1
566			gps_state->device = g_object_new(LOCATION_TYPE_GPS_DEVICE, NULL);
567			if(!gps_state->device) {
568	harbaum	156	printf("gps: Unable to connect to liblocation\n");
569	harbaum	1	return;
570			}
571
572			gps_state->idd_changed =
573			g_signal_connect(gps_state->device, "changed",
574			G_CALLBACK(location_changed), gps_state);
575
576	harbaum	11	gps_state->control = location_gpsd_control_get_default();
577
578	harbaum	36	if(gps_state->control
579			#if MAEMO_VERSION_MAJOR < 5
580			&& gps_state->control->can_control
581			#endif
582			) {
583
584	harbaum	156	printf("gps: Having control over GPSD and GPS is to be enabled, starting it\n");
585	harbaum	11	location_gpsd_control_start(gps_state->control);
586			}
587	harbaum	1	}
588
589			void gps_release(appdata_t *appdata) {
590			gps_state_t *gps_state = appdata->gps_state;
591	harbaum	156	gps_unregister_all(appdata);
592	harbaum	1
593			if(!gps_state->device) return;
594	harbaum	11
595	harbaum	36	if(gps_state->control
596	harbaum	11	#if MAEMO_VERSION_MAJOR < 5
597	harbaum	36	&& gps_state->control->can_control
598			#endif
599			) {
600	harbaum	156	printf("gps: Having control over GPSD, stopping it\n");
601	harbaum	11	location_gpsd_control_stop(gps_state->control);
602			}
603	harbaum	1
604			/* Disconnect signal */
605			g_signal_handler_disconnect(gps_state->device, gps_state->idd_changed);
606
607			g_free(appdata->gps_state);
608			appdata->gps_state = NULL;
609			}
610
611			pos_t gps_get_pos(appdata_t appdata) {
612			static pos_t pos;
613
614			if(!appdata->use_gps)
615			return NULL;
616
617			gps_state_t *gps_state = appdata->gps_state;
618
619	harbaum	8	if(!(gps_state->fields & LOCATION_GPS_DEVICE_LATLONG_SET))
620	harbaum	1	return NULL;
621
622			pos.lat = gps_state->latitude;
623			pos.lon = gps_state->longitude;
624
625			return &pos;
626			}
627
628	harbaum	7	float gps_get_heading(appdata_t *appdata) {
629			gps_state_t *gps_state = appdata->gps_state;
630
631	harbaum	8	if(!(gps_state->fields & LOCATION_GPS_DEVICE_TRACK_SET))
632	harbaum	7	return NAN;
633	harbaum	1
634	harbaum	7	return gps_state->heading;
635			}
636	harbaum	1
637	harbaum	53	float gps_get_eph(appdata_t *appdata) {
638	harbaum	7	gps_state_t *gps_state = appdata->gps_state;
639
640	harbaum	8	if(!(gps_state->fields & LOCATION_GPS_DEVICE_LATLONG_SET))
641	harbaum	7	return NAN;
642
643	harbaum	53	return gps_state->eph;
644	harbaum	7	}
645
646	harbaum	8	gps_sat_t gps_get_sats(appdata_t appdata) {
647			gps_sat_t *retval = NULL;
648			gps_state_t *gps_state = appdata->gps_state;
649	harbaum	1
650	harbaum	8	if(gps_state->sats.num) {
651			retval = g_new0(gps_sat_t, 1);
652			retval->num = gps_state->sats.num;
653
654			retval->PRN = g_memdup(gps_state->sats.PRN,
655			sizeof(int)*gps_state->sats.num);
656			retval->used = g_memdup(gps_state->sats.used,
657			sizeof(int)*gps_state->sats.num);
658			retval->ss = g_memdup(gps_state->sats.ss,
659			sizeof(int)*gps_state->sats.num);
660			}
661	harbaum	1
662	harbaum	8	return retval;
663			}
664
665
666	harbaum	1	#endif
667	harbaum	149
668			void gps_register_callback(appdata_t appdata, gps_cb cb, gpointer data) {
669	harbaum	156	printf("gps: register gps callback\n");
670
671			if(!appdata->gps_state)
672			return NULL;
673
674			/* allocate callback info strcuture */
675			gps_cb_t *cb_info = g_new0(gps_cb_t, 1);
676			cb_info->cb = cb;
677			cb_info->data = data;
678
679			/* and insert it into list of callbacks */
680			appdata->gps_state->cb = g_slist_append(appdata->gps_state->cb, cb_info);
681
682			return cb_info;
683	harbaum	149	}
684
685
686			void gps_unregister_callback(appdata_t appdata, void cb) {
687	harbaum	156	printf("gps: unregister gps callback\n");
688
689			if(!appdata->gps_state)
690			return;
691
692			/* the item must be in the list */
693			g_assert(g_slist_find(appdata->gps_state->cb, cb));
694
695			g_free(cb);
696			appdata->gps_state->cb = g_slist_remove(appdata->gps_state->cb, cb);
697	harbaum	149	}
698	harbaum	156
699			static void gps_unregister_all(appdata_t *appdata) {
700			printf("gps: unregister all callbacks: ");
701
702			while(appdata->gps_state->cb) {
703			printf(".");
704			g_free(appdata->gps_state->cb->data);
705			appdata->gps_state->cb = g_slist_remove(appdata->gps_state->cb,
706			appdata->gps_state->cb->data);
707			}
708			printf("\n");
709			}