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

#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_epe(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("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("Error creating connection to GPSD, retrying ...\n");

    retries--;
    sleep(1);
  }

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

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

    retries--;
    sleep(1);
  }

  if(!retries) {
    printf("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("Error setting GPSD timeout\n");
    return -1;
  } 

  printf("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->epv = 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->epe = gpsdata->fix.eph = gpsdata->fix.epv = 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->epe = DEFAULT(epe);
            gpsdata->fix.eph = DEFAULT(eph);
            gpsdata->fix.epv = DEFAULT(epv);
#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.epv = DEFAULT(epv);
              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.epv)==0)
                gpsdata->set |= VERR_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("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 */
        }
      }
    }
  }
}

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("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("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);
            }
          }
        }
        if(cnt++ >= 5) cnt = 0;
      }
    } else {
      if(connected) {
        printf("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) { 
#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->epe = device->fix->eph;
  }

  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("Unable to connect to liblocation\n");
    return;
  }

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

}

void gps_release(appdata_t *appdata) {
  gps_state_t *gps_state = appdata->gps_state;
  
  if(!gps_state->device) return;
  
  /* 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_epe(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->epe; 
}

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