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	/*
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	static void gps_unregister_all(appdata_t *appdata);
36
37	#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	float gps_get_eph(appdata_t *appdata) {
103	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	printf("gps: Error connecting to GPS receiver: (%d) %s (%s)\n",
126	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	printf("gps: Error creating connection to GPSD, retrying ...\n");
140
141	retries--;
142	sleep(1);
143	}
144
145	if(!retries) {
146	printf("gps: Finally failed ...\n");
147	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	printf("gps: Error creating connecting GPSD socket, retrying ...\n");
154
155	retries--;
156	sleep(1);
157	}
158
159	if(!retries) {
160	printf("gps: Finally failed ...\n");
161	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	printf("gps: Error setting GPSD timeout\n");
168	return -1;
169	}
170
171	printf("gps: GPSD connected ...\n");
172
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	gpsdata->fix.eph = NAN;
216	/* 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	// printf("gps: sats = %d\n", gpsdata->satellites);
377	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	/* 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	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	printf("gps: trying to connect\n");
439
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	// printf("gps: msg: %s (%d)\n", str, strlen(str));
465
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	g_idle_add(gps_idle_cb, appdata);
475	}
476	}
477	}
478	if(cnt++ >= 5) cnt = 0;
479	}
480	} else {
481	if(connected) {
482	printf("gps: stopping GPS connection due to user request\n");
483	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	printf("gps: thread ended???\n");
495	return NULL;
496	}
497
498	void gps_init(appdata_t *appdata) {
499	appdata->gps_state = g_new0(gps_state_t, 1);
500
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	gps_unregister_all(appdata);
509	#ifdef USE_MAEMO
510	gpsbt_stop(&appdata->gps_state->context);
511	#endif
512	g_free(appdata->gps_state);
513	}
514
515	#else
516
517	static void
518	location_changed(LocationGPSDevice device, gps_state_t gps_state) {
519
520	gps_state->fields = device->fix->fields;
521
522	if(gps_state->fields & LOCATION_GPS_DEVICE_LATLONG_SET) {
523	gps_state->latitude = device->fix->latitude;
524	gps_state->longitude = device->fix->longitude;
525	gps_state->eph = device->fix->eph/100.0; // we want eph in meters
526	}
527
528	if(gps_state->fields & LOCATION_GPS_DEVICE_TRACK_SET)
529	gps_state->heading = device->fix->track;
530
531	/* update list of sattelites */
532
533	/* 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	}
540
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	}
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	printf("gps: init: Using liblocation\n");
565
566	gps_state->device = g_object_new(LOCATION_TYPE_GPS_DEVICE, NULL);
567	if(!gps_state->device) {
568	printf("gps: Unable to connect to liblocation\n");
569	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	gps_state->control = location_gpsd_control_get_default();
577
578	if(gps_state->control
579	#if MAEMO_VERSION_MAJOR < 5
580	&& gps_state->control->can_control
581	#endif
582	) {
583
584	printf("gps: Having control over GPSD and GPS is to be enabled, starting it\n");
585	location_gpsd_control_start(gps_state->control);
586	}
587	}
588
589	void gps_release(appdata_t *appdata) {
590	gps_state_t *gps_state = appdata->gps_state;
591	gps_unregister_all(appdata);
592
593	if(!gps_state->device) return;
594
595	if(gps_state->control
596	#if MAEMO_VERSION_MAJOR < 5
597	&& gps_state->control->can_control
598	#endif
599	) {
600	printf("gps: Having control over GPSD, stopping it\n");
601	location_gpsd_control_stop(gps_state->control);
602	}
603
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	if(!(gps_state->fields & LOCATION_GPS_DEVICE_LATLONG_SET))
620	return NULL;
621
622	pos.lat = gps_state->latitude;
623	pos.lon = gps_state->longitude;
624
625	return &pos;
626	}
627
628	float gps_get_heading(appdata_t *appdata) {
629	gps_state_t *gps_state = appdata->gps_state;
630
631	if(!(gps_state->fields & LOCATION_GPS_DEVICE_TRACK_SET))
632	return NAN;
633
634	return gps_state->heading;
635	}
636
637	float gps_get_eph(appdata_t *appdata) {
638	gps_state_t *gps_state = appdata->gps_state;
639
640	if(!(gps_state->fields & LOCATION_GPS_DEVICE_LATLONG_SET))
641	return NAN;
642
643	return gps_state->eph;
644	}
645
646	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
650	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
662	return retval;
663	}
664
665
666	#endif
667
668	void gps_register_callback(appdata_t appdata, gps_cb cb, gpointer data) {
669	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	}
684
685
686	void gps_unregister_callback(appdata_t appdata, void cb) {
687	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	}
698
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	}