trunk/src/gps.h

/*
 * Copyright (C) 2008 Till Harbaum <till@harbaum.org>.
 * 
 * This file is based upon parts of gpsd/libgps
 *
 * 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/>.
 *
 */

#ifndef GPS_H
#define GPS_H

#include "gpx.h"

#ifndef NAN
#define NAN (0.0/0.0)
#endif /* !NAN */

#define MAXCHANNELS 20
#define MAXTAGLEN    8       /* maximum length of sentence tag name */
#define MPS_TO_KNOTS 1.9438445       /* Meters per second to knots */

struct gps_fix_t {
    int    mode;        /* Mode of fix */
#define MODE_NOT_SEEN   0       /* mode update not seen yet */
#define MODE_NO_FIX     1       /* none */
#define MODE_2D         2       /* good for latitude/longitude */
#define MODE_3D         3       /* good for altitude/climb too */
    double ept;         /* Expected time uncertainty */
  //    double latitude;        /* Latitude in degrees (valid if mode >= 2) */
  //    double longitude;       /* Longitude in degrees (valid if mode >= 2) */
  pos_t pos;            /* Latitude/Longitude in degrees (valid if mode >= 2) */
    double eph;         /* Horizontal position uncertainty, meters */
    double altitude;    /* Altitude in meters (valid if mode == 3) */
    double epv;         /* Vertical position uncertainty, meters */
    double track;       /* Course made good (relative to true north) */
    double epd;         /* Track uncertainty, degrees */
    double speed;       /* Speed over ground, meters/sec */
    double eps;         /* Speed uncertainty, meters/sec */
    double climb;       /* Vertical speed, meters/sec */
    double epc;         /* Vertical speed uncertainty */
};

typedef unsigned int gps_mask_t;

struct gps_data_t {
    gps_mask_t set;     /* has field been set since this was last cleared? */
#define ONLINE_SET      0x00000001u
#define TIME_SET        0x00000002u
#define TIMERR_SET      0x00000004u
#define LATLON_SET      0x00000008u
#define ALTITUDE_SET    0x00000010u
#define SPEED_SET       0x00000020u
#define TRACK_SET       0x00000040u
#define CLIMB_SET       0x00000080u
#define STATUS_SET      0x00000100u
#define MODE_SET        0x00000200u
#define HDOP_SET        0x00000400u
#define VDOP_SET        0x00000800u
#define PDOP_SET        0x00001000u
#define TDOP_SET        0x00002000u
#define GDOP_SET        0x00004000u
#define DOP_SET         (HDOP_SET|VDOP_SET|PDOP_SET|TDOP_SET|GDOP_SET)
#define HERR_SET        0x00008000u
#define VERR_SET        0x00010000u
#define PERR_SET        0x00020000u
#define ERR_SET         (HERR_SET | VERR_SET | PERR_SET)
#define SATELLITE_SET   0x00040000u
#define PSEUDORANGE_SET 0x00080000u
#define USED_SET        0x00100000u
#define SPEEDERR_SET    0x00200000u
#define TRACKERR_SET    0x00400000u
#define CLIMBERR_SET    0x00800000u
#define DEVICE_SET      0x01000000u
#define DEVICELIST_SET  0x02000000u
#define DEVICEID_SET    0x04000000u
#define ERROR_SET       0x08000000u
#define CYCLE_START_SET 0x10000000u
#define RTCM_SET        0x20000000u
#define FIX_SET         (TIME_SET|MODE_SET|TIMERR_SET|LATLON_SET|HERR_SET|ALTITUDE_SET|VERR_SET|TRACK_SET|TRACKERR_SET|SPEED_SET|SPEEDERR_SET|CLIMB_SET|CLIMBERR_SET)
    double online;              /* NZ if GPS is on line, 0 if not.
                                 *
                                 * Note: gpsd clears this flag when sentences
                                 * fail to show up within the GPS's normal
                                 * send cycle time. If the host-to-GPS 
                                 * link is lossy enough to drop entire
                                 * sentences, this flag will be
                                 * prone to false negatives.
                                 */

    struct gps_fix_t    fix;            /* accumulated PVT data */

    double separation;          /* Geoidal separation, MSL - WGS84 (Meters) */

    /* GPS status -- always valid */
    int    status;              /* Do we have a fix? */
#define STATUS_NO_FIX   0       /* no */
#define STATUS_FIX      1       /* yes, without DGPS */
#define STATUS_DGPS_FIX 2       /* yes, with DGPS */

    /* precision of fix -- valid if satellites_used > 0 */
    int satellites_used;        /* Number of satellites used in solution */
    int used[MAXCHANNELS];      /* PRNs of satellites used in solution */
    double pdop, hdop, vdop, tdop, gdop;        /* Dilution of precision */

    /* redundant with the estimate elments in the fix structure */
    double epe;  /* spherical position error, 95% confidence (meters)  */

    /* satellite status -- valid when satellites > 0 */
    int satellites;             /* # of satellites in view */
    int PRN[MAXCHANNELS];       /* PRNs of satellite */
    int elevation[MAXCHANNELS]; /* elevation of satellite */
    int azimuth[MAXCHANNELS];   /* azimuth */
    int ss[MAXCHANNELS];        /* signal-to-noise ratio (dB) */

    /* compass status -- TrueNorth (and any similar) devices only */
    char headingStatus;
    char pitchStatus;
    char rollStatus;
    double horzField;   /* Magnitude of horizontal magnetic field */
};

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

#ifdef ENABLE_LIBLOCATION
#include <location/location-gps-device.h>
#include <location/location-gpsd-control.h>
#endif

typedef struct {
  int num;
  int *PRN;
  int *ss;
  int *used;
} gps_sat_t;


typedef struct gps_state {
#ifndef ENABLE_LIBLOCATION
#ifdef ENABLE_GPSBT
  gpsbt_t context;
#endif

  GThread* thread_p;
  GMutex *mutex;
  GnomeVFSInetConnection *iconn;
  GnomeVFSSocket *socket;

  struct gps_data_t gpsdata;
#else
  LocationGPSDevice *device;
  guint idd_changed;
  int fields;
  double latitude, longitude;
  double heading, epe;
  gps_sat_t sats;
#endif
} gps_state_t;

void gps_init(appdata_t *appdata);
void gps_release(appdata_t *appdata);
pos_t *gps_get_pos(appdata_t *appdata);
float gps_get_heading(appdata_t *appdata);
float gps_get_epe(appdata_t *appdata);
gps_sat_t *gps_get_sats(appdata_t *appdata);


#endif // GPS_H
1	harbaum	1	/*
2			* Copyright (C) 2008 Till Harbaum <till@harbaum.org>.
3			*
4			* This file is based upon parts of gpsd/libgps
5			*
6			* This file is part of GPXView.
7			*
8			* GPXView is free software: you can redistribute it and/or modify
9			* it under the terms of the GNU General Public License as published by
10			* the Free Software Foundation, either version 3 of the License, or
11			* (at your option) any later version.
12			*
13			* GPXView is distributed in the hope that it will be useful,
14			* but WITHOUT ANY WARRANTY; without even the implied warranty of
15			* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
16			* GNU General Public License for more details.
17			*
18			* You should have received a copy of the GNU General Public License
19			* along with GPXView. If not, see <http://www.gnu.org/licenses/>.
20			*
21			*/
22
23			#ifndef GPS_H
24			#define GPS_H
25
26			#include "gpx.h"
27
28			#ifndef NAN
29			#define NAN (0.0/0.0)
30			#endif /* !NAN */
31
32			#define MAXCHANNELS 20
33			#define MAXTAGLEN 8 /* maximum length of sentence tag name */
34			#define MPS_TO_KNOTS 1.9438445 /* Meters per second to knots */
35
36			struct gps_fix_t {
37			int mode; /* Mode of fix */
38			#define MODE_NOT_SEEN 0 /* mode update not seen yet */
39			#define MODE_NO_FIX 1 /* none */
40			#define MODE_2D 2 /* good for latitude/longitude */
41			#define MODE_3D 3 /* good for altitude/climb too */
42			double ept; /* Expected time uncertainty */
43			// double latitude; /* Latitude in degrees (valid if mode >= 2) */
44			// double longitude; /* Longitude in degrees (valid if mode >= 2) */
45			pos_t pos; /* Latitude/Longitude in degrees (valid if mode >= 2) */
46			double eph; /* Horizontal position uncertainty, meters */
47			double altitude; /* Altitude in meters (valid if mode == 3) */
48			double epv; /* Vertical position uncertainty, meters */
49			double track; /* Course made good (relative to true north) */
50			double epd; /* Track uncertainty, degrees */
51			double speed; /* Speed over ground, meters/sec */
52			double eps; /* Speed uncertainty, meters/sec */
53			double climb; /* Vertical speed, meters/sec */
54			double epc; /* Vertical speed uncertainty */
55			};
56
57			typedef unsigned int gps_mask_t;
58
59			struct gps_data_t {
60			gps_mask_t set; /* has field been set since this was last cleared? */
61			#define ONLINE_SET 0x00000001u
62			#define TIME_SET 0x00000002u
63			#define TIMERR_SET 0x00000004u
64			#define LATLON_SET 0x00000008u
65			#define ALTITUDE_SET 0x00000010u
66			#define SPEED_SET 0x00000020u
67			#define TRACK_SET 0x00000040u
68			#define CLIMB_SET 0x00000080u
69			#define STATUS_SET 0x00000100u
70			#define MODE_SET 0x00000200u
71			#define HDOP_SET 0x00000400u
72			#define VDOP_SET 0x00000800u
73			#define PDOP_SET 0x00001000u
74			#define TDOP_SET 0x00002000u
75			#define GDOP_SET 0x00004000u
76			#define DOP_SET (HDOP_SET\|VDOP_SET\|PDOP_SET\|TDOP_SET\|GDOP_SET)
77			#define HERR_SET 0x00008000u
78			#define VERR_SET 0x00010000u
79			#define PERR_SET 0x00020000u
80			#define ERR_SET (HERR_SET \| VERR_SET \| PERR_SET)
81			#define SATELLITE_SET 0x00040000u
82			#define PSEUDORANGE_SET 0x00080000u
83			#define USED_SET 0x00100000u
84			#define SPEEDERR_SET 0x00200000u
85			#define TRACKERR_SET 0x00400000u
86			#define CLIMBERR_SET 0x00800000u
87			#define DEVICE_SET 0x01000000u
88			#define DEVICELIST_SET 0x02000000u
89			#define DEVICEID_SET 0x04000000u
90			#define ERROR_SET 0x08000000u
91			#define CYCLE_START_SET 0x10000000u
92			#define RTCM_SET 0x20000000u
93			#define FIX_SET (TIME_SET\|MODE_SET\|TIMERR_SET\|LATLON_SET\|HERR_SET\|ALTITUDE_SET\|VERR_SET\|TRACK_SET\|TRACKERR_SET\|SPEED_SET\|SPEEDERR_SET\|CLIMB_SET\|CLIMBERR_SET)
94			double online; /* NZ if GPS is on line, 0 if not.
95			*
96			* Note: gpsd clears this flag when sentences
97			* fail to show up within the GPS's normal
98			* send cycle time. If the host-to-GPS
99			* link is lossy enough to drop entire
100			* sentences, this flag will be
101			* prone to false negatives.
102			*/
103
104			struct gps_fix_t fix; /* accumulated PVT data */
105
106			double separation; /* Geoidal separation, MSL - WGS84 (Meters) */
107
108			/* GPS status -- always valid */
109			int status; /* Do we have a fix? */
110			#define STATUS_NO_FIX 0 /* no */
111			#define STATUS_FIX 1 /* yes, without DGPS */
112			#define STATUS_DGPS_FIX 2 /* yes, with DGPS */
113
114			/* precision of fix -- valid if satellites_used > 0 */
115			int satellites_used; /* Number of satellites used in solution */
116			int used[MAXCHANNELS]; /* PRNs of satellites used in solution */
117			double pdop, hdop, vdop, tdop, gdop; /* Dilution of precision */
118
119			/* redundant with the estimate elments in the fix structure */
120			double epe; /* spherical position error, 95% confidence (meters) */
121
122			/* satellite status -- valid when satellites > 0 */
123			int satellites; /* # of satellites in view */
124			int PRN[MAXCHANNELS]; /* PRNs of satellite */
125			int elevation[MAXCHANNELS]; /* elevation of satellite */
126			int azimuth[MAXCHANNELS]; /* azimuth */
127			int ss[MAXCHANNELS]; /* signal-to-noise ratio (dB) */
128
129			/* compass status -- TrueNorth (and any similar) devices only */
130			char headingStatus;
131			char pitchStatus;
132			char rollStatus;
133			double horzField; /* Magnitude of horizontal magnetic field */
134			};
135
136			#ifdef USE_MAEMO
137			#ifdef ENABLE_GPSBT
138			#include <gpsbt.h>
139			#include <gpsmgr.h>
140			#endif
141			#include <errno.h>
142			#endif
143
144			#ifdef ENABLE_LIBLOCATION
145			#include <location/location-gps-device.h>
146			#include <location/location-gpsd-control.h>
147			#endif
148
149	harbaum	8	typedef struct {
150			int num;
151			int *PRN;
152			int *ss;
153			int *used;
154			} gps_sat_t;
155
156
157	harbaum	1	typedef struct gps_state {
158			#ifndef ENABLE_LIBLOCATION
159			#ifdef ENABLE_GPSBT
160			gpsbt_t context;
161			#endif
162
163			GThread* thread_p;
164			GMutex *mutex;
165			GnomeVFSInetConnection *iconn;
166			GnomeVFSSocket *socket;
167
168			struct gps_data_t gpsdata;
169			#else
170			LocationGPSDevice *device;
171			guint idd_changed;
172	harbaum	8	int fields;
173	harbaum	1	double latitude, longitude;
174	harbaum	7	double heading, epe;
175	harbaum	8	gps_sat_t sats;
176	harbaum	1	#endif
177			} gps_state_t;
178
179			void gps_init(appdata_t *appdata);
180			void gps_release(appdata_t *appdata);
181			pos_t gps_get_pos(appdata_t appdata);
182			float gps_get_heading(appdata_t *appdata);
183			float gps_get_epe(appdata_t *appdata);
184			gps_sat_t gps_get_sats(appdata_t appdata);
185
186
187			#endif // GPS_H