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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 track; /* Course made good (relative to true north) */ |
49 | double epd; /* Track uncertainty, degrees */ |
50 | double speed; /* Speed over ground, meters/sec */ |
51 | double eps; /* Speed uncertainty, meters/sec */ |
52 | double climb; /* Vertical speed, meters/sec */ |
53 | double epc; /* Vertical speed uncertainty */ |
54 | }; |
55 | |
56 | typedef unsigned int gps_mask_t; |
57 | |
58 | struct gps_data_t { |
59 | gps_mask_t set; /* has field been set since this was last cleared? */ |
60 | #define ONLINE_SET 0x00000001u |
61 | #define TIME_SET 0x00000002u |
62 | #define TIMERR_SET 0x00000004u |
63 | #define LATLON_SET 0x00000008u |
64 | #define ALTITUDE_SET 0x00000010u |
65 | #define SPEED_SET 0x00000020u |
66 | #define TRACK_SET 0x00000040u |
67 | #define CLIMB_SET 0x00000080u |
68 | #define STATUS_SET 0x00000100u |
69 | #define MODE_SET 0x00000200u |
70 | #define HDOP_SET 0x00000400u |
71 | #define VDOP_SET 0x00000800u |
72 | #define PDOP_SET 0x00001000u |
73 | #define TDOP_SET 0x00002000u |
74 | #define GDOP_SET 0x00004000u |
75 | #define DOP_SET (HDOP_SET|VDOP_SET|PDOP_SET|TDOP_SET|GDOP_SET) |
76 | #define HERR_SET 0x00008000u |
77 | #define VERR_SET 0x00010000u |
78 | #define PERR_SET 0x00020000u |
79 | #define ERR_SET (HERR_SET | VERR_SET | PERR_SET) |
80 | #define SATELLITE_SET 0x00040000u |
81 | #define PSEUDORANGE_SET 0x00080000u |
82 | #define USED_SET 0x00100000u |
83 | #define SPEEDERR_SET 0x00200000u |
84 | #define TRACKERR_SET 0x00400000u |
85 | #define CLIMBERR_SET 0x00800000u |
86 | #define DEVICE_SET 0x01000000u |
87 | #define DEVICELIST_SET 0x02000000u |
88 | #define DEVICEID_SET 0x04000000u |
89 | #define ERROR_SET 0x08000000u |
90 | #define CYCLE_START_SET 0x10000000u |
91 | #define RTCM_SET 0x20000000u |
92 | #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) |
93 | double online; /* NZ if GPS is on line, 0 if not. |
94 | * |
95 | * Note: gpsd clears this flag when sentences |
96 | * fail to show up within the GPS's normal |
97 | * send cycle time. If the host-to-GPS |
98 | * link is lossy enough to drop entire |
99 | * sentences, this flag will be |
100 | * prone to false negatives. |
101 | */ |
102 | |
103 | struct gps_fix_t fix; /* accumulated PVT data */ |
104 | |
105 | double separation; /* Geoidal separation, MSL - WGS84 (Meters) */ |
106 | |
107 | /* GPS status -- always valid */ |
108 | int status; /* Do we have a fix? */ |
109 | #define STATUS_NO_FIX 0 /* no */ |
110 | #define STATUS_FIX 1 /* yes, without DGPS */ |
111 | #define STATUS_DGPS_FIX 2 /* yes, with DGPS */ |
112 | |
113 | /* precision of fix -- valid if satellites_used > 0 */ |
114 | int satellites_used; /* Number of satellites used in solution */ |
115 | int used[MAXCHANNELS]; /* PRNs of satellites used in solution */ |
116 | double pdop, hdop, vdop, tdop, gdop; /* Dilution of precision */ |
117 | |
118 | /* satellite status -- valid when satellites > 0 */ |
119 | int satellites; /* # of satellites in view */ |
120 | int PRN[MAXCHANNELS]; /* PRNs of satellite */ |
121 | int elevation[MAXCHANNELS]; /* elevation of satellite */ |
122 | int azimuth[MAXCHANNELS]; /* azimuth */ |
123 | int ss[MAXCHANNELS]; /* signal-to-noise ratio (dB) */ |
124 | |
125 | /* compass status -- TrueNorth (and any similar) devices only */ |
126 | char headingStatus; |
127 | char pitchStatus; |
128 | char rollStatus; |
129 | double horzField; /* Magnitude of horizontal magnetic field */ |
130 | }; |
131 | |
132 | #ifdef USE_MAEMO |
133 | #ifdef ENABLE_GPSBT |
134 | #include <gpsbt.h> |
135 | #include <gpsmgr.h> |
136 | #endif |
137 | #include <errno.h> |
138 | #endif |
139 | |
140 | #ifdef ENABLE_LIBLOCATION |
141 | #include <location/location-gps-device.h> |
142 | #include <location/location-gpsd-control.h> |
143 | #endif |
144 | |
145 | typedef struct { |
146 | int num; |
147 | int *PRN; |
148 | int *ss; |
149 | int *used; |
150 | } gps_sat_t; |
151 | |
152 | typedef void (*gps_cb)(struct gps_state *, gpointer data); |
153 | #define GPS_CB(f) ((gps_cb)(f)) |
154 | |
155 | typedef struct { |
156 | gps_cb cb; |
157 | gpointer data; |
158 | } gps_cb_t; |
159 | |
160 | typedef struct gps_state { |
161 | #ifndef ENABLE_LIBLOCATION |
162 | #ifdef ENABLE_GPSBT |
163 | gpsbt_t context; |
164 | #endif |
165 | |
166 | GThread* thread_p; |
167 | GMutex *mutex; |
168 | GnomeVFSInetConnection *iconn; |
169 | GnomeVFSSocket *socket; |
170 | |
171 | struct gps_data_t gpsdata; |
172 | #else |
173 | LocationGPSDevice *device; |
174 | LocationGPSDControl *control; |
175 | guint idd_changed; |
176 | int fields; |
177 | double latitude, longitude; |
178 | double heading, eph; |
179 | gps_sat_t sats; |
180 | #endif |
181 | |
182 | GSList *cb; |
183 | |
184 | } gps_state_t; |
185 | |
186 | void gps_init(appdata_t *appdata); |
187 | void gps_release(appdata_t *appdata); |
188 | pos_t *gps_get_pos(appdata_t *appdata); |
189 | float gps_get_heading(appdata_t *appdata); |
190 | float gps_get_eph(appdata_t *appdata); |
191 | gps_sat_t *gps_get_sats(appdata_t *appdata); |
192 | |
193 | void *gps_register_callback(appdata_t *appdata, gps_cb cb, gpointer data); |
194 | void gps_unregister_callback(appdata_t *appdata, void *cb); |
195 | |
196 | #endif // GPS_H |