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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 |