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	/*
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	typedef struct {
150	int num;
151	int *PRN;
152	int *ss;
153	int *used;
154	} gps_sat_t;
155
156
157	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	int fields;
173	double latitude, longitude;
174	double heading, epe;
175	gps_sat_t sats;
176	#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