trunk/src/gps.c

/*
 * Copyright (C) 2008 Till Harbaum <till@harbaum.org>.
 *
 * This file is part of OSM2Go.
 *
 * OSM2Go 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.
 *
 * OSM2Go 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 OSM2Go.  If not, see <http://www.gnu.org/licenses/>.
 */

#include <stdio.h>
#include <string.h>
#include <math.h>

#include "appdata.h"

#ifdef ENABLE_LIBLOCATION

#include <location/location-gps-device.h>

pos_t *gps_get_pos(appdata_t *appdata) {
  gps_state_t *gps_state = appdata->gps_state;
  static pos_t retval;

  if(!gps_state->fix)
    return NULL;

  retval.lat = gps_state->latitude;
  retval.lon = gps_state->longitude;

  return &retval;
}

static void
location_changed(LocationGPSDevice *device, gps_state_t *gps_state) {

  gps_state->fix = 
    (device->fix->fields & LOCATION_GPS_DEVICE_LATLONG_SET);
  
  if(gps_state->fix) {
    gps_state->latitude = device->fix->latitude;
    gps_state->longitude = device->fix->longitude;
  }
}

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("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->can_control) {
    printf("Having control over GPSD, starting it\n");
    location_gpsd_control_start(gps_state->control);
  }
}

void gps_release(appdata_t *appdata) { 
  gps_state_t *gps_state = appdata->gps_state;

  if(!gps_state->device) return;

  /* Disconnect signal */
  if(gps_state->control->can_control) {
    printf("Having control over GPSD, stopping it\n");
    location_gpsd_control_stop(gps_state->control);
  }

  g_signal_handler_disconnect(gps_state->device, gps_state->idd_changed);

  g_free(appdata->gps_state);
  appdata->gps_state = NULL;
}

#else  // ENABLE_LIBLOCATION

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

/* maybe user configurable later on ... */
#define GPSD_HOST "127.0.0.1"
#define GPSD_PORT 2947

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;
}

static int gps_connect(gps_state_t *gps_state) {
  GnomeVFSResult vfs_result;
#ifdef ENABLE_GPSBT
  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("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("Error creating connection to GPSD, retrying ...\n");

    retries--;
    sleep(1);
  }

  if(!retries) {
    printf("Finally failed ...\n");
    return -1;
  }

  retries = 5;
  while(retries && ((gps_state->socket = 
     gnome_vfs_inet_connection_to_socket(gps_state->iconn)) == NULL)) {
    printf("Error creating connecting GPSD socket, retrying ...\n");

    retries--;
    sleep(1);
  }

  if(!retries) {
    printf("Finally failed ...\n");
    gnome_vfs_inet_connection_destroy(gps_state->iconn, NULL);
    return -1;
  }

  GTimeVal timeout = { 10, 0 };
  if(GNOME_VFS_OK != (vfs_result = gnome_vfs_socket_set_timeout(
        gps_state->socket, &timeout, NULL))) {
    printf("Error setting GPSD timeout\n");
    gnome_vfs_inet_connection_destroy(gps_state->iconn, NULL);
    return -1;
  } 

  printf("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->eph = 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 '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], eph[20], lat[20], lon[20], mode[2];
            int st = sscanf(sp+2, 
                            "%8s %*s %*s %19s %19s "
                            "%19s %19s %*s %*s %*s %*s "
                            "%*s %*s %*s %1s",
                            tag, lat, lon,
                            alt, eph,
                            mode);
            if (st >= 5) {
#define DEFAULT(val) (val[0] == '?') ? NAN : g_ascii_strtod(val, NULL)
              nf.pos.lat = DEFAULT(lat);
              nf.pos.lon = DEFAULT(lon);
              nf.eph = DEFAULT(eph);
#undef DEFAULT
              if (st >= 6)
                nf.mode = (mode[0] == '?') ? MODE_NOT_SEEN : atoi(mode);
              else
                nf.mode = (alt[0] == '?') ? MODE_2D : MODE_3D;
              gpsdata->fix = nf;
              gpsdata->set |= LATLON_SET|MODE_SET;
              gpsdata->status = STATUS_FIX;
              gpsdata->set |= STATUS_SET;
            }
          }
          break;
        }
      }
    }
  }
}

gpointer gps_thread(gpointer data) {
  GnomeVFSFileSize bytes_read;
  GnomeVFSResult vfs_result;
  char str[512];
  appdata_t *appdata = (appdata_t*)data;

  const char *msg = "o\r\n";   /* pos request */

  appdata->gps_state->gpsdata.set = 0;

  gboolean connected = FALSE;

  while(1) {
    if(appdata->gps_enabled) {
      if(!connected) {
        printf("trying to connect\n");

        if(gps_connect(appdata->gps_state) < 0)
          sleep(10);
        else 
          connected = TRUE;
      } else {
        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 */
          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("msg: %s (%d)\n", str, strlen(str));
              
              g_mutex_lock(appdata->gps_state->mutex);
              
              appdata->gps_state->gpsdata.set &= 
                ~(LATLON_SET|MODE_SET|STATUS_SET);
            
              gps_unpack(str, &appdata->gps_state->gpsdata);
              g_mutex_unlock(appdata->gps_state->mutex);
            }
          }
        }
      }
    } else {
      if(connected) {
        printf("stopping GPS connection due to user request\n");
        gnome_vfs_inet_connection_destroy(appdata->gps_state->iconn, NULL);

#ifdef ENABLE_GPSBT
        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);

  printf("GPS init: Using gpsd\n");

  /* 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) { 
#ifdef ENABLE_GPSBT
  gpsbt_stop(&appdata->gps_state->context);
#endif
  g_free(appdata->gps_state);
  appdata->gps_state = NULL;
}

#endif // ENABLE_LIBLOCATION
1	harbaum	1	/*
2			* Copyright (C) 2008 Till Harbaum <till@harbaum.org>.
3			*
4			* This file is part of OSM2Go.
5			*
6			* OSM2Go 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			* OSM2Go 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 OSM2Go. 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 "appdata.h"
25
26	harbaum	118	#ifdef ENABLE_LIBLOCATION
27
28			#include <location/location-gps-device.h>
29
30			pos_t gps_get_pos(appdata_t appdata) {
31			gps_state_t *gps_state = appdata->gps_state;
32			static pos_t retval;
33
34			if(!gps_state->fix)
35			return NULL;
36
37			retval.lat = gps_state->latitude;
38			retval.lon = gps_state->longitude;
39
40			return &retval;
41			}
42
43			static void
44			location_changed(LocationGPSDevice device, gps_state_t gps_state) {
45
46			gps_state->fix =
47			(device->fix->fields & LOCATION_GPS_DEVICE_LATLONG_SET);
48
49			if(gps_state->fix) {
50			gps_state->latitude = device->fix->latitude;
51			gps_state->longitude = device->fix->longitude;
52			}
53			}
54
55			void gps_init(appdata_t *appdata) {
56			gps_state_t *gps_state = appdata->gps_state = g_new0(gps_state_t, 1);
57
58			printf("GPS init: Using liblocation\n");
59
60			gps_state->device = g_object_new(LOCATION_TYPE_GPS_DEVICE, NULL);
61			if(!gps_state->device) {
62			printf("Unable to connect to liblocation\n");
63			return;
64			}
65
66			gps_state->idd_changed =
67			g_signal_connect(gps_state->device, "changed",
68			G_CALLBACK(location_changed), gps_state);
69
70			gps_state->control = location_gpsd_control_get_default();
71			if(gps_state->control->can_control) {
72			printf("Having control over GPSD, starting it\n");
73			location_gpsd_control_start(gps_state->control);
74			}
75			}
76
77			void gps_release(appdata_t *appdata) {
78			gps_state_t *gps_state = appdata->gps_state;
79
80			if(!gps_state->device) return;
81
82			/* Disconnect signal */
83			if(gps_state->control->can_control) {
84			printf("Having control over GPSD, stopping it\n");
85			location_gpsd_control_stop(gps_state->control);
86			}
87
88			g_signal_handler_disconnect(gps_state->device, gps_state->idd_changed);
89
90			g_free(appdata->gps_state);
91			appdata->gps_state = NULL;
92			}
93
94			#else // ENABLE_LIBLOCATION
95
96	harbaum	112	#ifdef ENABLE_GPSBT
97	harbaum	1	#include <gpsbt.h>
98			#include <gpsmgr.h>
99			#include <errno.h>
100			#endif
101
102			/* maybe user configurable later on ... */
103			#define GPSD_HOST "127.0.0.1"
104			#define GPSD_PORT 2947
105
106			pos_t gps_get_pos(appdata_t appdata) {
107			static pos_t retval;
108
109			retval.lat = NAN;
110
111			g_mutex_lock(appdata->gps_state->mutex);
112			if(appdata->gps_state->gpsdata.set & STATUS_SET)
113			if(appdata->gps_state->gpsdata.status != STATUS_NO_FIX)
114			if(appdata->gps_state->gpsdata.set & LATLON_SET)
115			retval = appdata->gps_state->gpsdata.fix.pos;
116
117			g_mutex_unlock(appdata->gps_state->mutex);
118
119			if(isnan(retval.lat))
120			return NULL;
121
122			return &retval;
123			}
124
125			static int gps_connect(gps_state_t *gps_state) {
126			GnomeVFSResult vfs_result;
127	harbaum	112	#ifdef ENABLE_GPSBT
128	harbaum	1	char errstr[256] = "";
129
130			/* We need to start gpsd (via gpsbt) first. */
131			memset(&gps_state->context, 0, sizeof(gpsbt_t));
132			errno = 0;
133
134			if(gpsbt_start(NULL, 0, 0, 0, errstr, sizeof(errstr),
135			0, &gps_state->context) < 0) {
136			printf("Error connecting to GPS receiver: (%d) %s (%s)\n",
137			errno, strerror(errno), errstr);
138			}
139			#endif
140
141			/************ from here down pure gnome/gtk/gpsd ******************/
142
143			/* try to connect to gpsd */
144			/* Create a socket to interact with GPSD. */
145
146			int retries = 5;
147			while(retries &&
148			(GNOME_VFS_OK != (vfs_result = gnome_vfs_inet_connection_create(
149			&gps_state->iconn, GPSD_HOST, GPSD_PORT, NULL)))) {
150			printf("Error creating connection to GPSD, retrying ...\n");
151
152			retries--;
153			sleep(1);
154			}
155
156			if(!retries) {
157			printf("Finally failed ...\n");
158			return -1;
159			}
160
161			retries = 5;
162			while(retries && ((gps_state->socket =
163			gnome_vfs_inet_connection_to_socket(gps_state->iconn)) == NULL)) {
164			printf("Error creating connecting GPSD socket, retrying ...\n");
165
166			retries--;
167			sleep(1);
168			}
169
170			if(!retries) {
171			printf("Finally failed ...\n");
172			gnome_vfs_inet_connection_destroy(gps_state->iconn, NULL);
173			return -1;
174			}
175
176			GTimeVal timeout = { 10, 0 };
177			if(GNOME_VFS_OK != (vfs_result = gnome_vfs_socket_set_timeout(
178			gps_state->socket, &timeout, NULL))) {
179			printf("Error setting GPSD timeout\n");
180			gnome_vfs_inet_connection_destroy(gps_state->iconn, NULL);
181			return -1;
182			}
183
184			printf("GPSD connected ...\n");
185
186			return 0;
187			}
188
189			void gps_clear_fix(struct gps_fix_t *fixp) {
190			fixp->mode = MODE_NOT_SEEN;
191			fixp->pos.lat = fixp->pos.lon = NAN;
192			fixp->eph = NAN;
193			}
194
195			/* unpack a daemon response into a status structure */
196			static void gps_unpack(char buf, struct gps_data_t gpsdata) {
197			char ns, sp, *tp;
198
199			for(ns = buf; ns; ns = strstr(ns+1, "GPSD")) {
200			if(strncmp(ns, "GPSD", 4) == 0) {
201			/* the following should execute each time we have a good next sp */
202			for (sp = ns + 5; *sp != '\0'; sp = tp+1) {
203			tp = sp + strcspn(sp, ",\r\n");
204			if (*tp == '\0') tp--;
205			else *tp = '\0';
206
207			switch (*sp) {
208			case 'O':
209			if (sp[2] == '?') {
210			gpsdata->set =
211			(gpsdata->set & SATELLITE_SET) \| // fix for below
212			MODE_SET \| STATUS_SET; // this clears sat info??
213			gpsdata->status = STATUS_NO_FIX;
214			gps_clear_fix(&gpsdata->fix);
215			} else {
216			struct gps_fix_t nf;
217			char tag[MAXTAGLEN+1], alt[20], eph[20], lat[20], lon[20], mode[2];
218			int st = sscanf(sp+2,
219			"%8s %s %s %19s %19s "
220			"%19s %19s %s %s %s %s "
221			"%s %s %*s %1s",
222			tag, lat, lon,
223			alt, eph,
224			mode);
225			if (st >= 5) {
226			#define DEFAULT(val) (val[0] == '?') ? NAN : g_ascii_strtod(val, NULL)
227			nf.pos.lat = DEFAULT(lat);
228			nf.pos.lon = DEFAULT(lon);
229			nf.eph = DEFAULT(eph);
230			#undef DEFAULT
231			if (st >= 6)
232			nf.mode = (mode[0] == '?') ? MODE_NOT_SEEN : atoi(mode);
233			else
234			nf.mode = (alt[0] == '?') ? MODE_2D : MODE_3D;
235			gpsdata->fix = nf;
236			gpsdata->set \|= LATLON_SET\|MODE_SET;
237			gpsdata->status = STATUS_FIX;
238			gpsdata->set \|= STATUS_SET;
239			}
240			}
241			break;
242			}
243			}
244			}
245			}
246			}
247
248			gpointer gps_thread(gpointer data) {
249			GnomeVFSFileSize bytes_read;
250			GnomeVFSResult vfs_result;
251			char str[512];
252			appdata_t appdata = (appdata_t)data;
253
254			const char msg = "o\r\n"; / pos request */
255
256			appdata->gps_state->gpsdata.set = 0;
257
258			gboolean connected = FALSE;
259
260			while(1) {
261			if(appdata->gps_enabled) {
262			if(!connected) {
263			printf("trying to connect\n");
264
265			if(gps_connect(appdata->gps_state) < 0)
266			sleep(10);
267			else
268			connected = TRUE;
269			} else {
270			if(GNOME_VFS_OK ==
271			(vfs_result = gnome_vfs_socket_write(appdata->gps_state->socket,
272			msg, strlen(msg)+1, &bytes_read, NULL))) {
273
274			/* update every second, wait here to make sure a complete */
275			/* reply is received */
276			sleep(1);
277
278			if(bytes_read == (strlen(msg)+1)) {
279			vfs_result = gnome_vfs_socket_read(appdata->gps_state->socket,
280			str, sizeof(str)-1, &bytes_read, NULL);
281			if(vfs_result == GNOME_VFS_OK) {
282			str[bytes_read] = 0;
283
284			printf("msg: %s (%d)\n", str, strlen(str));
285
286			g_mutex_lock(appdata->gps_state->mutex);
287
288			appdata->gps_state->gpsdata.set &=
289			~(LATLON_SET\|MODE_SET\|STATUS_SET);
290
291			gps_unpack(str, &appdata->gps_state->gpsdata);
292			g_mutex_unlock(appdata->gps_state->mutex);
293			}
294			}
295			}
296			}
297			} else {
298			if(connected) {
299			printf("stopping GPS connection due to user request\n");
300			gnome_vfs_inet_connection_destroy(appdata->gps_state->iconn, NULL);
301
302	harbaum	112	#ifdef ENABLE_GPSBT
303	harbaum	1	gpsbt_stop(&appdata->gps_state->context);
304			#endif
305			connected = FALSE;
306			} else
307			sleep(1);
308			}
309			}
310
311			printf("GPS thread ended???\n");
312			return NULL;
313			}
314
315			void gps_init(appdata_t *appdata) {
316			appdata->gps_state = g_new0(gps_state_t, 1);
317
318	harbaum	118	printf("GPS init: Using gpsd\n");
319
320	harbaum	1	/* start a new thread to listen to gpsd */
321			appdata->gps_state->mutex = g_mutex_new();
322			appdata->gps_state->thread_p =
323			g_thread_create(gps_thread, appdata, FALSE, NULL);
324			}
325
326			void gps_release(appdata_t *appdata) {
327	harbaum	112	#ifdef ENABLE_GPSBT
328	harbaum	1	gpsbt_stop(&appdata->gps_state->context);
329			#endif
330			g_free(appdata->gps_state);
331	harbaum	118	appdata->gps_state = NULL;
332	harbaum	1	}
333	harbaum	118
334			#endif // ENABLE_LIBLOCATION