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) {
  if(!appdata->gps_enabled)
    return NULL;

  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);

#if MAEMO_VERSION_MAJOR < 5
  gps_state->control = location_gpsd_control_get_default();

  if(appdata->gps_enabled && gps_state->control && 
     gps_state->control->can_control) {
    printf("Having control over GPSD and GPS is to be enabled, starting it\n");
    location_gpsd_control_start(gps_state->control);
  }
#endif
}

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

  if(!gps_state->device) return;

#if MAEMO_VERSION_MAJOR < 5
  if(gps_state->control && gps_state->control->can_control) {
    printf("Having control over GPSD, stopping it\n");
    location_gpsd_control_stop(gps_state->control);
  }
#endif

  /* Disconnect signal */
  g_signal_handler_disconnect(gps_state->device, gps_state->idd_changed);

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

void gps_enable(appdata_t *appdata, gboolean enable) {
  appdata->gps_enabled = enable;

#if MAEMO_VERSION_MAJOR < 5
  gps_state_t *gps_state = appdata->gps_state;
  if(gps_state->control && gps_state->control->can_control) {
    printf("Having control over GPSD, %sing it\n",
           enable?"start":"stop");

    if(enable)
      location_gpsd_control_start(gps_state->control);
    else
      location_gpsd_control_stop(gps_state->control);
  }
#endif
}

#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;
        }
      }
    }
  }
}

void gps_enable(appdata_t *appdata, gboolean enable) {
  appdata->gps_enabled = enable;
}

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	/*
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	#ifdef ENABLE_LIBLOCATION
27
28	#include <location/location-gps-device.h>
29
30	pos_t gps_get_pos(appdata_t appdata) {
31	if(!appdata->gps_enabled)
32	return NULL;
33
34	gps_state_t *gps_state = appdata->gps_state;
35	static pos_t retval;
36
37	if(!gps_state->fix)
38	return NULL;
39
40	retval.lat = gps_state->latitude;
41	retval.lon = gps_state->longitude;
42
43	return &retval;
44	}
45
46	static void
47	location_changed(LocationGPSDevice device, gps_state_t gps_state) {
48
49	gps_state->fix =
50	(device->fix->fields & LOCATION_GPS_DEVICE_LATLONG_SET);
51
52	if(gps_state->fix) {
53	gps_state->latitude = device->fix->latitude;
54	gps_state->longitude = device->fix->longitude;
55	}
56	}
57
58	void gps_init(appdata_t *appdata) {
59	gps_state_t *gps_state = appdata->gps_state = g_new0(gps_state_t, 1);
60
61	printf("GPS init: Using liblocation\n");
62
63	gps_state->device = g_object_new(LOCATION_TYPE_GPS_DEVICE, NULL);
64	if(!gps_state->device) {
65	printf("Unable to connect to liblocation\n");
66	return;
67	}
68
69	gps_state->idd_changed =
70	g_signal_connect(gps_state->device, "changed",
71	G_CALLBACK(location_changed), gps_state);
72
73	#if MAEMO_VERSION_MAJOR < 5
74	gps_state->control = location_gpsd_control_get_default();
75
76	if(appdata->gps_enabled && gps_state->control &&
77	gps_state->control->can_control) {
78	printf("Having control over GPSD and GPS is to be enabled, starting it\n");
79	location_gpsd_control_start(gps_state->control);
80	}
81	#endif
82	}
83
84	void gps_release(appdata_t *appdata) {
85	gps_state_t *gps_state = appdata->gps_state;
86
87	if(!gps_state->device) return;
88
89	#if MAEMO_VERSION_MAJOR < 5
90	if(gps_state->control && gps_state->control->can_control) {
91	printf("Having control over GPSD, stopping it\n");
92	location_gpsd_control_stop(gps_state->control);
93	}
94	#endif
95
96	/* Disconnect signal */
97	g_signal_handler_disconnect(gps_state->device, gps_state->idd_changed);
98
99	g_free(appdata->gps_state);
100	appdata->gps_state = NULL;
101	}
102
103	void gps_enable(appdata_t *appdata, gboolean enable) {
104	appdata->gps_enabled = enable;
105
106	#if MAEMO_VERSION_MAJOR < 5
107	gps_state_t *gps_state = appdata->gps_state;
108	if(gps_state->control && gps_state->control->can_control) {
109	printf("Having control over GPSD, %sing it\n",
110	enable?"start":"stop");
111
112	if(enable)
113	location_gpsd_control_start(gps_state->control);
114	else
115	location_gpsd_control_stop(gps_state->control);
116	}
117	#endif
118	}
119
120	#else // ENABLE_LIBLOCATION
121
122	#ifdef ENABLE_GPSBT
123	#include <gpsbt.h>
124	#include <gpsmgr.h>
125	#include <errno.h>
126	#endif
127
128	/* maybe user configurable later on ... */
129	#define GPSD_HOST "127.0.0.1"
130	#define GPSD_PORT 2947
131
132	pos_t gps_get_pos(appdata_t appdata) {
133	static pos_t retval;
134
135	retval.lat = NAN;
136
137	g_mutex_lock(appdata->gps_state->mutex);
138	if(appdata->gps_state->gpsdata.set & STATUS_SET)
139	if(appdata->gps_state->gpsdata.status != STATUS_NO_FIX)
140	if(appdata->gps_state->gpsdata.set & LATLON_SET)
141	retval = appdata->gps_state->gpsdata.fix.pos;
142
143	g_mutex_unlock(appdata->gps_state->mutex);
144
145	if(isnan(retval.lat))
146	return NULL;
147
148	return &retval;
149	}
150
151	static int gps_connect(gps_state_t *gps_state) {
152	GnomeVFSResult vfs_result;
153	#ifdef ENABLE_GPSBT
154	char errstr[256] = "";
155
156	/* We need to start gpsd (via gpsbt) first. */
157	memset(&gps_state->context, 0, sizeof(gpsbt_t));
158	errno = 0;
159
160	if(gpsbt_start(NULL, 0, 0, 0, errstr, sizeof(errstr),
161	0, &gps_state->context) < 0) {
162	printf("Error connecting to GPS receiver: (%d) %s (%s)\n",
163	errno, strerror(errno), errstr);
164	}
165	#endif
166
167	/************ from here down pure gnome/gtk/gpsd ******************/
168
169	/* try to connect to gpsd */
170	/* Create a socket to interact with GPSD. */
171
172	int retries = 5;
173	while(retries &&
174	(GNOME_VFS_OK != (vfs_result = gnome_vfs_inet_connection_create(
175	&gps_state->iconn, GPSD_HOST, GPSD_PORT, NULL)))) {
176	printf("Error creating connection to GPSD, retrying ...\n");
177
178	retries--;
179	sleep(1);
180	}
181
182	if(!retries) {
183	printf("Finally failed ...\n");
184	return -1;
185	}
186
187	retries = 5;
188	while(retries && ((gps_state->socket =
189	gnome_vfs_inet_connection_to_socket(gps_state->iconn)) == NULL)) {
190	printf("Error creating connecting GPSD socket, retrying ...\n");
191
192	retries--;
193	sleep(1);
194	}
195
196	if(!retries) {
197	printf("Finally failed ...\n");
198	gnome_vfs_inet_connection_destroy(gps_state->iconn, NULL);
199	return -1;
200	}
201
202	GTimeVal timeout = { 10, 0 };
203	if(GNOME_VFS_OK != (vfs_result = gnome_vfs_socket_set_timeout(
204	gps_state->socket, &timeout, NULL))) {
205	printf("Error setting GPSD timeout\n");
206	gnome_vfs_inet_connection_destroy(gps_state->iconn, NULL);
207	return -1;
208	}
209
210	printf("GPSD connected ...\n");
211
212	return 0;
213	}
214
215	void gps_clear_fix(struct gps_fix_t *fixp) {
216	fixp->mode = MODE_NOT_SEEN;
217	fixp->pos.lat = fixp->pos.lon = NAN;
218	fixp->eph = NAN;
219	}
220
221	/* unpack a daemon response into a status structure */
222	static void gps_unpack(char buf, struct gps_data_t gpsdata) {
223	char ns, sp, *tp;
224
225	for(ns = buf; ns; ns = strstr(ns+1, "GPSD")) {
226	if(strncmp(ns, "GPSD", 4) == 0) {
227	/* the following should execute each time we have a good next sp */
228	for (sp = ns + 5; *sp != '\0'; sp = tp+1) {
229	tp = sp + strcspn(sp, ",\r\n");
230	if (*tp == '\0') tp--;
231	else *tp = '\0';
232
233	switch (*sp) {
234	case 'O':
235	if (sp[2] == '?') {
236	gpsdata->set =
237	(gpsdata->set & SATELLITE_SET) \| // fix for below
238	MODE_SET \| STATUS_SET; // this clears sat info??
239	gpsdata->status = STATUS_NO_FIX;
240	gps_clear_fix(&gpsdata->fix);
241	} else {
242	struct gps_fix_t nf;
243	char tag[MAXTAGLEN+1], alt[20], eph[20], lat[20], lon[20], mode[2];
244	int st = sscanf(sp+2,
245	"%8s %s %s %19s %19s "
246	"%19s %19s %s %s %s %s "
247	"%s %s %*s %1s",
248	tag, lat, lon,
249	alt, eph,
250	mode);
251	if (st >= 5) {
252	#define DEFAULT(val) (val[0] == '?') ? NAN : g_ascii_strtod(val, NULL)
253	nf.pos.lat = DEFAULT(lat);
254	nf.pos.lon = DEFAULT(lon);
255	nf.eph = DEFAULT(eph);
256	#undef DEFAULT
257	if (st >= 6)
258	nf.mode = (mode[0] == '?') ? MODE_NOT_SEEN : atoi(mode);
259	else
260	nf.mode = (alt[0] == '?') ? MODE_2D : MODE_3D;
261	gpsdata->fix = nf;
262	gpsdata->set \|= LATLON_SET\|MODE_SET;
263	gpsdata->status = STATUS_FIX;
264	gpsdata->set \|= STATUS_SET;
265	}
266	}
267	break;
268	}
269	}
270	}
271	}
272	}
273
274	void gps_enable(appdata_t *appdata, gboolean enable) {
275	appdata->gps_enabled = enable;
276	}
277
278	gpointer gps_thread(gpointer data) {
279	GnomeVFSFileSize bytes_read;
280	GnomeVFSResult vfs_result;
281	char str[512];
282	appdata_t appdata = (appdata_t)data;
283
284	const char msg = "o\r\n"; / pos request */
285
286	appdata->gps_state->gpsdata.set = 0;
287
288	gboolean connected = FALSE;
289
290	while(1) {
291	if(appdata->gps_enabled) {
292	if(!connected) {
293	printf("trying to connect\n");
294
295	if(gps_connect(appdata->gps_state) < 0)
296	sleep(10);
297	else
298	connected = TRUE;
299	} else {
300	if(GNOME_VFS_OK ==
301	(vfs_result = gnome_vfs_socket_write(appdata->gps_state->socket,
302	msg, strlen(msg)+1, &bytes_read, NULL))) {
303
304	/* update every second, wait here to make sure a complete */
305	/* reply is received */
306	sleep(1);
307
308	if(bytes_read == (strlen(msg)+1)) {
309	vfs_result = gnome_vfs_socket_read(appdata->gps_state->socket,
310	str, sizeof(str)-1, &bytes_read, NULL);
311	if(vfs_result == GNOME_VFS_OK) {
312	str[bytes_read] = 0;
313
314	printf("msg: %s (%d)\n", str, strlen(str));
315
316	g_mutex_lock(appdata->gps_state->mutex);
317
318	appdata->gps_state->gpsdata.set &=
319	~(LATLON_SET\|MODE_SET\|STATUS_SET);
320
321	gps_unpack(str, &appdata->gps_state->gpsdata);
322	g_mutex_unlock(appdata->gps_state->mutex);
323	}
324	}
325	}
326	}
327	} else {
328	if(connected) {
329	printf("stopping GPS connection due to user request\n");
330	gnome_vfs_inet_connection_destroy(appdata->gps_state->iconn, NULL);
331
332	#ifdef ENABLE_GPSBT
333	gpsbt_stop(&appdata->gps_state->context);
334	#endif
335	connected = FALSE;
336	} else
337	sleep(1);
338	}
339	}
340
341	printf("GPS thread ended???\n");
342	return NULL;
343	}
344
345	void gps_init(appdata_t *appdata) {
346	appdata->gps_state = g_new0(gps_state_t, 1);
347
348	printf("GPS init: Using gpsd\n");
349
350	/* start a new thread to listen to gpsd */
351	appdata->gps_state->mutex = g_mutex_new();
352	appdata->gps_state->thread_p =
353	g_thread_create(gps_thread, appdata, FALSE, NULL);
354	}
355
356	void gps_release(appdata_t *appdata) {
357	#ifdef ENABLE_GPSBT
358	gpsbt_stop(&appdata->gps_state->context);
359	#endif
360	g_free(appdata->gps_state);
361	appdata->gps_state = NULL;
362	}
363
364	#endif // ENABLE_LIBLOCATION