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Track handling redone
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 | gboolean gps_get_pos(appdata_t *appdata, pos_t *pos, float *alt) { |
31 | if(!appdata->gps_enabled) |
32 | return FALSE; |
33 | |
34 | gps_state_t *gps_state = appdata->gps_state; |
35 | |
36 | if(!gps_state->fix) |
37 | return FALSE; |
38 | |
39 | if(pos) { |
40 | pos->lat = gps_state->latitude; |
41 | pos->lon = gps_state->longitude; |
42 | } |
43 | |
44 | if(alt) |
45 | *alt = gps_state->altitude; |
46 | |
47 | return TRUE; |
48 | } |
49 | |
50 | static void |
51 | location_changed(LocationGPSDevice *device, gps_state_t *gps_state) { |
52 | |
53 | gps_state->fix = |
54 | (device->fix->fields & LOCATION_GPS_DEVICE_LATLONG_SET); |
55 | |
56 | if(gps_state->fix) { |
57 | gps_state->latitude = device->fix->latitude; |
58 | gps_state->longitude = device->fix->longitude; |
59 | } |
60 | |
61 | if(device->fix->fields & LOCATION_GPS_DEVICE_ALTITUDE_SET) |
62 | gps_state->altitude = device->fix->altitude; |
63 | else |
64 | gps_state->altitude = NAN; |
65 | } |
66 | |
67 | void gps_init(appdata_t *appdata) { |
68 | gps_state_t *gps_state = appdata->gps_state = g_new0(gps_state_t, 1); |
69 | |
70 | printf("GPS init: Using liblocation\n"); |
71 | |
72 | gps_state->device = g_object_new(LOCATION_TYPE_GPS_DEVICE, NULL); |
73 | if(!gps_state->device) { |
74 | printf("Unable to connect to liblocation\n"); |
75 | return; |
76 | } |
77 | |
78 | gps_state->idd_changed = |
79 | g_signal_connect(gps_state->device, "changed", |
80 | G_CALLBACK(location_changed), gps_state); |
81 | |
82 | #if MAEMO_VERSION_MAJOR < 5 |
83 | gps_state->control = location_gpsd_control_get_default(); |
84 | |
85 | if(appdata->gps_enabled && gps_state->control && |
86 | gps_state->control->can_control) { |
87 | printf("Having control over GPSD and GPS is to be enabled, starting it\n"); |
88 | location_gpsd_control_start(gps_state->control); |
89 | } |
90 | #endif |
91 | } |
92 | |
93 | void gps_release(appdata_t *appdata) { |
94 | gps_state_t *gps_state = appdata->gps_state; |
95 | |
96 | if(!gps_state->device) return; |
97 | |
98 | #if MAEMO_VERSION_MAJOR < 5 |
99 | if(gps_state->control && gps_state->control->can_control) { |
100 | printf("Having control over GPSD, stopping it\n"); |
101 | location_gpsd_control_stop(gps_state->control); |
102 | } |
103 | #endif |
104 | |
105 | /* Disconnect signal */ |
106 | g_signal_handler_disconnect(gps_state->device, gps_state->idd_changed); |
107 | |
108 | g_free(appdata->gps_state); |
109 | appdata->gps_state = NULL; |
110 | } |
111 | |
112 | void gps_enable(appdata_t *appdata, gboolean enable) { |
113 | appdata->gps_enabled = enable; |
114 | |
115 | #if MAEMO_VERSION_MAJOR < 5 |
116 | gps_state_t *gps_state = appdata->gps_state; |
117 | if(gps_state->control && gps_state->control->can_control) { |
118 | printf("Having control over GPSD, %sing it\n", |
119 | enable?"start":"stop"); |
120 | |
121 | if(enable) |
122 | location_gpsd_control_start(gps_state->control); |
123 | else |
124 | location_gpsd_control_stop(gps_state->control); |
125 | } |
126 | #endif |
127 | } |
128 | |
129 | #else // ENABLE_LIBLOCATION |
130 | |
131 | #ifdef ENABLE_GPSBT |
132 | #include <gpsbt.h> |
133 | #include <gpsmgr.h> |
134 | #include <errno.h> |
135 | #endif |
136 | |
137 | /* maybe user configurable later on ... */ |
138 | #define GPSD_HOST "127.0.0.1" |
139 | #define GPSD_PORT 2947 |
140 | |
141 | gboolean gps_get_pos(appdata_t *appdata, pos_t *pos, float *alt) { |
142 | if(pos) pos->lat = NAN; |
143 | |
144 | g_mutex_lock(appdata->gps_state->mutex); |
145 | if(appdata->gps_state->gpsdata.set & STATUS_SET) { |
146 | if(appdata->gps_state->gpsdata.status != STATUS_NO_FIX) { |
147 | if(appdata->gps_state->gpsdata.set & LATLON_SET) |
148 | *pos = appdata->gps_state->gpsdata.fix.pos; |
149 | if(appdata->gps_state->gpsdata.set & ALTITUDE_SET) |
150 | *alt = appdata->gps_state->gpsdata.fix.alt; |
151 | } |
152 | } |
153 | |
154 | g_mutex_unlock(appdata->gps_state->mutex); |
155 | |
156 | return(!isnan(pos->lat)); |
157 | } |
158 | |
159 | static int gps_connect(gps_state_t *gps_state) { |
160 | GnomeVFSResult vfs_result; |
161 | #ifdef ENABLE_GPSBT |
162 | char errstr[256] = ""; |
163 | |
164 | /* We need to start gpsd (via gpsbt) first. */ |
165 | memset(&gps_state->context, 0, sizeof(gpsbt_t)); |
166 | errno = 0; |
167 | |
168 | if(gpsbt_start(NULL, 0, 0, 0, errstr, sizeof(errstr), |
169 | 0, &gps_state->context) < 0) { |
170 | printf("Error connecting to GPS receiver: (%d) %s (%s)\n", |
171 | errno, strerror(errno), errstr); |
172 | } |
173 | #endif |
174 | |
175 | /************** from here down pure gnome/gtk/gpsd ********************/ |
176 | |
177 | /* try to connect to gpsd */ |
178 | /* Create a socket to interact with GPSD. */ |
179 | |
180 | printf("GPSD: trying to connect to %s %d\n", GPSD_HOST, GPSD_PORT); |
181 | |
182 | int retries = 5; |
183 | while(retries && |
184 | (GNOME_VFS_OK != (vfs_result = gnome_vfs_inet_connection_create( |
185 | &gps_state->iconn, GPSD_HOST, GPSD_PORT, NULL)))) { |
186 | printf("Error creating connection to GPSD, retrying ...\n"); |
187 | |
188 | retries--; |
189 | sleep(1); |
190 | } |
191 | |
192 | if(!retries) { |
193 | printf("Finally failed ...\n"); |
194 | return -1; |
195 | } |
196 | |
197 | retries = 5; |
198 | while(retries && ((gps_state->socket = |
199 | gnome_vfs_inet_connection_to_socket(gps_state->iconn)) == NULL)) { |
200 | printf("Error creating connecting GPSD socket, retrying ...\n"); |
201 | |
202 | retries--; |
203 | sleep(1); |
204 | } |
205 | |
206 | if(!retries) { |
207 | printf("Finally failed ...\n"); |
208 | gnome_vfs_inet_connection_destroy(gps_state->iconn, NULL); |
209 | return -1; |
210 | } |
211 | |
212 | GTimeVal timeout = { 10, 0 }; |
213 | if(GNOME_VFS_OK != (vfs_result = gnome_vfs_socket_set_timeout( |
214 | gps_state->socket, &timeout, NULL))) { |
215 | printf("Error setting GPSD timeout\n"); |
216 | gnome_vfs_inet_connection_destroy(gps_state->iconn, NULL); |
217 | return -1; |
218 | } |
219 | |
220 | printf("GPSD connected ...\n"); |
221 | |
222 | return 0; |
223 | } |
224 | |
225 | void gps_clear_fix(struct gps_fix_t *fixp) { |
226 | fixp->mode = MODE_NOT_SEEN; |
227 | fixp->pos.lat = fixp->pos.lon = NAN; |
228 | fixp->alt = NAN; |
229 | fixp->eph = NAN; |
230 | } |
231 | |
232 | /* unpack a daemon response into a status structure */ |
233 | static void gps_unpack(char *buf, struct gps_data_t *gpsdata) { |
234 | char *ns, *sp, *tp; |
235 | |
236 | for(ns = buf; ns; ns = strstr(ns+1, "GPSD")) { |
237 | if(strncmp(ns, "GPSD", 4) == 0) { |
238 | /* the following should execute each time we have a good next sp */ |
239 | for (sp = ns + 5; *sp != '\0'; sp = tp+1) { |
240 | tp = sp + strcspn(sp, ",\r\n"); |
241 | if (*tp == '\0') tp--; |
242 | else *tp = '\0'; |
243 | |
244 | switch (*sp) { |
245 | case 'O': |
246 | if (sp[2] == '?') { |
247 | gpsdata->set = |
248 | (gpsdata->set & SATELLITE_SET) | // fix for below |
249 | MODE_SET | STATUS_SET; // this clears sat info?? |
250 | gpsdata->status = STATUS_NO_FIX; |
251 | gps_clear_fix(&gpsdata->fix); |
252 | } else { |
253 | struct gps_fix_t nf; |
254 | char tag[MAXTAGLEN+1], alt[20], eph[20], lat[20], lon[20], mode[2]; |
255 | int st = sscanf(sp+2, |
256 | "%8s %*s %*s %19s %19s " |
257 | "%19s %19s %*s %*s %*s %*s " |
258 | "%*s %*s %*s %1s", |
259 | tag, lat, lon, |
260 | alt, eph, |
261 | mode); |
262 | if (st >= 5) { |
263 | #define DEFAULT(val) (val[0] == '?') ? NAN : g_ascii_strtod(val, NULL) |
264 | nf.pos.lat = DEFAULT(lat); |
265 | nf.pos.lon = DEFAULT(lon); |
266 | nf.eph = DEFAULT(eph); |
267 | nf.alt = DEFAULT(alt); |
268 | #undef DEFAULT |
269 | if (st >= 6) |
270 | nf.mode = (mode[0] == '?') ? MODE_NOT_SEEN : atoi(mode); |
271 | else |
272 | nf.mode = (alt[0] == '?') ? MODE_2D : MODE_3D; |
273 | gpsdata->fix = nf; |
274 | gpsdata->set |= LATLON_SET|MODE_SET; |
275 | gpsdata->status = STATUS_FIX; |
276 | gpsdata->set |= STATUS_SET; |
277 | |
278 | if(alt[0] != '?') |
279 | gpsdata->set |= ALTITUDE_SET; |
280 | } |
281 | } |
282 | break; |
283 | } |
284 | } |
285 | } |
286 | } |
287 | } |
288 | |
289 | void gps_enable(appdata_t *appdata, gboolean enable) { |
290 | appdata->gps_enabled = enable; |
291 | } |
292 | |
293 | gpointer gps_thread(gpointer data) { |
294 | GnomeVFSFileSize bytes_read; |
295 | GnomeVFSResult vfs_result; |
296 | char str[512]; |
297 | appdata_t *appdata = (appdata_t*)data; |
298 | |
299 | const char *msg = "o\r\n"; /* pos request */ |
300 | |
301 | appdata->gps_state->gpsdata.set = 0; |
302 | |
303 | gboolean connected = FALSE; |
304 | |
305 | while(1) { |
306 | if(appdata->gps_enabled) { |
307 | if(!connected) { |
308 | printf("trying to connect\n"); |
309 | |
310 | if(gps_connect(appdata->gps_state) < 0) |
311 | sleep(10); |
312 | else |
313 | connected = TRUE; |
314 | } else { |
315 | if(GNOME_VFS_OK == |
316 | (vfs_result = gnome_vfs_socket_write(appdata->gps_state->socket, |
317 | msg, strlen(msg)+1, &bytes_read, NULL))) { |
318 | |
319 | /* update every second, wait here to make sure a complete */ |
320 | /* reply is received */ |
321 | sleep(1); |
322 | |
323 | if(bytes_read == (strlen(msg)+1)) { |
324 | vfs_result = gnome_vfs_socket_read(appdata->gps_state->socket, |
325 | str, sizeof(str)-1, &bytes_read, NULL); |
326 | if(vfs_result == GNOME_VFS_OK) { |
327 | str[bytes_read] = 0; |
328 | |
329 | printf("msg: %s (%d)\n", str, strlen(str)); |
330 | |
331 | g_mutex_lock(appdata->gps_state->mutex); |
332 | |
333 | appdata->gps_state->gpsdata.set &= |
334 | ~(LATLON_SET|MODE_SET|STATUS_SET); |
335 | |
336 | gps_unpack(str, &appdata->gps_state->gpsdata); |
337 | g_mutex_unlock(appdata->gps_state->mutex); |
338 | } |
339 | } |
340 | } |
341 | } |
342 | } else { |
343 | if(connected) { |
344 | printf("stopping GPS connection due to user request\n"); |
345 | gnome_vfs_inet_connection_destroy(appdata->gps_state->iconn, NULL); |
346 | |
347 | #ifdef ENABLE_GPSBT |
348 | gpsbt_stop(&appdata->gps_state->context); |
349 | #endif |
350 | connected = FALSE; |
351 | } else |
352 | sleep(1); |
353 | } |
354 | } |
355 | |
356 | printf("GPS thread ended???\n"); |
357 | return NULL; |
358 | } |
359 | |
360 | void gps_init(appdata_t *appdata) { |
361 | appdata->gps_state = g_new0(gps_state_t, 1); |
362 | |
363 | printf("GPS init: Using gpsd\n"); |
364 | |
365 | /* start a new thread to listen to gpsd */ |
366 | appdata->gps_state->mutex = g_mutex_new(); |
367 | appdata->gps_state->thread_p = |
368 | g_thread_create(gps_thread, appdata, FALSE, NULL); |
369 | } |
370 | |
371 | void gps_release(appdata_t *appdata) { |
372 | #ifdef ENABLE_GPSBT |
373 | gpsbt_stop(&appdata->gps_state->context); |
374 | #endif |
375 | g_free(appdata->gps_state); |
376 | appdata->gps_state = NULL; |
377 | } |
378 | |
379 | #endif // ENABLE_LIBLOCATION |