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Fremantle gps fix
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->settings || !appdata->settings->enable_gps) |
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 | if(gps_state->cb) |
67 | if(!gps_state->cb(gps_state->data)) |
68 | gps_state->cb = NULL; |
69 | } |
70 | |
71 | void gps_init(appdata_t *appdata) { |
72 | gps_state_t *gps_state = appdata->gps_state = g_new0(gps_state_t, 1); |
73 | |
74 | printf("GPS init: Using liblocation\n"); |
75 | |
76 | gps_state->device = g_object_new(LOCATION_TYPE_GPS_DEVICE, NULL); |
77 | if(!gps_state->device) { |
78 | printf("Unable to connect to liblocation\n"); |
79 | return; |
80 | } |
81 | |
82 | gps_state->idd_changed = |
83 | g_signal_connect(gps_state->device, "changed", |
84 | G_CALLBACK(location_changed), gps_state); |
85 | |
86 | #ifdef LL_CONTROL_GPSD |
87 | gps_state->control = location_gpsd_control_get_default(); |
88 | #endif |
89 | } |
90 | |
91 | void gps_release(appdata_t *appdata) { |
92 | gps_state_t *gps_state = appdata->gps_state; |
93 | |
94 | if(!gps_state->device) return; |
95 | |
96 | #ifdef LL_CONTROL_GPSD |
97 | if(gps_state->control |
98 | #if MAEMO_VERSION_MAJOR < 5 |
99 | && gps_state->control->can_control |
100 | #endif |
101 | ) { |
102 | printf("Having control over GPSD and its running, stopping it\n"); |
103 | if(appdata->gps_state->gps_is_on) |
104 | location_gpsd_control_stop(gps_state->control); |
105 | } |
106 | #endif |
107 | |
108 | /* Disconnect signal */ |
109 | g_signal_handler_disconnect(gps_state->device, gps_state->idd_changed); |
110 | |
111 | g_free(appdata->gps_state); |
112 | appdata->gps_state = NULL; |
113 | } |
114 | |
115 | void gps_enable(appdata_t *appdata, gboolean enable) { |
116 | if(appdata->settings) { |
117 | gps_state_t *gps_state = appdata->gps_state; |
118 | |
119 | if(enable != appdata->gps_state->gps_is_on) { |
120 | if(gps_state->device && gps_state->control |
121 | #if MAEMO_VERSION_MAJOR < 5 |
122 | && gps_state->control->can_control |
123 | #endif |
124 | ) { |
125 | if(enable) { |
126 | printf("starting gpsd\n"); |
127 | location_gpsd_control_start(gps_state->control); |
128 | } else { |
129 | printf("stopping gpsd\n"); |
130 | location_gpsd_control_stop(gps_state->control); |
131 | } |
132 | appdata->gps_state->gps_is_on = enable; |
133 | } |
134 | } |
135 | |
136 | appdata->settings->enable_gps = enable; |
137 | } |
138 | } |
139 | |
140 | #else // ENABLE_LIBLOCATION |
141 | |
142 | #ifdef ENABLE_GPSBT |
143 | #include <gpsbt.h> |
144 | #include <gpsmgr.h> |
145 | #include <errno.h> |
146 | #endif |
147 | |
148 | /* maybe user configurable later on ... */ |
149 | #define GPSD_HOST "127.0.0.1" |
150 | #define GPSD_PORT 2947 |
151 | |
152 | gboolean gps_get_pos(appdata_t *appdata, pos_t *pos, float *alt) { |
153 | pos_t tmp; |
154 | if(!pos) pos = &tmp; |
155 | pos->lat = NAN; |
156 | |
157 | g_mutex_lock(appdata->gps_state->mutex); |
158 | if(appdata->gps_state->gpsdata.set & STATUS_SET) { |
159 | if(appdata->gps_state->gpsdata.status != STATUS_NO_FIX) { |
160 | if(appdata->gps_state->gpsdata.set & LATLON_SET) |
161 | *pos = appdata->gps_state->gpsdata.fix.pos; |
162 | if(alt && appdata->gps_state->gpsdata.set & ALTITUDE_SET) |
163 | *alt = appdata->gps_state->gpsdata.fix.alt; |
164 | } |
165 | } |
166 | |
167 | g_mutex_unlock(appdata->gps_state->mutex); |
168 | |
169 | return(!isnan(pos->lat)); |
170 | } |
171 | |
172 | static int gps_connect(gps_state_t *gps_state) { |
173 | GnomeVFSResult vfs_result; |
174 | #ifdef ENABLE_GPSBT |
175 | char errstr[256] = ""; |
176 | |
177 | /* We need to start gpsd (via gpsbt) first. */ |
178 | memset(&gps_state->context, 0, sizeof(gpsbt_t)); |
179 | errno = 0; |
180 | |
181 | if(gpsbt_start(NULL, 0, 0, 0, errstr, sizeof(errstr), |
182 | 0, &gps_state->context) < 0) { |
183 | printf("Error connecting to GPS receiver: (%d) %s (%s)\n", |
184 | errno, strerror(errno), errstr); |
185 | } |
186 | #endif |
187 | |
188 | /************** from here down pure gnome/gtk/gpsd ********************/ |
189 | |
190 | /* try to connect to gpsd */ |
191 | /* Create a socket to interact with GPSD. */ |
192 | |
193 | printf("GPSD: trying to connect to %s %d\n", GPSD_HOST, GPSD_PORT); |
194 | |
195 | int retries = 5; |
196 | while(retries && |
197 | (GNOME_VFS_OK != (vfs_result = gnome_vfs_inet_connection_create( |
198 | &gps_state->iconn, GPSD_HOST, GPSD_PORT, NULL)))) { |
199 | printf("Error creating connection to GPSD, retrying ...\n"); |
200 | |
201 | retries--; |
202 | sleep(1); |
203 | } |
204 | |
205 | if(!retries) { |
206 | printf("Finally failed ...\n"); |
207 | return -1; |
208 | } |
209 | |
210 | retries = 5; |
211 | while(retries && ((gps_state->socket = |
212 | gnome_vfs_inet_connection_to_socket(gps_state->iconn)) == NULL)) { |
213 | printf("Error creating connecting GPSD socket, retrying ...\n"); |
214 | |
215 | retries--; |
216 | sleep(1); |
217 | } |
218 | |
219 | if(!retries) { |
220 | printf("Finally failed ...\n"); |
221 | gnome_vfs_inet_connection_destroy(gps_state->iconn, NULL); |
222 | return -1; |
223 | } |
224 | |
225 | GTimeVal timeout = { 10, 0 }; |
226 | if(GNOME_VFS_OK != (vfs_result = gnome_vfs_socket_set_timeout( |
227 | gps_state->socket, &timeout, NULL))) { |
228 | printf("Error setting GPSD timeout\n"); |
229 | gnome_vfs_inet_connection_destroy(gps_state->iconn, NULL); |
230 | return -1; |
231 | } |
232 | |
233 | printf("GPSD connected ...\n"); |
234 | |
235 | return 0; |
236 | } |
237 | |
238 | void gps_clear_fix(struct gps_fix_t *fixp) { |
239 | fixp->mode = MODE_NOT_SEEN; |
240 | fixp->pos.lat = fixp->pos.lon = NAN; |
241 | fixp->alt = NAN; |
242 | fixp->eph = NAN; |
243 | } |
244 | |
245 | /* unpack a daemon response into a status structure */ |
246 | static void gps_unpack(char *buf, struct gps_data_t *gpsdata) { |
247 | char *ns, *sp, *tp; |
248 | |
249 | for(ns = buf; ns; ns = strstr(ns+1, "GPSD")) { |
250 | if(strncmp(ns, "GPSD", 4) == 0) { |
251 | /* the following should execute each time we have a good next sp */ |
252 | for (sp = ns + 5; *sp != '\0'; sp = tp+1) { |
253 | tp = sp + strcspn(sp, ",\r\n"); |
254 | if (*tp == '\0') tp--; |
255 | else *tp = '\0'; |
256 | |
257 | switch (*sp) { |
258 | case 'O': |
259 | if (sp[2] == '?') { |
260 | gpsdata->set = |
261 | (gpsdata->set & SATELLITE_SET) | // fix for below |
262 | MODE_SET | STATUS_SET; // this clears sat info?? |
263 | gpsdata->status = STATUS_NO_FIX; |
264 | gps_clear_fix(&gpsdata->fix); |
265 | } else { |
266 | struct gps_fix_t nf; |
267 | char tag[MAXTAGLEN+1], alt[20], eph[20], lat[20], lon[20], mode[2]; |
268 | int st = sscanf(sp+2, |
269 | "%8s %*s %*s %19s %19s " |
270 | "%19s %19s %*s %*s %*s %*s " |
271 | "%*s %*s %*s %1s", |
272 | tag, lat, lon, |
273 | alt, eph, |
274 | mode); |
275 | if (st >= 5) { |
276 | #define DEFAULT(val) (val[0] == '?') ? NAN : g_ascii_strtod(val, NULL) |
277 | nf.pos.lat = DEFAULT(lat); |
278 | nf.pos.lon = DEFAULT(lon); |
279 | nf.eph = DEFAULT(eph); |
280 | nf.alt = DEFAULT(alt); |
281 | #undef DEFAULT |
282 | if (st >= 6) |
283 | nf.mode = (mode[0] == '?') ? MODE_NOT_SEEN : atoi(mode); |
284 | else |
285 | nf.mode = (alt[0] == '?') ? MODE_2D : MODE_3D; |
286 | gpsdata->fix = nf; |
287 | gpsdata->set |= LATLON_SET|MODE_SET; |
288 | gpsdata->status = STATUS_FIX; |
289 | gpsdata->set |= STATUS_SET; |
290 | |
291 | if(alt[0] != '?') |
292 | gpsdata->set |= ALTITUDE_SET; |
293 | } |
294 | } |
295 | break; |
296 | } |
297 | } |
298 | } |
299 | } |
300 | } |
301 | |
302 | void gps_enable(appdata_t *appdata, gboolean enable) { |
303 | if(appdata->settings) |
304 | appdata->settings->enable_gps = enable; |
305 | } |
306 | |
307 | gpointer gps_thread(gpointer data) { |
308 | GnomeVFSFileSize bytes_read; |
309 | GnomeVFSResult vfs_result; |
310 | char str[512]; |
311 | appdata_t *appdata = (appdata_t*)data; |
312 | |
313 | const char *msg = "o\r\n"; /* pos request */ |
314 | |
315 | appdata->gps_state->gpsdata.set = 0; |
316 | |
317 | gboolean connected = FALSE; |
318 | |
319 | while(1) { |
320 | if(appdata->settings && appdata->settings->enable_gps) { |
321 | if(!connected) { |
322 | printf("trying to connect\n"); |
323 | |
324 | if(gps_connect(appdata->gps_state) < 0) |
325 | sleep(10); |
326 | else |
327 | connected = TRUE; |
328 | } else { |
329 | if(GNOME_VFS_OK == |
330 | (vfs_result = gnome_vfs_socket_write(appdata->gps_state->socket, |
331 | msg, strlen(msg)+1, &bytes_read, NULL))) { |
332 | |
333 | /* update every second, wait here to make sure a complete */ |
334 | /* reply is received */ |
335 | sleep(1); |
336 | |
337 | if(bytes_read == (strlen(msg)+1)) { |
338 | vfs_result = gnome_vfs_socket_read(appdata->gps_state->socket, |
339 | str, sizeof(str)-1, &bytes_read, NULL); |
340 | if(vfs_result == GNOME_VFS_OK) { |
341 | str[bytes_read] = 0; |
342 | |
343 | printf("msg: %s (%d)\n", str, strlen(str)); |
344 | |
345 | g_mutex_lock(appdata->gps_state->mutex); |
346 | |
347 | appdata->gps_state->gpsdata.set &= |
348 | ~(LATLON_SET|MODE_SET|STATUS_SET); |
349 | |
350 | gps_unpack(str, &appdata->gps_state->gpsdata); |
351 | g_mutex_unlock(appdata->gps_state->mutex); |
352 | } |
353 | } |
354 | } |
355 | } |
356 | } else { |
357 | if(connected) { |
358 | printf("stopping GPS connection due to user request\n"); |
359 | gnome_vfs_inet_connection_destroy(appdata->gps_state->iconn, NULL); |
360 | |
361 | #ifdef ENABLE_GPSBT |
362 | gpsbt_stop(&appdata->gps_state->context); |
363 | #endif |
364 | connected = FALSE; |
365 | } else |
366 | sleep(1); |
367 | } |
368 | } |
369 | |
370 | printf("GPS thread ended???\n"); |
371 | return NULL; |
372 | } |
373 | |
374 | void gps_init(appdata_t *appdata) { |
375 | appdata->gps_state = g_new0(gps_state_t, 1); |
376 | |
377 | printf("GPS init: Using gpsd\n"); |
378 | |
379 | /* start a new thread to listen to gpsd */ |
380 | appdata->gps_state->mutex = g_mutex_new(); |
381 | appdata->gps_state->thread_p = |
382 | g_thread_create(gps_thread, appdata, FALSE, NULL); |
383 | } |
384 | |
385 | void gps_release(appdata_t *appdata) { |
386 | #ifdef ENABLE_GPSBT |
387 | gpsbt_stop(&appdata->gps_state->context); |
388 | #endif |
389 | g_free(appdata->gps_state); |
390 | appdata->gps_state = NULL; |
391 | } |
392 | |
393 | #endif // ENABLE_LIBLOCATION |