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>

gboolean gps_get_pos(appdata_t *appdata, pos_t *pos, float *alt) {
  if(!appdata->gps_enabled)
    return FALSE;

  gps_state_t *gps_state = appdata->gps_state;

  if(!gps_state->fix)
    return FALSE;

  if(pos) {
    pos->lat = gps_state->latitude;
    pos->lon = gps_state->longitude;
  }

  if(alt) 
    *alt = gps_state->altitude;

  return TRUE;
}

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;
  }

  if(device->fix->fields & LOCATION_GPS_DEVICE_ALTITUDE_SET)
    gps_state->altitude = device->fix->altitude;
  else
    gps_state->altitude = NAN;
}

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(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;
}

#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

gboolean gps_get_pos(appdata_t *appdata, pos_t *pos, float *alt) {
  if(pos) pos->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) 
        *pos = appdata->gps_state->gpsdata.fix.pos;
      if(appdata->gps_state->gpsdata.set & ALTITUDE_SET) 
        *alt = appdata->gps_state->gpsdata.fix.alt;
    }
  }
  
  g_mutex_unlock(appdata->gps_state->mutex);
  
  return(!isnan(pos->lat));
}

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. */

  printf("GPSD: trying to connect to %s %d\n", GPSD_HOST, GPSD_PORT);

  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->alt = 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);
              nf.alt = DEFAULT(alt);
#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;

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