mirror of https://github.com/wb2osz/direwolf.git
575 lines
16 KiB
C
575 lines
16 KiB
C
//
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// This file is part of Dire Wolf, an amateur radio packet TNC.
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//
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// Copyright (C) 2013, 2014, 2015, 2020, 2022 John Langner, WB2OSZ
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//
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// This program is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 2 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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//
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/*------------------------------------------------------------------
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*
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* Module: dwgpsd.c
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*
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* Purpose: Interface to location data, i.e. GPS receiver.
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*
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* Description: For Linux, we would normally want to use gpsd and libgps.
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* This allows multiple applications to access the GPS data,
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* without fighting over the same serial port, and has the
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* extra benefit that the system clock can be set from the GPS signal.
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*
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* Reference: http://www.catb.org/gpsd/
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*
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*---------------------------------------------------------------*/
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#include "direwolf.h"
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#include <stdio.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <assert.h>
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#include <string.h>
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#include <errno.h>
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#include <time.h>
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#include <math.h>
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#include <stddef.h>
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#if __WIN32__
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#error Not for Windows
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#endif
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#if ENABLE_GPSD
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#include <gps.h>
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// An API incompatibility was introduced with API version 7.
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// and again with 9.
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// and again with 10.
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// We deal with it by using a bunch of conditional code such as:
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// #if GPSD_API_MAJOR_VERSION >= 9
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// release lib version API Raspberry Pi OS Testing status
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// 3.22 28 11 bullseye OK.
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// 3.23 29 12 OK.
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// 3.25 30 14 OK, Jan. 2023
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// Previously the compilation would fail if the API version was later
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// than the last one tested. Now it is just a warning because it changes so
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// often but more recent versions have not broken backward compatibility.
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#define MAX_TESTED_VERSION 14
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#if (GPSD_API_MAJOR_VERSION < 5) || (GPSD_API_MAJOR_VERSION > MAX_TESTED_VERSION)
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#pragma message "Your version of gpsd might be incompatible with this application."
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#pragma message "The libgps application program interface (API) often"
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#pragma message "changes to be incompatible with earlier versions."
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// I could not figure out how to do value substitution here.
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#pragma message "You have libgpsd API version GPSD_API_MAJOR_VERSION."
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#pragma message "The last that has been tested is MAX_TESTED_VERSION."
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#pragma message "Even if this builds successfully, it might not run properly."
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#endif
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/*
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* Information for interface to gpsd daemon.
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*/
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static struct gps_data_t gpsdata;
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#endif /* ENABLE_GPSD */
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#include "textcolor.h"
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#include "dwgps.h"
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#include "dwgpsd.h"
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#if ENABLE_GPSD
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static int s_debug = 0; /* Enable debug output. */
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/* >= 1 show results from dwgps_read. */
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/* >= 2 show updates from GPS. */
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static void * read_gpsd_thread (void *arg);
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#endif
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/*-------------------------------------------------------------------
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*
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* Name: dwgpsd_init
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*
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* Purpose: Initialize the GPS interface.
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*
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* Inputs: pconfig Configuration settings. This includes
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* host name or address for network connection.
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*
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* debug - If >= 1, print results when dwgps_read is called.
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* (In different file.)
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*
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* If >= 2, location updates are also printed.
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* (In this file.)
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*
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* Returns: 1 = success
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* 0 = nothing to do (no host specified in config)
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* -1 = failure
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*
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* Description: - Establish socket connection with gpsd.
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* - Start up thread to process incoming data.
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* It reads from the daemon and deposits into
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* shared region via dwgps_put_data.
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*
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* The application calls dwgps_read to get the most
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* recent information.
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*
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*--------------------------------------------------------------------*/
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/*
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* Historical notes:
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*
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* Originally, I wanted to use the shared memory interface to gpsd
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* because it is simpler and more efficient. Just access it when we
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* actually need the data and we don't have a lot of extra unnecessary
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* busy work going on constantly polling it when we don't need the information.
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*
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* The current version of gpsd, supplied with Raspian (Wheezy), is 3.6 from back in
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* May 2012, is missing support for the shared memory interface.
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*
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* I tried to download a newer source and build with shared memory support
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* but ran into a couple other issues.
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*
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* sudo apt-get install libncurses5-dev
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* sudo apt-get install scons
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* cd ~
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* wget http://download-mirror.savannah.gnu.org/releases/gpsd/gpsd-3.11.tar.gz
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* tar xfz gpsd-3.11.tar.gz
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* cd gpsd-3.11
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* scons prefix=/usr libdir=lib/arm-linux-gnueabihf shm_export=True python=False
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* sudo scons udev-install
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*
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* For now, we will use the socket interface. Maybe get back to this again someday.
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*
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* Update: January 2016.
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*
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* I'm told that the shared memory interface might work in Raspian, Jessie version.
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* Haven't tried it yet.
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*
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* June 2020: This is how to build the most recent.
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*
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* Based on https://www.satsignal.eu/raspberry-pi/UpdatingGPSD.html
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*
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* git clone https://gitlab.com/gpsd/gpsd.git gpsd-gitlab
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* cd gpsd-gitlab
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* scons --config=force
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* scons
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* sudo scons install
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*
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* The problem we have here is that the library is put in /usr/local/lib and direwolf
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* can't find it there. Solution is to define environment variable:
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*
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* export LD_LIBRARY_PATH=/use/local/lib
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*
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* January 2023: Now using 64 bit Raspberry Pi OS, bullseye.
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* See https://gitlab.com/gpsd/gpsd/-/blob/master/build.adoc
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* Try to install in proper library place so we don't have to mess with LD_LIBRARY_PATH.
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*
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* (Remove any existing gpsd first so we are not mixing mismatched pieces.)
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*
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* sudo apt-get install libncurses5-dev
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* sudo apt-get install gtk+-3.0
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*
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* git clone https://gitlab.com/gpsd/gpsd.git gpsd-gitlab
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* cd gpsd-gitlab
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* scons prefix=/usr libdir=lib/aarch64-linux-gnu
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* [ scons check ]
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* sudo scons udev-install
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*
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*/
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int dwgpsd_init (struct misc_config_s *pconfig, int debug)
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{
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#if ENABLE_GPSD
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pthread_t read_gps_tid;
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int e;
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int err;
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int arg = 0;
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char sport[12];
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s_debug = debug;
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if (s_debug >= 2) {
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text_color_set(DW_COLOR_DEBUG);
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dw_printf ("dwgpsd_init()\n");
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}
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/*
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* Socket interface to gpsd.
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*/
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if (strlen(pconfig->gpsd_host) == 0) {
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/* Nothing to do. Leave initial fix value of error. */
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return (0);
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}
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snprintf (sport, sizeof(sport), "%d", pconfig->gpsd_port);
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err = gps_open (pconfig->gpsd_host, sport, &gpsdata);
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if (err != 0) {
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text_color_set(DW_COLOR_ERROR);
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dw_printf ("Unable to connect to GPSD stream at %s:%s.\n", pconfig->gpsd_host, sport);
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dw_printf ("%s\n", gps_errstr(errno));
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return (-1);
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}
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gps_stream(&gpsdata, WATCH_ENABLE | WATCH_JSON, NULL);
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e = pthread_create (&read_gps_tid, NULL, read_gpsd_thread, (void *)(ptrdiff_t)arg);
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if (e != 0) {
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text_color_set(DW_COLOR_ERROR);
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perror("Could not create GPS reader thread");
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return (-1);
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}
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/* success */
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return (1);
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#else /* end ENABLE_GPSD */
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// Shouldn't be here.
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text_color_set(DW_COLOR_ERROR);
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dw_printf ("GPSD interface not enabled in this version.\n");
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dw_printf ("See documentation on how to rebuild with ENABLE_GPSD.\n");
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return (-1);
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#endif
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} /* end dwgps_init */
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/*-------------------------------------------------------------------
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*
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* Name: read_gpsd_thread
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*
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* Purpose: Read information from GPSD, as it becomes available, and
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* store in memory shared with dwgps_read.
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*
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* Inputs: arg - not used
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*
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*--------------------------------------------------------------------*/
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#define TIMEOUT 15
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#if ENABLE_GPSD
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static void * read_gpsd_thread (void *arg)
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{
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dwgps_info_t info;
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if (s_debug >= 1) {
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text_color_set(DW_COLOR_DEBUG);
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dw_printf ("starting read_gpsd_thread (%d)\n", (int)(long)arg);
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}
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dwgps_clear (&info);
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info.fix = DWFIX_NOT_SEEN; /* clear not init state. */
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if (s_debug >= 2) {
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text_color_set(DW_COLOR_DEBUG);
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dwgps_print ("GPSD: ", &info);
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}
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dwgps_set_data (&info);
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while (1) {
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// Example code found here:
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// https://lists.nongnu.org/archive/html/gpsd-dev/2017-11/msg00001.html
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if ( ! gps_waiting(&gpsdata, TIMEOUT * 1000000)) {
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text_color_set(DW_COLOR_ERROR);
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dw_printf ("------------------------------------------\n");
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dw_printf ("dwgpsd: Timeout waiting for GPS data.\n");
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dw_printf ("Is GPSD daemon running?\n");
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dw_printf ("Troubleshooting tip: Try running cgps or xgps.\n");
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dw_printf ("------------------------------------------\n");
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info.fix = DWFIX_ERROR;
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SLEEP_MS(5000);
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continue;
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}
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// https://github.com/wb2osz/direwolf/issues/196
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// https://bugzilla.redhat.com/show_bug.cgi?id=1674812
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// gps_read has two new parameters in API version 7.
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// It looks like this could be used to obtain the JSON message from the daemon.
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// Specify NULL, instead of message buffer space, if this is not desired.
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// Why couldn't they add a new function instead of introducing incompatibility?
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#if GPSD_API_MAJOR_VERSION >= 7
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if (gps_read (&gpsdata, NULL, 0) == -1) {
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#else
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if (gps_read (&gpsdata) == -1) {
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#endif
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text_color_set(DW_COLOR_ERROR);
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dw_printf ("------------------------------------------\n");
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dw_printf ("GPSD: Lost communication with gpsd server.\n");
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dw_printf ("------------------------------------------\n");
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info.fix = DWFIX_ERROR;
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if (s_debug >= 2) {
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text_color_set(DW_COLOR_DEBUG);
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dwgps_print ("GPSD: ", &info);
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}
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dwgps_set_data (&info);
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break; // Jump out of loop and terminate thread.
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}
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#if GPSD_API_MAJOR_VERSION >= 9
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// The gps.h revision history says:
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// * mark altitude in gps_fix_t as deprecated and undefined
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// This seems really stupid to me.
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// If it is deprecated and undefined then take it out. Someone trying to use
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// it would get a compile error and know that something needs to be done.
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// Instead we all just go merrily on our way using a field that is [allegedly] undefined.
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// Why not simply add more variables with different definitions of altitude
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// and keep the original variable working as it always did?
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// If it is truly undefined, as the comment would have us believe, numerous
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// people will WASTE VAST AMOUNTS OF TIME pondering why altitude is now broken in
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// their applications.
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#define stupid_altitude altMSL
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#else
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#define stupid_altitude altitude
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#endif
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#if GPSD_API_MAJOR_VERSION >= 10
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// They did it again. Whimsical incompatibilities that cause
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// pain and aggravation for everyone trying to use this library.
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//
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// error: ‘struct gps_data_t’ has no member named ‘status’
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//
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// Yes, I can understand that it is a more logical place but it breaks
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// all existing code that uses this.
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// I'm really getting annoyed about wasting so much time on keeping up with all
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// of these incompatibilities that are completely unnecessary.
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#define stupid_status fix.status
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#else
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#define stupid_status status
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#endif
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if (s_debug >= 3) {
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text_color_set(DW_COLOR_DEBUG);
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dw_printf ("gpsdata: status=%d, mode=%d, lat=%.6f, lon=%.6f, track=%.1f, speed=%.1f, alt=%.0f\n",
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gpsdata.stupid_status, gpsdata.fix.mode,
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gpsdata.fix.latitude, gpsdata.fix.longitude,
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gpsdata.fix.track, gpsdata.fix.speed, gpsdata.fix.stupid_altitude);
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}
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// Inform user about change in fix status.
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switch (gpsdata.fix.mode) {
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default:
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case MODE_NOT_SEEN:
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case MODE_NO_FIX:
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if (info.fix <= DWFIX_NOT_SEEN) {
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text_color_set(DW_COLOR_INFO);
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dw_printf ("GPSD: No location fix.\n");
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}
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if (info.fix >= DWFIX_2D) {
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text_color_set(DW_COLOR_INFO);
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dw_printf ("GPSD: Lost location fix.\n");
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}
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info.fix = DWFIX_NO_FIX;
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break;
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case MODE_2D:
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if (info.fix != DWFIX_2D) {
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text_color_set(DW_COLOR_INFO);
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dw_printf ("GPSD: Location fix is now 2D.\n");
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}
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info.fix = DWFIX_2D;
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break;
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case MODE_3D:
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if (info.fix != DWFIX_3D) {
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text_color_set(DW_COLOR_INFO);
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dw_printf ("GPSD: Location fix is now 3D.\n");
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}
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info.fix = DWFIX_3D;
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break;
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}
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// Oct. 2020 - 'status' is always zero for latest version of libgps so we can't use that anymore.
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if (/*gpsdata.stupid_status >= STATUS_FIX &&*/ gpsdata.fix.mode >= MODE_2D) {
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#define GOOD(x) (isfinite(x) && ! isnan(x))
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info.dlat = GOOD(gpsdata.fix.latitude) ? gpsdata.fix.latitude : G_UNKNOWN;
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info.dlon = GOOD(gpsdata.fix.longitude) ? gpsdata.fix.longitude : G_UNKNOWN;
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// When stationary, track is NaN which is not finite.
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info.track = GOOD(gpsdata.fix.track) ? gpsdata.fix.track : G_UNKNOWN;
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info.speed_knots = GOOD(gpsdata.fix.speed) ? (MPS_TO_KNOTS * gpsdata.fix.speed) : G_UNKNOWN;
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if (gpsdata.fix.mode >= MODE_3D) {
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info.altitude = GOOD(gpsdata.fix.stupid_altitude) ? gpsdata.fix.stupid_altitude : G_UNKNOWN;
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}
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// Otherwise keep last known altitude when we downgrade from 3D to 2D fix.
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// Caller knows altitude is outdated if info.fix == DWFIX_2D.
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}
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// Otherwise keep the last known location which is better than totally lost.
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// Caller knows location is outdated if info.fix == DWFIX_NO_FIX.
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info.timestamp = time(NULL);
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if (s_debug >= 2) {
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text_color_set(DW_COLOR_DEBUG);
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dwgps_print ("GPSD: ", &info);
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}
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dwgps_set_data (&info);
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}
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return(0); // Terminate thread on serious error.
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} /* end read_gpsd_thread */
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#endif
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/*-------------------------------------------------------------------
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*
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* Name: dwgpsd_term
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*
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* Purpose: Shut down GPS interface before exiting from application.
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*
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* Inputs: none.
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*
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* Returns: none.
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*
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*--------------------------------------------------------------------*/
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void dwgpsd_term (void) {
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#if ENABLE_GPSD
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gps_stream (&gpsdata, WATCH_DISABLE, NULL);
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gps_close (&gpsdata);
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#endif
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} /* end dwgpsd_term */
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/*-------------------------------------------------------------------
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*
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* Name: main
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*
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* Purpose: Simple unit test for other functions in this file.
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*
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* Description: Compile with -DGPSTEST option.
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*
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* gcc -DGPSTEST -DENABLE_GPSD dwgpsd.c dwgps.c textcolor.o latlong.o misc.a -lm -lpthread -lgps
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* ./a.out
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*
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*--------------------------------------------------------------------*/
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#if GPSTEST
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int dwgpsnmea_init (struct misc_config_s *pconfig, int debug)
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{
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return (0);
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}
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void dwgpsnmea_term (void)
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{
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return;
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}
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int main (int argc, char *argv[])
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{
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struct misc_config_s config;
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dwgps_info_t info;
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memset (&config, 0, sizeof(config));
|
||
strlcpy (config.gpsd_host, "localhost", sizeof(config.gpsd_host));
|
||
config.gpsd_port = atoi(DEFAULT_GPSD_PORT);
|
||
|
||
dwgps_init (&config, 3);
|
||
|
||
while (1) {
|
||
dwfix_t fix;
|
||
|
||
fix = dwgps_read (&info)
|
||
;
|
||
text_color_set (DW_COLOR_INFO);
|
||
switch (fix) {
|
||
case DWFIX_2D:
|
||
case DWFIX_3D:
|
||
dw_printf ("%.6f %.6f", info.dlat, info.dlon);
|
||
dw_printf (" %.1f knots %.0f degrees", info.speed_knots, info.track);
|
||
if (fix==3) dw_printf (" altitude = %.1f meters", info.altitude);
|
||
dw_printf ("\n");
|
||
break;
|
||
case DWFIX_NOT_SEEN:
|
||
case DWFIX_NO_FIX:
|
||
dw_printf ("Location currently not available.\n");
|
||
break;
|
||
case DWFIX_NOT_INIT:
|
||
dw_printf ("GPS Init failed.\n");
|
||
exit (1);
|
||
case DWFIX_ERROR:
|
||
default:
|
||
dw_printf ("ERROR getting GPS information.\n");
|
||
break;
|
||
}
|
||
SLEEP_SEC (3);
|
||
}
|
||
|
||
} /* end main */
|
||
|
||
|
||
#endif
|
||
|
||
|
||
|
||
/* end dwgpsd.c */
|
||
|
||
|
||
|