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/*
Copyright (C) 2012 Intel Corporation
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library 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
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
*/
#include "gpsdplugin.h"
#include "timestamp.h"
#include <iostream>
#include <boost/assert.hpp>
using namespace std;
#include "debugout.h"
static int updateGpsposition(gpointer data)
{
GpsdPlugin::Shared* shared = static_cast<GpsdPlugin::Shared*>(data);
#if (GPSD_API_MAJOR_VERSION >= 5)
if (!gps_waiting (&shared->gps, 0))
{
return 1;
}
if(gps_read(&shared->gps) == -1)
{
DebugOut(0)<<"failed to read gps data from gpsd."<<endl;
return 1;
}
#else
gps_poll(&gps);
#endif
double time = amb::currentTime();
if(shared->gps.fix.mode > 2)
{
if(shared->gps.fix.latitude != shared->oldlat)
shared->oldlat = shared->gps.fix.latitude;
if(shared->gps.fix.longitude != shared->oldlon)
shared->oldlon = shared->gps.fix.longitude;
if(shared->gps.fix.altitude != shared->oldalt)
shared->oldalt = shared->gps.fix.altitude;
if(shared->gps.fix.track != shared->oldheading)
shared->oldheading = shared->gps.fix.track;
if(shared->gps.fix.speed * MPS_TO_KPH != shared->oldspeed)
{
shared->oldspeed = shared->gps.fix.speed * MPS_TO_KPH;
}
shared->parent->updateProperty();
}
return 1;
}
GpsdPlugin::GpsdPlugin(AbstractRoutingEngine* re, map<string, string> config)
:AbstractSource(re, config)
{
shared = new Shared(this);
#if(GPSD_API_MAJOR_VERSION >= 5)
int ret = gps_open("localhost","2947", &shared->gps);
if(ret != 0)
{
debugOut("failed to open gps");
DebugOut()<<"return value: "<<ret<<endl;
(void)fprintf(stderr,"no gpsd running or network error: %d, %s\n",
errno, gps_errstr(errno));
return;
}
#else
shared->gps = *(gps_open("localhost","2947"));
#endif
gps_stream(&shared->gps, WATCH_ENABLE | WATCH_JSON, NULL);
int timeout=200;
if(config.find("timeout") != config.end())
{
timeout = atoi(config["timeout"].c_str());
}
updateVelocity = false;
if(config.find("updateVelocity") != config.end())
{
updateVelocity = config["updateVelocity"] == "true";
}
g_timeout_add(timeout,updateGpsposition,shared);
re->setSupported(supported(), this);
}
GpsdPlugin::~GpsdPlugin()
{
(void) gps_stream(&shared->gps, WATCH_DISABLE, NULL);
gps_close(&shared->gps);
}
extern "C" AbstractSource * create(AbstractRoutingEngine* routingengine, map<string, string> config)
{
return new GpsdPlugin(routingengine, config);
}
string GpsdPlugin::uuid()
{
return "326011dd-65cd-4be6-a75e-3e8d46a05b5e";
}
void GpsdPlugin::getPropertyAsync(AsyncPropertyReply *reply)
{
/*if(reply->property == VehicleProperty::ExteriorBrightness)
{
replyQueue.push_back(reply);
}*/
// else ///We don't support what you are asking for. Reply false
{
reply->value = NULL;
reply->success = false;
reply->completed(reply);
}
}
void GpsdPlugin::getRangePropertyAsync(AsyncRangePropertyReply *reply)
{
throw std::runtime_error("GpsdPlugin does not support this operation. We should never hit this method.");
}
AsyncPropertyReply *GpsdPlugin::setProperty(AsyncSetPropertyRequest request )
{
throw std::runtime_error("GpsdPlugin does not support this operation. We should never hit this method.");
}
void GpsdPlugin::subscribeToPropertyChanges(VehicleProperty::Property property)
{
//mRequests.push_back(property);
}
void GpsdPlugin::unsubscribeToPropertyChanges(VehicleProperty::Property property)
{
//mRequests.remove(property);
}
PropertyList GpsdPlugin::supported()
{
PropertyList props;
props.push_back(VehicleProperty::Latitude);
props.push_back(VehicleProperty::Longitude);
props.push_back(VehicleProperty::Altitude);
props.push_back(VehicleProperty::Direction);
if(updateVelocity)
props.push_back(VehicleProperty::VehicleSpeed);
return props;
}
int GpsdPlugin::supportedOperations()
{
return Get;
}
void GpsdPlugin::updateProperty()
{
VehicleProperty::LatitudeType lat(shared->oldlat);
routingEngine->updateProperty(VehicleProperty::Latitude,&lat, uuid());
VehicleProperty::LongitudeType lon(shared->oldlon);
routingEngine->updateProperty(VehicleProperty::Longitude, &lon, uuid());
VehicleProperty::AltitudeType alt(shared->oldalt);
routingEngine->updateProperty(VehicleProperty::Altitude, &alt, uuid());
VehicleProperty::DirectionType heading(shared->oldheading);
routingEngine->updateProperty(VehicleProperty::Direction, &heading, uuid());
if(updateVelocity)
{
VehicleProperty::VehicleSpeedType speed(shared->oldspeed);
routingEngine->updateProperty(VehicleProperty::VehicleSpeed, &speed, uuid());
}
}
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