Change return ttype of gpsd_write to be what the Garmin driver was expecting;

it actually makes more sense this way.  (Fixes what may have been a 
subtle bug.)

9 files changed, 70 insertions, 62 deletions

diff --git a/evermore.c b/evermore.c
index 0d5800a8..e74a02e7 100644
--- a/evermore.c
+++ b/evermore.c
@@ -176,7 +176,7 @@ static bool evermore_write(struct gps_device_t *session, unsigned char *msg, siz
    gpsd_report(LOG_IO, "writing EverMore control type 0x%02x: %s\n", msg[0], 
 	       gpsd_hexdump(stuffed, len));
 #ifdef ALLOW_RECONFIGURE
-   return gpsd_write(session, stuffed, len);
+   return (gpsd_write(session, stuffed, len) == len);
 #else
    return 0;
 #endif /* ALLOW_RECONFIGURE */
diff --git a/gps.h b/gps.h
index 354db889..d0f42f6b 100644
--- a/gps.h
+++ b/gps.h
@@ -221,7 +221,6 @@ struct gps_data_t {
 				 */
 
     struct gps_fix_t	fix;		/* accumulated PVT data */
-    struct gps_fix_t	oldfix;		/* previous fix for error modelling */
 
     double separation;		/* Geoidal separation, MSL - WGS84 (Meters) */
 
diff --git a/gpsd.c b/gpsd.c
index fdaed105..6e778ea5 100644
--- a/gpsd.c
+++ b/gpsd.c
@@ -914,16 +914,16 @@ static int handle_gpsd_request(struct subscriber_t* sub, char *buf, int buflen)
 				   sub->fixbuffer.altitude);
 		else
 		    (void)strlcat(phrase, " ?", BUFSIZ);
-		if (isnan(sub->device->gpsdata.fix.eph)==0)
+		if (isnan(sub->fixbuffer.eph)==0)
 		    (void)snprintf(phrase+strlen(phrase), 
 				   sizeof(phrase)-strlen(phrase),
-				  " %.2f",  sub->device->gpsdata.fix.eph);
+				  " %.2f",  sub->fixbuffer.eph);
 		else
 		    (void)strlcat(phrase, " ?", BUFSIZ);
-		if (isnan(sub->device->gpsdata.fix.epv)==0)
+		if (isnan(sub->fixbuffer.epv)==0)
 		    (void)snprintf(phrase+strlen(phrase), 
 				   sizeof(phrase)-strlen(phrase),
-				   " %.2f",  sub->device->gpsdata.fix.epv);
+				   " %.2f",  sub->fixbuffer.epv);
 		else
 		    (void)strlcat(phrase, " ?", BUFSIZ);
 		if (isnan(sub->fixbuffer.track)==0)
@@ -941,23 +941,23 @@ static int handle_gpsd_request(struct subscriber_t* sub, char *buf, int buflen)
 				   sub->fixbuffer.climb);
 		else
 		    (void)strlcat(phrase, " ?", BUFSIZ);
-		if (isnan(sub->device->gpsdata.fix.epd)==0)
+		if (isnan(sub->fixbuffer.epd)==0)
 		    (void)snprintf(phrase+strlen(phrase), 
 				   sizeof(phrase)-strlen(phrase),
 				   " %.4f",
-				   sub->device->gpsdata.fix.epd);
+				   sub->fixbuffer.epd);
 		else
 		    (void)strlcat(phrase, " ?", BUFSIZ);
-		if (isnan(sub->device->gpsdata.fix.eps)==0)
+		if (isnan(sub->fixbuffer.eps)==0)
 		    (void)snprintf(phrase+strlen(phrase),
 			     sizeof(phrase)-strlen(phrase),
-			     " %.2f", sub->device->gpsdata.fix.eps);		    
+			     " %.2f", sub->fixbuffer.eps);		    
 		else
 		    (void)strlcat(phrase, " ?", BUFSIZ);
-		if (isnan(sub->device->gpsdata.fix.epc)==0)
+		if (isnan(sub->fixbuffer.epc)==0)
 		    (void)snprintf(phrase+strlen(phrase),
 			     sizeof(phrase)-strlen(phrase),
-			     " %.2f", sub->device->gpsdata.fix.epc);		    
+			     " %.2f", sub->fixbuffer.epc);		    
 		else
 		    (void)strlcat(phrase, " ?", BUFSIZ);
 		if (sub->fixbuffer.mode > 0)
@@ -1676,6 +1676,8 @@ int main(int argc, char *argv[])
 			    gps_merge_fix(&sub->fixbuffer, 
 					  changed,
 					  &sub->device->gpsdata.fix);
+			    gpsd_error_model(sub->device, 
+					     &sub->fixbuffer, &sub->oldfix);
 			}
 		    }
 		}
diff --git a/gpsd.h-tail b/gpsd.h-tail
index 22a8f531..83317c42 100644
--- a/gpsd.h-tail
+++ b/gpsd.h-tail
@@ -363,7 +363,7 @@ extern void ntrip_report(struct gps_device_t *);
 extern void gpsd_tty_init(struct gps_device_t *);
 extern int gpsd_open(struct gps_device_t *);
 extern bool gpsd_set_raw(struct gps_device_t *);
-extern bool gpsd_write(struct gps_device_t *, void const *, size_t);
+extern ssize_t gpsd_write(struct gps_device_t *, void const *, size_t);
 extern bool gpsd_next_hunt_setting(struct gps_device_t *);
 extern int gpsd_switch_driver(struct gps_device_t *, char *);
 extern void gpsd_set_speed(struct gps_device_t *, speed_t, unsigned char, unsigned int);
diff --git a/libgpsd_core.c b/libgpsd_core.c
index b776bb49..89d41265 100644
--- a/libgpsd_core.c
+++ b/libgpsd_core.c
@@ -76,7 +76,6 @@ void gpsd_init(struct gps_device_t *session, struct gps_context_t *context, char
     /*@ +mayaliasunique @*/
     /*@ +mustfreeonly @*/
     gps_clear_fix(&session->gpsdata.fix);
-    gps_clear_fix(&session->gpsdata.oldfix);
     session->gpsdata.set &=~ (FIX_SET | DOP_SET);
     session->gpsdata.hdop = NAN;
     session->gpsdata.vdop = NAN;
@@ -513,8 +512,9 @@ static void gpsd_binary_dump(struct gps_device_t *session,
 #endif /* BINARY_ENABLE */
 
 
-void gpsd_error_model_fixup(struct gps_device_t *session)
-/* compute missing errors and derived quantities */
+void gpsd_error_model(struct gps_device_t *session, 
+		      struct gps_fix_t *fix, struct gps_fix_t *oldfix)
+/* compute errors and derived quantities */
 {
     /*
      * Now we compute derived quantities.  This is where the tricky error-
@@ -534,37 +534,42 @@ void gpsd_error_model_fixup(struct gps_device_t *session)
      * the GPS clock, so we put the bound of the error
      * in as a constant pending getting it from each driver.
      */
-    if (isnan(session->gpsdata.fix.ept))
-	session->gpsdata.fix.ept = 0.005;
-
+    if (isnan(fix->ept)!=0)
+	fix->ept = 0.005;
     /* Other error computations depend on having a valid fix */
-    if (session->gpsdata.fix.mode >= MODE_2D) {
-	if (isnan(session->gpsdata.fix.eph) && finite(session->gpsdata.hdop))
-	    session->gpsdata.fix.eph = session->gpsdata.hdop * uere;
-	if ((session->gpsdata.fix.mode >= MODE_3D) 
-	    	&& isnan(session->gpsdata.fix.epv) && finite(session->gpsdata.vdop))
-	    session->gpsdata.fix.epv = session->gpsdata.vdop * uere;
-	if (isnan(session->gpsdata.epe) && finite(session->gpsdata.vdop))
+    if (fix->mode >= MODE_2D) {
+	if (isnan(fix->eph)!=0 && finite(session->gpsdata.hdop)!=0)
+	    fix->eph = session->gpsdata.hdop * uere;
+	else
+	    fix->eph = NAN;
+	if ((fix->mode >= MODE_3D) 
+	    	&& isnan(fix->epv)!=0 && finite(session->gpsdata.vdop)!=0)
+	    fix->epv = session->gpsdata.vdop * uere;
+	else
+	    fix->epv = NAN;
+	if (isnan(session->gpsdata.epe)!=0 && finite(session->gpsdata.vdop)!=0)
 	    session->gpsdata.epe = session->gpsdata.pdop * uere;
+	else
+	    session->gpsdata.epe = NAN;
 	/*
 	 * If we have a current fix and an old fix, and the packet handler 
 	 * didn't set the speed error and climb error members itself, 
 	 * try to compute them now.
 	 */
-	if (isnan(session->gpsdata.fix.eps) && session->gpsdata.fix.time > session->gpsdata.oldfix.time) {
-	    if (session->gpsdata.oldfix.mode > MODE_NO_FIX && session->gpsdata.fix.mode > MODE_NO_FIX) {
-		double t = session->gpsdata.fix.time-session->gpsdata.oldfix.time;
-		double e = session->gpsdata.oldfix.eph + session->gpsdata.fix.eph;
-		session->gpsdata.fix.eps = e/t;
+	if (isnan(fix->eps)!=0 && fix->time > oldfix->time) {
+	    if (oldfix->mode > MODE_NO_FIX && fix->mode > MODE_NO_FIX) {
+		double t = fix->time-oldfix->time;
+		double e = oldfix->eph + fix->eph;
+		fix->eps = e/t;
 	    }
 	}
-	if ((session->gpsdata.fix.mode >= MODE_3D) 
-	    	&& isnan(session->gpsdata.fix.epc) && session->gpsdata.fix.time > session->gpsdata.oldfix.time) {
-	    if (session->gpsdata.oldfix.mode >= MODE_3D && session->gpsdata.fix.mode >= MODE_3D) {
-		double t = session->gpsdata.fix.time-session->gpsdata.oldfix.time;
-		double e = session->gpsdata.oldfix.epv + session->gpsdata.fix.epv;
+	if ((fix->mode >= MODE_3D) 
+	    	&& isnan(fix->epc)!=0 && fix->time > oldfix->time) {
+	    if (oldfix->mode > MODE_3D && fix->mode > MODE_3D) {
+		double t = fix->time-oldfix->time;
+		double e = oldfix->epv + fix->epv;
 		/* if vertical uncertainties are zero this will be too */
-		session->gpsdata.fix.epc = e/t;
+		fix->epc = e/t;
 	    }
 	    /*
 	     * We compute a track error estinate solely from the
@@ -582,26 +587,24 @@ void gpsd_error_model_fixup(struct gps_device_t *session)
 	     * garbage, throw back NaN if the distance from the previous
 	     * fix is less than the error estimate.
 	     */
-	    if (isnan(session->gpsdata.fix.epd)) {
-                if (session->gpsdata.oldfix.mode >= MODE_2D) {
-                    double adj = earth_distance(
-                        session->gpsdata.oldfix.latitude, session->gpsdata.oldfix.longitude, 
-                        session->gpsdata.fix.latitude, session->gpsdata.fix.longitude);
-                    if (isnan(adj)==0 && adj > session->gpsdata.fix.eph) {
-                        double opp = session->gpsdata.fix.eph;
-                        double hyp = sqrt(adj*adj + opp*opp);
-                        session->gpsdata.fix.epd = RAD_2_DEG * 2 * asin(opp / hyp);
-                    }
-                }
+	    fix->epd = NAN;
+	    if (oldfix->mode >= MODE_2D) {
+		double adj = earth_distance(
+		    oldfix->latitude, oldfix->longitude, 
+		    fix->latitude, fix->longitude);
+		if (isnan(adj)==0 && adj > fix->eph) {
+		    double opp = fix->eph;
+		    double hyp = sqrt(adj*adj + opp*opp);
+		    fix->epd = RAD_2_DEG * 2 * asin(opp / hyp);
+		}
 	    }
 	}
     }
 
-    session->gpsdata.set |= ERR_SET | SPEEDERR_SET | TRACKERR_SET | CLIMBERR_SET ;
     /* save old fix for later error computations */
     /*@ -mayaliasunique @*/
-    if (session->gpsdata.fix.mode >= MODE_2D)
-	(void)memcpy(&(session->gpsdata.oldfix), &(session->gpsdata.fix), sizeof(struct gps_fix_t));
+    if (fix->mode >= MODE_2D)
+	(void)memcpy(oldfix, fix, sizeof(struct gps_fix_t));
     /*@ +mayaliasunique @*/
 }
 
@@ -718,10 +721,8 @@ gps_mask_t gpsd_poll(struct gps_device_t *session)
 	/* Get data from current packet into the fix structure */
 	received = 0;
 	if (session->packet.type != COMMENT_PACKET)
-	    if (session->device_type != NULL && session->device_type->parse_packet!=NULL) {
+	    if (session->device_type != NULL && session->device_type->parse_packet!=NULL)
 		received = session->device_type->parse_packet(session);
-		gpsd_error_model_fixup(session);
-	    }
 
 	/*
 	 * Compute fix-quality data from the satellite positions.
diff --git a/navcom.c b/navcom.c
index c067559b..dcaf6075 100644
--- a/navcom.c
+++ b/navcom.c
@@ -94,7 +94,7 @@ static u_int8_t checksum(unsigned char *buf, size_t len)
 static bool navcom_send_cmd(struct gps_device_t *session, unsigned char *cmd, size_t len)
 {
     gpsd_report(LOG_RAW, "Navcom: command dump: %s\n", gpsd_hexdump(cmd, len));
-    return gpsd_write(session, cmd, len);
+    return (gpsd_write(session, cmd, len) == (ssize_t)len);
 }
 
 /* Data Request */
@@ -194,6 +194,7 @@ static void navcom_probe_subtype(struct gps_device_t *session, unsigned int seq)
 {
     /* Request the following messages: */
     if (seq==0) {
+	/*@ +charint @*/
         navcom_cmd_0x1c(session, 0x01, 5);      /* Blink LEDs on receiver */
         navcom_cmd_0x20(session, 0xae, 0x1770); /* Identification Block - send every 10 min*/
         navcom_cmd_0x20(session, 0xb1, 0x4000); /* PVT Block */
@@ -204,6 +205,7 @@ static void navcom_probe_subtype(struct gps_device_t *session, unsigned int seq)
         navcom_cmd_0x20(session, 0x86, 0x4000); /* Channel Status */
         navcom_cmd_0x20(session, 0x83, 0x4000); /* Ionosphere and UTC Data */
         navcom_cmd_0x20(session, 0xef, 0x0bb8); /* Clock Drift - send every 5 min */
+	/*@ -charint @*/
     }
 }
 
@@ -223,6 +225,7 @@ static bool navcom_speed(struct gps_device_t *session, unsigned int speed)
         /* We still don't know which port we're connected to */
         return false;
     }
+    /*@ +charint @*/
     switch (speed) {
         /* NOTE - The spec says that certain baud combinations
                   on ports A and B are not allowed, those are
@@ -256,6 +259,7 @@ static bool navcom_speed(struct gps_device_t *session, unsigned int speed)
             /* Unsupported speed */
             return false;
     }
+    /*@ -charint @*/
     
     /* Proceed to construct our message */
     port_selection = physical_port | baud;
diff --git a/netlib.c b/netlib.c
index e0ba59a0..1b165256 100644
--- a/netlib.c
+++ b/netlib.c
@@ -65,7 +65,9 @@ int netlib_connectsock(const char *host, const char *service, const char *protoc
 
 #ifdef IPTOS_LOWDELAY
     opt = IPTOS_LOWDELAY;
+    /*@ -unrecog @*/
     (void)setsockopt(s, IPPROTO_IP, IP_TOS, &opt, sizeof opt);
+    /*@ +unrecog @*/
 #endif
 #ifdef TCP_NODELAY
     if (type == SOCK_STREAM)
diff --git a/serial.c b/serial.c
index eb876752..a1806206 100644
--- a/serial.c
+++ b/serial.c
@@ -201,16 +201,16 @@ void gpsd_set_speed(struct gps_device_t *session,
 int gpsd_open(struct gps_device_t *session)
 {
     struct stat sb;
-    mode_t mode = O_RDWR;
+    mode_t mode = (mode_t)O_RDWR;
 
     if (device_readonly || ((stat(session->gpsdata.gps_device, &sb) != -1) && ((sb.st_mode & S_IFCHR) != S_IFCHR))){
-	mode = O_RDONLY;
+	mode = (mode_t)O_RDONLY;
 	gpsd_report(LOG_INF, "opening read-only GPS data source at '%s'\n", session->gpsdata.gps_device);
     } else {
 	gpsd_report(LOG_INF, "opening GPS data source at '%s'\n", session->gpsdata.gps_device);
     }
 
-    if ((session->gpsdata.gps_fd = open(session->gpsdata.gps_device, mode|O_NONBLOCK|O_NOCTTY)) < 0) {
+    if ((session->gpsdata.gps_fd = open(session->gpsdata.gps_device, (int)(mode|O_NONBLOCK|O_NOCTTY))) < 0) {
 	gpsd_report(LOG_ERROR, "device open failed: %s - retrying read-only\n", strerror(errno));
 	if ((session->gpsdata.gps_fd = open(session->gpsdata.gps_device, O_RDONLY|O_NONBLOCK|O_NOCTTY)) < 0) {
 	    gpsd_report(LOG_ERROR, "read-only device open failed: %s\n", strerror(errno));
@@ -260,7 +260,7 @@ int gpsd_open(struct gps_device_t *session)
     return session->gpsdata.gps_fd;
 }
 
-bool gpsd_write(struct gps_device_t *session, void const *buf, size_t len)
+ssize_t gpsd_write(struct gps_device_t *session, void const *buf, size_t len)
 {
      ssize_t status;
      bool ok;
@@ -271,7 +271,7 @@ bool gpsd_write(struct gps_device_t *session, void const *buf, size_t len)
      (void)tcdrain(session->gpsdata.gps_fd);
      /* no test here now, always print as hex */
      gpsd_report(LOG_IO, "=> GPS: %s%s\n", gpsd_hexdump(buf, len), ok?"":" FAILED");
-     return ok;
+     return status;
 }
 
 /*
diff --git a/ubx.c b/ubx.c
index 01bd5726..533f5e66 100644
--- a/ubx.c
+++ b/ubx.c
@@ -45,9 +45,9 @@ ubx_msg_nav_sol(struct gps_device_t *session, unsigned char *buf, size_t data_le
 
     flags = getub(buf, 11);
     mask =  ONLINE_SET;
-    if (flags & (UBX_SOL_VALID_WEEK |UBX_SOL_VALID_TIME)){
+    if ((flags & (UBX_SOL_VALID_WEEK |UBX_SOL_VALID_TIME)) != 0){
 	tow = getul(buf, 0);
-	gw = getsw(buf, 8);
+	gw = (unsigned short)getsw(buf, 8);
 	gps_week = gw;
 
 	t = gpstime_to_unix(gps_week, tow/1000.0) - session->context->leap_seconds;