Code now consistently uses timestamp objects; the old cflags are gone.

8 files changed, 57 insertions, 54 deletions

diff --git a/README b/README
index 5c9e319d..bfbc4a75 100644
--- a/README
+++ b/README
@@ -99,6 +99,9 @@ New features include:
    * New y and z commands support signal-status reporting and satellite
      location -- it should no longer ever be necessary for clients to go to
      raw mode unless they want to monitor and log the GPS stream.
+   * New 'w' command toggles 'watcher' mode. In watcher mode gpsd ships
+     a gpsd-style response for each incoming sentence as if the client
+     had just sent all commands that asked for data contained in the sentence.
    * Massive refactoring -- one main loop now calls a self-contained
      driver object for each type.
    * The GPS-bashing code this program uses can now be directly linked as a
diff --git a/display.c b/display.c
index d2a2580b..4d31442a 100644
--- a/display.c
+++ b/display.c
@@ -112,7 +112,7 @@ int get_status(int satellite)
     int i;
     int s;
 
-    if (session.gNMEAdata.cmask & C_ZCH) {
+    if (SEEN(session.gNMEAdata.signal_quality_stamp)) {
 	for (i = 0; i < 12; i++)
 	    if (satellite == session.gNMEAdata.Zs[i])
 		return session.gNMEAdata.Zv[i];
@@ -138,7 +138,7 @@ void draw_graphics()
     double x, y;
     char buf[20];
 
-    if (session.gNMEAdata.cmask & (C_SAT | C_ZCH)) {
+    if (SEEN(session.gNMEAdata.satellite_stamp) || SEEN(session.gNMEAdata.signal_quality_stamp)) {
 
 	i = min(width, height);
 
diff --git a/em.c b/em.c
index 15c75527..5ca8d0f1 100644
--- a/em.c
+++ b/em.c
@@ -271,9 +271,7 @@ static void handle1000(struct gpsd_t *session, unsigned short *p)
 	session->gNMEAdata.mode = 1;
     }
     REFRESH(session->gNMEAdata.status_stamp);
-    session->gNMEAdata.cmask |= C_STATUS;
     REFRESH(session->gNMEAdata.mode_stamp);
-    session->gNMEAdata.cmask |= C_MODE;
 
     session->gNMEAdata.separation = p[O(33)] / 100;	/* meters */
 }
@@ -305,7 +303,7 @@ static void handle1002(struct gpsd_t *session, unsigned short *p)
 	    break;
 	}
     }
-    session->gNMEAdata.cmask |= C_ZCH;
+    REFRESH(session->gNMEAdata.signal_quality_stamp);
 }
 
 static void handle1003(struct gpsd_t *session, unsigned short *p)
diff --git a/gps.c b/gps.c
index dfa4a0ae..d79eeb24 100644
--- a/gps.c
+++ b/gps.c
@@ -319,7 +319,7 @@ void update_display(char *message)
     XmTextFieldSetString(status, message);
 
     /* This is for the satellite status display */
-    if (session.gNMEAdata.cmask & C_SAT) {
+    if (SEEN(session.gNMEAdata.satellite_stamp)) {
 	for (i = 0; i < 12; i++) {
 	    if (i < session.gNMEAdata.in_view) {
 		sprintf(s, "%2d %02d %03d %02d", session.gNMEAdata.PRN[i],
@@ -333,7 +333,7 @@ void update_display(char *message)
 	for (i = 0; i < 12; i++)
 	    XmStringFree(string[i]);
     }
-    if (session.gNMEAdata.cmask & C_ZCH) {
+    if (SEEN(session.gNMEAdata.signal_quality_stamp)) {
 	for (i = 0; i < 12; i++) {
 	    sprintf(s, "%2d %02x", session.gNMEAdata.Zs[i], session.gNMEAdata.Zv[i]);
 	    string[i] = XmStringCreateSimple(s);
@@ -366,7 +366,6 @@ void update_display(char *message)
     XmTextFieldSetString(text_5, s);
 
     draw_graphics();
-    session.gNMEAdata.cmask = 0;
 }
 
 /**************************************************
diff --git a/gpsd.c b/gpsd.c
index 9a2cdc6b..f488c15c 100644
--- a/gpsd.c
+++ b/gpsd.c
@@ -310,14 +310,14 @@ static int handle_request(int fd, char *buf, int buflen)
 	case 'Y':
 	case 'y':
 	    sc = 0;
-	    if (session.gNMEAdata.cmask & C_SAT)
+	    if (SEEN(session.gNMEAdata.satellite_stamp))
 		for (i = 0; i < MAXCHANNELS; i++)
 		    if (session.gNMEAdata.PRN[i])
 			sc++;
 	    sprintf(reply + strlen(reply),
 		    ",Y=%d ", sc);
-	    for (i = 0; i < MAXCHANNELS; i++)
-		if (session.gNMEAdata.cmask & C_SAT)
+	    if (SEEN(session.gNMEAdata.satellite_stamp))
+		for (i = 0; i < MAXCHANNELS; i++)
 		    if (session.gNMEAdata.PRN[i])
 			sprintf(reply + strlen(reply),"%d %2d %2d ", 
 				session.gNMEAdata.PRN[i], 
@@ -327,13 +327,13 @@ static int handle_request(int fd, char *buf, int buflen)
 	case 'Z':
 	case 'z':
 	    sc = 0;
-	    if (session.gNMEAdata.cmask & C_SAT)
+	    if (SEEN(session.gNMEAdata.satellite_stamp))
 	    {
 		for (i = 0; i < MAXCHANNELS; i++)
 		    if (session.gNMEAdata.PRN[i])
 			sc++;
 	    }
-	    else if (session.gNMEAdata.cmask & C_ZCH)
+	    else if (SEEN(session.gNMEAdata.signal_quality_stamp))
 	    {
 		for (i = 0; i < MAXCHANNELS; i++)
 		    if (session.gNMEAdata.Zs[i])
@@ -342,14 +342,14 @@ static int handle_request(int fd, char *buf, int buflen)
 	    sprintf(reply + strlen(reply),
 		    ",Z=%d ", sc);
 	    for (i = 0; i < MAXCHANNELS; i++)
-		if (session.gNMEAdata.cmask & C_SAT)
+		if (SEEN(session.gNMEAdata.satellite_stamp))
 		{
 		    if (session.gNMEAdata.PRN[i])
 			sprintf(reply + strlen(reply),"%d %02d ", 
 				session.gNMEAdata.PRN[i], 
 				session.gNMEAdata.ss[i]);
 		}
-	    	else
+	    	else if (SEEN(session.gNMEAdata.signal_quality_stamp))
 		{
 		    if (session.gNMEAdata.Zs[i])
 			sprintf(reply + strlen(reply),"%d %02d ", 
@@ -392,6 +392,7 @@ static void raw_hook(char *sentence)
 	    /* some listeners may be in push mode */
 	    int ok = 1;
 
+	    ++sentence;
 #define PUBLISH(fd, cmds)	handle_request(fd, cmds, sizeof(cmds)-1)
 	    if (strncmp(GPRMC, sentence, 5) == 0) {
 		ok = PUBLISH(fd, "pvs");
diff --git a/gpsd.h b/gpsd.h
index f7b46be2..1deb9ffc 100644
--- a/gpsd.h
+++ b/gpsd.h
@@ -3,12 +3,6 @@
 #include <sys/types.h>
 #include <time.h>
 
-#define C_LATLON	1
-#define C_SAT		2
-#define C_ZCH		4
-#define C_STATUS	8
-#define C_MODE		16
-
 #define MAXCHANNELS	12
 
 struct life_t
@@ -20,10 +14,10 @@ struct life_t
 #define INIT(stamp, now, tl)	stamp.time_to_live=tl; stamp.last_refresh=now
 #define REFRESH(stamp)	stamp.last_refresh = time(NULL)
 #define FRESH(stamp, t) stamp.last_refresh + stamp.time_to_live >= t
+#define CHANGED(stamp, now) stamp.last_refresh == now
+#define SEEN(stamp) stamp.last_refresh != 0
 
 struct OUTDATA {
-    long cmask;			/* Change flag, set by backend. Reset by app. */
-
     char utc[20];		/* UTC date/time as "mm/dd/yy hh:mm:ss" */
     time_t ts_utc;		/* UTC last updated time stamp */
 
@@ -38,25 +32,26 @@ struct OUTDATA {
 
     /* velocity */
     double speed;		/* Speed over ground, knots */
-    struct life_t speed_stamp;
     double mag_var;		/* magnetic variation in degrees */
     double course;		/* course made good */
+    struct life_t speed_stamp;
 
     /* status and precision of fix */
     int    status;
 #define STATUS_NO_FIX	0
 #define STATUS_FIX	1
 #define STATUS_DGPS_FIX	2
+    struct life_t status_stamp;
     int    mode;
 #define MODE_NO_FIX	1
 #define MODE_2D  	2
 #define MODE_3D  	3
     struct life_t mode_stamp;
-    struct life_t status_stamp;
     double pdop;		/* Position dilution of precision, meters */
     double hdop;		/* Horizontal dilution of precision, meters */
     double vdop;		/* Vertical dilution of precision, meters */
     double separation;		/* geoidal separation */
+    struct life_t fix_quality_stamp;
 
     /* satellite status */
     int in_view;		/* # of satellites in view */
@@ -66,10 +61,12 @@ struct OUTDATA {
     int azimuth[MAXCHANNELS];	/* azimuth */
     int ss[MAXCHANNELS];	/* signal strength */
     int used[MAXCHANNELS];	/* used in solution */
+    struct life_t satellite_stamp;
 
     /* Zodiac chipset channel status from PRWIZCH */
     int Zs[MAXCHANNELS];	/* satellite PRNs */
     int Zv[MAXCHANNELS];	/* signal values (0-7) */
+    struct life_t signal_quality_stamp;
 
     int year;
     int month;
diff --git a/gpsd.xml b/gpsd.xml
index 5656b8a1..8165c57d 100644
--- a/gpsd.xml
+++ b/gpsd.xml
@@ -186,7 +186,8 @@ errors in meters &mdash; position, horizontal, and vertical.</para>
 <varlistentry>
 <term>r</term>
 <listitem><para>Toggles 'raw' mode. Return "R=0" or "R=1". In raw mode
-you read the unfiltered data stream from the GPS</para></listitem>
+you read the NMEA data stream from the GPS. (Non-NMEA GPSes get 
+their communication format translated to NMEA on the fly.)</para></listitem>
 </varlistentry>
 
 <varlistentry>
@@ -201,6 +202,18 @@ you read the unfiltered data stream from the GPS</para></listitem>
 </varlistentry>
 
 <varlistentry>
+<term>w</term>
+<listitem><para>Toggles 'watcher' mode. Return "W=0" or "W=1". In
+watcher mode gpsd ships a line of data to the client each time the the GPS
+sends a sentence, but rather than being raw NMEA the line is a gpsd
+response as if the user had just sent some set of gpsd commands.  That set of
+commands is the minimum for which the incoming sentence is relevant &mdash;
+e.g., a GPRMC sentence ships a "pvs" response because it contains
+position, velocity and GPS status data.
+</para></listitem>
+</varlistentry>
+
+<varlistentry>
 <term>y</term> 
 <listitem>
 <para>Returns Y= followed by a count not more than 12, followed by
diff --git a/nmea_parse.c b/nmea_parse.c
index 37392a50..3906f9c1 100644
--- a/nmea_parse.c
+++ b/nmea_parse.c
@@ -47,7 +47,6 @@ static void do_lat_lon(char *sentence, int begin, struct OUTDATA *out)
 	    lat = -lat;
 	if (out->latitude != lat) {
 	    out->latitude = lat;
-	    out->cmask |= C_LATLON;
 	}
 	updated++;
     }
@@ -62,7 +61,6 @@ static void do_lat_lon(char *sentence, int begin, struct OUTDATA *out)
 	    lon = -lon;
 	if (out->longitude != lon) {
 	    out->longitude = lon;
-	    out->cmask |= C_LATLON;
 	}
 	updated++;
     }
@@ -80,29 +78,19 @@ static void do_lat_lon(char *sentence, int begin, struct OUTDATA *out)
 
 /* ----------------------------------------------------------------------- */
 
-static void update_field_i(char *sentence, int fld, int *dest, int mask, struct OUTDATA *out)
+static void update_field_i(char *sentence, int fld, int *dest, struct OUTDATA *out)
 {
     int tmp;
 
     sscanf(field(sentence, fld), "%d", &tmp);
-
-    if (tmp != *dest) {
-	*dest = tmp;
-	out->cmask |= mask;
-    }
 }
 
 #if 0
-static void update_field_f(char *sentence, int fld, double *dest, int mask, struct OUTDATA *out)
+static void update_field_f(char *sentence, int fld, double *dest, struct OUTDATA *out)
 {
     double tmp;
 
     scanf(field(sentence, fld), "%lf", &tmp);
-
-    if (tmp != *dest) {
-	*dest = tmp;
-	out->cmask |= mask;
-    }
 }
 #endif
 
@@ -169,15 +157,19 @@ static void processGPRMC(char *sentence, struct OUTDATA *out)
     do_lat_lon(sentence, 3, out);
 
     /* A = valid, V = invalid */
-    if (strcmp(field(sentence, 2), "V") == 0)
+    if (strcmp(field(sentence, 2), "A") == 0)
+	out->status = STATUS_FIX;
+    else
     {
 	gpscli_report(2, "Invalid GPRMC zeroes status.\n");
-	out->status = 0;
+	out->status = STATUS_NO_FIX;
     }
+    REFRESH(out->speed_stamp);
 
     sscanf(field(sentence, 7), "%lf", &out->speed);
 
     sscanf(field(sentence, 8), "%lf", &out->course);
+    REFRESH(out->speed_stamp);
 }
 
 /* ----------------------------------------------------------------------- */
@@ -284,6 +276,7 @@ static void processGPVTG(char *sentence, struct OUTDATA *out)
 	sscanf(field(sentence, 5), "%lf", &out->speed);
     else
 	sscanf(field(sentence, 3), "%lf", &out->speed);
+    REFRESH(out->speed_stamp);
 }
 
 /* ----------------------------------------------------------------------- */
@@ -314,7 +307,6 @@ static void processGPGGA(char *sentence, struct OUTDATA *out)
     sscanf(field(sentence, 6), "%d", &out->status);
     REFRESH(out->status_stamp);
     gpscli_report(2, "GPGGA sets status %d\n", out->status);
-    out->cmask |= C_STATUS;
     sscanf(field(sentence, 7), "%d", &out->satellites);
     sscanf(field(sentence, 9), "%lf", &out->altitude);
     REFRESH(out->altitude_stamp);
@@ -344,11 +336,11 @@ static void processGPGSA(char *sentence, struct OUTDATA *out)
 
     sscanf(field(sentence, 2), "%d", &out->mode);
     REFRESH(out->mode_stamp);
-    out->cmask |= C_MODE;
     gpscli_report(2, "GPGSA sets mode %d\n", out->mode);
     sscanf(field(sentence, 15), "%lf", &out->pdop);
     sscanf(field(sentence, 16), "%lf", &out->hdop);
     sscanf(field(sentence, 17), "%lf", &out->vdop);
+    REFRESH(out->signal_quality_stamp);
 }
 
 /* ----------------------------------------------------------------------- */
@@ -374,20 +366,21 @@ static void processGPGSV(char *sentence, struct OUTDATA *out)
 
     if (sscanf(field(sentence, 2), "%d", &n) < 1)
         return;
-    update_field_i(sentence, 3, &out->in_view, C_SAT, out);
+    update_field_i(sentence, 3, &out->in_view, out);
 
     n = (n - 1) * 4;
     m = n + 4;
 
     while (n < out->in_view && n < m) {
-	update_field_i(sentence, f++, &out->PRN[n], C_SAT, out);
-	update_field_i(sentence, f++, &out->elevation[n], C_SAT, out);
-	update_field_i(sentence, f++, &out->azimuth[n], C_SAT, out);
+	update_field_i(sentence, f++, &out->PRN[n], out);
+	update_field_i(sentence, f++, &out->elevation[n], out);
+	update_field_i(sentence, f++, &out->azimuth[n], out);
 	if (*(field(sentence, f)))
-	    update_field_i(sentence, f, &out->ss[n], C_SAT, out);
+	    update_field_i(sentence, f, &out->ss[n], out);
 	f++;
 	n++;
     }
+    REFRESH(out->satellite_stamp);
 }
 
 /* ----------------------------------------------------------------------- */
@@ -420,7 +413,7 @@ static void processPMGNST(char *sentence, struct OUTDATA *out)
     sscanf(field(sentence, 2), "%d", &tmp1);	
     sscanf(field(sentence, 3), "%c", &foo);	
     
-    if (!(out->cmask&C_STATUS)) {
+    if (!SEEN(out->status_stamp)) {
 	if (foo == 'T') {
 	    out->status = 1;
 	    out->mode = tmp1;
@@ -430,9 +423,7 @@ static void processPMGNST(char *sentence, struct OUTDATA *out)
 	    out->mode = 1;
 	}
 	REFRESH(out->status_stamp);
-	out->cmask |= C_STATUS;
 	REFRESH(out->mode_stamp);
-	out->cmask |= C_MODE;
 	gpscli_report(2, "PMGNST sets status %d, mode %d\n", out->status, out->mode);
     }
 }
@@ -453,9 +444,10 @@ static void processPRWIZCH(char *sentence, struct OUTDATA *out)
     int i;
 
     for (i = 0; i < 12; i++) {
-	update_field_i(sentence, 2 * i + 1, &out->Zs[i], C_ZCH, out);
-	update_field_i(sentence, 2 * i + 2, &out->Zv[i], C_ZCH, out);
+	update_field_i(sentence, 2 * i + 1, &out->Zs[i], out);
+	update_field_i(sentence, 2 * i + 2, &out->Zv[i], out);
     }
+    REFRESH(out->signal_quality_stamp);
 }
 
 /* ----------------------------------------------------------------------- */