diff options
| -rw-r--r-- | gps.h | 61 | ||||
| -rw-r--r-- | gpsd.xml | 4 | ||||
| -rw-r--r-- | libgps.c | 14 |
3 files changed, 48 insertions, 31 deletions
@@ -772,28 +772,6 @@ struct ais_t }; }; -#define MAXDEVICES_PER_USER 4 -#define GPS_PATH_MAX 64 /* dev files usually have short names */ -#define TYPES_PER_DEVICE 4 - -struct device_t { - char path[GPS_PATH_MAX]; - int flags; -#define SEEN_GPS 0x01 -#define SEEN_RTCM2 0x02 -#define SEEN_RTCM3 0x04 -#define SEEN_AIS 0x08 - char driver[64]; - char subtype[64]; - double activated; -}; - -struct version_t { - char release[64]; /* external version */ - char rev[64]; /* internal revision ID */ - int api_major, api_minor; /* API major and minor versions */ -}; - struct compass_t { double magnetic_length; /* unitvector sqrt(x^2 + y^2 +z^2) */ double magnetic_field_x; @@ -831,6 +809,38 @@ struct rawdata_t { #define SAT_FIX_USED 0x40 /* used for position fix */ }; +/* following structures are for representing new-protocol responses */ + +#define MAXDEVICES_PER_USER 4 +#define GPS_PATH_MAX 64 /* dev files usually have short names */ +#define TYPES_PER_DEVICE 4 + +struct version_t { + char release[64]; /* external version */ + char rev[64]; /* internal revision ID */ + int api_major, api_minor; /* API major and minor versions */ +}; + +struct device_t { + char path[GPS_PATH_MAX]; + int flags; +#define SEEN_GPS 0x01 +#define SEEN_RTCM2 0x02 +#define SEEN_RTCM3 0x04 +#define SEEN_AIS 0x08 + char driver[64]; + char subtype[64]; + double activated; +}; + +struct watch_t { + int raw; + int buffer_polixy; + bool scaled; +}; + +/* this is the main structure that includes all previous substructures */ + struct gps_data_t { gps_mask_t set; /* has field been set since this was last cleared? */ #define ONLINE_SET 0x00000001u @@ -912,17 +922,19 @@ struct gps_data_t { /* pack things that are never reported together to reduce structure size */ union { + /* unusual forms of sensor data that might come up the pipe */ struct rtcm2_t rtcm2; struct rtcm3_t rtcm3; struct ais_t ais; struct compass_t compass; struct rawdata_t raw; + /* "artificial" structures for various protocol responses */ + struct version_t version; struct { double time; int ndevices; struct device_t list[MAXDEVICES_PER_USER]; } devices; - struct version_t version; }; /* profiling data for last sentence */ @@ -968,6 +980,9 @@ extern void unix_to_gpstime(double, /*@out@*/int *, /*@out@*/double *); extern double earth_distance(double, double, double, double); extern double wgs84_separation(double, double); +/* this only needs to be visible for the unit tests */ +extern int gps_unpack(char *, struct gps_data_t *); + /* some multipliers for interpreting GPS output */ #define METERS_TO_FEET 3.2808399 /* Meters to U.S./British feet */ #define METERS_TO_MILES 0.00062137119 /* Meters to miles */ @@ -1270,7 +1270,7 @@ they are never shipped outside of a SKY object.</para> <term>?WATCH</term> <listitem> -<para>This command sets watcher mode/. It also sets or elicits a +<para>This command sets watcher mode. It also sets or elicits a report of per-subscriber buffering policy and the raw bit. An argument WATCH object changes the subscriber's policy. The respunce describes the subscriber's policy.</para> @@ -1341,7 +1341,7 @@ describes the subscriber's policy.</para> <para>Here's an example:</para> <programlisting> -{"class":"CONFIGHAN", "raw":1,"buffer_policy":1} +{"class":"WATCH", "raw":1,"buffer_policy":1."scaled":true} </programlisting> </listitem> @@ -68,7 +68,7 @@ void gps_set_raw_hook(struct gps_data_t *gpsdata, } /*@ -branchstate -usereleased -mustfreefresh @*/ -static void gps_unpack(char *buf, struct gps_data_t *gpsdata) +int gps_unpack(char *buf, struct gps_data_t *gpsdata) /* unpack a gpsd response into a status structure, buf must be writeable */ { char *ns, *sp, *tp; @@ -440,6 +440,8 @@ static void gps_unpack(char *buf, struct gps_data_t *gpsdata) gpsdata->raw_hook(gpsdata, buf, strlen(buf), 1); if (gpsdata->thread_hook) gpsdata->thread_hook(gpsdata, buf, strlen(buf), 1); + + return 0; } /*@ +nullstate +compdef @*/ /*@ -branchstate +usereleased +mustfreefresh @*/ @@ -455,6 +457,7 @@ int gps_poll(struct gps_data_t *gpsdata) char buf[BUFSIZ]; ssize_t n; double received = 0; + int status; /* the daemon makes sure that every read is NUL-terminated */ n = read(gpsdata->gps_fd, buf, sizeof(buf)-1); @@ -465,13 +468,13 @@ int gps_poll(struct gps_data_t *gpsdata) buf[n] = '\0'; received = gpsdata->online = timestamp(); - gps_unpack(buf, gpsdata); + status = gps_unpack(buf, gpsdata); if (gpsdata->profiling) { gpsdata->c_decode_time = received - gpsdata->fix.time; gpsdata->c_recv_time = timestamp() - gpsdata->fix.time; } - return 0; + return status; } int gps_query(struct gps_data_t *gpsdata, const char *fmt, ... ) @@ -620,18 +623,17 @@ static void onsig(int sig) exit(1); } -/* must start zeroed, otherwise the unit test will try to chase garbage pinter fields. */ +/* must start zeroed, otherwise the unit test will try to chase garbage pointer fields. */ struct gps_data_t gpsdata; static char buf[] = "GPSD,O=RMC 1207318966.000 0.005 49.026225 12.188348 375.20 19.20 10.40 70.8900 24.899 0.000 75.6699 38.40 ? 3\r\n$GPVTG,70.89,T,,M,48.40,N,89.6,K,A*34\r\n"; static void unpack_unit_test(void) /* torture the unpacking function */ { - (void)signal(SIGSEGV, onsig); (void)signal(SIGBUS, onsig); - gps_unpack(buf, &gpsdata); + (void)gps_unpack(buf, &gpsdata); data_dump(&gpsdata, time(NULL)); } |