diff options
| -rw-r--r-- | HACKING | 25 | ||||
| -rw-r--r-- | README | 10 | ||||
| -rw-r--r-- | Tachometer.c | 2 | ||||
| -rw-r--r-- | em.c | 122 | ||||
| -rw-r--r-- | gps.c | 12 | ||||
| -rw-r--r-- | gpsd.c | 59 | ||||
| -rw-r--r-- | gpsd.h | 19 | ||||
| -rw-r--r-- | netlib.c | 32 | ||||
| -rw-r--r-- | nmea.h | 8 | ||||
| -rw-r--r-- | outdata.h | 2 | ||||
| -rw-r--r-- | send_nmea.c | 4 | ||||
| -rw-r--r-- | serial.c | 14 | ||||
| -rw-r--r-- | tm.c | 24 | ||||
| -rw-r--r-- | xgpsspeed.c | 14 |
14 files changed, 187 insertions, 160 deletions
diff --git a/HACKING b/HACKING new file mode 100644 index 00000000..f5c68be0 --- /dev/null +++ b/HACKING @@ -0,0 +1,25 @@ + Hacker's Guide to gpsd + +This is not a complicated piece of code. Essentially, it spins in a loop +polling for input from one of three sources: + +1) The GPS, connected via serial or USB device. + +2) A client making requests over a TCP/IP port. + +4) A DGPS server issuing periodic differential-GPS updates. + +GPS input updates an internal data structure called gNMEAdata, which has +slots in it for all the data you can get from a GPS. Client commands mine +that structure and ship reports up the socket to the client. DGPS data is +passed through, raw, to the GPS + +The program supports multiple GPS types. All are represented by +driver method tables; the main loop knows nothing about the driver +methods except when to call them. At any given time one driver is +active; by default it's the NMEA one. A driver may change the active +type, in which case the new driver's initializer method should be +called before processing goes any forther. + +That's about all there is to it. + @@ -33,11 +33,15 @@ I have a boat connected to the internet (Ricochet modem) running gpsd, the maping program runs here at home (no, I will not give you the boats IP address :-) -There is a sample client included. It is called "gps". It simply connects -to a gpsd and displays satellites in their current position in the sky. -This only works for some GPS receivers! +There is a GPS tester included. It is called "gps". It simply connects +to a GPS and displays your latitude, longitude, altitude, and the signal +quality from visible satellites. When querying NMEA-compliant GPSes, it +will show a diagram of satellites in their current position in the sky. +It uses the same library code as gpsd. gpsd is tested with DeLorme's TripMate, EarthMate and Garmin units. +Also with the BU-303 USB GPS sold as the NaviLock, Deluo, and Hyperdata. + CREDITS diff --git a/Tachometer.c b/Tachometer.c index 7f8ba77f..9443e957 100644 --- a/Tachometer.c +++ b/Tachometer.c @@ -9,7 +9,7 @@ * author's name is retained. The author assumes no responsibility for lost * sleep as a consequence of use of this software. * - * Send any comments, bug reports, etc. to shutoh@isl.yamaha.JUNET + * Send any comments, bug gpscli_reports, etc. to shutoh@isl.yamaha.JUNET * * * Modifications : ilham@mit.edu (July 10 '90) @@ -45,7 +45,7 @@ struct header { static void analyze(struct header *, unsigned short *, fd_set *, fd_set *); -static unsigned short em_checksum(unsigned short *w, int n) +static unsigned short em_gps_checksum(unsigned short *w, int n) { unsigned short csum = 0; @@ -56,8 +56,8 @@ static unsigned short em_checksum(unsigned short *w, int n) } /* em_spew - Takes a message type, an array of data words, and a length - for the array, and prepends a 5 word header (including checksum). - The data words are expected to be checksummed */ + for the array, and prepends a 5 word header (including gps_checksum). + The data words are expected to be gps_checksummed */ #if defined (WORDS_BIGENDIAN) @@ -93,7 +93,7 @@ static void em_spew(int type, unsigned short *dat, int dlen) h.sync = 0x81ff; h.id = type; h.ndata = dlen - 1; - h.csum = em_checksum((unsigned short *) &h, 4); + h.csum = em_gps_checksum((unsigned short *) &h, 4); if (session.fdout != -1) { end_write(session.fdout, &h, sizeof(h)); @@ -147,7 +147,7 @@ static void em_init() *(long *) (data + 13) = putlong(session.initpos.longitude, (session.initpos.lond == 'W') ? 1 : 0); data[15] = data[16] = 0; data[17] = data[18] = data[19] = data[20] = 0; - data[21] = em_checksum(data, 21); + data[21] = em_gps_checksum(data, 21); em_spew(1200, data, 22); } @@ -165,7 +165,7 @@ static void send_rtcm(char *rtcmbuf, int rtcmbytes) data[0] = sn; /* sequence number */ memcpy(&data[1], rtcmbuf, rtcmbytes); - data[n] = em_checksum(data, n); + data[n] = em_gps_checksum(data, n); em_spew(1351, data, n+1); } @@ -216,28 +216,28 @@ static double degtodm(double a) static void handle1000(unsigned short *p) { #if 0 - report(1, "date: %d %d %d %d:%d:%d\n", + gpscli_report(1, "date: %d %d %d %d:%d:%d\n", p[O(19)], p[O(20)], p[O(21)], p[O(22)], p[O(23)], p[O(24)]); - report(1, " solution invalid:\n"); - report(1, " altitude: %d\n", (p[O(10)] & 1) ? 1 : 0); - report(1, " no diff gps: %d\n", (p[O(10)] & 2) ? 1 : 0); - report(1, " not enough satellites: %d\n", (p[O(10)] & 4) ? 1 : 0); - report(1, " exceed max EHPE: %d\n", (p[O(10)] & 8) ? 1 : 0); - report(1, " exceed max EVPE: %d\n", (p[O(10)] & 16) ? 1 : 0); - report(1, " solution type:\n"); - report(1, " propagated: %d\n", (p[O(11)] & 1) ? 1 : 0); - report(1, " altitude: %d\n", (p[O(11)] & 2) ? 1 : 0); - report(1, " differential: %d\n", (p[O(11)] & 4) ? 1 : 0); - report(1, "Number of measurements in solution: %d\n", p[O(12)]); - report(1, "Lat: %f\n", 180.0 / (PI / ((double) getlong(p + O(27)) / 100000000))); - report(1, "Lon: %f\n", 180.0 / (PI / ((double) getlong(p + O(29)) / 100000000))); - report(1, "Alt: %f\n", (double) getlong(p + O(31)) / 100.0); - report(1, "Speed: %f\n", (double) getlong(p + O(34)) / 100.0) * 1.94387; - report(1, "Map datum: %d\n", p[O(39)]); - report(1, "Magnetic variation: %f\n", p[O(37)] * 180 / (PI * 10000)); - report(1, "Course: %f\n", (p[O(36)] * 180 / (PI * 1000))); - report(1, "Separation: %f\n", (p[O(33)] / 100)); + gpscli_report(1, " solution invalid:\n"); + gpscli_report(1, " altitude: %d\n", (p[O(10)] & 1) ? 1 : 0); + gpscli_report(1, " no diff gps: %d\n", (p[O(10)] & 2) ? 1 : 0); + gpscli_report(1, " not enough satellites: %d\n", (p[O(10)] & 4) ? 1 : 0); + gpscli_report(1, " exceed max EHPE: %d\n", (p[O(10)] & 8) ? 1 : 0); + gpscli_report(1, " exceed max EVPE: %d\n", (p[O(10)] & 16) ? 1 : 0); + gpscli_report(1, " solution type:\n"); + gpscli_report(1, " propagated: %d\n", (p[O(11)] & 1) ? 1 : 0); + gpscli_report(1, " altitude: %d\n", (p[O(11)] & 2) ? 1 : 0); + gpscli_report(1, " differential: %d\n", (p[O(11)] & 4) ? 1 : 0); + gpscli_report(1, "Number of measurements in solution: %d\n", p[O(12)]); + gpscli_report(1, "Lat: %f\n", 180.0 / (PI / ((double) getlong(p + O(27)) / 100000000))); + gpscli_report(1, "Lon: %f\n", 180.0 / (PI / ((double) getlong(p + O(29)) / 100000000))); + gpscli_report(1, "Alt: %f\n", (double) getlong(p + O(31)) / 100.0); + gpscli_report(1, "Speed: %f\n", (double) getlong(p + O(34)) / 100.0) * 1.94387; + gpscli_report(1, "Map datum: %d\n", p[O(39)]); + gpscli_report(1, "Magnetic variation: %f\n", p[O(37)] * 180 / (PI * 10000)); + gpscli_report(1, "Course: %f\n", (p[O(36)] * 180 / (PI * 1000))); + gpscli_report(1, "Separation: %f\n", (p[O(33)] / 100)); #endif sprintf(session.gNMEAdata.utc, "%02d/%02d/%d %02d:%02d:%02d", @@ -292,13 +292,13 @@ static void handle1002(unsigned short *p) session.gNMEAdata.Zs[i] = p[O(16 + (3 * i))]; session.gNMEAdata.Zv[i] = (p[O(15 + (3 * i))] & 0xf); #if 0 - report(1, "Sat%02d:", i); - report(1, " used:%d", (p[O(15 + (3 * i))] & 1) ? 1 : 0); - report(1, " eph:%d", (p[O(15 + (3 * i))] & 2) ? 1 : 0); - report(1, " val:%d", (p[O(15 + (3 * i))] & 4) ? 1 : 0); - report(1, " dgps:%d", (p[O(15 + (3 * i))] & 8) ? 1 : 0); - report(1, " PRN:%d", p[O(16 + (3 * i))]); - report(1, " C/No:%d\n", p[O(17 + (3 * i))]); + gpscli_report(1, "Sat%02d:", i); + gpscli_report(1, " used:%d", (p[O(15 + (3 * i))] & 1) ? 1 : 0); + gpscli_report(1, " eph:%d", (p[O(15 + (3 * i))] & 2) ? 1 : 0); + gpscli_report(1, " val:%d", (p[O(15 + (3 * i))] & 4) ? 1 : 0); + gpscli_report(1, " dgps:%d", (p[O(15 + (3 * i))] & 8) ? 1 : 0); + gpscli_report(1, " PRN:%d", p[O(16 + (3 * i))]); + gpscli_report(1, " C/No:%d\n", p[O(17 + (3 * i))]); #endif for (j = 0; j < 12; j++) { if (session.gNMEAdata.PRN[j] != p[O(16 + (3 * i))]) @@ -326,11 +326,11 @@ static void handle1003(unsigned short *p) session.gNMEAdata.azimuth[j] = p[O(16 + (3 * j))] * 180 / (PI * 10000); session.gNMEAdata.elevation[j] = p[O(17 + (3 * j))] * 180 / (PI * 10000); #if 0 - report(1, "Sat%02d:", i); - report(1, " PRN:%d", p[O(15 + (3 * i))]); - report(1, " az:%d", p[O(16 + (3 * i))]); - report(1, " el:%d", p[O(17 + (3 * i))]); - report(1, "\n"); + gpscli_report(1, "Sat%02d:", i); + gpscli_report(1, " PRN:%d", p[O(15 + (3 * i))]); + gpscli_report(1, " az:%d", p[O(16 + (3 * i))]); + gpscli_report(1, " el:%d", p[O(17 + (3 * i))]); + gpscli_report(1, "\n"); #endif } else { session.gNMEAdata.PRN[j] = 0; @@ -346,20 +346,20 @@ static void handle1005(unsigned short *p) int numcorrections = p[O(12)]; #if 1 - report(1, "Station bad: %d\n", (p[O(9)] & 1) ? 1 : 0); - report(1, "User disabled: %d\n", (p[O(9)] & 2) ? 1 : 0); - report(1, "Station ID: %d\n", p[O(10)]); - report(1, "Age of last correction in seconds: %d\n", p[O(11)]); - report(1, "Number of corrections: %d\n", p[O(12)]); + gpscli_report(1, "Station bad: %d\n", (p[O(9)] & 1) ? 1 : 0); + gpscli_report(1, "User disabled: %d\n", (p[O(9)] & 2) ? 1 : 0); + gpscli_report(1, "Station ID: %d\n", p[O(10)]); + gpscli_report(1, "Age of last correction in seconds: %d\n", p[O(11)]); + gpscli_report(1, "Number of corrections: %d\n", p[O(12)]); for (i = 0; i < numcorrections; i++) { - report(1, "Sat%02d:", p[O(13+i)] & 0x3f); - report(1, "ephemeris:%d", (p[O(13+i)] & 64) ? 1 : 0); - report(1, "rtcm corrections:%d", (p[O(13+i)] & 128) ? 1 : 0); - report(1, "rtcm udre:%d", (p[O(13+i)] & 256) ? 1 : 0); - report(1, "sat health:%d", (p[O(13+i)] & 512) ? 1 : 0); - report(1, "rtcm sat health:%d", (p[O(13+i)] & 1024) ? 1 : 0); - report(1, "corrections state:%d", (p[O(13+i)] & 2048) ? 1 : 0); - report(1, "iode mismatch:%d", (p[O(13+i)] & 4096) ? 1 : 0); + gpscli_report(1, "Sat%02d:", p[O(13+i)] & 0x3f); + gpscli_report(1, "ephemeris:%d", (p[O(13+i)] & 64) ? 1 : 0); + gpscli_report(1, "rtcm corrections:%d", (p[O(13+i)] & 128) ? 1 : 0); + gpscli_report(1, "rtcm udre:%d", (p[O(13+i)] & 256) ? 1 : 0); + gpscli_report(1, "sat health:%d", (p[O(13+i)] & 512) ? 1 : 0); + gpscli_report(1, "rtcm sat health:%d", (p[O(13+i)] & 1024) ? 1 : 0); + gpscli_report(1, "corrections state:%d", (p[O(13+i)] & 2048) ? 1 : 0); + gpscli_report(1, "iode mismatch:%d", (p[O(13+i)] & 4096) ? 1 : 0); } #endif } @@ -371,9 +371,9 @@ static void analyze(struct header *h, unsigned short *p, fd_set * afds, fd_set * char *bufp2; int i = 0, j = 0, nmea = 0; - if (p[h->ndata] == em_checksum(p, h->ndata)) { + if (p[h->ndata] == em_gps_checksum(p, h->ndata)) { if (session.debug > 5) - report(1, "id %d\n", h->id); + gpscli_report(1, "id %d\n", h->id); switch (h->id) { case 1000: handle1000(p); @@ -388,7 +388,7 @@ static void analyze(struct header *h, unsigned short *p, fd_set * afds, fd_set * ((session.gNMEAdata.longitude > 0) ? 'E' : 'W'), session.gNMEAdata.mode, session.gNMEAdata.satellites, session.gNMEAdata.hdop, session.gNMEAdata.altitude, 'M', session.gNMEAdata.separation, 'M', "", ""); - add_checksum(bufp + 1); + gps_add_checksum(bufp + 1); bufp = bufp + strlen(bufp); } sprintf(bufp, @@ -401,7 +401,7 @@ static void analyze(struct header *h, unsigned short *p, fd_set * afds, fd_set * session.gNMEAdata.course, session.gNMEAdata.day, session.gNMEAdata.month, (session.gNMEAdata.year % 100), session.gNMEAdata.mag_var, (session.gNMEAdata.mag_var > 0) ? 'E' : 'W'); - add_checksum(bufp + 1); + gps_add_checksum(bufp + 1); nmea = 1000; break; case 1002: @@ -423,7 +423,7 @@ static void analyze(struct header *h, unsigned short *p, fd_set * afds, fd_set * bufp = bufp + strlen(bufp); sprintf(bufp, "%.2f,%.2f,%.2f*", session.gNMEAdata.pdop, session.gNMEAdata.hdop, session.gNMEAdata.vdop); - add_checksum(bufp2 + 1); + gps_add_checksum(bufp2 + 1); bufp2 = bufp = bufp + strlen(bufp); sprintf(bufp, "$PRWIZCH"); bufp = bufp + strlen(bufp); @@ -433,7 +433,7 @@ static void analyze(struct header *h, unsigned short *p, fd_set * afds, fd_set * } sprintf(bufp, "*"); bufp = bufp + strlen(bufp); - add_checksum(bufp2 + 1); + gps_add_checksum(bufp2 + 1); nmea = 1002; break; case 1003: @@ -453,7 +453,7 @@ static void analyze(struct header *h, unsigned short *p, fd_set * afds, fd_set * bufp += strlen(bufp); if (i % 4 == 3) { sprintf(bufp, "*"); - add_checksum(bufp2 + 1); + gps_add_checksum(bufp2 + 1); bufp += strlen(bufp); bufp2 = bufp; } @@ -468,9 +468,9 @@ static void analyze(struct header *h, unsigned short *p, fd_set * afds, fd_set * } if (nmea > 0) { if (session.debug > 4) - report(1, "%s", buf); + gpscli_report(1, "%s", buf); - send_nmea(afds, nmea_fds, buf); + gps_send_NMEA(afds, nmea_fds, buf); } if (eminit) @@ -538,7 +538,7 @@ static void em_eat(unsigned char c, fd_set * afds, fd_set * nmea_fds) case EM_HUNT_CS: if (!(byte = putword(&(h.csum), c, byte))) { - if (h.csum == em_checksum((unsigned short *) &h, 4)) { + if (h.csum == em_gps_checksum((unsigned short *) &h, 4)) { state = EM_HUNT_DATA; data = (unsigned short *) malloc((h.ndata + 1) * 2); words = 0; @@ -94,11 +94,11 @@ extern void redraw(); void quit_cb() { - serial_close(); + gps_close(); exit(0); } -void report(int errlevel, const char *fmt, ... ) +void gpscli_report(int errlevel, const char *fmt, ... ) /* assemble command in printf(3) style, use stderr or syslog */ { char buf[BUFSIZ]; @@ -320,7 +320,7 @@ static void handle_input(XtPointer client_data, int *source, XtInputId * id) if (buf[offset] == '\n') { if (buf[offset - 1] == '\r') buf[offset - 1] = '\0'; - nmea_handle_message(buf); + gps_NMEA_handle_message(buf); update_display(buf); offset = 0; return; @@ -399,7 +399,7 @@ static void open_input(XtAppContext app) int input = 0; XtInputId input_id; - input = serial_open(device_name, device_speed); + input = gps_open(device_name, device_speed); session.fdin = input; session.fdout = input; @@ -537,9 +537,9 @@ int main(int argc, char *argv[]) } -void errexit(char *s) +void gps_gpscli_errexit(char *s) { perror(s); - serial_close(); + gps_close(); exit(1); } @@ -67,9 +67,9 @@ static int handle_request(int fd, fd_set * fds); static void onsig(int sig) { - serial_close(); + gps_close(); close(dsock); - report(1, "Received signal %d. Exiting...\n", sig); + gpscli_report(1, "Received signal %d. Exiting...\n", sig); exit(10 + sig); } @@ -109,7 +109,7 @@ static int daemonize() return 0; } -void report(int errlevel, const char *fmt, ... ) +void gpscli_report(int errlevel, const char *fmt, ... ) /* assemble command in printf(3) style, use stderr or syslog */ { char buf[BUFSIZ]; @@ -207,11 +207,11 @@ static int handle_dgps() if ((rtcmbytes=read(dsock,buf,BUFSIZE))>0 && (session.fdout!=-1)) { if (session.device_type->rctm_writer(buf, rtcmbytes) <= 0) - report(1, "Write to rtcm sink failed\n"); + gpscli_report(1, "Write to rtcm sink failed\n"); } else { - report(1, "Read from rtcm source failed\n"); + gpscli_report(1, "Read from rtcm source failed\n"); } return rtcmbytes; @@ -221,10 +221,10 @@ static void deactivate() { session.fdin = -1; session.fdout = -1; - serial_close(); + gps_close(); if (session.device_type->wrapup) session.device_type->wrapup(); - report(1, "closed GPS\n"); + gpscli_report(1, "closed GPS\n"); session.gNMEAdata.mode = 1; session.gNMEAdata.status = 0; } @@ -233,10 +233,10 @@ static int activate() { int input; - if ((input = serial_open(device_name, device_speed ? device_speed : session.device_type->baudrate)) < 0) - errexit("Exiting - serial open\n"); + if ((input = gps_open(device_name, device_speed ? device_speed : session.device_type->baudrate)) < 0) + gps_gpscli_errexit("Exiting - serial open\n"); - report(1, "opened GPS\n"); + gpscli_report(1, "opened GPS\n"); session.fdin = input; session.fdout = input; @@ -342,9 +342,9 @@ int main(int argc, char *argv[]) signal(SIGPIPE, SIG_IGN); openlog("gpsd", LOG_PID, LOG_USER); - report(1, "gpsd started (Version %s)\n", VERSION); - msock = passiveTCP(service, QLEN); - report(1, "gpsd listening on port %s\n", service); + gpscli_report(1, "gpsd started (Version %s)\n", VERSION); + msock = netlib_passiveTCP(service, QLEN); + gpscli_report(1, "gpsd listening on port %s\n", service); nfds = getdtablesize(); @@ -358,9 +358,9 @@ int main(int argc, char *argv[]) if (!getservbyname(dgpsport, "tcp")) dgpsport = "2101"; - dsock = connectsock(dgpsserver, dgpsport, "tcp"); + dsock = netlib_connectsock(dgpsserver, dgpsport, "tcp"); if (dsock < 0) - errexit("Can't connect to dgps server"); + gps_gpscli_errexit("Can't connect to dgps server"); gethostname(hn, sizeof(hn)); @@ -393,7 +393,7 @@ int main(int argc, char *argv[]) if (select(nfds, &rfds, NULL, NULL, &tv) < 0) { if (errno == EINTR) continue; - errexit("select"); + gps_gpscli_errexit("select"); } need_gps = 0; @@ -415,7 +415,7 @@ int main(int argc, char *argv[]) ssock = accept(msock, (struct sockaddr *) &fsin, &alen); if (ssock < 0) - errlog("accept"); + gpscli_report(0, "accept: %s\n", strerror(errno)); else FD_SET(ssock, &afds); } @@ -465,7 +465,7 @@ static int validate(void) { if ((session.gNMEAdata.status == STATUS_NO_FIX) != (session.gNMEAdata.mode == MODE_NO_FIX)) { - report(0, "GPS is confused about whether it has a fix (status=%d, mode=%d).\n", session.gNMEAdata.status, session.gNMEAdata.mode); + gpscli_report(0, "GPS is confused about whether it has a fix (status=%d, mode=%d).\n", session.gNMEAdata.status, session.gNMEAdata.mode); return 0; } return 1; @@ -486,10 +486,10 @@ static int handle_request(int fd, fd_set * fds) buf[cc] = '\0'; if (session.debug >= 2) - report(1, "<= client: %s", buf); + gpscli_report(1, "<= client: %s", buf); cur_time = time(NULL); -#define STALE_COMPLAINT(l, f) report(1, l " data is stale: %ld + %d >= %ld\n", session.gNMEAdata.f.last_refresh, session.gNMEAdata.f.time_to_live, cur_time) +#define STALE_COMPLAINT(l, f) gpscli_report(1, l " data is stale: %ld + %d >= %ld\n", session.gNMEAdata.f.last_refresh, session.gNMEAdata.f.time_to_live, cur_time) sprintf(reply, "GPSD"); p = buf; @@ -660,23 +660,23 @@ static int handle_request(int fd, fd_set * fds) strcat(reply, "\r\n"); if (session.debug >= 2) - report(1, "=> client: %s", reply); + gpscli_report(1, "=> client: %s", reply); if (cc && write(fd, reply, strlen(reply) + 1) < 0) return 0; return cc; } -void send_nmea(fd_set *afds, fd_set *nmea_fds, char *buf) +void gps_send_NMEA(fd_set *afds, fd_set *nmea_fds, char *buf) /* write to GPS */ { int fd; for (fd = 0; fd < nfds; fd++) { if (FD_ISSET(fd, nmea_fds)) { - report(1, "=> GPS: %s", buf); + gpscli_report(1, "=> GPS: %s", buf); if (write(fd, buf, strlen(buf)) < 0) { - report(1, "Raw write %s", strerror(errno)); + gpscli_report(1, "Raw write %s", strerror(errno)); FD_CLR(fd, afds); FD_CLR(fd, nmea_fds); } @@ -684,15 +684,10 @@ void send_nmea(fd_set *afds, fd_set *nmea_fds, char *buf) } } -void errlog(char *s) +void gps_gpscli_errexit(char *s) { - report(0, "%s: %s\n", s, strerror(errno)); -} - -void errexit(char *s) -{ - report(0, "%s: %s\n", s, strerror(errno)); - serial_close(); + gpscli_report(0, "%s: %s\n", s, strerror(errno)); + gps_close(); close(dsock); exit(2); } @@ -38,13 +38,16 @@ extern struct gps_type_t earthmate_a; extern struct gps_type_t earthmate_b; extern struct gps_type_t logfile; -void send_nmea(fd_set *afds, fd_set *nmea_fds, char *buf); -int serial_open(char *device_name, int device_speed); -void serial_close(); -void errexit(char *s); -void errlog(char *s); -int passiveTCP(char *service, int qlen); -int connectTCP(char *host, char *service); -int connectsock(char *host, char *service, char *protocol); +/* GPS library supplies these */ +void gps_send_NMEA(fd_set *afds, fd_set *nmea_fds, char *buf); +int gps_open(char *device_name, int device_speed); +void gps_close(); +int netlib_passiveTCP(char *service, int qlen); +int netlib_connectTCP(char *host, char *service); +int netlib_connectsock(char *host, char *service, char *protocol); + +/* caller must supply this */ +void gps_gpscli_errexit(char *s); + /* gpsd.h ends here */ @@ -44,11 +44,11 @@ int passivesock(char *service, char *protocol, int qlen) sin.sin_port = htons(ntohs((u_short) pse->s_port)); else if ((sin.sin_port = htons((u_short) atoi(service))) == 0) { sprintf(mbuf, "Can't get \"%s\" service entry.\n", service); - errexit(mbuf); + gps_gpscli_errexit(mbuf); } if ((ppe = getprotobyname(protocol)) == 0) { sprintf(mbuf, "Can't get \"%s\" protocol entry.\n", protocol); - errexit(mbuf); + gps_gpscli_errexit(mbuf); } if (strcmp(protocol, "udp") == 0) type = SOCK_DGRAM; @@ -57,30 +57,30 @@ int passivesock(char *service, char *protocol, int qlen) s = socket(PF_INET, type, ppe->p_proto); if (s < 0) - errexit("Can't create socket:"); + gps_gpscli_errexit("Can't create socket:"); if (setsockopt(s, SOL_SOCKET, SO_REUSEADDR, (char *)&one, sizeof(one)) == -1) { sprintf(mbuf, "%s", "Error: SETSOCKOPT SO_REUSEADDR"); - errexit(mbuf); + gps_gpscli_errexit(mbuf); } if (bind(s, (struct sockaddr *) &sin, sizeof(sin)) < 0) { sprintf(mbuf, "Can't bind to port %s", service); - errexit(mbuf); + gps_gpscli_errexit(mbuf); } if (type == SOCK_STREAM && listen(s, qlen) < 0) { sprintf(mbuf, "Can't listen on %s port:", service); - errexit(mbuf); + gps_gpscli_errexit(mbuf); } return s; } -int passiveTCP(char *service, int qlen) +int netlib_passiveTCP(char *service, int qlen) { return passivesock(service, "tcp", qlen); } -int connectsock(char *host, char *service, char *protocol) +int netlib_connectsock(char *host, char *service, char *protocol) { struct hostent *phe; struct servent *pse; @@ -96,17 +96,17 @@ int connectsock(char *host, char *service, char *protocol) sin.sin_port = htons(ntohs((u_short) pse->s_port)); else if ((sin.sin_port = htons((u_short) atoi(service))) == 0) { sprintf(mbuf, "Can't get \"%s\" service entry.\n", service); - errexit(mbuf); + gps_gpscli_errexit(mbuf); } if ( (phe = gethostbyname(host)) ) bcopy(phe->h_addr, (char *) &sin.sin_addr, phe->h_length); else if ((sin.sin_addr.s_addr = inet_addr(host)) == INADDR_NONE) { sprintf(mbuf, "Can't get host entry: \"%s\".\n", host); - errexit(mbuf); + gps_gpscli_errexit(mbuf); } if ((ppe = getprotobyname(protocol)) == 0) { sprintf(mbuf, "Can't get \"%s\" protocol entry.\n", protocol); - errexit(mbuf); + gps_gpscli_errexit(mbuf); } if (strcmp(protocol, "udp") == 0) type = SOCK_DGRAM; @@ -115,21 +115,21 @@ int connectsock(char *host, char *service, char *protocol) s = socket(PF_INET, type, ppe->p_proto); if (s < 0) - errexit("Can't create socket:"); + gps_gpscli_errexit("Can't create socket:"); if (setsockopt(s, SOL_SOCKET, SO_REUSEADDR, (char *)&one, sizeof(one)) == -1) { sprintf(mbuf, "%s", "Error: SETSOCKOPT SO_REUSEADDR"); - errexit(mbuf); + gps_gpscli_errexit(mbuf); } if (connect(s, (struct sockaddr *) &sin, sizeof(sin)) < 0) { sprintf(mbuf, "Can't connect to %s.%s", host, service); - errexit(mbuf); + gps_gpscli_errexit(mbuf); } return s; } -int connectTCP(char *host, char *service) +int netlib_connectTCP(char *host, char *service) { - return connectsock(host, service, "tcp"); + return netlib_connectsock(host, service, "tcp"); } @@ -10,7 +10,7 @@ #define PMGNST "PMGNST" /* prototypes */ -extern int process_NMEA_message(char *sentence, struct OUTDATA *outdata); -extern void nmea_handle_message(char *sentence); -extern void add_checksum(char *sentence); -extern short checksum(char *sentence); +extern int gps_process_NMEA_message(char *sentence, struct OUTDATA *outdata); +extern void gps_NMEA_handle_message(char *sentence); +extern void gps_add_checksum(char *sentence); +extern short gps_checksum(char *sentence); @@ -81,4 +81,4 @@ struct OUTDATA { int valid[12]; /* signal valid */ }; -void report(int d, const char *fmt, ...); +void gpscli_report(int d, const char *fmt, ...); diff --git a/send_nmea.c b/send_nmea.c index cf921b10..48fcffda 100644 --- a/send_nmea.c +++ b/send_nmea.c @@ -4,10 +4,10 @@ #include "gpsd.h" -void send_nmea(fd_set *afds, fd_set *nmea_fds, char *buf) +void gps_send_NMEA(fd_set *afds, fd_set *nmea_fds, char *buf) { /* this is a stub. It will be used if the app does - * not provide a real send_nmea() + * not provide a real gps_send_NMEA() */ } @@ -48,7 +48,7 @@ static int set_baud(long baud) } -int serial_open(char *device_name, int device_speed) +int gps_open(char *device_name, int device_speed) { char *temp; char *p; @@ -57,27 +57,27 @@ int serial_open(char *device_name, int device_speed) if ( (p = strchr(temp, ':')) ) { char *port = DEFAULTPORT; - report(1, "opening slave daemon at %s\n", device_name); + gpscli_report(1, "opening slave daemon at %s\n", device_name); if (*(p + 1)) port = p + 1; *p = '\0'; /* temp now holds the HOSTNAME portion and port the port number. */ - ttyfd = connectTCP(temp, port); + ttyfd = netlib_connectTCP(temp, port); port = 0; if (write(ttyfd, "r\n", 2) != 2) - errexit("Can't write to socket"); + gps_gpscli_errexit("Can't write to socket"); } else { - report(1, "opening GPS data source at %s\n", device_name); + gpscli_report(1, "opening GPS data source at %s\n", device_name); ttyfd = open(temp, O_RDWR | O_NONBLOCK); if (ttyfd < 0) return (-1); if (isatty(ttyfd)) { - report(1, "setting speed %d, 8 bits, no parity\n", device_speed); + gpscli_report(1, "setting speed %d, 8 bits, no parity\n", device_speed); /* Save original terminal parameters */ if (tcgetattr(ttyfd,&ttyset_old) != 0) return (-1); @@ -100,7 +100,7 @@ int serial_open(char *device_name, int device_speed) return ttyfd; } -void serial_close() +void gps_close() { if (ttyfd != -1) { if (isatty(ttyfd)) { @@ -30,16 +30,16 @@ static void process_exception(char *sentence) { if (!strncmp("ASTRAL", sentence, 6) && isatty(session.fdout)) { write(session.fdout, "$IIGPQ,ASTRAL*73\r\n", 18); - report(1, "found a TripMate, initializing..."); + gpscli_report(1, "found a TripMate, initializing..."); session.device_type = &tripmate; tripmate.initializer(); } else if ((!strncmp("EARTHA", sentence, 6) && isatty(session.fdout))) { write(session.fdout, "EARTHA\r\n", 8); - report(1, "found an EarthMate (id)."); + gpscli_report(1, "found an EarthMate (id)."); session.device_type = &earthmate_b; earthmate_b.initializer(); } else if (session.debug > 1) { - report(1, "unknown exception: \"%s\"", sentence); + gpscli_report(1, "unknown exception: \"%s\"", sentence); } } @@ -50,19 +50,19 @@ static void process_exception(char *sentence) * **************************************************************************/ -void nmea_handle_message(char *sentence) +void gps_NMEA_handle_message(char *sentence) /* visible so the direct-connect clients can use it */ { - report(2, "<= GPS: %s\n", sentence); + gpscli_report(2, "<= GPS: %s\n", sentence); if (*sentence == '$') { - if (process_NMEA_message(sentence + 1, &session.gNMEAdata) < 0) - report(2, "Unknown sentence: \"%s\"\n", sentence); + if (gps_process_NMEA_message(sentence + 1, &session.gNMEAdata) < 0) + gpscli_report(2, "Unknown sentence: \"%s\"\n", sentence); } else process_exception(sentence); - report(3, + gpscli_report(3, "Lat: %f Lon: %f Alt: %f Sat: %d Mod: %d Time: %s\n", session.gNMEAdata.latitude, session.gNMEAdata.longitude, @@ -84,9 +84,9 @@ static int nmea_handle_input(int input, fd_set *afds, fd_set *nmea_fds) if (buf[offset] == '\n' || buf[offset] == '\r') { buf[offset] = '\0'; if (strlen(buf)) { - nmea_handle_message(buf); + gps_NMEA_handle_message(buf); strcat(buf, "\r\n"); - send_nmea(afds, nmea_fds, buf); + gps_send_NMEA(afds, nmea_fds, buf); } offset = 0; return 1; @@ -147,10 +147,10 @@ void tripmate_initializer() session.initpos.longitude, session.initpos.lond, tm->tm_hour, tm->tm_min, tm->tm_sec, tm->tm_mday, tm->tm_mon + 1, tm->tm_year); - add_checksum(buf + 1); /* add c-sum + cr/lf */ + gps_add_checksum(buf + 1); /* add c-sum + cr/lf */ if (session.fdout != -1) { write(session.fdout, buf, strlen(buf)); - report(1, "=> GPS: %s", buf); + gpscli_report(1, "=> GPS: %s", buf); } } } diff --git a/xgpsspeed.c b/xgpsspeed.c index 0f7ec86a..efa47489 100644 --- a/xgpsspeed.c +++ b/xgpsspeed.c @@ -61,13 +61,13 @@ static void open_input(XtAppContext app); #undef Offset -void errexit(char *s) +void gps_gpscli_errexit(char *s) { perror(s); exit(1); } -void report(int errlevel, const char *fmt, ... ) +void gpscli_report(int errlevel, const char *fmt, ... ) /* assemble command in printf(3) style, use stderr or syslog */ { char buf[BUFSIZ]; @@ -190,7 +190,7 @@ static void handle_input(XtPointer client_data, int *source, XtInputId * id) if (buf[offset] == '\n') { if (buf[offset - 1] == '\r') buf[offset - 1] = '\0'; - nmea_handle_message(buf); + gps_NMEA_handle_message(buf); update_display(); offset = 0; return; @@ -199,7 +199,7 @@ static void handle_input(XtPointer client_data, int *source, XtInputId * id) } } -int my_serial_open() +int my_gps_open() { char *temp; char *port = DEFAULTPORT; @@ -210,12 +210,12 @@ int my_serial_open() strcpy(temp, device_name); /* temp now holds the HOSTNAME portion and port the port number. */ - ttyfd = connectTCP(temp, port); + ttyfd = netlib_connectTCP(temp, port); free(temp); port = 0; if (write(ttyfd, "r\n", 2) != 2) - errexit("Can't write to socket"); + gps_gpscli_errexit("Can't write to socket"); return ttyfd; } @@ -224,7 +224,7 @@ static void open_input(XtAppContext app) int input = 0; XtInputId input_id; - input = my_serial_open(); + input = my_gps_open(); input_id = XtAppAddInput(app, input, (XtPointer) XtInputReadMask, handle_input, NULL); 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