summaryrefslogtreecommitdiff
diff options
context:
space:
mode:
Diffstat
-rw-r--r--HACKING20
-rw-r--r--garmin.c2
-rw-r--r--geoid.c16
-rw-r--r--gps.h5
-rw-r--r--gpsd.c8
-rw-r--r--gpsd.h2
-rw-r--r--libgps.c27
-rw-r--r--libgpsd_core.c22
-rw-r--r--nmea_parse.c4
-rw-r--r--sirf.c6
-rw-r--r--zodiac.c2
11 files changed, 81 insertions, 33 deletions
diff --git a/HACKING b/HACKING
index 804e7be6..459873bf 100644
--- a/HACKING
+++ b/HACKING
@@ -3,6 +3,26 @@ doing Ctl-C Ctl-t and browsing through the outline headers.
If you're looking for things to hack on, first see the TODO file.
+** Contribution guidelines
+
+We prefer diff -u format, but diff -c is acceptable. Do not send
+patches in the default (-e or ed) mode, as they are too brittle.
+
+If you are introducing a new feature, include a documentation patch.
+
+If you are contributing a driver for a new GPS, please also do the
+following things:
+
+1) Send us a representative sample of the GPS output for future
+ regression-testing.
+
+2) Write a hardware entry describing the GPS for the hardware page at
+ <http://gpsd.berlios.de/hardware.html>.
+
+Before shipping a patch, it is a good idea to make sure the patched
+code displays no warnings when you run 'make splint'. See
+http://www.splint.org for a description of this tool.
+
** The license on contributions
The GPSD libraries are under the BSD license. Please do not send
diff --git a/garmin.c b/garmin.c
index ce55c27c..b382f1dd 100644
--- a/garmin.c
+++ b/garmin.c
@@ -288,7 +288,7 @@ static gps_mask_t PrintPacket(struct gps_device_t *session, Packet_t *pkt)
// geoid separation from WGS 84
// gpsd sign is opposite of garmin sign
- session->gpsdata.fix.separation = -pvt->msl_hght;
+ session->gpsdata.separation = -pvt->msl_hght;
// estimated position error in meters
session->gpsdata.epe = pvt->epe;
diff --git a/geoid.c b/geoid.c
index e8233db4..8e575361 100644
--- a/geoid.c
+++ b/geoid.c
@@ -72,7 +72,7 @@ double wgs84_separation(double lat, double lon)
}
-void ecef_to_wgs84fix(struct gps_fix_t *fix,
+void ecef_to_wgs84fix(struct gps_data_t *gpsdata,
double x, double y, double z,
double vx, double vy, double vz)
/* fill in WGS84 position/velocity fields from ECEF coordinates */
@@ -92,20 +92,20 @@ void ecef_to_wgs84fix(struct gps_fix_t *fix,
phi = atan2(z + e_2*b*pow(sin(theta),3),p - e2*a*pow(cos(theta),3));
n = a / sqrt(1.0 - e2*pow(sin(phi),2));
h = p / cos(phi) - n;
- fix->latitude = phi * RAD_2_DEG;
- fix->longitude = lambda * RAD_2_DEG;
- fix->separation = wgs84_separation(fix->latitude, fix->longitude);
- fix->altitude = h - fix->separation;
+ gpsdata->fix.latitude = phi * RAD_2_DEG;
+ gpsdata->fix.longitude = lambda * RAD_2_DEG;
+ gpsdata->separation = wgs84_separation(gpsdata->fix.latitude, gpsdata->fix.longitude);
+ gpsdata->fix.altitude = h - gpsdata->separation;
/* velocity computation */
vnorth = -vx*sin(phi)*cos(lambda)-vy*sin(phi)*sin(lambda)+vz*cos(phi);
veast = -vx*sin(lambda)+vy*cos(lambda);
- fix->climb = vx*cos(phi)*cos(lambda)+vy*cos(phi)*sin(lambda)+vz*sin(phi);
- fix->speed = sqrt(pow(vnorth,2) + pow(veast,2));
+ gpsdata->fix.climb = vx*cos(phi)*cos(lambda)+vy*cos(phi)*sin(lambda)+vz*sin(phi);
+ gpsdata->fix.speed = sqrt(pow(vnorth,2) + pow(veast,2));
heading = atan2(veast,vnorth);
/*@ +evalorder @*/
if (heading < 0)
heading += 2 * PI;
- fix->track = heading * RAD_2_DEG;
+ gpsdata->fix.track = heading * RAD_2_DEG;
}
#ifdef TESTMAIN
diff --git a/gps.h b/gps.h
index 45e889df..f18c7210 100644
--- a/gps.h
+++ b/gps.h
@@ -69,8 +69,6 @@ struct gps_fix_t {
double eps; /* Speed uncertainty, meters/sec */
double climb; /* Vertical speed, meters/sec */
double epc; /* Vertical speed uncertainty */
- double separation; /* Geoidal separation, MSL - WGS84 (Meters) */
-#define SEPARATION_NOT_VALID -99999.0 /* must be out of band */
};
typedef /*@unsignedintegraltype@*/ unsigned int gps_mask_t;
@@ -113,6 +111,9 @@ struct gps_data_t {
struct gps_fix_t fix; /* PVT data */
+ double separation; /* Geoidal separation, MSL - WGS84 (Meters) */
+#define SEPARATION_NOT_VALID -99999.0 /* must be out of band */
+
/* GPS status -- always valid */
int status; /* Do we have a fix? */
#define STATUS_NO_FIX 0 /* no */
diff --git a/gpsd.c b/gpsd.c
index 8722d488..a0d1fcff 100644
--- a/gpsd.c
+++ b/gpsd.c
@@ -135,7 +135,7 @@ void gpsd_report(int errlevel, const char *fmt, ... )
static void usage(void)
{
- printf("usage: gpsd [options] \n\
+ (void)printf("usage: gpsd [options] \n\
Options include: \n\
-f string = set GPS device name \n\
-S integer (default %s) = set port for daemon \n\
@@ -511,11 +511,12 @@ static int handle_request(int cfd, char *buf, int buflen)
(void)strcpy(phrase, ",E=?");
break;
case 'F':
+ /*@ -branchstate @*/
if (*p == '=') {
p = snarfline(++p, &stash);
gpsd_report(1,"<= client(%d): switching to %s\n",cfd,stash);
if ((newchan = find_device(stash))) {
- whoami->device = *newchan;
+ /*@i@*/whoami->device = *newchan;
whoami->tied = true;
}
free(stash);
@@ -525,6 +526,7 @@ static int handle_request(int cfd, char *buf, int buflen)
whoami->device->gpsdata.gps_device);
else
(void)strcpy(phrase, ",F=?");
+ /*@ +branchstate @*/
break;
case 'I':
if (assign_channel(whoami))
@@ -889,6 +891,7 @@ static void handle_control(int sfd, char *buf)
}
}
+/*@ -mustfreefresh @*/
int main(int argc, char *argv[])
{
static char *pid_file = NULL;
@@ -1260,3 +1263,4 @@ int main(int argc, char *argv[])
(void)unlink(control_socket);
return 0;
}
+/*@ +mustfreefresh @*/
diff --git a/gpsd.h b/gpsd.h
index db8316e5..13c00265 100644
--- a/gpsd.h
+++ b/gpsd.h
@@ -191,7 +191,7 @@ extern bool ntpshm_free(struct gps_context_t *context, int segment);
extern int ntpshm_put(struct gps_device_t *, double);
extern int ntpshm_pps(struct gps_device_t *,struct timeval *);
-extern void ecef_to_wgs84fix(struct gps_fix_t *,
+extern void ecef_to_wgs84fix(struct gps_data_t *,
double, double, double,
double, double, double);
extern void dop(int, struct gps_data_t *);
diff --git a/libgps.c b/libgps.c
index b036d27c..7a12aedf 100644
--- a/libgps.c
+++ b/libgps.c
@@ -88,7 +88,6 @@ void gps_clear_fix(struct gps_fix_t *fixp)
fixp->epd = UNCERTAINTY_NOT_VALID;
fixp->eps = UNCERTAINTY_NOT_VALID;
fixp->epc = UNCERTAINTY_NOT_VALID;
- fixp->separation = SEPARATION_NOT_VALID;
}
struct gps_data_t *gps_open(const char *host, const char *port)
@@ -96,6 +95,7 @@ struct gps_data_t *gps_open(const char *host, const char *port)
{
struct gps_data_t *gpsdata = (struct gps_data_t *)calloc(sizeof(struct gps_data_t), 1);
+ /*@ -branchstate @*/
if (!gpsdata)
return NULL;
if (!host)
@@ -112,6 +112,7 @@ struct gps_data_t *gps_open(const char *host, const char *port)
gpsdata->status = STATUS_NO_FIX;
gps_clear_fix(&gpsdata->fix);
return gpsdata;
+ /*@ +branchstate @*/
}
int gps_close(struct gps_data_t *gpsdata)
@@ -128,12 +129,12 @@ int gps_close(struct gps_data_t *gpsdata)
if (gpsdata->devicelist) {
int i;
for (i = 0; i < gpsdata->ndevices; i++)
- (void)free(gpsdata->devicelist[i]);
+ /*@i1@*/(void)free(gpsdata->devicelist[i]);
(void)free(gpsdata->devicelist);
gpsdata->devicelist = NULL;
gpsdata->ndevices = -1;
}
- (void)free(gpsdata);
+ /*@i@*/(void)free(gpsdata);
return retval;
}
@@ -143,6 +144,7 @@ void gps_set_raw_hook(struct gps_data_t *gpsdata,
gpsdata->raw_hook = hook;
}
+/*@ -branchstate -usereleased @*/
static void gps_unpack(char *buf, struct gps_data_t *gpsdata)
/* unpack a daemon response into a status structure */
{
@@ -150,7 +152,7 @@ static void gps_unpack(char *buf, struct gps_data_t *gpsdata)
int i;
for (ns = buf; ns; ns = strstr(ns+1, "GPSD")) {
- if (strncmp(ns, "GPSD", 4) == 0) {
+ if (/*@i1@*/strncmp(ns, "GPSD", 4) == 0) {
for (sp = ns + 5; ; sp = tp) {
tp = sp + strcspn(sp, ",\r\n");
if (*tp == '\0') break;
@@ -198,6 +200,7 @@ static void gps_unpack(char *buf, struct gps_data_t *gpsdata)
}
break;
case 'F':
+ /*@ -mustfreeonly */
if (sp[2] == '?')
gpsdata->gps_device = NULL;
else {
@@ -206,8 +209,10 @@ static void gps_unpack(char *buf, struct gps_data_t *gpsdata)
gpsdata->gps_device = strdup(sp+2);
gpsdata->set |= DEVICE_SET;
}
+ /*@ +mustfreeonly */
break;
case 'I':
+ /*@ -mustfreeonly */
if (sp[2] == '?')
gpsdata->gps_id = NULL;
else {
@@ -216,24 +221,29 @@ static void gps_unpack(char *buf, struct gps_data_t *gpsdata)
gpsdata->gps_id = strdup(sp+2);
gpsdata->set |= DEVICEID_SET;
}
+ /*@ +mustfreeonly */
break;
case 'K':
if (gpsdata->devicelist) {
for (i = 0; i < gpsdata->ndevices; i++)
- (void)free(gpsdata->devicelist[i]);
+ /*@i1@*/(void)free(gpsdata->devicelist[i]);
(void)free(gpsdata->devicelist);
gpsdata->devicelist = NULL;
gpsdata->ndevices = -1;
gpsdata->set |= DEVICELIST_SET;
}
if (sp[2] != '?') {
+ /*@ -nullderef @*/
gpsdata->ndevices = (int)strtol(sp+2, &sp, 10);
gpsdata->devicelist = (char **)calloc(
(size_t)gpsdata->ndevices,
sizeof(char **));
+ /*@ -nullstate @*/
gpsdata->devicelist[i=0] = strtok_r(sp+2, " \r\n", &ns);
while ((sp = strtok_r(NULL, " \r\n", &ns)))
gpsdata->devicelist[++i] = strdup(sp);
+ /*@ +nullstate @*/
+ /*@ +nullderef @*/
gpsdata->set |= DEVICELIST_SET;
}
break;
@@ -421,11 +431,14 @@ static void gps_unpack(char *buf, struct gps_data_t *gpsdata)
}
}
+/*@ -nullstate -compdef @*/
if (gpsdata->raw_hook)
gpsdata->raw_hook(gpsdata, buf, (int)strlen(buf), 1);
if (gpsdata->thread_hook)
gpsdata->thread_hook(gpsdata, buf, (int)strlen(buf), 1);
}
+/*@ +nullstate +compdef @*/
+/*@ -branchstate +usereleased @*/
/*
* return: 0, success
@@ -473,8 +486,10 @@ static void *poll_gpsd(void *args)
struct gps_data_t *gpsdata;
/* set thread parameters */
+ /*@ -compdef @*/
(void)pthread_setcancelstate(PTHREAD_CANCEL_ENABLE,&oldstate);
(void)pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS,&oldtype); /* we want to be canceled also when blocked on gps_poll() */
+ /*@ +compdef @*/
gpsdata = (struct gps_data_t *) args;
do {
res = gps_poll(gpsdata); /* this is not actually polling */
@@ -504,7 +519,7 @@ int gps_del_callback(struct gps_data_t *gpsdata, pthread_t *handler)
/* delete asynchronous callback and kill its thread */
{
int res;
- res = pthread_cancel(*handler); /* we cancel the whole thread */
+ /*@i@*/res = pthread_cancel(*handler); /* we cancel the whole thread */
gpsdata->thread_hook = NULL; /* finally we cancel the callback */
if (res == 0) /* tell gpsd to stop sending data */
(void)gps_query(gpsdata,"w-\n"); /* disable watcher mode */
diff --git a/libgpsd_core.c b/libgpsd_core.c
index 5e47a584..57330ef4 100644
--- a/libgpsd_core.c
+++ b/libgpsd_core.c
@@ -48,6 +48,7 @@ int gpsd_open_dgps(char *dgpsserver)
int gpsd_switch_driver(struct gps_device_t *session, char* typename)
{
struct gps_type_t **dp;
+ /*@ -compmempass @*/
for (dp = gpsd_drivers; *dp; dp++)
if (strcmp((*dp)->typename, typename) == 0) {
gpsd_report(3, "Selecting %s driver...\n", (*dp)->typename);
@@ -58,6 +59,7 @@ int gpsd_switch_driver(struct gps_device_t *session, char* typename)
}
gpsd_report(1, "invalid GPS type \"%s\".\n", typename);
return 0;
+ /*@ +compmempass @*/
}
struct gps_device_t *gpsd_init(struct gps_context_t *context, char *device)
@@ -67,10 +69,14 @@ struct gps_device_t *gpsd_init(struct gps_context_t *context, char *device)
if (!session)
return NULL;
+ /*@ -mustfreeonly @*//* splint 3.1.1 can't deduce storage is zero */
session->gpsdata.gps_device = strdup(device);
session->device_type = NULL; /* start by hunting packets */
session->dsock = -1;
+ /*@ -temptrans @*/
session->context = context;
+ /*@ +temptrans @*/
+ /*@ +mustfreeonly @*/
session->gpsdata.hdop = DOP_NOT_VALID;
session->gpsdata.vdop = DOP_NOT_VALID;
session->gpsdata.pdop = DOP_NOT_VALID;
@@ -120,7 +126,7 @@ static void *gpsd_ppsmonitor(void *arg)
break;
/*@ -ignoresigns */
- state = (state & TIOCM_CAR) != 0;
+ state = (int)((state & TIOCM_CAR) != 0);
gpsd_report(5, "carrier-detect on %s changed to %d\n",
session->gpsdata.gps_device, state);
@@ -174,7 +180,7 @@ int gpsd_activate(struct gps_device_t *session)
session->gpsdata.fix.track = TRACK_NOT_VALID;
#ifdef BINARY_ENABLE
session->mag_var = NO_MAG_VAR;
- session->gpsdata.fix.separation = SEPARATION_NOT_VALID;
+ session->gpsdata.separation = SEPARATION_NOT_VALID;
#endif /* BINARY_ENABLE */
#ifdef NTPSHM_ENABLE
@@ -182,7 +188,7 @@ int gpsd_activate(struct gps_device_t *session)
#if defined(PPS_ENABLE) && defined(TIOCMIWAIT)
if (session->shmTime >= 0 && session->context->shmTimePPS) {
if ((session->shmTimeP = ntpshm_alloc(session->context)) >= 0)
- (void)pthread_create(&pt,NULL,gpsd_ppsmonitor,(void *)session);
+ /*@i1@*/(void)pthread_create(&pt,NULL,gpsd_ppsmonitor,(void *)session);
}
#endif /* defined(PPS_ENABLE) && defined(TIOCMIWAIT) */
#endif /* NTPSHM_ENABLE */
@@ -199,7 +205,7 @@ static int is_input_waiting(int fd)
return count;
}
-static long handle_packet(struct gps_device_t *session)
+static gps_mask_t handle_packet(struct gps_device_t *session)
{
session->packet_full = 0;
session->gpsdata.sentence_time = 0;
@@ -355,10 +361,12 @@ gps_mask_t gpsd_poll(struct gps_device_t *session)
}
if (packet_length) {
+ /*@ -nullstate @*/
if (session->gpsdata.raw_hook)
session->gpsdata.raw_hook(&session->gpsdata,
(char *)session->outbuffer,
(int)packet_length, 2);
+ /*@ -nullstate @*/
return handle_packet(session);
} else
return ONLINE_SET;
@@ -371,7 +379,7 @@ void gpsd_wrap(struct gps_device_t *session)
gpsd_deactivate(session);
if (session->gpsdata.gps_device)
(void)free(session->gpsdata.gps_device);
- (void)free(session);
+ /*@i@*/(void)free(session);
}
void gpsd_zero_satellites(/*@out@*/struct gps_data_t *out)
@@ -435,11 +443,11 @@ void gpsd_binary_fix_dump(struct gps_device_t *session, char bufp[], int len)
session->gpsdata.satellites_used,
hdop_str,
session->gpsdata.fix.altitude, 'M');
- if (session->gpsdata.fix.separation == SEPARATION_NOT_VALID)
+ if (session->gpsdata.separation == SEPARATION_NOT_VALID)
(void)strcat(bufp, ",,");
else
(void)snprintf(bufp+strlen(bufp), len-strlen(bufp),
- "%.3f,M", session->gpsdata.fix.separation);
+ "%.3f,M", session->gpsdata.separation);
if (session->mag_var == NO_MAG_VAR)
(void)strcat(bufp, ",,");
else {
diff --git a/nmea_parse.c b/nmea_parse.c
index 58171701..4cea1a57 100644
--- a/nmea_parse.c
+++ b/nmea_parse.c
@@ -278,9 +278,9 @@ static gps_mask_t processGPGGA(int c UNUSED, char *field[], struct gps_data_t *o
mask |= CLIMB_SET;
}
if (strlen(field[11]) > 0) {
- out->fix.separation = atof(field[11]);
+ out->separation = atof(field[11]);
} else {
- out->fix.separation = wgs84_separation(out->fix.latitude,out->fix.longitude);
+ out->separation = wgs84_separation(out->fix.latitude,out->fix.longitude);
}
}
return mask;
diff --git a/sirf.c b/sirf.c
index 1e0326f6..95216fe0 100644
--- a/sirf.c
+++ b/sirf.c
@@ -171,7 +171,7 @@ gps_mask_t sirf_parse(struct gps_device_t *session, unsigned char *buf, int len)
session->gpsdata.used[i] = (int)getbyte(29+i);
if ((session->driverstate & (SIRF_GE_232 | UBLOX))==0) {
/* position/velocity is bytes 1-18 */
- ecef_to_wgs84fix(&session->gpsdata.fix,
+ ecef_to_wgs84fix(&session->gpsdata,
(double)getlong(1), (double)getlong(5), (double)getlong(9),
(int)getword(13)/8.0, (int)getword(15)/8.0, (int)getword(17)/8.0);
/* WGS 84 geodesy parameters */
@@ -607,8 +607,8 @@ gps_mask_t sirf_parse(struct gps_device_t *session, unsigned char *buf, int len)
STATUS_SET | MODE_SET | HDOP_SET | VDOP_SET | PDOP_SET;
session->gpsdata.fix.latitude = getlong(1) * RAD_2_DEG * 1e-8;
session->gpsdata.fix.longitude = getlong(5) * RAD_2_DEG * 1e-8;
- session->gpsdata.fix.separation = wgs84_separation(session->gpsdata.fix.latitude, session->gpsdata.fix.longitude);
- session->gpsdata.fix.altitude = getlong(9) * 1e-3 - session->gpsdata.fix.separation;
+ session->gpsdata.separation = wgs84_separation(session->gpsdata.fix.latitude, session->gpsdata.fix.longitude);
+ session->gpsdata.fix.altitude = getlong(9) * 1e-3 - session->gpsdata.separation;
session->gpsdata.fix.speed = getlong(13) * 1e-3;
session->gpsdata.fix.climb = getlong(17) * 1e-3;
session->gpsdata.fix.track = getlong(21) * RAD_2_DEG * 1e-8;
diff --git a/zodiac.c b/zodiac.c
index b4a12012..430c061d 100644
--- a/zodiac.c
+++ b/zodiac.c
@@ -176,7 +176,7 @@ static gps_mask_t handle1000(struct gps_device_t *session)
session->gpsdata.fix.longitude = ((long)getlong(29)) * RAD_2_DEG * 1e-8;
session->gpsdata.fix.altitude = ((long)getlong(31)) * 1e-2;
/*@ +type @*/
- session->gpsdata.fix.separation = ((short)getword(33)) * 1e-2;
+ session->gpsdata.separation = ((short)getword(33)) * 1e-2;
session->gpsdata.fix.speed = (int)getlong(34) * 1e-2;
session->gpsdata.fix.track = (int)getword(36) * RAD_2_DEG * 1e-3;
session->mag_var = ((short)getword(37)) * RAD_2_DEG * 1e-4;
View Lorry Controller Status