diff options
| -rw-r--r-- | driver_sirf.c | 2 | ||||
| -rw-r--r-- | driver_superstar2.c | 10 | ||||
| -rw-r--r-- | gps.h | 125 | ||||
| -rw-r--r-- | gps_json.h | 1 | ||||
| -rw-r--r-- | gpsctl.c | 12 | ||||
| -rw-r--r-- | libgps.c | 54 | ||||
| -rw-r--r-- | libgps_json.c | 7 |
7 files changed, 101 insertions, 110 deletions
diff --git a/driver_sirf.c b/driver_sirf.c index 72e847cb..338b76ad 100644 --- a/driver_sirf.c +++ b/driver_sirf.c @@ -102,7 +102,7 @@ static gps_mask_t sirf_msg_ublox(struct gps_device_t *, unsigned char *, size_t static gps_mask_t sirf_msg_ppstime(struct gps_device_t *, unsigned char *, size_t ); -bool sirf_write(int fd, unsigned char *msg) { +static bool sirf_write(int fd, unsigned char *msg) { unsigned int crc; size_t i, len; bool ok; diff --git a/driver_superstar2.c b/driver_superstar2.c index 45e13e09..d4a5a9b0 100644 --- a/driver_superstar2.c +++ b/driver_superstar2.c @@ -346,15 +346,15 @@ superstar2_msg_measurement(struct gps_device_t *session, unsigned char *buf, siz n = (int)getub(buf, 6); /* number of measurements */ t = getled(buf, 7); /* measurement time */ for(i = 0; i < n; i++){ - session->gpsdata.mtime[i] = t; + session->gpsdata.raw.mtime[i] = t; session->gpsdata.PRN[i] = getub(buf, 11*i + 15) & 0x1f; session->gpsdata.ss[i] = getub(buf, 11*i * 15 +1 )/4.0; - session->gpsdata.codephase[i] = (double)getleul(buf, 11*i * 15 + 2); + session->gpsdata.raw.codephase[i] = (double)getleul(buf, 11*i * 15 + 2); ul = getleul(buf, 11*i * 15 + 6); - session->gpsdata.satstat[i] = ul & 0x03L; - session->gpsdata.carrierphase[i] = (ul >> 2) & 0x03ffL; - session->gpsdata.pseudorange[i] = (ul >> 12); + session->gpsdata.raw.satstat[i] = ul & 0x03L; + session->gpsdata.raw.carrierphase[i] = (ul >> 2) & 0x03ffL; + session->gpsdata.raw.pseudorange[i] = (ul >> 12); } mask |= RAW_SET | ONLINE_SET; @@ -772,6 +772,49 @@ struct ais_t }; }; +#define MAXDEVICES_PER_USER 4 + +struct device_t { + char path[PATH_MAX]; +}; + +struct compass_t { + double magnetic_length; /* unitvector sqrt(x^2 + y^2 +z^2) */ + double magnetic_field_x; + double magnetic_field_y; + double magnetic_field_z; + double acceleration_length; /* unitvector sqrt(x^2 + y^2 +z^2) */ + double acceleration_field_x; + double acceleration_field_y; + double acceleration_field_z; + double gyro_output_x; + double gyro_output_y; + double temperature; + /* compass status -- TrueNorth (and any similar) devices only */ + char headingStatus; + char pitchStatus; + char rollStatus; + double horzField; /* Magnitude of horizontal magnetic field */ +}; + +struct rawdata_t { + /* raw measurement data */ + double codephase[MAXCHANNELS]; /* meters */ + double carrierphase[MAXCHANNELS]; /* meters */ + double pseudorange[MAXCHANNELS]; /* meters */ + double deltarange[MAXCHANNELS]; /* meters/sec */ + double doppler[MAXCHANNELS]; /* Hz */ + double mtime[MAXCHANNELS]; /* sec */ + unsigned satstat[MAXCHANNELS]; /* tracking status */ +#define SAT_ACQUIRED 0x01 /* satellite acquired */ +#define SAT_CODE_TRACK 0x02 /* code-tracking loop acquired */ +#define SAT_CARR_TRACK 0x04 /* carrier-tracking loop acquired */ +#define SAT_DATA_SYNC 0x08 /* data-bit synchronization done */ +#define SAT_FRAME_SYNC 0x10 /* frame synchronization done */ +#define SAT_EPHEMERIS 0x20 /* ephemeris collected */ +#define SAT_FIX_USED 0x40 /* used for position fix */ +}; + struct gps_data_t { gps_mask_t set; /* has field been set since this was last cleared? */ #define ONLINE_SET 0x00000001u @@ -811,12 +854,12 @@ struct gps_data_t { #define FIX_SET (TIME_SET|MODE_SET|TIMERR_SET|LATLON_SET|HERR_SET|ALTITUDE_SET|VERR_SET|TRACK_SET|TRACKERR_SET|SPEED_SET|SPEEDERR_SET|CLIMB_SET|CLIMBERR_SET) double online; /* NZ if GPS is on line, 0 if not. * - * Note: gpsd clears this flag when sentences + * Note: gpsd clears this time when sentences * fail to show up within the GPS's normal * send cycle time. If the host-to-GPS * link is lossy enough to drop entire - * sentences, this flag will be - * prone to false negatives. + * sentences, this field will be + * prone to false zero values. */ struct gps_fix_t fix; /* accumulated PVT data */ @@ -845,19 +888,25 @@ struct gps_data_t { double ss[MAXCHANNELS]; /* signal-to-noise ratio (dB) */ /* where and what gpsd thinks the device is */ - char gps_device[PATH_MAX]; /* only valid if non-null. */ - char *gps_id; /* only valid if non-null. */ + char gps_device[PATH_MAX]; /* only valid if non-null. */ + char *gps_id; /* only valid if non-null. */ unsigned int baudrate, parity, stopbits; /* RS232 link parameters */ - unsigned int driver_mode; /* whether driver is in native mode or not */ - - /* RTCM-104 data */ - struct rtcm2_t rtcm2; - struct rtcm3_t rtcm3; + double cycle, mincycle; /* refresh cycle time in seconds */ + unsigned int driver_mode; /* is driver in native mode or not? */ - /* device list */ - double devicelist_time; /* time devicelist was reported */ - int ndevices; /* count of available devices */ - char **devicelist; /* list of pathnames */ + /* pack things that are never reported together to reduce structure size */ + union { + struct rtcm2_t rtcm2; + struct rtcm3_t rtcm3; + struct ais_t ais; + struct compass_t compass; + struct rawdata_t raw; + struct { + double time; + int ndevices; + struct device_t list[MAXDEVICES_PER_USER]; + } devices; + }; /* profiling data for last sentence */ bool profiling; /* profiling enabled? */ @@ -872,58 +921,10 @@ struct gps_data_t { double c_recv_time; /* client receipt time (-> T2) */ double c_decode_time; /* client end-of-decode time (-> D2) */ - /* reporting cycle time and minimum */ - double cycle, mincycle; /* refresh cycle time in seconds */ - /* these members are private */ int gps_fd; /* socket or file descriptor to GPS */ void (*raw_hook)(struct gps_data_t *, char *, size_t len, int level);/* Raw-mode hook for GPS data. */ void (*thread_hook)(struct gps_data_t *, char *, size_t len, int level);/* Thread-callback hook for GPS data. */ - - /* - * Do not put any configuration-symbol-dependent members - * above this point, as we need things to be at stable - * offsets. - */ -#ifdef OCEANSERVER_ENABLE - double magnetic_length; /* unitvector sqrt(x^2 + y^2 +z^2) */ - double magnetic_field_x; - double magnetic_field_y; - double magnetic_field_z; - double acceleration_length; /* unitvector sqrt(x^2 + y^2 +z^2) */ - double acceleration_field_x; - double acceleration_field_y; - double acceleration_field_z; - double gyro_output_x; - double gyro_output_y; - double temperature; -#endif - -#if defined(TNT_ENABLE) || defined(OCEANSERVER_ENABLE) - /* compass status -- TrueNorth (and any similar) devices only */ - char headingStatus; - char pitchStatus; - char rollStatus; - double horzField; /* Magnitude of horizontal magnetic field */ -#endif - -#ifdef RAW_ENABLE - /* raw measurement data */ - double codephase[MAXCHANNELS]; /* meters */ - double carrierphase[MAXCHANNELS]; /* meters */ - double pseudorange[MAXCHANNELS]; /* meters */ - double deltarange[MAXCHANNELS]; /* meters/sec */ - double doppler[MAXCHANNELS]; /* Hz */ - double mtime[MAXCHANNELS]; /* sec */ - unsigned satstat[MAXCHANNELS]; /* tracking status */ -#define SAT_ACQUIRED 0x01 /* satellite acquired */ -#define SAT_CODE_TRACK 0x02 /* code-tracking loop acquired */ -#define SAT_CARR_TRACK 0x04 /* carrier-tracking loop acquired */ -#define SAT_DATA_SYNC 0x08 /* data-bit synchronization done */ -#define SAT_FRAME_SYNC 0x10 /* frame synchronization done */ -#define SAT_EPHEMERIS 0x20 /* ephemeris collected */ -#define SAT_FIX_USED 0x40 /* used for position fix */ -#endif /* RAW_ENABLE */ }; extern /*@null@*/ struct gps_data_t *gps_open(const char *host, const char *port); @@ -4,7 +4,6 @@ #define GPS_JSON_COMMAND_MAX 80 #define GPS_JSON_RESPONSE_MAX 1024 -#define GPS_JSON_DEVICES_MAX 4 struct devconfig_t { char device[PATH_MAX]; @@ -243,23 +243,23 @@ int main(int argc, char **argv) assert(gpsdata != NULL); // FIXME: Requires old protocol (void)gps_query(gpsdata, "K\n"); - if (gpsdata->ndevices == 0) { + if (gpsdata->devices.ndevices == 0) { gpsd_report(LOG_ERROR, "no devices connected.\n"); (void)gps_close(gpsdata); exit(1); - } else if (gpsdata->ndevices > 1 && device == NULL) { + } else if (gpsdata->devices.ndevices > 1 && device == NULL) { gpsd_report(LOG_ERROR, "multiple devices and no device specified.\n"); (void)gps_close(gpsdata); exit(1); } - gpsd_report(LOG_PROG, "%d device(s) found.\n", gpsdata->ndevices); + gpsd_report(LOG_PROG, "%d device(s) found.\n", gpsdata->devices.ndevices); - if (gpsdata->ndevices > 1) { + if (gpsdata->devices.ndevices > 1) { int i; assert(device != NULL); - for (i = 0; i < gpsdata->ndevices; i++) - if (strcmp(device, gpsdata->devicelist[i]) == 0) + for (i = 0; i < gpsdata->devices.ndevices; i++) + if (strcmp(device, gpsdata->devices.list[i].path) == 0) goto foundit; gpsd_report(LOG_ERROR, "specified device not found.\n"); (void)gps_close(gpsdata); @@ -57,14 +57,6 @@ int gps_close(struct gps_data_t *gpsdata) gpsdata->gps_id = NULL; } gpsdata->gps_device[0] = '\0'; - if (gpsdata->devicelist) { - int i; - for (i = 0; i < gpsdata->ndevices; i++) - /*@i1@*/(void)free(gpsdata->devicelist[i]); - (void)free(gpsdata->devicelist); - gpsdata->devicelist = NULL; - gpsdata->ndevices = -1; - } /*@i@*/(void)free(gpsdata); return retval; } @@ -208,32 +200,23 @@ static void gps_unpack(char *buf, struct gps_data_t *gpsdata) /*@ +mustfreeonly */ break; case 'K': - if (gpsdata->devicelist) { - for (i = 0; i < gpsdata->ndevices; 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 -nullpass -mustfreeonly -dependenttrans @*/ char *rc = strdup(sp); char *sp2 = rc; char *ns2 = ns; - gpsdata->ndevices = (int)strtol(sp2+2, &sp2, 10); - gpsdata->devicelist = (char **)calloc( - (size_t)gpsdata->ndevices, - sizeof(char **)); - /*@ -nullstate -mustfreefresh @*/ - gpsdata->devicelist[i=0] = strdup(strtok_r(sp2+1, " \r\n", &ns2)); + memset(&gpsdata->devices, '\0', sizeof(gpsdata->devices)); + gpsdata->devices.ndevices = (int)strtol(sp2+2, &sp2, 10); + strlcpy(gpsdata->devices.list[i=0].path, + strtok_r(sp2+1," \r\n", &ns2), + sizeof(gpsdata->devices.list[i=0].path)); while ((sp2 = strtok_r(NULL, " \r\n", &ns2))) - gpsdata->devicelist[++i] = strdup(sp2); + if (i < MAXDEVICES_PER_USER-1) + (void)strlcpy(gpsdata->devices.list[++i].path, + sp2, + sizeof(gpsdata->devices.list[i=0].path)); free(rc); - /*@ +nullstate +mustfreefresh @*/ - /*@ +nullderef +nullpass +dependenttrans +mustfreeonly @*/ gpsdata->set |= DEVICELIST_SET; - gpsdata->devicelist_time = timestamp(); + gpsdata->devices.time = timestamp(); } break; case 'M': @@ -611,9 +594,9 @@ static void data_dump(struct gps_data_t *collect, time_t now) printf("GPSD ID is %s\n", collect->gps_id); if (collect->set & DEVICELIST_SET) { int i; - printf("%d devices:\n", collect->ndevices); - for (i = 0; i < collect->ndevices; i++) { - printf("%d: %s\n", collect->ndevices, collect->devicelist[i]); + printf("%d devices:\n", collect->devices.ndevices); + for (i = 0; i < collect->devices.ndevices; i++) { + printf("%d: %s\n", collect->devices.ndevices, collect->devices.list[i].path); } } @@ -659,11 +642,20 @@ int main(int argc, char *argv[]) int option; bool unpack_test = false; - while ((option = getopt(argc, argv, "uh?")) != -1) { + while ((option = getopt(argc, argv, "uhs?")) != -1) { switch (option) { case 'u': unpack_test = true; break; + case 's': + (void)printf("Sizes: rtcm2=%zd rtcm3=%zd ais=%zd compass=%zd raw=%zd devices=%zd\n", + sizeof(struct rtcm2_t), + sizeof(struct rtcm3_t), + sizeof(struct ais_t), + sizeof(struct compass_t), + sizeof(struct rawdata_t), + sizeof(collect->devices)); + break; case '?': case 'h': default: diff --git a/libgps_json.c b/libgps_json.c index b862e114..a901c8c9 100644 --- a/libgps_json.c +++ b/libgps_json.c @@ -172,12 +172,11 @@ static int json_devicelist_read(const char *buf, .addr.string.len = sizeof(gpsdata->gps_device)}, {NULL}, }; - // FIXME: Can we abolish the hard limit on the number of devices? const struct json_attr_t json_attrs_devices[] = { {"class", check, .dflt.check = "DEVICES"}, {"devices", array, .addr.array.element_type = object, .addr.array.arr.subtype = json_attrs_subdevices, - .addr.array.maxlen = GPS_JSON_DEVICES_MAX}, + .addr.array.maxlen = MAXDEVICES_PER_USER}, {NULL}, }; int status; @@ -186,9 +185,9 @@ static int json_devicelist_read(const char *buf, if (status != 0) return status; - gpsdata->devicelist_time = timestamp(); + gpsdata->devices.time = timestamp(); gpsdata->set |= DEVICELIST_SET; - gpsdata->ndevices = *json_attrs_devices[0].addr.array.count; + gpsdata->devices.ndevices = *json_attrs_devices[0].addr.array.count; return 0; } #endif |