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-rw-r--r--cgps.c315
-rw-r--r--contrib/README2
-rw-r--r--contrib/clock_test.c110
-rwxr-xr-xxgps108
4 files changed, 412 insertions, 123 deletions
diff --git a/cgps.c b/cgps.c
index db67a487..25467ecc 100644
--- a/cgps.c
+++ b/cgps.c
@@ -47,7 +47,7 @@
/* This is how far over in the 'datawin' window to indent the field
descriptions. */
-#define DATAWIN_DESC_OFFSET 5
+#define DATAWIN_DESC_OFFSET 2
/* This is how far over in the 'datawin' window to indent the field
values. */
@@ -67,23 +67,26 @@
You shouldn't have to modify any #define values below this line.
================================================================ */
-/* This is the minimum size we'll accept for the 'datawin' window in
+/* This is the minimum ysize we'll accept for the 'datawin' window in
GPS mode. */
-#define MIN_GPS_DATAWIN_SIZE (DATAWIN_GPS_FIELDS + DATAWIN_OVERHEAD)
+#define MIN_GPS_DATAWIN_YSIZE (DATAWIN_GPS_FIELDS + DATAWIN_OVERHEAD)
-/* And the maximum size we'll try to use */
-#define MAX_GPS_DATAWIN_SIZE (DATAWIN_GPS_FIELDS + DATAWIN_OPTIONAL_FIELDS + DATAWIN_OVERHEAD)
+/* And the maximum ysize we'll try to use */
+#define MAX_GPS_DATAWIN_YSIZE (DATAWIN_GPS_FIELDS + DATAWIN_OPTIONAL_FIELDS + DATAWIN_OVERHEAD)
-/* This is the minimum size we'll accept for the 'datawin' window in
+/* This is the minimum ysize we'll accept for the 'datawin' window in
COMPASS mode. */
-#define MIN_COMPASS_DATAWIN_SIZE (DATAWIN_COMPASS_FIELDS + DATAWIN_OVERHEAD)
+#define MIN_COMPASS_DATAWIN_YSIZE (DATAWIN_COMPASS_FIELDS + DATAWIN_OVERHEAD)
/* This is the maximum number of satellites gpsd can track. */
#define MAX_POSSIBLE_SATS (MAXCHANNELS - 2)
-/* This is the maximum size we need for the 'satellites' window. */
+/* This is the maximum ysize we need for the 'satellites' window. */
#define MAX_SATWIN_SIZE (MAX_POSSIBLE_SATS + SATWIN_OVERHEAD)
+/* Minimum xsize to display 3rd window with DOPs, etc. */
+#define MIN_ERRWIN_SIZE 100
+
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
@@ -118,10 +121,12 @@ static int debug;
static WINDOW *datawin, *satellites, *messages;
static bool raw_flag = false;
+static bool err_flag = false;
+static bool dop_flag = false; /* tall screen, show more DOPs */
static bool silent_flag = false;
static bool magnetic_flag = false;
-static int window_length;
-static int display_sats;
+static int window_ysize = 0;
+static int display_sats = 0;
#ifdef TRUENORTH
static bool compass_flag = false;
#endif /* TRUENORTH */
@@ -132,6 +137,30 @@ static bool compass_flag = false;
#define GPS_ERROR -2 /* low-level failure in GPS read */
#define GPS_TIMEOUT -3 /* low-level failure in GPS waiting */
+/* format a dop into a 5 char string, handle NAN, INFINITE */
+static char *dop_to_str(double dop)
+{
+ static char buf[20];
+
+ if (isfinite(dop) == 0) {
+ return " n/a ";
+ }
+ (void)snprintf(buf, sizeof(buf), "%5.2f", dop);
+ return buf;
+}
+
+/* format an ep into a string, handle NAN, INFINITE */
+static char *ep_to_str(double ep, double factor, char *units)
+{
+ static char buf[128];
+
+ if (isfinite(ep) == 0) {
+ return " n/a ";
+ }
+ (void)snprintf(buf, sizeof(buf), "+/-%4d %.10s", (int)(ep * factor), units);
+ return buf;
+}
+
/* Function to call when we're all done. Does a bit of clean-up. */
static void die(int sig)
{
@@ -174,7 +203,7 @@ static void die(int sig)
static enum deg_str_type deg_type = deg_dd;
static void windowsetup(void)
-/* inotialize curses and set up screen windows */
+/* initialize curses and set up screen windows */
{
/* Set the window sizes per the following criteria:
*
@@ -192,9 +221,12 @@ static void windowsetup(void)
* the satellite list is truncated, omit the satellites not used to
* obtain the current fix.)
*
- * 3. If the screen is large enough to display all possible
+ * 3. If the screen is tall enough to display all possible
* satellites (MAXCHANNELS - 2) with space still left at the bottom,
* add a window at the bottom in which to scroll raw gpsd data.
+ *
+ * 4. If the screen is wide enough to display extra data, add a
+ * window on the right for PDOP, etc.
*/
int xsize, ysize;
@@ -205,16 +237,16 @@ static void windowsetup(void)
#ifdef TRUENORTH
if (compass_flag) {
- if (ysize == MIN_COMPASS_DATAWIN_SIZE) {
+ if (ysize == MIN_COMPASS_DATAWIN_YSIZE) {
raw_flag = false;
- window_length = MIN_COMPASS_DATAWIN_SIZE;
- } else if (ysize > MIN_COMPASS_DATAWIN_SIZE) {
+ window_ysize = MIN_COMPASS_DATAWIN_YSIZE;
+ } else if (ysize > MIN_COMPASS_DATAWIN_YSIZE) {
raw_flag = true;
- window_length = MIN_COMPASS_DATAWIN_SIZE;
+ window_ysize = MIN_COMPASS_DATAWIN_YSIZE;
} else {
(void)mvprintw(0, 0,
"Your screen must be at least 80x%d to run cgps.",
- MIN_COMPASS_DATAWIN_SIZE);
+ MIN_COMPASS_DATAWIN_YSIZE);
(void)refresh();
(void)sleep(5);
die(0);
@@ -222,27 +254,41 @@ static void windowsetup(void)
} else
#endif /* TRUENORTH */
{
- if (ysize > MAX_GPS_DATAWIN_SIZE) {
+ if (ysize > MAX_GPS_DATAWIN_YSIZE + 6) {
raw_flag = true;
- window_length = MAX_GPS_DATAWIN_SIZE;
- } else if (ysize == MAX_GPS_DATAWIN_SIZE) {
+ dop_flag = true;
+ window_ysize = MAX_GPS_DATAWIN_YSIZE + 4;
+ } else if (ysize > MAX_GPS_DATAWIN_YSIZE) {
+ raw_flag = true;
+ dop_flag = false;
+ window_ysize = MAX_GPS_DATAWIN_YSIZE;
+ } else if (ysize == MAX_GPS_DATAWIN_YSIZE) {
raw_flag = false;
- window_length = MAX_GPS_DATAWIN_SIZE;
- } else if (ysize > MIN_GPS_DATAWIN_SIZE) {
+ dop_flag = false;
+ window_ysize = MAX_GPS_DATAWIN_YSIZE;
+ } else if (ysize > MIN_GPS_DATAWIN_YSIZE) {
raw_flag = true;
- window_length = MIN_GPS_DATAWIN_SIZE;
- } else if (ysize == MIN_GPS_DATAWIN_SIZE) {
+ dop_flag = false;
+ window_ysize = MIN_GPS_DATAWIN_YSIZE;
+ } else if (ysize == MIN_GPS_DATAWIN_YSIZE) {
raw_flag = false;
- window_length = MIN_GPS_DATAWIN_SIZE;
+ dop_flag = false;
+ window_ysize = MIN_GPS_DATAWIN_YSIZE;
} else {
(void)mvprintw(0, 0,
"Your screen must be at least 80x%d to run cgps.",
- MIN_GPS_DATAWIN_SIZE);
+ MIN_GPS_DATAWIN_YSIZE);
(void)refresh();
(void)sleep(5);
die(0);
}
- display_sats = window_length - SATWIN_OVERHEAD - (int)raw_flag;
+ display_sats = window_ysize - SATWIN_OVERHEAD - (int)raw_flag;
+ }
+ /* wide enough to show err box? */
+ if (xsize > MIN_ERRWIN_SIZE) {
+ err_flag = true;
+ } else {
+ err_flag = false;
}
#ifdef TRUENORTH
@@ -250,13 +296,13 @@ static void windowsetup(void)
if (compass_flag) {
/* We're a compass, set up accordingly. */
- datawin = newwin(window_length, DATAWIN_WIDTH, 0, 0);
+ datawin = newwin(window_ysize, DATAWIN_WIDTH, 0, 0);
(void)nodelay(datawin, (bool) TRUE);
if (raw_flag) {
- messages = newwin(0, 0, window_length, 0);
+ messages = newwin(0, 0, window_ysize, 0);
(void)scrollok(messages, true);
- (void)wsetscrreg(messages, 0, ysize - (window_length));
+ (void)wsetscrreg(messages, 0, ysize - (window_ysize));
}
(void)refresh();
@@ -275,16 +321,16 @@ static void windowsetup(void)
{
/* We're a GPS, set up accordingly. */
- datawin = newwin(window_length, DATAWIN_WIDTH, 0, 0);
+ datawin = newwin(window_ysize, DATAWIN_WIDTH, 0, 0);
satellites =
- newwin(window_length, SATELLITES_WIDTH, 0, DATAWIN_WIDTH);
+ newwin(window_ysize, SATELLITES_WIDTH, 0, DATAWIN_WIDTH);
(void)nodelay(datawin, (bool) TRUE);
if (raw_flag) {
messages =
- newwin(ysize - (window_length), xsize, window_length, 0);
+ newwin(ysize - (window_ysize), xsize, window_ysize, 0);
(void)scrollok(messages, true);
- (void)wsetscrreg(messages, 0, ysize - (window_length));
+ (void)wsetscrreg(messages, 0, ysize - (window_ysize));
}
(void)refresh();
@@ -307,22 +353,42 @@ static void windowsetup(void)
* there in the first place because I arbitrarily thought they
* sounded interesting. ;^) */
- if (window_length == MAX_GPS_DATAWIN_SIZE) {
- (void)mvwprintw(datawin, 9, DATAWIN_DESC_OFFSET,
- "Longitude Err:");
- (void)mvwprintw(datawin, 10, DATAWIN_DESC_OFFSET,
- "Latitude Err:");
- (void)mvwprintw(datawin, 11, DATAWIN_DESC_OFFSET,
- "Altitude Err:");
- (void)mvwprintw(datawin, 12, DATAWIN_DESC_OFFSET, "Course Err:");
- (void)mvwprintw(datawin, 13, DATAWIN_DESC_OFFSET, "Speed Err:");
+ if (window_ysize >= MAX_GPS_DATAWIN_YSIZE) {
+ int row = 9;
+
+ (void)mvwprintw(datawin, row++, DATAWIN_DESC_OFFSET,
+ "Long Err (XDOP, EPX):");
+ (void)mvwprintw(datawin, row++, DATAWIN_DESC_OFFSET,
+ "Lat Err (YDOP, EPY):");
+ (void)mvwprintw(datawin, row++, DATAWIN_DESC_OFFSET,
+ "Alt Err (VDOP, EPV):");
+
+ if (dop_flag){
+ (void)mvwprintw(datawin, row++, DATAWIN_DESC_OFFSET,
+ "2D Err (HDOP, CEP):");
+ (void)mvwprintw(datawin, row++, DATAWIN_DESC_OFFSET,
+ "3D Err (PDOP, SEP):");
+ (void)mvwprintw(datawin, row++, DATAWIN_DESC_OFFSET,
+ "Time Err (TDOP):");
+ (void)mvwprintw(datawin, row++, DATAWIN_DESC_OFFSET,
+ "Geo Err (GDOP):");
+ }
+ (void)mvwprintw(datawin, row++, DATAWIN_DESC_OFFSET,
+ "Speed Err (EPS):");
+ (void)mvwprintw(datawin, row++, DATAWIN_DESC_OFFSET,
+ "Head Err (EPD):");
/* it's actually esr that thought *these* were interesting */
- (void)mvwprintw(datawin, 14, DATAWIN_DESC_OFFSET, "Time offset:");
- (void)mvwprintw(datawin, 15, DATAWIN_DESC_OFFSET, "Grid Square:");
+ (void)mvwprintw(datawin, row++, DATAWIN_DESC_OFFSET,
+ "Time offset:");
+ (void)mvwprintw(datawin, row++, DATAWIN_DESC_OFFSET,
+ "Grid Square:");
}
(void)wborder(datawin, 0, 0, 0, 0, 0, 0, 0, 0);
- (void)mvwprintw(satellites, 1, 1, "PRN: Elev: Azim: SNR: Used:");
+ /* PRN is not unique, starting at 1, for GPS, GAILEO, etc. */
+ /* what we really have is USI, Universal Sat ID */
+ /* GPS is USI 1 to 32, SBAS is 33 to 64, GLONASS is 65 to 96, YMMV */
+ (void)mvwprintw(satellites, 1, 1, " USI Elev Azim SNR Used ");
(void)wborder(satellites, 0, 0, 0, 0, 0, 0, 0, 0);
}
}
@@ -417,6 +483,9 @@ static void update_gps_panel(struct gps_data_t *gpsdata)
* xgps.c. Note that the satellite list may be truncated based on
* available screen size, or may only show satellites used for the
* fix. */
+ (void)mvwprintw(satellites, 0, 27, "Seen %2d", gpsdata->satellites_visible);
+ (void)mvwprintw(satellites, 1, 32, "%2d", gpsdata->satellites_used);
+
if (gpsdata->satellites_visible != 0) {
int i;
qsort( gpsdata->skyview, gpsdata->satellites_visible,
@@ -425,7 +494,7 @@ static void update_gps_panel(struct gps_data_t *gpsdata)
for (i = 0; i < MAX_POSSIBLE_SATS; i++) {
if (i < gpsdata->satellites_visible) {
(void)snprintf(scr, sizeof(scr),
- " %3d %02d %03d %02d %c",
+ " %3d %2d %3d %2d %c",
gpsdata->skyview[i].PRN,
gpsdata->skyview[i].elevation,
gpsdata->skyview[i].azimuth,
@@ -445,7 +514,7 @@ static void update_gps_panel(struct gps_data_t *gpsdata)
&& (gpsdata->skyview[i].used
|| (gpsdata->satellites_visible <= display_sats))) {
(void)snprintf(scr, sizeof(scr),
- " %3d %02d %03d %02d %c",
+ " %3d %2d %3d %2d %c",
gpsdata->skyview[i].PRN,
gpsdata->skyview[i].elevation,
gpsdata->skyview[i].azimuth,
@@ -478,7 +547,7 @@ static void update_gps_panel(struct gps_data_t *gpsdata)
/* Fill in the latitude. */
if (gpsdata->fix.mode >= MODE_2D && isnan(gpsdata->fix.latitude) == 0) {
- (void)snprintf(scr, sizeof(scr), "%s %c",
+ (void)snprintf(scr, sizeof(scr), " %s %c",
deg_to_str(deg_type, fabs(gpsdata->fix.latitude)),
(gpsdata->fix.latitude < 0) ? 'S' : 'N');
} else
@@ -486,8 +555,8 @@ static void update_gps_panel(struct gps_data_t *gpsdata)
(void)mvwprintw(datawin, 2, DATAWIN_VALUE_OFFSET, "%-*s", 27, scr);
/* Fill in the longitude. */
- if (gpsdata->fix.mode >= MODE_2D && isnan(gpsdata->fix.longitude) == 0) {
- (void)snprintf(scr, sizeof(scr), "%s %c",
+ if (gpsdata->fix.mode >= MODE_2D && isfinite(gpsdata->fix.longitude) != 0) {
+ (void)snprintf(scr, sizeof(scr), " %s %c",
deg_to_str(deg_type, fabs(gpsdata->fix.longitude)),
(gpsdata->fix.longitude < 0) ? 'W' : 'E');
} else
@@ -495,40 +564,40 @@ static void update_gps_panel(struct gps_data_t *gpsdata)
(void)mvwprintw(datawin, 3, DATAWIN_VALUE_OFFSET, "%-*s", 27, scr);
/* Fill in the altitude. */
- if (gpsdata->fix.mode >= MODE_3D && isnan(gpsdata->fix.altitude) == 0)
- (void)snprintf(scr, sizeof(scr), "%.3f %s",
+ if (gpsdata->fix.mode >= MODE_3D && isfinite(gpsdata->fix.altitude) != 0)
+ (void)snprintf(scr, sizeof(scr), "%9.3f %s",
gpsdata->fix.altitude * altfactor, altunits);
else
(void)snprintf(scr, sizeof(scr), "n/a");
(void)mvwprintw(datawin, 4, DATAWIN_VALUE_OFFSET, "%-*s", 27, scr);
/* Fill in the speed. */
- if (gpsdata->fix.mode >= MODE_2D && isnan(gpsdata->fix.track) == 0)
- (void)snprintf(scr, sizeof(scr), "%.2f %s",
+ if (gpsdata->fix.mode >= MODE_2D && isfinite(gpsdata->fix.track) != 0)
+ (void)snprintf(scr, sizeof(scr), "%8.2f %s",
gpsdata->fix.speed * speedfactor, speedunits);
else
(void)snprintf(scr, sizeof(scr), "n/a");
(void)mvwprintw(datawin, 5, DATAWIN_VALUE_OFFSET, "%-*s", 27, scr);
/* Fill in the heading. */
- if (gpsdata->fix.mode >= MODE_2D && isnan(gpsdata->fix.track) == 0) {
+ if (gpsdata->fix.mode >= MODE_2D && isfinite(gpsdata->fix.track) != 0) {
double magheading = true2magnetic(gpsdata->fix.latitude,
gpsdata->fix.longitude,
gpsdata->fix.track);
if (!magnetic_flag || isnan(magheading) != 0) {
- (void)snprintf(scr, sizeof(scr), "%.1f deg (true)",
+ (void)snprintf(scr, sizeof(scr), "%5.1f deg (true)",
gpsdata->fix.track);
} else {
- (void)snprintf(scr, sizeof(scr), "%.1f deg (mag) ",
+ (void)snprintf(scr, sizeof(scr), "%5.1f deg (mag) ",
magheading);
}
} else
(void)snprintf(scr, sizeof(scr), "n/a");
- (void)mvwprintw(datawin, 6, DATAWIN_VALUE_OFFSET, "%-*s", 27, scr);
+ (void)mvwprintw(datawin, 6, DATAWIN_VALUE_OFFSET, " %-*s", 25, scr);
/* Fill in the rate of climb. */
if (gpsdata->fix.mode >= MODE_3D && isnan(gpsdata->fix.climb) == 0)
- (void)snprintf(scr, sizeof(scr), "%.2f %s/min",
+ (void)snprintf(scr, sizeof(scr), "%8.2f %s/min",
gpsdata->fix.climb * altfactor * 60, altunits);
else
(void)snprintf(scr, sizeof(scr), "n/a");
@@ -560,7 +629,7 @@ static void update_gps_panel(struct gps_data_t *gpsdata)
break;
}
}
- (void)mvwprintw(datawin, 8, DATAWIN_VALUE_OFFSET, "%-*s", 27, scr);
+ (void)mvwprintw(datawin, 8, DATAWIN_VALUE_OFFSET + 1, "%-*s", 26, scr);
/* Note that the following fields are exceptions to the
* sizing rule. The minimum window size does not include these
@@ -570,65 +639,101 @@ static void update_gps_panel(struct gps_data_t *gpsdata)
* there in the first place because I arbitrarily thought they
* sounded interesting. ;^) */
- if (window_length >= (MIN_GPS_DATAWIN_SIZE + 5)) {
+ if (window_ysize >= (MIN_GPS_DATAWIN_YSIZE + 5)) {
+ int row = 9;
+ char *ep_str = NULL;
+ char *dop_str = NULL;
- /* Fill in the estimated horizontal position error. */
- if (isnan(gpsdata->fix.epx) == 0)
- (void)snprintf(scr, sizeof(scr), "+/- %d %s",
- (int)(gpsdata->fix.epx * altfactor), altunits);
- else
- (void)snprintf(scr, sizeof(scr), "n/a");
- (void)mvwprintw(datawin, 9, DATAWIN_VALUE_OFFSET + 5, "%-*s", 22,
- scr);
+ /* Fill in the estimated latitude position error. */
+ ep_str = ep_to_str(gpsdata->fix.epx, altfactor, altunits);
+ dop_str = dop_to_str(gpsdata->dop.xdop);
+ (void)mvwprintw(datawin, row++, DATAWIN_VALUE_OFFSET + 8, "%s, %-*s",
+ dop_str, 11, ep_str);
- if (isnan(gpsdata->fix.epy) == 0)
- (void)snprintf(scr, sizeof(scr), "+/- %d %s",
- (int)(gpsdata->fix.epy * altfactor), altunits);
- else
- (void)snprintf(scr, sizeof(scr), "n/a");
- (void)mvwprintw(datawin, 10, DATAWIN_VALUE_OFFSET + 5, "%-*s", 22,
- scr);
+ /* Fill in the estimated longitude position error YDOP. */
+ ep_str = ep_to_str(gpsdata->fix.epy, altfactor, altunits);
+ dop_str = dop_to_str(gpsdata->dop.ydop);
+ (void)mvwprintw(datawin, row++, DATAWIN_VALUE_OFFSET + 8, "%s, %-*s",
+ dop_str, 11, ep_str);
/* Fill in the estimated vertical position error. */
- if (isnan(gpsdata->fix.epv) == 0)
- (void)snprintf(scr, sizeof(scr), "+/- %d %s",
- (int)(gpsdata->fix.epv * altfactor), altunits);
- else
- (void)snprintf(scr, sizeof(scr), "n/a");
- (void)mvwprintw(datawin, 11, DATAWIN_VALUE_OFFSET + 5, "%-*s", 22,
- scr);
+ ep_str = ep_to_str(gpsdata->fix.epv, altfactor, altunits);
+ dop_str = dop_to_str(gpsdata->dop.vdop);
+ (void)mvwprintw(datawin, row++, DATAWIN_VALUE_OFFSET + 8, "%s, %-*s",
+ dop_str, 11, ep_str);
+
+ /* extra large screen, show more DOPs */
+ if (dop_flag) {
+ double cep = NAN; /* 2D EP */
+ double sep = NAN; /* 3D EP */
+
+ /* Calculate estimated 2D circular position error. */
+ if (isfinite(gpsdata->fix.epy) != 0
+ && isfinite(gpsdata->fix.epy) != 0) {
+ /* http://gauss.gge.unb.ca/papers.pdf/gpsworld.may99.pdf */
+ /* cep is just the hypoteneuse of the triangle */
+ cep = sqrt((gpsdata->fix.epx * gpsdata->fix.epx) +
+ (gpsdata->fix.epy * gpsdata->fix.epy));
+ if (isfinite(gpsdata->fix.epv) != 0) {
+ sep = sqrt((gpsdata->fix.epx * gpsdata->fix.epx) +
+ (gpsdata->fix.epy * gpsdata->fix.epy) +
+ (gpsdata->fix.epv * gpsdata->fix.epv));
+ }
+ }
+
+ /* Fill in the estimated 2D (horizontal) position error. */
+ ep_str = ep_to_str(cep, altfactor, altunits);
+ dop_str = dop_to_str(gpsdata->dop.hdop);
+ (void)mvwprintw(datawin, row++, DATAWIN_VALUE_OFFSET + 8,
+ "%s, %-*s", dop_str, 11, ep_str);
+
+ /* PDOP, 3D error */
+ ep_str = ep_to_str(sep, altfactor, altunits);
+ dop_str = dop_to_str(gpsdata->dop.pdop);
+ (void)mvwprintw(datawin, row++, DATAWIN_VALUE_OFFSET + 8,
+ "%s, %-*s", dop_str, 11, ep_str);
+
+ /* time dilution of precision, TDOP */
+ /* FIXME: time ep? */
+ dop_str = dop_to_str(gpsdata->dop.tdop);
+ (void)mvwprintw(datawin, row++, DATAWIN_VALUE_OFFSET + 8, "%-*s",
+ 18, dop_str);
+
+ /* geometric dilution of precision, GDOP */
+ /* FIXME: gdop ep? */
+ dop_str = dop_to_str(gpsdata->dop.gdop);
+ (void)mvwprintw(datawin, row++, DATAWIN_VALUE_OFFSET + 8, "%-*s",
+ 18, dop_str);
+
+ }
+
+ /* Fill in the estimated speed error. */
+ ep_str = ep_to_str(gpsdata->fix.eps, speedfactor, speedunits);
+ (void)mvwprintw(datawin, row++, DATAWIN_VALUE_OFFSET + 8,
+ " %-*s", 11,
+ ep_str);
/* Fill in the estimated track error. */
- if (isnan(gpsdata->fix.epd) == 0)
- (void)snprintf(scr, sizeof(scr), "+/- %d deg",
- (int)(gpsdata->fix.epd));
- else
- (void)snprintf(scr, sizeof(scr), "n/a");
- (void)mvwprintw(datawin, 12, DATAWIN_VALUE_OFFSET + 5, "%-*s", 22,
- scr);
+ ep_str = ep_to_str(gpsdata->fix.epd, speedfactor, "deg");
+ (void)mvwprintw(datawin, row++, DATAWIN_VALUE_OFFSET + 8, "%-*s", 18,
+ ep_str);
- /* Fill in the estimated speed error. */
- if (isnan(gpsdata->fix.eps) == 0)
- (void)snprintf(scr, sizeof(scr), "+/- %d %s",
- (int)(gpsdata->fix.eps * speedfactor), speedunits);
- else
- (void)snprintf(scr, sizeof(scr), "n/a");
- (void)mvwprintw(datawin, 13, DATAWIN_VALUE_OFFSET + 5, "%-*s", 22,
- scr);
- /* Fill in the time offset. */
- if (isnan(gpsdata->fix.time) == 0)
- (void)snprintf(scr, sizeof(scr), "%.3f",
+ /* Fill in the time offset, milli seconds. */
+ if (isfinite(gpsdata->fix.time) != 0)
+ (void)snprintf(scr, sizeof(scr), "%6.3f sec",
(double)(timestamp()-gpsdata->fix.time));
else
- (void)snprintf(scr, sizeof(scr), "n/a");
- (void)mvwprintw(datawin, 14, DATAWIN_VALUE_OFFSET + 5, "%-*s", 22,
+ (void)snprintf(scr, sizeof(scr), " n/a");
+ (void)mvwprintw(datawin, row++, DATAWIN_VALUE_OFFSET + 8, "%-*s", 18,
scr);
/* Fill in the grid square (esr thought *this* one was interesting). */
if (isnan(gpsdata->fix.longitude)==0 && isnan(gpsdata->fix.latitude)==0)
s = maidenhead(gpsdata->fix.latitude,gpsdata->fix.longitude);
else
s = "n/a";
- (void)mvwprintw(datawin, 15, DATAWIN_VALUE_OFFSET + 5, "%-*s", 22, s);
+ (void)mvwprintw(datawin, row++, DATAWIN_VALUE_OFFSET + 9, "%-*s",
+ 18, s);
+
}
/* Be quiet if the user requests silence. */
diff --git a/contrib/README b/contrib/README
index e069733d..57d4ec34 100644
--- a/contrib/README
+++ b/contrib/README
@@ -2,6 +2,8 @@ The following tools are not production-ready. They are included only as
conveniences, examples or rudimetary starting points for other development
efforts.
+clock_test is used to test the latency of the system call clock_getttime().
+
binlog and binreplay are probably only useful for people developing
drivers for new protocols, when gpsfake does not yet know what to do
with a log file. These utilities are not particularly clever - they
diff --git a/contrib/clock_test.c b/contrib/clock_test.c
new file mode 100644
index 00000000..904c9678
--- /dev/null
+++ b/contrib/clock_test.c
@@ -0,0 +1,110 @@
+/*
+ * clock_test. A simple program to test the latency of the clock_gettime() call
+ *
+ * Compile: gcc clock_test.c -lm -o clock_test
+ *
+ */
+
+#include <getopt.h> /* for getopt() */
+#include <limits.h> /* for LONG_MAX */
+#include <math.h> /* for pow(), sqrt() */
+#include <stdio.h> /* for printf() */
+#include <stdlib.h> /* for qsort() */
+#include <time.h> /* for time_t */
+
+#define NUM_TESTS 101 /* default samples, make it odd for a clean median */
+#define DELAY 10000000 /* default delay between samples in ns, 10 ms is good */
+
+int compare_long( const void *ap, const void *bp)
+{
+ long a = *((long *)ap);
+ long b = *((long *)bp);
+ if ( a < b ) return -1;
+ if ( a > b ) return 1;
+ return 0;
+}
+
+int main(int argc, char **argv)
+{
+ int i;
+ int opt; /* for getopts() */
+ int verbose = 0;
+ int samples = NUM_TESTS;
+ long delay = DELAY;
+ long *diffs = NULL;
+ long min = LONG_MAX, max = 0, sum = 0, mean = 0, median = 0;
+ double stddev = 0.0;
+
+ while ((opt = getopt(argc, argv, "d:hvn:")) != -1) {
+ switch (opt) {
+ case 'd':
+ delay = atol(optarg);
+ break;
+ case 'n':
+ samples = atoi(optarg);
+ /* make odd, for a good median */
+ if ( (samples & 1) == 0) {
+ samples += 1;
+ }
+ break;
+ case 'v':
+ verbose = 1;
+ break;
+ case 'h':
+ /* fall through */
+ default: /* '?' */
+ fprintf(stderr, "Usage: %s [-h] [-d nsec] [-n samples] [-v]\n\n", argv[0]);
+ fprintf(stderr, "-d nsec : nano seconde paus between samples\n");
+ fprintf(stderr, "-h : help\n");
+ fprintf(stderr, "-n samples : Number of samples, default %d\n", NUM_TESTS);
+ fprintf(stderr, "-v : verbose\n");
+ exit(EXIT_FAILURE);
+ }
+ }
+
+ diffs = alloca( sizeof(long) * (samples + 2)); /* add 2 for off by one errors */
+
+ /* collect test data */
+ for ( i = 0 ; i < samples; i++ ) {
+ struct timespec now, now1, sleep, sleep1;
+
+ (void)clock_gettime(CLOCK_REALTIME, &now);
+ (void)clock_gettime(CLOCK_REALTIME, &now1);
+ diffs[i] = now1.tv_nsec - now.tv_nsec;
+ if ( now1.tv_sec != now.tv_sec ) {
+ /* clock roll over, fix it */
+ diffs[i] += 1000000000; /* add one second */
+ }
+ /* instead of hammering, sleep between tests, let the cache get cold */
+ sleep.tv_sec = 0;
+ sleep.tv_nsec = delay; /* sleep delay */
+ /* sleep1 unused, should not be returning early */
+ nanosleep(&sleep, &sleep1);
+ }
+
+ /* analyze test data */
+
+ /* print diffs, calculate min and max */
+ for ( i = 0 ; i < samples; i++ ) {
+ if ( verbose > 0 ) {
+ printf("diff %ld\n", diffs[i]);
+ }
+ sum += diffs[i];
+ if ( diffs[i] < min ) min = diffs[i];
+ if ( diffs[i] > max ) max = diffs[i];
+ }
+ mean = sum / (samples - 1);
+
+ qsort( diffs, samples, sizeof(long), compare_long);
+ median = diffs[(samples / 2) + 1];
+
+
+ for ( i = 0 ; i < samples; i++ ) {
+ stddev += pow(diffs[i] - mean, 2);
+ }
+ stddev = sqrt(stddev/samples);
+
+ printf("samples %d, delay %ld ns\n", samples, delay);
+ printf("min %ld ns, max %ld ns, mean %ld ns, median %ld ns, StdDev %ld ns\n",
+ min, max, mean, median, (long)stddev);
+}
diff --git a/xgps b/xgps
index 78a08a0c..d6f6c686 100755
--- a/xgps
+++ b/xgps
@@ -27,13 +27,7 @@ import cairo
# Gtk3 imports. Gtk3 requires the require_version(), which then causes
# pylint to complain about the subsequent "non-top" imports.
import gi
-try:
- gi.require_version('Gtk', '3.0')
-except:
- # Gtk2 may be installed, has no equire_version()
- sys.stderr.write("Unsupported Gtk version\n")
- exit(1)
-
+gi.require_version('Gtk', '3.0')
from gi.repository import GObject # pylint: disable=wrong-import-position
from gi.repository import Gtk # pylint: disable=wrong-import-position
from gi.repository import Gdk # pylint: disable=wrong-import-position
@@ -53,6 +47,50 @@ MAXCHANNELS = 28
# by default, used at the top, then sort PRN
SKY_VIEW_SORT_FIELDS = ('-used', 'PRN')
+# Each GNSS constellation reuses the same PRNs. To differentiate they are
+# all mushed into the PRN by Universal Satellite Index (USI)
+
+# here is the mapping.
+# USI constellation
+# ----------- | --------------
+# 0 Unused. Ignore satellites with this USI
+# [1...37] GPS PRNs [1...37]
+# [38...69] GLONASS FCNs [-7...24]
+# 70 GLONASS satellite with unknown FCN
+# [71...119] GALILEO PRNs [1...49]
+# [120...142] SBAS PRNs [120...142]
+# [143...192] Reserved
+# [193...197] QZSS PRNs [193...197]
+# [198...210] Reserved
+# [211...247] BeiDou (COMPASS) PRNs [1...37]
+# [248...254] Reserved
+# 255 Unused. Ignore satellites with this USI
+
+# FIXME: should be in gps.py, will move when tested
+def gps_type( prn ):
+ # return a string of the GPS constellation this PRN is in
+ if prn == 0:
+ return 'Unused'
+ if prn < 38:
+ return 'GPS'
+ if prn < 71:
+ return 'GLONASS'
+ if prn < 120:
+ return 'GALILEO'
+ if prn < 143:
+ return 'SBAS'
+ if prn < 193:
+ return 'Reserved'
+ if prn < 198:
+ return 'QZSS'
+ if prn < 211:
+ return 'Reserved'
+ if prn < 248:
+ return 'BeiDou'
+ if prn < 255:
+ return 'Reserved'
+ # else 255
+ return 'Unused'
class unit_adjustments(object):
"Encapsulate adjustments for unit systems."
@@ -198,6 +236,32 @@ class SkyView(Gtk.DrawingArea):
self.cr.show_text(text)
self.cr.new_path()
+ def draw_triangle(self, x, y, radius, filled=False, flip=False):
+ "Draw a triangle centered on the specified midpoint."
+ lw = self.cr.get_line_width()
+ if flip:
+ ytop = y + radius
+ ybot = y - radius
+ else:
+ ytop = y - radius
+ ybot = y + radius
+
+ x1, y1 = fit_to_grid(x, ytop, lw)
+ x2, y2 = fit_to_grid(x + radius, ybot, lw)
+ x3, y3 = fit_to_grid(x - radius, ybot, lw)
+
+ self.cr.move_to(x1, y1)
+ self.cr.line_to(x2, y2)
+ self.cr.line_to(x3, y3)
+ self.cr.close_path()
+
+ self.cr.stroke()
+
+ if filled:
+ self.cr.fill()
+ else:
+ self.cr.stroke()
+
def pol2cart(self, az, el):
"Polar to Cartesian coordinates within the horizon circle."
az = (az - self.rotate) % 360.0
@@ -262,6 +326,7 @@ class SkyView(Gtk.DrawingArea):
if sat.az == 0 and sat.el == 0:
continue # Skip satellites with unknown position
(x, y) = self.pol2cart(sat.az, sat.el)
+ # colorize by signal strength
if sat.ss < 10:
self.set_color("Gray")
elif sat.ss < 30:
@@ -272,10 +337,18 @@ class SkyView(Gtk.DrawingArea):
self.set_color("Green3")
else:
self.set_color("Green1")
- if gps.is_sbas(sat.PRN):
+
+ # shape by constellation
+ constellation = gps_type(sat.PRN)
+ if constellation == 'GPS':
+ self.draw_circle(x, y, SkyView.SAT_RADIUS, sat.used)
+ elif constellation == 'SBAS':
self.draw_square(x, y, SkyView.SAT_RADIUS, sat.used)
+ elif constellation == 'GALILEO':
+ self.draw_triangle(x, y, SkyView.SAT_RADIUS, sat.used, False)
else:
- self.draw_circle(x, y, SkyView.SAT_RADIUS, sat.used)
+ # QZSS, GLONASS, BeiDou, Reserved or Unused
+ self.draw_triangle(x, y, SkyView.SAT_RADIUS, sat.used, True)
self.cr.set_source_rgb(1, 1, 1)
self.draw_string(x + SkyView.SAT_RADIUS,
@@ -606,8 +679,7 @@ class Base(object):
self.satlist = Gtk.ListStore(str, str, str, str, str)
view = Gtk.TreeView(model=self.satlist)
- for (i, label) in enumerate(('PRN:', 'Elev:', 'Azim:', 'SNR:',
- 'Used:')):
+ for (i, label) in enumerate(('PRN', 'Elev', 'Azim', 'SNR', 'Used')):
column = Gtk.TreeViewColumn(label)
renderer = Gtk.CellRendererText()
column.pack_start(renderer, expand=True)
@@ -752,7 +824,7 @@ class Base(object):
def update_altitude(self, data):
if data.mode >= gps.MODE_3D and hasattr(data, "alt"):
- return "%.3f %s" % (
+ return "%9.3f %s" % (
data.alt * self.conversions.altfactor,
self.conversions.altunits)
else:
@@ -760,7 +832,7 @@ class Base(object):
def update_speed(self, data):
if hasattr(data, "speed"):
- return "%.3f %s" % (
+ return "%9.3f %s" % (
data.speed * self.conversions.speedfactor,
self.conversions.speedunits)
else:
@@ -768,7 +840,7 @@ class Base(object):
def update_climb(self, data):
if hasattr(data, "climb"):
- return "%.3f %s" % (
+ return "%9.3f %s" % (
data.climb * self.conversions.speedfactor,
self.conversions.speedunits)
else:
@@ -838,10 +910,10 @@ class Base(object):
key=lambda x: x[fld], reverse=rev)
for (i, satellite) in enumerate(satellites):
- self.set_satlist_field(i, 0, satellite.PRN)
- self.set_satlist_field(i, 1, satellite.el)
- self.set_satlist_field(i, 2, satellite.az)
- self.set_satlist_field(i, 3, satellite.ss)
+ self.set_satlist_field(i, 0, "%3d" % satellite.PRN)
+ self.set_satlist_field(i, 1, "%3d" % satellite.el)
+ self.set_satlist_field(i, 2, "%3d" % satellite.az)
+ self.set_satlist_field(i, 3, "%3d" % satellite.ss)
yesno = 'N'
if satellite.used:
yesno = 'Y'
View Lorry Controller Status