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|
/* $Id$ */
/*
* gpsctl.c -- tweak the control settings on a GPS
*/
#include <stdio.h>
#include <stdlib.h>
#include <sys/types.h>
#include <sys/ioctl.h>
#ifndef S_SPLINT_S
#include <unistd.h>
#endif /* S_SPLINT_S */
#include <stdbool.h>
#include <string.h>
#include <stdarg.h>
#include <errno.h>
#include <assert.h>
#include <signal.h>
#include "gpsd_config.h"
#include "gpsd.h"
static int debuglevel;
/*
* Set this as high or higher than the maximum number of subtype
* probes in drivers.c.
*/
#define REDIRECT_SNIFF 15
void gpsd_report(int errlevel UNUSED, const char *fmt, ... )
/* our version of the logger */
{
if (errlevel <= debuglevel) {
va_list ap;
va_start(ap, fmt);
(void)fputs("gpsctl: ", stderr);
(void)vfprintf(stderr, fmt, ap);
va_end(ap);
}
}
/*@ -noret @*/
static gps_mask_t get_packet(struct gps_device_t *session)
/* try to get a well-formed packet from the GPS */
{
gps_mask_t fieldmask;
for (;;) {
int waiting = 0;
(void)ioctl(session->gpsdata.gps_fd, FIONREAD, &waiting);
if (waiting == 0) {
(void)usleep(300);
continue;
}
fieldmask = gpsd_poll(session);
if ((fieldmask &~ ONLINE_SET)!=0)
return fieldmask;
}
}
/*@ +noret @*/
static void onsig(int sig)
{
if (sig == SIGALRM) {
gpsd_report(LOG_ERROR, "packet recognition timed out.\n");
exit(1);
} else {
gpsd_report(LOG_ERROR, "killed by signal %d\n", sig);
exit(0);
}
}
int main(int argc, char **argv)
{
int option, status;
char *err_str, *device = NULL, *devtype = NULL;
char *speed = NULL, *control = NULL, *rate = NULL;
bool to_binary = false, to_nmea = false, reset = false;
bool lowlevel=false, echo=false;
struct gps_data_t *gpsdata = NULL;
const struct gps_type_t *forcetype = NULL;
const struct gps_type_t **dp;
unsigned int timeout = 4;
#ifdef ALLOW_CONTROLSEND
char cooked[BUFSIZ];
ssize_t cooklen = 0;
#endif /* ALLOW_RECONFIGURE */
#define USAGE "usage: gpsctl [-l] [-b | -n | -r] [-D n] [-s speed] [-c rate] [-T timeout] [-V] [-t devtype] [-x control] [-e] <device>\n"
while ((option = getopt(argc, argv, "befhlnrs:t:x:D:T:V")) != -1) {
switch (option) {
case 'b': /* switch to vendor binary mode */
to_binary = true;
break;
case 'c':
#ifdef ALLOW_RECONFIGURE
rate = optarg;
#else
gpsd_report(LOG_ERROR, "cycle-change capability has been conditioned out.\n");
#endif /* ALLOW_RECONFIGURE */
break;
case 'x': /* ship specified control string */
#ifdef ALLOW_CONTROLSEND
control = optarg;
lowlevel = true;
if ((cooklen = hex_escapes(cooked, control)) <= 0) {
gpsd_report(LOG_ERROR,
"invalid escape string (error %d)\n", (int)cooklen);
exit(1);
}
#else
gpsd_report(LOG_ERROR, "control_send capability has been conditioned out.\n");
#endif /* ALLOW_CONTROLSEND */
break;
case 'e': /* echo specified control string with wrapper */
lowlevel = true;
echo = true;
break;
case 'f': /* force direct access to the device */
lowlevel = true;
break;
case 'l': /* list known device types */
for (dp = gpsd_drivers; *dp; dp++) {
#ifdef ALLOW_RECONFIGURE
if ((*dp)->mode_switcher != NULL)
(void)fputs("-[bn]\t", stdout);
else
(void)fputc('\t', stdout);
if ((*dp)->speed_switcher != NULL)
(void)fputs("-s\t", stdout);
else
(void)fputc('\t', stdout);
if ((*dp)->rate_switcher != NULL)
(void)fputs("-c\t", stdout);
else
(void)fputc('\t', stdout);
#endif /* ALLOW_RECONFIGURE */
#ifdef ALLOW_CONTROLSEND
if ((*dp)->control_send != NULL)
(void)fputs("-x\t", stdout);
else
(void)fputc('\t', stdout);
#endif /* ALLOW_CONTROLSEND */
(void)puts((*dp)->type_name);
}
exit(0);
case 'n': /* switch to NMEA mode */
#ifdef ALLOW_RECONFIGURE
to_nmea = true;
#else
gpsd_report(LOG_ERROR, "speed-change capability has been conditioned out.\n");
#endif /* ALLOW_RECONFIGURE */
break;
case 'r': /* force-switch to default mode */
#ifdef ALLOW_RECONFIGURE
reset = true;
lowlevel = false; /* so we'll abort if the daemon is running */
#else
gpsd_report(LOG_ERROR, "reset capability has been conditioned out.\n");
#endif /* ALLOW_RECONFIGURE */
break;
case 's': /* change output baud rate */
#ifdef ALLOW_RECONFIGURE
speed = optarg;
#else
gpsd_report(LOG_ERROR, "speed-change capability has been conditioned out.\n");
#endif /* ALLOW_RECONFIGURE */
break;
case 't': /* force the device type */
devtype = optarg;
break;
case 'T': /* force the device type */
timeout = (unsigned)atoi(optarg);
break;
case 'D': /* set debugging level */
debuglevel = atoi(optarg);
gpsd_hexdump_level = debuglevel;
break;
case 'V':
(void)fprintf(stderr, "gpsctl at svn revision $Rev$\n");
break;
case 'h':
default:
fprintf(stderr, USAGE);
break;
}
}
if (optind < argc)
device = argv[optind];
if (devtype != NULL) {
int matchcount = 0;
for (dp = gpsd_drivers; *dp; dp++) {
if (strstr((*dp)->type_name, devtype) != NULL) {
forcetype = *dp;
matchcount++;
}
}
if (matchcount == 0)
gpsd_report(LOG_ERROR, "no driver type name matches '%s'.\n", devtype);
else if (matchcount == 1) {
assert(forcetype != NULL);
gpsd_report(LOG_PROG, "%s driver selected.\n", forcetype->type_name);
} else {
forcetype = NULL;
gpsd_report(LOG_ERROR, "%d driver type names match '%s'.\n",
matchcount, devtype);
}
}
if ((int)to_nmea + (int)to_binary + (int)reset > 1) {
gpsd_report(LOG_ERROR, "make up your mind, would you?\n");
exit(0);
}
(void) signal(SIGINT, onsig);
(void) signal(SIGTERM, onsig);
(void) signal(SIGQUIT, onsig);
if (!lowlevel) {
/* Try to open the stream to gpsd. */
/*@i@*/gpsdata = gps_open(NULL, NULL);
if (gpsdata == NULL) {
switch (errno) {
case NL_NOSERVICE: err_str ="can't get service entry"; break;
case NL_NOHOST: err_str ="can't get host entry"; break;
case NL_NOPROTO: err_str ="can't get protocol entry"; break;
case NL_NOSOCK: err_str ="can't create socket"; break;
case NL_NOSOCKOPT: err_str ="error SETSOCKOPT SO_REUSEADDR"; break;
case NL_NOCONNECT: err_str ="can't connect"; break;
default: err_str ="Unknown"; break;
}
gpsd_report(LOG_ERROR, "no gpsd running or network error: %s.\n",
err_str);
lowlevel = true;
}
}
if (!lowlevel) {
/* OK, there's a daemon instance running. Do things the easy way */
assert(gpsdata != NULL);
(void)gps_query(gpsdata, "K\n");
if (gpsdata->ndevices == 0) {
gpsd_report(LOG_ERROR, "no devices connected.\n");
(void)gps_close(gpsdata);
exit(1);
} else if (gpsdata->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);
if (gpsdata->ndevices > 1) {
int i;
assert(device != NULL);
for (i = 0; i < gpsdata->ndevices; i++)
if (strcmp(device, gpsdata->devicelist[i]) == 0)
goto foundit;
gpsd_report(LOG_ERROR, "specified device not found.\n");
(void)gps_close(gpsdata);
exit(1);
foundit:
(void)gps_query(gpsdata, "F=%s", device);
}
/* if no control operation was specified, just ID the device */
if (speed==NULL && rate == NULL && !to_nmea && !to_binary && !reset) {
/* the O is to force a device binding */
(void)gps_query(gpsdata, "OFIB");
gpsd_report(LOG_SHOUT, "%s identified as %s at %d\n",
gpsdata->gps_device,gpsdata->gps_id,gpsdata->baudrate);
exit(0);
}
status = 0;
#ifdef ALLOW_RECONFIGURE
if (reset)
{
gpsd_report(LOG_PROG, "cannot reset with gpsd running.\n");
exit(0);
}
if (to_nmea) {
(void)gps_query(gpsdata, "N=0");
if (gpsdata->driver_mode != MODE_NMEA) {
gpsd_report(LOG_ERROR, "%s mode change to NMEA failed\n", gpsdata->gps_device);
status = 1;
} else
gpsd_report(LOG_PROG, "%s mode change succeeded\n", gpsdata->gps_device);
}
else if (to_binary) {
(void)gps_query(gpsdata, "N=1");
if (gpsdata->driver_mode != MODE_BINARY) {
gpsd_report(LOG_ERROR, "%s mode change to native mode failed\n", gpsdata->gps_device);
status = 1;
} else
gpsd_report(LOG_PROG, "%s mode change succeeded\n", gpsdata->gps_device);
}
if (speed != NULL) {
char parity = 'N';
char stopbits = '1';
if (strchr(speed, ':')==NULL)
(void)gps_query(gpsdata, "B=%s", speed);
else {
char *modespec = strchr(speed, ':');
/*@ +charint @*/
status = 0;
if (modespec!=NULL) {
*modespec = '\0';
if (strchr("78", *++modespec) == NULL) {
gpsd_report(LOG_ERROR, "No support for that word lengths.\n");
status = 1;
}
parity = *++modespec;
if (strchr("NOE", parity) == NULL) {
gpsd_report(LOG_ERROR, "What parity is '%c'?\n", parity);
status = 1;
}
stopbits = *++modespec;
if (strchr("12", stopbits) == NULL) {
gpsd_report(LOG_ERROR, "Stop bits must be 1 or 2.\n");
status = 1;
}
}
if (status == 0)
(void)gps_query(gpsdata, "B=%s 8 %c %c",
speed, parity, stopbits);
}
if (atoi(speed) != (int)gpsdata->baudrate) {
gpsd_report(LOG_ERROR, "%s driver won't support %s%c%d\n",
gpsdata->gps_device,
speed, parity, stopbits);
status = 1;
} else
gpsd_report(LOG_PROG, "%s change to %s%c%d succeeded\n",
gpsdata->gps_device,
speed, parity, stopbits);
}
if (rate != NULL) {
(void)gps_query(gpsdata, "C=%\n", rate);
}
#endif /* ALLOW_RECONFIGURE */
(void)gps_close(gpsdata);
exit(status);
#ifdef ALLOW_RECONFIGURE
} else if (reset) {
/* hard reset will go through lower-level operations */
const int speeds[] = {2400, 4800, 9600, 19200, 38400, 57600, 115200};
static struct gps_context_t context; /* start it zeroed */
static struct gps_device_t session; /* zero this too */
int i;
if (device == NULL || forcetype == NULL) {
gpsd_report(LOG_ERROR, "device and type must be specified for the reset operation.\n");
exit(1);
}
/*@ -mustfreeonly -immediatetrans @*/
session.context = &context;
gpsd_tty_init(&session);
(void)strlcpy(session.gpsdata.gps_device, device, sizeof(session.gpsdata.gps_device));
session.device_type = forcetype;
(void)gpsd_open(&session);
(void)gpsd_set_raw(&session);
(void)session.device_type->speed_switcher(&session, 4800, 'N', 1);
(void)tcdrain(session.gpsdata.gps_fd);
for(i = 0; i < (int)(sizeof(speeds) / sizeof(speeds[0])); i++) {
(void)gpsd_set_speed(&session, speeds[i], 'N', 1);
(void)session.device_type->speed_switcher(&session, 4800, 'N', 1);
(void)tcdrain(session.gpsdata.gps_fd);
}
gpsd_set_speed(&session, 4800, 'N', 1);
for (i = 0; i < 3; i++)
if (session.device_type->mode_switcher)
session.device_type->mode_switcher(&session, MODE_NMEA);
gpsd_wrap(&session);
exit(0);
/*@ +mustfreeonly +immediatetrans @*/
#endif /* ALLOW_RECONFIGURE */
} else {
/* access to the daemon failed, use the low-level facilities */
static struct gps_context_t context; /* start it zeroed */
static struct gps_device_t session; /* zero this too */
/*@ -mustfreeonly -immediatetrans @*/
session.context = &context; /* in case gps_init isn't called */
if (echo)
context.readonly = true;
(void) alarm(timeout);
(void) signal(SIGALRM, onsig);
/*
* Unless the user has forced a type and only wants to see the
* string (not send it) we now need to try to open the device
* and find out what is actually there.
*/
if (!(forcetype != NULL && echo)) {
int seq;
if (device == NULL) {
gpsd_report(LOG_ERROR, "device must be specified for low-level access.\n");
exit(1);
}
gpsd_init(&session, &context, device);
gpsd_report(LOG_PROG, "initialization passed.\n");
if (gpsd_activate(&session, false) == -1) {
gpsd_report(LOG_ERROR,
"activation of device %s failed, errno=%d\n",
device, errno);
exit(2);
}
/* hunt for packet type and serial parameters */
for (seq = 0; session.device_type == NULL; seq++) {
if (get_packet(&session) == ERROR_SET) {
gpsd_report(LOG_ERROR,
"autodetection failed.\n");
exit(2);
} else {
gpsd_report(LOG_IO,
"autodetection after %d reads.\n", seq);
(void) alarm(0);
break;
}
}
gpsd_report(LOG_PROG, "%s looks like a %s at %d.\n",
device, gpsd_id(&session), session.gpsdata.baudrate);
if (forcetype!=NULL && strcmp("Generic NMEA", session.device_type->type_name) !=0 && strcmp(forcetype->type_name, session.device_type->type_name)!=0) {
gpsd_report(LOG_ERROR, "'%s' doesn't match non-generic type '%s' of selected device.", forcetype->type_name, session.device_type->type_name);
}
/*
* If we've identified this as an NMEA device, we have to eat
* packets for a while to see if one of our probes elicits an
* ID response telling us that it's really a SiRF or
* something. If so, the libgpsd(3) layer will automatically
* redispatch to the correct driver type.
*/
if (strcmp(session.device_type->type_name, "Generic NMEA") == 0) {
int dummy;
for (dummy = 0; dummy < REDIRECT_SNIFF; dummy++) {
if ((get_packet(&session) & DEVICEID_SET)!=0)
break;
}
}
gpsd_report(LOG_SHOUT, "%s identified as a %s at %d.\n",
device, gpsd_id(&session), session.gpsdata.baudrate);
}
/* if no control operation was specified, we're done */
if (speed==NULL && !to_nmea && !to_binary && control==NULL)
exit(0);
/* maybe user wants to see the packet rather than send it */
if (echo)
session.gpsdata.gps_fd = fileno(stdout);
/* control op specified; maybe we forced the type */
if (forcetype != NULL)
(void)gpsd_switch_driver(&session, forcetype->type_name);
/* now perform the actual control function */
status = 0;
#ifdef ALLOW_RECOBFIGURE
/*@ -nullderef @*/
if (to_nmea || to_binary) {
if (session.device_type->mode_switcher == NULL) {
gpsd_report(LOG_SHOUT,
"%s devices have no mode switch.\n",
session.device_type->type_name);
status = 1;
} else {
int target_mode = to_nmea ? MODE_NMEA : MODE_BINARY;
int target_type = to_nmea ? NMEA_PACKET : session.device_type->packet_type;
gpsd_report(LOG_SHOUT,
"switching to mode %s.\n",
to_nmea ? "NMEA" : "BINARY");
session.device_type->mode_switcher(&session, target_mode);
/*
* Hunt for packet type again (mode might have
* changed). We've found by experiment that you can't
* close the connection to the device after a mode
* change but before you see a packet of the right
* type come back from it - otherwise you can hit a
* timing window where the mode-change control message
* gets ignored or flushed.
*/
if (!echo) {
/* suppresses probing for subtypes */
context.readonly = true;
(void)sleep(1);
(void) alarm(timeout);
for (;;) {
if (get_packet(&session) == ERROR_SET) {
continue;
} else if (session.packet.type == target_type) {
(void)alarm(0);
break;
}
}
context.readonly = false;
}
/*@ -nullpass @*/
gpsd_report(LOG_SHOUT, "after mode change, %s looks like a %s at %d.\n",
device, gpsd_id(&session), session.gpsdata.baudrate);
/*@ +nullpass @*/
}
}
if (speed) {
char parity = echo ? 'N': session.gpsdata.parity;
int stopbits = echo ? 1 : session.gpsdata.stopbits;
char *modespec;
modespec = strchr(speed, ':');
/*@ +charint @*/
status = 0;
if (modespec!=NULL) {
*modespec = '\0';
if (strchr("78", *++modespec) == NULL) {
gpsd_report(LOG_ERROR, "No support for that word lengths.\n");
status = 1;
}
parity = *++modespec;
if (strchr("NOE", parity) == NULL) {
gpsd_report(LOG_ERROR, "What parity is '%c'?\n", parity);
status = 1;
}
stopbits = *++modespec;
if (strchr("12", parity) == NULL) {
gpsd_report(LOG_ERROR, "Stop bits must be 1 or 2.\n");
status = 1;
}
stopbits = (int)(stopbits-'0');
}
if (status == 0) {
if (session.device_type->speed_switcher == NULL) {
gpsd_report(LOG_ERROR,
"%s devices have no speed switch.\n",
session.device_type->type_name);
status = 1;
}
else if (session.device_type->speed_switcher(&session,
(speed_t)atoi(speed),
parity,
stopbits)) {
/*
* See the comment attached to the 'B' command in gpsd.
* Probably not needed here, but it can't hurt.
*/
(void)tcdrain(session.gpsdata.gps_fd);
(void)usleep(50000);
gpsd_report(LOG_PROG, "%s change to %s%c%d succeeded\n",
session.gpsdata.gps_device,
speed, parity, stopbits);
} else {
gpsd_report(LOG_ERROR, "%s driver won't support %s%c%d.\n",
session.gpsdata.gps_device,
speed, parity, stopbits);
status = 1;
}
}
}
if (rate) {
bool write_enable = context.readonly;
context.readonly = false;
if (session.device_type->rate_switcher == NULL) {
gpsd_report(LOG_ERROR,
"%s devices have no rate switcher.\n",
session.device_type->type_name);
status = 1;
} else {
double rate_dbl = strtod(rate, NULL);
if (!session.device_type->rate_switcher(&session, rate_dbl)) {
gpsd_report(LOG_ERROR, "rate switch failed.\n");
status = 1;
}
}
context.readonly = write_enable;
}
#endif /* ALLOW_RECONFIGURE */
#ifdef ALLOW_CONTROLSEND
/*@ -compdef @*/
if (control) {
bool write_enable = context.readonly;
context.readonly = false;
if (session.device_type->control_send == NULL) {
gpsd_report(LOG_ERROR,
"%s devices have no control sender.\n",
session.device_type->type_name);
status = 1;
} else {
if (session.device_type->control_send(&session,
cooked,
(size_t)cooklen) == -1) {
gpsd_report(LOG_ERROR, "control transmission failed.\n");
status = 1;
}
}
context.readonly = write_enable;
}
/*@ +compdef @*/
#endif /* ALLOW_CONTROLSEND */
if (forcetype == NULL || !echo) {
/*
* Give the device time to settle before closing it. Alas, this is
* voodoo programming; we don't know it will have any effect, but
* GPSes are notoriously prone to timing-dependent errors.
*/
(void)usleep(300000);
gpsd_wrap(&session);
}
exit(status);
/*@ +nullderef @*/
/*@ +mustfreeonly +immediatetrans @*/
}
}
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