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|
/* Feature configuration switches end here
*
* This file is Copyright (c) 2010 by the GPSD project
* BSD terms apply: see the file COPYING in the distribution root for details.
*/
#endif /* GPSD_CONFIG_H */
#ifndef S_SPLINT_S
#include <termios.h> /* raspbian splint hates this */
#endif /* S_SPLINT_S */
#include <stdint.h>
#include <stdarg.h>
#include "gps.h"
#include "compiler.h"
/*
* Constants for the VERSION response
* 3.1: Base JSON version
* 3.2: Added POLL command and response
* 3.3: AIS app_id split into DAC and FID
* 3.4: Timestamps change from seconds since Unix epoch to ISO8601.
* 3.5: POLL subobject name changes: fixes -> tpv, skyview -> sky.
* DEVICE::activated becomes ISO8601 rather than real.
* 3.6 VERSION, WATCH, and DEVICES from slave gpsds get "remote" attribute.
* 3.7 PPS message added to repertoire. SDDBT water depth reported as
* negative altitude with Mode 3 set.
* 3.8 AIS course member becomes float in scaled mode (bug fix).
* 3.9 split24 flag added. Controlled-vocabulary fields are now always
* dumped in both numeric and string form, with the string being the
* value of a synthesized additional attribute with "_text" appended.
* (Thus, the 'scaled' flag no longer affects display of these fields.)
* PPS drift message ships nsec rather than msec.
* 3.10 The obsolete tag field has been dropped from JSON.
*/
#define GPSD_PROTO_MAJOR_VERSION 3 /* bump on incompatible changes */
#define GPSD_PROTO_MINOR_VERSION 10 /* bump on compatible changes */
#define JSON_DATE_MAX 24 /* ISO8601 timestamp with 2 decimal places */
#ifndef DEFAULT_GPSD_SOCKET
#define DEFAULT_GPSD_SOCKET "/var/run/gpsd.sock"
#endif
/* Some internal capabilities depend on which drivers we're compiling. */
#if !defined(AIVDM_ENABLE) && defined(NMEA2000_ENABLE)
#define AIVDM_ENABLE
#endif
#if !defined(NMEA_ENABLE) && (defined(FV18_ENABLE) || defined(MTK3301_ENABLE) || defined(TNT_ENABLE) || defined(OCEANSERVER_ENABLE) || defined(GPSCLOCK_ENABLE) || defined(FURY_ENABLE))
#define NMEA_ENABLE
#endif
#ifdef EARTHMATE_ENABLE
#define ZODIAC_ENABLE
#endif
#if defined(ZODIAC_ENABLE) || defined(SIRF_ENABLE) || defined(GARMIN_ENABLE) || defined(TSIP_ENABLE) || defined(EVERMORE_ENABLE) || defined(ITRAX_ENABLE) || defined(UBLOX_ENABLE) || defined(SUPERSTAR2_ENABLE) || defined(ONCORE_ENABLE) || defined(GEOSTAR_ENABLE) || defined(NAVCOM_ENABLE) || defined(NMEA2000_ENABLE)
#define BINARY_ENABLE
#endif
#if defined(TRIPMATE_ENABLE) || defined(BINARY_ENABLE)
#define NON_NMEA_ENABLE
#endif
#if defined(TNT_ENABLE) || defined(OCEANSERVER_ENABLE)
#define COMPASS_ENABLE
#endif
#ifdef NTPSHM_ENABLE
#define TIMEHINT_ENABLE
#endif
/* First, declarations for the packet layer... */
/*
* For NMEA-conforming receivers this is supposed to be 82, but
* some receivers (TN-200, GSW 2.3.2) emit oversized sentences.
* The current hog champion is the Trimble BX-960 receiver, which
* emits a 91-character GGA message.
*/
#define NMEA_MAX 91 /* max length of NMEA sentence */
#define NMEA_BIG_BUF (2*NMEA_MAX+1) /* longer than longest NMEA sentence */
/* a few bits of ISGPS magic */
enum isgpsstat_t {
ISGPS_NO_SYNC, ISGPS_SYNC, ISGPS_SKIP, ISGPS_MESSAGE,
};
#define RTCM_MAX (RTCM2_WORDS_MAX * sizeof(isgps30bits_t))
/*
* The packet buffers need to be as long than the longest packet we
* expect to see in any protocol, because we have to be able to hold
* an entire packet for checksumming...
* First we thought it had to be big enough for a SiRF Measured Tracker
* Data packet (188 bytes). Then it had to be big enough for a UBX SVINFO
* packet (206 bytes). Now it turns out that a couple of ITALK messages are
* over 512 bytes. I know we like verbose output, but this is ridiculous.
*/
#define MAX_PACKET_LENGTH 516 /* 7 + 506 + 3 */
/*
* UTC of second 0 of week 0 of the first rollover period of GPS time.
* Used to compute UTC from GPS time. Also, the threshold value
* under which system clock times are considered unreliable. Often,
* embedded systems come up thinking it's early 1970 and the system
* clock will report small positive values until the clock is set. By
* choosing this as the cutoff, we'll never reject historical GPS logs
* that are actually valid.
*/
#define GPS_EPOCH 315964800 /* 6 Jan 1981 00:00:00 UTC */
/* time constant */
#define SECS_PER_DAY (60*60*24) /* seconds per day */
#define SECS_PER_WEEK (7*SECS_PER_DAY) /* seconds per week */
#define GPS_ROLLOVER (1024*SECS_PER_WEEK) /* rollover period */
struct gpsd_errout_t {
int debug; /* lexer debug level */
void (*report)(const char *); /* reporting hook for lexer errors */
char *label;
};
struct gps_lexer_t {
/* packet-getter internals */
int type;
#define BAD_PACKET -1
#define COMMENT_PACKET 0
#define NMEA_PACKET 1
#define AIVDM_PACKET 2
#define GARMINTXT_PACKET 3
#define MAX_TEXTUAL_TYPE 3 /* increment this as necessary */
#define SIRF_PACKET 4
#define ZODIAC_PACKET 5
#define TSIP_PACKET 6
#define EVERMORE_PACKET 7
#define ITALK_PACKET 8
#define GARMIN_PACKET 9
#define NAVCOM_PACKET 10
#define UBX_PACKET 11
#define SUPERSTAR2_PACKET 12
#define ONCORE_PACKET 13
#define GEOSTAR_PACKET 14
#define NMEA2000_PACKET 15
#define MAX_GPSPACKET_TYPE 15 /* increment this as necessary */
#define RTCM2_PACKET 16
#define RTCM3_PACKET 17
#define JSON_PACKET 18
#define PACKET_TYPES 19 /* increment this as necessary */
#define TEXTUAL_PACKET_TYPE(n) ((((n)>=NMEA_PACKET) && ((n)<=MAX_TEXTUAL_TYPE)) || (n)==JSON_PACKET)
#define GPS_PACKET_TYPE(n) (((n)>=NMEA_PACKET) && ((n)<=MAX_GPSPACKET_TYPE))
#define LOSSLESS_PACKET_TYPE(n) (((n)>=RTCM2_PACKET) && ((n)<=RTCM3_PACKET))
#define PACKET_TYPEMASK(n) (1 << (n))
#define GPS_TYPEMASK (((2<<(MAX_GPSPACKET_TYPE+1))-1) &~ PACKET_TYPEMASK(COMMENT_PACKET))
unsigned int state;
size_t length;
unsigned char inbuffer[MAX_PACKET_LENGTH*2+1];
size_t inbuflen;
unsigned /*@observer@*/char *inbufptr;
/* outbuffer needs to be able to hold 4 GPGSV records at once */
unsigned char outbuffer[MAX_PACKET_LENGTH*2+1];
size_t outbuflen;
unsigned long char_counter; /* count characters processed */
unsigned long retry_counter; /* count sniff retries */
unsigned counter; /* packets since last driver switch */
struct gpsd_errout_t errout; /* how to report errors */
#ifdef TIMING_ENABLE
timestamp_t start_time; /* timestamp of first input */
unsigned long start_char; /* char counter at first input */
#endif /* TIMING_ENABLE */
/*
* ISGPS200 decoding context.
*
* This is not conditionalized on RTCM104_ENABLE because we need to
* be able to build gpsdecode even when RTCM support is not
* configured in the daemon.
*/
struct {
bool locked;
int curr_offset;
isgps30bits_t curr_word;
unsigned int bufindex;
/*
* Only these should be referenced from elsewhere, and only when
* RTCM_MESSAGE has just been returned.
*/
isgps30bits_t buf[RTCM2_WORDS_MAX]; /* packet data */
size_t buflen; /* packet length in bytes */
} isgps;
#ifdef PASSTHROUGH_ENABLE
unsigned int json_depth;
unsigned int json_after;
#endif /* PASSTHROUGH_ENABLE */
};
extern void lexer_init(/*@out@*/struct gps_lexer_t *);
extern void packet_reset(/*@out@*/struct gps_lexer_t *);
extern void packet_pushback(struct gps_lexer_t *);
extern void packet_parse(struct gps_lexer_t *);
extern ssize_t packet_get(int, struct gps_lexer_t *);
extern int packet_sniff(struct gps_lexer_t *);
#define packet_buffered_input(lexer) ((lexer)->inbuffer + (lexer)->inbuflen - (lexer)->inbufptr)
/* Next, declarations for the core library... */
/* factors for converting among confidence interval units */
#define CEP50_SIGMA 1.18
#define DRMS_SIGMA 1.414
#define CEP95_SIGMA 2.45
/* this is where we choose the confidence level to use in reports */
#define GPSD_CONFIDENCE CEP95_SIGMA
#define NTPSHMSEGS (MAX_DEVICES * 2) /* number of NTP SHM segments */
#define AIVDM_CHANNELS 2 /* A, B */
struct gps_device_t;
struct gps_context_t {
int valid; /* member validity flags */
#define LEAP_SECOND_VALID 0x01 /* we have or don't need correction */
#define GPS_TIME_VALID 0x02 /* GPS week/tow is valid */
#define CENTURY_VALID 0x04 /* have received ZDA or 4-digit year */
struct gpsd_errout_t errout; /* debug verbosity level and hook */
bool readonly; /* if true, never write to device */
/* DGPS status */
int fixcnt; /* count of good fixes seen */
/* timekeeping */
time_t start_time; /* local time of daemon startup */
int leap_seconds; /* Unix seconds to UTC (GPS-UTC offset) */
unsigned short gps_week; /* GPS week, actually 10 bits */
double gps_tow; /* GPS time of week, actually 19 bits */
int century; /* for NMEA-only devices without ZDA */
int rollovers; /* rollovers since start of run */
#ifdef TIMEHINT_ENABLE
int leap_notify; /* notification state from subframe */
#define LEAP_NOWARNING 0x0 /* normal, no leap second warning */
#define LEAP_ADDSECOND 0x1 /* last minute of day has 60 seconds */
#define LEAP_DELSECOND 0x2 /* last minute of day has 59 seconds */
#define LEAP_NOTINSYNC 0x3 /* overload, clock is free running */
#endif /* TIMEHINT_ENABLE */
#ifdef NTPSHM_ENABLE
/* we need the volatile here to tell the C compiler not to
* 'optimize' as 'dead code' the writes to SHM */
/*@reldef@*/volatile struct shmTime *shmTime[NTPSHMSEGS];
bool shmTimeInuse[NTPSHMSEGS];
#endif /* NTPSHM_ENABLE */
#ifdef PPS_ENABLE
/*@null@*/ void (*pps_hook)(struct gps_device_t *, struct timedelta_t *);
#endif /* PPS_ENABLE */
#ifdef SHM_EXPORT_ENABLE
/* we don't want the compiler to treat writes to shmexport as dead code,
* and we don't want them reordered either */
/*@reldef@*/volatile void *shmexport;
#endif
ssize_t (*serial_write)(struct gps_device_t *,
const char *buf, const size_t len);
};
/* state for resolving interleaved Type 24 packets */
struct ais_type24a_t {
unsigned int mmsi;
char shipname[AIS_SHIPNAME_MAXLEN+1];
};
#define MAX_TYPE24_INTERLEAVE 8 /* max number of queued type 24s */
struct ais_type24_queue_t {
struct ais_type24a_t ships[MAX_TYPE24_INTERLEAVE];
int index;
};
/* state for resolving AIVDM decodes */
struct aivdm_context_t {
/* hold context for decoding AIDVM packet sequences */
int decoded_frags; /* for tracking AIDVM parts in a multipart sequence */
unsigned char bits[2048];
size_t bitlen; /* how many valid bits */
struct ais_type24_queue_t type24_queue;
};
#define MODE_NMEA 0
#define MODE_BINARY 1
typedef enum {ANY, GPS, RTCM2, RTCM3, AIS} gnss_type;
typedef enum {
event_wakeup,
event_triggermatch,
event_identified,
event_configure,
event_driver_switch,
event_deactivate,
event_reactivate,
} event_t;
/*
* Used internally only in the gpsdata status field; not exported to
* client-side gpsdata structures. Instead this is used to change
* the base U_ERE values used by the error modeler.
*/
#define STATUS_DGPS_FIX 2 /* yes, with DGPS */
#define INTERNAL_SET(n) ((gps_mask_t)(1llu<<(SET_HIGH_BIT+(n))))
#define RAW_IS INTERNAL_SET(1) /* raw pseudoranges available */
#define USED_IS INTERNAL_SET(2) /* sat-used count available */
#define DRIVER_IS INTERNAL_SET(3) /* driver type identified */
#define CLEAR_IS INTERNAL_SET(4) /* starts a reporting cycle */
#define REPORT_IS INTERNAL_SET(5) /* ends a reporting cycle */
#define NODATA_IS INTERNAL_SET(6) /* no data read from fd */
#define PPSTIME_IS INTERNAL_SET(7) /* precision time is available */
#define PERR_IS INTERNAL_SET(8) /* PDOP set */
#define PASSTHROUGH_IS INTERNAL_SET(9) /* passthrough mode */
#define EOF_IS INTERNAL_SET(10) /* synthetic EOF */
#define DATA_IS ~(ONLINE_SET|PACKET_SET|CLEAR_IS|REPORT_IS)
typedef /*@unsignedintegraltype@*/ unsigned int driver_mask_t;
#define DRIVER_NOFLAGS 0x00000000u
#define DRIVER_STICKY 0x00000001u
/*
* True if a device type is non-null and has control methods.
*/
#define CONTROLLABLE(dp) (((dp) != NULL) && \
((dp)->speed_switcher != NULL \
|| (dp)->mode_switcher != NULL \
|| (dp)->rate_switcher != NULL))
/*
* True if a driver selection of it should be sticky.
*/
#define STICKY(dp) ((dp) != NULL && ((dp)->flags & DRIVER_STICKY) != 0)
struct gps_type_t {
/* GPS method table, describes how to talk to a particular GPS type */
/*@observer@*/char *type_name;
int packet_type;
driver_mask_t flags; /* reserved for expansion */
/*@observer@*//*@null@*/char *trigger;
int channels;
/*@null@*/bool (*probe_detect)(struct gps_device_t *session);
/*@null@*/ssize_t (*get_packet)(struct gps_device_t *session);
/*@null@*/gps_mask_t (*parse_packet)(struct gps_device_t *session);
/*@null@*/ssize_t (*rtcm_writer)(struct gps_device_t *session, const char *rtcmbuf, size_t rtcmbytes);
/*@null@*/void (*init_query)(struct gps_device_t *session);
/*@null@*/void (*event_hook)(struct gps_device_t *session, event_t event);
#ifdef RECONFIGURE_ENABLE
/*@null@*/bool (*speed_switcher)(struct gps_device_t *session,
speed_t speed, char parity, int stopbits);
/*@null@*/void (*mode_switcher)(struct gps_device_t *session, int mode);
/*@null@*/bool (*rate_switcher)(struct gps_device_t *session, double rate);
double min_cycle;
#endif /* RECONFIGURE_ENABLE */
#ifdef CONTROLSEND_ENABLE
/*@null@*/ssize_t (*control_send)(struct gps_device_t *session, char *buf, size_t buflen);
#endif /* CONTROLSEND_ENABLE */
#ifdef TIMEHINT_ENABLE
/*@null@*/double (*time_offset)(struct gps_device_t *session);
#endif /* TIMEHINT_ENABLE */
};
/*
* Each input source has an associated type. This is currently used in two
* ways:
*
* (1) To determince if we require that gpsd be the only process opening a
* device. We make an exception for PTYs because the master side has to be
* opened by test code.
*
* (2) To determine whether it's safe to send wakeup strings. These are
* required on some unusual RS-232 devices (such as the TNT compass and
* Thales/Ashtech GPSes) but should not be shipped to unidentified USB
* or Bluetooth devices as we don't even know in advance those are GPSes;
* they might not cope well.
*
* Where it says "case detected but not used" it means that we can identify
* a source type but no behavior is yet contingent on it. A "discoverable"
* device is one for which there is discoverable metadata such as a
* vendor/product ID.
*
* We should never see a block device; that would indicate a serious error
* in command-line usage or the hotplug system.
*/
typedef enum {source_unknown,
source_blockdev, /* block devices can't be GPS sources */
source_rs232, /* potential GPS source, not discoverable */
source_usb, /* potential GPS source, discoverable */
source_bluetooth, /* potential GPS source, discoverable */
source_can, /* potential GPS source, fixed CAN format */
source_pty, /* PTY: we don't require exclusive access */
source_tcp, /* TCP/IP stream: case detected but not used */
source_udp, /* UDP stream: case detected but not used */
source_gpsd, /* Remote gpsd instance over TCP/IP */
} sourcetype_t;
/*
* Each input source also has an associated service type.
*/
typedef enum {service_unknown,
service_sensor,
service_dgpsip,
service_ntrip,
} servicetype_t;
/*
* Private state information about an NTRIP stream.
*/
struct ntrip_stream_t
{
char mountpoint[101];
char credentials[128];
char authStr[128];
char url[256];
char port[32]; /* in my /etc/services 16 was the longest */
bool set; /* found and set */
enum
{
fmt_rtcm2,
fmt_rtcm2_0,
fmt_rtcm2_1,
fmt_rtcm2_2,
fmt_rtcm2_3,
fmt_rtcm3,
fmt_unknown
} format;
int carrier;
double latitude;
double longitude;
int nmea;
enum
{ cmp_enc_none, cmp_enc_unknown } compr_encryp;
enum
{ auth_none, auth_basic, auth_digest, auth_unknown } authentication;
int fee;
int bitrate;
};
#ifdef PPS_ENABLE
#include "ppsthread.h"
#endif /* PPS_ENABLE */
struct gps_device_t {
/* session object, encapsulates all global state */
struct gps_data_t gpsdata;
/*@relnull@*/const struct gps_type_t *device_type;
unsigned int driver_index; /* numeric index of current driver */
unsigned int drivers_identified; /* bitmask; what drivers have we seen? */
#ifdef RECONFIGURE_ENABLE
/*@relnull@*/const struct gps_type_t *last_controller;
#endif /* RECONFIGURE_ENABLE */
struct gps_context_t *context;
sourcetype_t sourcetype;
servicetype_t servicetype;
int mode;
struct termios ttyset, ttyset_old;
#ifndef FIXED_PORT_SPEED
unsigned int baudindex;
#endif /* FIXED_PORT_SPEED */
int saved_baud;
struct gps_lexer_t lexer;
int badcount;
int subframe_count;
char subtype[64]; /* firmware version or subtype ID */
time_t opentime;
time_t releasetime;
bool zerokill;
time_t reawake;
#ifdef TIMING_ENABLE
timestamp_t sor; /* timestamp start of this reporting cycle */
unsigned long chars; /* characters in the cycle */
#endif /* TIMING_ENABLE */
#ifdef NTP_ENABLE
bool ship_to_ntpd;
#ifdef NTPSHM_ENABLE
volatile /*@null@*/ struct shmTime *shm_clock;
#endif /* NTPSHM_ENABLE */
# ifdef PPS_ENABLE
volatile /*@null@*/ struct shmTime *shm_pps;
int chronyfd; /* for talking to chrony */
# endif /* PPS_ENABLE */
#endif /* NTP_ENABLE */
#ifdef PPS_ENABLE
volatile struct pps_thread_t pps_thread;
#endif /* PPS_ENABLE */
double mag_var; /* magnetic variation in degrees */
bool back_to_nmea; /* back to NMEA on revert? */
char msgbuf[MAX_PACKET_LENGTH*2+1]; /* command message buffer for sends */
size_t msgbuflen;
int observed; /* which packet type`s have we seen? */
bool cycle_end_reliable; /* does driver signal REPORT_MASK */
int fixcnt; /* count of fixes from this device */
struct gps_fix_t newdata; /* where drivers put their data */
struct gps_fix_t oldfix; /* previous fix for error modeling */
#ifdef NMEA_ENABLE
struct {
unsigned short sats_used[MAXCHANNELS];
int part, await; /* for tracking GSV parts */
struct tm date; /* date part of last sentence time */
double subseconds; /* subsec part of last sentence time */
char *field[NMEA_MAX];
unsigned char fieldcopy[NMEA_MAX+1];
/* detect receivers that ship GGA with non-advancing timestamp */
bool latch_mode;
char last_gga_timestamp[16];
bool seen_glgsv;
bool seen_bdgsv;
bool seen_qzss;
char last_gsv_talker;
/*
* State for the cycle-tracking machinery.
* The reason these timestamps are separate from the
* general sentence timestamps is that we can
* use the minutes and seconds part of a sentence
* with an incomplete timestamp (like GGA) for
* end-cycle recognition, even if we don't have a previous
* RMC or ZDA that lets us get full time from it.
*/
timestamp_t this_frac_time, last_frac_time;
bool latch_frac_time;
unsigned int lasttag;
unsigned int cycle_enders;
bool cycle_continue;
} nmea;
#endif /* NMEA_ENABLE */
/*
* The rest of this structure is driver-specific private storage.
* Only put a driver's scratch storage in here if it is never
* implemented on the same device that supports any mode already
* in this union; otherwise bad things might happen after a device
* mode switch.
*/
union {
#ifdef GARMINTXT_ENABLE
struct {
struct tm date; /* date part of last sentence time */
double subseconds; /* subsec part of last sentence time */
} garmintxt;
#endif /* GARMINTXT_ENABLE */
#ifdef BINARY_ENABLE
#ifdef GEOSTAR_ENABLE
struct {
unsigned int physical_port;
} geostar;
#endif /* GEOSTAR_ENABLE */
#ifdef SIRF_ENABLE
struct {
unsigned int need_ack; /* if NZ we're awaiting ACK */
unsigned int cfg_stage; /* configuration stage counter */
unsigned int driverstate; /* for private use */
#define SIRF_LT_231 0x01 /* SiRF at firmware rev < 231 */
#define SIRF_EQ_231 0x02 /* SiRF at firmware rev == 231 */
#define SIRF_GE_232 0x04 /* SiRF at firmware rev >= 232 */
#define UBLOX 0x08 /* u-blox firmware with packet 0x62 */
unsigned long satcounter;
unsigned int time_seen;
unsigned char lastid; /* ID with last timestamp seen */
#define TIME_SEEN_UTC_2 0x08 /* Seen UTC time variant 2? */
/* fields from Navigation Parameters message */
bool nav_parameters_seen; /* have we seen one? */
unsigned char altitude_hold_mode;
unsigned char altitude_hold_source;
int16_t altitude_source_input;
unsigned char degraded_mode;
unsigned char degraded_timeout;
unsigned char dr_timeout;
unsigned char track_smooth_mode;
/* fields from DGPS Status */
unsigned int dgps_source;
#define SIRF_DGPS_SOURCE_NONE 0 /* No DGPS correction type have been selected */
#define SIRF_DGPS_SOURCE_SBAS 1 /* SBAS */
#define SIRF_DGPS_SOURCE_SERIAL 2 /* RTCM corrections */
#define SIRF_DGPS_SOURCE_BEACON 3 /* Beacon corrections */
#define SIRF_DGPS_SOURCE_SOFTWARE 4 /* Software API corrections */
} sirf;
#endif /* SIRF_ENABLE */
#ifdef SUPERSTAR2_ENABLE
struct {
time_t last_iono;
} superstar2;
#endif /* SUPERSTAR2_ENABLE */
#ifdef TSIP_ENABLE
struct {
unsigned short sats_used[MAXCHANNELS];
bool superpkt; /* Super Packet mode requested */
time_t last_41; /* Timestamps for packet requests */
time_t last_48;
time_t last_5c;
time_t last_6d;
time_t last_46;
time_t req_compact;
unsigned int stopbits; /* saved RS232 link parameter */
char parity;
int subtype;
#define TSIP_UNKNOWN 0
#define TSIP_ACCUTIME_GOLD 1
} tsip;
#endif /* TSIP_ENABLE */
#ifdef GARMIN_ENABLE /* private housekeeping stuff for the Garmin driver */
struct {
unsigned char Buffer[4096+12]; /* Garmin packet buffer */
size_t BufferLen; /* current GarminBuffer Length */
} garmin;
#endif /* GARMIN_ENABLE */
#ifdef ZODIAC_ENABLE /* private housekeeping stuff for the Zodiac driver */
struct {
unsigned short sn; /* packet sequence number */
/*
* Zodiac chipset channel status from PRWIZCH. Keep it so
* raw-mode translation of Zodiac binary protocol can send
* it up to the client.
*/
#define ZODIAC_CHANNELS 12
unsigned int Zs[ZODIAC_CHANNELS]; /* satellite PRNs */
unsigned int Zv[ZODIAC_CHANNELS]; /* signal values (0-7) */
} zodiac;
#endif /* ZODIAC_ENABLE */
#ifdef UBLOX_ENABLE
struct {
unsigned char port_id;
unsigned char sbas_in_use;
/*
* NAV-* message order is not defined, thus we handle them isochronously
* and store the latest data into these variables rather than expect
* some messages to arrive in order. NAV-SOL handler picks up these values
* and inserts them into the fix structure in one go.
*/
double last_herr;
double last_verr;
} ubx;
#endif /* UBLOX_ENABLE */
#ifdef NAVCOM_ENABLE
struct {
uint8_t physical_port;
bool warned;
} navcom;
#endif /* NAVCOM_ENABLE */
#ifdef ONCORE_ENABLE
struct {
#define ONCORE_VISIBLE_CH 12
int visible;
int PRN[ONCORE_VISIBLE_CH]; /* PRNs of satellite */
int elevation[ONCORE_VISIBLE_CH]; /* elevation of satellite */
int azimuth[ONCORE_VISIBLE_CH]; /* azimuth */
int pps_offset_ns;
} oncore;
#endif /* ONCORE_ENABLE */
#ifdef NMEA2000_ENABLE
struct {
unsigned int can_msgcnt;
unsigned int can_net;
unsigned int unit;
bool unit_valid;
int mode;
unsigned int mode_valid;
unsigned int idx;
// size_t ptr;
size_t fast_packet_len;
int type;
void *workpgn;
void *pgnlist;
unsigned char sid[8];
} nmea2000;
#endif /* NMEA2000_ENABLE */
/*
* This is not conditionalized on RTCM104_ENABLE because we need to
* be able to build gpsdecode even when RTCM support is not
* configured in the daemon. It doesn't take up extra space.
*/
struct {
/* ISGPS200 decoding */
bool locked;
int curr_offset;
isgps30bits_t curr_word;
isgps30bits_t buf[RTCM2_WORDS_MAX];
unsigned int bufindex;
} isgps;
#endif /* BINARY_ENABLE */
#ifdef AIVDM_ENABLE
struct {
struct aivdm_context_t context[AIVDM_CHANNELS];
char ais_channel;
} aivdm;
#endif /* AIVDM_ENABLE */
} driver;
/*
* State of an NTRIP connection. We don't want to zero this on every
* activation, otherwise the connection state will get lost. Information
* in this substructure is only valid if servicetype is service_ntrip.
*/
struct {
/* state information about the stream */
struct ntrip_stream_t stream;
/* state information about our response parsing */
enum {
ntrip_conn_init,
ntrip_conn_sent_probe,
ntrip_conn_sent_get,
ntrip_conn_established,
ntrip_conn_err
} conn_state; /* connection state for multi stage connect */
bool works; /* marks a working connection, so we try to reconnect once */
bool sourcetable_parse; /* have we read the sourcetable header? */
} ntrip;
/* State of a DGPSIP connection */
struct {
bool reported;
} dgpsip;
};
/* logging levels */
#define LOG_ERROR -1 /* errors, display always */
#define LOG_SHOUT 0 /* not an error but we should always see it */
#define LOG_WARN 1 /* not errors but may indicate a problem */
#define LOG_CLIENT 2 /* log JSON reports to clients */
#define LOG_INF 3 /* key informative messages */
#define LOG_PROG 4 /* progress messages */
#define LOG_IO 5 /* IO to and from devices */
#define LOG_DATA 6 /* log data management messages */
#define LOG_SPIN 7 /* logging for catching spin bugs */
#define LOG_RAW 8 /* raw low-level I/O */
#define ISGPS_ERRLEVEL_BASE LOG_RAW
#define IS_HIGHEST_BIT(v,m) (v & ~((m<<1)-1))==0
/* driver helper functions */
extern void isgps_init(/*@out@*/struct gps_lexer_t *);
enum isgpsstat_t isgps_decode(struct gps_lexer_t *,
bool (*preamble_match)(isgps30bits_t *),
bool (*length_check)(struct gps_lexer_t *),
size_t,
unsigned int);
extern unsigned int isgps_parity(isgps30bits_t);
extern void isgps_output_magnavox(const isgps30bits_t *, unsigned int, FILE *);
extern enum isgpsstat_t rtcm2_decode(struct gps_lexer_t *, unsigned int);
extern void json_rtcm2_dump(const struct rtcm2_t *,
/*@null@*/const char *, /*@out@*/char[], size_t);
extern void rtcm2_unpack(/*@out@*/struct rtcm2_t *, char *);
extern void json_rtcm3_dump(const struct rtcm3_t *,
/*@null@*/const char *, /*@out@*/char[], size_t);
extern void rtcm3_unpack(const struct gps_context_t *,
/*@out@*/struct rtcm3_t *, char *);
/* here are the available GPS drivers */
extern const struct gps_type_t **gpsd_drivers;
/* gpsd library internal prototypes */
extern gps_mask_t generic_parse_input(struct gps_device_t *);
extern ssize_t generic_get(struct gps_device_t *);
extern gps_mask_t nmea_parse(char *, struct gps_device_t *);
extern ssize_t nmea_write(struct gps_device_t *, char *, size_t);
extern ssize_t nmea_send(struct gps_device_t *, const char *, ... );
extern void nmea_add_checksum(char *);
extern gps_mask_t sirf_parse(struct gps_device_t *, unsigned char *, size_t);
extern gps_mask_t evermore_parse(struct gps_device_t *, unsigned char *, size_t);
extern gps_mask_t navcom_parse(struct gps_device_t *, unsigned char *, size_t);
extern gps_mask_t garmin_ser_parse(struct gps_device_t *);
extern gps_mask_t garmintxt_parse(struct gps_device_t *);
extern gps_mask_t aivdm_parse(struct gps_device_t *);
extern bool netgnss_uri_check(char *);
extern int netgnss_uri_open(struct gps_device_t *, char *);
extern void netgnss_report(struct gps_context_t *,
struct gps_device_t *,
struct gps_device_t *);
extern void netgnss_autoconnect(struct gps_context_t *, double, double);
extern int dgpsip_open(struct gps_device_t *, const char *);
extern void dgpsip_report(struct gps_context_t *,
struct gps_device_t *,
struct gps_device_t *);
extern void dgpsip_autoconnect(struct gps_context_t *,
double, double, const char *);
extern int ntrip_open(struct gps_device_t *, char *);
extern void ntrip_report(struct gps_context_t *,
struct gps_device_t *,
struct gps_device_t *);
extern void gpsd_tty_init(struct gps_device_t *);
extern int gpsd_serial_open(struct gps_device_t *);
extern bool gpsd_set_raw(struct gps_device_t *);
extern ssize_t gpsd_serial_write(struct gps_device_t *,
const char *, const size_t);
extern bool gpsd_next_hunt_setting(struct gps_device_t *);
extern int gpsd_switch_driver(struct gps_device_t *, char *);
extern void gpsd_set_speed(struct gps_device_t *, speed_t, char, unsigned int);
extern speed_t gpsd_get_speed(const struct gps_device_t *);
extern speed_t gpsd_get_speed_old(const struct gps_device_t *);
extern int gpsd_get_stopbits(const struct gps_device_t *);
extern char gpsd_get_parity(const struct gps_device_t *);
extern void gpsd_assert_sync(struct gps_device_t *);
extern void gpsd_close(struct gps_device_t *);
extern ssize_t gpsd_write(struct gps_device_t *, const char *, const size_t);
extern void gpsd_time_init(struct gps_context_t *, time_t);
extern void gpsd_set_century(struct gps_device_t *);
extern timestamp_t gpsd_gpstime_resolve(/*@in@ */ struct gps_device_t *,
const unsigned short, const double);
extern timestamp_t gpsd_utc_resolve(/*@in@*/struct gps_device_t *);
extern void gpsd_century_update(/*@in@*/struct gps_device_t *, int);
extern void gpsd_zero_satellites(/*@out@*/struct gps_data_t *sp);
extern gps_mask_t gpsd_interpret_subframe(struct gps_device_t *, unsigned int,
uint32_t[]);
extern gps_mask_t gpsd_interpret_subframe_raw(struct gps_device_t *,
unsigned int, uint32_t[]);
extern /*@ observer @*/ const char *gpsd_hexdump(/*@out@*/char *, size_t,
/*@null@*/char *, size_t);
extern /*@ observer @*/ const char *gpsd_packetdump(/*@out@*/char *, size_t,
/*@null@*/char *, size_t);
extern /*@ observer @*/ const char *gpsd_prettydump(struct gps_device_t *);
# ifdef __cplusplus
extern "C" {
# endif
extern int gpsd_hexpack(/*@in@*/const char *, /*@out@*/char *, size_t);
# ifdef __cplusplus
}
# endif
extern ssize_t hex_escapes(/*@out@*/char *, const char *);
extern void gpsd_position_fix_dump(struct gps_device_t *,
/*@out@*/char[], size_t);
extern void gpsd_clear_data(struct gps_device_t *);
extern socket_t netlib_connectsock(int, const char *, const char *, const char *);
extern socket_t netlib_localsocket(const char *, int);
extern const char /*@observer@*/ *netlib_errstr(const int);
extern char /*@observer@*/ *netlib_sock2ip(socket_t);
extern void nmea_tpv_dump(struct gps_device_t *, /*@out@*/char[], size_t);
extern void nmea_sky_dump(struct gps_device_t *, /*@out@*/char[], size_t);
extern void nmea_subframe_dump(struct gps_device_t *, /*@out@*/char[], size_t);
extern void nmea_ais_dump(struct gps_device_t *, /*@out@*/char[], size_t);
extern unsigned int ais_binary_encode(struct ais_t *ais, /*@out@*/unsigned char *bits, int flag);
#ifdef NTP_ENABLE
extern void ntp_latch(struct gps_device_t *device, /*@out@*/struct timedelta_t *td);
#ifdef NTPSHM_ENABLE
extern void ntpshm_context_init(struct gps_context_t *);
extern void ntpshm_session_init(struct gps_device_t *);
extern int ntpshm_put(struct gps_device_t *, volatile struct shmTime *, struct timedelta_t *);
extern void ntpshm_link_deactivate(struct gps_device_t *);
extern void ntpshm_link_activate(struct gps_device_t *);
#endif /* NTPSHM_ENABLE */
#endif /* NTP_ENABLE */
/* normalize a timespec
*
* three cases to note
* if tv_sec is positve, then tv_nsec must be positive
* if tv_sec is negative, then tv_nsec must be negative
* if tv_sec is zero, then tv_nsec may be positive or negative.
*
* this only handles the case where two normalized timespecs
* are added or subracted. (e.g. only a one needs to be borrowed/carried
*/
/*@-type -noeffect@*/ /* splint is confused about struct timespec */
/*@unused@*/static inline void TS_NORM( struct timespec *ts)
{
if ( ( 1 <= ts->tv_sec ) ||
( (0 == ts->tv_sec ) && (0 <= ts->tv_nsec ) ) ) {
/* result is positive */
if ( 1000000000 <= ts->tv_nsec ) {
/* borrow from tv_sec */
ts->tv_nsec -= 1000000000;
ts->tv_sec++;
} else if ( 0 > (ts)->tv_nsec ) {
/* carry to tv_sec */
ts->tv_nsec += 1000000000;
ts->tv_sec--;
}
} else {
/* result is negative */
if ( -1000000000 >= ts->tv_nsec ) {
/* carry to tv_sec */
ts->tv_nsec += 1000000000;
ts->tv_sec--;
} else if ( 0 < ts->tv_nsec ) {
/* borrow from tv_sec */
ts->tv_nsec -= 1000000000;
ts->tv_sec++;
}
}
}
/*@+type +noeffect@*/
/* normalize a timeval */
#define TV_NORM(tv) \
do { \
if ( 1000000 <= (tv)->tv_usec ) { \
(tv)->tv_usec -= 1000000; \
(tv)->tv_sec++; \
} else if ( 0 > (tv)->tv_usec ) { \
(tv)->tv_usec += 1000000; \
(tv)->tv_sec--; \
} \
} while (0)
/* convert timespec to timeval, with rounding */
#define TSTOTV(tv, ts) \
do { \
(tv)->tv_sec = (ts)->tv_sec; \
(tv)->tv_usec = ((ts)->tv_nsec + 500)/1000; \
TV_NORM( tv ); \
} while (0)
/* convert timeval to timespec */
#define TVTOTS(ts, tv) \
do { \
(ts)->tv_sec = (tv)->tv_sec; \
(ts)->tv_nsec = (tv)->tv_usec*1000; \
TS_NORM( ts ); \
} while (0)
/* subtract two timespec */
#define TS_SUB(r, ts1, ts2) \
do { \
(r)->tv_sec = (ts1)->tv_sec - (ts2)->tv_sec; \
(r)->tv_nsec = (ts1)->tv_nsec - (ts2)->tv_nsec; \
TS_NORM( r ); \
} while (0)
/* convert a timespec to a double.
* is tv_sec > 2, then inevitable loss of precision in tv_nsec */
#define TSTONS(ts) ((double)((ts)->tv_sec + ((ts)->tv_nsec / 1e9)))
extern void errout_reset(struct gpsd_errout_t *errout);
extern void gpsd_acquire_reporting_lock(void);
extern void gpsd_release_reporting_lock(void);
extern void ecef_to_wgs84fix(/*@out@*/struct gps_fix_t *,
/*@out@*/double *,
double, double, double,
double, double, double);
extern void clear_dop(/*@out@*/struct dop_t *);
/* shmexport.c */
#define GPSD_SHM_KEY 0x47505344 /* "GPSD" */
struct shmexport_t
{
int bookend1;
struct gps_data_t gpsdata;
int bookend2;
};
extern bool shm_acquire(struct gps_context_t *);
extern void shm_release(struct gps_context_t *);
extern void shm_update(struct gps_context_t *, struct gps_data_t *);
/* dbusexport.c */
#if defined(DBUS_EXPORT_ENABLE) && !defined(S_SPLINT_S)
int initialize_dbus_connection (void);
void send_dbus_fix (struct gps_device_t* channel);
#endif /* defined(DBUS_EXPORT_ENABLE) && !defined(S_SPLINT_S) */
/* srecord.c */
extern void hexdump(size_t, unsigned char *, unsigned char *);
extern unsigned char sr_sum(unsigned int, unsigned int, unsigned char *);
extern int bin2srec(unsigned int, unsigned int, unsigned int, unsigned char *, unsigned char *);
extern int srec_hdr(unsigned int, unsigned char *, unsigned char *);
extern int srec_fin(unsigned int, unsigned char *);
extern unsigned char hc(unsigned char);
/* a BSD transplant */
int b64_ntop(unsigned char const *src, size_t srclength, char *target,
size_t targsize);
/* application interface */
extern void gps_context_init(struct gps_context_t *context,
/*@observer@*/const char *label);
extern void gpsd_init(struct gps_device_t *,
struct gps_context_t *,
/*@null@*/const char *);
extern void gpsd_clear(struct gps_device_t *);
extern int gpsd_open(struct gps_device_t *);
#define O_CONTINUE 0
#define O_PROBEONLY 1
#define O_OPTIMIZE 2
extern int gpsd_activate(struct gps_device_t *, const int);
extern void gpsd_deactivate(struct gps_device_t *);
#define AWAIT_GOT_INPUT 1
#define AWAIT_NOT_READY 0
#define AWAIT_FAILED -1
extern int gpsd_await_data(/*@out@*/fd_set *,
/*@out@*/fd_set *,
const int,
/*@in@*/fd_set *,
struct gpsd_errout_t *errout);
extern gps_mask_t gpsd_poll(struct gps_device_t *);
#define DEVICE_EOF -3
#define DEVICE_ERROR -2
#define DEVICE_UNREADY -1
#define DEVICE_READY 1
#define DEVICE_UNCHANGED 0
extern int gpsd_multipoll(const bool,
struct gps_device_t *,
void (*)(struct gps_device_t *, gps_mask_t),
float reawake_time);
extern void gpsd_wrap(struct gps_device_t *);
extern bool gpsd_add_device(const char *device_name, bool flag_nowait);
extern /*@observer@*/const char *gpsd_maskdump(gps_mask_t);
/* exceptional driver methods */
extern bool ubx_write(struct gps_device_t *, unsigned int, unsigned int,
/*@null@*/unsigned char *, size_t);
extern bool ais_binary_decode(const struct gpsd_errout_t *errout,
struct ais_t *ais,
const unsigned char *, size_t,
/*@null@*/struct ais_type24_queue_t *);
/* debugging apparatus for the client library */
#ifdef CLIENTDEBUG_ENABLE
#define LIBGPS_DEBUG
#endif /* CLIENTDEBUG_ENABLE */
#ifdef LIBGPS_DEBUG
#define DEBUG_CALLS 1 /* shallowest debug level */
#define DEBUG_JSON 5 /* minimum level for verbose JSON debugging */
# define libgps_debug_trace(args) (void) libgps_trace args
extern int libgps_debuglevel;
extern void libgps_dump_state(struct gps_data_t *);
#else
# define libgps_debug_trace(args) /*@i1@*/do { } while (0)
#endif /* LIBGPS_DEBUG */
void gpsd_labeled_report(const int, const int,
const char *, const char *, va_list);
void gpsd_vlog(const struct gpsd_errout_t *,
const int, char *, size_t, const char *, va_list ap);
PRINTF_FUNC(3, 4) void gpsd_log(const struct gpsd_errout_t *, const int, const char *, ...);
#ifdef S_SPLINT_S
extern struct protoent *getprotobyname(const char *);
extern /*@observer@*/char *strptime(const char *,const char *tp,/*@out@*/struct tm *)/*@modifies tp@*/;
extern struct tm *gmtime_r(const time_t *,/*@out@*/struct tm *tp)/*@modifies tp@*/;
extern struct tm *localtime_r(const time_t *,/*@out@*/struct tm *tp)/*@modifies tp@*/;
#endif /* S_SPLINT_S */
/*
* How to mix together epx and epy to get a horizontal circular error
* eph when reporting requires it. Most devices don't report these;
* NMEA 3.x devices reporting $GPGBS are the exception.
*/
#define EMIX(x, y) (((x) > (y)) ? (x) : (y))
#define NITEMS(x) ((int) (sizeof(x) / sizeof(x[0]) + COMPILE_CHECK_IS_ARRAY(x)))
/* Ugh - required for build on Solaris */
#ifndef NAN
#define NAN (0.0f/0.0f)
#endif
/* Cygwin, in addition to NAN, doesn't have cfmakeraw */
#if defined(__CYGWIN__)
void cfmakeraw(struct termios *);
#endif /* defined(__CYGWIN__) */
#define DEVICEHOOKPATH "/"SYSCONFDIR"/gpsd/device-hook"
# ifdef __cplusplus
}
# endif
#endif /* _GPSD_H_ */
// Local variables:
// mode: c
// end:
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