path: root/lcdgps.c

/*
 * Copyright (c) 2005 Jeff Francis <jeff@gritch.org>
 *
 * Permission to use, copy, modify, and distribute this software for any
 * purpose with or without fee is hereby granted, provided that the above
 * copyright notice and this permission notice appear in all copies.
 *
 * THE SOFTWARE IS PROVIDED "AS IS" AND THE AUTHOR DISCLAIMS ALL WARRANTIES
 * WITH REGARD TO THIS SOFTWARE INCLUDING ALL IMPLIED WARRANTIES OF
 * MERCHANTABILITY AND FITNESS. IN NO EVENT SHALL THE AUTHOR BE LIABLE FOR
 * ANY SPECIAL, DIRECT, INDIRECT, OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES
 * WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN
 * ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF
 * OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 */

/*
  Jeff Francis
  jeff@gritch.org

  A client that passes gpsd data to lcdproc, turning your car computer
  into a very expensive feature-free GPS receiver ;^).  Currently
  assumes a 4x40 LCD and writes data formatted to fit that size
  screen.  Also displays 4- or 6-character Maidenhead grid square
  output for the hams among us.

  This program assumes that LCDd (lcdproc) is running locally on the
  default (13666) port.  The #defines LCDDHOST and LCDDPORT can be
  changed to talk to a different host and TCP port.
*/

#define LCDDHOST "localhost"
#define LCDDPORT 13666

#define CLIMB 3

#include <stdlib.h>
#include "gpsd_config.h"
#include <stdio.h>
#include <string.h>
#include <ctype.h>
#ifndef S_SPLINT_S
#include <unistd.h>
#endif /* S_SPLINT_S */
#include <math.h>
#include <errno.h>
#ifdef HAVE_SYS_SELECT_H
 #include <sys/select.h>
#endif /* HAVE_SYS_SELECT_H */
#ifndef S_SPLINT_S
 #ifdef HAVE_SYS_SOCKET_H
  #include <sys/socket.h>
 #endif /* HAVE_SYS_SOCKET_H */
#endif /* S_SPLINT_S */

#include <sys/time.h> /* select() */
#include <sys/stat.h>
#include <fcntl.h>
#ifdef HAVE_TERMIOS_H
 #include <termios.h>
#endif /* HAVE_TERMIOS_H */

#ifndef S_SPLINT_S
 #ifdef HAVE_NETINET_IN_H
  #include <netinet/in.h>
 #endif /* HAVE_NETINET_IN_H */
 #ifdef HAVE_ARPA_INET_H
  #include <arpa/inet.h>
 #endif /* HAVE_ARPA_INET_H */
 #ifdef HAVE_NETDB_H
  #include <netdb.h>
 #endif /* HAVE_NETDB_H */
#endif /* S_SPLINT_S */
#include <errno.h>

#include <signal.h>

#include "gps.h"
#include "gpsdclient.h"
#include "revision.h"

/* Macro for declaring function arguments unused. */
#if defined(__GNUC__)
#  define UNUSED __attribute__((unused)) /* Flag variable as unused */
#else /* not __GNUC__ */
#  define UNUSED
#endif

/* Prototypes. */
void latlon2maidenhead(char *st,float n,float e);
static void daemonize(void);
ssize_t sockreadline(int sockd,void *vptr,size_t maxlen);
ssize_t sockwriteline(int sockd,const void *vptr,size_t n);
int send_lcd(char *buf);

static struct fixsource_t source;
static struct gps_data_t *gpsdata;
static float altfactor = METERS_TO_FEET;
static float speedfactor = MPS_TO_MPH;
static char *altunits = "ft";
static char *speedunits = "mph";

#ifdef CLIMB
double avgclimb, climb[CLIMB];
#endif

/* Global socket descriptor for LCDd. */
int sd;

/* Convert lat/lon to Maidenhead.  Lifted from QGrid -
   http://users.pandora.be/on4qz/qgrid/ */
void latlon2maidenhead(char *st,float n,float e)
{
  int t1;
  e=e+180.0;
  t1=(int)(e/20);
  st[0]=t1+'A';
  e-=(float)t1*20.0;
  t1=(int)e/2;
  st[2]=t1+'0';
  e-=(float)t1*2;
#ifndef CLIMB
  st[4]=(int)(e*12.0+0.5)+'A';
#endif

  n=n+90.0;
  t1=(int)(n/10.0);
  st[1]=t1+'A';
  n-=(float)t1*10.0;
  st[3]=(int)n+'0';
  n-=(int)n;
  n*=24; // convert to 24 division
#ifndef CLIMB
  st[5]=(int)(n+0.5)+'A';
#endif
}

/* Daemonize me. */
static void daemonize(void) {
  int i, ignore;

  /* Run as my child. */
  i=fork();
  if (i == -1) exit(1); /* fork error */
  if (i > 0) exit(0); /* parent exits */

  /* Obtain a new process group. */
  setsid();

  /* Close all open descriptors. */
  for(i=getdtablesize();i>=0;--i)
    close(i);

  /* Reopen STDIN, STDOUT, STDERR to /dev/null. */
  i=open("/dev/null",O_RDWR); /* STDIN */
  ignore=dup(i); /* STDOUT */
  ignore=dup(i); /* STDERR */

  /* Know thy mask. */
  umask(027);

  /* Run from a known location. */
  ignore=chdir("/");

  /* Catch child sig */
  signal(SIGCHLD,SIG_IGN);

  /* Ignore tty signals */
  signal(SIGTSTP,SIG_IGN);
  signal(SIGTTOU,SIG_IGN);
  signal(SIGTTIN,SIG_IGN);
}

/*  Read a line from a socket  */
ssize_t sockreadline(int sockd,void *vptr,size_t maxlen) {
  ssize_t n,rc;
  char    c,*buffer;

  buffer=vptr;

  for (n = 1; n < (ssize_t)maxlen; n++) {

    if((rc=read(sockd,&c,1))==1) {
      *buffer++=c;
      if(c=='\n')
        break;
    }
    else if(rc==0) {
      if(n==1)
        return(0);
      else
        break;
    }
    else {
      if(errno==EINTR)
        continue;
      return(-1);
    }
  }

  *buffer=0;
  return(n);
}

/*  Write a line to a socket  */
ssize_t sockwriteline(int sockd,const void *vptr,size_t n) {
  size_t      nleft;
  ssize_t     nwritten;
  const char *buffer;

  buffer=vptr;
  nleft=n;

  while(nleft>0) {
    if((nwritten= write(sockd,buffer,nleft))<=0) {
      if(errno==EINTR)
        nwritten=0;
      else
        return(-1);
    }
    nleft-=nwritten;
    buffer+=nwritten;
  }

  return(n);
}

/* send a command to the LCD */
int send_lcd(char *buf) {

  int res;
  char rcvbuf[256];
  size_t outlen;

  /* Limit the size of outgoing strings. */
  outlen = strlen(buf);
  if(outlen > 255) {
    outlen = 256;
  }

  /* send the command */
  res=sockwriteline(sd,buf,outlen);

  /* TODO:  check return status */

  /* read the data */
  res=sockreadline(sd,rcvbuf,255);

  /* null-terminate the string before printing */
  /* rcvbuf[res-1]=0; FIX-ME: not using this at the moment... */

  /* return the result */
  return(res);
}

/* reset the LCD */
static void reset_lcd(void) {

  /* Initialize.  In theory, we should look at what's returned, as it
     tells us info on the attached LCD module.  TODO. */
  send_lcd("hello\n");

  /* Set up the screen */
  send_lcd("client_set name {GPSD test}\n");
  send_lcd("screen_add gpsd\n");
  send_lcd("widget_add gpsd one string\n");
  send_lcd("widget_add gpsd two string\n");
  send_lcd("widget_add gpsd three string\n");
  send_lcd("widget_add gpsd four string\n");
}

static enum deg_str_type deg_type = deg_dd;

/* This gets called once for each new sentence. */
static void update_lcd(struct gps_data_t *gpsdata,
                       char *message UNUSED,
                       size_t len UNUSED)
{
  char tmpbuf[255];
#ifdef CLIMB
  char maidenhead[5];
  maidenhead[4]=0;
  int n;
#else
  char maidenhead[7];
  maidenhead[6]=0;
#endif
  char *s;
  int track;

  /* this is where we implement source-device filtering */
  if (gpsdata->dev.path[0] && source.device!=NULL && strcmp(source.device, gpsdata->dev.path) != 0)
      return;

  /* Get our location in Maidenhead. */
  latlon2maidenhead(maidenhead,gpsdata->fix.latitude,gpsdata->fix.longitude);

  /* Fill in the latitude and longitude. */
  if (gpsdata->fix.mode >= MODE_2D) {

    s = deg_to_str(deg_type,  fabs(gpsdata->fix.latitude));
    snprintf(tmpbuf, 254, "widget_set gpsd one 1 1 {Lat: %s %c}\n", s, (gpsdata->fix.latitude < 0) ? 'S' : 'N');
    send_lcd(tmpbuf);

    s = deg_to_str(deg_type,  fabs(gpsdata->fix.longitude));
    snprintf(tmpbuf, 254, "widget_set gpsd two 1 2 {Lon: %s %c}\n", s, (gpsdata->fix.longitude < 0) ? 'W' : 'E');
    send_lcd(tmpbuf);

    /* As a pilot, a heading of "0" gives me the heebie-jeebies (ie, 0
       == "invalid heading data", 360 == "North"). */
    track=(int)(gpsdata->fix.track);
    if(track == 0) track = 360;

    snprintf(tmpbuf, 254, "widget_set gpsd three 1 3 {%.1f %s %d deg}\n",
             gpsdata->fix.speed*speedfactor, speedunits,
             track);
    send_lcd(tmpbuf);

  } else {

    send_lcd("widget_set gpsd one 1 1 {Lat: n/a}\n");
    send_lcd("widget_set gpsd two 1 2 {Lon: n/a}\n");
    send_lcd("widget_set gpsd three 1 3 {n/a}\n");
  }

  /* Fill in the altitude and fix status. */
  if (gpsdata->fix.mode == MODE_3D) {
#ifdef CLIMB
    for(n=0;n<CLIMB-2;n++) climb[n]=climb[n+1];
    climb[CLIMB-1]=gpsdata->fix.climb;
    avgclimb=0.0;
    for(n=0;n<CLIMB;n++) avgclimb+=climb[n];
    avgclimb/=CLIMB;
    snprintf(tmpbuf, 254, "widget_set gpsd four 1 4 {%d %s %s %d fpm       }\n",
            (int)(gpsdata->fix.altitude*altfactor), altunits, maidenhead, (int)(avgclimb * METERS_TO_FEET * 60));
#else
    snprintf(tmpbuf, 254, "widget_set gpsd four 1 4 {%.1f %s  %s}\n",
            gpsdata->fix.altitude*altfactor, altunits, maidenhead);
#endif
  } else {
    snprintf(tmpbuf, 254, "widget_set gpsd four 1 4 {n/a}\n");
  }
  send_lcd(tmpbuf);
}

static void usage( char *prog)
{
  (void)fprintf(stderr,
                "Usage: %s [-h] [-v] [-V] [-s] [-l {d|m|s}] [-u {i|m|n}] [server[:port:[device]]]\n\n"
                "  -h          Show this help, then exit\n"
                "  -V          Show version, then exit\n"
                "  -s          Sleep for 10 seconds before starting\n"
                "  -j          Turn on anti-jitter buffering\n"
                "  -l {d|m|s}  Select lat/lon format\n"
                "                d = DD.dddddd (default)\n"
                "                m = DD MM.mmmm'\n"
                "                s = DD MM' SS.sss\"\n"
                "  -u {i|m|n}  Select Units\n"
                "                i = Imperial (default)\n"
                "                m = Metric'\n"
                "                n = Nautical\"\n"
                , prog);

  exit(1);
}

int main(int argc, char *argv[]) 
{
    int option, rc;
    struct sockaddr_in localAddr, servAddr;
    struct hostent *h;

    struct timeval timeout;
    fd_set rfds;
    int data;

#ifdef CLIMB
    int n;
    for(n=0;n<CLIMB;n++) climb[n]=0.0;
#endif 

    /*@ -observertrans @*/
    switch (gpsd_units())
    {
    case imperial:
	altfactor = METERS_TO_FEET;
	altunits = "ft";
	speedfactor = MPS_TO_MPH;
	speedunits = "mph";
	break;
    case nautical:
	altfactor = METERS_TO_FEET;
	altunits = "ft";
	speedfactor = MPS_TO_KNOTS;
	speedunits = "knots";
	break;
    case metric:
	altfactor = 1;
	altunits = "m";
	speedfactor = MPS_TO_KPH;
	speedunits = "kph";
	break;
    default:
	/* leave the default alone */
	break;
    }
    /*@ +observertrans @*/

    /* Process the options.  Print help if requested. */
    while ((option = getopt(argc, argv, "Vhl:su:")) != -1) {
	switch (option) {
	case 'V':
	    (void)fprintf(stderr, "lcdgs revision " REVISION "\n");
	    exit(0);
	case 'h':
	default:
	    usage(argv[0]);
	    break;
	case 'l':
	    switch ( optarg[0] ) {
	    case 'd':
		deg_type = deg_dd;
		continue;
	    case 'm':
		deg_type = deg_ddmm;
		continue;
	    case 's':
		deg_type = deg_ddmmss;
		continue;
	    default:
		(void)fprintf(stderr, "Unknown -l argument: %s\n", optarg);
		/*@ -casebreak @*/
	    }
	case 's':
	    sleep(10);
	    continue;
	case 'u':
	    switch ( optarg[0] ) {
	    case 'i':
		altfactor = METERS_TO_FEET;
		altunits = "ft";
		speedfactor = MPS_TO_MPH;
		speedunits = "mph";
		continue;
	    case 'n':
		altfactor = METERS_TO_FEET;
		altunits = "ft";
		speedfactor = MPS_TO_KNOTS;
		speedunits = "knots";
		continue;
	    case 'm':
		altfactor = 1;
		altunits = "m";
		speedfactor = MPS_TO_KPH;
		speedunits = "kph";
		continue;
	    default:
		(void)fprintf(stderr, "Unknown -u argument: %s\n", optarg);
		/*@ -casebreak @*/
	    }
	}
    }

    /* Grok the server, port, and device. */
  if (optind < argc) {
      gpsd_source_spec(argv[optind], &source);
  } else
      gpsd_source_spec(NULL, &source);

    /* Daemonize... */
    daemonize();

    /* Open the stream to gpsd. */
    /*@i@*/gpsdata = gps_open(source.server, source.port);
    if (!gpsdata) {
	(void)fprintf( stderr,
		       "cgps: no gpsd running or network error: %d, %s\n",
		       errno, gps_errstr(errno));
	exit(2);
    }

    /* Connect to LCDd */
    h = gethostbyname(LCDDHOST);
    if(h==NULL) {
	printf("%s: unknown host '%s'\n",argv[0],LCDDHOST);
	exit(1);
    }

    servAddr.sin_family = h->h_addrtype;
    memcpy((char *) &servAddr.sin_addr.s_addr, h->h_addr_list[0], h->h_length);
    servAddr.sin_port = htons(LCDDPORT);

    /* create socket */
    sd = socket(AF_INET, SOCK_STREAM, 0);
    if(sd == -1) {
	perror("cannot open socket ");
	exit(1);
    }

    /* bind any port number */
    localAddr.sin_family = AF_INET;
    localAddr.sin_addr.s_addr = htonl(INADDR_ANY);
    localAddr.sin_port = htons(0);

    rc = bind(sd, (struct sockaddr *) &localAddr, sizeof(localAddr));
    if(rc == -1) {
	printf("%s: cannot bind port TCP %u\n",argv[0],LCDDPORT);
	perror("error ");
	exit(1);
    }

    /* connect to server */
    rc = connect(sd, (struct sockaddr *) &servAddr, sizeof(servAddr));
    if(rc == -1) {
	perror("cannot connect ");
	exit(1);
    }

    /* Do the initial field label setup. */
    reset_lcd();

    /* Here's where updates go. */
    gps_set_raw_hook(gpsdata, update_lcd);
    gps_stream(gpsdata, WATCH_ENABLE, NULL);

    for (;;) { /* heart of the client */

	/* watch to see when it has input */
	FD_ZERO(&rfds);
	FD_SET(gpsdata->gps_fd, &rfds);

	/* wait up to five seconds. */
	timeout.tv_sec = 5;
	timeout.tv_usec = 0;

	/* check if we have new information */
	data = select(gpsdata->gps_fd + 1, &rfds, NULL, NULL, &timeout);

	if (data == -1) {
	    fprintf( stderr, "cgps: socket error\n");
	    exit(2);
	}
	else if (data) {
	    /* code that calls gps_poll(gpsdata) */
	    (void)gps_poll(gpsdata);
	}

    }
}