path: root/libgps_core.c

/* libgps.c -- client interface library for the gpsd daemon
 *
 * This file is Copyright (c) 2010 by the GPSD project
 * BSD terms apply: see the file COPYING in the distribution root for details.
 */
#ifndef S_SPLINT_S
#include <unistd.h>
#endif /* S_SPLINT_S */
#include <stdlib.h>
#include <fcntl.h>
#include <string.h>
#include <errno.h>
#include <stdarg.h>
#include <math.h>
#include <locale.h>
#include <assert.h>

#include "gpsd.h"
#include "gps_json.h"

#ifndef USE_QT
#ifndef S_SPLINT_S
#ifdef HAVE_SYS_SOCKET_H
#include <sys/socket.h>
#else
#define AF_UNSPEC 0
#endif
#endif
#if defined (HAVE_SYS_SELECT_H)
#include <sys/select.h>
#endif
#else
#include <QTcpSocket>
#endif /* USE_QT */

#ifdef S_SPLINT_S
extern char *strtok_r(char *, const char *, char **);
#endif /* S_SPLINT_S */

#if defined(TESTMAIN) || defined(CLIENTDEBUG_ENABLE)
#define LIBGPS_DEBUG
#endif /* defined(TESTMAIN) || defined(CLIENTDEBUG_ENABLE) */

struct privdata_t
{
    bool newstyle;
};
#define PRIVATE(gpsdata) ((struct privdata_t *)gpsdata->privdata)

#ifdef LIBGPS_DEBUG
static int debuglevel = 0;
static int waitcount = 0;
static FILE *debugfp;

void gps_enable_debug(int level, FILE * fp)
/* control the level and destination of debug trace messages */
{
    debuglevel = level;
    debugfp = fp;
#ifdef CLIENTDEBUG_ENABLE
    json_enable_debug(level - 2, fp);
#endif
}

static void gps_trace(int errlevel, const char *fmt, ...)
/* assemble command in printf(3) style */
{
    if (errlevel <= debuglevel) {
	char buf[BUFSIZ];
	va_list ap;

	(void)strlcpy(buf, "libgps: ", BUFSIZ);
	va_start(ap, fmt);
	(void)vsnprintf(buf + strlen(buf), sizeof(buf) - strlen(buf), fmt,
			ap);
	va_end(ap);

	(void)fputs(buf, debugfp);
    }
}

# define libgps_debug_trace(args) (void) gps_trace args
#else
# define libgps_debug_trace(args) /*@i1@*/do { } while (0)
#endif /* LIBGPS_DEBUG */

/*@-nullderef@*/
int gps_open(/*@null@*/const char *host, /*@null@*/const char *port,
	       /*@out@*/ struct gps_data_t *gpsdata)
{
    /*@ -branchstate @*/
    if (!gpsdata)
	return -1;
    if (!host)
	host = "localhost";
    if (!port)
	port = DEFAULT_GPSD_PORT;

    libgps_debug_trace((1, "gps_open(%s, %s)\n", host, port));

#ifndef USE_QT
    if ((gpsdata->gps_fd =
	 netlib_connectsock(AF_UNSPEC, host, port, "tcp")) < 0) {
	errno = gpsdata->gps_fd;
	return -1;
    }
#else
    QTcpSocket *sock = new QTcpSocket();
    gpsdata->gps_fd = sock;
    sock->connectToHost(host, QString(port).toInt());
    if (!sock->waitForConnected())
	qDebug() << "libgps::connect error: " << sock->errorString();
    else
	qDebug() << "libgps::connected!";
#endif

    gpsdata->set = 0;
    gpsdata->status = STATUS_NO_FIX;
    gpsdata->raw_hook = NULL;
    gps_clear_fix(&gpsdata->fix);

    /* set up for line-buffered I/O over the daemon socket */
    gpsdata->privdata = (void *)malloc(sizeof(struct privdata_t));
    if (gpsdata->privdata == NULL)
	return -1;
    PRIVATE(gpsdata)->newstyle = false;
    gpsdata->waiting = 0;
    /*@i1@*/ gpsdata->buffer[0] = '\0';

    return 0;
    /*@ +branchstate @*/
}

/*@-compdef -usereleased@*/
int gps_close(struct gps_data_t *gpsdata)
/* close a gpsd connection */
{
    libgps_debug_trace((1, "gps_close()\n"));
#ifndef USE_QT
    free(PRIVATE(gpsdata));
    (void)close(gpsdata->gps_fd);
    gpsdata->gps_fd = -1;
#else
    QTcpSocket *sock = (QTcpSocket *) gpsdata->gps_fd;
    sock->disconnectFromHost();
    delete sock;
    gpsdata->gps_fd = NULL;
#endif

    return 0;
}

/*@+compdef +usereleased@*/

void gps_set_raw_hook(struct gps_data_t *gpsdata,
		      void (*hook) (struct gps_data_t *, char *, size_t len))
{
    gpsdata->raw_hook = hook;
}

#ifdef LIBGPS_DEBUG
static void libgps_dump_state(struct gps_data_t *collect)
{
    char *status_values[] = { "NO_FIX", "FIX", "DGPS_FIX" };
    char *mode_values[] = { "", "NO_FIX", "MODE_2D", "MODE_3D" };

    /* no need to dump the entire state, this is a sanity check */
#ifndef USE_QT
    (void)fprintf(debugfp, "flags: (0x%04x) %s\n",
		  collect->set, gps_maskdump(collect->set));
#endif
    if (collect->set & ONLINE_SET)
	(void)fprintf(debugfp, "ONLINE: %lf\n", collect->online);
    if (collect->set & TIME_SET)
	(void)fprintf(debugfp, "TIME: %lf\n", collect->fix.time);
    if (collect->set & LATLON_SET)
	(void)fprintf(debugfp, "LATLON: lat/lon: %lf %lf\n",
		      collect->fix.latitude, collect->fix.longitude);
    if (collect->set & ALTITUDE_SET)
	(void)fprintf(debugfp, "ALTITUDE: altitude: %lf  U: climb: %lf\n",
		      collect->fix.altitude, collect->fix.climb);
    if (collect->set & SPEED_SET)
	(void)fprintf(debugfp, "SPEED: %lf\n", collect->fix.speed);
    if (collect->set & TRACK_SET)
	(void)fprintf(debugfp, "TRACK: track: %lf\n", collect->fix.track);
    if (collect->set & CLIMB_SET)
	(void)fprintf(debugfp, "CLIMB: climb: %lf\n", collect->fix.climb);
    if (collect->set & STATUS_SET)
	(void)fprintf(debugfp, "STATUS: status: %d (%s)\n",
		      collect->status, status_values[collect->status]);
    if (collect->set & MODE_SET)
	(void)fprintf(debugfp, "MODE: mode: %d (%s)\n",
		      collect->fix.mode, mode_values[collect->fix.mode]);
    if (collect->set & DOP_SET)
	(void)fprintf(debugfp,
		      "DOP: satellites %d, pdop=%lf, hdop=%lf, vdop=%lf\n",
		      collect->satellites_used, collect->dop.pdop,
		      collect->dop.hdop, collect->dop.vdop);
    if (collect->set & VERSION_SET)
	(void)fprintf(debugfp, "VERSION: release=%s rev=%s proto=%d.%d\n",
		      collect->version.release,
		      collect->version.rev,
		      collect->version.proto_major,
		      collect->version.proto_minor);
    if (collect->set & POLICY_SET)
	(void)fprintf(debugfp,
		      "POLICY: watcher=%s nmea=%s raw=%d scaled=%s timing=%s, devpath=%s\n",
		      collect->policy.watcher ? "true" : "false",
		      collect->policy.nmea ? "true" : "false",
		      collect->policy.raw,
		      collect->policy.scaled ? "true" : "false",
		      collect->policy.timing ? "true" : "false",
		      collect->policy.devpath);
    if (collect->set & SATELLITE_SET) {
	int i;

	(void)fprintf(debugfp, "SKY: satellites in view: %d\n",
		      collect->satellites_visible);
	for (i = 0; i < collect->satellites_visible; i++) {
	    (void)fprintf(debugfp, "    %2.2d: %2.2d %3.3d %3.0f %c\n",
			  collect->PRN[i], collect->elevation[i],
			  collect->azimuth[i], collect->ss[i],
			  collect->used[i] ? 'Y' : 'N');
	}
    }
    if (collect->set & DEVICE_SET)
	(void)fprintf(debugfp, "DEVICE: Device is '%s', driver is '%s'\n",
		      collect->dev.path, collect->dev.driver);
#ifdef OLDSTYLE_ENABLE
    if (collect->set & DEVICEID_SET)
	(void)fprintf(debugfp, "GPSD ID is %s\n", collect->dev.subtype);
#endif /* OLDSTYLE_ENABLE */
    if (collect->set & DEVICELIST_SET) {
	int i;
	(void)fprintf(debugfp, "DEVICELIST:%d devices:\n",
		      collect->devices.ndevices);
	for (i = 0; i < collect->devices.ndevices; i++) {
	    (void)fprintf(debugfp, "%d: path='%s' driver='%s'\n",
			  collect->devices.ndevices,
			  collect->devices.list[i].path,
			  collect->devices.list[i].driver);
	}
    }

}
#endif /* LIBGPS_DEBUG */


/*@ -branchstate -usereleased -mustfreefresh -nullstate -usedef @*/
int gps_unpack(char *buf, struct gps_data_t *gpsdata)
/* unpack a gpsd response into a status structure, buf must be writeable.
 * gps_unpack() currently returns 0 in all cases, but should it ever need to
 * return an error status, it must be < 0.
 */
{
    libgps_debug_trace((1, "gps_unpack(%s)\n", buf));

    /* detect and process a JSON response */
    if (buf[0] == '{') {
	const char *jp = buf, **next = &jp;
	while (next != NULL && *next != NULL && next[0][0] != '\0') {
	    libgps_debug_trace((1,
				"gps_unpack() segment parse '%s'\n", *next));
	    if (libgps_json_unpack(*next, gpsdata, next) == -1)
		break;
#ifdef LIBGPS_DEBUG
	    if (debuglevel >= 1)
		libgps_dump_state(gpsdata);
#endif /* LIBGPS_DEBUG */

	}
#ifdef OLDSTYLE_ENABLE
	if (PRIVATE(gpsdata) != NULL)
	    PRIVATE(gpsdata)->newstyle = true;
#endif /* OLDSTYLE_ENABLE */
    }
#ifdef OLDSTYLE_ENABLE
    else {
	/*
	 * Get the decimal separator for the current application locale.
	 * This looks thread-unsafe, but it's not.  The key is that
	 * character assignment is atomic.
	 */
	char *ns, *sp, *tp;

	static char decimal_point = '\0';
	if (decimal_point == '\0') {
	    struct lconv *locale_data = localeconv();
	    if (locale_data != NULL && locale_data->decimal_point[0] != '.')
		decimal_point = locale_data->decimal_point[0];
	}

	for (ns = buf; ns; ns = strstr(ns + 1, "GPSD")) {
	    if ( /*@i1@*/ strncmp(ns, "GPSD", 4) == 0) {
		bool eol = false;
		/* the following should execute each time we have a good next sp */
		for (sp = ns + 5; *sp != '\0'; sp = tp + 1) {
		    tp = sp + strcspn(sp, ",\r\n");
		    eol = *tp == '\r' || *tp == '\n';
		    if (*tp == '\0')
			tp--;
		    else
			*tp = '\0';

		    /*
		     * The daemon always emits the Anglo-American and SI
		     * decimal point.  Hack these into whatever the
		     * application locale requires if it's not the same.
		     * This has to happen *after* we grab the next
		     * comma-delimited response, or we'll lose horribly
		     * in locales where the decimal separator is comma.
		     */
		    if (decimal_point != '\0') {
			char *cp;
			for (cp = sp; cp < tp; cp++)
			    if (*cp == '.')
				*cp = decimal_point;
		    }

		    /* note, there's a bit of skip logic after the switch */

		    switch (*sp) {
		    case 'F':	/*@ -mustfreeonly */
			if (sp[2] == '?')
			    gpsdata->dev.path[0] = '\0';
			else {
			    /*@ -mayaliasunique @*/
			    strncpy(gpsdata->dev.path, sp + 2,
				    sizeof(gpsdata->dev.path));
			    /*@ +mayaliasunique @*/
			    gpsdata->set |= DEVICE_SET;
			}
			/*@ +mustfreeonly */
			break;
		    case 'I':
			/*@ -mustfreeonly */
			if (sp[2] == '?')
			    gpsdata->dev.subtype[0] = '\0';
			else {
			    (void)strlcpy(gpsdata->dev.subtype, sp + 2,
					  sizeof(gpsdata->dev.subtype));
			    gpsdata->set |= DEVICEID_SET;
			}
			/*@ +mustfreeonly */
			break;
		    case 'O':
			if (sp[2] == '?') {
			    gpsdata->set = MODE_SET | STATUS_SET;
			    gpsdata->status = STATUS_NO_FIX;
			    gps_clear_fix(&gpsdata->fix);
			} else {
			    struct gps_fix_t nf;
			    char tag[MAXTAGLEN + 1], alt[20];
			    char eph[20], epv[20], track[20], speed[20],
				climb[20];
			    char epd[20], eps[20], epc[20], mode[2];
			    char timestr[20], ept[20], lat[20], lon[20];
			    int st = sscanf(sp + 2,
					    "%8s %19s %19s %19s %19s %19s %19s %19s %19s %19s %19s %19s %19s %19s %1s",
					    tag, timestr, ept, lat, lon,
					    alt, eph, epv, track, speed,
					    climb,
					    epd, eps, epc, mode);
			    if (st >= 14) {
#define DEFAULT(val) (val[0] == '?') ? NAN : atof(val)
				/*@ +floatdouble @*/
				nf.time = DEFAULT(timestr);
				nf.latitude = DEFAULT(lat);
				nf.longitude = DEFAULT(lon);
				nf.ept = DEFAULT(ept);
				nf.altitude = DEFAULT(alt);
				/* designed before we split eph into epx+epy */
				nf.epx = nf.epy = DEFAULT(eph) / sqrt(2);
				nf.epv = DEFAULT(epv);
				nf.track = DEFAULT(track);
				nf.speed = DEFAULT(speed);
				nf.climb = DEFAULT(climb);
				nf.epd = DEFAULT(epd);
				nf.eps = DEFAULT(eps);
				nf.epc = DEFAULT(epc);
				/*@ -floatdouble @*/
#undef DEFAULT
				if (st >= 15)
				    nf.mode =
					(mode[0] ==
					 '?') ? MODE_NOT_SEEN : atoi(mode);
				else
				    nf.mode =
					(alt[0] == '?') ? MODE_2D : MODE_3D;
				if (alt[0] != '?')
				    gpsdata->set |= ALTITUDE_SET | CLIMB_SET;
				if (isnan(nf.epx) == 0 && isnan(nf.epy) == 0)
				    gpsdata->set |= HERR_SET;
				if (isnan(nf.epv) == 0)
				    gpsdata->set |= VERR_SET;
				if (isnan(nf.track) == 0)
				    gpsdata->set |= TRACK_SET | SPEED_SET;
				if (isnan(nf.eps) == 0)
				    gpsdata->set |= SPEEDERR_SET;
				if (isnan(nf.epc) == 0)
				    gpsdata->set |= CLIMBERR_SET;
				gpsdata->fix = nf;
				(void)strlcpy(gpsdata->tag, tag,
					      MAXTAGLEN + 1);
				gpsdata->set |=
				    TIME_SET | TIMERR_SET | LATLON_SET |
				    MODE_SET;
				gpsdata->status = STATUS_FIX;
				gpsdata->set |= STATUS_SET;
			    }
			}
			break;
		    case 'X':
			if (sp[2] == '?')
			    gpsdata->online = -1;
			else {
			    (void)sscanf(sp, "X=%lf", &gpsdata->online);
			    gpsdata->set |= ONLINE_SET;
			}
			break;
		    case 'Y':
			if (sp[2] == '?') {
			    gpsdata->satellites_visible = 0;
			} else {
			    int j, i1, i2, i3, i5;
			    int PRN[MAXCHANNELS];
			    int elevation[MAXCHANNELS], azimuth[MAXCHANNELS];
			    int used[MAXCHANNELS];
			    double ss[MAXCHANNELS], f4;
			    char tag[MAXTAGLEN + 1], timestamp[21];

			    (void)sscanf(sp, "Y=%8s %20s %d ",
					 tag, timestamp,
					 &gpsdata->satellites_visible);
			    (void)strncpy(gpsdata->tag, tag, MAXTAGLEN);
			    if (timestamp[0] != '?') {
				gpsdata->set |= TIME_SET;
			    }
			    for (j = 0; j < gpsdata->satellites_visible; j++) {
				PRN[j] = elevation[j] = azimuth[j] = used[j] =
				    0;
				ss[j] = 0.0;
			    }
			    for (j = 0, gpsdata->satellites_used = 0;
				 j < gpsdata->satellites_visible; j++) {
				if ((sp != NULL)
				    && ((sp = strchr(sp, ':')) != NULL)) {
				    sp++;
				    (void)sscanf(sp, "%d %d %d %lf %d", &i1,
						 &i2, &i3, &f4, &i5);
				    PRN[j] = i1;
				    elevation[j] = i2;
				    azimuth[j] = i3;
				    ss[j] = f4;
				    used[j] = i5;
				    if (i5 == 1)
					gpsdata->satellites_used++;
				}
			    }
			    /*@ -compdef @*/
			    memcpy(gpsdata->PRN, PRN, sizeof(PRN));
			    memcpy(gpsdata->elevation, elevation,
				   sizeof(elevation));
			    memcpy(gpsdata->azimuth, azimuth,
				   sizeof(azimuth));
			    memcpy(gpsdata->ss, ss, sizeof(ss));
			    memcpy(gpsdata->used, used, sizeof(used));
			    /*@ +compdef @*/
			}
			gpsdata->set |= SATELLITE_SET;
			break;
		    }

#ifdef LIBGPS_DEBUG
		    if (debuglevel >= 1)
			libgps_dump_state(gpsdata);
#endif /* LIBGPS_DEBUG */

		    /*
		     * Skip to next GPSD when we see \r or \n;
		     * we don't want to try interpreting stuff
		     * in between that might be raw mode data.
		     */
		    if (eol)
			break;
		}
	    }
	}
    }
#endif /* OLDSTYLE_ENABLE */

/*@ -compdef @*/
    if (gpsdata->raw_hook) {
	//libgps_debug_trace((stderr, "libgps: raw hook called on '%s'\n", buf));
	gpsdata->raw_hook(gpsdata, buf, strlen(buf));
    }
#ifndef USE_QT
    libgps_debug_trace((1, "final flags: (0x%04x) %s\n", gpsdata->set,
			gps_maskdump(gpsdata->set)));
#endif
    return 0;
}

/*@ +compdef @*/
/*@ -branchstate +usereleased +mustfreefresh +nullstate +usedef @*/

bool gps_waiting(struct gps_data_t * gpsdata)
/* is there input waiting from the GPS? */
{
#ifndef USE_QT
    fd_set rfds;
    struct timeval tv;

    libgps_debug_trace((1, "gps_waiting(): %d\n", waitcount++));
    if (gpsdata->waiting > 0)
	return true;

    FD_ZERO(&rfds);
    FD_SET(gpsdata->gps_fd, &rfds);
    tv.tv_sec = 0;
    tv.tv_usec = 1;
    /* all error conditions return "not waiting" -- crude but effective */
    return (select(gpsdata->gps_fd + 1, &rfds, NULL, NULL, &tv) == 1);
#else
    return ((QTcpSocket *) (gpsdata->gps_fd))->waitForReadyRead(250);
#endif
}

/*@-compdef -usedef -uniondef@*/
int gps_read(/*@out@*/struct gps_data_t *gpsdata)
/* wait for and read data being streamed from the daemon */
{
    char *eol;
    double received = 0;
    ssize_t response_length;
    int status = -1;

    gpsdata->set &= ~PACKET_SET;
    for (eol = gpsdata->buffer;
	 *eol != '\n' && eol < gpsdata->buffer + gpsdata->waiting; eol++)
	continue;
    if (*eol != '\n')
	eol = NULL;

    if (eol == NULL) {
#ifndef USE_QT
	/* read data: return -1 if no data waiting or buffered, 0 otherwise */
	status = (int)recv(gpsdata->gps_fd,
			   gpsdata->buffer + gpsdata->waiting,
			   sizeof(gpsdata->buffer) - gpsdata->waiting, 0);
#else
	status =
	    ((QTcpSocket *) (gpsdata->gps_fd))->read(gpsdata->buffer +
						     gpsdata->waiting,
						     sizeof(gpsdata->buffer) -
						     gpsdata->waiting);
#endif

	/* if we just received data from the socket, it's in the buffer */
	if (status > -1)
	    gpsdata->waiting += status;
	/* buffer is empty - implies no data was read */
	if (gpsdata->waiting == 0) {
	    /* 
	     * If we received 0 bytes, other side of socket is closing.
	     * Return -1 as end-of-data indication.
	     */
	    if (status == 0)
		return -1;
#ifndef USE_QT
	    /* count transient errors as success, we'll retry later */
	    else if (errno == EINTR || errno == EAGAIN
		     || errno == EWOULDBLOCK)
		return 0;
#endif
	    /* hard error return of -1, pass it along */
	    else
		return -1;
	}
	/* there's buffered data waiting to be returned */
	for (eol = gpsdata->buffer;
	     *eol != '\n' && eol < gpsdata->buffer + gpsdata->waiting; eol++)
	    continue;
	if (*eol != '\n')
	    eol = NULL;
	if (eol == NULL)
	    return 0;
    }

    assert(eol != NULL);
    *eol = '\0';
    response_length = eol - gpsdata->buffer + 1;
    received = gpsdata->online = timestamp();
    status = gps_unpack(gpsdata->buffer, gpsdata);
    /*@+matchanyintegral@*/
    memmove(gpsdata->buffer,
	    gpsdata->buffer + response_length, gpsdata->waiting - response_length);
    /*@-matchanyintegral@*/
    gpsdata->waiting -= response_length;
    gpsdata->set |= PACKET_SET;

    return (status == 0) ? (int)response_length : status;
}
/*@+compdef -usedef +uniondef@*/

int gps_send(struct gps_data_t *gpsdata, const char *fmt, ...)
/* send a command to the gpsd instance */
{
    char buf[BUFSIZ];
    va_list ap;

    va_start(ap, fmt);
    (void)vsnprintf(buf, sizeof(buf) - 2, fmt, ap);
    va_end(ap);
    if (buf[strlen(buf) - 1] != '\n')
	(void)strlcat(buf, "\n", BUFSIZ);
#ifndef USE_QT
    if (write(gpsdata->gps_fd, buf, strlen(buf)) == (ssize_t) strlen(buf))
	return 0;
    else
	return -1;
#else
    QTcpSocket *sock = (QTcpSocket *) gpsdata->gps_fd;
    sock->write(buf, strlen(buf));
    if (sock->waitForBytesWritten())
	return 0;
    else {
	qDebug() << "libgps::send error: " << sock->errorString();
	return -1;
    }
#endif
}

int gps_stream(struct gps_data_t *gpsdata, unsigned int flags,
	       /*@null@*/ void *d)
/* ask gpsd to stream reports at you, hiding the command details */
{
    char buf[GPS_JSON_COMMAND_MAX];

    if ((flags & (WATCH_JSON | WATCH_OLDSTYLE | WATCH_NMEA | WATCH_RAW)) == 0) {
	flags |= WATCH_JSON;
    }
#ifndef USE_QT
    if (flags & POLL_NONBLOCK)
	(void)fcntl(gpsdata->gps_fd, F_SETFL, O_NONBLOCK);
#endif
    if ((flags & WATCH_DISABLE) != 0) {
	if ((flags & WATCH_OLDSTYLE) != 0) {
	    (void)strlcpy(buf, "w-", sizeof(buf));
	    if (gpsdata->raw_hook != NULL || (flags & WATCH_NMEA) != 0)
		(void)strlcat(buf, "r-", sizeof(buf));
	} else {
	    (void)strlcpy(buf, "?WATCH={\"enable\":false,", sizeof(buf));
	    if (flags & WATCH_JSON)
		(void)strlcat(buf, "\"json\":false,", sizeof(buf));
	    if (flags & WATCH_NMEA)
		(void)strlcat(buf, "\"nmea\":false,", sizeof(buf));
	    if (flags & WATCH_RAW)
		(void)strlcat(buf, "\"raw\":1,", sizeof(buf));
	    if (flags & WATCH_RARE)
		(void)strlcat(buf, "\"raw\":0,", sizeof(buf));
	    if (flags & WATCH_SCALED)
		(void)strlcat(buf, "\"scaled\":false,", sizeof(buf));
	    if (buf[strlen(buf) - 1] == ',')
		buf[strlen(buf) - 1] = '\0';
	    (void)strlcat(buf, "};", sizeof(buf));
	}
	libgps_debug_trace((1, "gps_stream() disable command: %s\n", buf));
	return gps_send(gpsdata, buf);
    } else {			/* if ((flags & WATCH_ENABLE) != 0) */

	if ((flags & WATCH_OLDSTYLE) != 0) {
	    (void)strlcpy(buf, "w+x", sizeof(buf));
	    if (gpsdata->raw_hook != NULL || (flags & WATCH_NMEA) != 0)
		(void)strlcat(buf, "r+", sizeof(buf));
	} else {
	    (void)strlcpy(buf, "?WATCH={\"enable\":true,", sizeof(buf));
	    if (flags & WATCH_JSON)
		(void)strlcat(buf, "\"json\":true,", sizeof(buf));
	    if (flags & WATCH_NMEA)
		(void)strlcat(buf, "\"nmea\":true,", sizeof(buf));
	    if (flags & WATCH_RARE)
		(void)strlcat(buf, "\"raw\":1,", sizeof(buf));
	    if (flags & WATCH_RAW)
		(void)strlcat(buf, "\"raw\":2,", sizeof(buf));
	    if (flags & WATCH_SCALED)
		(void)strlcat(buf, "\"scaled\":true,", sizeof(buf));
	    /*@-nullpass@*//* shouldn't be needed, splint has a bug */
	    if (flags & WATCH_DEVICE)
		(void)snprintf(buf + strlen(buf), sizeof(buf) - strlen(buf),
			       "\"device\":%s,", (char *)d);
	    /*@+nullpass@*/
	    if (buf[strlen(buf) - 1] == ',')
		buf[strlen(buf) - 1] = '\0';
	    (void)strlcat(buf, "};", sizeof(buf));
	}
	libgps_debug_trace((1, "gps_stream() enable command: %s\n", buf));
	return gps_send(gpsdata, buf);
    }
}

extern char /*@observer@*/ *gps_errstr(const int err)
{
    /* 
     * We might add our own error codes in the future, e.g for
     * protocol compatibility checks
     */
#ifndef USE_QT
    return netlib_errstr(err);
#else
    return "";
#endif
}

#ifdef TESTMAIN
/*
 * A simple command-line exerciser for the library.
 * Not really useful for anything but debugging.
 */

static void dumpline(struct gps_data_t *ud UNUSED,
		     char *buf, size_t ulen UNUSED)
{
    puts(buf);
}

#ifndef S_SPLINT_S
#include <unistd.h>
#endif /* S_SPLINT_S */
#include <getopt.h>
#include <signal.h>

static void onsig(int sig)
{
    (void)fprintf(stderr, "libgps: died with signal %d\n", sig);
    exit(1);
}

/* must start zeroed, otherwise the unit test will try to chase garbage pointer fields. */
static struct gps_data_t gpsdata;

int main(int argc, char *argv[])
{
    struct gps_data_t collect;
    char buf[BUFSIZ];
    int option;
    bool batchmode = false;
    int debug = 0;

    (void)signal(SIGSEGV, onsig);
    (void)signal(SIGBUS, onsig);

    while ((option = getopt(argc, argv, "bhsD:?")) != -1) {
	switch (option) {
	case 'b':
	    batchmode = true;
	    break;
	case 's':
	    (void)
		printf
		("Sizes: gpsdata=%zd rtcm2=%zd rtcm3=%zd ais=%zd compass=%zd raw=%zd devices=%zd policy=%zd version=%zd\n",
		 sizeof(struct gps_data_t), sizeof(struct rtcm2_t),
		 sizeof(struct rtcm3_t), sizeof(struct ais_t),
		 sizeof(struct attitude_t), sizeof(struct rawdata_t),
		 sizeof(collect.devices), sizeof(struct policy_t),
		 sizeof(struct version_t));
	    exit(0);
	case 'D':
	    debug = atoi(optarg);
	    break;
	case '?':
	case 'h':
	default:
	    (void)fputs("usage: libgps [-b] [-d lvl] [-s]\n", stderr);
	    exit(1);
	}
    }

    gps_enable_debug(debug, stdout);
    if (batchmode) {
	while (fgets(buf, sizeof(buf), stdin) != NULL) {
	    if (buf[0] == '{' || isalpha(buf[0])) {
		gps_unpack(buf, &gpsdata);
		libgps_dump_state(&gpsdata);
	    }
	}
    } else if (gps_open(NULL, 0, &collect) <= 0) {
	(void)fputs("Daemon is not running.\n", stdout);
	exit(1);
    } else if (optind < argc) {
	gps_set_raw_hook(&collect, dumpline);
	(void)strlcpy(buf, argv[optind], BUFSIZ);
	(void)strlcat(buf, "\n", BUFSIZ);
	(void)gps_send(&collect, buf);
	(void)gps_read(&collect);
	libgps_dump_state(&collect);
	(void)gps_close(&collect);
    } else {
	int tty = isatty(0);

	gps_set_raw_hook(&collect, dumpline);
	if (tty)
	    (void)fputs("This is the gpsd exerciser.\n", stdout);
	for (;;) {
	    if (tty)
		(void)fputs("> ", stdout);
	    if (fgets(buf, sizeof(buf), stdin) == NULL) {
		if (tty)
		    putchar('\n');
		break;
	    }
	    collect.set = 0;
	    (void)gps_send(&collect, buf);
	    (void)gps_read(&collect);
	    libgps_dump_state(&collect);
	}
	(void)gps_close(&collect);
    }

    return 0;
}

/*@-nullderef@*/

#endif /* TESTMAIN */