summaryrefslogtreecommitdiff
path: root/libgps_core.c
blob: 9a26124d79efbd5176d6138315e8642564c657ac (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
/* libgps_core.c -- client interface library for the gpsd daemon
 *
 * Core portion of client library.  Cals helpers to handle different eports.
 *
 * This file is Copyright (c) 2010 by the GPSD project
 * BSD terms apply: see the file COPYING in the distribution root for details.
 */
#include <stdio.h>
#include <stdlib.h>
#include <stdarg.h>
#include <stdbool.h>
#include <string.h>
#include <ctype.h>
#include <errno.h>
#include <stdarg.h>

#include "gpsd.h"
#include "libgps.h"
#include "gps_json.h"
#include "strfuncs.h"

#ifdef LIBGPS_DEBUG
int libgps_debuglevel = 0;

static FILE *debugfp;

void gps_enable_debug(int level, FILE * fp)
/* control the level and destination of debug trace messages */
{
    libgps_debuglevel = level;
    debugfp = fp;
#if defined(CLIENTDEBUG_ENABLE) && defined(SOCKET_EXPORT_ENABLE)
    json_enable_debug(level - DEBUG_JSON, fp);
#endif
}

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

	(void)strlcpy(buf, "libgps: ", sizeof(buf));
	va_start(ap, fmt);
	str_vappendf(buf, sizeof(buf), fmt, ap);
	va_end(ap);

	(void)fputs(buf, debugfp);
    }
}
#endif /* LIBGPS_DEBUG */

#ifdef SOCKET_EXPORT_ENABLE
#define CONDITIONALLY_UNUSED
#else
#define CONDITIONALLY_UNUSED UNUSED
#endif /* SOCKET_EXPORT_ENABLE */

int gps_open(/*@null@*/const char *host,
	     /*@null@*/const char *port CONDITIONALLY_UNUSED,
	     /*@out@*/ struct gps_data_t *gpsdata)
{
    int status = -1;

    /*@ -branchstate -compdef @*/
    if (!gpsdata)
	return -1;

#ifdef SHM_EXPORT_ENABLE
    if (host != NULL && strcmp(host, GPSD_SHARED_MEMORY) == 0) {
	status = gps_shm_open(gpsdata);
	if (status == -1)
	    status = SHM_NOSHARED;
	else if (status == -2)
	    status = SHM_NOATTACH;
    }
#define USES_HOST
#endif /* SHM_EXPORT_ENABLE */

#ifdef DBUS_EXPORT_ENABLE
    if (host != NULL && strcmp(host, GPSD_DBUS_EXPORT) == 0) {
	/*@i@*/status = gps_dbus_open(gpsdata);
	if (status != 0)
	    status = DBUS_FAILURE;
    }
#define USES_HOST
#endif /* DBUS_EXPORT_ENABLE */

#ifdef SOCKET_EXPORT_ENABLE
    if (status == -1) {
        status = gps_sock_open(host, port, gpsdata);
    }
#define USES_HOST
#endif /* SOCKET_EXPORT_ENABLE */

#ifndef USES_HOST
    fprintf(stderr, "No methods available for connnecting to %s!\n", host);
#endif /* USES_HOST */
#undef USES_HOST

    gpsdata->set = 0;
    gpsdata->status = STATUS_NO_FIX;
    gpsdata->satellites_used = 0;
    gps_clear_fix(&(gpsdata->fix));
    gps_clear_dop(&(gpsdata->dop));

    return status;
    /*@ +branchstate +compdef @*/
}

#if defined(SHM_EXPORT_ENABLE) || defined(SOCKET_EXPORT_ENABLE)
#define CONDITIONALLY_UNUSED
#else
#define CONDITIONALLY_UNUSED	UNUSED
#endif

int gps_close(struct gps_data_t *gpsdata CONDITIONALLY_UNUSED)
/* close a gpsd connection */
{
    int status = -1;

    libgps_debug_trace((DEBUG_CALLS, "gps_close()\n"));

#ifdef SHM_EXPORT_ENABLE
    if (BAD_SOCKET((intptr_t)(gpsdata->gps_fd))) {
	gps_shm_close(gpsdata);
	status = 0;
    }
#endif /* SHM_EXPORT_ENABLE */

#ifdef SOCKET_EXPORT_ENABLE
    if (status == -1) {
        status = gps_sock_close(gpsdata);
    }
#endif /* SOCKET_EXPORT_ENABLE */

	return status;
}

int gps_read(struct gps_data_t *gpsdata CONDITIONALLY_UNUSED)
/* read from a gpsd connection */
{
    int status = -1;

    libgps_debug_trace((DEBUG_CALLS, "gps_read() begins\n"));

    /*@ -usedef -compdef -uniondef @*/
#ifdef SHM_EXPORT_ENABLE
    if (BAD_SOCKET((intptr_t)(gpsdata->gps_fd))) {
	status = gps_shm_read(gpsdata);
    }
#endif /* SHM_EXPORT_ENABLE */

#ifdef SOCKET_EXPORT_ENABLE
    if (status == -1 && !BAD_SOCKET((intptr_t)(gpsdata->gps_fd))) {
        status = gps_sock_read(gpsdata);
    }
#endif /* SOCKET_EXPORT_ENABLE */
    /*@ +usedef +compdef +uniondef @*/

    /*@-usedef@*/
    libgps_debug_trace((DEBUG_CALLS, "gps_read() -> %d (%s)\n",
			status, gps_maskdump(gpsdata->set)));
    /*@+usedef@*/

    return status;
}

int gps_send(struct gps_data_t *gpsdata CONDITIONALLY_UNUSED, const char *fmt CONDITIONALLY_UNUSED, ...)
/* send a command to the gpsd instance */
{
    int status = -1;
    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", sizeof(buf));

#ifdef SOCKET_EXPORT_ENABLE
    status = gps_sock_send(gpsdata, buf);
#endif /* SOCKET_EXPORT_ENABLE */

    return status;
}

int gps_stream(struct gps_data_t *gpsdata CONDITIONALLY_UNUSED,
	unsigned int flags CONDITIONALLY_UNUSED,
	/*@null@*/ void *d CONDITIONALLY_UNUSED)
{
    int status = -1;

#ifdef SOCKET_EXPORT_ENABLE
    /* cppcheck-suppress redundantAssignment */
    status = gps_sock_stream(gpsdata, flags, d);
#endif /* SOCKET_EXPORT_ENABLE */

    return status;
}

const char /*@null observer@*/ *gps_data(const struct gps_data_t *gpsdata CONDITIONALLY_UNUSED)
/* return the contents of the client data buffer */
{
    /*@-dependenttrans -observertrans@*/
    const char *bufp = NULL;

#ifdef SOCKET_EXPORT_ENABLE
    bufp = gps_sock_data(gpsdata);
#endif /* SOCKET_EXPORT_ENABLE */

    return bufp;
    /*@+dependenttrans +observertrans@*/
}

bool gps_waiting(const struct gps_data_t *gpsdata CONDITIONALLY_UNUSED, int timeout CONDITIONALLY_UNUSED)
/* is there input waiting from the GPS? */
/* timeout is in uSec */
{
    /* this is bogus, but I can't think of a better solution yet */
    bool waiting = true;

#ifdef SHM_EXPORT_ENABLE
    if ((intptr_t)(gpsdata->gps_fd) == SHM_PSEUDO_FD)
	waiting = gps_shm_waiting(gpsdata, timeout);
#endif /* SHM_EXPORT_ENABLE */

#ifdef SOCKET_EXPORT_ENABLE
    // cppcheck-suppress pointerPositive
    if ((intptr_t)(gpsdata->gps_fd) >= 0)
	waiting = gps_sock_waiting(gpsdata, timeout);
#endif /* SOCKET_EXPORT_ENABLE */

    return waiting;
}

int gps_mainloop(struct gps_data_t *gpsdata CONDITIONALLY_UNUSED, 
		 int timeout CONDITIONALLY_UNUSED, 
		 void (*hook)(struct gps_data_t *gpsdata) CONDITIONALLY_UNUSED)
{
    int status = -1;

    libgps_debug_trace((DEBUG_CALLS, "gps_mainloop() begins\n"));

    /*@ -usedef -compdef -uniondef @*/
#ifdef SHM_EXPORT_ENABLE
    if ((intptr_t)(gpsdata->gps_fd) == SHM_PSEUDO_FD)
	status = gps_shm_mainloop(gpsdata, timeout, hook);
#endif /* SHM_EXPORT_ENABLE */
#ifdef DBUS_EXPORT_ENABLE
    if ((intptr_t)(gpsdata->gps_fd) == DBUS_PSEUDO_FD)
	status = gps_dbus_mainloop(gpsdata, timeout, hook);
#endif /* DBUS_EXPORT_ENABLE */
#ifdef SOCKET_EXPORT_ENABLE
    if ((intptr_t)(gpsdata->gps_fd) >= 0)
	status = gps_sock_mainloop(gpsdata, timeout, hook);
#endif /* SOCKET_EXPORT_ENABLE */
    /*@ +usedef +compdef +uniondef @*/

    libgps_debug_trace((DEBUG_CALLS, "gps_mainloop() -> %d (%s)\n",
			status, gps_maskdump(gpsdata->set)));

    return status;
}

extern const 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
#ifdef SHM_EXPORT_ENABLE
    if (err == SHM_NOSHARED)
	return "no shared-memory segment or daemon not running";
    else if (err == SHM_NOATTACH)
	return "attach failed for unknown reason";
#endif /* SHM_EXPORT_ENABLE */
#ifdef DBUS_EXPORT_ENABLE
    if (err == DBUS_FAILURE)
	return "DBUS initialization failure";
#endif /* DBUS_EXPORT_ENABLE */
    return netlib_errstr(err);
#else
    static char buf[32];
    (void)snprintf(buf, sizeof(buf), "Qt error %d", err);
    return buf;
#endif
}

#ifdef LIBGPS_DEBUG
void libgps_dump_state(struct gps_data_t *collect)
{
    /* no need to dump the entire state, this is a sanity check */
#ifndef USE_QT
    /* will fail on a 32-bit machine */
    (void)fprintf(debugfp, "flags: (0x%04x) %s\n",
		  (unsigned int)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) {
	const char *status_values[] = { "NO_FIX", "FIX", "DGPS_FIX" };
	(void)fprintf(debugfp, "STATUS: status: %d (%s)\n",
		      collect->status, status_values[collect->status]);
    }
    if (collect->set & MODE_SET) {
	const char *mode_values[] = { "", "NO_FIX", "MODE_2D", "MODE_3D" };
	(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, split24=%s pps=%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.split24 ? "true" : "false",
		      collect->policy.pps ? "true" : "false",
		      collect->policy.devpath);
    if (collect->set & SATELLITE_SET) {
	struct satellite_t *sp;

	(void)fprintf(debugfp, "SKY: satellites in view: %d\n",
		      collect->satellites_visible);
	for (sp = collect->skyview;
	     sp < collect->skyview + collect->satellites_visible;
	     sp++) {
	    (void)fprintf(debugfp, "    %2.2d: %2.2d %3.3d %3.0f %c\n",
			  sp->PRN, sp->elevation,
			  sp->azimuth, sp->ss,
			  sp->used ? 'Y' : 'N');
	}
    }
    if (collect->set & DEVICE_SET)
	(void)fprintf(debugfp, "DEVICE: Device is '%s', driver is '%s'\n",
		      collect->dev.path, collect->dev.driver);
    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 */

// end