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/* $Id$ */
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <ctype.h>
#ifndef S_SPLINT_S
#include <unistd.h>
#endif /* S_SPLINT_S */
#include <stdarg.h>
#include <stdbool.h>
#include <assert.h>
#include "gpsd_config.h"
#ifdef HAVE_NCURSES_H
#include <ncurses.h>
#else
#include <curses.h>
#endif /* HAVE_NCURSES_H */
#include "gpsd.h"
#include "bits.h"
#include "gpsmon.h"
#ifdef ITRAX_ENABLE
#include "driver_italk.h"
extern const struct gps_type_t italk_binary;
static WINDOW *satwin, *navfixwin;
#define display (void)mvwprintw
static bool italk_initialize(void)
{
int i;
/*@ -onlytrans @*/
/* "heavily inspired" by monitor_nmea.c */
if ((satwin = derwin(devicewin, MAX_NR_VISIBLE_PRNS+3, 27, 0, 0)) == NULL)
return false;
(void)wborder(satwin, 0, 0, 0, 0, 0, 0, 0, 0),
(void)syncok(satwin, true);
(void)wattrset(satwin, A_BOLD);
display(satwin, 1, 1, "Ch PRN Az El S/N Flag U");
for (i = 0; i < MAX_NR_VISIBLE_PRNS; i++)
display(satwin, (int)(i+2), 1, "%2d",i);
display(satwin, MAX_NR_VISIBLE_PRNS+2, 7, " PRN_STATUS ");
(void)wattrset(satwin, A_NORMAL);
/* "heavily inspired" by monitor_nmea.c */
if ((navfixwin = derwin(devicewin, 13, 52, 0, 27)) == NULL)
return false;
(void)wborder(navfixwin, 0, 0, 0, 0, 0, 0, 0, 0),
(void)wattrset(navfixwin, A_BOLD);
(void)wmove(navfixwin, 1,1);
(void)wprintw(navfixwin, "ECEF Pos:");
(void)wmove(navfixwin, 2,1);
(void)wprintw(navfixwin, "ECEF Vel:");
(void)wmove(navfixwin, 4,1);
(void)wprintw(navfixwin, "LTP Pos:");
(void)wmove(navfixwin, 5,1);
(void)wprintw(navfixwin, "LTP Vel:");
(void)wmove(navfixwin, 7,1);
(void)wprintw(navfixwin, "Time UTC:");
(void)wmove(navfixwin, 8,1);
(void)wprintw(navfixwin, "Time GPS: Day:");
(void)wmove(navfixwin, 10,1);
(void)wprintw(navfixwin, "DOP [H] [V] [P] [T] [G]");
(void)wmove(navfixwin, 11,1);
(void)wprintw(navfixwin, "Fix:");
display(navfixwin, 12, 20, " NAV_FIX ");
(void)wattrset(navfixwin, A_NORMAL);
return true;
/*@ +onlytrans @*/
}
static void display_itk_navfix(unsigned char *buf, size_t len){
unsigned int tow, tod, nsec, d, svlist;
unsigned short gps_week, flags, cflags, pflags, nsv;
unsigned short year, mon, day, hour, min, sec;
double epx, epy, epz, evx, evy, evz;
double latitude, longitude;
float altitude, speed, track, climb;
float hdop, gdop, pdop, vdop, tdop;
if (len != 296)
return;
flags = getleuw(buf, 7 + 4);
cflags = getleuw(buf, 7 + 6);
pflags = getleuw(buf, 7 + 8);
#define MAX(a,b) (((a) > (b)) ? (a) : (b))
nsv = MAX(getleuw(buf, 7 + 12), getleuw(buf, 7 + 14));
svlist = getleul(buf, 7 + 16) | getleul(buf, 7 + 24);
hour = getleuw(buf, 7 + 66);
min = getleuw(buf, 7 + 68);
sec = getleuw(buf, 7 + 70);
nsec = getleul(buf, 7 + 72);
year = getleuw(buf, 7 + 76);
mon = getleuw(buf, 7 + 78);
day = getleuw(buf, 7 + 80);
gps_week = (ushort)getlesw(buf, 7 + 82);
tow = getleul(buf, 7 + 84);
epx = (double)(getlesl(buf, 7 + 96)/100.0);
epy = (double)(getlesl(buf, 7 + 100)/100.0);
epz = (double)(getlesl(buf, 7 + 104)/100.0);
evx = (double)(getlesl(buf, 7 + 186)/1000.0);
evy = (double)(getlesl(buf, 7 + 190)/1000.0);
evz = (double)(getlesl(buf, 7 + 194)/1000.0);
latitude = (double)(getlesl(buf, 7 + 144)/1e7);
longitude = (double)(getlesl(buf, 7 + 148)/1e7);
altitude = (float)(getlesl(buf, 7 + 152)/1e3);
climb = (float)(getlesl(buf, 7 + 206)/1e3);
speed = (float)(getleul(buf, 7 + 210)/1e3);
track = (float)(getleuw(buf, 7 + 214)/1e2);
hdop = (float)(getleuw(buf, 7 + 56)/100.0);
gdop = (float)(getleuw(buf, 7 + 58)/100.0);
pdop = (float)(getleuw(buf, 7 + 60)/100.0);
vdop = (float)(getleuw(buf, 7 + 62)/100.0);
tdop = (float)(getleuw(buf, 7 + 64)/100.0);
(void)wmove(navfixwin, 1,11);
(void)wprintw(navfixwin, "%12.2lf %12.2lf %12.2lfm", epx, epy, epz);
(void)wmove(navfixwin, 2,11);
(void)wprintw(navfixwin, "%11.2lf %11.2lf %11.2lfm/s", evx, evy, evz);
(void)wmove(navfixwin, 4,11);
(void)wprintw(navfixwin, "%11.8lf %13.8lf %8.1lfm",
latitude, longitude, altitude);
(void)mvwaddch(navfixwin, 4, 22, ACS_DEGREE);
(void)mvwaddch(navfixwin, 4, 38, ACS_DEGREE);
(void)wmove(navfixwin, 5,11);
(void)wprintw(navfixwin, "%6.2lfm/s %5.1lf %6.2lfm/s climb",
speed, track, climb);
(void)mvwaddch(navfixwin, 5, 27, ACS_DEGREE);
(void)wmove(navfixwin, 7,11);
(void)wprintw(navfixwin, "%04u-%02u-%02u %02u:%02u:%02u",
year, mon, day, hour, min, sec);
(void)wmove(navfixwin, 8,11);
(void)wprintw(navfixwin, "%04u+%010.3lf", gps_week, tow/1000.0);
(void)wmove(navfixwin, 8,33);
d = (tow/1000) / 86400;
tod = (tow/1000) - (d*86400);
sec = (unsigned short)tod % 60;
min = (unsigned short)(tod / 60) % 60;
hour = (unsigned short)tod / 3600;
(void)wprintw(navfixwin, "%1d %02d:%02d:%02d", d, hour, min, sec);
(void)wmove(navfixwin, 10,9);
(void)wprintw(navfixwin, "%-5.1f", hdop);
(void)wmove(navfixwin, 10,18);
(void)wprintw(navfixwin, "%-5.1f", vdop);
(void)wmove(navfixwin, 10,27);
(void)wprintw(navfixwin, "%-5.1f", pdop);
(void)wmove(navfixwin, 10,36);
(void)wprintw(navfixwin, "%-5.1f", tdop);
(void)wmove(navfixwin, 10,45);
(void)wprintw(navfixwin, "%-5.1f", gdop);
(void)wmove(navfixwin, 11,6);
{
char prn[4], satlist[38];
unsigned int i;
satlist[0] = '\0';
for(i = 0; i<32; i++){
if (svlist & (1<<i)){
(void)snprintf(prn, 4, "%u ", i+1);
(void)strlcat(satlist, prn, 38);
}
}
(void)wprintw(navfixwin, "%02d = %-38s", nsv, satlist);
}
(void)wnoutrefresh(navfixwin);
}
static void display_itk_prnstatus(unsigned char *buf, size_t len)
{
int i, nchan;
if (len < 62)
return;
nchan = (int)getleuw(buf, 7 +50);
if (nchan > MAX_NR_VISIBLE_PRNS)
nchan = MAX_NR_VISIBLE_PRNS;
for (i = 0; i < nchan; i++) {
int off = 7+ 52 + 10 * i;
unsigned short fl;
unsigned char ss, prn, el, az;
fl = getleuw(buf, off);
ss = (unsigned char)getleuw(buf, off+2)&0xff;
prn = (unsigned char)getleuw(buf, off+4)&0xff;
el = (unsigned char)getlesw(buf, off+6)&0xff;
az = (unsigned char)getlesw(buf, off+8)&0xff;
(void)wmove(satwin, i+2, 4);
(void)wprintw(satwin, "%3d %3d %2d %02d %04x %c",
prn, az, el, ss, fl,
(fl & PRN_FLAG_USE_IN_NAV)? 'Y' : ' ');
}
for ( ; i < MAX_NR_VISIBLE_PRNS; i++){
(void)wmove(satwin, (int)i+2, 4);
(void)wprintw(satwin, " ");
}
(void)wnoutrefresh(satwin);
return;
}
static void italk_update(void)
{
unsigned char *buf;
size_t len;
unsigned char type;
buf = session.packet.outbuffer;
len = session.packet.outbuflen;
type = getub(buf, 4);
switch (type) {
case ITALK_NAV_FIX:
display_itk_navfix(buf, len);
break;
case ITALK_PRN_STATUS:
display_itk_prnstatus(buf, len);
break;
default:
break;
}
}
static int italk_command(char line[] UNUSED)
{
return COMMAND_UNKNOWN;
}
static void italk_wrap(void)
{
(void)delwin(satwin);
return;
}
const struct monitor_object_t italk_mmt = {
.initialize = italk_initialize,
.update = italk_update,
.command = italk_command,
.wrap = italk_wrap,
.min_y = 23, .min_x = 80, /* size of the device window */
.driver = &italk_binary,
};
#endif
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