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/*
* This file is Copyright (c) 2010 by the GPSD project
* BSD terms apply: see the file COPYING in the distribution root for details.
*/
#include <math.h>
#include <time.h>
#include "gpsd.h"
#include "bits.h"
#include "gpsmon.h"
#ifdef UBX_ENABLE
#include "driver_ubx.h"
extern const struct gps_type_t ubx_binary;
static WINDOW *satwin, *navsolwin, *dopwin;
#define display (void)mvwprintw
static bool ubx_initialize(void)
{
int i;
/*@ -onlytrans @*/
/* "heavily inspired" by monitor_nmea.c */
if ((satwin = derwin(devicewin, 19, 28, 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 < 16; i++)
display(satwin, (int)(i + 2), 1, "%2d", i);
display(satwin, 18, 7, " NAV_SVINFO ");
(void)wattrset(satwin, A_NORMAL);
/*@ -onlytrans @*/
/* "heavily inspired" by monitor_nmea.c */
if ((navsolwin = derwin(devicewin, 13, 51, 0, 28)) == NULL)
return false;
(void)wborder(navsolwin, 0, 0, 0, 0, 0, 0, 0, 0),
(void)wattrset(navsolwin, A_BOLD);
(void)wmove(navsolwin, 1, 1);
(void)wprintw(navsolwin, "ECEF Pos:");
(void)wmove(navsolwin, 2, 1);
(void)wprintw(navsolwin, "ECEF Vel:");
(void)wmove(navsolwin, 4, 1);
(void)wprintw(navsolwin, "LTP Pos:");
(void)wmove(navsolwin, 5, 1);
(void)wprintw(navsolwin, "LTP Vel:");
(void)wmove(navsolwin, 7, 1);
(void)wprintw(navsolwin, "Time:");
(void)wmove(navsolwin, 8, 1);
(void)wprintw(navsolwin, "Time GPS: Day:");
(void)wmove(navsolwin, 10, 1);
(void)wprintw(navsolwin, "Est Pos Err m Est Vel Err m/s");
(void)wmove(navsolwin, 11, 1);
(void)wprintw(navsolwin, "PRNs: ## PDOP: xx.x Fix 0x.. Flags 0x..");
display(navsolwin, 12, 20, " NAV_SOL ");
(void)wattrset(navsolwin, A_NORMAL);
if ((dopwin = derwin(devicewin, 3, 51, 13, 28)) == NULL)
return false;
(void)wborder(dopwin, 0, 0, 0, 0, 0, 0, 0, 0),
(void)wattrset(dopwin, A_BOLD);
(void)wmove(dopwin, 1, 1);
(void)wprintw(dopwin, "DOP [H] [V] [P] [T] [G]");
display(dopwin, 2, 20, " NAV_DOP ");
(void)wattrset(dopwin, A_NORMAL);
return true;
}
static void display_nav_svinfo(unsigned char *buf, size_t data_len)
{
int i, nchan;
if (data_len < 152)
return;
nchan = (int)getub(buf, 4);
if (nchan > 16)
nchan = 16;
for (i = 0; i < nchan; i++) {
int off = 8 + 12 * i;
unsigned char ss, prn;
char el;
short az;
unsigned short fl;
prn = (unsigned char)getub(buf, off + 1);
fl = (unsigned short)getleu16(buf, off + 2);
ss = (unsigned char)getub(buf, off + 4);
el = (char)getsb(buf, off + 5);
az = (short)getles16(buf, off + 6);
(void)wmove(satwin, (int)(i + 2), 4);
(void)wprintw(satwin, "%3d %3d %3d %2d %04x %c",
prn, az, el, ss, fl, (fl & UBX_SAT_USED) ? 'Y' : ' ');
}
(void)wnoutrefresh(satwin);
return;
}
/*@ -mustfreeonly -compdestroy @*/
static void display_nav_sol(unsigned char *buf, size_t data_len)
{
unsigned short gw = 0;
unsigned int tow = 0, flags;
double epx, epy, epz, evx, evy, evz;
unsigned char navmode;
struct gps_data_t g;
double separation;
if (data_len != 52)
return;
navmode = (unsigned char)getub(buf, 10);
flags = (unsigned int)getub(buf, 11);
if ((flags & (UBX_SOL_VALID_WEEK | UBX_SOL_VALID_TIME)) != 0) {
tow = (unsigned int)getleu32(buf, 0);
gw = (unsigned short)getles16(buf, 8);
}
epx = (double)(getles32(buf, 12) / 100.0);
epy = (double)(getles32(buf, 16) / 100.0);
epz = (double)(getles32(buf, 20) / 100.0);
evx = (double)(getles32(buf, 28) / 100.0);
evy = (double)(getles32(buf, 32) / 100.0);
evz = (double)(getles32(buf, 36) / 100.0);
ecef_to_wgs84fix(&g.fix, &separation, epx, epy, epz, evx, evy, evz);
g.fix.epx = g.fix.epy = (double)(getles32(buf, 24) / 100.0);
g.fix.eps = (double)(getles32(buf, 40) / 100.0);
g.dop.pdop = (double)(getleu16(buf, 44) / 100.0);
g.satellites_used = (int)getub(buf, 47);
(void)wmove(navsolwin, 1, 11);
(void)wprintw(navsolwin, "%+10.2fm %+10.2fm %+10.2fm", epx, epy, epz);
(void)wmove(navsolwin, 2, 11);
(void)wprintw(navsolwin, "%+9.2fm/s %+9.2fm/s %+9.2fm/s", evx, evy, evz);
(void)wmove(navsolwin, 4, 11);
(void)wprintw(navsolwin, "%12.9f %13.9f %8.2fm",
g.fix.latitude, g.fix.longitude, g.fix.altitude);
(void)mvwaddch(navsolwin, 4, 23, ACS_DEGREE);
(void)mvwaddch(navsolwin, 4, 39, ACS_DEGREE);
(void)wmove(navsolwin, 5, 11);
(void)wprintw(navsolwin, "%6.2fm/s %5.1fo %6.2fm/s",
g.fix.speed, g.fix.track, g.fix.climb);
(void)mvwaddch(navsolwin, 5, 26, ACS_DEGREE);
(void)wmove(navsolwin, 7, 7);
/*@ -compdef @*/
{
unsigned int day = tow / 8640000;
unsigned int tod = tow % 8640000;
unsigned int h = tod / 360000;
unsigned int m = tod % 360000;
unsigned int s = m % 6000;
m = (m - s) / 6000;
(void)wprintw(navsolwin, "%u %02u:%02u:%05.2f", day, h, m, (double)s / 100);
}
/*@ +compdef @*/
(void)wmove(navsolwin, 8, 11);
if ((flags & (UBX_SOL_VALID_WEEK | UBX_SOL_VALID_TIME)) != 0) {
(void)wprintw(navsolwin, "%d+%10.3lf", gw, (double)(tow / 1000.0));
(void)wmove(navsolwin, 8, 36);
(void)wprintw(navsolwin, "%d", (tow / 86400000));
}
/* relies on the fact that expx and epy are aet to same value */
(void)wmove(navsolwin, 10, 12);
(void)wprintw(navsolwin, "%7.2f", g.fix.epx);
(void)wmove(navsolwin, 10, 33);
(void)wprintw(navsolwin, "%6.2f", g.fix.epv);
(void)wmove(navsolwin, 11, 7);
(void)wprintw(navsolwin, "%2d", g.satellites_used);
(void)wmove(navsolwin, 11, 15);
(void)wprintw(navsolwin, "%5.1f", g.dop.pdop);
(void)wmove(navsolwin, 11, 25);
(void)wprintw(navsolwin, "0x%02x", navmode);
(void)wmove(navsolwin, 11, 36);
(void)wprintw(navsolwin, "0x%02x", flags);
(void)wnoutrefresh(navsolwin);
}
/*@ +mustfreeonly +compdestroy @*/
static void display_nav_dop(unsigned char *buf, size_t data_len)
{
if (data_len != 18)
return;
(void)wmove(dopwin, 1, 9);
(void)wprintw(dopwin, "%4.1f", getleu16(buf, 12) / 100.0);
(void)wmove(dopwin, 1, 18);
(void)wprintw(dopwin, "%4.1f", getleu16(buf, 10) / 100.0);
(void)wmove(dopwin, 1, 27);
(void)wprintw(dopwin, "%4.1f", getleu16(buf, 6) / 100.0);
(void)wmove(dopwin, 1, 36);
(void)wprintw(dopwin, "%4.1f", getleu16(buf, 8) / 100.0);
(void)wmove(dopwin, 1, 45);
(void)wprintw(dopwin, "%4.1f", getleu16(buf, 4) / 100.0);
(void)wnoutrefresh(dopwin);
}
static void ubx_update(void)
{
unsigned char *buf;
size_t data_len;
unsigned short msgid;
buf = session.packet.outbuffer;
msgid = (unsigned short)((buf[2] << 8) | buf[3]);
data_len = (size_t) getles16(buf, 4);
switch (msgid) {
case UBX_NAV_SVINFO:
display_nav_svinfo(&buf[6], data_len);
break;
case UBX_NAV_DOP:
display_nav_dop(&buf[6], data_len);
break;
case UBX_NAV_SOL:
display_nav_sol(&buf[6], data_len);
break;
default:
break;
}
}
static int ubx_command(char line[]UNUSED)
{
return COMMAND_UNKNOWN;
}
static void ubx_wrap(void)
{
(void)delwin(satwin);
return;
}
const struct monitor_object_t ubx_mmt = {
.initialize = ubx_initialize,
.update = ubx_update,
.command = ubx_command,
.wrap = ubx_wrap,
.min_y = 23,.min_x = 80, /* size of the device window */
.driver = &ubx_binary,
};
#endif
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