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
|
/* $Id$ */
#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 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);
(void)mvwprintw(satwin, 1, 1, "Ch PRN Az El S/N Flag U");
for (i = 0; i < 16; i++)
(void)mvwprintw(satwin, (int)(i+2), 1, "%2d",i);
(void)mvwprintw(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 UTC:");
(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 = getub(buf, off+1);
fl = getleuw(buf, off+2);
ss = getub(buf, off+4);
el = getsb(buf, off+5);
az = getlesw(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;
}
#if 0
static gps_mask_t
ubx_msg_nav_sol(unsigned char *buf, size_t data_len)
{
unsigned short gw;
unsigned int tow, flags;
double epx, epy, epz, evx, evy, evz;
unsigned char navmode;
double t;
struct gps_data_t g;
if (data_len != 52)
return 0;
navmode = getub(buf, 10);
flags = (unsigned int)getub(buf, 11);
if ((flags & (UBX_SOL_VALID_WEEK |UBX_SOL_VALID_TIME)) != 0){
tow = getleul(buf, 0);
gw = (unsigned short)getlesw(buf, 8);
t = gpstime_to_unix(gw, tow/1000.0);
}
epx = (double)(getlesl(buf, 12)/100.0);
epy = (double)(getlesl(buf, 16)/100.0);
epz = (double)(getlesl(buf, 20)/100.0);
evx = (double)(getlesl(buf, 28)/100.0);
evy = (double)(getlesl(buf, 32)/100.0);
evz = (double)(getlesl(buf, 36)/100.0);
ecef_to_wgs84fix(&g, epx, epy, epz, evx, evy, evz);
g.fix.eph = (double)(getlesl(buf, 24)/100.0);
g.fix.eps = (double)(getlesl(buf, 40)/100.0);
g.pdop = (double)(getleuw(buf, 44)/100.0);
g.satellites_used = (int)getub(buf, 47);
}
#endif
static void display_nav_dop(unsigned char *buf, size_t data_len)
{
(void)wmove(dopwin, 1,9);
(void)wprintw(dopwin, "%-5.1f", getleuw(buf, 12)/100.0);
(void)wmove(dopwin, 1,18);
(void)wprintw(dopwin, "%-5.1f", getleuw(buf, 10)/100.0);
(void)wmove(dopwin, 1,27);
(void)wprintw(dopwin, "%-5.1f", getleuw(buf, 6)/100.0);
(void)wmove(dopwin, 1,36);
(void)wprintw(dopwin, "%-5.1f", getleuw(buf, 8)/100.0);
(void)wmove(dopwin, 1,45);
(void)wprintw(dopwin, "%-5.1f", getleuw(buf, 4)/100.0);
}
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)getlesw(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;
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
|
