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#include <u.h>
#include <libc.h>
#include <fcall.h>
#include <thread.h>
#include <ctype.h>
#include <9p.h>
#include "dat.h"
enum
{
Numsize= 12,
Vlnumsize= 22,
Rawbuf= 0x10000,
Rawmask= Rawbuf-1,
};
#define nsecperchar ((int)(1000000000.0 * 10.0 / baud))
typedef struct Fix Fix;
typedef struct Satellite Satellite;
typedef struct GPSfile GPSfile;
typedef struct Gpsmsg Gpsmsg;
struct Satellite {
int prn;
int elevation;
int azimuth;
int snr;
};
struct Fix {
int messages; /* bitmap of types seen */
Place;
/*
* The following are in Plan 9 time format:
* seconds or nanoseconds since the epoch.
*/
vlong localtime; /* nsec() value when first byte was read */
vlong gpstime; /* nsec() value from GPS */
long time; /* time() value from GPS */
double zulu;
int date;
char valid;
uchar quality;
ushort satellites;
double pdop;
double hdop;
double vdop;
double altitude;
double sealevel;
double groundspeed;
double kmh;
double course;
double heading;
double magvar;
Satellite s[12];
};
struct GPSfile {
char *name;
char* (*rread)(Req*);
int mode;
vlong offset; /* for raw: rawout - read-offset */
};
enum {
ASTRAL,
GPGGA,
GPGLL,
GPGSA,
GPGSV,
GPRMC,
GPVTG,
PRWIRID,
PRWIZCH
};
struct Gpsmsg {
char *name;
int tokens;
ulong errors;
};
char raw[Rawbuf];
vlong rawin;
vlong rawout;
ulong badlat, goodlat, suspectlat;
ulong badlon, goodlon, suspectlon;
ulong suspecttime, goodtime;
ulong histo[32];
char *serial = "/dev/eia0";
Gpsmsg gpsmsg[] = {
[ASTRAL] = { "ASTRAL", 0, 0},
[GPGGA] = { "$GPGGA", 15, 0},
/* NMEA 2.3 permits optional 8th field, mode */
[GPGLL] = { "$GPGLL", 7, 0},
[GPGSA] = { "$GPGSA", 18, 0},
[GPGSV] = { "$GPGSV", 0, 0},
[GPRMC] = { "$GPRMC", 0, 0},
[GPVTG] = { "$GPVTG", 0, 0},
[PRWIRID] = { "$PRWIRID", 0, 0},
[PRWIZCH] = { "$PRWIZCH", 0, 0},
};
int ttyfd, ctlfd, debug;
int setrtc;
int baud = Baud;
char *baudstr = "b%dd1r1pns1l8i9";
ulong seconds;
ulong starttime;
ulong checksumerrors;
int gpsplayback; /* If set, return times and positions with `invalid' marker set */
Place where = {-(74.0 + 23.9191/60.0), 40.0 + 41.1346/60.0};
Fix curfix;
Lock fixlock;
int type(char*);
void setline(void);
int getonechar(vlong*);
void getline(char*, int, vlong*);
void putline(char*);
int gettime(Fix*);
int getzulu(char *, Fix*);
int getalt(char*, char*, Fix*);
int getsea(char*, char*, Fix*);
int getlat(char*, char*, Fix*);
int getlon(char*, char*, Fix*);
int getgs(char*, Fix *);
int getkmh(char*, Fix*);
int getcrs(char*, Fix*);
int gethdg(char*, Fix*);
int getdate(char*, Fix*);
int getmagvar(char*, char*, Fix*);
void printfix(int, Fix*);
void ropen(Req *r);
void rread(Req *r);
void rend(Srv *s);
void gpsinit(void);
char* readposn(Req*);
char* readtime(Req*);
char* readsats(Req*);
char* readstats(Req*);
char* readraw(Req*);
GPSfile files[] = {
{ "time", readtime, 0444, 0 },
{ "position", readposn, 0444, 0 },
{ "satellites", readsats, 0444, 0 },
{ "stats", readstats, 0444, 0 },
{ "raw", readraw, DMEXCL|0444, 0 },
};
Srv s = {
.open = ropen,
.read = rread,
.end = rend,
};
File *root;
File *gpsdir;
void
rend(Srv *)
{
sysfatal("gpsfs demised");
}
void
ropen(Req *r)
{
respond(r, nil);
}
void
rread(Req *r)
{
GPSfile *f;
r->ofcall.count = 0;
f = r->fid->file->aux;
respond(r, f->rread(r));
}
void
fsinit(void)
{
char* user;
int i;
user = getuser();
s.tree = alloctree(user, user, 0555, nil);
if(s.tree == nil)
sysfatal("fsinit: alloctree: %r");
root = s.tree->root;
if((gpsdir = createfile(root, "gps", user, DMDIR|0555, nil)) == nil)
sysfatal("fsinit: createfile: gps: %r");
for(i = 0; i < nelem(files); i++)
if(createfile(gpsdir, files[i].name, user, files[i].mode, files + i) == nil)
sysfatal("fsinit: createfile: %s: %r", files[i].name);
}
void
threadmain(int argc, char*argv[])
{
char *srvname, *mntpt;
srvname = "gps";
mntpt = "/mnt";
ARGBEGIN {
default:
fprint(2, "usage: %s [-b baud] [-d device] [-l logfile] [-m mntpt] [-r] [-s postname]\n", argv0);
exits("usage");
case 'D':
debug++;
break;
case 'b':
baud = strtol(ARGF(), nil, 0);
break;
case 'd':
serial = ARGF();
break;
case 'r':
setrtc = 1;
break;
case 's':
srvname = ARGF();
break;
case 'm':
mntpt = ARGF();
break;
} ARGEND
fmtinstall('L', placeconv);
rfork(RFNOTEG);
fsinit();
gpsinit();
threadpostmountsrv(&s, srvname, mntpt, MBEFORE);
threadexits(nil);
}
static void
gpstrack(void *)
{
Fix fix;
static char buf[256], *t[32];
int n, i, k, tp;
vlong localtime;
double d;
setline();
fix.messages = 0;
fix.lon = 181.0;
fix.lat = 91.0;
fix.zulu = 0;
fix.date = 0;
fix.valid = 0;
fix.quality = 0;
fix.satellites = 0;
fix.pdop = 0.0;
fix.hdop = 0.0;
fix.vdop = 0.0;
fix.altitude = 0.0;
fix.sealevel = 0.0;
fix.groundspeed = 0.0;
fix.kmh = 0.0;
fix.course = 0.0;
fix.heading = 0.0;
fix.magvar = 0.0;
for(;;){
getline(buf, sizeof buf, &localtime);
n = getfields(buf, t, nelem(t), 0,",\r\n");
if(n == 0)
continue;
tp = type(t[0]);
if(tp >= 0 && tp < nelem(gpsmsg) && gpsmsg[tp].tokens &&
gpsmsg[tp].tokens > n){
gpsmsg[tp].errors++;
if(debug)
fprint(2, "%s: Expect %d tokens, got %d\n",
gpsmsg[tp].name, gpsmsg[tp].tokens, n);
continue;
}
switch(tp){
case ASTRAL:
putline("$IIGPQ,ASTRAL*73");
putline("$PRWIILOG,GGA,A,T,10,0");
putline("$PRWIILOG,RMC,A,T,10,0");
putline("$PRWIILOG,GSA,A,T,10,0");
putline("$PRWIILOG,GSV,V,,,");
fprint(2, "Reply: %s\n", "$IIGPQ,ASTRAL*73");
break;
case PRWIRID:
case PRWIZCH:
for(i = 0; i < n; i++) fprint(2, "%s,", t[i]);
fprint(2, "(%d tokens)\n", n);
break;
case GPGGA:
if(getlat(t[2], t[3], &fix))
break;
if(getlon(t[4], t[5], &fix))
break;
getzulu(t[1], &fix);
if(fix.date && gettime(&fix))
break;
if(isdigit(*t[7]))
fix.satellites = strtol(t[7], nil, 10);
if(isdigit(*t[8])){
d = strtod(t[8], nil);
if(!isNaN(d))
fix.hdop = d;
}
getalt(t[9], t[10], &fix);
getsea(t[11], t[12], &fix);
fix.localtime = localtime;
fix.quality = strtol(t[6], nil, 10);
fix.messages |= 1 << tp;
break;
case GPRMC:
fix.valid = *t[2];
getgs(t[7], &fix);
getcrs(t[8], &fix);
getdate(t[9], &fix);
getmagvar(t[10], t[11], &fix);
if((fix.messages & (1 << GPGGA)) == 0){
if(getlat(t[3], t[4], &fix))
break;
if(getlon(t[5], t[6], &fix))
break;
fix.localtime = localtime;
getzulu(t[1], &fix);
if(fix.date)
gettime(&fix);
}
fix.messages |= 1 << tp;
break;
case GPGSA:
if(*t[15]){
d = strtod(t[15], nil);
if(!isNaN(d))
fix.pdop = d;
}
if(*t[16]){
d = strtod(t[16], nil);
if(!isNaN(d))
fix.hdop = d;
}
if(*t[17]){
d = strtod(t[17], nil);
if(!isNaN(d))
fix.vdop = d;
}
fix.messages |= 1 << tp;
break;
case GPGLL:
if(getlat(t[1], t[2], &fix))
break;
if(getlon(t[3], t[4], &fix))
break;
getzulu(t[5], &fix);
fix.messages |= 1 << tp;
break;
case GPGSV:
if(n < 8){
gpsmsg[tp].errors++;
if(debug)
fprint(2, "%s: Expect at least 8 tokens, got %d\n",
gpsmsg[tp].name, n);
break;
}
i = 4*(strtol(t[2], nil, 10)-1); /* starting entry in satellite table */
fix.satellites = strtol(t[3], nil, 10);
k = 4;
while(i < nelem(fix.s) && k + 3 < n){
fix.s[i].prn = strtol(t[k++], nil, 10);
fix.s[i].elevation = strtol(t[k++], nil, 10);
fix.s[i].azimuth = strtol(t[k++], nil, 10);
fix.s[i].snr = strtol(t[k++], nil, 10);
k += 4;
i++;
}
fix.messages |= 1 << tp;
break;
case GPVTG:
if(n < 8){
gpsmsg[tp].errors++;
if(debug)
fprint(2, "%s: Expect at least 8 tokens, got %d\n",
gpsmsg[tp].name, n);
break;
}
getcrs(t[2], &fix);
gethdg(t[4], &fix);
getgs(t[6], &fix);
if(n > 8)
getkmh(t[8], &fix);
fix.messages |= 1 << tp;
break;
default:
if(debug && fix.date)
fprint(2, "Don't know %s\n", t[0]);
break;
}
if(fix.valid){
seconds++;
lock(&fixlock);
memmove(&curfix, &fix, sizeof fix);
unlock(&fixlock);
if(debug)
printfix(2, &fix);
fix.valid = 0;
fix.messages = 0;
for(i = 0; i < nelem(fix.s); i++)
fix.s[i].prn = 0;
if(gpsplayback)
sleep(100);
}
}
}
void
gpsinit(void)
{
proccreate(gpstrack, nil, 4096);
}
void
printfix(int f, Fix *fix){
int i;
fprint(f, "%L, ", fix->Place);
fprint(f, "%g, ", fix->magvar);
fprint(f, "%gm - %gm = %gm, ", fix->altitude, fix->sealevel, fix->altitude - fix->sealevel);
fprint(f, "%06dZ(%g)-", (int)fix->zulu, fix->zulu);
fprint(f, "%06d\n", fix->date);
if(fix->lat >= 0)
fprint(f, "%11.8fN, ", fix->lat);
else
fprint(f, "%11.8fS, ", -fix->lat);
if(fix->lon >= 0)
fprint(f, "%12.8fE, ", fix->lon);
else
fprint(f, "%12.8fW, ", -fix->lon);
fprint(f, "%g@%g, ", fix->course, fix->groundspeed);
fprint(f, "(%c, %ds)\n", fix->valid, fix->satellites);
for(i = 0; i < nelem(fix->s); i++){
if(fix->s[i].prn == 0)
continue;
fprint(f, "[%d, %d°, %d°, %d]\n",
fix->s[i].prn, fix->s[i].elevation, fix->s[i].azimuth, fix->s[i].snr);
}
}
char*
readposn(Req *r)
{
Fix f;
char buf[256];
lock(&fixlock);
memmove(&f, &curfix, sizeof f);
unlock(&fixlock);
snprint(buf, sizeof buf, "%x %06dZ %lud %g %g %g %g %g %g",
gpsplayback|f.quality, (int)f.zulu, f.time, f.lon, f.lat, f.altitude - f.sealevel,
f.course, f.groundspeed, f.magvar);
readstr(r, buf);
return nil;
}
char*
readtime(Req *r)
{
Fix f;
char buf[Numsize+Vlnumsize+Vlnumsize+8];
lock(&fixlock);
memmove(&f, &curfix, sizeof f);
unlock(&fixlock);
seprint(buf, buf + sizeof buf, "%*.0lud %*.0llud %*.0llud %c",
Numsize-1, f.time,
Vlnumsize-1, f.gpstime,
Vlnumsize-1, f.localtime, f.valid + (gpsplayback?1:0));
readstr(r, buf);
return nil;
}
char*
readstats(Req *r)
{
int i;
char buf[1024], *p;
p = buf;
p = seprint(p, buf + sizeof buf, "%lld bytes read, %ld samples processed in %ld seconds\n",
rawin, seconds, curfix.time - starttime);
p = seprint(p, buf + sizeof buf, "%lud checksum errors\n", checksumerrors);
p = seprint(p, buf + sizeof buf, "format errors:");
for(i = 0; i < nelem(gpsmsg); i++){
p = seprint(p, buf + sizeof buf, "[%s]: %ld, ",
gpsmsg[i].name, gpsmsg[i].errors);
}
p = seprint(p, buf + sizeof buf, "\nhistogram of # bytes received per buffer:\n");
for(i = 0; i < nelem(histo); i++){
p = seprint(p, buf + sizeof buf, "[%d]: %ld ",
i, histo[i]);
}
p = seprint(p, buf + sizeof buf, "\n");
p = seprint(p, buf + sizeof buf, "bad/good/suspect lat: %lud/%lud/%lud\n",
badlat, goodlat, suspectlat);
p = seprint(p, buf + sizeof buf, "bad/good/suspect lon: %lud/%lud/%lud\n",
badlon, goodlon, suspectlon);
p = seprint(p, buf + sizeof buf, "good/suspect time: %lud/%lud\n", goodtime, suspecttime);
USED(p);
readstr(r, buf);
return nil;
}
char*
readsats(Req *r)
{
Fix f;
int i;
char buf[1024], *p;
lock(&fixlock);
memmove(&f, &curfix, sizeof f);
unlock(&fixlock);
p = seprint(buf, buf + sizeof buf, "%d %d\n", gpsplayback|f.quality, f.satellites);
for(i = 0; i < nelem(f.s); i++){
if(f.s[i].prn == 0)
continue;
p = seprint(p, buf + sizeof buf, "%d %d %d %d\n",
f.s[i].prn, f.s[i].elevation, f.s[i].azimuth, f.s[i].snr);
}
readstr(r, buf);
return nil;
}
char*
readraw(Req *r)
{
int n;
GPSfile *f;
f = r->fid->file->aux;
if(rawin - rawout > Rawbuf){
rawout = rawin - Rawbuf;
f->offset = rawout - r->ifcall.offset;
}
n = Rawbuf - (rawout&Rawmask);
if(rawin - rawout < n)
n = rawin - rawout;
if(r->ifcall.count < n)
n = r->ifcall.count;
r->ofcall.count = n;
if(n > 0){
memmove(r->ofcall.data, raw + (rawout & Rawmask), n);
rawout += n;
}
return nil;
}
void
rtcset(long t)
{
static int fd;
long r;
int n;
char buf[32];
if(fd <= 0 && (fd = open("#r/rtc", ORDWR)) < 0){
fprint(2, "Can't open #r/rtc: %r\n");
return;
}
n = read(fd, buf, sizeof buf - 1);
if(n <= 0){
fprint(2, "Can't read #r/rtc: %r\n");
return;
}
buf[n] = '\0';
r = strtol(buf, nil, 0);
if(r <= 0){
fprint(2, "ridiculous #r/rtc: %ld\n", r);
return;
}
if(r - t > 1 || t - r > 0){
seek(fd, 0, 0);
fprint(fd, "%ld", t);
fprint(2, "correcting #r/rtc: %ld → %ld\n", r, t);
}
seek(fd, 0, 0);
}
int
gettime(Fix *f){
/* Convert zulu time and date to Plan9 time(2) */
Tm tm;
int zulu;
double d;
long t;
static int count;
zulu = f->zulu;
memset(&tm, 0, sizeof tm );
tm.sec = zulu % 100;
tm.min = (zulu/100) % 100;
tm.hour = zulu / 10000;
tm.year = f->date % 100 + 100; /* This'll only work until 2099 */
tm.mon = ((f->date/100) % 100) - 1;
tm.mday = f->date / 10000;
strcpy(tm.zone, "GMT");
t = tm2sec(&tm);
if(f->time && count < 3 && (t - f->time > 10 || t - f->time <= 0)){
count++;
suspecttime++;
return -1;
}
goodtime++;
f->time = t;
count = 0;
if(starttime == 0) starttime = t;
f->gpstime = 1000000000LL * t + 1000000 * (int)modf(f->zulu, &d);
if(setrtc){
if(setrtc == 1 || (t % 300) == 0){
rtcset(t);
setrtc++;
}
}
return 0;
}
int
getzulu(char *s, Fix *f){
double d;
if(*s == '\0') return 0;
if(isdigit(*s)){
d = strtod(s, nil);
if(!isNaN(d))
f->zulu = d;
return 1;
}
return 0;
}
int
getdate(char *s, Fix *f){
if(*s == 0) return 0;
if(isdigit(*s)){
f->date = strtol(s, nil, 10);
return 1;
}
return 0;
}
int
getgs(char *s, Fix *f){
double d;
if(*s == 0) return 0;
if(isdigit(*s)){
d = strtod(s, nil);
if(!isNaN(d))
f->groundspeed = d;
return 1;
}
return 0;
}
int
getkmh(char *s, Fix *f){
double d;
if(*s == 0) return 0;
if(isdigit(*s)){
d = strtod(s, nil);
if(!isNaN(d))
f->kmh = d;
return 1;
}
return 0;
}
int
getcrs(char *s1, Fix *f){
double d;
if(*s1 == 0) return 0;
if(isdigit(*s1)){
d = strtod(s1, nil);
if(!isNaN(d))
f->course = d;
return 1;
}
return 0;
}
int
gethdg(char *s1, Fix *f){
double d;
if(*s1 == 0) return 0;
if(isdigit(*s1)){
d = strtod(s1, nil);
if(!isNaN(d))
f->heading = d;
return 1;
}
return 0;
}
int
getalt(char *s1, char *s2, Fix *f){
double alt;
if(*s1 == 0) return 0;
if(isdigit(*s1)){
alt = strtod(s1, nil);
if(*s2 == 'M' && !isNaN(alt)){
f->altitude = alt;
return 1;
}
return 0;
}
return 0;
}
int
getsea(char *s1, char *s2, Fix *f){
double alt;
if(*s1 == 0) return 0;
if(isdigit(*s1)){
alt = strtod(s1, nil);
if(*s2 == 'M'){
f->sealevel = alt;
return 1;
}
return 0;
}
return 0;
}
int
getlat(char *s1, char *s2, Fix *f){
double lat;
static count;
if(*s1 == 0 || !isdigit(*s1) || strlen(s1) <= 5){
badlat++;
return -1;
}
lat = strtod(s1+2, nil);
if(isNaN(lat)){
badlat++;
return -1;
}
lat /= 60.0;
lat += 10*(s1[0] - '0') + s1[1] - '0';
if(lat < 0 || lat > 90.0){
badlat++;
return -1;
}
switch(*s2){
default:
badlat++;
return -1;
case 'S':
lat = -lat;
case 'N':
break;
}
if(f->lat <= 90.0 && count < 3 && fabs(f->lat - lat) > 10.0){
count++;
suspectlat++;
return -1;
}
f->lat = lat;
count = 0;
goodlat++;
return 0;
}
int
getlon(char *s1, char *s2, Fix *f){
double lon;
static count;
if(*s1 == 0 || ! isdigit(*s1) || strlen(s1) <= 5){
badlon++;
return -1;
}
lon = strtod(s1+3, nil);
if(isNaN(lon)){
badlon++;
return -1;
}
lon /= 60.0;
lon += 100*(s1[0] - '0') + 10*(s1[1] - '0') + s1[2] - '0';
if(lon < 0 || lon > 180.0){
badlon++;
return -1;
}
switch(*s2){
default:
badlon++;
return -1;
case 'W':
lon = -lon;
case 'E':
break;
}
if(f->lon <= 180.0 && count < 3 && fabs(f->lon - lon) > 10.0){
count++;
suspectlon++;
return -1;
}
f->lon = lon;
goodlon++;
count = 0;
return 0;
}
int
getmagvar(char *s1, char *s2, Fix *f){
double magvar;
if(*s1 == 0) return 0;
if(isdigit(*s1) && strlen(s1) > 5){
magvar = strtod(s1+3, nil);
if(isNaN(magvar))
return 0;
magvar /= 60.0;
magvar += 100*(s1[0] - '0') + 10*(s1[1] - '0') + s1[2] - '0';
if(*s2 == 'W'){
f->magvar = -magvar;
return 1;
}
if(*s2 == 'E'){
f->magvar = magvar;
return 1;
}
return 0;
}
return 0;
}
void
putline(char *s){
write(ttyfd, s, strlen(s));
write(ttyfd, "\r\n", 2);
}
int
type(char *s){
int i;
for(i = 0; i < nelem(gpsmsg); i++){
if(strcmp(s, gpsmsg[i].name) == 0) return i;
}
return -1;
}
void
setline(void){
char *serialctl;
serialctl = smprint("%sctl", serial);
if((ttyfd = open(serial, ORDWR)) < 0)
sysfatal("%s: %r", serial);
if((ctlfd = open(serialctl, OWRITE)) >= 0){
if(fprint(ctlfd, baudstr, baud) < 0)
sysfatal("%s: %r", serialctl);
}else
gpsplayback = 0x8;
free(serialctl);
}
int getonechar(vlong *t){
static char buf[32], *p;
static int n;
if(n == 0){
n = read(ttyfd, buf, sizeof(buf));
if(t) *t = nsec();
if(n < 0)
sysfatal("%s: %r", serial);
if(n == 0)
threadexits(nil);
/*
* We received n characters, so the first must have been there
* at least n/(10*baud) seconds (10 is 1 start
* bit, one stop bit and 8 data bits per character)
*/
if(t) {
*t -= n * nsecperchar;
histo[n]++;
}
p = buf;
}
n--;
return *p++;
}
void
getline(char *s, int size, vlong *t){
uchar c;
char *p;
int n, cs;
tryagain:
for(;;){
p = s;
n = 0;
while((c = getonechar(t)) != '\n' && n < size){
t = nil;
if(c != '\r'){
*p++ = c;
n++;
}
}
if(n < size)
break;
while(getonechar(t) != '\n' && n < 4096)
n++;
if(n == 4096)
sysfatal("preposterous gps line, wrong baud rate?");
fprint(2, "ridiculous gps line: %d bytes\n", n);
}
*p = 0;
for(p = s; isdigit(*p); p++)
;
if(*p++ == ' ')
memmove(s, p, strlen(p)+1);
if(s[0] == '$'){
if(n > 4 && s[n-3] == '*'){
s[n-3] = 0;
p = s+1;
cs = 0;
while(*p) cs ^= *p++;
n = strtol(&s[n-2], nil, 16);
if(n != cs){
if(debug)
fprint(2, "Checksum error %s, 0x%x, 0x%x\n",
s, n, cs);
checksumerrors++;
goto tryagain;
}
}
}
for(p = s; *p; rawin++)
raw[rawin & Rawmask] = *p++;
raw[rawin & Rawmask] = '\n';
rawin++;
}