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Add support for GPSD.

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This commit is contained in:
Jonathan Naylor 2020-06-03 12:41:00 +01:00
parent 7759575bbb
commit aa0ba6ec46
9 changed files with 110 additions and 125 deletions
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112
YSFGateway/APRSWriter.cpp
View file

@ -17,8 +17,8 @@
*/
#include "APRSWriter.h"
#include "YSFDefines.h"
#include "Log.h"
#include <cstdio>
#include <cassert>
@ -37,10 +37,13 @@ m_desc(),
m_suffix(suffix),
m_aprsAddress(),
m_aprsPort(port),
m_aprsSocket(),
m_mobileGPSAddress(),
m_mobileGPSPort(0U),
m_mobileSocket(NULL)
m_aprsSocket()
#if !defined(_WIN32) && !defined(_WIN64)
,m_gpsdEnabled(false),
m_gpsdAddress(),
m_gpsdPort(0U),
m_gpsdData()
#endif
{
assert(!callsign.empty());
assert(!address.empty());
@ -72,33 +75,38 @@ void CAPRSWriter::setStaticLocation(float latitude, float longitude, int height)
m_height = height;
}
void CAPRSWriter::setMobileLocation(const std::string& address, unsigned int port)
void CAPRSWriter::setGPSDLocation(const std::string& address, const std::string& port)
{
#if !defined(_WIN32) && !defined(_WIN64)
assert(!address.empty());
assert(port > 0U);
assert(!port.empty());
m_mobileGPSAddress = CUDPSocket::lookup(address);
m_mobileGPSPort = port;
m_mobileSocket = new CUDPSocket;
m_gpsdEnabled = true;
m_gpsdAddress = address;
m_gpsdPort = port;
#endif
}
bool CAPRSWriter::open()
{
if (m_mobileSocket != NULL) {
bool ret = m_mobileSocket->open();
if (!ret) {
delete m_mobileSocket;
m_mobileSocket = NULL;
#if !defined(_WIN32) && !defined(_WIN64)
if (m_gpsdEnabled) {
int ret = ::gps_open(m_gpsdAddress.c_str(), m_gpsdPort.c_str(), &m_gpsdData);
if (ret != 0) {
LogError("Error when opening access to gpsd - %d - %s", errno, ::gps_errstr(errno));
return false;
}
::gps_stream(&m_gpsdData, WATCH_ENABLE | WATCH_JSON, NULL);
// Poll the GPS every minute
m_idTimer.setTimeout(60U);
} else {
m_idTimer.setTimeout(20U * 60U);
}
#else
m_idTimer.setTimeout(20U * 60U);
#endif
m_idTimer.start();
return m_aprsSocket.open();
@ -169,36 +177,34 @@ void CAPRSWriter::clock(unsigned int ms)
{
m_idTimer.clock(ms);
if (m_mobileSocket != NULL) {
#if !defined(_WIN32) && !defined(_WIN64)
if (m_gpsdEnabled) {
if (m_idTimer.hasExpired()) {
pollGPS();
sendIdFrameMobile();
m_idTimer.start();
}
sendIdFrameMobile();
} else {
#endif
if (m_idTimer.hasExpired()) {
sendIdFrameFixed();
m_idTimer.start();
}
#if !defined(_WIN32) && !defined(_WIN64)
}
#endif
}
void CAPRSWriter::close()
{
m_aprsSocket.close();
if (m_mobileSocket != NULL) {
m_mobileSocket->close();
delete m_mobileSocket;
#if !defined(_WIN32) && !defined(_WIN64)
if (m_gpsdEnabled) {
::gps_stream(&m_gpsdData, WATCH_DISABLE, NULL);
::gps_close(&m_gpsdData);
}
}
bool CAPRSWriter::pollGPS()
{
assert(m_mobileSocket != NULL);
return m_mobileSocket->write((unsigned char*)"YSFGateway", 10U, m_mobileGPSAddress, m_mobileGPSPort);
#endif
}
void CAPRSWriter::sendIdFrameFixed()
@ -264,29 +270,25 @@ void CAPRSWriter::sendIdFrameFixed()
void CAPRSWriter::sendIdFrameMobile()
{
// Grab GPS data if it's available
unsigned char buffer[200U];
in_addr address;
unsigned int port;
int ret = m_mobileSocket->read(buffer, 200U, address, port);
if (ret <= 0)
if (!m_gpsdEnabled)
return;
buffer[ret] = '\0';
// Parse the GPS data
char* pLatitude = ::strtok((char*)buffer, ",\n"); // Latitude
char* pLongitude = ::strtok(NULL, ",\n"); // Longitude
char* pAltitude = ::strtok(NULL, ",\n"); // Altitude (m)
char* pVelocity = ::strtok(NULL, ",\n"); // Velocity (kms/h)
char* pBearing = ::strtok(NULL, "\n"); // Bearing
if (pLatitude == NULL || pLongitude == NULL || pAltitude == NULL)
if (!::gps_waiting(&m_gpsdData, 0))
return;
float rawLatitude = float(::atof(pLatitude));
float rawLongitude = float(::atof(pLongitude));
float rawAltitude = float(::atof(pAltitude));
bool latlonSet = (m_gpsdData.set & LATLON_SET) == LATLON_SET;
bool altitudeSet = (m_gpsdData.set & ALTITUDE_SET) == ALTITUDE_SET;
bool velocitySet = (m_gpsdData.set & SPEED_SET) == SPEED_SET;
bool bearingSet = (m_gpsdData.set & TRACK_SET) == TRACK_SET;
if (!latlonSet)
return;
float rawLatitude = float(m_gpsdData.fix.latitude);
float rawLongitude = float(m_gpsdData.fix.longitude);
float rawAltitude = float(m_gpsdData.fix.altMSL);
float rawVelocity = float(m_gpsdData.fix.speed);
float rawBearing = float(m_gpsdData.fix.track);
char desc[200U];
if (m_txFrequency != 0U) {
@ -339,14 +341,14 @@ void CAPRSWriter::sendIdFrameMobile()
lat, (rawLatitude < 0.0F) ? 'S' : 'N',
lon, (rawLongitude < 0.0F) ? 'W' : 'E');
if (pBearing != NULL && pVelocity != NULL) {
float rawBearing = float(::atof(pBearing));
float rawVelocity = float(::atof(pVelocity));
if (bearingSet && velocitySet)
::sprintf(output + ::strlen(output), "%03.0f/%03.0f", rawBearing, rawVelocity * 0.539957F);
}
::sprintf(output + ::strlen(output), "/A=%06.0f%s %s\r\n", float(rawAltitude) * 3.28F, band, desc);
if (altitudeSet)
::sprintf(output + ::strlen(output), "/A=%06.0f", float(rawAltitude) * 3.28F);
::sprintf(output + ::strlen(output), "%s %s\r\n", band, desc);
m_aprsSocket.write((unsigned char*)output, (unsigned int)::strlen(output), m_aprsAddress, m_aprsPort);
}