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authorMatt Ranostay <matt.ranostay@konsulko.com>2017-08-25 09:54:17 -0700
committerMatt Ranostay <matt.ranostay@konsulko.com>2017-08-28 10:50:57 -0700
commit344f115511abc18c0156c2784c2fcc50e0d8306d (patch)
treedd34b988e31bb3d2d53e2199b022163e60dcfda9 /binding
parent94af7aa13b923fb96c152c4cb4251fe415271a91 (diff)
binding: gps: rewrite binding to use libgps
Rewrite gps binding to use libgps native functionality to communicate with gps over SOCK_STREAM socket. Bug-AGL: SPEC-844 Change-Id: I78d2d14900d69b542e8bd456df577ee9ecdcb103 Signed-off-by: Matt Ranostay <matt.ranostay@konsulko.com>
Diffstat (limited to 'binding')
-rw-r--r--binding/afm-gps-binding.c1066
1 files changed, 95 insertions, 971 deletions
diff --git a/binding/afm-gps-binding.c b/binding/afm-gps-binding.c
index 080f1e5..e7cbf8f 100644
--- a/binding/afm-gps-binding.c
+++ b/binding/afm-gps-binding.c
@@ -1,6 +1,6 @@
/*
- * Copyright (C) 2016 "IoT.bzh"
- * Author José Bollo <jose.bollo@iot.bzh>
+ * Copyright (C) 2017 Konsulko Group
+ * Author: Matt Ranostay <matt.ranostay@konsulko.com>
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
@@ -16,1036 +16,160 @@
*/
#define _GNU_SOURCE
+#include <errno.h>
#include <stdio.h>
#include <string.h>
+#include <stdlib.h>
#include <unistd.h>
-#include <errno.h>
-#include <netdb.h>
-#include <fcntl.h>
-#include <math.h>
-#include <sys/time.h>
-#include <sys/types.h>
-#include <sys/socket.h>
-
+#include <gps.h>
+#include <pthread.h>
#include <json-c/json.h>
-#include <systemd/sd-event.h>
-
+#define AFB_BINDING_VERSION 2
#include <afb/afb-binding.h>
-#include <afb/afb-service-itf.h>
-
-#define NAUTICAL_MILE_IN_METER 1852
-#define MILE_IN_METER 1609.344
-#define KNOT_TO_METER_PER_SECOND 0.5144444444 /* 1852 / 3600 */
-#define METER_PER_SECOND_TO_KNOT 1.943844492 /* 3600 / 1852 */
-#define METER_PER_SECOND_TO_KILOMETER_PER_HOUR 3.6 /* 3600 / 1000 */
-#define METER_PER_SECOND_TO_MILE_PER_HOUR 2.236936292 /* 3600 / 1609.344 */
-
-#define DEFAULT_PERIOD 2000 /* 2 seconds */
-
-/*
- * references:
- *
- * https://www.w3.org/TR/geolocation-API/
- * http://www.gpsinformation.org/dale/nmea.htm
- */
-/* flags for recording what field is set */
-struct flags {
- unsigned time: 1;
- unsigned latitude: 1;
- unsigned longitude: 1;
- unsigned altitude: 1;
- unsigned speed: 1;
- unsigned track: 1;
-};
+static struct gps_data_t data;
+static struct afb_event location_event;
-/* the gps data converted */
-struct gps {
- struct flags set;
+static pthread_t thread;
+static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;
- uint32_t time;
- double latitude;
- double longitude;
- double altitude;
- double speed;
- double track;
-};
+#define MSECS_TO_USECS(x) (x * 1000)
-/*
- * the type of position expected
- *
- * here, this type is mainly the selection of units
- */
-enum type {
- type_wgs84, /* longitude, latitude, track: degre, altitude: m, speed: m/s */
- type_dms_kmh, /* longitude, latitude: degre°minute'second.xxx"X, track: degre, altitude: m, speed: km/h */
- type_dms_mph, /* longitude, latitude: degre°minute'second.xxx"X, track: degre, altitude: m, speed: mph */
- type_dms_kn, /* longitude, latitude: degre°minute'second.xxx"X, track: degre, altitude: m, speed: kn */
- type_COUNT,
- type_DEFAULT = type_wgs84,
- type_INVALID = -1
-};
-
-struct event;
-
-/*
- * for each expected period
- */
-struct period {
- struct period *next; /* link to the next other period */
- struct event *events; /* events for the period */
- uint32_t period; /* value of the period in ms */
- uint32_t last; /* last update of the period */
-};
-
-/*
- * each generated event
- */
-struct event {
- struct event *next; /* link for the same period */
- const char *name; /* name of the event */
- struct afb_event event; /* the event for the binder */
- enum type type; /* the type of data expected */
- int id; /* id of the event for unsubscribe */
-};
-
-/*
- * names of the types
- */
-static const char * const type_NAMES[type_COUNT] = {
- "WGS84",
- "DMS.km/h",
- "DMS.mph",
- "DMS.kn"
-};
-
-/*
- * the interface to afb-daemon
- */
-const struct afb_binding_interface *afbitf;
-
-/*
- * records the raw frames
- */
-static struct gps frames[10]; /* a short memory for further computation if needed */
-static int frameidx; /* index of the last frame (frames are in the reverse order) */
-static int newframes; /* boolean indication of wether new frames are availables */
-
-/*
- * records the JSON object for sending positions
- */
-static struct json_object *time_ms; /* time as double in millisecond */
-static struct json_object *latitude_wgs; /* latitude as double in degree */
-static struct json_object *longitude_wgs; /* longitude as double in degree */
-static struct json_object *latitude_dms; /* latitude as string in d°m's.s"X */
-static struct json_object *longitude_dms; /* longitude as string in d°m's.s"X */
-static struct json_object *altitude_m; /* altitude as double in meter */
-static struct json_object *speed_ms; /* speed as double in m/s */
-static struct json_object *speed_kmh; /* speed as double in km/h */
-static struct json_object *speed_mph; /* speed as double in mph */
-static struct json_object *speed_kn; /* speed as double in kn */
-static struct json_object *track_d; /* heading track as double in degree */
-
-static struct json_object *positions[type_COUNT]; /* computed positions by type */
-
-/* head of the list of periods */
-static struct period *list_of_periods;
-
-/***************************************************************************************/
-/***************************************************************************************/
-/** **/
-/** **/
-/** SECTION: FORMATING JSON POSITIONS **/
-/** **/
-/** **/
-/***************************************************************************************/
-/***************************************************************************************/
-/*
- * Creates the JSON representation for Degree Minute Second representation of coordinates
- */
-static struct json_object *new_dms(double a, int islat)
+static json_object *populate_json_data(json_object *jresp)
{
- char buffer[50], pos;
- double D, M;
+ json_object *value = NULL;
- if (islat) {
- if (a >= 0)
- pos = 'N';
- else {
- a = -a;
- pos = 'S';
- }
- } else {
- if (a <= 180)
- pos = 'E';
- else {
- a = 360 - a;
- pos = 'W';
- }
+ if (data.fix.mode != MODE_3D) {
+ json_object_put(jresp);
+ return NULL;
}
- D = floor(a);
- a = (a - D) * 60;
- M = floor(a);
- a = (a - M) * 60;
- sprintf(buffer, "%d°%d'%.3f\"%c", (int)D, (int)M, a, pos);
- return json_object_new_string(buffer);
-}
-
-/*
- * adds the value (with reference count increment) if not null
- */
-static void addif(struct json_object *obj, const char *name, struct json_object *val)
-{
- if (val != NULL)
- json_object_object_add(obj, name, json_object_get(val));
-}
-
-/*
- * release the object (put) and reset the pointer to null
- */
-static void clear(struct json_object **obj)
-{
- json_object_put(*obj);
- *obj = NULL;
-}
-
-/*
- * get the last/current position of type
- */
-static struct json_object *position(enum type type)
-{
- struct json_object *result;
- struct gps *g0;
- /* clean on new frame */
- if (newframes) {
- clear(&time_ms);
- clear(&latitude_wgs);
- clear(&longitude_wgs);
- clear(&latitude_dms);
- clear(&longitude_dms);
- clear(&altitude_m);
- clear(&speed_ms);
- clear(&speed_kmh);
- clear(&speed_mph);
- clear(&speed_kn);
- clear(&track_d);
- clear(&positions[type_wgs84]);
- clear(&positions[type_dms_kmh]);
- clear(&positions[type_dms_mph]);
- clear(&positions[type_dms_kn]);
- newframes = 0;
+ if (data.set & ALTITUDE_SET) {
+ value = json_object_new_double(data.fix.altitude);
+ json_object_object_add(jresp, "altitude", value);
}
- /* get the result */
- result = positions[type];
- if (result == NULL) {
- DEBUG(afbitf, "building position for type %s", type_NAMES[type]);
+ if (data.set & LATLON_SET) {
+ value = json_object_new_double(data.fix.latitude);
+ json_object_object_add(jresp, "latitude", value);
- /* should build the result */
- g0 = &frames[frameidx];
- result = json_object_new_object();
- if (result == NULL)
- return NULL;
- positions[type] = result;
-
- /* set the result type */
- json_object_object_add(result, "type", json_object_new_string(type_NAMES[type]));
-
- /* build time, altitude and track */
- if (time_ms == NULL && g0->set.time)
- time_ms = json_object_new_double (g0->time);
- addif(result, "time", time_ms);
- if (altitude_m == NULL && g0->set.altitude)
- altitude_m = json_object_new_double (g0->altitude);
- addif(result, "altitude", altitude_m);
- if (track_d == NULL && g0->set.track)
- track_d = json_object_new_double (g0->track);
- addif(result, "track", track_d);
-
- /* build position */
- switch (type) {
- default:
- case type_wgs84:
- if (latitude_wgs == NULL && g0->set.latitude)
- latitude_wgs = json_object_new_double (g0->latitude);
- addif(result, "latitude", latitude_wgs);
- if (longitude_wgs == NULL && g0->set.longitude)
- longitude_wgs = json_object_new_double (g0->longitude);
- addif(result, "longitude", longitude_wgs);
- break;
- case type_dms_kmh:
- case type_dms_mph:
- case type_dms_kn:
- if (latitude_dms == NULL && g0->set.latitude)
- latitude_dms = new_dms (g0->latitude, 1);
- addif(result, "latitude", latitude_dms);
- if (longitude_dms == NULL && g0->set.longitude)
- longitude_dms = new_dms (g0->longitude, 0);
- addif(result, "longitude", longitude_dms);
- break;
- }
-
- /* build speed */
- switch (type) {
- default:
- case type_wgs84:
- if (speed_ms == NULL && g0->set.speed)
- speed_ms = json_object_new_double (g0->speed);
- addif(result, "speed", speed_ms);
- break;
- case type_dms_kmh:
- if (speed_kmh == NULL && g0->set.speed)
- speed_kmh = json_object_new_double (g0->speed * METER_PER_SECOND_TO_KILOMETER_PER_HOUR);
- addif(result, "speed", speed_kmh);
- break;
- case type_dms_mph:
- if (speed_mph == NULL && g0->set.speed)
- speed_mph = json_object_new_double (g0->speed * METER_PER_SECOND_TO_MILE_PER_HOUR);
- addif(result, "speed", speed_mph);
- break;
- case type_dms_kn:
- if (speed_kn == NULL && g0->set.speed)
- speed_kn = json_object_new_double (g0->speed * METER_PER_SECOND_TO_KNOT);
- addif(result, "speed", speed_kn);
- break;
- }
- }
-
- return json_object_get(result);
-}
-
-/***************************************************************************************/
-/***************************************************************************************/
-/** **/
-/** **/
-/** SECTION: MANAGING EVENTS **/
-/** **/
-/** **/
-/***************************************************************************************/
-/***************************************************************************************/
-/*
- * get the event handler of given id
- */
-static struct event *event_of_id(int id)
-{
- struct period *p;
- struct event *e;
-
- p = list_of_periods;
- while(p != NULL) {
- e = p->events;
- p = p->next;
- while(e != NULL) {
- if (e->id == id)
- return e;
- e = e->next;
- }
- }
- return NULL;
-}
-
-/*
- * get the event handler for the type and the period
- */
-static struct event *event_get(enum type type, int period)
-{
- static int id;
- int shift;
- uint32_t perio;
- struct period *p, **pp, *np;
- struct event *e;
-
- /* normalize the period */
- period = period <= 100 ? 1 : period > 60000 ? 600 : (period / 100);
- shift = 0;
- while((period >> shift) > 31)
- shift++;
- perio = (uint32_t)(100 * (((period >> shift) & 31) << shift));
-
- /* search for the period */
- pp = &list_of_periods;
- p = *pp;
- while(p != NULL && p->period < perio) {
- pp = &p->next;
- p = *pp;
+ value = json_object_new_double(data.fix.longitude);
+ json_object_object_add(jresp, "longitude", value);
}
- /* create the period if it misses */
- if (p == NULL || p->period != perio) {
- np = calloc(1, sizeof *p);
- if (np == NULL)
- return NULL;
- np->next = p;
- np->period = perio;
- *pp = np;
- p = np;
+ if (data.set & SPEED_SET) {
+ value = json_object_new_double(data.fix.speed);
+ json_object_object_add(jresp, "speed", value);
}
- /* search the type */
- e = p->events;
- while(e != NULL && e->type != type)
- e = e->next;
-
- /* creates the type if needed */
- if (e == NULL) {
- e = calloc(1, sizeof *e);
- if (e == NULL)
- return NULL;
-
- e->name = "GPS"; /* TODO */
- e->event = afb_daemon_make_event(afbitf->daemon, e->name);
- if (e->event.itf == NULL) {
- free(e);
- return NULL;
- }
-
- e->next = p->events;
- e->type = type;
- do {
- id++;
- if (id < 0)
- id = 1;
- } while(event_of_id(id) != NULL);
- e->id = id;
- p->events = e;
- }
-
- return e;
-}
-
-/*
- * Sends the events if needed
- */
-static void event_send()
-{
- struct period *p, **pp;
- struct event *e, **pe;
- struct timeval tv;
- uint32_t now;
-
- /* skip if nothing is new */
- if (!newframes)
- return;
-
- /* computes now */
- gettimeofday(&tv, NULL);
- now = (uint32_t)(tv.tv_sec * 1000) + (uint32_t)(tv.tv_usec / 1000);
-
- /* iterates over the periods */
- pp = &list_of_periods;
- p = *pp;
- while (p != NULL) {
- if (p->events == NULL) {
- /* no event for the period, frees it */
- *pp = p->next;
- free(p);
- } else {
- if (p->period <= now - p->last) {
- /* its time to refresh */
- p->last = now;
- pe = &p->events;
- e = *pe;
- while (e != NULL) {
- /* sends the event */
- if (afb_event_push(e->event, position(e->type)) != 0)
- pe = &e->next;
- else {
- /* no more listeners, free the event */
- *pe = e->next;
- afb_event_drop(e->event);
- free(e);
- }
- e = *pe;
- }
- }
- pp = &p->next;
- }
- p = *pp;
- }
+ return jresp;
}
-/***************************************************************************************/
-/***************************************************************************************/
-/** **/
-/** **/
-/** SECTION: HANDLING NMEA **/
-/** **/
-/** **/
-/***************************************************************************************/
-/***************************************************************************************/
-/*
- * interprets a nmea time
- */
-static int nmea_time(const char *text, uint32_t *result)
+static void get_data(struct afb_req request)
{
- uint32_t x;
+ json_object *jresp = NULL;
+ pthread_mutex_lock(&mutex);
- if (text[0] < '0' || text[0] > '2'
- || text[1] < '0' || text[1] > (text[0] == '2' ? '3' : '9')
- || text[2] < '0' || text[2] > '5'
- || text[3] < '0' || text[3] > '9'
- || text[4] < '0' || text[4] > '5'
- || text[5] < '0' || text[5] > '9'
- || (text[6] != 0 && text[6] != '.'))
- return 0;
-
- x = (uint32_t)(text[0] - '0');
- x = x * 10 + (uint32_t)(text[1]-'0');
- x = x * 6 + (uint32_t)(text[2]-'0');
- x = x * 10 + (uint32_t)(text[3]-'0');
- x = x * 6 + (uint32_t)(text[4]-'0');
- x = x * 10 + (uint32_t)(text[5]-'0');
- x = x * 1000;
- if (text[6] == '.') {
- if (text[7] != 0) {
- if (text[7] < '0' || text[7] > '9') return 0;
- x += (uint32_t)(text[7]-'0') * 100;
- if (text[8] != 0) {
- if (text[8] < '0' || text[8] > '9') return 0;
- x += (uint32_t)(text[8]-'0') * 10;
- if (text[9] != 0) {
- if (text[9] < '0' || text[9] > '9') return 0;
- x += (uint32_t)(text[9]-'0');
- if (text[10] != 0) {
- if (text[10] < '0' || text[10] > '9') return 0;
- x += text[10] > '5';
- }
- }
- }
- }
+ jresp = populate_json_data(json_object_new_object());
+ if (jresp != NULL) {
+ afb_req_success(request, jresp, "GNSS location data");
+ } else {
+ afb_req_fail(request, "failed", "No 3D GNSS fix");
}
- *result = x;
- return 1;
+ pthread_mutex_unlock(&mutex);
}
-/*
- * interprets a nmea angle having minutes
- */
-static int nmea_angle(const char *text, double *result)
+static void subscribe(struct afb_req request)
{
- uint32_t x = 0;
- double v;
- int dotidx = (int)(strchrnul(text, '.') - text);
-
- switch(dotidx) {
- case 5:
- if (text[dotidx - 5] < '0' || text[dotidx - 5] > '9')
- return 0;
- x = x * 10 + (uint32_t)(text[dotidx - 5] - '0');
- case 4:
- if (text[dotidx - 4] < '0' || text[dotidx - 4] > '9')
- return 0;
- x = x * 10 + (uint32_t)(text[dotidx - 4] - '0');
- case 3:
- if (text[dotidx - 3] < '0' || text[dotidx - 3] > '9')
- return 0;
- x = x * 10 + (uint32_t)(text[dotidx - 3] - '0');
- case 2:
- v = atof(&text[dotidx - 2]);
- break;
- case 1:
- if (text[dotidx - 1] < '0' || text[dotidx - 1] > '9')
- return 0;
- case 0:
- v = atof(text);
- break;
- default:
- return 0;
- }
-
- *result = (double)x + v * 0.01666666666666666666666; /* 1 / 60 */
+ const char *value = afb_req_value(request, "value");
- return 1;
-}
-
-/*
- * creates a new position for the given optionnal fields
- * returns 1 if correct or 0 if a format error exists
- */
-static int nmea_set(
- const char *tim,
- const char *lat, const char *latu,
- const char *lon, const char *lonu,
- const char *alt, const char *altu,
- const char *spe,
- const char *tra,
- const char *dat
-)
-{
- struct gps gps;
-
- DEBUG(afbitf, "time=%s latitude=%s%s longitude=%s%s altitude=%s%s speed=%s track=%s date=%s",
- tim, lat, latu, lon, lonu, alt, altu, spe, tra, dat);
-
- /* get the time in milliseconds */
- if (tim == NULL)
- gps.set.time = 0;
- else {
- if (!nmea_time(tim, &gps.time))
- return 0;
- gps.set.time = 1;
- }
-
- /* get the latitude */
- if (lat == NULL || latu == NULL)
- gps.set.latitude = 0;
- else {
- if ((latu[0] != 'N' && latu[0] != 'S') || latu[1] != 0)
- return 0;
- if (!nmea_angle(lat, &gps.latitude))
- return 0;
- if (latu[0] == 'S')
- gps.latitude = -gps.latitude;
- gps.set.latitude = 1;
- }
-
- /* get the longitude */
- if (lon == NULL || lonu == NULL)
- gps.set.longitude = 0;
- else {
- if ((lonu[0] != 'E' && lonu[0] != 'W') || lonu[1] != 0)
- return 0;
- if (!nmea_angle(lon, &gps.longitude))
- return 0;
- if (lonu[0] == 'W')
- gps.longitude = 360.0 - gps.longitude;
- gps.set.longitude = 1;
- }
-
- /* get the altitude */
- if (alt == NULL || altu == NULL)
- gps.set.altitude = 0;
- else {
- if (altu[0] != 'M' || altu[1] != 0)
- return 0;
- gps.altitude = atof(alt);
- gps.set.altitude = 1;
- }
-
- /* get the speed */
- if (spe == NULL)
- gps.set.speed = 0;
- else {
- gps.speed = atof(spe) * KNOT_TO_METER_PER_SECOND;
- gps.set.speed = 1;
- }
-
- /* get the track */
- if (tra != NULL)
- gps.set.track = 0;
- else {
- gps.track = atof(tra);
- gps.set.track = 1;
- }
-
- /* push the frame */
- frameidx = (frameidx ? : (int)(sizeof frames / sizeof *frames)) - 1;
- frames[frameidx] = gps;
- newframes++;
-
- DEBUG(afbitf, "time:%d=%d latitude:%d=%g longitude:%d=%g altitude:%d=%g speed:%d=%g track:%d=%g",
- (int)gps.set.time, gps.set.time ? (int)gps.time : 0,
- (int)gps.set.latitude, gps.set.latitude ? gps.latitude : 0,
- (int)gps.set.longitude, gps.set.longitude ? gps.longitude : 0,
- (int)gps.set.altitude, gps.set.altitude ? gps.altitude : 0,
- (int)gps.set.speed, gps.set.speed ? gps.speed : 0,
- (int)gps.set.track, gps.set.track ? gps.track : 0
- );
-
- return 1;
-}
-
-/*
- * Splits the nmea sentences in its fields
- */
-static int nmea_split(char *s, char *fields[], int count)
-{
- int index = 0;
- while (*s && index < count) {
- fields[index++] = s;
- while (*s && *s != ',')
- s++;
- if (*s == ',')
- *s++ = 0;
+ if (value && !strcasecmp(value, "location")) {
+ afb_req_subscribe(request, location_event);
+ afb_req_success(request, NULL, NULL);
+ return;
}
- return !*s && index == count;
-}
-
-/*
- * interprete one sentence GGA - Fix information
- */
-static int nmea_gga(char *s)
-{
- char *f[14];
-
- return nmea_split(s, f, (int)(sizeof f / sizeof *f))
- && *f[5] != '0'
- && nmea_set(f[0], f[1], f[2], f[3], f[4], f[6], f[7], NULL, NULL, NULL);
-}
-
-/*
- * interprete one sentence RMC - Recommended Minimum
- */
-static int nmea_rmc(char *s)
-{
- char *f[12];
-
- return nmea_split(s, f, (int)(sizeof f / sizeof *f))
- && *f[1] == 'A'
- && nmea_set(f[0], f[2], f[3], f[4], f[5], NULL, NULL, f[6], f[7], f[8]);
-}
-
-
-/*
- * interprete one NMEA sentence
- */
-static int nmea_sentence(char *s)
-{
- if (!s[0] || !s[1])
- return 0;
-
- if (s[2] == 'G' && s[3] == 'G' && s[4] == 'A' && s[5] == ',')
- return nmea_gga(&s[6]);
-
- if (s[2] == 'R' && s[3] == 'M' && s[4] == 'C' && s[5] == ',')
- return nmea_rmc(&s[6]);
-
- return 0;
-}
-
-/*
- * reads the NMEA stream
- */
-static int nmea_read(int fd)
-{
- static char buffer[160];
- static int pos = 0;
- static int overflow = 0;
-
- int rc;
- for(;;) {
- rc = (int)read(fd, &buffer[pos], sizeof buffer - (size_t)pos);
- if (rc < 0) {
- /* its an error if not interrupted */
- if (errno != EINTR)
- return rc;
- } else if (rc == 0) {
- /* nothing more to be read */
- return 0;
- } else {
- /* scan the buffer */
- while (pos != rc) {
- if (buffer[pos] != '\n') {
- pos++;
- if (pos == rc) {
- if (pos == (int)(sizeof buffer)) {
- overflow = 1;
- pos = 0;
- rc = 0;
- }
- }
- } else {
- if (buffer[0] == '$' && pos > 0 && buffer[pos-1] == '\r' && !overflow) {
- if (pos > 3 && buffer[pos-4] == '*') {
- /* TODO: check the cheksum */
- buffer[pos-4] = 0;
- } else {
- buffer[pos-1] = 0;
- }
- nmea_sentence(&buffer[1]);
- }
- pos++;
- rc -= pos;
- if (rc > 0)
- memmove(buffer, buffer+pos, (size_t)rc);
- pos = 0;
- overflow = 0;
- }
- }
- }
- }
+ afb_req_fail(request, "failed", "Invalid event");
}
-/***************************************************************************************/
-/***************************************************************************************/
-/** **/
-/** **/
-/** SECTION: HANDLING OF CONNECTION **/
-/** **/
-/** **/
-/***************************************************************************************/
-/***************************************************************************************/
-/* declare the connection routine */
-static int connection();
-
-/*
- * called on an event on the NMEA stream
- */
-static int on_event(sd_event_source *s, int fd, uint32_t revents, void *userdata)
+static void unsubscribe(struct afb_req request)
{
- /* read available data */
- if ((revents & EPOLLIN) != 0) {
- nmea_read(fd);
- event_send();
- }
+ const char *value = afb_req_value(request, "value");
- /* check if error or hangup */
- if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) {
- sd_event_source_unref(s);
- close(fd);
- connection(fd);
+ if (value && !strcasecmp(value, "location")) {
+ afb_req_unsubscribe(request, location_event);
+ afb_req_success(request, NULL, NULL);
+ return;
}
- return 0;
+ afb_req_fail(request, "failed", "Invalid event");
}
-/*
- * opens a socket to a host and a service (or port)
- */
-static int open_socket_to(const char *host, const char *service)
+static void *data_poll(void *ptr)
{
- int rc, fd;
- struct addrinfo hint, *rai, *iai;
+ /*
+ * keep reading till an error condition happens
+ */
+ while (gps_waiting(&data, MSECS_TO_USECS(2000)) && !errno)
+ {
+ json_object *jresp = NULL;
- /* get addr */
- memset(&hint, 0, sizeof hint);
- hint.ai_family = AF_INET;
- hint.ai_socktype = SOCK_STREAM;
- rc = getaddrinfo(host, service, &hint, &rai);
- if (rc != 0)
- return -1;
-
- /* get the socket */
- iai = rai;
- while (iai != NULL) {
- fd = socket(iai->ai_family, iai->ai_socktype, iai->ai_protocol);
- if (fd >= 0) {
- rc = connect(fd, iai->ai_addr, iai->ai_addrlen);
- if (rc == 0) {
- fcntl(fd, F_SETFL, O_NONBLOCK);
- freeaddrinfo(rai);
- return fd;
- }
- close(fd);
+ pthread_mutex_lock(&mutex);
+ if (gps_read(&data) == -1) {
+ AFB_ERROR("Cannot read from GPS daemon.\n");
+ pthread_mutex_unlock(&mutex);
+ break;
}
- iai = iai->ai_next;
- }
- freeaddrinfo(rai);
- return -1;
-}
-
-/*
- * connection to nmea stream for the host and the port
- */
-static int connect_to(const char *host, const char *service, int isgpsd)
-{
- sd_event_source *source;
- int rc, fd;
- /* TODO connect to somewhere else */
- fd = open_socket_to(host, service);
- if (fd < 0) {
- ERROR(afbitf, "can't connect to host %s, service %s", host, service);
- return fd;
- }
- if (isgpsd) {
- static const char gpsdsetup[] = "?WATCH={\"enable\":true,\"nmea\":true};\r\n";
- write(fd, gpsdsetup, sizeof gpsdsetup - 1);
+ jresp = populate_json_data(json_object_new_object());
+ if (jresp != NULL)
+ afb_event_push(location_event, jresp);
+ pthread_mutex_unlock(&mutex);
}
- /* adds to the event loop */
- rc = sd_event_add_io(afb_daemon_get_event_loop(afbitf->daemon), &source, fd, EPOLLIN, on_event, NULL);
- if (rc < 0) {
- close(fd);
- ERROR(afbitf, "can't coonect host %s, service %s to the event loop", host, service);
- } else {
- NOTICE(afbitf, "Connected to host %s, service %s", host, service);
- }
- return rc;
-}
+ AFB_INFO("Closing GPS daemon connection.\n");
+ gps_stream(&data, WATCH_DISABLE, NULL);
+ gps_close(&data);
-/*
- * connection to nmea stream
- */
-static int connection()
-{
- const char *host;
- const char *service;
- int isgpsd;
+ abort();
- /* TODO connect to somewhere else */
- host = getenv("AFBGPS_HOST") ? : "sinagot.net";
- service = getenv("AFBGPS_SERVICE") ? : "5001";
- isgpsd = getenv("AFBGPS_ISNMEA") ? 0 : 1;
- return connect_to(host, service, isgpsd);
+ return NULL;
}
-/***************************************************************************************/
-/***************************************************************************************/
-/** **/
-/** **/
-/** SECTION: BINDING VERBS IMPLEMENTATION **/
-/** **/
-/** **/
-/***************************************************************************************/
-/***************************************************************************************/
-/*
- * Returns the type corresponding to the given name
- */
-static enum type type_of_name(const char *name)
+static int init()
{
- enum type result;
- if (name == NULL)
- return type_DEFAULT;
- for (result = 0 ; result != type_COUNT ; result++)
- if (strcmp(type_NAMES[result], name) == 0)
- return result;
- return type_INVALID;
-}
+ const char *host, *port;
+ int ret;
-/*
- * extract a valid type from the request
- */
-static int get_type_for_req(struct afb_req req, enum type *type)
-{
- if ((*type = type_of_name(afb_req_value(req, "type"))) != type_INVALID)
- return 1;
- afb_req_fail(req, "unknown-type", NULL);
- return 0;
-}
-
-/*
- * Get the last known position
- *
- * parameter of the get are:
- *
- * type: string: the type of position expected (defaults to "WGS84" if not present)
- *
- * returns the position
- *
- * The valid types are:
- *
- * +==========+=======================+=======+==========+=======+
- * | type | longitude & latitude | speed | altitude | track |
- * +==========+=======================+=======+==========+=======+
- * | WGS84 | degre | m/s | | |
- * +----------+-----------------------+-------+ | |
- * | DMS.km/h | | km/h | | |
- * +----------+ +-------+ meter | degre |
- * | DMS.mph | deg°min'sec"X | mph | | |
- * +----------+ +-------+ | |
- * | DMS.kn | | kn | | |
- * +==========+=======================+=======+==========+=======+
- */
-static void get(struct afb_req req)
-{
- enum type type;
- if (get_type_for_req(req, &type))
- afb_req_success(req, position(type), NULL);
-}
+ location_event = afb_daemon_make_event("location");
-/*
- * subscribe to notification of position
- *
- * parameters of the subscription are:
- *
- * type: string: the type of position expected (defaults to WCS84 if not present)
- * see the list above (get)
- * period: integer: the expected period in milliseconds (defaults to 2000 if not present)
- *
- * returns an object with 2 fields:
- *
- * name: string: the name of the event without its prefix
- * id: integer: a numeric identifier of the event to be used for unsubscribing
- */
-static void subscribe(struct afb_req req)
-{
- enum type type;
- const char *period;
- struct event *event;
- struct json_object *json;
+ host = getenv("AFBGPS_HOST") ? : "localhost";
+ port = getenv("AFBGPS_SERVICE") ? : "2947";
- if (get_type_for_req(req, &type)) {
- period = afb_req_value(req, "period");
- event = event_get(type, period == NULL ? DEFAULT_PERIOD : atoi(period));
- if (event == NULL)
- afb_req_fail(req, "out-of-memory", NULL);
- else if (afb_req_subscribe(req, event->event) != 0)
- afb_req_fail_f(req, "failed", "afb_req_subscribe returned an error: %m");
- else {
- json = json_object_new_object();
- json_object_object_add(json, "name", json_object_new_string(event->name));
- json_object_object_add(json, "id", json_object_new_int(event->id));
- afb_req_success(req, json, NULL);
- }
- }
-}
+ ret = gps_open(host, port, &data);
+ if (ret < 0)
+ return ret;
-/*
- * unsubscribe a previous subscription
- *
- * parameters of the unsubscription are:
- *
- * id: integer: the numeric identifier of the event as returned when subscribing
- */
-static void unsubscribe(struct afb_req req)
-{
- const char *id;
- struct event *event;
+ gps_stream(&data, WATCH_ENABLE | WATCH_JSON, NULL);
- id = afb_req_value(req, "id");
- if (id == NULL)
- afb_req_fail(req, "missing-id", NULL);
- else {
- event = event_of_id(atoi(id));
- if (event == NULL)
- afb_req_fail(req, "bad-id", NULL);
- else {
- afb_req_unsubscribe(req, event->event);
- afb_req_success(req, NULL, NULL);
- }
- }
+ return pthread_create(&thread, NULL, &data_poll, NULL);
}
-/*
- * array of the verbs exported to afb-daemon
- */
-static const struct afb_verb_desc_v1 binding_verbs[] = {
- /* VERB'S NAME SESSION MANAGEMENT FUNCTION TO CALL SHORT DESCRIPTION */
- { .name= "get", .session= AFB_SESSION_NONE, .callback= get, .info= "get the last known data" },
- { .name= "subscribe", .session= AFB_SESSION_NONE, .callback= subscribe, .info= "subscribe to notification of position" },
- { .name= "unsubscribe", .session= AFB_SESSION_NONE, .callback= unsubscribe, .info= "unsubscribe a previous subscription" },
- { .name= NULL } /* marker for end of the array */
+static const struct afb_verb_v2 binding_verbs[] = {
+ { .verb = "location", .callback = get_data, .info = "Get GNSS data" },
+ { .verb = "subscribe", .callback = subscribe, .info = "Subscribe to GNSS events" },
+ { .verb = "unsubscribe", .callback = unsubscribe, .info = "Unsubscribe to GNSS events" },
+ { }
};
/*
- * description of the binding for afb-daemon
+ * binder API description
*/
-static const struct afb_binding binding_description =
-{
- /* description conforms to VERSION 1 */
- .type= AFB_BINDING_VERSION_1,
- .v1= { /* fills the v1 field of the union when AFB_BINDING_VERSION_1 */
- .prefix= "gps", /* the API name (or binding name or prefix) */
- .info= "Access to the GPS data", /* short description of of the binding */
- .verbs = binding_verbs /* the array describing the verbs of the API */
- }
+const struct afb_binding_v2 afbBindingV2 = {
+ .api = "gps",
+ .specification = "GNSS/GPS API",
+ .verbs = binding_verbs,
+ .init = init,
};
-
-/*
- * activation function for registering the binding called by afb-daemon
- */
-const struct afb_binding *afbBindingV1Register(const struct afb_binding_interface *itf)
-{
- afbitf = itf; /* records the interface for accessing afb-daemon */
- return &binding_description; /* returns the description of the binding */
-}
-
-int afbBindingV1ServiceInit(struct afb_service service)
-{
- return connection();
-}