diff options
Diffstat (limited to 'binding')
| -rw-r--r-- | binding/CMakeLists.txt | 39 | ||||
| -rw-r--r-- | binding/afm-gps-binding.c | 1051 |
2 files changed, 1090 insertions, 0 deletions
diff --git a/binding/CMakeLists.txt b/binding/CMakeLists.txt new file mode 100644 index 0000000..ceb48d9 --- /dev/null +++ b/binding/CMakeLists.txt @@ -0,0 +1,39 @@ +########################################################################### +# Copyright 2015, 2016, 2017 IoT.bzh +# +# author: Fulup Ar Foll <fulup@iot.bzh> +# contrib: Romain Forlot <romain.forlot@iot.bzh> +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +########################################################################### + +# Add target to project dependency list +PROJECT_TARGET_ADD(afm-gps-binding) + + # Define project Targets + add_library(afm-gps-binding MODULE afm-gps-binding.c) + + # Binder exposes a unique public entry point + SET_TARGET_PROPERTIES(${TARGET_NAME} PROPERTIES + LABELS "BINDING" + LINK_FLAGS ${BINDINGS_LINK_FLAG} + OUTPUT_NAME ${TARGET_NAME} + ) + + # Library dependencies (include updates automatically) + TARGET_LINK_LIBRARIES(${TARGET_NAME} ${link_libraries}) + + # installation directory + INSTALL(TARGETS ${TARGET_NAME} + LIBRARY DESTINATION ${BINDINGS_INSTALL_DIR}) + diff --git a/binding/afm-gps-binding.c b/binding/afm-gps-binding.c new file mode 100644 index 0000000..080f1e5 --- /dev/null +++ b/binding/afm-gps-binding.c @@ -0,0 +1,1051 @@ +/* + * Copyright (C) 2016 "IoT.bzh" + * Author José Bollo <jose.bollo@iot.bzh> + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#define _GNU_SOURCE +#include <stdio.h> +#include <string.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 <json-c/json.h> + +#include <systemd/sd-event.h> + +#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; +}; + +/* the gps data converted */ +struct gps { + struct flags set; + + uint32_t time; + double latitude; + double longitude; + double altitude; + double speed; + double track; +}; + +/* + * 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) +{ + char buffer[50], pos; + double D, M; + + if (islat) { + if (a >= 0) + pos = 'N'; + else { + a = -a; + pos = 'S'; + } + } else { + if (a <= 180) + pos = 'E'; + else { + a = 360 - a; + pos = 'W'; + } + } + 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; + } + + /* get the result */ + result = positions[type]; + if (result == NULL) { + DEBUG(afbitf, "building position for type %s", type_NAMES[type]); + + /* 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; + } + + /* 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; + } + + /* 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; + } +} + +/***************************************************************************************/ +/***************************************************************************************/ +/** **/ +/** **/ +/** SECTION: HANDLING NMEA **/ +/** **/ +/** **/ +/***************************************************************************************/ +/***************************************************************************************/ +/* + * interprets a nmea time + */ +static int nmea_time(const char *text, uint32_t *result) +{ + uint32_t x; + + 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'; + } + } + } + } + } + + *result = x; + return 1; +} + +/* + * interprets a nmea angle having minutes + */ +static int nmea_angle(const char *text, double *result) +{ + 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 */ + + 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; + } + 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; + } + } + } + } +} + +/***************************************************************************************/ +/***************************************************************************************/ +/** **/ +/** **/ +/** 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) +{ + /* read available data */ + if ((revents & EPOLLIN) != 0) { + nmea_read(fd); + event_send(); + } + + /* check if error or hangup */ + if ((revents & (EPOLLERR|EPOLLRDHUP|EPOLLHUP)) != 0) { + sd_event_source_unref(s); + close(fd); + connection(fd); + } + + return 0; +} + +/* + * opens a socket to a host and a service (or port) + */ +static int open_socket_to(const char *host, const char *service) +{ + int rc, fd; + struct addrinfo hint, *rai, *iai; + + /* 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); + } + 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); + } + + /* 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; +} + +/* + * connection to nmea stream + */ +static int connection() +{ + const char *host; + const char *service; + int isgpsd; + + /* 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); +} + +/***************************************************************************************/ +/***************************************************************************************/ +/** **/ +/** **/ +/** SECTION: BINDING VERBS IMPLEMENTATION **/ +/** **/ +/** **/ +/***************************************************************************************/ +/***************************************************************************************/ +/* + * Returns the type corresponding to the given name + */ +static enum type type_of_name(const char *name) +{ + 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; +} + +/* + * 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); +} + +/* + * 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; + + 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); + } + } +} + +/* + * 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; + + 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); + } + } +} + +/* + * 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 */ +}; + +/* + * description of the binding for afb-daemon + */ +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 */ + } +}; + +/* + * 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(); +} |