aboutsummaryrefslogtreecommitdiffstats
path: root/binding/afm-gps-binding.c
blob: 873c264cb8387c71ab9bf713ae02b4982f4e4b88 (plain)
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
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
/*
 * 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.
 * 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 <errno.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <unistd.h>
#include <gps.h>
#include <time.h>
#include <pthread.h>
#include <json-c/json.h>
#include <sys/signal.h>
#include <sys/time.h>

#define AFB_BINDING_VERSION 3
#include <afb/afb-binding.h>

static struct gps_data_t data;
static afb_event_t location_event;

static pthread_t thread;
static pthread_mutex_t mutex = PTHREAD_MUTEX_INITIALIZER;

#define MSECS_TO_USECS(x) (x * 1000)

struct {
	FILE *current_file;
	char buffer[512];
	int replaying;
	int count;
} recording;

// struct dop_t item order
static const char *dop_names[] = {
	"xdop",
	"ydop",
	"pdop",
	"hdop",
	"vdop",
	"tdop",
	"gdop",
	NULL
};

static json_object *populate_json_dop_data(json_object *jresp, struct dop_t *dop)
{
	char **names = (char **) dop_names;
	double *tmp = (double *) dop;
	json_object *value = NULL;

	while (*names) {
		double val = *tmp++;

		if (val != 0) {
			value = json_object_new_double(val);
			json_object_object_add(jresp, *names, value);
		}
		names++;
	}

	return jresp;
}

static json_object *populate_json_data(json_object *jresp)
{
	json_object *value = NULL;

	if (recording.replaying) {
		return json_tokener_parse(recording.buffer);
	}

	if (data.fix.mode != MODE_3D) {
		json_object_put(jresp);
		return NULL;
	}

	if (data.set & ALTITUDE_SET) {
		value = json_object_new_double(data.fix.altitude);
		json_object_object_add(jresp, "altitude", value);
	}

	if (data.set & LATLON_SET) {
		value = json_object_new_double(data.fix.latitude);
		json_object_object_add(jresp, "latitude", value);

		value = json_object_new_double(data.fix.longitude);
		json_object_object_add(jresp, "longitude", value);
	}

	if (data.set & SPEED_SET) {
		value = json_object_new_double(data.fix.speed);
		json_object_object_add(jresp, "speed", value);
	}

	if (data.set & TRACK_SET) {
		value = json_object_new_double(data.fix.track);
		json_object_object_add(jresp, "track", value);
	}

	if (data.set & TIME_SET) {
		char time[30];
		unix_to_iso8601(data.fix.time, (char *) &time, sizeof(time));
		value = json_object_new_string(time);
		json_object_object_add(jresp, "timestamp", value);
	}

	jresp = populate_json_dop_data(jresp, &data.dop);

	return jresp;
}

static void get_data(afb_req_t request)
{
	json_object *jresp = NULL;
	pthread_mutex_lock(&mutex);

	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");
	}

	pthread_mutex_unlock(&mutex);
}

static json_object *gps_recording_state(json_object *jresp)
{
	json_object *value = NULL;

	if (recording.current_file == NULL) {
		value = json_object_new_boolean(true);
		json_object_object_add(jresp, "recording", value);
	} else {
		value = json_object_new_boolean(true);
		json_object_object_add(jresp, "recording", value);

		value = json_object_new_string(recording.buffer);
		json_object_object_add(jresp, "filename", value);

		if (recording.count) {
			value = json_object_new_int(recording.count);
			json_object_object_add(jresp, "count", value);
		}
	}

	return jresp;
}

static void record(afb_req_t request)
{
	json_object *jresp = NULL;
	const char *value = afb_req_value(request, "state");
	bool record = false;

	if (recording.replaying) {
		afb_req_fail(request, "failed", "Current in replaying mode");
		return;
	}

	if (!value) {
		pthread_mutex_lock(&mutex);
		jresp = gps_recording_state(json_object_new_object());
		pthread_mutex_unlock(&mutex);

		afb_req_success(request, jresp, "GPS Current Recording State");
		return;
	}

	if (!strcasecmp(value, "on"))
		record = true;
	else if (!strcasecmp(value, "off"))
		record  = false;
	else {
		afb_req_fail(request, "failed", "Invalid state requested");
		return;
	}

	pthread_mutex_lock(&mutex);

	if (recording.current_file != NULL) {
		recording.count = 0;
		fclose(recording.current_file);
		recording.current_file = NULL;

		if (!record) {
			pthread_mutex_unlock(&mutex);
			afb_req_success(request, NULL, NULL);
			return;
		}
	} else if (recording.current_file == NULL && !record) {
		pthread_mutex_unlock(&mutex);
		afb_req_fail(request, "failed", "Recording was already stopped");
		return;
	}

	{
		time_t cur_time;
		struct tm *info;

		time(&cur_time);
		info = localtime(&cur_time);
		strftime((char *) &recording.buffer, sizeof(recording.buffer),
						 "gps_%Y%m%d_%H%M.log", info);

		recording.current_file = fopen(recording.buffer, "w+");

		jresp = gps_recording_state(json_object_new_object());
		afb_req_success(request, jresp, "GPS Recording Result");
	}

	pthread_mutex_unlock(&mutex);
}


static void subscribe(afb_req_t request)
{
	const char *value = afb_req_value(request, "value");

	if (value && !strcasecmp(value, "location")) {
		afb_req_subscribe(request, location_event);
		afb_req_success(request, NULL, NULL);
		return;
	}

	afb_req_fail(request, "failed", "Invalid event");
}

static void unsubscribe(afb_req_t request)
{
	const char *value = afb_req_value(request, "value");

	if (value && !strcasecmp(value, "location")) {
		afb_req_unsubscribe(request, location_event);
		afb_req_success(request, NULL, NULL);
		return;
	}

	afb_req_fail(request, "failed", "Invalid event");
}

static void add_record(json_object *jresp)
{
	fprintf(recording.current_file, "%s\n", json_object_to_json_string(jresp));
	fflush(recording.current_file);

	recording.count++;
}

static void *data_poll(void *ptr)
{
	int tries = 0;

	/*
	 * keep reading till an error condition happens
	 */
	while (tries < 60) {
		json_object *jresp = NULL;

		if (gps_waiting(&data, MSECS_TO_USECS(2000)) < 0) {
			tries++;
			continue;
		}
		pthread_mutex_lock(&mutex);
		if (gps_read(&data) == -1) {
			AFB_ERROR("Cannot read from GPS daemon.\n");
			pthread_mutex_unlock(&mutex);
			break;
		}

		if (!(data.set & (TRACKERR_SET | SPEEDERR_SET| CLIMBERR_SET))) {
			jresp = populate_json_data(json_object_new_object());

			if (jresp != NULL) {
				if (recording.current_file != NULL)
					add_record(jresp);

				afb_event_push(location_event, jresp);
			}
		}
		pthread_mutex_unlock(&mutex);
	}

	AFB_INFO("Closing GPS daemon connection.\n");
	gps_stream(&data, WATCH_DISABLE, NULL);
	gps_close(&data);

	_exit(0);

	return NULL;
}

static void replay_thread(union sigval arg)
{
	FILE *fp = recording.current_file;
	char *s = fgets(recording.buffer, sizeof(recording.buffer), fp);

	if (s == NULL) {
		if (feof(fp))
			rewind(fp);
		return;
	}

	afb_event_push(location_event, json_tokener_parse(s));
}

static int gps_init()
{
	const char *host, *port;
	int ret, tries = 5;

	host = getenv("AFBGPS_HOST") ? : "localhost";
	port = getenv("AFBGPS_SERVICE") ? : "2947";

	ret = gps_open(host, port, &data);
	if (ret < 0)
		return ret;

	gps_stream(&data, WATCH_ENABLE | WATCH_JSON, NULL);

	// due to the gpsd.socket race condition need to loop till initial event
	do {
		gps_read(&data);
	} while (!gps_waiting(&data, MSECS_TO_USECS(2500)) && tries--);

	return pthread_create(&thread, NULL, &data_poll, NULL);
}

static int replay_init()
{
	timer_t timer_id;
	struct itimerspec ts;
	struct sigevent se;
	int ret;

	recording.current_file = fopen("recording.log", "r");
	if (recording.current_file == NULL)
		return -EINVAL;

	se.sigev_notify = SIGEV_THREAD;
	se.sigev_value.sival_ptr = &timer_id;
	se.sigev_notify_function = replay_thread;
	se.sigev_notify_attributes = NULL;

	// TODO: Allow detecting of an non-static 1 Hz GPS trace log

	ts.it_value.tv_sec = 1;
	ts.it_value.tv_nsec = 0;

	ts.it_interval.tv_sec = 1;
	ts.it_interval.tv_nsec = 0;

	ret = timer_create(CLOCK_REALTIME, &se, &timer_id);
	if (ret < 0)
		return ret;

	return timer_settime(timer_id, 0, &ts, NULL);
}

/*
 * Test to see if in demo mode first, then enable if not enable gpsd
 */

static int init(afb_api_t api)
{
	int ret;
	location_event = afb_daemon_make_event("location");

	ret = replay_init();

	if (!ret)
		recording.replaying = 1;
	else
		gps_init();

	return 0;
}

static const struct afb_verb_v3 binding_verbs[] = {
	{ .verb = "location",    .callback = get_data,     .info = "Get GNSS data" },
	{ .verb = "record",	 .callback = record,       .info = "Record GPS data" },
	{ .verb = "subscribe",   .callback = subscribe,    .info = "Subscribe to GNSS events" },
	{ .verb = "unsubscribe", .callback = unsubscribe,  .info = "Unsubscribe to GNSS events" },
	{ }
};

/*
 * binder API description
 */
const struct afb_binding_v3 afbBindingV3 = {
	.api = "gps",
	.specification = "GNSS/GPS API",
	.verbs = binding_verbs,
	.init = init,
};