Added GPSD integration to the lora packet forwarder and gateway

1 files changed, 293 insertions, 0 deletions

diff --git a/recipes-connectivity/lora/lora-packet-forwarder/lora-packet-forwarder-gpsd.patch b/recipes-connectivity/lora/lora-packet-forwarder/lora-packet-forwarder-gpsd.patch
new file mode 100644
index 0000000..be9b059
--- /dev/null
+++ b/recipes-connectivity/lora/lora-packet-forwarder/lora-packet-forwarder-gpsd.patch
@@ -0,0 +1,293 @@
+diff --git a/lora_pkt_fwd/Makefile b/lora_pkt_fwd/Makefile
+index 1330d62..dda589e 100644
+--- a/lora_pkt_fwd/Makefile
++++ b/lora_pkt_fwd/Makefile
+@@ -22,7 +22,7 @@ RELEASE_VERSION := `cat ../VERSION`
+ CC := $(CROSS_COMPILE)gcc
+ AR := $(CROSS_COMPILE)ar
+ 
+-CFLAGS := -O2 -Wall -Wextra -std=c99 -Iinc -I.
++MORECFLAGS := -Wall -Wextra -std=c99 -Iinc -I. -isystem =/usr/include/gps
+ VFLAG := -D VERSION_STRING="\"$(RELEASE_VERSION)\""
+ 
+ ### Constants for Lora concentrator HAL library
+@@ -38,7 +38,7 @@ LGW_INC += $(LGW_PATH)/inc/loragw_gps.h
+ 
+ ### Linking options
+ 
+-LIBS := -lloragw -lrt -lpthread -lm
++LIBS := -lloragw -lrt -lpthread -lm -lgps
+ 
+ ### General build targets
+ 
+@@ -54,12 +54,14 @@ $(OBJDIR):
+ 	mkdir -p $(OBJDIR)
+ 
+ $(OBJDIR)/%.o: src/%.c $(INCLUDES) | $(OBJDIR)
+-	$(CC) -c $(CFLAGS) -I$(LGW_PATH)/inc $< -o $@
++	@echo compile $@
++	$(CC) -c $(CFLAGS) $(MORECFLAGS) -I$(LGW_PATH)/inc $< -o $@
+ 
+ ### Main program compilation and assembly
+ 
+ $(OBJDIR)/$(APP_NAME).o: src/$(APP_NAME).c $(LGW_INC) $(INCLUDES) | $(OBJDIR)
+-	$(CC) -c $(CFLAGS) $(VFLAG) -I$(LGW_PATH)/inc $< -o $@
++	@echo compile $@
++	$(CC) -c $(CFLAGS) $(MORECFLAGS) $(VFLAG) -I$(LGW_PATH)/inc $< -o $@
+ 
+ $(APP_NAME): $(OBJDIR)/$(APP_NAME).o $(LGW_PATH)/libloragw.a $(OBJDIR)/parson.o $(OBJDIR)/base64.o $(OBJDIR)/jitqueue.o $(OBJDIR)/timersync.o
+ 	$(CC) -L$(LGW_PATH) $< $(OBJDIR)/parson.o $(OBJDIR)/base64.o $(OBJDIR)/jitqueue.o $(OBJDIR)/timersync.o -o $@ $(LIBS)
+diff --git a/lora_pkt_fwd/src/lora_pkt_fwd.c b/lora_pkt_fwd/src/lora_pkt_fwd.c
+index 801f28d..6bca482 100644
+--- a/lora_pkt_fwd/src/lora_pkt_fwd.c
++++ b/lora_pkt_fwd/src/lora_pkt_fwd.c
+@@ -156,10 +156,10 @@ static bool xtal_correct_ok = false; /* set true when XTAL correction is stable
+ static double xtal_correct = 1.0;
+ 
+ /* GPS configuration and synchronization */
+-static char gps_tty_path[64] = "\0"; /* path of the TTY port GPS is connected on */
+-static int gps_tty_fd = -1; /* file descriptor of the GPS TTY port */
++static bool use_gps = false; /* Use the GPSD stream */
+ static bool gps_enabled = false; /* is GPS enabled on that gateway ? */
+-
++static struct gps_data_t gpsdata;
++static struct fixsource_t source;
+ /* GPS time reference */
+ static pthread_mutex_t mx_timeref = PTHREAD_MUTEX_INITIALIZER; /* control access to GPS time reference */
+ static bool gps_ref_valid; /* is GPS reference acceptable (ie. not too old) */
+@@ -747,13 +747,6 @@ static int parse_gateway_configuration(const char * conf_file) {
+     }
+     MSG("INFO: packets received with no CRC will%s be forwarded\n", (fwd_nocrc_pkt ? "" : " NOT"));
+ 
+-    /* GPS module TTY path (optional) */
+-    str = json_object_get_string(conf_obj, "gps_tty_path");
+-    if (str != NULL) {
+-        strncpy(gps_tty_path, str, sizeof gps_tty_path);
+-        MSG("INFO: GPS serial port path is configured to \"%s\"\n", gps_tty_path);
+-    }
+-
+     /* get reference coordinates */
+     val = json_object_get_value(conf_obj, "ref_latitude");
+     if (val != NULL) {
+@@ -772,6 +765,17 @@ static int parse_gateway_configuration(const char * conf_file) {
+     }
+ 
+     /* Gateway GPS coordinates hardcoding (aka. faking) option */
++    val = json_object_get_value(conf_obj, "gps");
++    if (json_value_get_type(val) == JSONBoolean) {
++        use_gps = (bool)json_value_get_boolean(val);
++        if (use_gps == true) {
++            MSG("INFO: GPS is enabled\n");
++        } else {
++            MSG("INFO: GPS is disabled\n");
++        }
++    }
++
++    /* Gateway GPS coordinates hardcoding (aka. faking) option */
+     val = json_object_get_value(conf_obj, "fake_gps");
+     if (json_value_get_type(val) == JSONBoolean) {
+         gps_fake_enable = (bool)json_value_get_boolean(val);
+@@ -1098,14 +1102,14 @@ int main(void)
+     }
+ 
+     /* Start GPS a.s.a.p., to allow it to lock */
+-    if (gps_tty_path[0] != '\0') { /* do not try to open GPS device if no path set */
+-        i = lgw_gps_enable(gps_tty_path, "ubx7", 0, &gps_tty_fd); /* HAL only supports u-blox 7 for now */
++    if (use_gps == true) {
++        int i = lgw_gps_enable(&gpsdata, &source); 
+         if (i != LGW_GPS_SUCCESS) {
+-            printf("WARNING: [main] impossible to open %s for GPS sync (check permissions)\n", gps_tty_path);
++            printf("WARNING: [main] impossible to open for GPS sync (Check GPSD)\n");
+             gps_enabled = false;
+             gps_ref_valid = false;
+         } else {
+-            printf("INFO: [main] TTY port %s open for GPS synchronization\n", gps_tty_path);
++            printf("INFO: [main] GPSD polling open for GPS synchronization\n");
+             gps_enabled = true;
+             gps_ref_valid = false;
+         }
+@@ -1413,7 +1417,7 @@ int main(void)
+         pthread_cancel(thrid_gps); /* don't wait for GPS thread */
+         pthread_cancel(thrid_valid); /* don't wait for validation thread */
+ 
+-        i = lgw_gps_disable(gps_tty_fd);
++        i = lgw_gps_disable(&gpsdata);
+         if (i == LGW_HAL_SUCCESS) {
+             MSG("INFO: GPS closed successfully\n");
+         } else {
+@@ -2691,7 +2695,7 @@ static void gps_process_coords(void) {
+     /* position variable */
+     struct coord_s coord;
+     struct coord_s gpserr;
+-    int    i = lgw_gps_get(NULL, NULL, &coord, &gpserr);
++    int i = lgw_gps_get(NULL, NULL, &coord, &gpserr);
+ 
+     /* update gateway coordinates */
+     pthread_mutex_lock(&mx_meas_gps);
+@@ -2707,96 +2711,88 @@ static void gps_process_coords(void) {
+ }
+ 
+ void thread_gps(void) {
+-    /* serial variables */
+     char serial_buff[128]; /* buffer to receive GPS data */
+-    size_t wr_idx = 0;     /* pointer to end of chars in buffer */
+-
+-    /* variables for PPM pulse GPS synchronization */
+     enum gps_msg latest_msg; /* keep track of latest NMEA message parsed */
+-
+-    /* initialize some variables before loop */
+-    memset(serial_buff, 0, sizeof serial_buff);
+-
++    memset(serial_buff, 0, sizeof serial_buff); /* initialize some variables before loop */
++    fd_set fds;
++    char delim[4] = "$";
++    char *token[254];
+     while (!exit_sig && !quit_sig) {
+-        size_t rd_idx = 0;
+-        size_t frame_end_idx = 0;
+-
+-        /* blocking non-canonical read on serial port */
+-        ssize_t nb_char = read(gps_tty_fd, serial_buff + wr_idx, LGW_GPS_MIN_MSG_SIZE);
+-        if (nb_char <= 0) {
+-            MSG("WARNING: [gps] read() returned value %d\n", nb_char);
++        int r = 0;
++        struct timeval tv;
++        tv.tv_sec = 0;
++        tv.tv_usec = 100000;
++        FD_ZERO(&fds);
++        FD_SET(gpsdata.gps_fd, &fds);
++        errno = 0;
++        r = select(gpsdata.gps_fd+1, &fds, NULL, NULL, &tv);
++        if (r == -1 && errno != EINTR) {
++            MSG("gpspipe: select error %s(%d)\n", strerror(errno), errno);
++            exit(EXIT_FAILURE);
++        } else if (r == 0)
+             continue;
+-        }
+-        wr_idx += (size_t)nb_char;
+ 
+-        /*******************************************
+-         * Scan buffer for UBX/NMEA sync chars and *
+-         * attempt to decode frame if one is found *
+-         *******************************************/
+-        while(rd_idx < wr_idx) {
++        /* reading directly from the socket avoids decode overhead */
++        errno = 0;
++        r = (int)read(gpsdata.gps_fd, serial_buff, sizeof(serial_buff));
++        if (r > 0) {
++            int i = 0;
+             size_t frame_size = 0;
+-
+-            /* Scan buffer for UBX sync char */
+-            if(serial_buff[rd_idx] == (char)LGW_GPS_UBX_SYNC_CHAR) {
+-
+-                /***********************
+-                 * Found UBX sync char *
+-                 ***********************/
+-                latest_msg = lgw_parse_ubx(&serial_buff[rd_idx], (wr_idx - rd_idx), &frame_size);
+-
+-                if (frame_size > 0) {
+-                    if (latest_msg == INCOMPLETE) {
+-                        /* UBX header found but frame appears to be missing bytes */
+-                        frame_size = 0;
+-                    } else if (latest_msg == INVALID) {
+-                        /* message header received but message appears to be corrupted */
+-                        MSG("WARNING: [gps] could not get a valid message from GPS (no time)\n");
+-                        frame_size = 0;
+-                    } else if (latest_msg == UBX_NAV_TIMEGPS) {
+-                        gps_process_sync();
++            for (i = 0; i < r; i++) {
++                if (serial_buff[i] == (char)LGW_GPS_UBX_SYNC_CHAR) {
++                    /***********************
++                     * Found UBX sync char *
++                     ***********************/
++                    size_t ubx_size = (uint8_t)serial_buff[i+4];
++                    ubx_size |= (uint8_t)serial_buff[i+5] << 8;
++                    ubx_size += 8;
++                    if (ubx_size < 27){
++                        latest_msg = lgw_parse_ubx(&serial_buff[i], ubx_size , &frame_size);
+                     }
+-                }
+-            } else if(serial_buff[rd_idx] == LGW_GPS_NMEA_SYNC_CHAR) {
+-                /************************
+-                 * Found NMEA sync char *
+-                 ************************/
+-                /* scan for NMEA end marker (LF = 0x0a) */
+-                char* nmea_end_ptr = memchr(&serial_buff[rd_idx],(int)0x0a, (wr_idx - rd_idx));
+-
+-                if(nmea_end_ptr) {
+-                    /* found end marker */
+-                    frame_size = nmea_end_ptr - &serial_buff[rd_idx] + 1;
+-                    latest_msg = lgw_parse_nmea(&serial_buff[rd_idx], frame_size);
+-
+-                    if(latest_msg == INVALID || latest_msg == UNKNOWN) {
+-                        /* checksum failed */
+-                        frame_size = 0;
+-                    } else if (latest_msg == NMEA_RMC) { /* Get location from RMC frames */
+-                        gps_process_coords();
++                    if (frame_size > 0) {
++                        if(latest_msg == INVALID || latest_msg == UNKNOWN) {
++                            /* checksum failed */
++                            frame_size = 0;
++                        } else if (latest_msg == UBX_NAV_TIMEGPS) {
++                            gps_process_sync();
++                        }
++                    }
++                } else if((serial_buff[i] == LGW_GPS_NMEA_SYNC_CHAR) && (serial_buff[i+1] == 0x47) && (serial_buff[i+2] == 0x50)){
++                    /************************
++                     * Found NMEA sync char *
++                     ************************/
++                    int k, l= 0;
++                    token[0] = strtok(serial_buff, delim);
++
++                    while (token[l] != NULL) {
++                        l++;
++                        token[l] = strtok(NULL, delim); 
++                    }
++                    for (k=0; k<=l-1; k++) {
++                        if ((strlen(token[k]) > 66) && (strlen(token[k]) < 74)){
++                            lgw_parse_nmea(token[k], strlen(token[k]));
++                            if(latest_msg == INVALID || latest_msg == UNKNOWN) {
++                                /* checksum failed */
++                                frame_size = 0;
++                            } else if (latest_msg == NMEA_RMC) {
++                                /* Get location from RMC frames */
++                                gps_process_coords();
++                            }
++                        }
+                     }
+                 }
+             }
+-
+-            if(frame_size > 0) {
+-                /* At this point message is a checksum verified frame
+-                   we're processed or ignored. Remove frame from buffer */
+-                rd_idx += frame_size;
+-                frame_end_idx = rd_idx;
++        } else {
++            if (r == -1) {
++                if (errno == EAGAIN)
++                    continue;
++                else {
++                    MSG(stderr, "gpspipe: read error %s(%d)\n", strerror(errno), errno);
++                    exit(EXIT_FAILURE);
++                }
+             } else {
+-                rd_idx++;
++                exit(EXIT_SUCCESS);
+             }
+-        } /* ...for(rd_idx = 0... */
+-
+-        if(frame_end_idx) {
+-          /* Frames have been processed. Remove bytes to end of last processed frame */
+-          memcpy(serial_buff, &serial_buff[frame_end_idx], wr_idx - frame_end_idx);
+-          wr_idx -= frame_end_idx;
+-        } /* ...for(rd_idx = 0... */
+-
+-        /* Prevent buffer overflow */
+-        if((sizeof(serial_buff) - wr_idx) < LGW_GPS_MIN_MSG_SIZE) {
+-            memcpy(serial_buff, &serial_buff[LGW_GPS_MIN_MSG_SIZE], wr_idx - LGW_GPS_MIN_MSG_SIZE);
+-            wr_idx -= LGW_GPS_MIN_MSG_SIZE;
+         }
+     }
+     MSG("\nINFO: End of GPS thread\n");