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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 {
@@ -2683,7 +2731,7 @@ static void gps_process_sync(void) {
i = lgw_gps_sync(&time_reference_gps, trig_tstamp, utc, gps_time);
pthread_mutex_unlock(&mx_timeref);
if (i != LGW_GPS_SUCCESS) {
- MSG("WARNING: [gps] GPS out of sync, keeping previous time reference\n");
+// MSG("WARNING: [gps] GPS out of sync, keeping previous time reference\n");
}
}
@@ -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)){
+ latest_msg = 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");
|
