Merge branch 'md/gpsd_update' into 6

5 files changed, 418 insertions, 1 deletions

diff --git a/conf/distro/mlinux.conf b/conf/distro/mlinux.conf
index cb25273..fa8364d 100644
--- a/conf/distro/mlinux.conf
+++ b/conf/distro/mlinux.conf
@@ -72,4 +72,4 @@ require java.inc
 PREFERRED_VERSION_nodejs ?= "10.%"
 PREFERRED_VERSION_nodejs-native ?= "10.%"
 
-PREFERRED_VERSION_gpsd = "3.20"
+PREFERRED_VERSION_gpsd ?= "3.20"
diff --git a/recipes-navigation/gpsd/gpsd-3.23.1/0006-itu_r_tf_460_6.patch b/recipes-navigation/gpsd/gpsd-3.23.1/0006-itu_r_tf_460_6.patch
new file mode 100644
index 0000000..e17cfad
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.23.1/0006-itu_r_tf_460_6.patch
@@ -0,0 +1,37 @@
+From 799f41e6bf0955d04510f16b33cdf731d27a597a Mon Sep 17 00:00:00 2001
+From: Mykyta Dorokhin <mykyta.dorokhin@globallogic.com>
+Date: Tue, 28 Dec 2021 15:46:42 +0200
+Subject: [PATCH] Reintegrate 0006-itu_r_tf_460_6.patch
+
+---
+ gpsd/ntpshmwrite.c | 9 +++++++++
+ 1 file changed, 9 insertions(+)
+
+diff --git a/gpsd/ntpshmwrite.c b/gpsd/ntpshmwrite.c
+index 3f2ded3..5f0524b 100644
+--- a/gpsd/ntpshmwrite.c
++++ b/gpsd/ntpshmwrite.c
+@@ -39,11 +39,20 @@ void ntp_write(volatile struct shmTime *shmseg,
+      * ITU-R TF.460-6, Section 2.1, says laep seconds can be primarily
+      * in Jun/Dec but may be in March or September
+      */
++
++/* This code contradicts page 3 section 2.1 of ITU-R RV.460-6 that
++ * leap second may occur at the last second of a month, with
++ * preference for December and June, 2nd preference to March and
++ * September.
++ *  https://www.itu.int/dms_pubrec/itu-r/rec/tf/R-REC-TF.460-6-200202-I!!PDF-E.pdf
++ */
++#ifdef NOTITU_R_TF_460_6
+     (void)gmtime_r( &(td->real.tv_sec), &tm);
+     if ( 5 != tm.tm_mon && 11 != tm.tm_mon ) {
+         /* Not june, not December, no way */
+         leap_notify = LEAP_NOWARNING;
+     }
++#endif /* NOTITU_R_TF_460_6 */
+ 
+     /* we use the shmTime mode 1 protocol
+      *
+-- 
+2.25.1
+
diff --git a/recipes-navigation/gpsd/gpsd-3.23.1/0006-ubxtimelps.patch b/recipes-navigation/gpsd/gpsd-3.23.1/0006-ubxtimelps.patch
new file mode 100644
index 0000000..6f92aea
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.23.1/0006-ubxtimelps.patch
@@ -0,0 +1,77 @@
+From 830a414311ee287340b11b60f5c6bb58aad7074f Mon Sep 17 00:00:00 2001
+From: Mykyta Dorokhin <mykyta.dorokhin@globallogic.com>
+Date: Tue, 28 Dec 2021 15:35:38 +0200
+Subject: [PATCH] Add missing leap seconds parts
+
+---
+ SConscript           |  1 +
+ drivers/driver_ubx.c | 19 +++++++++++++++++++
+ 2 files changed, 20 insertions(+)
+
+diff --git a/SConscript b/SConscript
+index 8c6136d..3ae2a7b 100644
+--- a/SConscript
++++ b/SConscript
+@@ -315,6 +315,7 @@ boolopts = (
+     ("tripmate",      True,  "DeLorme TripMate support"),
+     ("tsip",          True,  "Trimble TSIP support"),
+     ("ublox",         True,  "u-blox Protocol support"),
++    ("ubloxtimels",   False, "u-blox UBX-NAV-TIMELS support (leap second)"),
+     # Non-GPS protocols
+     ("aivdm",         True,  "AIVDM support"),
+     ("gpsclock",      True,  "GPSClock support"),
+diff --git a/drivers/driver_ubx.c b/drivers/driver_ubx.c
+index bea2de0..e9f8a1c 100644
+--- a/drivers/driver_ubx.c
++++ b/drivers/driver_ubx.c
+@@ -3798,7 +3798,10 @@ gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf,
+         mask = ubx_msg_nav_timegps(session, &buf[UBX_PREFIX_LEN], data_len);
+         break;
+     case UBX_NAV_TIMELS:
++        GPSD_LOG(LOG_PROG, &session->context->errout, "UBX_NAV_TIMELS\n");
++#ifdef UBLOXTIMELS_ENABLE
+         mask = ubx_msg_nav_timels(session, &buf[UBX_PREFIX_LEN], data_len);
++#endif // UBLOXTIMELS_ENABLE
+         break;
+     case UBX_NAV_TIMEQZSS:
+         GPSD_LOG(LOG_PROG, &session->context->errout, "UBX-NAV-TIMEQZSS\n");
+@@ -3853,6 +3856,7 @@ gps_mask_t ubx_parse(struct gps_device_t * session, unsigned char *buf,
+         GPSD_LOG(LOG_PROG, &session->context->errout, "UBX-RXM-RTCM\n");
+         break;
+     case UBX_RXM_SFRB:
++        GPSD_LOG(LOG_DATA, &session->context->errout, "UBX_RXM_SFRB\n");
+         mask = ubx_msg_rxm_sfrb(session, &buf[UBX_PREFIX_LEN], data_len);
+         break;
+     case UBX_RXM_SFRBX:
+@@ -4267,6 +4271,14 @@ ubx_cfg_prt(struct gps_device_t *session, speed_t speed, const char parity,
+             (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
+         }
+ 
++#ifdef UBLOXTIMELS_ENABLE
++        msg[0] = 0x01;		/* class */
++        msg[1] = 0x26;		/* msg id  = UBX_NAV_TIMELS */
++        msg[2] = 0xff;		/* rate */
++        (void)ubx_write(session, 0x06u, 0x01, msg, 3);
++#endif /* UBLOXTIMELS_ENABLE */
++
++
+     } else { /* MODE_BINARY */
+         // nmea to turn off
+         const unsigned char nmea_off[] = {
+@@ -4349,6 +4361,13 @@ ubx_cfg_prt(struct gps_device_t *session, speed_t speed, const char parity,
+             (void)ubx_write(session, UBX_CLASS_CFG, 0x01, msg, 3);
+         }
+ 
++#ifdef UBLOXTIMELS_ENABLE
++        msg[0] = 0x01;		/* class */
++        msg[1] = 0x26;		/* msg id  = UBX_NAV_TIMELS */
++        msg[2] = 0xff;		/* rate */
++        (void)ubx_write(session, 0x06u, 0x01, msg, 3);
++#endif /* UBLOXTIMELS_ENABLE */
++
+         /* if protver unknown, turn on everything.  Which may be too
+          * much for slower serial port speeds.  Hope that we know protver
+          * later and can fix things then. */
+-- 
+2.25.1
+
diff --git a/recipes-navigation/gpsd/gpsd-3.23.1/0007-add-gll-vtg.patch b/recipes-navigation/gpsd/gpsd-3.23.1/0007-add-gll-vtg.patch
new file mode 100644
index 0000000..777c0ca
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd-3.23.1/0007-add-gll-vtg.patch
@@ -0,0 +1,74 @@
+From 596089b8582097c1f934a5d25035353f00118965 Mon Sep 17 00:00:00 2001
+From: Mykyta Dorokhin <mykyta.dorokhin@globallogic.com>
+Date: Tue, 28 Dec 2021 15:56:07 +0200
+Subject: [PATCH] add GLL and VTG to 'gpspipe -r' output in binary mode
+
+---
+ gpsd/pseudonmea.c | 37 +++++++++++++++++++++++++++++++++++++
+ 1 file changed, 37 insertions(+)
+
+diff --git a/gpsd/pseudonmea.c b/gpsd/pseudonmea.c
+index 2d63d0f..feb9867 100644
+--- a/gpsd/pseudonmea.c
++++ b/gpsd/pseudonmea.c
+@@ -171,6 +171,21 @@ void gpsd_position_fix_dump(struct gps_device_t *session,
+          * Differential base station ID */
+         (void)strlcat(bufp, ",", len);
+         nmea_add_checksum(bufp);
++
++        //$GNGGA,103527.00,4957.22994,N,03618.97862,E,1,12,0.89,180.3,M,17.0,M,,*4B
++        //$GNGLL,4957.22997,N,03618.97858,E,103526.00,A,A*7B
++        //we use the same values as in GGA sentence
++        char *bufgll = &bufp[strlen(bufp)];
++        (void)snprintf(bufgll, len,
++                       "$GPGLL,%s,%c,%s,%c,%s,%c,A,",
++                       lat_str,
++                       ((session->gpsdata.fix.latitude > 0) ? 'N' : 'S'),
++                       lon_str,
++                       ((session->gpsdata.fix.longitude > 0) ? 'E' : 'W'),
++                       time_str,
++                       ((fixquality != FIX_QUALITY_INVALID) ? 'A' : 'V')
++                       );
++        nmea_add_checksum(bufgll);
+     }
+ }
+ 
+@@ -183,6 +198,7 @@ static void gpsd_transit_fix_dump(struct gps_device_t *session,
+     char lat_str[BUF_SZ];
+     char lon_str[BUF_SZ];
+     char speed_str[BUF_SZ];
++    char kspeed_str[BUF_SZ];
+     char track_str[BUF_SZ];
+     char var_str[BUF_SZ];
+     char *var_dir = "";
+@@ -231,6 +247,27 @@ static void gpsd_transit_fix_dump(struct gps_device_t *session,
+                    time2_str,
+                    var_str, var_dir);
+     nmea_add_checksum(bufp);
++
++    //$GNRMC,114740.00,A,4957.22826,N,03618.97015,E,0.054,,091220,,,A*65
++    //$GNVTG,,T,,M,0.054,N,0.100,K,A*3D
++    //1    = Track made good
++    //2    = Fixed text 'T' indicates that track made good is relative to true north
++    //3    = Track made good, degrees Magnetic
++    //4    = Magnetic track indicator - 'M'
++    //5    = Speed over ground in knots
++    //6    = Fixed text 'N' indicates that speed over ground in in knots
++    //7    = Speed over ground in kilometers/hour
++    //8    = Fixed text 'K' indicates that speed over ground is in kilometers/hour
++    //we use the same values as in RMC sentence
++    char *bufvtg = &bufp[strlen(bufp)];
++    (void)snprintf(bufvtg, len,
++                   "$GPVTG,%s,T,%s,M,%s,N,%s,K,A,",
++                   track_str,
++                   track_str,//it is not Magnetic track, but may be it is enough
++                   speed_str,
++                   f_str(session->gpsdata.fix.speed, "%.4f", kspeed_str)
++                   );
++    nmea_add_checksum(bufvtg);
+ }
+ 
+ static void gpsd_binary_satellite_dump(struct gps_device_t *session,
+-- 
+2.25.1
+
diff --git a/recipes-navigation/gpsd/gpsd_3.23.1.bb b/recipes-navigation/gpsd/gpsd_3.23.1.bb
new file mode 100644
index 0000000..4663856
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd_3.23.1.bb
@@ -0,0 +1,229 @@
+SUMMARY = "A TCP/IP Daemon simplifying the communication with GPS devices"
+SECTION = "console/network"
+LICENSE = "BSD-2-Clause"
+LIC_FILES_CHKSUM = "file://COPYING;md5=7a5d174db44ec45f9638b2c747806821"
+DEPENDS = "dbus ncurses python3 pps-tools"
+PROVIDES = "virtual/gpsd"
+
+SRC_URI = "${SAVANNAH_GNU_MIRROR}/${BPN}/${BP}.tar.gz \
+    file://0006-ubxtimelps.patch \
+    file://0007-add-gll-vtg.patch \
+    file://gpsd-default \
+    file://gpsd \
+    file://gpsd_ubx_fixed.sh \
+    file://gpsd_ubx_settime.sh \
+    file://gpsd_fixed.sh \
+    file://gpsd_settime.sh \
+    file://gpsd.rules \
+    file://gpsd.service \
+"
+
+SRC_URI[sha256sum] = "0b991ce9a46538c4ea450f7a8ee428ff44fb4f8d665fddf2ffe40fe0ae9a6c09"
+
+inherit scons update-rc.d python3-dir python3native systemd update-alternatives pkgconfig
+
+INITSCRIPT_PACKAGES = "gpsd-conf"
+INITSCRIPT_NAME = "gpsd"
+INITSCRIPT_PARAMS = "defaults 35"
+
+SYSTEMD_OESCONS = "${@bb.utils.contains('DISTRO_FEATURES', 'systemd', 'true', 'false',d)}"
+
+export STAGING_INCDIR
+export STAGING_LIBDIR
+
+CLEANBROKEN = "1"
+
+PACKAGECONFIG ??= "${@bb.utils.contains('DISTRO_FEATURES', 'bluetooth', 'bluez', '', d)} usb"
+PACKAGECONFIG[bluez] = "bluez='true',bluez='false',bluez5"
+PACKAGECONFIG[qt] = "qt='yes' qt_versioned=5,qt='no',qtbase"
+PACKAGECONFIG[usb] = "usb='true',usb='false',libusb1"
+
+# Remove unneeded features.  netfeed is needed by gpsmon
+EXTRA_OESCONS = " \
+    sysroot=${STAGING_DIR_TARGET} \
+    libQgpsmm='false' \
+    nostrip='true' \
+    systemd='${SYSTEMD_OESCONS}' \
+    libdir='${libdir}' \
+    sbindir='${sbindir}' \
+    udevdir='${nonarch_base_libdir}/udev' \
+    unitdir='${systemd_system_unitdir}' \
+    manbuild='false' \
+    debug='true' \
+    strip='false' \
+    chrpath='yes' \
+    ublox='yes' \
+    ubloxtimels='yes' \
+    pps='yes' \
+    gpsd_group='gps' \
+    ntpshm='yes' \
+    prefix='usr' \
+    control_socket='false' \
+    nofloats='yes' \
+    ashtech='false' \
+    earthmate='false' \
+    evermore='false' \
+    fury='false' \
+    fv18='false' \
+    garmin='false' \
+    garmintxt='false' \
+    geostar='false' \
+    greis='false' \
+    itrax='false' \
+    mtk3301='false' \
+    navcom='false' \
+    nmea0183='true' \
+    nmea2000='false' \
+    oncore='false' \
+    sirf='false' \
+    skytraq='false' \
+    superstar2='false' \
+    tnt='false' \
+    tripmate='false' \
+    tsip='false' \
+    ublox='true' \
+    aivdm='false' \
+    gpsclock='false' \
+    isync='false' \
+    ntrip='false' \
+    oceanserver='false' \
+    passthrough='false' \
+    rtcm104v2='false' \
+    rtcm104v3='false' \
+    bluez='false' \
+    ipv6='false' \
+    netfeed='true' \
+    usb='false' \
+    LINK='${CC}' \
+    ${PACKAGECONFIG_CONFARGS} \
+"
+
+# This cannot be used, because then chrpath is not found and only static lib is built
+# target=${HOST_SYS}
+
+do_compile_prepend() {
+    export PKG_CONFIG_PATH="${PKG_CONFIG_PATH}"
+    export PKG_CONFIG="PKG_CONFIG_SYSROOT_DIR=\"${PKG_CONFIG_SYSROOT_DIR}\" pkg-config"
+    export STAGING_PREFIX="${STAGING_DIR_HOST}/${prefix}"
+    export CC="${CC}"
+    export LD="${CC}"
+    export LINKFLAGS="${LDFLAGS}"
+}
+
+do_install() {
+    export PKG_CONFIG_PATH="${PKG_CONFIG_PATH}"
+    export PKG_CONFIG="PKG_CONFIG_SYSROOT_DIR=\"${PKG_CONFIG_SYSROOT_DIR}\" pkg-config"
+    export STAGING_PREFIX="${STAGING_DIR_HOST}/${prefix}"
+    export LD="${CC}"
+    export LINKFLAGS="${LDFLAGS}"
+
+    export DESTDIR="${D}"
+    # prefix is used for RPATH and DESTDIR/prefix for installation
+    ${STAGING_BINDIR_NATIVE}/scons prefix=${prefix} python_libdir=${libdir} udev-install ${EXTRA_OESCONS} || \
+      bbfatal "scons install execution failed."
+}
+
+do_install_append() {
+    install -d ${D}/${sysconfdir}/init.d
+    install -m 0755 ${WORKDIR}/gpsd ${D}/${sysconfdir}/init.d/
+    install -d ${D}/${sysconfdir}/default
+    install -m 0644 ${WORKDIR}/gpsd-default ${D}/${sysconfdir}/default/gpsd.default
+    install -d ${D}${sbindir}
+    install -m 0755 ${WORKDIR}/gpsd_ubx_fixed.sh ${D}${sbindir}/gpsd_ubx_fixed
+    install -m 0755 ${WORKDIR}/gpsd_ubx_settime.sh ${D}${sbindir}/gpsd_ubx_settime
+    install -m 0755 ${WORKDIR}/gpsd_fixed.sh ${D}${sbindir}/gpsd_fixed
+    install -m 0755 ${WORKDIR}/gpsd_settime.sh ${D}${sbindir}/gpsd_settime
+
+
+    # Support for python
+    install -d ${D}${PYTHON_SITEPACKAGES_DIR}/gps
+    install -m 755 ${D}${libdir}/gps/*.py ${D}${PYTHON_SITEPACKAGES_DIR}/gps
+
+    # support for dev (development)
+    mkdir -p -m 0644 ${D}/${includedir}/gps
+    install -m 0644 ${S}/buildtmp/include/gpsd.h ${D}/${includedir}/gps
+    install -m 0644 ${S}/buildtmp/include/compiler.h ${D}/${includedir}/gps
+    install -m 0644 ${S}/buildtmp/include/os_compat.h ${D}/${includedir}/gps
+    install -m 0644 ${S}/buildtmp/include/ppsthread.h ${D}/${includedir}/gps
+    install -m 0644 ${S}/buildtmp/include/timespec.h ${D}/${includedir}/gps
+    install -m 0644 ${S}/buildtmp/include/gpsdclient.h ${D}/${includedir}/gps
+    install -m 0644 ${S}/buildtmp/include/gpsd_config.h ${D}/${includedir}/gps
+}
+
+
+PACKAGES =+ "libgps python3-pygps gpsd-udev gpsd-conf gpsd-gpsctl gpspipe gps-utils"
+
+RPROVIDES_${PN}-dbg += "python-pygps-dbg"
+
+FILES_${PN}-dev += "${libdir}/libQgpsmm.prl"
+
+FILES_${PN}-doc += "${datadir}/${BPN}/doc"
+
+RDEPENDS_${PN} = "bash gpsd-gpsctl"
+RRECOMMENDS_${PN} = "gpsd-conf gpsd-udev gpsd-machine-conf"
+
+SUMMARY_gpsd-udev = "udev relevant files to use gpsd hotplugging"
+FILES_gpsd-udev = "${nonarch_base_libdir}/udev"
+RDEPENDS_gpsd-udev += "udev gpsd-conf"
+
+SUMMARY_libgps = "C service library used for communicating with gpsd"
+FILES_libgps = "${libdir}/libgps.so.*"
+
+SUMMARY_gpsd-conf = "gpsd configuration files and init scripts"
+FILES_gpsd-conf = "${sysconfdir}"
+CONFFILES_gpsd-conf = "${sysconfdir}/default/gpsd.default"
+RDEPENDS_gpsd-conf = "bash"
+
+SUMMARY_gpsd-gpsctl = "Tool for tweaking GPS modes"
+FILES_gpsd-gpsctl = "${bindir}/gpsctl"
+
+SUMMARY_gpspipe = "Tool for connecting to gpsd and retrieve sentences"
+FILES_gpspipe = "${bindir}/gpspipe"
+
+SUMMARY_gps-utils = "Utils used for simulating, monitoring,... a GPS"
+# Python files are required for gps/fake, required for gpsfake.
+FILES_gps-utils = "\
+    ${bindir}/cgps         \
+    ${bindir}/gegps        \
+    ${bindir}/gps2udp      \
+    ${bindir}/gpscat       \
+    ${bindir}/gpscsv       \
+    ${bindir}/gpsctl       \
+    ${bindir}/gpsdebuginfo \
+    ${bindir}/gpsdecode    \
+    ${bindir}/gpsfake      \
+    ${bindir}/gpsmon       \
+    ${bindir}/gpsplot      \
+    ${bindir}/gpsprof      \
+    ${bindir}/gpsrinex     \
+    ${bindir}/gpssnmp      \
+    ${bindir}/gpssubframe  \
+    ${bindir}/gpxlogger    \
+    ${bindir}/lcdgps       \
+    ${bindir}/ntpshmmon    \
+    ${bindir}/ppscheck     \
+    ${bindir}/ubxtool      \
+    ${bindir}/xgps         \
+    ${bindir}/xgpsspeed    \
+    ${bindir}/zerk         \
+"
+RDEPENDS_gps-utils = "python3-pygps"
+
+SUMMARY_python3-pygps = "Python bindings to gpsd"
+FILES_python3-pygps = "${PYTHON_SITEPACKAGES_DIR}/* ${libdir}/gps/*.py ${libdir}/*.egg-info"
+RDEPENDS_python3-pygps = " \
+    python3-core \
+    python3-io \
+    python3-threading \
+    python3-terminal \
+    gpsd \
+    python3-json"
+
+RPROVIDES_${PN} += "${PN}-systemd"
+RREPLACES_${PN} += "${PN}-systemd"
+RCONFLICTS_${PN} += "${PN}-systemd"
+SYSTEMD_SERVICE_${PN} = "${BPN}.socket ${BPN}ctl@.service"
+
+ALTERNATIVE_${PN} = "gpsd-defaults"
+ALTERNATIVE_LINK_NAME[gpsd-defaults] = "${sysconfdir}/default/gpsd"
+ALTERNATIVE_TARGET[gpsd-defaults] = "${sysconfdir}/default/gpsd.default"