Add new parameters for evaluating GPS fix status.

3 files changed, 160 insertions, 5 deletions

diff --git a/recipes-navigation/gpsd/gpsd/gpsd-default b/recipes-navigation/gpsd/gpsd/gpsd-default
index 00576d3..7c4e6bb 100644
--- a/recipes-navigation/gpsd/gpsd/gpsd-default
+++ b/recipes-navigation/gpsd/gpsd/gpsd-default
@@ -10,3 +10,17 @@ GPS_BAUD=115200
 GPS_DEVICES="$GPS_LINE /dev/pps0"
 
 GPSD_NOSTART=0
+
+GPS_FIXFILE=/var/run/gpsfix
+
+# GPSD/UBlox Lock requiremnt
+# Create GPS_FIXFILE when reached.
+# UBlox NAV SOL (0x01 0x06) at gpsFix value
+# and above
+# 00 No Fix
+# 01 Dead reckoning only
+# 02 2D fix
+# 03 3D fix
+# 04 GPS + dead reckoning combined
+# 05 Time only fix
+GPSFIX="03 05"
diff --git a/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh b/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh
new file mode 100755
index 0000000..9fd3f7f
--- /dev/null
+++ b/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh
@@ -0,0 +1,142 @@
+#!/bin/bash
+# Fix file creation for U-Blox GPS.
+# If GPS reaches expected
+# fix level, file GSP_FIXFILE is created.
+# This is to know when to set the system
+# and hardware clock, and when 
+# it is safe to start ntp.
+if [[ -r /etc/default/gpsd ]] ; then
+  . /etc/default/gpsd
+else
+  echo "Must configure GPSD requirements"
+  exit 1
+fi
+UBXNAVSOL='b56201063400'
+UBXNAVSOLLEN=60
+
+function rm_gps_file
+{
+  if [[ -n "${GPS_FIXFILE}" ]] && [[ -f ${GPS_FIXFILE} ]] ; then
+    rm -f "${GPS_FIXFILE}"
+  fi
+}
+
+# Most exits are errors, so remove the GPS fix file.
+trap rm_gps_file EXIT
+
+if ! [[ -x /usr/bin/gpsmon ]] ; then
+  logger -p user.err "gpsd_ubx_3dfix.sh:  Please install gpsmon"
+  exit 0
+fi
+
+
+# Terminate gpsmon after 10 seconds if it is our child
+(
+  sleep 10
+  ppid=$$
+  # echo "looking for shell ${ppid}"
+  gpsmonpid=$(ps -o pid,ppid,comm -e | egrep "[[:space:]]${ppid}[[:space:]]+gpsmon$" | sed -r 's/^[[:space:]]*([0-9]*)[[:space:]]+.*/\1/')
+  # echo sleeper TERM found pid $gpsmonpid
+  if ((${#gpsmonpid})) ; then
+    logger -p user.info "terminating gpscat(${gpsmonpid}) with SIGTERM"
+    kill ${gpsmonpid}
+  else
+    exit 0
+  fi
+  sleep 2
+  gpsmonpid=$(ps -o pid,ppid,comm -e | egrep "[[:space:]]${ppid}[[:space:]]+gpsmon$" | sed -r 's/^[[:space:]]*([0-9]*)[[:space:]]+.*/\1/')
+  # echo sleeper KILL found pid $gpsmonpid
+  if ((${#gpsmonpid})) ; then
+    logger -p user.info "terminating gpscat(${gpsmonpid}) with SIGKILL"
+    kill -9 ${gpsmonpid}
+  fi
+) &
+  
+fix=""
+status=""
+
+# egrep in busybox has a horrible buffering issue.
+# echo My shell pid is $$
+# echo Place data fix, status
+stuff="$(gpsmon -a 2>&1 | {
+  OIFS=${IFS}
+  IFS=$'\n'
+  while read ln ; do
+    if [[ $ln =~ ^[[:space:]]*\(${UBXNAVSOLLEN}\)[[:space:]]*${UBXNAVSOL}....................(..)(.) ]] ; then
+      IFS=${OIFS} 
+      fix="${BASH_REMATCH[1]}"
+      if ((${#fix} == 0)) ; then
+	fix="unknown"
+      fi
+      status=$(echo "${BASH_REMATCH[2]}")
+      if ((${#status} == 0)) ; then
+	status="unknown"
+      fi
+      break;
+    fi
+    oldln="${ln}"
+  done
+  if ((${#fix})) && ((${#status})) ; then
+    echo "$fix,$status"
+  else
+    echo "${oldln}"
+  fi
+})"
+
+if ((${#stuff} == 0)) ; then
+  logger -p user.err No data from GPS
+  exit 1
+fi
+
+if [[ -t 1 ]] ; then
+  stty echo icanon
+fi
+
+OIFS=${IFS}
+IFS=,
+set $stuff
+fix="$1"
+status="$2"
+IFS=${OIFS}
+
+# fixOK is the least significant bit of a hex single digit
+case $status in
+  [13579bBdDfF])
+    ((fixOK=1))
+    ;;
+  [02468aAcCeE])
+    ((fixOK=0))
+    ;;
+  *)
+    logger -p user.err "Is GPSD running?"
+    logger -p user.err "FIX OK field should be single hex digit: gpsmon data: $stuff"
+    exit 1
+    break
+    ;;
+esac
+
+# echo "status is $status.  fixOK is $fixOK"
+
+
+if ((fixOK == 0)) ; then
+  logger -p user.err "Problem with the GPS fix.  The fix is an even value, \"$status\", and should be an odd value.  fixOK=${fixOK}"
+  exit 1
+  # Retry later.  How?
+fi
+
+# echo "fix is $fix.   Is it in $GPSFIX?"
+# Test the GPS fixOK
+for x in $GPSFIX ; do
+  # echo test $x with $fix
+  if [[ $x == $fix ]] ; then
+    logger user.info "GPS has fix $fix found in list GPSFIX: $GPSFIX"
+    echo $x >"${GPS_FIXFILE}"
+    GPS_FIXFILE=""
+    exit 0
+  fi
+done
+
+logger -p user.info "GPS fix is bad: $fix and should be one of: $GPSFIX"
+# Start later
+exit 1
+
diff --git a/recipes-navigation/gpsd/gpsd_3.16.bb b/recipes-navigation/gpsd/gpsd_3.16.bb
index 20b2cad..cf4b578 100644
--- a/recipes-navigation/gpsd/gpsd_3.16.bb
+++ b/recipes-navigation/gpsd/gpsd_3.16.bb
@@ -16,6 +16,7 @@ SRC_URI = "${SAVANNAH_GNU_MIRROR}/${BPN}/${BP}.tar.gz \
     file://0005-suppress-text-in-binary.patch \
     file://gpsd-default \
     file://gpsd \
+    file:://gpsd_ubx_fixed.sh \
     file://60-gpsd.rules \
     file://gpsd.service \
 "
@@ -88,12 +89,10 @@ do_install_append() {
     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}/usr/sbin
+    install -m 0644 ${WORKDIR}/gpsd_ubx_fixed.sh ${D}/usr/sbin/gpsd_ubx_fixed
 
-    #support for udev
-    install -d ${D}/${sysconfdir}/udev/rules.d
-    install -m 0644 ${WORKDIR}/60-gpsd.rules ${D}/${sysconfdir}/udev/rules.d
-    install -d ${D}${base_libdir}/udev/
-    install -m 0755 ${S}/gpsd.hotplug ${D}${base_libdir}/udev/
+    # UDEV code assumed a USB GPS.
 
     #support for python
     install -d ${D}/${PYTHON_SITEPACKAGES_DIR}/gps