diff options
Diffstat (limited to 'recipes-navigation')
| -rwxr-xr-x | recipes-navigation/gpsd/gpsd/gpsd | 6 | ||||
| -rw-r--r-- | recipes-navigation/gpsd/gpsd/gpsd-default | 24 | ||||
| -rw-r--r-- | recipes-navigation/gpsd/gpsd/gpsd_fixed.sh | 125 | ||||
| -rwxr-xr-x | recipes-navigation/gpsd/gpsd/gpsd_settime.sh | 84 | ||||
| -rwxr-xr-x | recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh | 3 | ||||
| -rwxr-xr-x | recipes-navigation/gpsd/gpsd/gpsd_ubx_settime.sh | 2 | ||||
| -rw-r--r-- | recipes-navigation/gpsd/gpsd_3.18.1.bb | 9 |
7 files changed, 235 insertions, 18 deletions
diff --git a/recipes-navigation/gpsd/gpsd/gpsd b/recipes-navigation/gpsd/gpsd/gpsd index 33a8470..95e2a84 100755 --- a/recipes-navigation/gpsd/gpsd/gpsd +++ b/recipes-navigation/gpsd/gpsd/gpsd @@ -72,8 +72,10 @@ do_start() # 1 if daemon was already running # 2 if daemon could not be started - if [[ -n ${SET_GPS_SPEED} ]] ; then - eval "${SET_GPS_SPEED}" + # If the SET_GPS_SPEED function exists, call it to set the GPS Speed. + what=$(type SET_GPS_SPEED 2>/dev/null) + if [[ $what =~ SET_GPS_SPEED[[:space:]]is[[:space:]]a[[:space:]]function ]] ; then + SET_GPS_SPEED fi /usr/sbin/start-stop-daemon -N -20 --start --quiet --pidfile $PIDFILE --exec $DAEMON -- \ diff --git a/recipes-navigation/gpsd/gpsd/gpsd-default b/recipes-navigation/gpsd/gpsd/gpsd-default index bb4df93..168b0cf 100644 --- a/recipes-navigation/gpsd/gpsd/gpsd-default +++ b/recipes-navigation/gpsd/gpsd/gpsd-default @@ -16,17 +16,14 @@ GPS_BAUD=115200 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" +# GPSD Json TPV object, mode field. +# See: http://www.catb.org/gpsd/gpsd_json.html +# +# 0 Unknown +# 1 No fix +# 2 2D fix +# 3 3D fix +GPSFIX="3" # U-Blox defaults to 9600. If the # default speed is not set before changing @@ -52,7 +49,7 @@ GPSFIX="03 05" # If the line speed is already 115200, we # should not need to change the baud rate. # -read -r -d '' SET_GPS_SPEED <<"EOF" +function SET_GPS_SPEED { if [[ $(cat /run/config/gpstype) == u-blox ]] ; then logger -t gpsd -p daemon.info "Attempting to set baud rate to ${GPS_BAUD}" if ! gpsctl -T 20 -t u-blox -s $GPS_BAUD -b -f $GPS_LINE ; then @@ -67,6 +64,5 @@ if [[ $(cat /run/config/gpstype) == u-blox ]] ; then gpsctl -T 2 -f $GPS_LINE stty -F $GPS_LINE $GPS_BAUD fi -EOF - +} diff --git a/recipes-navigation/gpsd/gpsd/gpsd_fixed.sh b/recipes-navigation/gpsd/gpsd/gpsd_fixed.sh new file mode 100644 index 0000000..915c7be --- /dev/null +++ b/recipes-navigation/gpsd/gpsd/gpsd_fixed.sh @@ -0,0 +1,125 @@ +#!/bin/bash +# This script filters the gpspipe -w +# (json) output from GPSD. The GPS fix +# is taken from the mode parameter of +# the GPSD TPV object in the json output. +# Values are: +# +# 0 Unseen +# 1 No fix +# 2 2D +# 3 3D +# +# Fix file creation for 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. +# DEBUG=1 to set debug +NAME=gpsd_ubx_fixed +shopt -s expand_aliases +alias LG="logger -t ${NAME}" +if [[ -r /etc/default/gpsd ]] ; then + . /etc/default/gpsd +else + echo "Must configure GPSD requirements" + exit 1 +fi + +function rm_gps_file +{ + if [[ -n "${GPS_FIXFILE}" ]] && [[ -f ${GPS_FIXFILE} ]] ; then + rm -f "${GPS_FIXFILE}" + fi +} +function kill_it +{ + cmd=$1 + pid=$2 + sig=$3 + ((DEBUG)) && LG -p user.info "terminating $cmd(${pid}) with SIG${sig}" + kill -SIG${sig} ${pid} >/dev/null 2>&1 + result=$? + ((DEBUG)) && LG -p user.info "kill -SIG${sig} ${pid} result is $result" +} + +# Most exits are errors, so remove the GPS fix file. +trap rm_gps_file EXIT + +if ! [[ -x /usr/bin/gpspipe ]] ; then + LG -p user.err "Please install gpspipe" + exit 0 +fi + +# Terminate gpspipe after 10 seconds if it is our child +# gpspipe has issues with terminals and stalling on terminal +# read of the console. +( + sleep 10 + # We use BASHPID because our parent, $$, may have already exited, and + # then ps will not work. BASHPID is the current subshell. + ppid=$BASHPID + pgid=$(ps --no-heading -o pgid -p $ppid) + + if ((${#pgid} == 0)) ; then + LG -p user.err "Could not find a pgid for $ppid" + ps -fjp $ppid | LG -p user.error + fi + + # pgrep does not work during boot. + pgrpmemb=$(ps --no-heading -o pgid,pid,comm -e | grep '^ *'"${pgid}"' *' | sed -r 's/^ *[0-9]+ *//') + gpspipepid=$(echo "${pgrpmemb}" | egrep '[[:space:]]gpspipe$' | sed 's/[[:space:]].*//') + + ((DEBUG)) && LG -p user.info "$pgid is pgid $gpspipepid is gpspipepid" + # Find the gpspipepid that is our grandchild + ((didkill=0)) + + # for loop is in case gpspipepid has children. + for p in ${gpspipepid} ; do + if ((${#p})) ; then + kill_it gpspipe $p TERM + ((didkill=p)) + break + fi + done + if ((didkill == 0)) ; then + exit 0 + fi + # Do a sigkill to be sure. + sleep 2 + kill_it gpspipe $didkill KILL +) & + +fix="" +status="" + +# egrep in busybox has a horrible buffering issue. +# echo My shell pid is $$ +# echo Place data fix, status +fix="$(gpspipe -w | grep -m1 '{"class":"TPV","device":"/dev/gps0",.*"mode":' | sed -e 's/.*"mode"://' -e 's/[},].*//')" + +if ((${#fix} == 0)) ; then + LG -p user.err "No data from GPS" + exit 1 +fi + + +# echo "status is $status. fixOK is $fixOK" + + +# 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 + LG -p user.info "GPS has fix $fix found in list GPSFIX: $GPSFIX" + echo $x >"${GPS_FIXFILE}" + GPS_FIXFILE="" + exit 0 + fi +done + +LG -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/gpsd_settime.sh b/recipes-navigation/gpsd/gpsd/gpsd_settime.sh new file mode 100755 index 0000000..578013b --- /dev/null +++ b/recipes-navigation/gpsd/gpsd/gpsd_settime.sh @@ -0,0 +1,84 @@ +#!/bin/bash +# Get the time from gpspipe, and if present, set the time. +# DEBUG=1 to set debug +NAME=gpsd_ubx_settime +shopt -s expand_aliases +alias LG="logger -t $NAME" +function kill_it +{ + cmd=$1 + pid=$2 + sig=$3 + ((DEBUG)) && LG -p user.info "terminating $cmd(${pid}) with SIG${sig}" + kill -SIG${sig} ${pid} + result=$? + ((DEBUG)) && LG -p user.info "kill -SIG${sig} ${pid} result is $result" +} + +trap "stty echo icanon" exit + +OIFS=$IFS +IFS=$'\n' +if ! /usr/sbin/gpsd_fixed </dev/null ; then + LG -s -p user.warn "GPS does not have a fix yet. Try again later." + exit 1 +fi + + +# Terminate gpspipe after 10 seconds if it is our child +# gpspipe has issues with terminals and stalling on terminal +# read of the console. +( + sleep 10 + ppid=$BASHPID + pgid=$(ps --no-heading -o pgid -p $ppid) + + if ((${#pgid} == 0)) ; then + LG -p user.err "Could not find a pgid for $ppid" + ps -fjp $ppid | LG -p user.error + fi + + # pgrep does not work during boot. + pgrpmemb=$(ps --no-heading -o pgid,pid,comm -e | grep '^ *'"${pgid}"' *' | sed -r 's/^ *[0-9]+ *//') + gpspipepid=$(echo "${pgrpmemb}" | egrep '[[:space:]]gpspipe$' | sed 's/[[:space:]].*//') + + ((DEBUG)) && LG -p user.info "$pgid is pgid $gpspipepid is gpspipepid" + # Find the gpspipepid that is our grandchild + ((didkill=0)) + + # for loop is in case gpspipepid has children. + for p in ${gpspipepid} ; do + if ((${#p})) ; then + kill_it gpspipe $p TERM + ((didkill=p)) + break + fi + done + if ((didkill == 0)) ; then + exit 0 + fi + # Do a sigkill to be sure. + sleep 2 + kill_it gpspipe $didkill KILL +) & + +# Get the ISO8601 time from GPSD +ISO8601=$(gpspipe -w | grep -m1 '{"class":"TPV","device":"/dev/gps0","status":.*,"time":"' | sed -e 's/.*,"time":"//' -e 's/Z",.*//') + +if (( ${#ISO8601} > 18 )) ; then + LG -p user.warn "Updating time to time, ${ISO8601}." + [[ $ISO8601 =~ ([^-]*)-([^-]*)-([^T]*)T([^:]*):([^:]*):([^\.]*)\. ]] + Y=${BASH_REMATCH[1]} + M=${BASH_REMATCH[2]} + D=${BASH_REMATCH[3]} + h=${BASH_REMATCH[4]} + m=${BASH_REMATCH[5]} + s=${BASH_REMATCH[6]} +fi +if ((${#Y} == 4 )) && ((${#M} > 0)) && ((${#D} > 0)) && ((${#h} > 0)) && ((${#m} > 0)) && ((${#s} > 0)) ; then + date -u "${Y}.${M}.${D}-${h}:${m}:${s}" >/dev/null +else + LG -p user.err "gpspipe output is bad or missing" + exit 1 +fi +exit 0 diff --git a/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh b/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh index a1b59cf..82254c2 100755 --- a/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh +++ b/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh @@ -1,4 +1,6 @@ #!/bin/bash +# This script is deprecated. +# Use gpsd_fixed instead. # Fix file creation for U-Blox GPS. # If GPS reaches expected # fix level, file GSP_FIXFILE is created. @@ -6,6 +8,7 @@ # and hardware clock, and when # it is safe to start ntp. # DEBUG=1 to set debug +# NAME=gpsd_ubx_fixed shopt -s expand_aliases alias LG=logger\ -t\ ${NAME} diff --git a/recipes-navigation/gpsd/gpsd/gpsd_ubx_settime.sh b/recipes-navigation/gpsd/gpsd/gpsd_ubx_settime.sh index 15dc9c7..b497138 100755 --- a/recipes-navigation/gpsd/gpsd/gpsd_ubx_settime.sh +++ b/recipes-navigation/gpsd/gpsd/gpsd_ubx_settime.sh @@ -1,4 +1,6 @@ #!/bin/bash +# This function is deprecated. +# Use gpsd_settime instead. # PPS= 1484247472.29561104 clock= 1484247990.00000000 offset= 517.704388959 # DEBUG=1 to set debug NAME=gpsd_ubx_settime diff --git a/recipes-navigation/gpsd/gpsd_3.18.1.bb b/recipes-navigation/gpsd/gpsd_3.18.1.bb index 021d86a..5793344 100644 --- a/recipes-navigation/gpsd/gpsd_3.18.1.bb +++ b/recipes-navigation/gpsd/gpsd_3.18.1.bb @@ -4,7 +4,7 @@ LICENSE = "BSD" LIC_FILES_CHKSUM = "file://COPYING;md5=d217a23f408e91c94359447735bc1800" DEPENDS = "dbus dbus-glib ncurses python libusb1 chrpath-replacement-native pps-tools" PROVIDES = "virtual/gpsd" -PR="m4" +PR="m5" EXTRANATIVEPATH += "chrpath-native" @@ -21,6 +21,8 @@ SRC_URI = "${SAVANNAH_GNU_MIRROR}/${BPN}/${BP}.tar.gz \ 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 \ " @@ -128,6 +130,9 @@ do_install_append() { 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 udev install -d ${D}/${sysconfdir}/udev/rules.d @@ -176,7 +181,7 @@ FILES_${PN}-dev += "${libdir}/pkgconfdir/libgpsd.pc ${libdir}/pkgconfdir/libgps. ${libdir}/libQgpsmm.prl \ ${includedir}/gps.h ${includedir}/libgpsmm.h ${includedir}/gps" -FILES_${PN} += "${sbindir}/gpsd_ubx_fixed ${sbindir}/gpsd_ubx_settime" +FILES_${PN} += "${sbindir}/gpsd_*" FILES_python-pygps-dbg += " ${libdir}/python*/site-packages/gps/.debug" |