From c6c4cbf9d12a143ed69cfa76b41a3979b9640856 Mon Sep 17 00:00:00 2001
From: John Klug <john.klug@multitech.com>
Date: Tue, 24 Oct 2017 18:20:33 -0500
Subject: Hang in gpsd_ubx_fixed during boot, non-existent gpsd.hotplug.wrapper
 message in udev rules

---
 recipes-navigation/gpsd/gpsd/gpsd.rules        |  3 ++-
 recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh | 29 ++++++++++++++++++--------
 recipes-navigation/gpsd/gpsd_3.16.bb           |  2 +-
 3 files changed, 23 insertions(+), 11 deletions(-)

diff --git a/recipes-navigation/gpsd/gpsd/gpsd.rules b/recipes-navigation/gpsd/gpsd/gpsd.rules
index 4817222..dc90ad6 100644
--- a/recipes-navigation/gpsd/gpsd/gpsd.rules
+++ b/recipes-navigation/gpsd/gpsd/gpsd.rules
@@ -42,7 +42,8 @@ ATTR{idVendor}=="0403", ATTR{idProduct}=="6001", SYMLINK="gps%n", RUN+="/lib/ude
 # u-blox 4
 ATTR{idVendor}=="1546", ATTR{idProduct}=="01a4", SYMLINK="gps%n", RUN+="/lib/udev/gpsd.hotplug.wrapper"
 
-ACTION=="remove", RUN+="/lib/udev/gpsd.hotplug.wrapper"
+# mLinux does not come with gpsd.hotplug.wrapper
+# ACTION=="remove", RUN+="/lib/udev/gpsd.hotplug.wrapper"
 
 KERNEL=="ttyXRUSB2", SYMLINK+="gps0"                                                                                                                                                 
 KERNEL=="pps0", OWNER="root", GROUP="tty", MODE="0660", SYMLINK+="gpspps0"                                                                                                           
diff --git a/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh b/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh
index 9fd3f7f..c975942 100755
--- a/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh
+++ b/recipes-navigation/gpsd/gpsd/gpsd_ubx_fixed.sh
@@ -29,25 +29,35 @@ if ! [[ -x /usr/bin/gpsmon ]] ; then
   exit 0
 fi
 
-
+ppid=$$
+# echo gpsd_ubx_fixed parent $$ >>/tmp/gpsdlog.${ppid}
+# Restrict future kill to our process group.  During boot,
+# this is the entire rc complex, but not any daemons.
+pgid=$(ps -o pgrp -p $ppid --no-heading)
 # 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
+  # echo in child pgid $pgid  >>"/tmp/gpsdlog.${ppid}"
+  # ps -o  pid,pgid,args -e >>"/tmp/log1.${ppid}"
+  # Kill a gpsmon -a in our process group.  Hopefully this is our
+  # parents gpsmon -a.
+  gpsmonpid=$(ps -o pid,pgid,args -e | egrep "[[:space:]]${pgid}[[:space:]]+gpsmon[[:space:]]-a$" | sed -r 's/^[[:space:]]*([0-9]*)[[:space:]]+.*/\1/')
+  # echo sleeper TERM found pid $gpsmonpid >>"/tmp/gpsdlog.${ppid}"
   if ((${#gpsmonpid})) ; then
-    logger -p user.info "terminating gpscat(${gpsmonpid}) with SIGTERM"
+    logger -p user.info "terminating gpsmon(${gpsmonpid}) with SIGTERM"
+    # echo "terminating gpsmon(${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 $gpsmonpid
+  # echo "SIGKILL next" >>"/tmp/gpsdlog.${ppid}"
+  # ps -o  pid,pgid,comm -e >>"/tmp/log2.${ppid}"
+  gpsmonpid=$(ps -o pid,pgid,args -e | egrep "[[:space:]]${pgid}[[:space:]]+gpsmon[[:space:]]-a$" | sed -r 's/^[[:space:]]*([0-9]*)[[:space:]]+.*/\1/')
+  # echo sleeper KILL found pid $gpsmonpid  >>"/tmp/gpsdlog.${ppid}"
+  # Kill with SIGKILL, in case SIGTERM fails.
   if ((${#gpsmonpid})) ; then
-    logger -p user.info "terminating gpscat(${gpsmonpid}) with SIGKILL"
+    logger -p user.info "terminating gpsmon(${gpsmonpid}) with SIGKILL"
     kill -9 ${gpsmonpid}
   fi
 ) &
@@ -83,6 +93,7 @@ stuff="$(gpsmon -a 2>&1 | {
   fi
 })"
 
+# echo Past GPSMON in gpsd_ubx_fixed pid $$
 if ((${#stuff} == 0)) ; then
   logger -p user.err No data from GPS
   exit 1
diff --git a/recipes-navigation/gpsd/gpsd_3.16.bb b/recipes-navigation/gpsd/gpsd_3.16.bb
index a2c4dbe..95f7ab5 100644
--- a/recipes-navigation/gpsd/gpsd_3.16.bb
+++ b/recipes-navigation/gpsd/gpsd_3.16.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="m3"
+PR="m4"
 
 EXTRANATIVEPATH += "chrpath-native"
 
-- 
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