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author | Jason Reiss <jreiss@multitech.com> | 2019-09-19 08:46:03 -0500 |
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committer | Jason Reiss <jreiss@multitech.com> | 2019-09-19 08:46:03 -0500 |
commit | 124cf5d915aeaaceef412b835a955eca9953ea31 (patch) | |
tree | 395b56849fddd4a51c219e12d67507a690500314 | |
parent | 48dfa609049df40313262de0c0c3bdb321927789 (diff) | |
download | packet_forwarder_mtac_full-124cf5d915aeaaceef412b835a955eca9953ea31.tar.gz packet_forwarder_mtac_full-124cf5d915aeaaceef412b835a955eca9953ea31.tar.bz2 packet_forwarder_mtac_full-124cf5d915aeaaceef412b835a955eca9953ea31.zip |
Add gpsd patch
-rw-r--r-- | lora_pkt_fwd/Makefile | 10 | ||||
-rw-r--r-- | lora_pkt_fwd/src/lora_pkt_fwd.c | 186 |
2 files changed, 97 insertions, 99 deletions
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 7d0fa30..ec42ec0 100644 --- a/lora_pkt_fwd/src/lora_pkt_fwd.c +++ b/lora_pkt_fwd/src/lora_pkt_fwd.c @@ -187,10 +187,10 @@ 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) */ @@ -942,13 +942,6 @@ 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) { @@ -967,6 +960,17 @@ 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); @@ -1370,14 +1374,14 @@ int main(int argc, char** argv) } /* 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; } @@ -1704,7 +1708,7 @@ int main(int argc, char** argv) 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 { @@ -3086,7 +3090,7 @@ 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"); } } @@ -3094,7 +3098,7 @@ 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); @@ -3110,96 +3114,88 @@ 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"); |