Add gpsd patch

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");