initial commit

12 files changed, 2095 insertions, 0 deletions

diff --git a/src/Makefile.am b/src/Makefile.am
new file mode 100644
index 0000000..b9e40b1
--- /dev/null
+++ b/src/Makefile.am
@@ -0,0 +1,8 @@
+AUTOMAKE_OPTIONS = gnu
+AM_CFLAGS = -Wall
+bin_PROGRAMS = venus-gps
+venus_gps_SOURCES = venus_gps.c cbuffer.c utils.c venus_api.c
+noinst_HEADERS = venus_gps.h cbuffer.h log.h utils.h venus_api.h
+
+EXTRA_DIST =
+
diff --git a/src/Makefile.in b/src/Makefile.in
new file mode 100644
index 0000000..599b96a
--- /dev/null
+++ b/src/Makefile.in
@@ -0,0 +1,417 @@
+# Makefile.in generated by automake 1.10.1 from Makefile.am.
+# @configure_input@
+
+# Copyright (C) 1994, 1995, 1996, 1997, 1998, 1999, 2000, 2001, 2002,
+# 2003, 2004, 2005, 2006, 2007, 2008  Free Software Foundation, Inc.
+# This Makefile.in is free software; the Free Software Foundation
+# gives unlimited permission to copy and/or distribute it,
+# with or without modifications, as long as this notice is preserved.
+
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY, to the extent permitted by law; without
+# even the implied warranty of MERCHANTABILITY or FITNESS FOR A
+# PARTICULAR PURPOSE.
+
+@SET_MAKE@
+
+
+VPATH = @srcdir@
+pkgdatadir = $(datadir)/@PACKAGE@
+pkglibdir = $(libdir)/@PACKAGE@
+pkgincludedir = $(includedir)/@PACKAGE@
+am__cd = CDPATH="$${ZSH_VERSION+.}$(PATH_SEPARATOR)" && cd
+install_sh_DATA = $(install_sh) -c -m 644
+install_sh_PROGRAM = $(install_sh) -c
+install_sh_SCRIPT = $(install_sh) -c
+INSTALL_HEADER = $(INSTALL_DATA)
+transform = $(program_transform_name)
+NORMAL_INSTALL = :
+PRE_INSTALL = :
+POST_INSTALL = :
+NORMAL_UNINSTALL = :
+PRE_UNINSTALL = :
+POST_UNINSTALL = :
+bin_PROGRAMS = venus-gps$(EXEEXT)
+subdir = src
+DIST_COMMON = $(noinst_HEADERS) $(srcdir)/Makefile.am \
+	$(srcdir)/Makefile.in
+ACLOCAL_M4 = $(top_srcdir)/aclocal.m4
+am__aclocal_m4_deps = $(top_srcdir)/configure.in
+am__configure_deps = $(am__aclocal_m4_deps) $(CONFIGURE_DEPENDENCIES) \
+	$(ACLOCAL_M4)
+mkinstalldirs = $(install_sh) -d
+CONFIG_HEADER = $(top_builddir)/config.h
+CONFIG_CLEAN_FILES =
+am__installdirs = "$(DESTDIR)$(bindir)"
+binPROGRAMS_INSTALL = $(INSTALL_PROGRAM)
+PROGRAMS = $(bin_PROGRAMS)
+am_venus_gps_OBJECTS = venus_gps.$(OBJEXT) cbuffer.$(OBJEXT) \
+	utils.$(OBJEXT) venus_api.$(OBJEXT)
+venus_gps_OBJECTS = $(am_venus_gps_OBJECTS)
+venus_gps_LDADD = $(LDADD)
+DEFAULT_INCLUDES = -I.@am__isrc@ -I$(top_builddir)
+depcomp = $(SHELL) $(top_srcdir)/depcomp
+am__depfiles_maybe = depfiles
+COMPILE = $(CC) $(DEFS) $(DEFAULT_INCLUDES) $(INCLUDES) $(AM_CPPFLAGS) \
+	$(CPPFLAGS) $(AM_CFLAGS) $(CFLAGS)
+CCLD = $(CC)
+LINK = $(CCLD) $(AM_CFLAGS) $(CFLAGS) $(AM_LDFLAGS) $(LDFLAGS) -o $@
+SOURCES = $(venus_gps_SOURCES)
+DIST_SOURCES = $(venus_gps_SOURCES)
+HEADERS = $(noinst_HEADERS)
+ETAGS = etags
+CTAGS = ctags
+DISTFILES = $(DIST_COMMON) $(DIST_SOURCES) $(TEXINFOS) $(EXTRA_DIST)
+ACLOCAL = @ACLOCAL@
+AMTAR = @AMTAR@
+AUTOCONF = @AUTOCONF@
+AUTOHEADER = @AUTOHEADER@
+AUTOMAKE = @AUTOMAKE@
+AWK = @AWK@
+CC = @CC@
+CCDEPMODE = @CCDEPMODE@
+CFLAGS = @CFLAGS@
+CPP = @CPP@
+CPPFLAGS = @CPPFLAGS@
+CYGPATH_W = @CYGPATH_W@
+DEFS = @DEFS@
+DEPDIR = @DEPDIR@
+ECHO_C = @ECHO_C@
+ECHO_N = @ECHO_N@
+ECHO_T = @ECHO_T@
+EGREP = @EGREP@
+EXEEXT = @EXEEXT@
+GREP = @GREP@
+INSTALL = @INSTALL@
+INSTALL_DATA = @INSTALL_DATA@
+INSTALL_PROGRAM = @INSTALL_PROGRAM@
+INSTALL_SCRIPT = @INSTALL_SCRIPT@
+INSTALL_STRIP_PROGRAM = @INSTALL_STRIP_PROGRAM@
+LDFLAGS = @LDFLAGS@
+LIBOBJS = @LIBOBJS@
+LIBS = @LIBS@
+LTLIBOBJS = @LTLIBOBJS@
+MAKEINFO = @MAKEINFO@
+MKDIR_P = @MKDIR_P@
+OBJEXT = @OBJEXT@
+PACKAGE = @PACKAGE@
+PACKAGE_BUGREPORT = @PACKAGE_BUGREPORT@
+PACKAGE_NAME = @PACKAGE_NAME@
+PACKAGE_STRING = @PACKAGE_STRING@
+PACKAGE_TARNAME = @PACKAGE_TARNAME@
+PACKAGE_VERSION = @PACKAGE_VERSION@
+PATH_SEPARATOR = @PATH_SEPARATOR@
+SET_MAKE = @SET_MAKE@
+SHELL = @SHELL@
+STRIP = @STRIP@
+VERSION = @VERSION@
+abs_builddir = @abs_builddir@
+abs_srcdir = @abs_srcdir@
+abs_top_builddir = @abs_top_builddir@
+abs_top_srcdir = @abs_top_srcdir@
+ac_ct_CC = @ac_ct_CC@
+am__include = @am__include@
+am__leading_dot = @am__leading_dot@
+am__quote = @am__quote@
+am__tar = @am__tar@
+am__untar = @am__untar@
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+build_alias = @build_alias@
+builddir = @builddir@
+datadir = @datadir@
+datarootdir = @datarootdir@
+docdir = @docdir@
+dvidir = @dvidir@
+exec_prefix = @exec_prefix@
+host_alias = @host_alias@
+htmldir = @htmldir@
+includedir = @includedir@
+infodir = @infodir@
+install_sh = @install_sh@
+libdir = @libdir@
+libexecdir = @libexecdir@
+localedir = @localedir@
+localstatedir = @localstatedir@
+mandir = @mandir@
+mkdir_p = @mkdir_p@
+oldincludedir = @oldincludedir@
+pdfdir = @pdfdir@
+prefix = @prefix@
+program_transform_name = @program_transform_name@
+psdir = @psdir@
+sbindir = @sbindir@
+sharedstatedir = @sharedstatedir@
+srcdir = @srcdir@
+sysconfdir = @sysconfdir@
+target_alias = @target_alias@
+top_builddir = @top_builddir@
+top_srcdir = @top_srcdir@
+AUTOMAKE_OPTIONS = gnu
+AM_CFLAGS = -Wall
+venus_gps_SOURCES = venus_gps.c cbuffer.c utils.c venus_api.c
+noinst_HEADERS = venus_gps.h cbuffer.h log.h utils.h venus_api.h
+EXTRA_DIST = 
+all: all-am
+
+.SUFFIXES:
+.SUFFIXES: .c .o .obj
+$(srcdir)/Makefile.in:  $(srcdir)/Makefile.am  $(am__configure_deps)
+	@for dep in $?; do \
+	  case '$(am__configure_deps)' in \
+	    *$$dep*) \
+	      cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh \
+		&& exit 0; \
+	      exit 1;; \
+	  esac; \
+	done; \
+	echo ' cd $(top_srcdir) && $(AUTOMAKE) --gnu  src/Makefile'; \
+	cd $(top_srcdir) && \
+	  $(AUTOMAKE) --gnu  src/Makefile
+.PRECIOUS: Makefile
+Makefile: $(srcdir)/Makefile.in $(top_builddir)/config.status
+	@case '$?' in \
+	  *config.status*) \
+	    cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh;; \
+	  *) \
+	    echo ' cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe)'; \
+	    cd $(top_builddir) && $(SHELL) ./config.status $(subdir)/$@ $(am__depfiles_maybe);; \
+	esac;
+
+$(top_builddir)/config.status: $(top_srcdir)/configure $(CONFIG_STATUS_DEPENDENCIES)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+
+$(top_srcdir)/configure:  $(am__configure_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+$(ACLOCAL_M4):  $(am__aclocal_m4_deps)
+	cd $(top_builddir) && $(MAKE) $(AM_MAKEFLAGS) am--refresh
+install-binPROGRAMS: $(bin_PROGRAMS)
+	@$(NORMAL_INSTALL)
+	test -z "$(bindir)" || $(MKDIR_P) "$(DESTDIR)$(bindir)"
+	@list='$(bin_PROGRAMS)'; for p in $$list; do \
+	  p1=`echo $$p|sed 's/$(EXEEXT)$$//'`; \
+	  if test -f $$p \
+	  ; then \
+	    f=`echo "$$p1" | sed 's,^.*/,,;$(transform);s/$$/$(EXEEXT)/'`; \
+	   echo " $(INSTALL_PROGRAM_ENV) $(binPROGRAMS_INSTALL) '$$p' '$(DESTDIR)$(bindir)/$$f'"; \
+	   $(INSTALL_PROGRAM_ENV) $(binPROGRAMS_INSTALL) "$$p" "$(DESTDIR)$(bindir)/$$f" || exit 1; \
+	  else :; fi; \
+	done
+
+uninstall-binPROGRAMS:
+	@$(NORMAL_UNINSTALL)
+	@list='$(bin_PROGRAMS)'; for p in $$list; do \
+	  f=`echo "$$p" | sed 's,^.*/,,;s/$(EXEEXT)$$//;$(transform);s/$$/$(EXEEXT)/'`; \
+	  echo " rm -f '$(DESTDIR)$(bindir)/$$f'"; \
+	  rm -f "$(DESTDIR)$(bindir)/$$f"; \
+	done
+
+clean-binPROGRAMS:
+	-test -z "$(bin_PROGRAMS)" || rm -f $(bin_PROGRAMS)
+venus-gps$(EXEEXT): $(venus_gps_OBJECTS) $(venus_gps_DEPENDENCIES) 
+	@rm -f venus-gps$(EXEEXT)
+	$(LINK) $(venus_gps_OBJECTS) $(venus_gps_LDADD) $(LIBS)
+
+mostlyclean-compile:
+	-rm -f *.$(OBJEXT)
+
+distclean-compile:
+	-rm -f *.tab.c
+
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/cbuffer.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/utils.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/venus_api.Po@am__quote@
+@AMDEP_TRUE@@am__include@ @am__quote@./$(DEPDIR)/venus_gps.Po@am__quote@
+
+.c.o:
+@am__fastdepCC_TRUE@	$(COMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ $<
+@am__fastdepCC_TRUE@	mv -f $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCC_FALSE@	source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@	DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCC_FALSE@	$(COMPILE) -c $<
+
+.c.obj:
+@am__fastdepCC_TRUE@	$(COMPILE) -MT $@ -MD -MP -MF $(DEPDIR)/$*.Tpo -c -o $@ `$(CYGPATH_W) '$<'`
+@am__fastdepCC_TRUE@	mv -f $(DEPDIR)/$*.Tpo $(DEPDIR)/$*.Po
+@AMDEP_TRUE@@am__fastdepCC_FALSE@	source='$<' object='$@' libtool=no @AMDEPBACKSLASH@
+@AMDEP_TRUE@@am__fastdepCC_FALSE@	DEPDIR=$(DEPDIR) $(CCDEPMODE) $(depcomp) @AMDEPBACKSLASH@
+@am__fastdepCC_FALSE@	$(COMPILE) -c `$(CYGPATH_W) '$<'`
+
+ID: $(HEADERS) $(SOURCES) $(LISP) $(TAGS_FILES)
+	list='$(SOURCES) $(HEADERS) $(LISP) $(TAGS_FILES)'; \
+	unique=`for i in $$list; do \
+	    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+	  done | \
+	  $(AWK) '{ files[$$0] = 1; nonemtpy = 1; } \
+	      END { if (nonempty) { for (i in files) print i; }; }'`; \
+	mkid -fID $$unique
+tags: TAGS
+
+TAGS:  $(HEADERS) $(SOURCES)  $(TAGS_DEPENDENCIES) \
+		$(TAGS_FILES) $(LISP)
+	tags=; \
+	here=`pwd`; \
+	list='$(SOURCES) $(HEADERS)  $(LISP) $(TAGS_FILES)'; \
+	unique=`for i in $$list; do \
+	    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+	  done | \
+	  $(AWK) '{ files[$$0] = 1; nonempty = 1; } \
+	      END { if (nonempty) { for (i in files) print i; }; }'`; \
+	if test -z "$(ETAGS_ARGS)$$tags$$unique"; then :; else \
+	  test -n "$$unique" || unique=$$empty_fix; \
+	  $(ETAGS) $(ETAGSFLAGS) $(AM_ETAGSFLAGS) $(ETAGS_ARGS) \
+	    $$tags $$unique; \
+	fi
+ctags: CTAGS
+CTAGS:  $(HEADERS) $(SOURCES)  $(TAGS_DEPENDENCIES) \
+		$(TAGS_FILES) $(LISP)
+	tags=; \
+	list='$(SOURCES) $(HEADERS)  $(LISP) $(TAGS_FILES)'; \
+	unique=`for i in $$list; do \
+	    if test -f "$$i"; then echo $$i; else echo $(srcdir)/$$i; fi; \
+	  done | \
+	  $(AWK) '{ files[$$0] = 1; nonempty = 1; } \
+	      END { if (nonempty) { for (i in files) print i; }; }'`; \
+	test -z "$(CTAGS_ARGS)$$tags$$unique" \
+	  || $(CTAGS) $(CTAGSFLAGS) $(AM_CTAGSFLAGS) $(CTAGS_ARGS) \
+	     $$tags $$unique
+
+GTAGS:
+	here=`$(am__cd) $(top_builddir) && pwd` \
+	  && cd $(top_srcdir) \
+	  && gtags -i $(GTAGS_ARGS) $$here
+
+distclean-tags:
+	-rm -f TAGS ID GTAGS GRTAGS GSYMS GPATH tags
+
+distdir: $(DISTFILES)
+	@srcdirstrip=`echo "$(srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	topsrcdirstrip=`echo "$(top_srcdir)" | sed 's/[].[^$$\\*]/\\\\&/g'`; \
+	list='$(DISTFILES)'; \
+	  dist_files=`for file in $$list; do echo $$file; done | \
+	  sed -e "s|^$$srcdirstrip/||;t" \
+	      -e "s|^$$topsrcdirstrip/|$(top_builddir)/|;t"`; \
+	case $$dist_files in \
+	  */*) $(MKDIR_P) `echo "$$dist_files" | \
+			   sed '/\//!d;s|^|$(distdir)/|;s,/[^/]*$$,,' | \
+			   sort -u` ;; \
+	esac; \
+	for file in $$dist_files; do \
+	  if test -f $$file || test -d $$file; then d=.; else d=$(srcdir); fi; \
+	  if test -d $$d/$$file; then \
+	    dir=`echo "/$$file" | sed -e 's,/[^/]*$$,,'`; \
+	    if test -d $(srcdir)/$$file && test $$d != $(srcdir); then \
+	      cp -pR $(srcdir)/$$file $(distdir)$$dir || exit 1; \
+	    fi; \
+	    cp -pR $$d/$$file $(distdir)$$dir || exit 1; \
+	  else \
+	    test -f $(distdir)/$$file \
+	    || cp -p $$d/$$file $(distdir)/$$file \
+	    || exit 1; \
+	  fi; \
+	done
+check-am: all-am
+check: check-am
+all-am: Makefile $(PROGRAMS) $(HEADERS)
+installdirs:
+	for dir in "$(DESTDIR)$(bindir)"; do \
+	  test -z "$$dir" || $(MKDIR_P) "$$dir"; \
+	done
+install: install-am
+install-exec: install-exec-am
+install-data: install-data-am
+uninstall: uninstall-am
+
+install-am: all-am
+	@$(MAKE) $(AM_MAKEFLAGS) install-exec-am install-data-am
+
+installcheck: installcheck-am
+install-strip:
+	$(MAKE) $(AM_MAKEFLAGS) INSTALL_PROGRAM="$(INSTALL_STRIP_PROGRAM)" \
+	  install_sh_PROGRAM="$(INSTALL_STRIP_PROGRAM)" INSTALL_STRIP_FLAG=-s \
+	  `test -z '$(STRIP)' || \
+	    echo "INSTALL_PROGRAM_ENV=STRIPPROG='$(STRIP)'"` install
+mostlyclean-generic:
+
+clean-generic:
+
+distclean-generic:
+	-test -z "$(CONFIG_CLEAN_FILES)" || rm -f $(CONFIG_CLEAN_FILES)
+
+maintainer-clean-generic:
+	@echo "This command is intended for maintainers to use"
+	@echo "it deletes files that may require special tools to rebuild."
+clean: clean-am
+
+clean-am: clean-binPROGRAMS clean-generic mostlyclean-am
+
+distclean: distclean-am
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+distclean-am: clean-am distclean-compile distclean-generic \
+	distclean-tags
+
+dvi: dvi-am
+
+dvi-am:
+
+html: html-am
+
+info: info-am
+
+info-am:
+
+install-data-am:
+
+install-dvi: install-dvi-am
+
+install-exec-am: install-binPROGRAMS
+
+install-html: install-html-am
+
+install-info: install-info-am
+
+install-man:
+
+install-pdf: install-pdf-am
+
+install-ps: install-ps-am
+
+installcheck-am:
+
+maintainer-clean: maintainer-clean-am
+	-rm -rf ./$(DEPDIR)
+	-rm -f Makefile
+maintainer-clean-am: distclean-am maintainer-clean-generic
+
+mostlyclean: mostlyclean-am
+
+mostlyclean-am: mostlyclean-compile mostlyclean-generic
+
+pdf: pdf-am
+
+pdf-am:
+
+ps: ps-am
+
+ps-am:
+
+uninstall-am: uninstall-binPROGRAMS
+
+.MAKE: install-am install-strip
+
+.PHONY: CTAGS GTAGS all all-am check check-am clean clean-binPROGRAMS \
+	clean-generic ctags distclean distclean-compile \
+	distclean-generic distclean-tags distdir dvi dvi-am html \
+	html-am info info-am install install-am install-binPROGRAMS \
+	install-data install-data-am install-dvi install-dvi-am \
+	install-exec install-exec-am install-html install-html-am \
+	install-info install-info-am install-man install-pdf \
+	install-pdf-am install-ps install-ps-am install-strip \
+	installcheck installcheck-am installdirs maintainer-clean \
+	maintainer-clean-generic mostlyclean mostlyclean-compile \
+	mostlyclean-generic pdf pdf-am ps ps-am tags uninstall \
+	uninstall-am uninstall-binPROGRAMS
+
+# Tell versions [3.59,3.63) of GNU make to not export all variables.
+# Otherwise a system limit (for SysV at least) may be exceeded.
+.NOEXPORT:
diff --git a/src/cbuffer.c b/src/cbuffer.c
new file mode 100644
index 0000000..1242496
--- /dev/null
+++ b/src/cbuffer.c
@@ -0,0 +1,107 @@
+/*
+ * Venus GPS Server
+ *
+ * Copyright (C) 2010 by Multi-Tech Systems
+ *
+ * Author: James Maki <jmaki@multitech.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+#include "log.h"
+#include "cbuffer.h"
+#include "utils.h"
+#include <errno.h>
+
+int buffered_write(int fd, struct cbuffer *buf) {
+	int i;
+	int len;
+	int count = buffer_used(buf);
+	int total = 0;
+
+	i = buf->read_index;
+	if(i + count > buffer_size(buf)) {
+		len = full_write(fd, buf->buffer + i, buffer_size(buf) - i);
+		if(len <= 0) {
+			log_error("full_write failed errno: %d", errno);
+			return len;
+		}
+
+		total += len;
+		count -= len;
+
+		if(len < buffer_size(buf) - i) {
+			buf->read_index = i + len;
+			return total;
+		}
+
+		i = 0;
+	}
+
+	len = full_write(fd, buf->buffer + i, count);
+	if(len <= 0) {
+		if(total) {
+			return total;
+		} else {
+			log_error("full_write failed errno: %d", errno);
+			return len;
+		}
+	}
+	buf->read_index = i + len;
+	total += len;
+
+	return total;
+}
+
+int buffered_read(int fd, struct cbuffer *buf) {
+	int i;
+	int len;
+	int count = buffer_free(buf);
+	int total = 0;
+
+	i = buf->write_index;
+	if(i + count > buffer_size(buf)) {
+		len = safe_read(fd, buf->buffer + i, buffer_size(buf) - i);
+		if(len <= 0) {
+			log_warning("safe_read failed errno: %d", errno);
+			return len;
+		}
+
+		total += len;
+		count -= len;
+
+		if(len < buffer_size(buf) - i) {
+			buf->write_index = i + len;
+			return total;
+		}
+
+		i = 0;
+	}
+
+	len = safe_read(fd, buf->buffer + i, count);
+	if(len <= 0) {
+		if(total) {
+			return total;
+		} else {
+			log_warning("safe_read failed errno: %d", errno);
+			return len;
+		}
+	}
+	buf->write_index = i + len;
+	total += len;
+
+	return total;
+}
+
diff --git a/src/cbuffer.h b/src/cbuffer.h
new file mode 100644
index 0000000..5fc2de0
--- /dev/null
+++ b/src/cbuffer.h
@@ -0,0 +1,22 @@
+#include <stdint.h>
+
+#ifndef __CBUFFER_H
+#define __CBUFFER_H
+
+struct cbuffer {
+	uint8_t buffer[1 << 10];
+	int read_index;
+	int write_index;
+};
+
+#define buffer_size(buf) (sizeof((buf)->buffer))
+#define buffer_used(buf) (((buf)->write_index - (buf)->read_index) & (buffer_size(buf) - 1))
+#define buffer_free(buf) (buffer_size(buf) - 1 - buffer_used(buf))
+
+int buffered_write(int fd, struct cbuffer *buf);
+int buffered_read(int fd, struct cbuffer *buf);
+
+#define DIR_REV(i) ((i == 1) ? 0 : 1)
+
+#endif /* ~__CBUFFER_H */
+
diff --git a/src/gps_test.rb b/src/gps_test.rb
new file mode 100755
index 0000000..4f35ec5
--- /dev/null
+++ b/src/gps_test.rb
@@ -0,0 +1,43 @@
+#!/usr/bin/env ruby1.8
+
+require 'socket'
+
+GPS_SERVER_IP = "192.168.2.1"
+GPS_SERVER_PORT = 5445
+MODE = :client
+PROTOCOL = :tcp
+
+def tcp_read(sock)
+  loop {
+    data = sock.readline()
+    puts data.inspect
+  }
+end
+
+if PROTOCOL == :tcp
+  if MODE == :client
+    sock = TCPSocket.new(GPS_SERVER_IP, GPS_SERVER_PORT)
+    tcp_read(sock)
+    sock.close
+  else
+    serv = TCPServer.new(GPS_SERVER_PORT)
+    sock = serv.accept
+    tcp_read(sock)
+    sock.close
+  end
+elsif PROTOCOL == :udp
+  sock = UDPSocket.new
+  sock.bind('0.0.0.0', GPS_SERVER_PORT)
+
+  loop {
+    begin
+      msg, sender = sock.recvfrom(1024)
+    rescue Errno::EAGAIN, Errno::EWOULDBLOCK => e
+      puts "recvfrom error: #{e.class}: #{e}"
+      next
+    end
+    puts msg.inspect
+  }
+end
+
+
diff --git a/src/log.h b/src/log.h
new file mode 100644
index 0000000..5f0eceb
--- /dev/null
+++ b/src/log.h
@@ -0,0 +1,32 @@
+#ifndef __LOG_H
+#define __LOG_H
+
+#include "config.h"
+
+#if CONFIG_USE_SYSLOG
+# include <syslog.h>
+# define LOG_FACILITY		LOG_USER
+
+# define __log(level, name, format, args...) \
+	syslog(LOG_FACILITY | level, "[" name "] %s:%s:%d: " format "\n" , \
+			__FILE__ , __func__ , __LINE__ , ## args)
+#else
+# define __log(level, name, format, args...) \
+	fprintf(stderr, "[" name "] %s:%s:%d: " format "\n" , \
+			__FILE__ , __func__ , __LINE__ , ## args)
+#endif
+
+#define log_emerg(format, args...)	__log(LOG_EMERG, "EMERG", format , ## args)
+#define log_alert(format, args...)	__log(LOG_ALERT, "ALERT", format , ## args)
+#define log_crit(format, args...)	__log(LOG_CRIT, "CRIT", format , ## args)
+#define log_error(format, args...)	__log(LOG_ERR, "ERROR", format , ## args)
+#define log_warning(format, args...)	__log(LOG_WARNING, "WARNING", format , ## args)
+#define log_notice(format, args...)	__log(LOG_NOTICE, "NOTICE", format , ## args)
+#define log_info(format, args...)	__log(LOG_INFO, "INFO", format , ## args)
+#if DEBUG
+#  define log_debug(format, args...)	__log(LOG_DEBUG, "DEBUG", format , ## args)
+#else
+#  define log_debug(format, args...) do {} while (0)
+#endif
+
+#endif /* ~__LOG_H */
diff --git a/src/utils.c b/src/utils.c
new file mode 100644
index 0000000..6f98ab0
--- /dev/null
+++ b/src/utils.c
@@ -0,0 +1,217 @@
+/*
+ * Venus GPS Server
+ *
+ * Copyright (C) 2010 by Multi-Tech Systems
+ * Copyright (C) 2004-2009 by James Maki
+ *
+ * Author: James Maki <jmaki@multitech.com>
+ *
+ * safe_read, safe_write, full_write are from Busybox
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+#define _GNU_SOURCE
+
+#include <string.h>
+#include <netdb.h>
+#include <fcntl.h>
+
+#include "log.h"
+#include "utils.h"
+
+int systemf(const char *fmt, ...) {
+	int err;
+	va_list ap;
+	char *buf;
+
+	va_start(ap, fmt);
+	err = vasprintf(&buf, fmt, ap);
+	va_end(ap);
+	if(err == -1) {
+		log_error("out of memory");
+		return -1;
+	}
+
+	log_debug("%s", buf);
+
+	err = system(buf);
+	free(buf);
+
+	return err;
+}
+
+ssize_t safe_read(int fd, void *buf, size_t count) {
+	ssize_t n;
+
+	do {
+		n = read(fd, buf, count);
+	} while(n < 0 && errno == EINTR);
+
+	return n;
+}
+
+ssize_t safe_readn(int fd, void *buf, size_t len) {
+	ssize_t cc;
+	ssize_t total;
+
+	total = 0;
+
+	while(len) {
+		cc = safe_read(fd, buf, len);
+
+		if(cc < 0) {
+			if(total) {
+				return total;
+			}
+			return cc;
+		}
+
+		total += cc;
+		buf = buf + cc;
+		len -= cc;
+	}
+
+	return total;
+}
+
+ssize_t safe_write(int fd, const void *buf, size_t count) {
+	ssize_t n;
+
+	do {
+		n = write(fd, buf, count);
+	} while(n < 0 && errno == EINTR);
+
+	return n;
+}
+
+ssize_t full_write(int fd, const void *buf, size_t len) {
+	ssize_t cc;
+	ssize_t total;
+
+	total = 0;
+
+	while(len) {
+		cc = safe_write(fd, buf, len);
+
+		if(cc < 0) {
+			if(total) {
+				return total;
+			}
+			return cc;
+		}
+
+		total += cc;
+		buf = ((const char *)buf) + cc;
+		len -= cc;
+	}
+
+	return total;
+}
+
+int set_nonblocking(int fd) {
+	int err;
+
+	err = fcntl(fd, F_GETFL, 0);
+	if(err < 0) {
+		log_warning("fcntl(fd, F_GETFL, 0) failed: errno %d", errno);
+		return err;
+	}
+	err = fcntl(fd, F_SETFL, err | O_NONBLOCK);
+	if(err < 0) {
+		log_warning("fcntl(fd, F_SETFL, opts | O_NONBLOCK) failed: errno %d", errno);
+		return err;
+	}
+
+	return err;
+}
+
+int host_to_inet(const char *host, struct in_addr *in) {
+	struct hostent h;
+	struct hostent *hp;
+	char buf[1024];
+	int herrno;
+	int err;
+
+	err = gethostbyname_r(host, &h, buf, sizeof(buf), &hp, &herrno);
+	if(hp == NULL) {
+		log_error("gethostbyname_r: %d", herrno);
+		return -1;
+	}
+
+	memcpy(&in->s_addr, h.h_addr_list[0], 4);
+
+	return 0;
+}
+
+int inet_conn_str(char *host, int port, int type) {
+	struct hostent h; 
+	struct hostent *hp;
+	char buf[1024];
+	int herrno;
+	int err;
+
+	err = gethostbyname_r(host, &h, buf, sizeof(buf), &hp, &herrno);
+	if(hp == NULL) {
+		log_error("gethostbyname_r: %d", herrno);
+		return -1;
+	}
+
+	int sd = socket(PF_INET, type, 0);
+	if(sd == -1) {
+		log_error("socket: %d", errno);
+		return -1;
+	}
+
+	struct sockaddr_in serv_addr;
+	serv_addr.sin_family = AF_INET; 
+	serv_addr.sin_port = htons(port);
+	memcpy(&serv_addr.sin_addr.s_addr, h.h_addr_list[0], 4);
+
+	err = connect(sd, (struct sockaddr *) &serv_addr, sizeof(serv_addr));
+	if(err == -1) {
+		log_error("connect: %d", errno);
+		close(sd);
+		return -1;
+	}
+
+	return sd;
+}
+
+int inet_conn_ia(struct in_addr *host, int port, int type) {
+	int err;
+
+	int sd = socket(PF_INET, type, 0);
+	if(sd == -1) {
+		log_error("socket: %d", errno);
+		return -1;
+	}
+
+	struct sockaddr_in serv_addr;
+	memset(&serv_addr, 0, sizeof(serv_addr));
+	serv_addr.sin_family = AF_INET; 
+	serv_addr.sin_port = htons(port);
+	serv_addr.sin_addr.s_addr = host->s_addr;
+
+	err = connect(sd, (struct sockaddr *) &serv_addr, sizeof(serv_addr));
+	if(err == -1) {
+		log_error("connect: %d", errno);
+		close(sd);
+		return -1;
+	}
+
+	return sd;
+}
+
diff --git a/src/utils.h b/src/utils.h
new file mode 100644
index 0000000..71d3e9c
--- /dev/null
+++ b/src/utils.h
@@ -0,0 +1,27 @@
+
+#define _GNU_SOURCE
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdarg.h>
+#include <unistd.h>
+#include <errno.h>
+#include <arpa/inet.h>
+
+#ifndef __UTILS_H
+#define __UTILS_H
+
+#define match(a, b) (!strcmp(a, b))
+#define matchn(a, b, n) (!strncmp(a, b, n))
+
+int host_to_inet(const char *host, struct in_addr *in);
+int systemf(const char *fmt, ...);
+ssize_t safe_read(int fd, void *buf, size_t count);
+ssize_t safe_readn(int fd, void *buf, size_t len);
+ssize_t safe_write(int fd, const void *buf, size_t count);
+ssize_t full_write(int fd, const void *buf, size_t len);
+int set_nonblocking(int fd);
+int inet_conn_str(char *host, int port, int type);
+int inet_conn_ia(struct in_addr *host, int port, int type);
+
+#endif /* ~__UTILS_H */
diff --git a/src/venus_api.c b/src/venus_api.c
new file mode 100644
index 0000000..52a4a96
--- /dev/null
+++ b/src/venus_api.c
@@ -0,0 +1,487 @@
+/*
+ * SkyTraq Venus 5 GPS API
+ *
+ * Copyright (C) 2010 by Multi-Tech Systems
+ *
+ * Author: James Maki <jmaki@multitech.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+#define _GNU_SOURCE
+
+#include <stdio.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <termios.h>
+#include <unistd.h>
+#include <string.h>
+#include <stdarg.h>
+#include <unistd.h>
+#include <time.h>
+#include <asm/byteorder.h>
+#include <netdb.h>
+
+#include "log.h"
+#include "cbuffer.h"
+#include "utils.h"
+#include "venus_api.h"
+
+static const struct baud_map __baud_map[] = {
+	{B4800, 4800},
+	{B9600, 9600},
+	{B19200, 19200},
+	{B38400, 38400},
+	{B57600, 57600},
+	{B115200, 115200},
+};
+
+static const struct baud_map __venus_baud_map[] = {
+	{B4800, VENUS_4800},
+	{B9600, VENUS_9600},
+	{B19200, VENUS_19200},
+	{B38400, VENUS_38400},
+	{B57600, VENUS_57600},
+	{B115200, VENUS_115200},
+};
+
+speed_t value_to_baud(speed_t value) {
+	int n = sizeof(__baud_map) / sizeof(struct baud_map);
+	int i;
+
+	for(i = 0; i < n; ++i) {
+		if(__baud_map[i].value == value) {
+			return __baud_map[i].baud;
+		}
+	}
+
+	log_warning("baud rate not valid: %lu", (unsigned long) value);
+
+	return (speed_t) -1;
+}
+
+speed_t baud_to_venus(speed_t baud) {
+	int n = sizeof(__venus_baud_map) / sizeof(struct baud_map);
+	int i;
+
+	for(i = 0; i < n; ++i) {
+		if(__venus_baud_map[i].baud == baud) {
+			return __venus_baud_map[i].value;
+		}
+	}
+
+	log_warning("baud rate not valid: %lu", (unsigned long) baud);
+
+	return (speed_t) -1;
+}
+
+static uint8_t seq_start[] = {0xA0, 0xA1};
+static uint8_t seq_end[] = {0x0D, 0x0A};
+
+void free_venus_msg_data(struct venus_msg *msg) {
+	if(!msg) {
+		return;
+	}
+
+	if(msg->data) {
+		free(msg->data);
+	}
+	msg->data = NULL;
+}
+
+uint8_t checksum(void *data, uint16_t len) {
+	int i;
+	uint8_t cs = 0;
+
+	for(i = 0; i < len; i++) {
+		cs ^= ((char *) data)[i];
+	}
+
+	return cs;
+}
+
+int venus_write_msg(int fd, struct venus_msg *msg) {
+	int err;
+	uint8_t cs = 0;
+
+	log_debug("id: %d", msg->data[0]);
+
+	err = full_write(fd, seq_start, sizeof(seq_start));
+	if(err != sizeof(seq_start)) {
+		log_error("failed to write seq_start: %d %d", err, errno);
+	}
+	msg->len = __cpu_to_be16(msg->len);
+	err = full_write(fd, &msg->len, 2);
+	if(err != 2) {
+		log_error("failed to write len: %d %d", err, errno);
+	}
+	msg->len = __be16_to_cpu(msg->len);
+	err = full_write(fd, msg->data, msg->len);
+	if(err != msg->len) {
+		log_error("failed to write data: %d %d", err, errno);
+	}
+	cs = checksum(msg->data, msg->len);
+	err = full_write(fd, &cs, 1);
+	if(err != 1) {
+		log_error("failed to write checksum: %d %d", err, errno);
+	}
+	err = full_write(fd, seq_end, sizeof(seq_end));
+	if(err != sizeof(seq_end)) {
+		log_error("failed to write seq_end: %d %d", err, errno);
+	}
+
+	return 0;
+}
+
+int venus_read_msg(int fd, struct venus_msg *msg) {
+	uint8_t cs;
+	uint8_t *data;
+	uint16_t len;
+	uint8_t seq[2];
+	int attempts = 0;
+
+again:
+	while(1) {
+		safe_readn(fd, seq, 2);
+		//log_error("start seq %c %c", seq[0], seq[1]);
+		if(!memcmp(seq, seq_start, 2)) {
+			break;
+		}
+		attempts++;
+		if(attempts > 1024) {
+			log_error("max attempts reached");
+			return -1;
+		}
+	}
+
+	safe_readn(fd, &len, 2);
+	len = __be16_to_cpu(len);
+	data = malloc(len);
+	safe_readn(fd, data, len);
+	safe_readn(fd, &cs, 1);
+	if(checksum(data, len) != cs) {
+		log_error("checksum mismatch");
+		return -1;
+	}
+	safe_readn(fd, seq, 2);
+	if(memcmp(seq, seq_end, 2)) {
+		log_error("expected seq end");
+		return -1;
+	}
+
+	if(len == 2 && data[0] == ID_ACK && data[1] == ID_NONE) {
+		log_debug("read ACK ID_NONE");
+		free(data);
+		goto again;
+	}
+
+	msg->data = data;
+	msg->len = len;
+
+#if DEBUG
+	{
+	int i;
+	printf("READ MSG: ");
+	for(i = 0; i < msg->len; i++) {
+		printf("%02X ", msg->data[i]);
+	}
+	printf("\n");
+	}
+#endif
+
+	return 0;
+}
+
+ssize_t read_nmea_sentence(int fd, void *buf, size_t count) {
+	int err;
+	char c;
+	ssize_t total = 0;
+	char *cp = buf;
+
+	int start = 0;
+
+	while(1) {
+		err = safe_read(fd, &c, 1);
+		if(err <= 0) {
+			log_error("read from gps failed: %d", errno);
+			return -1;
+		}
+		if(!start) {
+			if(c != '$') {
+				continue;
+			}
+			start = 1;
+		}
+
+		if(total < count) {
+			*cp++ = c;
+			total++;
+		}
+
+		if(c == '\n') {
+			break;
+		}
+	}
+
+	return total;
+}
+
+int venus_system_restart(
+	int fd,
+	uint8_t mode,
+	time_t utc,
+	int16_t latitude,
+	int16_t longitude,
+	int16_t altitude)
+{
+	int err;
+	uint8_t data[15];
+	struct venus_msg msg;
+
+	struct tm broken;
+	struct tm *tmp;
+
+	tmp = gmtime_r(&utc, &broken);
+	if (tmp == NULL) {
+		log_error("gmtime_r: %d", errno);
+		return -1;
+	}
+
+	data[0] = ID_SYSTEM_RESTART;
+	data[1] = mode;
+
+	uint16_t year = __cpu_to_le16(((uint16_t) broken.tm_year) + 1900);
+	memcpy(data + 2, &year, 2);
+	data[4] = (uint8_t) (broken.tm_mon + 1);
+	data[5] = (uint8_t) broken.tm_mday;
+	data[6] = (uint8_t) broken.tm_hour;
+	data[7] = (uint8_t) broken.tm_min;
+	data[8] = (uint8_t) broken.tm_sec;
+
+	latitude = (int16_t) __cpu_to_le16((uint16_t) latitude);
+	memcpy(data + 9, &latitude, 2);
+
+	longitude = (int16_t) __cpu_to_le16((uint16_t) longitude);
+	memcpy(data + 11, &longitude, 2);
+
+	altitude = (int16_t) __cpu_to_le16((uint16_t) altitude);
+	memcpy(data + 13, &altitude, 2);
+
+	msg.data = data;
+	msg.len = sizeof(data);
+	err = venus_write_msg(fd, &msg);
+	if(err < 0) {
+		log_error("venus_write_msg: %d", err);
+		return -1;
+	}
+
+	err = venus_read_msg(fd, &msg);
+	if(err < 0) {
+		log_error("venus_read_msg: %d", err);
+		return -1;
+	}
+	free_venus_msg_data(&msg);
+
+	return 0;
+}
+
+int venus_factory_defaults(int fd, uint8_t type) {
+	int err;
+	uint8_t data[2];
+	struct venus_msg msg;
+
+	data[0] = ID_FACTORY_DEFAULTS;
+	data[1] = type;
+
+	msg.data = data;
+	msg.len = sizeof(data);
+	err = venus_write_msg(fd, &msg);
+	if(err < 0) {
+		log_error("venus_write_msg: %d", err);
+		return -1;
+	}
+
+	err = venus_read_msg(fd, &msg);
+	if(err < 0) {
+		log_error("venus_read_msg: %d", err);
+		return -1;
+	}
+	free_venus_msg_data(&msg);
+
+	return 0;
+}
+
+int venus_conf_serial(int fd, uint8_t com, uint8_t baud, uint8_t attr) {
+	int err;
+	uint8_t data[4];
+	struct venus_msg msg;
+
+	data[0] = ID_CONF_SERIAL;
+	data[1] = com;
+	data[2] = baud;
+	data[3] = attr;
+
+	msg.data = data;
+	msg.len = sizeof(data);
+	err = venus_write_msg(fd, &msg);
+	if(err < 0) {
+		log_error("venus_write_msg: %d", err);
+		return -1;
+	}
+
+	err = venus_read_msg(fd, &msg);
+	if(err < 0) {
+		log_error("venus_read_msg: %d", err);
+		return -1;
+	}
+	free_venus_msg_data(&msg);
+
+	return 0;
+}
+
+int venus_conf_format(int fd, uint8_t type, uint8_t attr) {
+	int err;
+	uint8_t data[3];
+	struct venus_msg msg;
+
+	data[0] = ID_CONF_FORMAT;
+	data[1] = type;
+	data[2] = attr;
+
+	msg.data = data;
+	msg.len = sizeof(data);
+	err = venus_write_msg(fd, &msg);
+	if(err < 0) {
+		log_error("venus_write_msg: %d", err);
+		return -1;
+	}
+
+	err = venus_read_msg(fd, &msg);
+	if(err < 0) {
+		log_error("venus_read_msg: %d", err);
+		return -1;
+	}
+	free_venus_msg_data(&msg);
+
+	return 0;
+}
+
+int venus_query_sw_version(int fd, uint8_t type) {
+	int err;
+	uint8_t data[2];
+	struct venus_msg msg;
+
+	data[0] = ID_QUERY_SW_VERSION;
+	data[1] = type;
+
+	msg.data = data;
+	msg.len = sizeof(data);
+	err = venus_write_msg(fd, &msg);
+	if(err < 0) {
+		log_error("venus_write_msg: %d", err);
+		return -1;
+	}
+
+	err = venus_read_msg(fd, &msg);
+	if(err < 0) {
+		log_error("venus_read_msg: %d", err);
+		return -1;
+	}
+	free_venus_msg_data(&msg);
+
+	err = venus_read_msg(fd, &msg);
+	if(err < 0) {
+		log_error("venus_read_msg: %d", err);
+		return -1;
+	}
+	free_venus_msg_data(&msg);
+
+	return 0;
+}
+
+int venus_conf_nmea(
+	int fd,
+	uint8_t gga,
+	uint8_t gsa,
+	uint8_t gsv,
+	uint8_t gll,
+	uint8_t rmc,
+	uint8_t vtg,
+	uint8_t zda,
+	uint8_t attr)
+{
+	int err;
+	uint8_t data[9];
+	struct venus_msg msg;
+
+	data[0] = ID_CONF_NMEA;
+	data[1] = gga;
+	data[2] = gsa;
+	data[3] = gsv;
+	data[4] = gll;
+	data[5] = rmc;
+	data[6] = vtg;
+	data[7] = zda;
+	data[8] = attr;
+
+	msg.data = data;
+	msg.len = sizeof(data);
+	err = venus_write_msg(fd, &msg);
+	if(err < 0) {
+		log_error("venus_write_msg: %d", err);
+		return -1;
+	}
+
+	err = venus_read_msg(fd, &msg);
+	if(err < 0) {
+		log_error("venus_read_msg: %d", err);
+		return -1;
+	}
+	free_venus_msg_data(&msg);
+
+	return 0;
+}
+
+int venus_tty_configure(int fd, speed_t baud_rate) {
+	struct termios tio;
+	tcgetattr(fd, &tio);
+	cfmakeraw(&tio);
+	cfsetspeed(&tio, baud_rate);
+	tcsetattr(fd, TCSANOW, &tio);
+
+	return 0;
+}
+
+int venus_open(const char *dev, speed_t baud_rate) {
+	int tty;
+
+	tty = open(dev, O_RDWR | O_NOCTTY);
+	if(tty < 0) {
+		log_error("failed to open %s: errno: %d", dev, errno);
+		exit(1);
+	}
+
+	venus_tty_configure(tty, baud_rate);
+	tcflush(tty, TCIOFLUSH);
+
+	return tty;
+}
+
+
+
+
diff --git a/src/venus_api.h b/src/venus_api.h
new file mode 100644
index 0000000..75f189f
--- /dev/null
+++ b/src/venus_api.h
@@ -0,0 +1,98 @@
+
+#include <termios.h>
+
+#ifndef __VENUS_API_H
+#define __VENUS_API_H
+
+#define NMEA_SENTENCE_MAX 82
+
+enum venus_message_id {
+	ID_NONE                = 0x00,
+	ID_SYSTEM_RESTART      = 0x01,
+	ID_QUERY_SW_VERSION    = 0x02,
+	ID_QUERY_SW_CRC        = 0x03,
+	ID_FACTORY_DEFAULTS    = 0x04,
+	ID_CONF_SERIAL         = 0x05,
+	ID_CONF_NMEA           = 0x08,
+	ID_CONF_FORMAT         = 0x09,
+	ID_GET_EPHEMERIS       = 0x30,
+	ID_SET_EPHEMERIS       = 0x31,
+	ID_SW_VERSION          = 0x80,
+	ID_SW_CRC              = 0x81,
+	ID_ACK                 = 0x83,
+	ID_NACK                = 0x84,
+	ID_EPHEMERIS_DATA      = 0xB1,
+};
+
+enum venus_message_type {
+	MSG_TYPE_NONE    = 0,
+	MSG_TYPE_NMEA    = 1,
+	MSG_TYPE_BINARY  = 2,
+};
+
+enum venus_sw_type {
+	SW_TYPE_RESERVED    = 0,
+	SW_TYPE_SYSTEM      = 1,
+};
+
+enum venus_update_attr {
+	UPDATE_ATTR_SRAM          = 0,
+	UPDATE_ATTR_SRAM_FLASH    = 1,
+};
+
+enum venus_start_mode {
+	SYSTEM_RESET_NO_CHANGE    = 0,
+	SYSTEM_RESET_HOT          = 1,
+	SYSTEM_RESET_WARM         = 2,
+	SYSTEM_RESET_COLD         = 3,
+	SYSTEM_RESET_TEST_MODE    = 4,
+};
+
+enum venus_com_port {
+	VENUS_COM1 = 0,
+};
+
+enum venus_baud_rate {
+	VENUS_4800    = 0,
+	VENUS_9600    = 1,
+	VENUS_19200   = 2,
+	VENUS_38400   = 3,
+	VENUS_57600   = 4,
+	VENUS_115200  = 5,
+};
+
+enum venus_factory_defaults_type {
+	FACTORY_DEFAULTS_RESERVED   = 0,
+	FACTORY_DEFAULTS_REBOOT     = 1,
+};
+
+struct baud_map {
+	speed_t baud;
+	speed_t value;
+};
+
+struct venus_msg {
+	uint8_t *data;
+	uint16_t len;
+};
+
+speed_t value_to_baud(speed_t value);
+speed_t baud_to_venus(speed_t baud);
+void free_venus_msg_data(struct venus_msg *msg);
+uint8_t checksum(void *data, uint16_t len);
+int venus_write_msg(int fd, struct venus_msg *msg);
+int venus_read_msg(int fd, struct venus_msg *msg);
+ssize_t read_nmea_sentence(int fd, void *buf, size_t count);
+int venus_system_restart(int fd, uint8_t mode, time_t utc, int16_t latitude,
+			int16_t longitude, int16_t altitude);
+int venus_factory_defaults(int fd, uint8_t type);
+int venus_conf_serial(int fd, uint8_t com, uint8_t baud, uint8_t attr);
+int venus_conf_format(int fd, uint8_t type, uint8_t attr);
+int venus_query_sw_version(int fd, uint8_t type);
+int venus_conf_nmea(int fd, uint8_t gga, uint8_t gsa, uint8_t gsv, uint8_t gll,
+			uint8_t rmc, uint8_t vtg, uint8_t zda, uint8_t attr);
+int venus_tty_configure(int fd, speed_t baud_rate);
+int venus_open(const char *dev, speed_t baud_rate);
+
+#endif /* ~__VENUS_API_H */
+
diff --git a/src/venus_gps.c b/src/venus_gps.c
new file mode 100644
index 0000000..4a02096
--- /dev/null
+++ b/src/venus_gps.c
@@ -0,0 +1,631 @@
+/*
+ * Venus GPS Controller Example
+ *
+ * Copyright (C) 2010 by Multi-Tech Systems
+ *
+ * Author: James Maki <jmaki@multitech.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+#include <stdio.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <stdint.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <stdlib.h>
+#include <termios.h>
+#include <unistd.h>
+#include <string.h>
+#include <stdarg.h>
+#include <poll.h>
+#include <getopt.h>
+#include <time.h>
+#include <signal.h>
+
+#include "log.h"
+#include "cbuffer.h"
+#include "utils.h"
+#include "venus_gps.h"
+#include "venus_api.h"
+
+static sig_atomic_t timer_expired;
+static void sigalarm_handler(int arg) {
+	timer_expired = 1;
+}
+
+static sig_atomic_t sigpipe = 0;
+static void sigpipe_handler(int arg) {
+	sigpipe = 1;
+}
+
+enum {
+	MODE_SERVER = 0,
+	MODE_CLIENT = 1,
+};
+
+static char *device = "/dev/ttyS3";
+static char remote_host[256];
+static int port = 5445;
+static speed_t baud_rate = B9600;
+
+static uint8_t gga = 1;
+static uint8_t gsa = 1;
+static uint8_t gsv = 1;
+static uint8_t gll = 1;
+static uint8_t rmc = 1;
+static uint8_t vtg = 1;
+static uint8_t zda = 1;
+
+/*
+ * XXX: I don't know if these work, yet. I haven't tried them out.
+ *
+ */
+static uint8_t start_mode = (uint8_t) -1;
+static int16_t latitude = 45;
+static int16_t longitude = -93;
+static int16_t altitude = 256;
+
+
+static int tcp_exchange_data(int sd, int tty) {
+	int i;
+	int err;
+	struct pollfd fds[2];
+	nfds_t nfds = 2;
+	struct cbuffer bufs[2];
+
+	log_debug("starting");
+
+	memset(fds, 0, sizeof(fds));
+
+	for(i = 0; i < nfds; i++) {
+		memset(&fds[i], 0, sizeof(fds[i]));
+		bufs[i].read_index = bufs[i].write_index = 0;
+	}
+
+	fds[0].fd = tty;
+	fds[1].fd = sd;
+
+	while(1) {
+		for(i = 0; i < nfds; i++) {
+			fds[i].events = 0;
+		}
+
+		for(i = 0; i < nfds; i++) {
+			if(buffer_free(&bufs[i])) {
+				fds[i].events |= POLLIN;
+			}
+			if(buffer_used(&bufs[i])) {
+				fds[DIR_REV(i)].events |= POLLOUT;
+			}
+		}
+
+		err = poll(fds, nfds, -1);
+		if(err <= 0) {
+			log_error("poll returned %d errno: %d", err, errno);
+			break;
+		}
+
+		log_debug("poll returned %d", err);
+
+		for(i = 0; i < nfds; i++) {
+			if(fds[i].revents) {
+				log_debug("fds[%d]: %d revents: %04X POLLIN: %04X POLLOUT: %04X POLLHUP: %04X", i, fds[i].fd, fds[i].revents, POLLIN, POLLOUT, POLLHUP);
+
+				if(fds[i].revents & POLLHUP) {
+					log_error("fds[%d]: %d POLLHUP", i, fds[i].fd);
+					return 0;
+				} else if(fds[i].revents & POLLOUT) {
+					log_debug("fds[%d]: %d POLLOUT buffer_used: %lu", i, fds[i].fd, (unsigned long) buffer_used(&bufs[DIR_REV(i)]));
+
+					err = buffered_write(fds[i].fd, &bufs[DIR_REV(i)]);
+					if(err < 0) {
+						log_error("fds[%d]: %d safe_write failed: errno: %d", i, fds[i].fd, errno);
+						return -1;
+					}
+				} else if(fds[i].revents & POLLIN) {
+					log_debug("fds[%d]: %d POLLIN buffer_free: %lu", i, fds[i].fd, (unsigned long) buffer_free(&bufs[i]));
+
+					err = buffered_read(fds[i].fd, &bufs[i]);
+					if(err <= 0) {
+						log_debug("fds[%d]: %d safe_read failed: errno: %d", i, fds[i].fd, errno);
+						return -1;
+					}
+				}
+			}
+		}
+	}
+
+	return -1;
+}
+
+static int udp_send_msgs(int sd, int tty) {
+	char buf[NMEA_SENTENCE_MAX];
+	int count;
+	int err;
+
+	while(1) {
+		count = read_nmea_sentence(tty, buf, sizeof(buf));
+		if(count <= 0) {
+			log_error("read_nmea_sentence failed: quiting");
+			return -1;
+		}
+		err = send(sd, buf, count, 0);
+		if(err < 0) {
+			log_debug("send failed: %d", errno);
+			return -1;
+		}
+	}
+
+	return -1;
+}
+
+static int udp_server() {
+	log_error("UDP Server mode is not implemented");
+	exit(1);
+	return -1;
+}
+
+static int udp_client() {
+	int tty;
+	int sd;
+
+	log_notice("Venus GPS UDP Client connecting to %s:%d", remote_host, port);
+
+	while(1) {
+		sd = inet_conn_str(remote_host, port, SOCK_DGRAM);
+		if(sd < 0) {
+			log_error("inet_conn_str failed: %d", errno);
+			sleep(60);
+		} else {
+			log_debug("connection opened");
+
+			tty = venus_open(device, baud_rate);
+
+			set_nonblocking(sd);
+
+			udp_send_msgs(sd, tty);
+
+			close(sd);
+			close(tty);
+		}
+	}
+
+	return -1;
+}
+
+static int tcp_client() {
+	int tty;
+	int sd;
+
+	log_notice("Venus GPS TCP Client connecting to %s:%d", remote_host, port);
+
+	while(1) {
+		sd = inet_conn_str(remote_host, port, SOCK_STREAM);
+		if(sd < 0) {
+			log_error("inet_conn_str failed: %d", errno);
+			sleep(60);
+		} else {
+			log_debug("connection opened");
+
+			tty = venus_open(device, baud_rate);
+
+			set_nonblocking(tty);
+			set_nonblocking(sd);
+
+			tcp_exchange_data(sd, tty);
+
+			close(sd);
+			close(tty);
+		}
+	}
+
+	return -1;
+}
+
+static int tcp_server() {
+	int err;
+	int tty;
+	int lsd;
+	int sd;
+	int cli_addr_len;
+	int serv_addr_len;
+	int reuse = 1;
+
+	struct sockaddr_in serv_addr;
+	struct sockaddr_in cli_addr;
+
+	lsd = socket(PF_INET, SOCK_STREAM, 0);
+	if(lsd == -1) {
+		log_error("socket failed: %d", errno);
+		exit(1);
+	}
+
+	memset(&serv_addr, 0, sizeof(serv_addr));
+	serv_addr.sin_family = AF_INET;
+	serv_addr.sin_addr.s_addr = htonl(INADDR_ANY);
+	serv_addr.sin_port = htons(port);
+
+	err = setsockopt(lsd, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof(reuse));
+	if(err == -1) {
+		log_error("setsockopt failed: %d", errno);
+		exit(1);
+	}
+
+	serv_addr_len = sizeof(serv_addr);
+	
+	err = bind(lsd, (struct sockaddr *) &serv_addr, sizeof(serv_addr));
+	if(err == -1) {
+		log_error("bind failed: %d", errno);
+		exit(1);
+	}
+
+	err = listen(lsd, 1);
+	if(err == -1) {
+		log_error("listen failed: %d", errno);
+		exit(1);
+	}
+
+	log_notice("Venus GPS TCP Server listening on port %d", port);
+
+	while(1) {
+		cli_addr_len = sizeof(cli_addr);
+
+		sd = accept(lsd, (struct sockaddr *) &cli_addr, (socklen_t *) &cli_addr_len);
+		if(sd == -1) {
+			log_error("accept failed: %d", errno);
+		} else {
+			log_debug("accepted");
+
+			tty = venus_open(device, baud_rate);
+
+			set_nonblocking(tty);
+			set_nonblocking(sd);
+
+			tcp_exchange_data(sd, tty);
+
+			close(sd);
+			close(tty);
+		}
+	}
+
+	close(lsd);
+
+	return -1;
+}
+
+static void print_version(const char *name) {
+	printf("%s (" PACKAGE ") " VERSION " (" __DATE__ " " __TIME__ ")\n", name);
+	printf("Copyright (C) 2010 by Multi-Tech Systems\n");
+	printf(
+"This program is free software; you may redistribute it under the terms of\n"
+"the GNU General Public License version 2 or (at your option) any later version.\n"
+"This program has absolutely no warranty.\n");
+}
+
+static void usage(FILE *out) {
+	fprintf(out, "usage: venus-gps [ OPTIONS ... ]\n");
+	fprintf(out, "where  OPTIONS := { \n");
+	fprintf(out, "         --daemonize |\n");
+	fprintf(out, "         -d --device <device> (default: /dev/ttyS3) |\n");
+	fprintf(out, "         -p --port <port> (default: 5445) |\n");
+	fprintf(out, "         --protocol { tcp (default) | udp } |\n");
+	fprintf(out, "         --mode { client | server (default) } |\n");
+	fprintf(out, "         --remote-host <host> |\n");
+#if CONFIG_CAN_DEFAULT
+	fprintf(out, "         -f --factory-defaults |\n");
+#endif
+#if CONFIG_CAN_RESET
+	fprintf(out, "\n");
+	fprintf(out, "         --start-mode 0-5 (default: 0) |\n");
+	fprintf(out, "         --latitude VAL (default: ) |\n");
+	fprintf(out, "         --longitude VAL (default: ) |\n");
+	fprintf(out, "         --altitude VAL (default: ) |\n");
+#endif
+	fprintf(out, "\n");
+	fprintf(out, "         --gga 0-255 (default: 1) |\n");
+	fprintf(out, "         --gsa 0-255 (default: 1) |\n");
+	fprintf(out, "         --gsv 0-255 (default: 1) |\n");
+	fprintf(out, "         --gll 0-255 (default: 1) |\n");
+	fprintf(out, "         --rmc 0-255 (default: 1) |\n");
+#if CONFIG_HAVE_ZDA
+	fprintf(out, "         --zda 0-255 (default: 1) |\n");
+#endif
+	fprintf(out, "         --vtg 0-255 (default: 1)\n");
+	fprintf(out, "       }\n");
+	fprintf(out, "\n");
+}
+
+#define OPT_DEVICE		'd'
+#define OPT_PORT		'p'
+#define OPT_FACTORY_DEFAULTS	'f'
+#define OPT_BAUD_RATE		'b'
+
+enum {
+	OPT_VERSION = 128,
+	OPT_HELP,
+	OPT_GGA,
+	OPT_GSA,
+	OPT_GSV,
+	OPT_GLL,
+	OPT_RMC,
+	OPT_VTG,
+	OPT_ZDA,
+	OPT_START_MODE,
+	OPT_LATITUDE,
+	OPT_LONGITUDE,
+	OPT_ALTITUDE,
+	OPT_REMOTE_HOST,
+	OPT_DAEMONIZE,
+	OPT_PROTOCOL,
+	OPT_MODE,
+};
+
+static char *short_options = "b:d:p:f";
+static struct option long_options[] = {
+	{"protocol", 1, 0, OPT_PROTOCOL},
+	{"daemonize", 0, 0, OPT_DAEMONIZE},
+	{"device", 1, 0, OPT_DEVICE},
+	{"mode", 1, 0, OPT_MODE},
+	{"remote-host", 1, 0, OPT_REMOTE_HOST},
+	{"port", 1, 0, OPT_PORT},
+	{"baud-rate", 1, 0, OPT_BAUD_RATE},
+#if CONFIG_CAN_DEFAULT
+	{"factory-defaults", 0, 0, OPT_FACTORY_DEFAULTS},
+#endif
+	{"gga", 1, 0, OPT_GGA},
+	{"gsa", 1, 0, OPT_GSA},
+	{"gsv", 1, 0, OPT_GSV},
+	{"gll", 1, 0, OPT_GLL},
+	{"rmc", 1, 0, OPT_RMC},
+	{"vtg", 1, 0, OPT_VTG},
+#if CONFIG_HAVE_ZDA
+	{"zda", 1, 0, OPT_ZDA},
+#endif
+#if CONFIG_CAN_RESET
+	{"start-mode", 1, 0, OPT_START_MODE},
+	{"latitude", 1, 0, OPT_LATITUDE},
+	{"longitude", 1, 0, OPT_LONGITUDE},
+	{"altitude", 1, 0, OPT_ALTITUDE},
+#endif
+	{"version", 0, NULL, OPT_VERSION},
+	{"help", 0, NULL, OPT_HELP},
+	{0, 0, 0, 0},
+};
+
+int main(int argc, char *argv[]) {
+	int i;
+	int option_index;
+	int tty;
+	int factory_defaults = 0;
+	int daemonize = 0;
+	int proto = IPPROTO_TCP;
+	int mode = MODE_SERVER;
+
+	struct sigaction sa;
+
+	sa.sa_handler = sigalarm_handler;
+	sigemptyset(&sa.sa_mask);
+	sa.sa_flags = 0;
+	sigaction(SIGALRM, &sa, NULL);
+
+	sa.sa_handler = sigpipe_handler;
+	sigemptyset(&sa.sa_mask);
+	sa.sa_flags = 0;
+	sigaction(SIGPIPE, &sa, NULL);
+
+	while((i = getopt_long(argc, argv, short_options, long_options, &option_index)) >= 0) {
+		switch(i) {
+		case 0:
+			break;
+
+		case OPT_PROTOCOL:
+			if(!strcasecmp("tcp", optarg)) {
+				proto = IPPROTO_TCP;
+			} else if(!strcasecmp("udp", optarg)) {
+				proto = IPPROTO_UDP;
+			} else {
+				log_error("invalid transport protocol");
+				usage(stderr);
+				exit(1);
+			}
+			break;
+
+		case OPT_DAEMONIZE:
+			daemonize = 1;
+			break;
+
+		case OPT_MODE:
+			if(!strcasecmp("server", optarg)) {
+				mode = MODE_SERVER;
+			} else if(!strcasecmp("client", optarg)) {
+				mode = MODE_CLIENT;
+			} else {
+				log_error("invalid mode");
+				usage(stderr);
+				exit(1);
+			}
+			break;
+
+		case OPT_DEVICE:
+			device = optarg;
+			break;
+
+		case OPT_PORT:
+			port = atoi(optarg);
+			if(port <= 0 || port >= (1 << 16)) {
+				log_error("invalid port");
+				usage(stderr);
+				exit(1);
+			}
+			break;
+
+		case OPT_BAUD_RATE:
+			baud_rate = atoi(optarg);
+			baud_rate = value_to_baud(baud_rate);
+			if(baud_rate == (speed_t) -1) {
+				usage(stderr);
+				exit(1);
+			}
+			break;
+
+		case OPT_GGA:
+			gga = atoi(optarg);
+			break;
+
+		case OPT_GSA:
+			gsa = atoi(optarg);
+			break;
+
+		case OPT_GSV:
+			gsv = atoi(optarg);
+			break;
+
+		case OPT_GLL:
+			gll = atoi(optarg);
+			break;
+
+		case OPT_RMC:
+			rmc = atoi(optarg);
+			break;
+
+		case OPT_VTG:
+			vtg = atoi(optarg);
+			break;
+
+#if CONFIG_HAVE_ZDA
+		case OPT_ZDA:
+			zda = atoi(optarg);
+			break;
+#endif
+
+#if CONFIG_CAN_RESET
+		case OPT_START_MODE:
+			start_mode = (uint8_t) atoi(optarg);
+			break;
+
+		case OPT_LATITUDE:
+			latitude = (int16_t) atoi(optarg);
+			break;
+
+		case OPT_LONGITUDE:
+			longitude = (int16_t) atoi(optarg);
+			break;
+
+		case OPT_ALTITUDE:
+			altitude = (int16_t) atoi(optarg);
+			break;
+#endif
+
+#if CONFIG_CAN_DEFAULT
+		case OPT_FACTORY_DEFAULTS:
+			factory_defaults = 1;
+			break;
+#endif
+
+		case OPT_REMOTE_HOST:
+			snprintf(remote_host, sizeof(remote_host), "%s", optarg);
+			break;
+
+		case OPT_VERSION:
+			print_version("venus-gps");
+			exit(0);
+			break;
+
+		case OPT_HELP:
+			usage(stdout);
+			exit(0);
+			break;
+
+		default:
+			usage(stderr);
+			exit(1);
+		}
+	}
+
+	if(optind < argc) {
+		usage(stderr);
+		exit(1);
+	}
+
+	if(daemonize) {
+#if CONFIG_USE_SYSLOG
+		daemon(0, 0);
+#else
+		daemon(0, 1);
+#endif
+	}
+
+#if CONFIG_USE_SYSLOG
+	openlog("VenusGPS", LOG_NDELAY, LOG_FACILITY);
+# if DEBUG
+	setlogmask(LOG_UPTO(LOG_DEBUG));
+# else
+	setlogmask(LOG_UPTO(LOG_INFO));
+# endif
+#endif
+
+	tty = venus_open(device, baud_rate);
+	if(tty < 0) {
+		log_error("failed to open tty: errno: %d", errno);
+		exit(1);
+	}
+
+	venus_conf_format(tty, MSG_TYPE_BINARY, UPDATE_ATTR_SRAM);
+	venus_query_sw_version(tty, SW_TYPE_RESERVED);
+
+	if(factory_defaults) {
+		venus_factory_defaults(tty, FACTORY_DEFAULTS_REBOOT);
+		log_notice("setting factory defaults");
+		exit(0);
+	}
+	if(start_mode != (typeof(start_mode)) -1) {
+		venus_system_restart(tty, start_mode, time(NULL), latitude, longitude, altitude);
+		log_notice("issuing system restart");
+		exit(0);
+	}
+
+	venus_conf_nmea(tty, gga, gsa, gsv, gll, rmc, vtg, zda, UPDATE_ATTR_SRAM);
+
+	venus_conf_format(tty, MSG_TYPE_NMEA, UPDATE_ATTR_SRAM);
+
+	close(tty);
+
+	if(proto == IPPROTO_TCP) {
+		if(mode == MODE_SERVER) {
+			tcp_server();
+		} else {
+			if(!*remote_host) {
+				log_notice("remote-host must be specified");
+				exit(1);
+			}
+			tcp_client();
+		}
+	} else if(proto == IPPROTO_UDP) {
+		if(mode == MODE_SERVER) {
+			udp_server();
+		} else {
+			if(!*remote_host) {
+				log_notice("remote-host must be specified");
+				exit(1);
+			}
+			udp_client();
+		}
+	}
+
+	return 0;
+}
diff --git a/src/venus_gps.h b/src/venus_gps.h
new file mode 100644
index 0000000..895d97e
--- /dev/null
+++ b/src/venus_gps.h
@@ -0,0 +1,6 @@
+#ifndef __VENUS_GPS_H
+#define __VENUS_GPS_H
+
+#include "config.h"
+
+#endif /* ~__VENUS_GPS_H */