src/gps.vala

   1 /*
   2  * gps - gps resource for zavai
   3  *
   4  * Copyright (C) 2009--2010  Enrico Zini <enrico@enricozini.org>
   5  *
   6  * This program is free software; you can redistribute it and/or modify
   7  * it under the terms of the GNU General Public License as published by
   8  * the Free Software Foundation; either version 2 of the License, or
   9  * (at your option) any later version.
  10  *
  11  * This program is distributed in the hope that it will be useful,
  12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  14  * GNU General Public License for more details.
  15  *
  16  * You should have received a copy of the GNU General Public License
  17  * along with this program; if not, write to the Free Software
  18  * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  19  */
  20
  21 using GLib;
  22
  23 namespace zavai {
  24 namespace gps {
  25
  26 // For a list of dbus services, look in /etc/dbus-1/system.d/
  27 public class GPS: zavai.Service
  28 {
  29     protected libgps.data_t data;
  30     protected IOChannel gpsfd = null;
  31     protected uint gpsfd_watch = 0;
  32
  33     protected int old_fix_status = libgps.STATUS_NO_FIX;
  34
  35     public signal void fix_status_changed(int status);
  36
  37     public GPS()
  38     {
  39         Object(name: "gps");
  40         data = libgps.data_t();
  41     }
  42
  43     public int fix_status() { return old_fix_status; }
  44
  45     protected bool on_input_data(IOChannel source, IOCondition condition)
  46     {
  47         while (libgps.waiting(ref data))
  48         {
  49             int res = libgps.poll(ref data);
  50             if (res != 0)
  51                 zavai.log.error(libgps.errstr(res));
  52
  53             if (data.status != old_fix_status)
  54             {
  55                 fix_status_changed(data.status);
  56                 old_fix_status = data.status;
  57             }
  58             /*
  59             stderr.printf("GPSMSG %d %d\n", (int)data.set, data.status);
  60             stderr.printf("SATUSED %d\n", data.satellites_used);
  61             stderr.printf("SWT %f\n", data.skyview_time);
  62             stderr.printf("SATVIS %d\n", data.satellites_visible);
  63             for (int i = 0; i < data.satellites_visible; ++i)
  64             {
  65                 stderr.printf("PRN %d ELE %d AZI %d SS %f\n",
  66                     data.PRN[i], data.elevation[i], data.azimuth[i], data.ss[i]);
  67             }
  68             */
  69         }
  70         return true;
  71     }
  72
  73     /// Request GPS resource
  74     public override void start()
  75     {
  76         if (started) return;
  77
  78         try {
  79             // Then run our own script
  80             zavai.app.run_script(zavai.config.homedir + "/gps start");
  81         } catch (Error e) {
  82             zavai.log.error("Running " + zavai.config.homedir + "/gps start: " + e.message);
  83             return;
  84         }
  85
  86         int res = libgps.open_r("ciapino", "gpsd", ref data);
  87         if (res != 0)
  88         {
  89             zavai.log.error(libgps.errstr(res));
  90             return;
  91         }
  92
  93         res = libgps.stream(ref data, libgps.WATCH_ENABLE, null);
  94         if (res != 0)
  95         {
  96             zavai.log.error(libgps.errstr(res));
  97             return;
  98         }
  99
 100         res = libgps.send(ref data, "?SKY;");
 101         //res = libgps.send(ref data, "?WATCH;");
 102         //if (res != 0) zavai.log.error(libgps.errstr(res));
 103
 104         gpsfd = new IOChannel.unix_new(data.gps_fd);
 105         try {
 106             gpsfd.set_encoding(null);
 107         } catch (Error e) {
 108             zavai.log.error("Setting encoding to null on gpsd io channel: " + e.message);
 109         }
 110         //gpsfd.set_buffered(false);
 111         gpsfd_watch = gpsfd.add_watch(IOCondition.IN, on_input_data);
 112
 113         zavai.log.info("GPS turned on");
 114         base.start();
 115     }
 116
 117     // Release usage of GPS
 118     public override void stop()
 119     {
 120         if (!started) return;
 121
 122         Source.remove(gpsfd_watch);
 123
 124         int res = libgps.close(ref data);
 125         if (res != 0)
 126             zavai.log.error(libgps.errstr(res));
 127
 128         try {
 129             zavai.app.run_script(zavai.config.homedir + "/gps stop");
 130         } catch (Error e) {
 131             zavai.log.error("Running device stop gps: " + e.message);
 132         }
 133
 134         if (old_fix_status != libgps.STATUS_NO_FIX)
 135         {
 136             old_fix_status = libgps.STATUS_NO_FIX;
 137             fix_status_changed(old_fix_status);
 138         }
 139
 140         base.stop();
 141     }
 142 }
 143
 144 public class Position : zavai.Service
 145 {
 146         dynamic DBus.Object position;
 147
 148         public signal void position_changed(int fields, int tstamp, double lat, double lon, double alt);
 149
 150         public Position()
 151         {
 152                 Object(name: "gps.position");
 153                 position = zavai.registry.sbus.get_object(
 154                         "org.freesmartphone.ogpsd",
 155                         "/org/freedesktop/Gypsy",
 156                         "org.freedesktop.Gypsy.Position");
 157         }
 158
 159         public void on_position_changed(dynamic DBus.Object pos, int fields, int tstamp, double lat, double lon, double alt)
 160         {
 161                 zavai.log.info("gps position: position changed");
 162                 position_changed(fields, tstamp, lat, lon, alt);
 163         }
 164
 165         public override void start()
 166         {
 167                 if (started) return;
 168                 zavai.log.info("Starting GPS position tracking");
 169                 gps.request("gps.position");
 170                 position.PositionChanged += on_position_changed;
 171                 base.start();
 172         }
 173
 174         public override void stop()
 175         {
 176                 if (!started) return;
 177                 zavai.log.info("Stopping GPS position tracking");
 178                 position.PositionChanged -= on_position_changed;
 179                 gps.release("gps.position");
 180                 base.stop();
 181         }
 182 }
 183
 184 // #    def wait_for_fix(self, callback):
 185 // #        status = self.gps.GetFixStatus()
 186 // #        if status in [2, 3]:
 187 // #            zavai.info("We already have a fix, good.")
 188 // #            callback()
 189 // #            return True
 190 // #        else:
 191 // #            zavai.info("Waiting for a fix...")
 192 // #            self.waiting_for_fix = callback
 193 // #            self.bus.add_signal_receiver(
 194 // #                self.on_fix_status_changed, 'FixStatusChanged', 'org.freedesktop.Gypsy.Device',
 195 // #                'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
 196 // #            return False
 197 // #
 198 // #    def start_recording(self):
 199 // #        if self.gps_monitor:
 200 // #            self.gps_monitor.stop()
 201 // #            self.gps_monitor = None
 202 // #
 203 // #        if not self.audio:
 204 // #            return
 205 // #
 206 // #        # Sync system time
 207 // #        gpstime = self.gps.gps_time.GetTime()
 208 // #        subprocess.call(["date", "-s", "@%d" % gpstime])
 209 // #        subprocess.call(["hwclock", "--systohc"])
 210 // #
 211 // #        # Compute basename for output files
 212 // #        self.basename = time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime(gpstime))
 213 // #        self.basename = os.path.join(AUDIODIR, self.basename)
 214 // #
 215 // #        # Start recording the GPX track
 216 // #        self.gpx = GPX(self.basename)
 217 // #        self.gps.track_position(self.on_position_changed)
 218 // #
 219 // #        # Start recording in background forking arecord
 220 // #        self.audio.set_basename(self.basename)
 221 // #        self.audio.start_recording()
 222 // #
 223
 224 // Write GPX track and waypoint files
 225 public class GPX : Service
 226 {
 227         public bool tracking {
 228                 get { return trk != null; }
 229                 set {}
 230         }
 231         public signal void tracking_changed(bool tracking);
 232
 233         FileStream trk = null;
 234         FileStream wpt = null;
 235         int wpt_seq = 1;
 236         bool last_valid = false;
 237         int last_fields;
 238         time_t last_tstamp;
 239         double last_lat;
 240         double last_lon;
 241         double last_alt;
 242
 243         public GPX()
 244         {
 245                 Object(name: "gps.gpx");
 246         }
 247
 248         public override void start()
 249         {
 250                 if (!started)
 251                 {
 252                         log.info("Starting GPX trace subsystem");
 253                         position.request("gps.gpx");
 254                         position.position_changed += on_position_changed;
 255                         base.start();
 256                 }
 257         }
 258
 259         public override void stop()
 260         {
 261                 if (started)
 262                 {
 263                         log.info("Stopping GPX trace subsystem");
 264                         position.release("gps.gpx");
 265                         position.position_changed -= on_position_changed;
 266                         stop_track();
 267                         base.stop();
 268                 }
 269         }
 270
 271         public void on_position_changed(Position pos, int fields, int tstamp, double lat, double lon, double alt)
 272         {
 273                 last_fields = fields;
 274                 last_tstamp = tstamp;
 275                 last_lat = lat;
 276                 last_lon = lon;
 277                 last_alt = alt;
 278                 last_valid = true;
 279                 trackpoint();
 280         }
 281
 282         public void start_track(time_t tstamp = 0, string? basename = null)
 283         {
 284                 string fname;
 285                 if (basename != null)
 286                         fname = basename;
 287                 else
 288                 {
 289                         time_t now = tstamp == 0 ? time_t() : tstamp;
 290
 291                         // Compute basename for output files
 292                         var t = Time.local(now);
 293                         char[] res = new char[25];
 294                         t.strftime(res, "%Y-%m-%d-%H-%M-%S");
 295                         fname = zavai.config.homedir + "/" + (string)res;
 296                 }
 297
 298                 trk = FileStream.open(fname + "-trk.gpx", "wt");
 299                 trk.puts("<?xml version=\"1.0\" encoding=\"UTF-8\"?>");
 300                 trk.puts(" <gpx");
 301                 trk.puts("     version=\"1.0\"");
 302                 trk.printf("     creator=\"zavai %s\"\n", zavai.config.version);
 303                 trk.puts("     xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\"");
 304                 trk.puts("     xmlns=\"http://www.topografix.com/GPX/1/0\"");
 305                 trk.puts("     xsi:schemaLocation=\"http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd\">");
 306                 trk.puts("   <trk>");
 307                 trk.puts("     <trkseg>");
 308
 309                 wpt = FileStream.open(fname + "-wpt.gpx", "wt");
 310                 wpt.puts("<?xml version=\"1.0\" encoding=\"UTF-8\"?>");
 311                 wpt.puts(" <gpx");
 312                 wpt.puts("     version=\"1.0\"");
 313                 wpt.printf("     creator=\"zavai %s\"", zavai.config.version);
 314                 wpt.puts("     xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\"");
 315                 wpt.puts("     xmlns=\"http://www.topografix.com/GPX/1/0\"");
 316                 wpt.puts("     xsi:schemaLocation=\"http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd\">");
 317
 318                 wpt_seq = 1;
 319                 tracking_changed(true);
 320         }
 321
 322         public void stop_track()
 323         {
 324                 if (trk != null)
 325                 {
 326                         trk.puts("</trkseg></trk></gpx>");
 327                         trk.flush();
 328                         trk = null;
 329                 }
 330                 if (wpt != null)
 331                 {
 332                         wpt.puts("</gpx>");
 333                         wpt.flush();
 334                         wpt = null;
 335                 }
 336                 last_valid = false;
 337                 tracking_changed(false);
 338         }
 339
 340         // Mark a track point
 341         public void trackpoint()
 342         {
 343                 if (!last_valid) return;
 344                 if (trk == null)
 345                         start_track(last_tstamp);
 346
 347                 trk.printf("<trkpt lat=\"%f\" lon=\"%f\">\n", last_lat, last_lon);
 348                 var t = Time.local(last_tstamp);
 349                 char[] ts = new char[25];
 350                 t.strftime(ts, "%Y-%m-%dT%H:%M:%SZ");
 351                 trk.printf("  <time>%s</time>\n", (string)ts);
 352                 trk.printf("  <ele>%f</ele>\n", last_alt);
 353                 // if course is not None: print >>self.trk, "    <course>%f</course>" % course
 354                 // if speed is not None: print >>self.trk, "    <speed>%f</speed>" % speed
 355                 // if fix is not None: print >>self.trk, "    <fix>%f</fix>" % fix
 356                 // if hdop is not None: print >>self.trk, "    <hdop>%f</hdop>" % hdop
 357                 trk.puts("</trkpt>");
 358         }
 359
 360         // Mark a waypoint
 361         public void waypoint(string? name = null)
 362         {
 363                 if (!last_valid) return;
 364                 if (wpt == null)
 365                         start_track(last_tstamp);
 366
 367                 string wptname;
 368                 if (name == null)
 369                 {
 370                         wptname = "wpt_%d".printf(wpt_seq);
 371                         wpt_seq += 1;
 372                 } else {
 373                         wptname = name;
 374                 }
 375
 376                 wpt.printf("<wpt lat=\"%f\" lon=\"%f\">\n", last_lat, last_lon);
 377                 wpt.printf("  <name>%s</name>\n", wptname);
 378                 var t = Time.local(last_tstamp);
 379                 char[] ts = new char[25];
 380                 t.strftime(ts, "%Y-%m-%dT%H:%M:%SZ");
 381                 wpt.printf("  <time>%s</time>\n", (string)ts);
 382                 wpt.printf("  <ele>%f</ele>\n", last_alt);
 383                 wpt.puts("</wpt>");
 384         }
 385 }
 386
 387 public zavai.gps.GPS gps = null;
 388 public zavai.gps.Position position = null;
 389 public zavai.gps.GPX gpx = null;
 390
 391 public void init()
 392 {
 393     gps = new GPS();
 394     position = new Position();
 395     gpx = new GPX();
 396
 397 }
 398
 399 }
 400 }