src/gps.vala

   1 /*
   2  * gps - gps resource for zavai
   3  *
   4  * Copyright (C) 2009  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         public dynamic DBus.Object usage;
  30         public dynamic DBus.Object device;
  31
  32         public GPS()
  33         {
  34                 name = "gps";
  35
  36                 // see mdbus -s org.freesmartphone.ousaged /org/freesmartphone/Usage
  37                 usage = zavai.registry.sbus.get_object(
  38                         "org.freesmartphone.ousaged",
  39                         "/org/freesmartphone/Usage",
  40                         "org.freesmartphone.Usage");
  41
  42                 device = zavai.registry.sbus.get_object(
  43                         "org.freesmartphone.ogpsd",
  44                         "/org/freedesktop/Gypsy",
  45                         "org.freedesktop.Gypsy.Device");
  46         }
  47
  48     public void power_cycle(bool aggressive)
  49     {
  50         // "Have you tried turning it off and on again?"
  51                 try {
  52             usage.SetResourcePolicy("GPS", "disabled");
  53                 } catch (GLib.Error e) {
  54                         zavai.log.error(e.message);
  55                 }
  56         Thread.usleep(500000);
  57         if (aggressive)
  58             // Sometimes the GPS crashes because its state contains something
  59             // that makes it crash, so we need to remove the saved state or it
  60             // crashes again quite soon
  61             FileUtils.unlink("/var/lib/freesmartphone/ogpsd.pickle");
  62                 try {
  63             usage.SetResourcePolicy("GPS", "auto");
  64                 } catch (GLib.Error e) {
  65                         zavai.log.error(e.message);
  66                 }
  67     }
  68
  69         /// Request GPS resource
  70         public override void start()
  71         {
  72                 if (started) return;
  73                 try {
  74                         usage.RequestResource("GPS");
  75                         zavai.log.info("Acquired GPS");
  76                         base.start();
  77                 } catch (GLib.Error e) {
  78                         zavai.log.error(e.message);
  79                 }
  80                 base.start();
  81         }
  82
  83         // Release usage of GPS
  84         public override void stop()
  85         {
  86                 if (!started) return;
  87                 try {
  88                         usage.ReleaseResource("GPS");
  89                         zavai.log.info("Released GPS");
  90                         base.stop();
  91                 } catch (GLib.Error e) {
  92                         zavai.log.error(e.message);
  93                 }
  94                 base.stop();
  95         }
  96 }
  97
  98 public class Position : zavai.Service
  99 {
 100         dynamic DBus.Object position;
 101
 102         public signal void position_changed(int fields, int tstamp, double lat, double lon, double alt);
 103
 104         public Position()
 105         {
 106                 name = "gps.position";
 107                 position = zavai.registry.sbus.get_object(
 108                         "org.freesmartphone.ogpsd",
 109                         "/org/freedesktop/Gypsy",
 110                         "org.freedesktop.Gypsy.Position");
 111         }
 112
 113         public void on_position_changed(dynamic DBus.Object pos, int fields, int tstamp, double lat, double lon, double alt)
 114         {
 115                 zavai.log.info("gps position: position changed");
 116                 position_changed(fields, tstamp, lat, lon, alt);
 117         }
 118
 119         public override void start()
 120         {
 121                 if (started) return;
 122                 zavai.log.info("Starting GPS position tracking");
 123                 gps.request("gps.position");
 124                 position.PositionChanged += on_position_changed;
 125                 base.start();
 126         }
 127
 128         public override void stop()
 129         {
 130                 if (!started) return;
 131                 zavai.log.info("Stopping GPS position tracking");
 132                 position.PositionChanged -= on_position_changed;
 133                 gps.release("gps.position");
 134                 base.stop();
 135         }
 136 }
 137
 138 // #    def wait_for_fix(self, callback):
 139 // #        status = self.gps.GetFixStatus()
 140 // #        if status in [2, 3]:
 141 // #            zavai.info("We already have a fix, good.")
 142 // #            callback()
 143 // #            return True
 144 // #        else:
 145 // #            zavai.info("Waiting for a fix...")
 146 // #            self.waiting_for_fix = callback
 147 // #            self.bus.add_signal_receiver(
 148 // #                self.on_fix_status_changed, 'FixStatusChanged', 'org.freedesktop.Gypsy.Device',
 149 // #                'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
 150 // #            return False
 151 // #
 152 // #    def start_recording(self):
 153 // #        if self.gps_monitor:
 154 // #            self.gps_monitor.stop()
 155 // #            self.gps_monitor = None
 156 // #
 157 // #        if not self.audio:
 158 // #            return
 159 // #
 160 // #        # Sync system time
 161 // #        gpstime = self.gps.gps_time.GetTime()
 162 // #        subprocess.call(["date", "-s", "@%d" % gpstime])
 163 // #        subprocess.call(["hwclock", "--systohc"])
 164 // #
 165 // #        # Compute basename for output files
 166 // #        self.basename = time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime(gpstime))
 167 // #        self.basename = os.path.join(AUDIODIR, self.basename)
 168 // #
 169 // #        # Start recording the GPX track
 170 // #        self.gpx = GPX(self.basename)
 171 // #        self.gps.track_position(self.on_position_changed)
 172 // #
 173 // #        # Start recording in background forking arecord
 174 // #        self.audio.set_basename(self.basename)
 175 // #        self.audio.start_recording()
 176 // #
 177
 178 // Write GPX track and waypoint files
 179 public class GPX : Service
 180 {
 181         public bool tracking {
 182                 get { return trk != null; }
 183                 set {}
 184         }
 185         public signal void tracking_changed(bool tracking);
 186
 187         FileStream trk = null;
 188         FileStream wpt = null;
 189         int wpt_seq = 1;
 190         bool last_valid = false;
 191         int last_fields;
 192         time_t last_tstamp;
 193         double last_lat;
 194         double last_lon;
 195         double last_alt;
 196
 197         public GPX()
 198         {
 199                 name = "gps.gpx";
 200         }
 201
 202         public override void start()
 203         {
 204                 if (!started)
 205                 {
 206                         log.info("Starting GPX trace subsystem");
 207                         position.request("gps.gpx");
 208                         position.position_changed += on_position_changed;
 209                         base.start();
 210                 }
 211         }
 212
 213         public override void stop()
 214         {
 215                 if (started)
 216                 {
 217                         log.info("Stopping GPX trace subsystem");
 218                         position.release("gps.gpx");
 219                         position.position_changed -= on_position_changed;
 220                         stop_track();
 221                         base.stop();
 222                 }
 223         }
 224
 225         public void on_position_changed(Position pos, int fields, int tstamp, double lat, double lon, double alt)
 226         {
 227                 last_fields = fields;
 228                 last_tstamp = tstamp;
 229                 last_lat = lat;
 230                 last_lon = lon;
 231                 last_alt = alt;
 232                 last_valid = true;
 233                 trackpoint();
 234         }
 235
 236         public void start_track(time_t tstamp = 0, string? basename = null)
 237         {
 238                 string fname;
 239                 if (basename != null)
 240                         fname = basename;
 241                 else
 242                 {
 243                         time_t now = tstamp == 0 ? time_t() : tstamp;
 244
 245                         // Compute basename for output files
 246                         var t = Time.local(now);
 247                         char[] res = new char[25];
 248                         t.strftime(res, "%Y-%m-%d-%H-%M-%S");
 249                         fname = zavai.config.homedir + "/" + (string)res;
 250                 }
 251
 252                 trk = FileStream.open(fname + "-trk.gpx", "wt");
 253                 trk.puts("<?xml version=\"1.0\" encoding=\"UTF-8\"?>");
 254                 trk.puts(" <gpx");
 255                 trk.puts("     version=\"1.0\"");
 256                 trk.printf("     creator=\"zavai %s\"\n", zavai.config.version);
 257                 trk.puts("     xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\"");
 258                 trk.puts("     xmlns=\"http://www.topografix.com/GPX/1/0\"");
 259                 trk.puts("     xsi:schemaLocation=\"http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd\">");
 260                 trk.puts("   <trk>");
 261                 trk.puts("     <trkseg>");
 262
 263                 wpt = FileStream.open(fname + "-wpt.gpx", "wt");
 264                 wpt.puts("<?xml version=\"1.0\" encoding=\"UTF-8\"?>");
 265                 wpt.puts(" <gpx");
 266                 wpt.puts("     version=\"1.0\"");
 267                 wpt.printf("     creator=\"zavai %s\"", zavai.config.version);
 268                 wpt.puts("     xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\"");
 269                 wpt.puts("     xmlns=\"http://www.topografix.com/GPX/1/0\"");
 270                 wpt.puts("     xsi:schemaLocation=\"http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd\">");
 271
 272                 wpt_seq = 1;
 273                 tracking_changed(true);
 274         }
 275
 276         public void stop_track()
 277         {
 278                 if (trk != null)
 279                 {
 280                         trk.puts("</trkseg></trk></gpx>");
 281                         trk.flush();
 282                         trk = null;
 283                 }
 284                 if (wpt != null)
 285                 {
 286                         wpt.puts("</gpx>");
 287                         wpt.flush();
 288                         wpt = null;
 289                 }
 290                 last_valid = false;
 291                 tracking_changed(false);
 292         }
 293
 294         // Mark a track point
 295         public void trackpoint()
 296         {
 297                 if (!last_valid) return;
 298                 if (trk == null)
 299                         start_track(last_tstamp);
 300
 301                 trk.printf("<trkpt lat=\"%f\" lon=\"%f\">\n", last_lat, last_lon);
 302                 var t = Time.local(last_tstamp);
 303                 char[] ts = new char[25];
 304                 t.strftime(ts, "%Y-%m-%dT%H:%M:%SZ");
 305                 trk.printf("  <time>%s</time>\n", (string)ts);
 306                 trk.printf("  <ele>%f</ele>\n", last_alt);
 307                 // if course is not None: print >>self.trk, "    <course>%f</course>" % course
 308                 // if speed is not None: print >>self.trk, "    <speed>%f</speed>" % speed
 309                 // if fix is not None: print >>self.trk, "    <fix>%f</fix>" % fix
 310                 // if hdop is not None: print >>self.trk, "    <hdop>%f</hdop>" % hdop
 311                 trk.puts("</trkpt>");
 312         }
 313
 314         // Mark a waypoint
 315         public void waypoint(string? name = null)
 316         {
 317                 if (!last_valid) return;
 318                 if (wpt == null)
 319                         start_track(last_tstamp);
 320
 321                 string wptname;
 322                 if (name == null)
 323                 {
 324                         wptname = "wpt_%d".printf(wpt_seq);
 325                         wpt_seq += 1;
 326                 } else {
 327                         wptname = name;
 328                 }
 329
 330                 wpt.printf("<wpt lat=\"%f\" lon=\"%f\">\n", last_lat, last_lon);
 331                 wpt.printf("  <name>%s</name>\n", wptname);
 332                 var t = Time.local(last_tstamp);
 333                 char[] ts = new char[25];
 334                 t.strftime(ts, "%Y-%m-%dT%H:%M:%SZ");
 335                 wpt.printf("  <time>%s</time>\n", (string)ts);
 336                 wpt.printf("  <ele>%f</ele>\n", last_alt);
 337                 wpt.puts("</wpt>");
 338         }
 339 }
 340
 341 public zavai.gps.GPS gps = null;
 342 public zavai.gps.Position position = null;
 343 public zavai.gps.GPX gpx = null;
 344
 345 public void init()
 346 {
 347         gps = new GPS();
 348         position = new Position();
 349         gpx = new GPX();
 350
 351         zavai.registry.register_service(gps);
 352         zavai.registry.register_service(position);
 353         zavai.registry.register_service(gpx);
 354 }
 355
 356 }
 357 }