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