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     protected uint old_time = 0;
  35
  36     public signal void fix_status_changed(int status);
  37     public signal void time_changed(uint time);
  38
  39     public GPS()
  40     {
  41         Object(name: "gps");
  42         data = libgps.data_t();
  43     }
  44
  45     public int fix_status() { return old_fix_status; }
  46     public double time() { return old_time; }
  47
  48     protected bool on_input_data(IOChannel source, IOCondition condition)
  49     {
  50         while (libgps.waiting(ref data))
  51         {
  52             int res = libgps.poll(ref data);
  53             if (res != 0)
  54                 zavai.log.error(libgps.errstr(res));
  55
  56             if (data.status != old_fix_status)
  57             {
  58                 fix_status_changed(data.status);
  59                 old_fix_status = data.status;
  60             }
  61
  62             uint cur_time = (uint)data.fix.time;
  63             if (data.status != libgps.STATUS_NO_FIX && old_time != cur_time)
  64             {
  65                 time_changed(cur_time);
  66                 old_time = cur_time;
  67             }
  68
  69             /*
  70             stderr.printf("GPSMSG %d %d\n", (int)data.set, data.status);
  71             stderr.printf("SATUSED %d\n", data.satellites_used);
  72             stderr.printf("SWT %f\n", data.skyview_time);
  73             stderr.printf("SATVIS %d\n", data.satellites_visible);
  74             for (int i = 0; i < data.satellites_visible; ++i)
  75             {
  76                 stderr.printf("PRN %d ELE %d AZI %d SS %f\n",
  77                     data.PRN[i], data.elevation[i], data.azimuth[i], data.ss[i]);
  78             }
  79             */
  80         }
  81         return true;
  82     }
  83
  84     /// Request GPS resource
  85     public override void start()
  86     {
  87         if (started) return;
  88
  89         try {
  90             // Then run our own script
  91             zavai.app.run_script(zavai.config.homedir + "/gps start");
  92         } catch (Error e) {
  93             zavai.log.error("Running " + zavai.config.homedir + "/gps start: " + e.message);
  94             return;
  95         }
  96
  97         int res = libgps.open_r("ciapino", "gpsd", ref data);
  98         if (res != 0)
  99         {
 100             zavai.log.error(libgps.errstr(res));
 101             return;
 102         }
 103
 104         res = libgps.stream(ref data, libgps.WATCH_ENABLE, null);
 105         if (res != 0)
 106         {
 107             zavai.log.error(libgps.errstr(res));
 108             return;
 109         }
 110
 111         res = libgps.send(ref data, "?SKY;");
 112         //res = libgps.send(ref data, "?WATCH;");
 113         //if (res != 0) zavai.log.error(libgps.errstr(res));
 114
 115         gpsfd = new IOChannel.unix_new(data.gps_fd);
 116         try {
 117             gpsfd.set_encoding(null);
 118         } catch (Error e) {
 119             zavai.log.error("Setting encoding to null on gpsd io channel: " + e.message);
 120         }
 121         //gpsfd.set_buffered(false);
 122         gpsfd_watch = gpsfd.add_watch(IOCondition.IN, on_input_data);
 123
 124         zavai.log.info("GPS turned on");
 125         base.start();
 126     }
 127
 128     // Release usage of GPS
 129     public override void stop()
 130     {
 131         if (!started) return;
 132
 133         Source.remove(gpsfd_watch);
 134
 135         int res = libgps.close(ref data);
 136         if (res != 0)
 137             zavai.log.error(libgps.errstr(res));
 138
 139         try {
 140             zavai.app.run_script(zavai.config.homedir + "/gps stop");
 141         } catch (Error e) {
 142             zavai.log.error("Running device stop gps: " + e.message);
 143         }
 144
 145         if (old_fix_status != libgps.STATUS_NO_FIX)
 146         {
 147             old_fix_status = libgps.STATUS_NO_FIX;
 148             fix_status_changed(old_fix_status);
 149         }
 150
 151         if (old_time != 0)
 152         {
 153             old_time = 0;
 154             time_changed(old_time);
 155         }
 156
 157         base.stop();
 158     }
 159 }
 160
 161 public class Position : zavai.Service
 162 {
 163         dynamic DBus.Object position;
 164
 165         public signal void position_changed(int fields, int tstamp, double lat, double lon, double alt);
 166
 167         public Position()
 168         {
 169                 Object(name: "gps.position");
 170                 position = zavai.registry.sbus.get_object(
 171                         "org.freesmartphone.ogpsd",
 172                         "/org/freedesktop/Gypsy",
 173                         "org.freedesktop.Gypsy.Position");
 174         }
 175
 176         public void on_position_changed(dynamic DBus.Object pos, int fields, int tstamp, double lat, double lon, double alt)
 177         {
 178                 zavai.log.info("gps position: position changed");
 179                 position_changed(fields, tstamp, lat, lon, alt);
 180         }
 181
 182         public override void start()
 183         {
 184                 if (started) return;
 185                 zavai.log.info("Starting GPS position tracking");
 186                 gps.request("gps.position");
 187                 position.PositionChanged += on_position_changed;
 188                 base.start();
 189         }
 190
 191         public override void stop()
 192         {
 193                 if (!started) return;
 194                 zavai.log.info("Stopping GPS position tracking");
 195                 position.PositionChanged -= on_position_changed;
 196                 gps.release("gps.position");
 197                 base.stop();
 198         }
 199 }
 200
 201 // #    def wait_for_fix(self, callback):
 202 // #        status = self.gps.GetFixStatus()
 203 // #        if status in [2, 3]:
 204 // #            zavai.info("We already have a fix, good.")
 205 // #            callback()
 206 // #            return True
 207 // #        else:
 208 // #            zavai.info("Waiting for a fix...")
 209 // #            self.waiting_for_fix = callback
 210 // #            self.bus.add_signal_receiver(
 211 // #                self.on_fix_status_changed, 'FixStatusChanged', 'org.freedesktop.Gypsy.Device',
 212 // #                'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
 213 // #            return False
 214 // #
 215 // #    def start_recording(self):
 216 // #        if self.gps_monitor:
 217 // #            self.gps_monitor.stop()
 218 // #            self.gps_monitor = None
 219 // #
 220 // #        if not self.audio:
 221 // #            return
 222 // #
 223 // #        # Sync system time
 224 // #        gpstime = self.gps.gps_time.GetTime()
 225 // #        subprocess.call(["date", "-s", "@%d" % gpstime])
 226 // #        subprocess.call(["hwclock", "--systohc"])
 227 // #
 228 // #        # Compute basename for output files
 229 // #        self.basename = time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime(gpstime))
 230 // #        self.basename = os.path.join(AUDIODIR, self.basename)
 231 // #
 232 // #        # Start recording the GPX track
 233 // #        self.gpx = GPX(self.basename)
 234 // #        self.gps.track_position(self.on_position_changed)
 235 // #
 236 // #        # Start recording in background forking arecord
 237 // #        self.audio.set_basename(self.basename)
 238 // #        self.audio.start_recording()
 239 // #
 240
 241 // Write GPX track and waypoint files
 242 public class GPX : Service
 243 {
 244         public bool tracking {
 245                 get { return trk != null; }
 246                 set {}
 247         }
 248         public signal void tracking_changed(bool tracking);
 249
 250         FileStream trk = null;
 251         FileStream wpt = null;
 252         int wpt_seq = 1;
 253         bool last_valid = false;
 254         int last_fields;
 255         time_t last_tstamp;
 256         double last_lat;
 257         double last_lon;
 258         double last_alt;
 259
 260         public GPX()
 261         {
 262                 Object(name: "gps.gpx");
 263         }
 264
 265         public override void start()
 266         {
 267                 if (!started)
 268                 {
 269                         log.info("Starting GPX trace subsystem");
 270                         position.request("gps.gpx");
 271                         position.position_changed += on_position_changed;
 272                         base.start();
 273                 }
 274         }
 275
 276         public override void stop()
 277         {
 278                 if (started)
 279                 {
 280                         log.info("Stopping GPX trace subsystem");
 281                         position.release("gps.gpx");
 282                         position.position_changed -= on_position_changed;
 283                         stop_track();
 284                         base.stop();
 285                 }
 286         }
 287
 288         public void on_position_changed(Position pos, int fields, int tstamp, double lat, double lon, double alt)
 289         {
 290                 last_fields = fields;
 291                 last_tstamp = tstamp;
 292                 last_lat = lat;
 293                 last_lon = lon;
 294                 last_alt = alt;
 295                 last_valid = true;
 296                 trackpoint();
 297         }
 298
 299         public void start_track(time_t tstamp = 0, string? basename = null)
 300         {
 301                 string fname;
 302                 if (basename != null)
 303                         fname = basename;
 304                 else
 305                 {
 306                         time_t now = tstamp == 0 ? time_t() : tstamp;
 307
 308                         // Compute basename for output files
 309                         var t = Time.local(now);
 310                         char[] res = new char[25];
 311                         t.strftime(res, "%Y-%m-%d-%H-%M-%S");
 312                         fname = zavai.config.homedir + "/" + (string)res;
 313                 }
 314
 315                 trk = FileStream.open(fname + "-trk.gpx", "wt");
 316                 trk.puts("<?xml version=\"1.0\" encoding=\"UTF-8\"?>");
 317                 trk.puts(" <gpx");
 318                 trk.puts("     version=\"1.0\"");
 319                 trk.printf("     creator=\"zavai %s\"\n", zavai.config.version);
 320                 trk.puts("     xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\"");
 321                 trk.puts("     xmlns=\"http://www.topografix.com/GPX/1/0\"");
 322                 trk.puts("     xsi:schemaLocation=\"http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd\">");
 323                 trk.puts("   <trk>");
 324                 trk.puts("     <trkseg>");
 325
 326                 wpt = FileStream.open(fname + "-wpt.gpx", "wt");
 327                 wpt.puts("<?xml version=\"1.0\" encoding=\"UTF-8\"?>");
 328                 wpt.puts(" <gpx");
 329                 wpt.puts("     version=\"1.0\"");
 330                 wpt.printf("     creator=\"zavai %s\"", zavai.config.version);
 331                 wpt.puts("     xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\"");
 332                 wpt.puts("     xmlns=\"http://www.topografix.com/GPX/1/0\"");
 333                 wpt.puts("     xsi:schemaLocation=\"http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd\">");
 334
 335                 wpt_seq = 1;
 336                 tracking_changed(true);
 337         }
 338
 339         public void stop_track()
 340         {
 341                 if (trk != null)
 342                 {
 343                         trk.puts("</trkseg></trk></gpx>");
 344                         trk.flush();
 345                         trk = null;
 346                 }
 347                 if (wpt != null)
 348                 {
 349                         wpt.puts("</gpx>");
 350                         wpt.flush();
 351                         wpt = null;
 352                 }
 353                 last_valid = false;
 354                 tracking_changed(false);
 355         }
 356
 357         // Mark a track point
 358         public void trackpoint()
 359         {
 360                 if (!last_valid) return;
 361                 if (trk == null)
 362                         start_track(last_tstamp);
 363
 364                 trk.printf("<trkpt lat=\"%f\" lon=\"%f\">\n", last_lat, last_lon);
 365                 var t = Time.local(last_tstamp);
 366                 char[] ts = new char[25];
 367                 t.strftime(ts, "%Y-%m-%dT%H:%M:%SZ");
 368                 trk.printf("  <time>%s</time>\n", (string)ts);
 369                 trk.printf("  <ele>%f</ele>\n", last_alt);
 370                 // if course is not None: print >>self.trk, "    <course>%f</course>" % course
 371                 // if speed is not None: print >>self.trk, "    <speed>%f</speed>" % speed
 372                 // if fix is not None: print >>self.trk, "    <fix>%f</fix>" % fix
 373                 // if hdop is not None: print >>self.trk, "    <hdop>%f</hdop>" % hdop
 374                 trk.puts("</trkpt>");
 375         }
 376
 377         // Mark a waypoint
 378         public void waypoint(string? name = null)
 379         {
 380                 if (!last_valid) return;
 381                 if (wpt == null)
 382                         start_track(last_tstamp);
 383
 384                 string wptname;
 385                 if (name == null)
 386                 {
 387                         wptname = "wpt_%d".printf(wpt_seq);
 388                         wpt_seq += 1;
 389                 } else {
 390                         wptname = name;
 391                 }
 392
 393                 wpt.printf("<wpt lat=\"%f\" lon=\"%f\">\n", last_lat, last_lon);
 394                 wpt.printf("  <name>%s</name>\n", wptname);
 395                 var t = Time.local(last_tstamp);
 396                 char[] ts = new char[25];
 397                 t.strftime(ts, "%Y-%m-%dT%H:%M:%SZ");
 398                 wpt.printf("  <time>%s</time>\n", (string)ts);
 399                 wpt.printf("  <ele>%f</ele>\n", last_alt);
 400                 wpt.puts("</wpt>");
 401         }
 402 }
 403
 404 public zavai.gps.GPS gps = null;
 405 public zavai.gps.Position position = null;
 406 public zavai.gps.GPX gpx = null;
 407
 408 public void init()
 409 {
 410     gps = new GPS();
 411     position = new Position();
 412     gpx = new GPX();
 413
 414 }
 415
 416 }
 417 }