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     public weak libgps.data_t info() { return data; }
  48
  49     protected bool on_input_data(IOChannel source, IOCondition condition)
  50     {
  51         while (libgps.waiting(ref data))
  52         {
  53             int res = libgps.poll(ref data);
  54             if (res != 0)
  55                 zavai.log.error(libgps.errstr(res));
  56
  57             if (data.status != old_fix_status)
  58             {
  59                 fix_status_changed(data.status);
  60                 old_fix_status = data.status;
  61             }
  62
  63             uint cur_time = (uint)data.fix.time;
  64             if (data.status != libgps.STATUS_NO_FIX && old_time != cur_time)
  65             {
  66                 time_changed(cur_time);
  67                 old_time = cur_time;
  68             }
  69
  70             /*
  71             stderr.printf("GPSMSG %d %d\n", (int)data.set, data.status);
  72             stderr.printf("SATUSED %d\n", data.satellites_used);
  73             stderr.printf("SWT %f\n", data.skyview_time);
  74             stderr.printf("SATVIS %d\n", data.satellites_visible);
  75             for (int i = 0; i < data.satellites_visible; ++i)
  76             {
  77                 stderr.printf("PRN %d ELE %d AZI %d SS %f\n",
  78                     data.PRN[i], data.elevation[i], data.azimuth[i], data.ss[i]);
  79             }
  80             */
  81         }
  82         return true;
  83     }
  84
  85     /// Request GPS resource
  86     public override void start()
  87     {
  88         if (started) return;
  89
  90         try {
  91             // Then run our own script
  92             zavai.app.run_script(zavai.config.homedir + "/gps start");
  93         } catch (Error e) {
  94             zavai.log.error("Running " + zavai.config.homedir + "/gps start: " + e.message);
  95             return;
  96         }
  97
  98         int res = libgps.open_r("ciapino", "gpsd", ref data);
  99         if (res != 0)
 100         {
 101             zavai.log.error(libgps.errstr(res));
 102             return;
 103         }
 104
 105         res = libgps.stream(ref data, libgps.WATCH_ENABLE, null);
 106         if (res != 0)
 107         {
 108             zavai.log.error(libgps.errstr(res));
 109             return;
 110         }
 111
 112         res = libgps.send(ref data, "?SKY;");
 113         //res = libgps.send(ref data, "?WATCH;");
 114         //if (res != 0) zavai.log.error(libgps.errstr(res));
 115
 116         gpsfd = new IOChannel.unix_new(data.gps_fd);
 117         try {
 118             gpsfd.set_encoding(null);
 119         } catch (Error e) {
 120             zavai.log.error("Setting encoding to null on gpsd io channel: " + e.message);
 121         }
 122         //gpsfd.set_buffered(false);
 123         gpsfd_watch = gpsfd.add_watch(IOCondition.IN, on_input_data);
 124
 125         zavai.log.info("GPS turned on");
 126         base.start();
 127     }
 128
 129     // Release usage of GPS
 130     public override void stop()
 131     {
 132         if (!started) return;
 133
 134         Source.remove(gpsfd_watch);
 135
 136         int res = libgps.close(ref data);
 137         if (res != 0)
 138             zavai.log.error(libgps.errstr(res));
 139
 140         try {
 141             zavai.app.run_script(zavai.config.homedir + "/gps stop");
 142         } catch (Error e) {
 143             zavai.log.error("Running device stop gps: " + e.message);
 144         }
 145
 146         if (old_fix_status != libgps.STATUS_NO_FIX)
 147         {
 148             old_fix_status = libgps.STATUS_NO_FIX;
 149             fix_status_changed(old_fix_status);
 150         }
 151
 152         if (old_time != 0)
 153         {
 154             old_time = 0;
 155             time_changed(old_time);
 156         }
 157
 158         base.stop();
 159     }
 160 }
 161
 162 public class Position : zavai.Service
 163 {
 164         dynamic DBus.Object position;
 165
 166         public signal void position_changed(int fields, int tstamp, double lat, double lon, double alt);
 167
 168         public Position()
 169         {
 170                 Object(name: "gps.position");
 171                 position = zavai.registry.sbus.get_object(
 172                         "org.freesmartphone.ogpsd",
 173                         "/org/freedesktop/Gypsy",
 174                         "org.freedesktop.Gypsy.Position");
 175         }
 176
 177         public void on_position_changed(dynamic DBus.Object pos, int fields, int tstamp, double lat, double lon, double alt)
 178         {
 179                 zavai.log.info("gps position: position changed");
 180                 position_changed(fields, tstamp, lat, lon, alt);
 181         }
 182
 183         public override void start()
 184         {
 185                 if (started) return;
 186                 zavai.log.info("Starting GPS position tracking");
 187                 gps.request("gps.position");
 188                 position.PositionChanged += on_position_changed;
 189                 base.start();
 190         }
 191
 192         public override void stop()
 193         {
 194                 if (!started) return;
 195                 zavai.log.info("Stopping GPS position tracking");
 196                 position.PositionChanged -= on_position_changed;
 197                 gps.release("gps.position");
 198                 base.stop();
 199         }
 200 }
 201
 202 // #    def wait_for_fix(self, callback):
 203 // #        status = self.gps.GetFixStatus()
 204 // #        if status in [2, 3]:
 205 // #            zavai.info("We already have a fix, good.")
 206 // #            callback()
 207 // #            return True
 208 // #        else:
 209 // #            zavai.info("Waiting for a fix...")
 210 // #            self.waiting_for_fix = callback
 211 // #            self.bus.add_signal_receiver(
 212 // #                self.on_fix_status_changed, 'FixStatusChanged', 'org.freedesktop.Gypsy.Device',
 213 // #                'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
 214 // #            return False
 215 // #
 216 // #    def start_recording(self):
 217 // #        if self.gps_monitor:
 218 // #            self.gps_monitor.stop()
 219 // #            self.gps_monitor = None
 220 // #
 221 // #        if not self.audio:
 222 // #            return
 223 // #
 224 // #        # Sync system time
 225 // #        gpstime = self.gps.gps_time.GetTime()
 226 // #        subprocess.call(["date", "-s", "@%d" % gpstime])
 227 // #        subprocess.call(["hwclock", "--systohc"])
 228 // #
 229 // #        # Compute basename for output files
 230 // #        self.basename = time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime(gpstime))
 231 // #        self.basename = os.path.join(AUDIODIR, self.basename)
 232 // #
 233 // #        # Start recording the GPX track
 234 // #        self.gpx = GPX(self.basename)
 235 // #        self.gps.track_position(self.on_position_changed)
 236 // #
 237 // #        # Start recording in background forking arecord
 238 // #        self.audio.set_basename(self.basename)
 239 // #        self.audio.start_recording()
 240 // #
 241
 242 // Write GPX track and waypoint files
 243 public class GPX : Service
 244 {
 245         public bool tracking {
 246                 get { return trk != null; }
 247                 set {}
 248         }
 249         public signal void tracking_changed(bool tracking);
 250
 251         FileStream trk = null;
 252         FileStream wpt = null;
 253         int wpt_seq = 1;
 254         bool last_valid = false;
 255         int last_fields;
 256         time_t last_tstamp;
 257         double last_lat;
 258         double last_lon;
 259         double last_alt;
 260
 261         public GPX()
 262         {
 263                 Object(name: "gps.gpx");
 264         }
 265
 266         public override void start()
 267         {
 268                 if (!started)
 269                 {
 270                         log.info("Starting GPX trace subsystem");
 271                         position.request("gps.gpx");
 272                         position.position_changed += on_position_changed;
 273                         base.start();
 274                 }
 275         }
 276
 277         public override void stop()
 278         {
 279                 if (started)
 280                 {
 281                         log.info("Stopping GPX trace subsystem");
 282                         position.release("gps.gpx");
 283                         position.position_changed -= on_position_changed;
 284                         stop_track();
 285                         base.stop();
 286                 }
 287         }
 288
 289         public void on_position_changed(Position pos, int fields, int tstamp, double lat, double lon, double alt)
 290         {
 291                 last_fields = fields;
 292                 last_tstamp = tstamp;
 293                 last_lat = lat;
 294                 last_lon = lon;
 295                 last_alt = alt;
 296                 last_valid = true;
 297                 trackpoint();
 298         }
 299
 300         public void start_track(time_t tstamp = 0, string? basename = null)
 301         {
 302                 string fname;
 303                 if (basename != null)
 304                         fname = basename;
 305                 else
 306                 {
 307                         time_t now = tstamp == 0 ? time_t() : tstamp;
 308
 309                         // Compute basename for output files
 310                         var t = Time.local(now);
 311                         char[] res = new char[25];
 312                         t.strftime(res, "%Y-%m-%d-%H-%M-%S");
 313                         fname = zavai.config.homedir + "/" + (string)res;
 314                 }
 315
 316                 trk = FileStream.open(fname + "-trk.gpx", "wt");
 317                 trk.puts("<?xml version=\"1.0\" encoding=\"UTF-8\"?>");
 318                 trk.puts(" <gpx");
 319                 trk.puts("     version=\"1.0\"");
 320                 trk.printf("     creator=\"zavai %s\"\n", zavai.config.version);
 321                 trk.puts("     xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\"");
 322                 trk.puts("     xmlns=\"http://www.topografix.com/GPX/1/0\"");
 323                 trk.puts("     xsi:schemaLocation=\"http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd\">");
 324                 trk.puts("   <trk>");
 325                 trk.puts("     <trkseg>");
 326
 327                 wpt = FileStream.open(fname + "-wpt.gpx", "wt");
 328                 wpt.puts("<?xml version=\"1.0\" encoding=\"UTF-8\"?>");
 329                 wpt.puts(" <gpx");
 330                 wpt.puts("     version=\"1.0\"");
 331                 wpt.printf("     creator=\"zavai %s\"", zavai.config.version);
 332                 wpt.puts("     xmlns:xsi=\"http://www.w3.org/2001/XMLSchema-instance\"");
 333                 wpt.puts("     xmlns=\"http://www.topografix.com/GPX/1/0\"");
 334                 wpt.puts("     xsi:schemaLocation=\"http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd\">");
 335
 336                 wpt_seq = 1;
 337                 tracking_changed(true);
 338         }
 339
 340         public void stop_track()
 341         {
 342                 if (trk != null)
 343                 {
 344                         trk.puts("</trkseg></trk></gpx>");
 345                         trk.flush();
 346                         trk = null;
 347                 }
 348                 if (wpt != null)
 349                 {
 350                         wpt.puts("</gpx>");
 351                         wpt.flush();
 352                         wpt = null;
 353                 }
 354                 last_valid = false;
 355                 tracking_changed(false);
 356         }
 357
 358         // Mark a track point
 359         public void trackpoint()
 360         {
 361                 if (!last_valid) return;
 362                 if (trk == null)
 363                         start_track(last_tstamp);
 364
 365                 trk.printf("<trkpt lat=\"%f\" lon=\"%f\">\n", last_lat, last_lon);
 366                 var t = Time.local(last_tstamp);
 367                 char[] ts = new char[25];
 368                 t.strftime(ts, "%Y-%m-%dT%H:%M:%SZ");
 369                 trk.printf("  <time>%s</time>\n", (string)ts);
 370                 trk.printf("  <ele>%f</ele>\n", last_alt);
 371                 // if course is not None: print >>self.trk, "    <course>%f</course>" % course
 372                 // if speed is not None: print >>self.trk, "    <speed>%f</speed>" % speed
 373                 // if fix is not None: print >>self.trk, "    <fix>%f</fix>" % fix
 374                 // if hdop is not None: print >>self.trk, "    <hdop>%f</hdop>" % hdop
 375                 trk.puts("</trkpt>");
 376         }
 377
 378         // Mark a waypoint
 379         public void waypoint(string? name = null)
 380         {
 381                 if (!last_valid) return;
 382                 if (wpt == null)
 383                         start_track(last_tstamp);
 384
 385                 string wptname;
 386                 if (name == null)
 387                 {
 388                         wptname = "wpt_%d".printf(wpt_seq);
 389                         wpt_seq += 1;
 390                 } else {
 391                         wptname = name;
 392                 }
 393
 394                 wpt.printf("<wpt lat=\"%f\" lon=\"%f\">\n", last_lat, last_lon);
 395                 wpt.printf("  <name>%s</name>\n", wptname);
 396                 var t = Time.local(last_tstamp);
 397                 char[] ts = new char[25];
 398                 t.strftime(ts, "%Y-%m-%dT%H:%M:%SZ");
 399                 wpt.printf("  <time>%s</time>\n", (string)ts);
 400                 wpt.printf("  <ele>%f</ele>\n", last_alt);
 401                 wpt.puts("</wpt>");
 402         }
 403 }
 404
 405 public zavai.gps.GPS gps = null;
 406 public zavai.gps.Position position = null;
 407 public zavai.gps.GPX gpx = null;
 408
 409 public void init()
 410 {
 411     gps = new GPS();
 412     position = new Position();
 413     gpx = new GPX();
 414
 415 }
 416
 417 }
 418 }