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