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