plugins/gpsnmea/gpsnmea.cpp

   1 /*
   2 Copyright (C) 2012 Intel Corporation
   3
   4 This library is free software; you can redistribute it and/or
   5 modify it under the terms of the GNU Lesser General Public
   6 License as published by the Free Software Foundation; either
   7 version 2.1 of the License, or (at your option) any later version.
   8
   9 This library is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12 Lesser General Public License for more details.
  13
  14 You should have received a copy of the GNU Lesser General Public
  15 License along with this library; if not, write to the Free Software
  16 Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
  17 */
  18
  19 #include "gpsnmea.h"
  20 #include "timestamp.h"
  21 #include "serialport.hpp"
  22 #include "bluetooth.hpp"
  23
  24 #include <iostream>
  25 #include <boost/assert.hpp>
  26 #include <boost/algorithm/string.hpp>
  27 #include <time.h>
  28
  29
  30 using namespace std;
  31
  32 #include "debugout.h"
  33 #include "abstractpropertytype.h"
  34
  35 #define GPSTIME "GpsTime"
  36
  37 template<typename T2>
  38 inline T2 lexical_cast(const std::string &in) {
  39         T2 out;
  40         std::stringstream ss;
  41         ss << std::hex << in;
  42         ss >> out;
  43         return out;
  44 }
  45
  46 class Location
  47 {
  48 public:
  49         Location(AbstractRoutingEngine* re, std::string uuid);
  50
  51         void parse(std::string gprmc);
  52
  53         VehicleProperty::LatitudeType latitude()
  54         {
  55                 return mLatitude;
  56         }
  57
  58         VehicleProperty::LongitudeType longitude()
  59         {
  60                 return mLongitude;
  61         }
  62
  63         VehicleProperty::AltitudeType altitude()
  64         {
  65                 return mAltitude;
  66         }
  67
  68         VehicleProperty::DirectionType direction()
  69         {
  70                 return mDirection;
  71         }
  72
  73         VehicleProperty::VehicleSpeedType speed()
  74         {
  75                 return mSpeed;
  76         }
  77
  78         BasicPropertyType<double> gpsTime()
  79         {
  80                 return mGpsTime;
  81         }
  82
  83         std::list<AbstractPropertyType*> fix()
  84         {
  85                 std::list<AbstractPropertyType*> l;
  86
  87                 l.push_back(&mLatitude);
  88                 l.push_back(&mLongitude);
  89                 l.push_back(&mAltitude);
  90                 l.push_back(&mDirection);
  91                 l.push_back(&mSpeed);
  92                 l.push_back(&mGpsTime);
  93
  94                 return l;
  95         }
  96
  97 private: ///methods:
  98
  99         void parseGprmc(string gprmc);
 100         void parseGpgga(string gpgga);
 101
 102         void parseTime(std::string h, std::string m, std::string s, string dd, string mm, string yy);
 103         void parseLatitude(std::string d, std::string m, std::string ns);
 104         void parseLongitude(std::string d, string m, string ew);
 105         void parseSpeed(std::string spd);
 106         void parseDirection(std::string dir);
 107         void parseAltitude(std::string alt);
 108
 109         double degsToDecimal(double degs);
 110
 111 private:
 112
 113         VehicleProperty::LatitudeType mLatitude;
 114         VehicleProperty::LongitudeType mLongitude;
 115         VehicleProperty::AltitudeType mAltitude;
 116         VehicleProperty::DirectionType  mDirection;
 117         VehicleProperty::VehicleSpeedType mSpeed;
 118         BasicPropertyType<double> mGpsTime;
 119
 120         bool isActive;
 121
 122         std::string mUuid;
 123
 124         AbstractRoutingEngine* routingEngine;
 125
 126 };
 127
 128 Location::Location(AbstractRoutingEngine* re, std::string uuid)
 129         :mLatitude(0), mLongitude(0), mAltitude(0), mDirection(0), mSpeed(0), mGpsTime(GPSTIME,0), isActive(false), routingEngine(re), mUuid(uuid)
 130 {
 131
 132 }
 133
 134 void Location::parse(string nmea)
 135 {
 136         if(boost::algorithm::starts_with(nmea,"GPRMC"))
 137         {
 138                 parseGprmc(nmea);
 139         }
 140         else if(boost::algorithm::starts_with(nmea,"GPGGA"))
 141         {
 142                 parseGpgga(nmea);
 143         }
 144         else
 145         {
 146                 DebugOut(DebugOut::Warning)<<"unknown/unhandled message: "<<nmea<<endl;
 147         }
 148 }
 149
 150 void Location::parseGprmc(string gprmc)
 151 {
 152         DebugOut(7)<<"parsing gprmc message"<<endl;
 153
 154         std::vector<std::string> tokens;
 155         boost::split(tokens, gprmc, boost::is_any_of(","));
 156
 157         if(tokens[2] == "A")
 158         {
 159                 isActive = true;
 160         }
 161
 162         parseTime(tokens[1].substr(0,2),tokens[1].substr(2,2),tokens[1].substr(4,2),tokens[9].substr(0,2),tokens[9].substr(2,2),tokens[9].substr(4,2));
 163
 164         parseLatitude(tokens[3], "", tokens[4]);
 165         parseLongitude(tokens[5], "", tokens[6]);
 166         parseSpeed(tokens[7]);
 167         parseDirection(tokens[8]);
 168
 169 }
 170
 171 void Location::parseGpgga(string gpgga)
 172 {
 173
 174         std::vector<std::string> tokens;
 175         boost::split(tokens, gpgga, boost::is_any_of(","));
 176
 177         if(tokens.size() != 15)
 178         {
 179                 DebugOut()<<"Invalid GPGGA message: "<<gpgga<<endl;
 180                 return;
 181         }
 182
 183         parseLatitude(tokens[2],"",tokens[3]);
 184         parseLongitude(tokens[4],"",tokens[5]);
 185         if(tokens[6] != "0")
 186         {
 187                 isActive = true;
 188         }
 189         else isActive = false;
 190
 191         parseAltitude(tokens[9]);
 192 }
 193
 194 void Location::parseTime(string h, string m, string s, string dd, string mm, string yy)
 195 {
 196         tm t;
 197         t.tm_hour = boost::lexical_cast<int>(h);
 198         t.tm_min = boost::lexical_cast<int>(m);
 199         t.tm_sec = boost::lexical_cast<int>(s);
 200         t.tm_mday = boost::lexical_cast<int>(dd);
 201         t.tm_mon = boost::lexical_cast<int>(mm);
 202         t.tm_year = boost::lexical_cast<int>(yy) + 100;
 203
 204         time_t time = mktime(&t);
 205
 206         BasicPropertyType<double> temp(GPSTIME,(double)time);
 207
 208         if(mGpsTime != temp)
 209         {
 210                 mGpsTime = temp;
 211                 routingEngine->updateProperty(&mGpsTime, mUuid);
 212         }
 213 }
 214
 215 void Location::parseLatitude(string d, string m, string ns)
 216 {
 217         try
 218         {
 219                 if(d.empty() )
 220                         return;
 221
 222                 double degs = boost::lexical_cast<double>(d + m);
 223                 double dec = degsToDecimal(degs);
 224
 225                 if(ns == "S")
 226                         dec *= -1;
 227
 228                 VehicleProperty::LatitudeType temp(dec);
 229
 230                 if(mLatitude != temp)
 231                 {
 232                         mLatitude = temp;\
 233                         routingEngine->updateProperty(&mLatitude, mUuid);
 234                 }
 235         }
 236         catch(...)
 237         {
 238                 DebugOut(DebugOut::Warning)<<"Failed to parse latitude"<<endl;
 239         }
 240 }
 241
 242 void Location::parseLongitude(string d, string m, string ew)
 243 {
 244         try
 245         {
 246                 if(d.empty()) return;
 247
 248                 double degs = boost::lexical_cast<double>(d + m);
 249                 double dec = degsToDecimal(degs);
 250
 251                 if(ew == "W")
 252                         dec *= -1;
 253
 254                 VehicleProperty::LongitudeType temp(dec);
 255
 256                 if(mLongitude != temp)
 257                 {
 258                         mLongitude = temp;\
 259                         routingEngine->updateProperty(&mLongitude, mUuid);
 260                 }
 261         }
 262         catch(...)
 263         {
 264                 DebugOut(DebugOut::Warning)<<"failed to parse longitude"<<endl;
 265         }
 266 }
 267
 268 void Location::parseSpeed(string spd)
 269 {
 270         double s = boost::lexical_cast<double>(spd);
 271
 272         ///to kph:
 273         s *= 1.852;
 274         VehicleProperty::VehicleSpeedType temp(s);
 275         if(mSpeed != temp)
 276         {
 277                 mSpeed = temp;
 278                 routingEngine->updateProperty(&mSpeed, mUuid);
 279         }
 280 }
 281
 282 void Location::parseDirection(string dir)
 283 {
 284         try {
 285                 uint16_t d = boost::lexical_cast<double>(dir);
 286
 287                 VehicleProperty::DirectionType temp(d);
 288                 if(mDirection != temp)
 289                 {
 290                         mDirection = temp;
 291                         routingEngine->updateProperty(&mDirection, mUuid);
 292                 }
 293         }
 294         catch(...)
 295         {
 296                 DebugOut(DebugOut::Warning)<<"Failed to parse direction: "<<dir<<endl;
 297         }
 298 }
 299
 300 void Location::parseAltitude(string alt)
 301 {
 302         try{
 303
 304                 if(alt.empty()) return;
 305
 306                 double a = boost::lexical_cast<double>(alt);
 307
 308                 VehicleProperty::AltitudeType temp(a);
 309                 if(mAltitude != temp)
 310                 {
 311                         mAltitude = temp;
 312                         routingEngine->updateProperty(&mAltitude, mUuid);
 313                 }
 314
 315                 mAltitude = VehicleProperty::AltitudeType(a);
 316         }
 317         catch(...)
 318         {
 319                 DebugOut(DebugOut::Warning)<<"failed to parse altitude"<<endl;
 320         }
 321 }
 322
 323 double Location::degsToDecimal(double degs)
 324 {
 325         double deg;
 326         double min = 100.0 * modf(degs / 100.0, &deg);
 327         return deg + (min / 60.0);
 328 }
 329
 330 bool readCallback(GIOChannel *source, GIOCondition condition, gpointer data)
 331 {
 332 //      DebugOut(5) << "Polling..." << condition << endl;
 333
 334         if(condition & G_IO_ERR)
 335         {
 336                 DebugOut(DebugOut::Error)<<"GpsNmeaSource polling error."<<endl;
 337         }
 338
 339         if (condition & G_IO_HUP)
 340         {
 341                 //Hang up. Returning false closes out the GIOChannel.
 342                 //printf("Callback on G_IO_HUP\n");
 343                 DebugOut(DebugOut::Warning)<<"socket hangup event..."<<endl;
 344                 return false;
 345         }
 346
 347         GpsNmeaSource* src = static_cast<GpsNmeaSource*>(data);
 348
 349         src->canHasData();
 350
 351         return true;
 352 }
 353
 354 extern "C" AbstractSource * create(AbstractRoutingEngine* routingengine, map<string, string> config)
 355 {
 356         return new GpsNmeaSource(routingengine, config);
 357
 358 }
 359
 360 GpsNmeaSource::GpsNmeaSource(AbstractRoutingEngine *re, map<string, string> config)
 361         :AbstractSource(re,config), mUuid("33d86462-1708-4f78-a001-99ea8d55422b")
 362 {
 363         location =new Location(re, mUuid);
 364
 365         VehicleProperty::registerProperty(GPSTIME,[](){ return new BasicPropertyType<double>(GPSTIME,0); });
 366
 367         addPropertySupport(VehicleProperty::Latitude, Zone::None);
 368         addPropertySupport(VehicleProperty::Longitude, Zone::None);
 369         addPropertySupport(VehicleProperty::Altitude, Zone::None);
 370         addPropertySupport(VehicleProperty::VehicleSpeed, Zone::None);
 371         addPropertySupport(VehicleProperty::Direction, Zone::None);
 372         addPropertySupport(GPSTIME, Zone::None);
 373
 374
 375         ///test:
 376
 377         if(config.find("test") != config.end())
 378         {
 379                 Location location(routingEngine, mUuid);
 380                 location.parse("GPRMC,061211,A,2351.9605,S,15112.5239,E,000.0,053.4,170303,009.9,E*6E");
 381
 382                 DebugOut(0)<<"lat: "<<location.latitude().toString()<<endl;
 383
 384                 g_assert(location.latitude().toString() == "-23.86600833");
 385                 g_assert(location.gpsTime().toString() == "1050585131");
 386
 387                 location.parse("GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47");
 388
 389                 DebugOut(0)<<"alt: "<<location.altitude().toString()<<endl;
 390                 DebugOut(0)<<"lat: "<<location.latitude().toString()<<endl;
 391                 g_assert(location.altitude().toString() == "545.4");
 392                 g_assert(location.latitude().toString() == "48.1173");
 393
 394                 location.parse("GPRMC,060136.00,A,3101.40475,N,12126.87095,E,0.760,,160114,,,A*74");
 395                 DebugOut(0)<<"lon: "<<location.longitude().toString()<<endl;
 396                 DebugOut(0)<<"lat: "<<location.latitude().toString()<<endl;
 397         }
 398
 399         std::string btaddapter = config["bluetoothAdapter"];
 400
 401         if(config.find("device")!= config.end())
 402         {
 403                 std::string dev = config["device"];
 404                 if(dev.find(":") != string::npos)
 405                 {
 406                         BluetoothDevice bt;
 407                         dev = bt.getDeviceForAddress(dev, btaddapter);
 408                 }
 409
 410                 device = new SerialPort(dev);
 411
 412                 if(!device->open())
 413                 {
 414                         DebugOut(DebugOut::Error)<<"Failed to open gps tty: "<<config["device"]<<endl;
 415                         perror("Error");
 416                         return;
 417                 }
 418
 419                 DebugOut()<<"read from device: "<<device->read()<<endl;
 420
 421                 GIOChannel *chan = g_io_channel_unix_new(device->fileDescriptor());
 422                 g_io_add_watch(chan, GIOCondition(G_IO_IN | G_IO_HUP | G_IO_ERR),(GIOFunc)readCallback, this);
 423                 g_io_channel_set_close_on_unref(chan, true);
 424                 g_io_channel_unref(chan); //Pass ownership of the GIOChannel to the watch.
 425         }
 426
 427         re->setSupported(supported(), this);
 428 }
 429
 430 GpsNmeaSource::~GpsNmeaSource()
 431 {
 432         device->close();
 433 }
 434
 435 const string GpsNmeaSource::uuid()
 436 {
 437         return mUuid;
 438 }
 439
 440
 441 void GpsNmeaSource::getPropertyAsync(AsyncPropertyReply *reply)
 442 {
 443         DebugOut()<<"GpsNmeaSource: getPropertyAsync called for property: "<<reply->property<<endl;
 444
 445         std::list<AbstractPropertyType*> f = location->fix();
 446
 447         for(auto property : f)
 448         {
 449                 if(property->name == reply->property)
 450                 {
 451                         reply->success = true;
 452                         reply->value = property;
 453                         reply->completed(reply);
 454                         return;
 455                 }
 456         }
 457
 458         reply->success = false;
 459         reply->error = AsyncPropertyReply::InvalidOperation;
 460         reply->completed(reply);
 461 }
 462
 463 void GpsNmeaSource::getRangePropertyAsync(AsyncRangePropertyReply *reply)
 464 {
 465
 466 }
 467
 468 AsyncPropertyReply *GpsNmeaSource::setProperty(AsyncSetPropertyRequest request )
 469 {
 470
 471 }
 472
 473 void GpsNmeaSource::subscribeToPropertyChanges(VehicleProperty::Property property)
 474 {
 475         mRequests.push_back(property);
 476 }
 477
 478 PropertyList GpsNmeaSource::supported()
 479 {
 480         return mSupported;
 481 }
 482
 483 int GpsNmeaSource::supportedOperations()
 484 {
 485         return Get;
 486 }
 487
 488 void GpsNmeaSource::canHasData()
 489 {
 490         std::string data = device->read();
 491
 492         std::vector<std::string> lines;
 493
 494         boost::split(lines,data,boost::is_any_of("$"));
 495
 496         for(int i = 0; i < lines.size(); i++)
 497         {
 498                 if(checksum(lines[i]))
 499                 {
 500                         buffer = lines[i];
 501                 }
 502                 else
 503                 {
 504                         buffer += lines[i];
 505                 }
 506
 507                 if(checksum(buffer))
 508                 {
 509                         /// we have a complete message.  parse it!
 510                         location->parse(buffer);
 511                 }
 512
 513                 DebugOut(7)<<"buffer: "<<buffer<<endl;
 514
 515         }
 516 }
 517
 518 void GpsNmeaSource::unsubscribeToPropertyChanges(VehicleProperty::Property property)
 519 {
 520         mRequests.remove(property);
 521 }
 522
 523 void GpsNmeaSource::addPropertySupport(VehicleProperty::Property property, Zone::Type zone)
 524 {
 525         mSupported.push_back(property);
 526
 527         std::list<Zone::Type> zones;
 528
 529         zones.push_back(zone);
 530
 531         PropertyInfo info(0, zones);
 532
 533         propertyInfoMap[property] = info;
 534 }
 535
 536 bool GpsNmeaSource::checksum(std::string sentence)
 537 {
 538         if(sentence.empty() || sentence.length() < 4)
 539         {
 540                 return false;
 541         }
 542
 543         int checksum = 0;
 544
 545         for(auto i : sentence)
 546         {
 547                 if(i == '*')
 548                         break;
 549                 if(i != '\n' || i != '\r')
 550                         checksum ^= i;
 551         }
 552
 553         std::string sentenceCheckStr = sentence.substr(sentence.length()-4,2);
 554
 555         try
 556         {
 557                 int sentenceCheck = lexical_cast<int>(sentenceCheckStr);
 558
 559                 return sentenceCheck == checksum;
 560         }
 561         catch(...)
 562
 563         {
 564                 return false;
 565         }
 566 }