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         try
 197         {
 198                 tm t;
 199                 t.tm_hour = boost::lexical_cast<int>(h);
 200                 t.tm_min = boost::lexical_cast<int>(m);
 201                 t.tm_sec = boost::lexical_cast<int>(s);
 202                 t.tm_mday = boost::lexical_cast<int>(dd);
 203                 t.tm_mon = boost::lexical_cast<int>(mm);
 204                 t.tm_year = boost::lexical_cast<int>(yy) + 100;
 205
 206                 time_t time = mktime(&t);
 207
 208                 BasicPropertyType<double> temp(GPSTIME,(double)time);
 209
 210                 if(mGpsTime != temp)
 211                 {
 212                         mGpsTime = temp;
 213                         routingEngine->updateProperty(&mGpsTime, mUuid);
 214                 }
 215         }
 216         catch(...)
 217         {
 218                 DebugOut(DebugOut::Warning)<<"Failed to parse time "<<endl;
 219         }
 220 }
 221
 222 void Location::parseLatitude(string d, string m, string ns)
 223 {
 224         try
 225         {
 226                 if(d.empty() )
 227                         return;
 228
 229                 double degs = boost::lexical_cast<double>(d + m);
 230                 double dec = degsToDecimal(degs);
 231
 232                 if(ns == "S")
 233                         dec *= -1;
 234
 235                 VehicleProperty::LatitudeType temp(dec);
 236
 237                 if(mLatitude != temp)
 238                 {
 239                         mLatitude = temp;\
 240                         routingEngine->updateProperty(&mLatitude, mUuid);
 241                 }
 242         }
 243         catch(...)
 244         {
 245                 DebugOut(DebugOut::Warning)<<"Failed to parse latitude"<<endl;
 246         }
 247 }
 248
 249 void Location::parseLongitude(string d, string m, string ew)
 250 {
 251         try
 252         {
 253                 if(d.empty()) return;
 254
 255                 double degs = boost::lexical_cast<double>(d + m);
 256                 double dec = degsToDecimal(degs);
 257
 258                 if(ew == "W")
 259                         dec *= -1;
 260
 261                 VehicleProperty::LongitudeType temp(dec);
 262
 263                 if(mLongitude != temp)
 264                 {
 265                         mLongitude = temp;\
 266                         routingEngine->updateProperty(&mLongitude, mUuid);
 267                 }
 268         }
 269         catch(...)
 270         {
 271                 DebugOut(DebugOut::Warning)<<"failed to parse longitude"<<endl;
 272         }
 273 }
 274
 275 void Location::parseSpeed(string spd)
 276 {
 277         try
 278         {
 279                 double s = boost::lexical_cast<double>(spd);
 280
 281                 ///to kph:
 282                 s *= 1.852;
 283                 VehicleProperty::VehicleSpeedType temp(s);
 284                 if(mSpeed != temp)
 285                 {
 286                         mSpeed = temp;
 287                         routingEngine->updateProperty(&mSpeed, mUuid);
 288                 }
 289         }
 290         catch(...)
 291         {
 292                 DebugOut(DebugOut::Warning)<<"failed to parse speed"<<endl;
 293         }
 294 }
 295
 296 void Location::parseDirection(string dir)
 297 {
 298         try {
 299                 uint16_t d = boost::lexical_cast<double>(dir);
 300
 301                 VehicleProperty::DirectionType temp(d);
 302                 if(mDirection != temp)
 303                 {
 304                         mDirection = temp;
 305                         routingEngine->updateProperty(&mDirection, mUuid);
 306                 }
 307         }
 308         catch(...)
 309         {
 310                 DebugOut(DebugOut::Warning)<<"Failed to parse direction: "<<dir<<endl;
 311         }
 312 }
 313
 314 void Location::parseAltitude(string alt)
 315 {
 316         try{
 317
 318                 if(alt.empty()) return;
 319
 320                 double a = boost::lexical_cast<double>(alt);
 321
 322                 VehicleProperty::AltitudeType temp(a);
 323                 if(mAltitude != temp)
 324                 {
 325                         mAltitude = temp;
 326                         routingEngine->updateProperty(&mAltitude, mUuid);
 327                 }
 328
 329                 mAltitude = VehicleProperty::AltitudeType(a);
 330         }
 331         catch(...)
 332         {
 333                 DebugOut(DebugOut::Warning)<<"failed to parse altitude"<<endl;
 334         }
 335 }
 336
 337 double Location::degsToDecimal(double degs)
 338 {
 339         double deg;
 340         double min = 100.0 * modf(degs / 100.0, &deg);
 341         return deg + (min / 60.0);
 342 }
 343
 344 bool readCallback(GIOChannel *source, GIOCondition condition, gpointer data)
 345 {
 346 //      DebugOut(5) << "Polling..." << condition << endl;
 347
 348         if(condition & G_IO_ERR)
 349         {
 350                 DebugOut(DebugOut::Error)<<"GpsNmeaSource polling error."<<endl;
 351         }
 352
 353         if (condition & G_IO_HUP)
 354         {
 355                 //Hang up. Returning false closes out the GIOChannel.
 356                 //printf("Callback on G_IO_HUP\n");
 357                 DebugOut(DebugOut::Warning)<<"socket hangup event..."<<endl;
 358                 return false;
 359         }
 360
 361         GpsNmeaSource* src = static_cast<GpsNmeaSource*>(data);
 362
 363         src->canHasData();
 364
 365         return true;
 366 }
 367
 368 extern "C" AbstractSource * create(AbstractRoutingEngine* routingengine, map<string, string> config)
 369 {
 370         return new GpsNmeaSource(routingengine, config);
 371
 372 }
 373
 374 GpsNmeaSource::GpsNmeaSource(AbstractRoutingEngine *re, map<string, string> config)
 375         :AbstractSource(re,config), mUuid("33d86462-1708-4f78-a001-99ea8d55422b")
 376 {
 377         location =new Location(re, mUuid);
 378
 379         VehicleProperty::registerProperty(GPSTIME,[](){ return new BasicPropertyType<double>(GPSTIME,0); });
 380
 381         addPropertySupport(VehicleProperty::Latitude, Zone::None);
 382         addPropertySupport(VehicleProperty::Longitude, Zone::None);
 383         addPropertySupport(VehicleProperty::Altitude, Zone::None);
 384         addPropertySupport(VehicleProperty::VehicleSpeed, Zone::None);
 385         addPropertySupport(VehicleProperty::Direction, Zone::None);
 386         addPropertySupport(GPSTIME, Zone::None);
 387
 388
 389         ///test:
 390
 391         if(config.find("test") != config.end())
 392         {
 393                 Location location(routingEngine, mUuid);
 394                 location.parse("GPRMC,061211,A,2351.9605,S,15112.5239,E,000.0,053.4,170303,009.9,E*6E");
 395
 396                 DebugOut(0)<<"lat: "<<location.latitude().toString()<<endl;
 397
 398                 g_assert(location.latitude().toString() == "-23.86600833");
 399                 g_assert(location.gpsTime().toString() == "1050585131");
 400
 401                 location.parse("GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47");
 402
 403                 DebugOut(0)<<"alt: "<<location.altitude().toString()<<endl;
 404                 DebugOut(0)<<"lat: "<<location.latitude().toString()<<endl;
 405                 g_assert(location.altitude().toString() == "545.4");
 406                 g_assert(location.latitude().toString() == "48.1173");
 407
 408                 location.parse("GPRMC,060136.00,A,3101.40475,N,12126.87095,E,0.760,,160114,,,A*74");
 409                 DebugOut(0)<<"lon: "<<location.longitude().toString()<<endl;
 410                 DebugOut(0)<<"lat: "<<location.latitude().toString()<<endl;
 411
 412                 //Test incomplete message:
 413                 location.parse("GPRMC,023633.00,V,,,,,,,180314,,,N*75");
 414                 DebugOut(0)<<"lon: "<<location.longitude().toString()<<endl;
 415                 DebugOut(0)<<"lat: "<<location.latitude().toString()<<endl;
 416         }
 417
 418         std::string btaddapter = config["bluetoothAdapter"];
 419
 420         if(config.find("device")!= config.end())
 421         {
 422                 std::string dev = config["device"];
 423                 if(dev.find(":") != string::npos)
 424                 {
 425                         BluetoothDevice bt;
 426                         dev = bt.getDeviceForAddress(dev, btaddapter);
 427                 }
 428
 429                 device = new SerialPort(dev);
 430
 431                 if(!device->open())
 432                 {
 433                         DebugOut(DebugOut::Error)<<"Failed to open gps tty: "<<config["device"]<<endl;
 434                         perror("Error");
 435                         return;
 436                 }
 437
 438                 DebugOut()<<"read from device: "<<device->read()<<endl;
 439
 440                 GIOChannel *chan = g_io_channel_unix_new(device->fileDescriptor());
 441                 g_io_add_watch(chan, GIOCondition(G_IO_IN | G_IO_HUP | G_IO_ERR),(GIOFunc)readCallback, this);
 442                 g_io_channel_set_close_on_unref(chan, true);
 443                 g_io_channel_unref(chan); //Pass ownership of the GIOChannel to the watch.
 444         }
 445 }
 446
 447 GpsNmeaSource::~GpsNmeaSource()
 448 {
 449         device->close();
 450 }
 451
 452 const string GpsNmeaSource::uuid()
 453 {
 454         return mUuid;
 455 }
 456
 457
 458 void GpsNmeaSource::getPropertyAsync(AsyncPropertyReply *reply)
 459 {
 460         DebugOut()<<"GpsNmeaSource: getPropertyAsync called for property: "<<reply->property<<endl;
 461
 462         std::list<AbstractPropertyType*> f = location->fix();
 463
 464         for(auto property : f)
 465         {
 466                 if(property->name == reply->property)
 467                 {
 468                         reply->success = true;
 469                         reply->value = property;
 470                         reply->completed(reply);
 471                         return;
 472                 }
 473         }
 474
 475         reply->success = false;
 476         reply->error = AsyncPropertyReply::InvalidOperation;
 477         reply->completed(reply);
 478 }
 479
 480 void GpsNmeaSource::getRangePropertyAsync(AsyncRangePropertyReply *reply)
 481 {
 482
 483 }
 484
 485 AsyncPropertyReply *GpsNmeaSource::setProperty(AsyncSetPropertyRequest request )
 486 {
 487
 488 }
 489
 490 void GpsNmeaSource::subscribeToPropertyChanges(VehicleProperty::Property property)
 491 {
 492         mRequests.push_back(property);
 493 }
 494
 495 PropertyList GpsNmeaSource::supported()
 496 {
 497         return mSupported;
 498 }
 499
 500 int GpsNmeaSource::supportedOperations()
 501 {
 502         return Get;
 503 }
 504
 505 void GpsNmeaSource::canHasData()
 506 {
 507         std::string data = device->read();
 508
 509         std::vector<std::string> lines;
 510
 511         boost::split(lines,data,boost::is_any_of("$"));
 512
 513         for(int i = 0; i < lines.size(); i++)
 514         {
 515                 if(checksum(lines[i]))
 516                 {
 517                         buffer = lines[i];
 518                 }
 519                 else
 520                 {
 521                         buffer += lines[i];
 522                 }
 523
 524                 if(checksum(buffer))
 525                 {
 526                         /// we have a complete message.  parse it!
 527                         DebugOut(7)<<"Complete message: "<<buffer<<endl;
 528                         location->parse(buffer);
 529                 }
 530
 531                 DebugOut(7)<<"buffer: "<<buffer<<endl;
 532
 533         }
 534 }
 535
 536 void GpsNmeaSource::unsubscribeToPropertyChanges(VehicleProperty::Property property)
 537 {
 538         mRequests.remove(property);
 539 }
 540
 541 void GpsNmeaSource::addPropertySupport(VehicleProperty::Property property, Zone::Type zone)
 542 {
 543         mSupported.push_back(property);
 544
 545         std::list<Zone::Type> zones;
 546
 547         zones.push_back(zone);
 548
 549         PropertyInfo info(0, zones);
 550
 551         propertyInfoMap[property] = info;
 552 }
 553
 554 bool GpsNmeaSource::checksum(std::string sentence)
 555 {
 556         if(sentence.empty() || sentence.length() < 4)
 557         {
 558                 return false;
 559         }
 560
 561         int checksum = 0;
 562
 563         for(auto i : sentence)
 564         {
 565                 if(i == '*')
 566                         break;
 567                 if(i != '\n' || i != '\r')
 568                         checksum ^= i;
 569         }
 570
 571         std::string sentenceCheckStr = sentence.substr(sentence.length()-4,2);
 572
 573         try
 574         {
 575                 int sentenceCheck = lexical_cast<int>(sentenceCheckStr);
 576
 577                 return sentenceCheck == checksum;
 578         }
 579         catch(...)
 580
 581         {
 582                 return false;
 583         }
 584 }