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 #include "bluetooth5.h"
  24 #include <listplusplus.h>
  25
  26 #include <iostream>
  27 #include <boost/assert.hpp>
  28 #include <boost/algorithm/string.hpp>
  29 #include <time.h>
  30
  31
  32 using namespace std;
  33
  34 #include "debugout.h"
  35 #include "abstractpropertytype.h"
  36
  37 #define GPSTIME "GpsTime"
  38
  39 template<typename T2>
  40 inline T2 lexical_cast(const std::string &in) {
  41         T2 out;
  42         std::stringstream ss;
  43         ss << std::hex << in;
  44         ss >> out;
  45         return out;
  46 }
  47
  48 class Location
  49 {
  50 public:
  51         Location(AbstractRoutingEngine* re, std::string uuid);
  52
  53         void parse(std::string gprmc);
  54
  55         VehicleProperty::LatitudeType latitude()
  56         {
  57                 return mLatitude;
  58         }
  59
  60         VehicleProperty::LongitudeType longitude()
  61         {
  62                 return mLongitude;
  63         }
  64
  65         VehicleProperty::AltitudeType altitude()
  66         {
  67                 return mAltitude;
  68         }
  69
  70         VehicleProperty::DirectionType direction()
  71         {
  72                 return mDirection;
  73         }
  74
  75         VehicleProperty::VehicleSpeedType speed()
  76         {
  77                 return mSpeed;
  78         }
  79
  80         BasicPropertyType<double> gpsTime()
  81         {
  82                 return mGpsTime;
  83         }
  84
  85         std::list<AbstractPropertyType*> fix()
  86         {
  87                 std::list<AbstractPropertyType*> l;
  88
  89                 l.push_back(&mLatitude);
  90                 l.push_back(&mLongitude);
  91                 l.push_back(&mAltitude);
  92                 l.push_back(&mDirection);
  93                 l.push_back(&mSpeed);
  94                 l.push_back(&mGpsTime);
  95
  96                 return l;
  97         }
  98
  99 private: ///methods:
 100
 101         void parseGprmc(string gprmc);
 102         void parseGpgga(string gpgga);
 103
 104         void parseTime(std::string h, std::string m, std::string s, string dd, string mm, string yy);
 105         void parseLatitude(std::string d, std::string m, std::string ns);
 106         void parseLongitude(std::string d, string m, string ew);
 107         void parseSpeed(std::string spd);
 108         void parseDirection(std::string dir);
 109         void parseAltitude(std::string alt);
 110
 111         double degsToDecimal(double degs);
 112
 113 private:
 114
 115         VehicleProperty::LatitudeType mLatitude;
 116         VehicleProperty::LongitudeType mLongitude;
 117         VehicleProperty::AltitudeType mAltitude;
 118         VehicleProperty::DirectionType  mDirection;
 119         VehicleProperty::VehicleSpeedType mSpeed;
 120         BasicPropertyType<double> mGpsTime;
 121
 122         bool isActive;
 123
 124         std::string mUuid;
 125
 126         AbstractRoutingEngine* routingEngine;
 127
 128 };
 129
 130 Location::Location(AbstractRoutingEngine* re, std::string uuid)
 131         :mLatitude(0), mLongitude(0), mAltitude(0), mDirection(0), mSpeed(0), mGpsTime(GPSTIME,0), isActive(false), routingEngine(re), mUuid(uuid)
 132 {
 133
 134 }
 135
 136 void Location::parse(string nmea)
 137 {
 138         if(boost::algorithm::starts_with(nmea,"GPRMC"))
 139         {
 140                 parseGprmc(nmea);
 141         }
 142         else if(boost::algorithm::starts_with(nmea,"GPGGA"))
 143         {
 144                 parseGpgga(nmea);
 145         }
 146         else
 147         {
 148                 DebugOut(7)<<"unknown/unhandled message: "<<nmea<<endl;
 149         }
 150 }
 151
 152 void Location::parseGprmc(string gprmc)
 153 {
 154         DebugOut(7)<<"parsing gprmc message"<<endl;
 155
 156         std::vector<std::string> tokens;
 157         boost::split(tokens, gprmc, boost::is_any_of(","));
 158
 159         if(!tokens.size())
 160         {
 161                 return;
 162         }
 163
 164         if(tokens[2] == "A")
 165         {
 166                 isActive = true;
 167         }
 168
 169         if(tokens[1].empty() || tokens[9].empty() || tokens[3].empty() || tokens[4].empty() || tokens[5].empty() || tokens[6].empty() || tokens[7].empty() || tokens[8].empty())
 170         {
 171                 return;
 172         }
 173
 174         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));
 175
 176         parseLatitude(tokens[3], "", tokens[4]);
 177         parseLongitude(tokens[5], "", tokens[6]);
 178         parseSpeed(tokens[7]);
 179         parseDirection(tokens[8]);
 180
 181 }
 182
 183 void Location::parseGpgga(string gpgga)
 184 {
 185
 186         std::vector<std::string> tokens;
 187         boost::split(tokens, gpgga, boost::is_any_of(","));
 188
 189         if(tokens.size() != 15)
 190         {
 191                 DebugOut()<<"Invalid GPGGA message: "<<gpgga<<endl;
 192                 return;
 193         }
 194
 195         parseLatitude(tokens[2],"",tokens[3]);
 196         parseLongitude(tokens[4],"",tokens[5]);
 197         if(tokens[6] != "0")
 198         {
 199                 isActive = true;
 200         }
 201         else isActive = false;
 202
 203         parseAltitude(tokens[9]);
 204 }
 205
 206 void Location::parseTime(string h, string m, string s, string dd, string mm, string yy)
 207 {
 208         try
 209         {
 210                 tm t;
 211                 t.tm_hour = boost::lexical_cast<int>(h);
 212                 t.tm_min = boost::lexical_cast<int>(m);
 213                 t.tm_sec = boost::lexical_cast<int>(s);
 214                 t.tm_mday = boost::lexical_cast<int>(dd);
 215                 t.tm_mon = boost::lexical_cast<int>(mm);
 216                 t.tm_year = boost::lexical_cast<int>(yy) + 100;
 217
 218                 time_t time = mktime(&t);
 219
 220                 BasicPropertyType<double> temp(GPSTIME,(double)time);
 221
 222                 if(mGpsTime != temp)
 223                 {
 224                         mGpsTime = temp;
 225                         if(routingEngine)
 226                                 routingEngine->updateProperty(&mGpsTime, mUuid);
 227                 }
 228         }
 229         catch(...)
 230         {
 231                 DebugOut(5)<<"Failed to parse time "<<endl;
 232         }
 233 }
 234
 235 void Location::parseLatitude(string d, string m, string ns)
 236 {
 237         try
 238         {
 239                 if(d.empty() )
 240                         return;
 241
 242                 double degs = boost::lexical_cast<double>(d + m);
 243                 double dec = degsToDecimal(degs);
 244
 245                 if(ns == "S")
 246                         dec *= -1;
 247
 248                 VehicleProperty::LatitudeType temp(dec);
 249
 250                 if(mLatitude != temp)
 251                 {
 252                         mLatitude = temp;
 253
 254                         if(routingEngine)
 255                                 routingEngine->updateProperty(&mLatitude, mUuid);
 256                 }
 257         }
 258         catch(...)
 259         {
 260                 DebugOut(5)<<"Failed to parse latitude"<<endl;
 261         }
 262 }
 263
 264 void Location::parseLongitude(string d, string m, string ew)
 265 {
 266         try
 267         {
 268                 if(d.empty()) return;
 269
 270                 double degs = boost::lexical_cast<double>(d + m);
 271                 double dec = degsToDecimal(degs);
 272
 273                 if(ew == "W")
 274                         dec *= -1;
 275
 276                 VehicleProperty::LongitudeType temp(dec);
 277
 278                 if(mLongitude != temp)
 279                 {
 280                         mLongitude = temp;
 281
 282                         if(routingEngine)
 283                                 routingEngine->updateProperty(&mLongitude, mUuid);
 284                 }
 285         }
 286         catch(...)
 287         {
 288                 DebugOut(5)<<"failed to parse longitude: "<<d<<" "<<m<<" "<<ew<<endl;
 289         }
 290 }
 291
 292 void Location::parseSpeed(string spd)
 293 {
 294         try
 295         {
 296                 double s = boost::lexical_cast<double>(spd);
 297
 298                 ///to kph:
 299                 s *= 1.852;
 300                 VehicleProperty::VehicleSpeedType temp(s);
 301                 if(mSpeed != temp)
 302                 {
 303                         mSpeed = temp;
 304
 305                         if(routingEngine)
 306                                 routingEngine->updateProperty(&mSpeed, mUuid);
 307                 }
 308         }
 309         catch(...)
 310         {
 311                 DebugOut(5)<<"failed to parse speed"<<endl;
 312         }
 313 }
 314
 315 void Location::parseDirection(string dir)
 316 {
 317         try {
 318                 uint16_t d = boost::lexical_cast<double>(dir);
 319
 320                 VehicleProperty::DirectionType temp(d);
 321                 if(mDirection != temp)
 322                 {
 323                         mDirection = temp;
 324                         if(routingEngine)
 325                                 routingEngine->updateProperty(&mDirection, mUuid);
 326                 }
 327         }
 328         catch(...)
 329         {
 330                 DebugOut(5)<<"Failed to parse direction: "<<dir<<endl;
 331         }
 332 }
 333
 334 void Location::parseAltitude(string alt)
 335 {
 336         try{
 337
 338                 if(alt.empty()) return;
 339
 340                 double a = boost::lexical_cast<double>(alt);
 341
 342                 VehicleProperty::AltitudeType temp(a);
 343                 if(mAltitude != temp)
 344                 {
 345                         mAltitude = temp;
 346
 347                         if(routingEngine)
 348                                 routingEngine->updateProperty(&mAltitude, mUuid);
 349                 }
 350
 351                 mAltitude = VehicleProperty::AltitudeType(a);
 352         }
 353         catch(...)
 354         {
 355                 DebugOut(5)<<"failed to parse altitude"<<endl;
 356         }
 357 }
 358
 359 double Location::degsToDecimal(double degs)
 360 {
 361         double deg;
 362         double min = 100.0 * modf(degs / 100.0, &deg);
 363         return deg + (min / 60.0);
 364 }
 365
 366 bool readCallback(GIOChannel *source, GIOCondition condition, gpointer data)
 367 {
 368 //      DebugOut(5) << "Polling..." << condition << endl;
 369
 370         if(condition & G_IO_ERR)
 371         {
 372                 DebugOut(DebugOut::Error)<<"GpsNmeaSource polling error."<<endl;
 373         }
 374
 375         if (condition & G_IO_HUP)
 376         {
 377                 //Hang up. Returning false closes out the GIOChannel.
 378                 //printf("Callback on G_IO_HUP\n");
 379                 DebugOut(DebugOut::Warning)<<"socket hangup event..."<<endl;
 380                 return false;
 381         }
 382
 383         GpsNmeaSource* src = static_cast<GpsNmeaSource*>(data);
 384
 385         src->canHasData();
 386
 387         return true;
 388 }
 389
 390 extern "C" AbstractSource * create(AbstractRoutingEngine* routingengine, map<string, string> config)
 391 {
 392         return new GpsNmeaSource(routingengine, config);
 393
 394 }
 395
 396 GpsNmeaSource::GpsNmeaSource(AbstractRoutingEngine *re, map<string, string> config)
 397         :AbstractSource(re,config), mUuid("33d86462-1708-4f78-a001-99ea8d55422b"), device(nullptr), bt(nullptr)
 398 {
 399         int baudrate = 0;
 400         location =new Location(re, mUuid);
 401
 402         VehicleProperty::registerProperty(GPSTIME,[](){ return new BasicPropertyType<double>(GPSTIME,0); });
 403
 404         addPropertySupport(VehicleProperty::Latitude, Zone::None);
 405         addPropertySupport(VehicleProperty::Longitude, Zone::None);
 406         addPropertySupport(VehicleProperty::Altitude, Zone::None);
 407         addPropertySupport(VehicleProperty::VehicleSpeed, Zone::None);
 408         addPropertySupport(VehicleProperty::Direction, Zone::None);
 409         addPropertySupport(GPSTIME, Zone::None);
 410
 411         ///test:
 412
 413         if(config.find("test") != config.end())
 414         {
 415                 test();
 416         }
 417
 418         std::string btaddapter = config["bluetoothAdapter"];
 419
 420         if(config.find("baudrate")!= config.end())
 421         {
 422                 baudrate = boost::lexical_cast<int>( config["baudrate"] );
 423         }
 424
 425         if(config.find("device")!= config.end())
 426         {
 427                 std::string dev = config["device"];
 428
 429 #ifdef USE_BLUEZ5
 430                 if(dev.find(":") != string::npos)
 431                 {
 432
 433                         bt = new Bluetooth5();
 434                         bt->getDeviceForAddress(dev, [this](int fd) {
 435                                 DebugOut() << "fd: " << fd << endl;
 436                                 device = new SerialPort(fd);
 437                                 int baudrate=0;
 438
 439                                 if(baudrate!=0)
 440                                 {
 441                                         if((static_cast<SerialPort*>(device))->setSpeed(baudrate))
 442                                                 DebugOut(DebugOut::Error)<<"Unsupported baudrate " << configuration["baudrate"] << endl;
 443                                 }
 444
 445                                 DebugOut()<<"read from device: "<<device->read()<<endl;
 446
 447                                 GIOChannel *chan = g_io_channel_unix_new(device->fileDescriptor());
 448                                 g_io_add_watch(chan, GIOCondition(G_IO_IN | G_IO_HUP | G_IO_ERR),(GIOFunc)readCallback, this);
 449                                 g_io_channel_set_close_on_unref(chan, true);
 450                                 g_io_channel_unref(chan);
 451                         });
 452 #else
 453                         bt = new BluetoothDevice();
 454                         dev = bt->getDeviceForAddress(dev, btaddapter);
 455
 456                         device = new SerialPort(dev);
 457
 458                         if(baudrate!=0)
 459                         {
 460                                 if((static_cast<SerialPort*>(device))->setSpeed(baudrate))
 461                                         DebugOut(DebugOut::Error)<<"Unsupported baudrate " << config["baudrate"] << endl;
 462                         }
 463
 464                         if(!device->open())
 465                         {
 466                                 DebugOut(DebugOut::Error)<<"Failed to open gps tty: "<<config["device"]<<endl;
 467                                 perror("Error");
 468                                 return;
 469                         }
 470
 471                         DebugOut()<<"read from device: "<<device->read()<<endl;
 472
 473                         GIOChannel *chan = g_io_channel_unix_new(device->fileDescriptor());
 474                         g_io_add_watch(chan, GIOCondition(G_IO_IN | G_IO_HUP | G_IO_ERR),(GIOFunc)readCallback, this);
 475                         g_io_channel_set_close_on_unref(chan, true);
 476                         g_io_channel_unref(chan);
 477 #endif
 478                 }
 479                 else
 480                 {
 481                         device = new SerialPort(dev);
 482
 483                         if(baudrate!=0)
 484                         {
 485                                 if((static_cast<SerialPort*>(device))->setSpeed(baudrate))
 486                                         DebugOut(DebugOut::Error)<<"Unsupported baudrate " << config["baudrate"] << endl;
 487                         }
 488
 489                         if(!device->open())
 490                         {
 491                                 DebugOut(DebugOut::Error)<<"Failed to open gps tty: "<<config["device"]<<endl;
 492                                 perror("Error");
 493                                 return;
 494                         }
 495
 496                         DebugOut()<<"read from device: "<<device->read()<<endl;
 497
 498                         GIOChannel *chan = g_io_channel_unix_new(device->fileDescriptor());
 499                         g_io_add_watch(chan, GIOCondition(G_IO_IN | G_IO_HUP | G_IO_ERR), (GIOFunc)readCallback, this);
 500                         g_io_channel_set_close_on_unref(chan, true);
 501                         g_io_channel_unref(chan);
 502                 }
 503         }
 504 }
 505
 506 GpsNmeaSource::~GpsNmeaSource()
 507 {
 508         if(device && device->isOpen())
 509                 device->close();
 510         if(bt)
 511                 delete bt;
 512 }
 513
 514 const string GpsNmeaSource::uuid()
 515 {
 516         return mUuid;
 517 }
 518
 519
 520 void GpsNmeaSource::getPropertyAsync(AsyncPropertyReply *reply)
 521 {
 522         DebugOut()<<"GpsNmeaSource: getPropertyAsync called for property: "<<reply->property<<endl;
 523
 524         std::list<AbstractPropertyType*> f = location->fix();
 525
 526         for(auto property : f)
 527         {
 528                 if(property->name == reply->property)
 529                 {
 530                         reply->success = true;
 531                         reply->value = property;
 532                         reply->completed(reply);
 533                         return;
 534                 }
 535         }
 536
 537         reply->success = false;
 538         reply->error = AsyncPropertyReply::InvalidOperation;
 539         reply->completed(reply);
 540 }
 541
 542 void GpsNmeaSource::getRangePropertyAsync(AsyncRangePropertyReply *reply)
 543 {
 544
 545 }
 546
 547 AsyncPropertyReply *GpsNmeaSource::setProperty(AsyncSetPropertyRequest request )
 548 {
 549
 550 }
 551
 552 void GpsNmeaSource::subscribeToPropertyChanges(VehicleProperty::Property property)
 553 {
 554         mRequests.push_back(property);
 555 }
 556
 557 PropertyList GpsNmeaSource::supported()
 558 {
 559         return mSupported;
 560 }
 561
 562 int GpsNmeaSource::supportedOperations()
 563 {
 564         return Get;
 565 }
 566
 567 void GpsNmeaSource::canHasData()
 568 {
 569         std::string data = device->read();
 570
 571         tryParse(data);
 572 }
 573
 574 void GpsNmeaSource::test()
 575 {
 576         Location location(nullptr, "");
 577         location.parse("GPRMC,061211,A,2351.9605,S,15112.5239,E,000.0,053.4,170303,009.9,E*6E");
 578
 579         DebugOut(0)<<"lat: "<<location.latitude().toString()<<endl;
 580
 581         g_assert(location.latitude().toString() == "-23.86600833");
 582         g_assert(location.gpsTime().toString() == "1050585131");
 583
 584         location.parse("GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47");
 585
 586         DebugOut(0)<<"alt: "<<location.altitude().toString()<<endl;
 587         DebugOut(0)<<"lat: "<<location.latitude().toString()<<endl;
 588         g_assert(location.altitude().toString() == "545.4");
 589         g_assert(location.latitude().toString() == "48.1173");
 590
 591         location.parse("GPRMC,060136.00,A,3101.40475,N,12126.87095,E,0.760,,160114,,,A*74");
 592         DebugOut(0)<<"lon: "<<location.longitude().toString()<<endl;
 593         DebugOut(0)<<"lat: "<<location.latitude().toString()<<endl;
 594
 595         //Test incomplete message:
 596         location.parse("GPRMC,023633.00,V,,,,,,,180314,,,N*75");
 597         DebugOut(0)<<"lon: "<<location.longitude().toString()<<endl;
 598         DebugOut(0)<<"lat: "<<location.latitude().toString()<<endl;
 599
 600         std::string testChecksuming = "GPRMC,195617.00,V,,,,,,,310314,,,N*74";
 601
 602         g_assert(checksum(testChecksuming));
 603
 604         std::string multimessage1 = "GA,235320.00,4532.48633,N,12257.";
 605         std::string multimessage2 = "57383,W,";
 606         std::string multimessage3 = "1,03,7.53,51.6,M,-21.3,M,,*55";
 607         std::string multimessage4 = "GPGSA,A,";
 608         std::string multimessage5 = "2,27,23,19,,,,,,,,,,7.60";
 609         std::string multimessage6 = ",7.53,1.00*";
 610         std::string multimessage7 = "0E";
 611
 612         bool multimessageParse = false;
 613
 614         multimessageParse |= tryParse(multimessage1);
 615         multimessageParse |= tryParse(multimessage2);
 616         multimessageParse |= tryParse(multimessage3);
 617         multimessageParse |= tryParse(multimessage4);
 618         multimessageParse |= tryParse(multimessage5);
 619         multimessageParse |= tryParse(multimessage6);
 620         multimessageParse |= tryParse(multimessage7);
 621
 622         g_assert(multimessageParse);
 623
 624         //Test meaningingless message:
 625         location.parse("GPRMC,,V,,,,,,,,,,N*53");
 626
 627         //test false message:
 628
 629         g_assert(!checksum("GPRMC,172758.296,V"));
 630 }
 631
 632 bool GpsNmeaSource::tryParse(string data)
 633 {
 634         std::vector<std::string> lines;
 635
 636         boost::split(lines, data, boost::is_any_of("$"));
 637
 638         bool weFoundAMessage = false;
 639
 640         for(auto line : lines)
 641         {
 642                 if(checksum(line))
 643                 {
 644                         buffer = line;
 645                 }
 646                 else
 647                 {
 648                         buffer += line;
 649                 }
 650
 651                 std::string::size_type pos = buffer.find('G');
 652
 653                 if(pos != std::string::npos && pos != 0)
 654                 {
 655                         ///Throw the incomplete stuff away.  if it doesn't begin with "G" it'll never be complete
 656                         buffer = buffer.substr(pos);
 657                 }
 658
 659                 if(checksum(buffer))
 660                 {
 661                         /// we have a complete message.  parse it!
 662                         DebugOut(7)<<"Complete message: "<<buffer<<endl;
 663                         location->parse(buffer);
 664                         weFoundAMessage = true;
 665                         buffer = "";
 666                 }
 667                 else
 668                 {
 669                         if(pos == 0 )
 670                         {
 671                                 uint cs = buffer.find('*');
 672                                 if (cs != std::string::npos && cs != buffer.length()-1)
 673                                 {
 674                                         ///This means we have a false flag somewhere.
 675                                         buffer = buffer.substr(cs+(buffer.length() - cs));
 676                                 }
 677                         }
 678                 }
 679
 680                 DebugOut(7)<<"buffer: "<<buffer<<endl;
 681         }
 682
 683         return weFoundAMessage;
 684 }
 685
 686 void GpsNmeaSource::unsubscribeToPropertyChanges(VehicleProperty::Property property)
 687 {
 688         removeOne(&mRequests,property);
 689 }
 690
 691 void GpsNmeaSource::addPropertySupport(VehicleProperty::Property property, Zone::Type zone)
 692 {
 693         mSupported.push_back(property);
 694
 695         std::list<Zone::Type> zones;
 696
 697         zones.push_back(zone);
 698
 699         PropertyInfo info(0, zones);
 700
 701         propertyInfoMap[property] = info;
 702 }
 703
 704 bool GpsNmeaSource::checksum(std::string sentence)
 705 {
 706         if(sentence.empty() || sentence.length() < 4 || sentence.find("*") == string::npos || sentence.find("*") >= sentence.length()-2)
 707         {
 708                 return false;
 709         }
 710
 711         int checksum = 0;
 712
 713         for(auto i : sentence)
 714         {
 715                 if(i == '*')
 716                         break;
 717                 if(i != '\n' || i != '\r')
 718                         checksum ^= i;
 719         }
 720
 721         std::string sentenceCheckStr = sentence.substr(sentence.find('*')+1,2);
 722
 723         try
 724         {
 725                 int sentenceCheck = lexical_cast<int>(sentenceCheckStr);
 726
 727                 return sentenceCheck == checksum;
 728         }
 729         catch(...)
 730
 731         {
 732                 return false;
 733         }
 734
 735         return false;
 736 }
 737
 738
 739 int main(int argc, char** argv)
 740 {
 741         DebugOut::setDebugThreshhold(7);
 742         GpsNmeaSource plugin(nullptr, std::map<std::string, std::string>());
 743         plugin.test();
 744
 745         return 1;
 746 }