/**
* Main system entry point
*/
int main (void) {
SystemInit();
/* Initialise Pins */
CUTDOWN_OFF();
HEATER_OFF();
MBED_OFF();
GREEN_OFF();
/* Update the value of SystemCoreClock */
SystemCoreClockUpdate();
/* Initialise Interfaces */
i2c_init();
spi_init(process_imu_frame); // IMU
sd_spi_init(); // SD
uart_init(); // GPS
pwrmon_init(); // ADC
/* Initialise Sensors */
init_barometer();
/* SD Card */
if (initialise_card()) { // Initialised to something
if (disk_initialize() == 0) { // Disk initialisation was successful
sd_good = 1;
}
}
GREEN_ON();
/* Configure the SysTick */
NVIC_SetPriority(SysTick_IRQn, 0); // Highest Priority Interrupt
SysTick_Config(SystemCoreClock / RTTY_BAUD);
/* Watchdog - Disabled for debugging */
#ifndef WATCHDOG_DISABLED
init_watchdog();
#endif
struct barometer* b;
struct imu_raw ir;
struct gps_data gd;
struct gps_time gt;
double alt, ext_temp;
int tx_length; // The length of the built tx string
char tx_string[TX_STRING_LENGTH];
while (1) {
/* Grab Data */
pwrmon_start(pwrmon_callback);
b = get_barometer();
get_imu_raw_data(&ir);
get_gps_data(&gd);
get_gps_time(>);
ext_temp = get_temperature();
/* Data Processing */
if (b->valid) {
alt = pressure_to_altitude(b->pressure);
} else {
alt = -1;
b->temperature = -1;
}
/* Act on the data */
control_gsm(alt);
control_cutdown(ticks_until_cutdown, alt);
control_heater(b->temperature);
/* Create a protocol string */
int cutstat;
if (ticks_until_cutdown == 0) {
cutstat = -1;
} else {
cutstat = ticks_until_cutdown / (RTTY_BAUD*60);
}
tx_length = build_communications_frame(tx_string, TX_STRING_LENGTH,
>, b, &gd, alt, ext_temp, &ir,
cutstat, cutdown_voltage);
/* Transmit - Quietly fails if another transmission is ongoing */
rtty_set_string(tx_string, tx_length);
/* Store */
if (sd_good) {
tx_length -= 2; // Remove \n\0
tx_length += communications_frame_add_extra(tx_string + tx_length,
TX_STRING_LENGTH - tx_length, &ir);
disk_write_next_block((uint8_t*)tx_string, tx_length+1); // Include null terminator
}
/* Housekeeping */
GREEN_TOGGLE();
feed_watchdog();
}
}
//^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
// Event Function
//^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
void gps_gateway_process(int x, short int y, void *pargs)
{
unsigned int unFromAddrLen;
int nByte = 0;
int nSendByte = 0;
unsigned char aReqBuffer[512];
unsigned char aRespBuffer[512];
struct sockaddr_in stFromAddr;
bson_oid_t oid;
bson_t *doc;
const bson_t *result;
bson_t *query;
int i = 0;
int command = 0;
int monitor_type = 0;
char telephone[10];
char text_message[240];
int length;
char strBaseinfo[10];
AGPS_info * agps;
cell_info * cell;
unFromAddrLen = sizeof(stFromAddr);
memset(aReqBuffer,0x00,512);
memset(aRespBuffer,0x00,512);
if ((nByte = recvfrom(x, aReqBuffer, sizeof(aReqBuffer), 0,
(struct sockaddr *)&stFromAddr, &unFromAddrLen)) == -1)
{
printf("error occured while receivingn");
}
//proc();
data_frame_head *msg = (data_frame_head *) aReqBuffer;
content_gps_up *g = (content_gps_up *)(aReqBuffer + sizeof(data_frame_head));
//异或校验
//异或校验
unsigned char xor = *(aReqBuffer + nByte - 2);
if( xor != check_xor(aReqBuffer, nByte - 2))
{
return ;//drop down BAD check xor.
}
switch (msg->cmd)
{
case CMD_TERMINAL_GPS_UP :
//解析位置信息，得到经纬度
fprintf(stderr,"protocal head %x \n",msg->data_head[0] );
fprintf(stderr,"cmd %x \n", msg->cmd );
fprintf(stderr,"length %d \n", ntohs(msg->length) );
//fprintf(stderr,"product_id %u\n",get_product_id(msg->terminal_id));
fprintf(stderr,"product_id %u\n",get_product_id(g->terminal_id));
fprintf(stderr,"flow_id %x \n", ntohs(g->flow_id) );
fprintf(stderr,"data_type %x \n", g->data_type );
fprintf(stderr," time " );
for ( i = 0 ; i< 6 ;i++)
fprintf(stderr," %x \n", g->base_info.date_time[i] );
/////////
//经纬度
fprintf(stderr," latitude " );
for ( i = 0 ; i< 4 ;i++)
fprintf(stderr,"%x \n", g->base_info.latitude[i] );
fprintf(stderr," longitude " );
for ( i = 0 ; i< 4 ;i++)
fprintf(stderr," %x \n", g->base_info.longitude[i] );
/////////
fprintf(stderr,"speed %u \n", ntohs(g->base_info.speed));
fprintf(stderr,"fangxiang %u \n", ntohs(g->base_info.direction));
fprintf(stderr,"gaodu %u\n", ntohs(g->base_info.high));
fprintf(stderr,"定位状态 %c\n", g->base_info.pos_station);
fprintf(stderr,"是否应答 %x\n", g->base_info.need_response);
if (ntohs(msg->length) > sizeof (content_gps_up)) {
fprintf(stderr,"含有附带信息\n");
unsigned char *attach_info = aReqBuffer + sizeof(data_frame_head) + sizeof(content_gps_up);
fprintf(stderr,"附带信息类型：%x\n",*attach_info);
fprintf(stderr,"附带信息长度：%d\n",*(attach_info+1));
switch (*(attach_info))
{
case 0x01:
break;
case 0x02:
fprintf(stderr,"基站信息\n");
agps = (AGPS_info * ) ( attach_info + 2);
cell = (cell_info * ) ( attach_info + 2 + sizeof(AGPS_info));
fprintf(stderr,"\n国家编码");
fprintf(stderr," %x ", ntohl(agps->country_code) );
fprintf(stderr,"\n运营编码");
fprintf(stderr," %x ", ntohl(agps->mobile_code) );
fprintf(stderr,"\n运基站定位\n");
for ( i = 0 ; i< agps->base_count ;i++){
fprintf(stderr," 基站 %d 位置区编码 %d\n", i+1, ntohs(cell->lacN) );
fprintf(stderr," 基站 %d 小区编码 %d \n", i+1, ntohs(cell->cellN) );
fprintf(stderr," 基站 %d 信号强度 %x \n", i+1, cell->signalN );
cell++;
}
break;
case 0x0C:
case 0x1E:
case 0x1F:
case 0x28:
case 0x40:
case 0x41:
case 0x42:
case 0x43:
case 0x44:
case 0x45:
break;
}
}
if( g->data_type == 0x80 || g->data_type == 0x82 || g->data_type == 0x8E )
{
//保存mongodb
unsigned char timegps[15];
unsigned char latitude[10];
unsigned char longitude[10];
double lat;
double lng;
doc = bson_new ();
bson_oid_init (&oid, NULL);
BSON_APPEND_OID (doc, "_id", &oid);
BSON_APPEND_INT32 (doc, "id",get_product_id(g->terminal_id));
get_gps_time(g->base_info.date_time, timegps );
BSON_APPEND_UTF8 (doc, "timestamp", timegps);
lat = bcd2longitude(g->base_info.latitude, latitude );
lng = bcd2longitude(g->base_info.longitude, longitude );
BSON_APPEND_UTF8 (doc, "latitude", latitude);
BSON_APPEND_UTF8 (doc, "longitude", longitude);
BSON_APPEND_DOUBLE (doc, "lat", lat);
BSON_APPEND_DOUBLE (doc, "lng", lng);
BSON_APPEND_INT32 (doc, "speed", ntohs(g->base_info.speed));
BSON_APPEND_INT32 (doc, "direction", ntohs(g->base_info.direction));
BSON_APPEND_INT32 (doc, "high", ntohs(g->base_info.high));
BSON_APPEND_INT32 (doc, "pos_station", g->base_info.pos_station);
if (ntohs(msg->length) > sizeof (content_gps_up)) {
unsigned char *attach_info = aReqBuffer + sizeof(data_frame_head) + sizeof(content_gps_up);
switch (*(attach_info))
{
case 0x01:
break;
case 0x02:
agps = (AGPS_info * ) ( attach_info + 2);
cell = (cell_info * ) ( attach_info + 2 + sizeof(AGPS_info));
fprintf(stderr,"\n国家编码");
fprintf(stderr," %x ", ntohl(agps->country_code) );
BSON_APPEND_INT32 (doc, "country_code", ntohl(agps->country_code));
fprintf(stderr,"\n运营编码");
fprintf(stderr," %x ", ntohl(agps->mobile_code) );
BSON_APPEND_INT32 (doc, "mobile_code", ntohl(agps->mobile_code));
fprintf(stderr,"\n运基站定位\n");
for ( i = 0 ; i< agps->base_count ;i++){
fprintf(stderr," 基站 %d 位置区编码 %d\n", i+1, ntohs(cell->lacN) );
fprintf(stderr," 基站 %d 小区编码 %d \n", i+1, ntohs(cell->cellN) );
fprintf(stderr," 基站 %d 信号强度 %x \n", i+1, cell->signalN );
sprintf(strBaseinfo,"lac%d",i);
BSON_APPEND_INT32 (doc, strBaseinfo, ntohs(cell->lacN) );
sprintf(strBaseinfo,"cell%d",i);
BSON_APPEND_INT32 (doc, strBaseinfo, ntohs(cell->cellN) );
sprintf(strBaseinfo,"signal%d",i);
BSON_APPEND_INT32 (doc, strBaseinfo, cell->signalN );
cell++;
}
break;
case 0x0C:
case 0x1E:
case 0x1F:
case 0x28:
case 0x40:
case 0x41:
case 0x42:
case 0x43:
case 0x44:
case 0x45:
break;
}
}
if (!mongoc_collection_insert (collection, MONGOC_INSERT_NONE, doc, NULL, &error)) {
printf ("Insert failed: %s\n", error.message);
}
bson_destroy (doc);
}
else if( g->data_type == 0x85 )
{
//delete from mongo
query = bson_new ();
BSON_APPEND_INT32 (query, "id",get_product_id(g->terminal_id));
if( ! mongoc_collection_remove(collection_cmd, MONGOC_DELETE_NONE, query, NULL, &error))
{
fprintf(stderr,"remove command failed \n" );
}
bson_destroy (query);
}
if (g->base_info.need_response == 0x01)
{
send_22_response( x, aRespBuffer , g->flow_id, xor , g->data_type,
stFromAddr, unFromAddrLen );
}
break;
case CMD_TERMINAL_INFO_UP :
fprintf(stderr,"CMD_TERMINAL_INFO_UP\n");
content_info_up * t = (content_info_up *)(aReqBuffer + sizeof(data_frame_head));
fprintf(stderr,"parameter %x \n", t->parameter );
if(t->parameter == 0x01)
{
sent_time_response( x, aRespBuffer , g->terminal_id, stFromAddr, unFromAddrLen );
}
break;
case CMD_VERSION_INFO_UP :
fprintf(stderr,"CMD_VERSION_INFO_UP");
break;
case CMD_VOICE_UP :
fprintf(stderr,"CMD_VOICE_UP");
break;
default:
break;
}
//get command from mongo
char *str;
query = bson_new ();
BSON_APPEND_INT32 (query, "id",get_product_id(g->terminal_id));
cursor = mongoc_collection_find (collection_cmd, MONGOC_QUERY_NONE, 0, 0, 0, query, NULL, NULL);
//while (mongoc_cursor_next (cursor, &doc)) {
// mongoc_cursor_next (cursor, &result);
while (mongoc_cursor_next (cursor, (const bson_t **) &doc)) {
bson_iter_t iter;
bson_iter_t sub_iter;
str = bson_as_json (doc, NULL);
fprintf (stderr, "%s\n", str);
bson_free (str);
if (bson_iter_init (&iter, doc) && bson_iter_find_descendant (&iter, "cmd", &sub_iter)) {
fprintf (stderr,"Found key \"%s\" in sub document.\n", bson_iter_key (&sub_iter));
printf ("The type of a.b.c.d is: %d\n", (int)bson_iter_type (&sub_iter));
command = (int)bson_iter_int32 (&sub_iter);
}
if (bson_iter_init (&iter, doc) && bson_iter_find_descendant (&iter, "parameter", &sub_iter)) {
fprintf (stderr,"Found key \"%s\" in sub document.\n", bson_iter_key (&sub_iter));
printf ("The type of a.b.c.d is: %d\n", (int)bson_iter_type (&sub_iter));
strcpy (telephone , bson_iter_utf8 (&sub_iter,&length));
}
if (bson_iter_init (&iter, doc) && bson_iter_find_descendant (&iter, "monitor_type", &sub_iter)) {
fprintf (stderr,"Found key \"%s\" in sub document.\n", bson_iter_key (&sub_iter));
printf ("The type of a.b.c.d is: %d\n", (int)bson_iter_type (&sub_iter));
monitor_type = (int)bson_iter_int32 (&sub_iter);
}
if (bson_iter_init (&iter, doc) && bson_iter_find_descendant (&iter, "text_message", &sub_iter)) {
fprintf (stderr,"Found key \"%s\" in sub document.\n", bson_iter_key (&sub_iter));
printf ("The type of a.b.c.d is: %d\n", (int)bson_iter_type (&sub_iter));
strcpy (text_message , bson_iter_utf8 (&sub_iter,&length));
}
}
mongoc_cursor_destroy (cursor);
bson_destroy (query);
//send command to handring
if (command == 1)
{
send_monitor_cmd( x, aRespBuffer , g->terminal_id, stFromAddr, unFromAddrLen ,monitor_type, telephone);
}
else if (command == 9)
{
send_sleep_cmd( x, aRespBuffer , g->terminal_id, stFromAddr, unFromAddrLen );
}
else if (command == 2)
{
send_set_cmd( x, aRespBuffer , g->terminal_id, stFromAddr, unFromAddrLen ,text_message);
}
else{
//为了避免长时间使用网络。在通信6次发送一个休眠指令
if( (msg->cmd == CMD_TERMINAL_GPS_UP) && (check_state(g->terminal_id) == MAX_STANDBY) )
{
send_sleep_cmd( x, aRespBuffer , g->terminal_id, stFromAddr, unFromAddrLen );
}
}
//printf("Function called buffer is %sn",aReqBuffer);
g_count++;
}
