static gps_mask_t decode_itk_subframe(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned short flags, prn, sf;
unsigned int i;
uint32_t words[10];
if (len != 64) {
gpsd_report(LOG_PROG,
"ITALK: bad SUBFRAME (len %zu, should be 64)\n", len);
return 0;
}
flags = (ushort) getleu16(buf, 7 + 4);
prn = (ushort) getleu16(buf, 7 + 6);
sf = (ushort) getleu16(buf, 7 + 8);
gpsd_report(LOG_PROG, "iTalk 50B SUBFRAME prn %u sf %u - decode %s %s\n",
prn, sf,
flags & SUBFRAME_WORD_FLAG_MASK ? "error" : "ok",
flags & SUBFRAME_GPS_PREAMBLE_INVERTED ? "(inverted)" : "");
if (flags & SUBFRAME_WORD_FLAG_MASK)
return 0; // don't try decode an erroneous packet
/*
* Timo says "SUBRAME message contains decoded navigation message subframe
* words with parity checking done but parity bits still present."
*/
for (i = 0; i < 10; i++)
words[i] = (uint32_t)(getleu32(buf, 7 + 14 + 4 * i) >> 6) & 0xffffff;
return gpsd_interpret_subframe(session, prn, words);
}
/*@-mustfreefresh@*/
static void init_hook(struct gps_device_t *session)
/* for chrony SOCK interface, which allows nSec timekeeping */
{
/* open the chrony socket */
char chrony_path[GPS_PATH_MAX];
session->chronyfd = -1;
if ( 0 == getuid() ) {
/* this case will fire on command-line devices;
* they're opened before priv-dropping. Matters because
* only root can use /var/run.
*/
(void)snprintf(chrony_path, sizeof (chrony_path),
"/var/run/chrony.%s.sock", basename(session->gpsdata.dev.path));
} else {
(void)snprintf(chrony_path, sizeof (chrony_path),
"/tmp/chrony.%s.sock", basename(session->gpsdata.dev.path));
}
if (access(chrony_path, F_OK) != 0) {
gpsd_report(&session->context->errout, LOG_PROG,
"PPS chrony socket %s doesn't exist\n", chrony_path);
} else {
session->chronyfd = netlib_localsocket(chrony_path, SOCK_DGRAM);
if (session->chronyfd < 0)
gpsd_report(&session->context->errout, LOG_PROG,
"PPS connect chrony socket failed: %s, error: %d, errno: %d/%s\n",
chrony_path, session->chronyfd, errno, strerror(errno));
else
gpsd_report(&session->context->errout, LOG_RAW,
"PPS using chrony socket: %s\n", chrony_path);
}
}
void gpsd_time_init(struct gps_context_t *context, time_t starttime)
/* initialize the GPS context's time fields */
{
/*
* Provides a start time for getting the century. Do this, just
* in case one of our embedded deployments is still in place in
* the year 2.1K. Still likely to fail if we bring up the daemon
* just before a century mark, but that case is probably doomed
* anyhow because of 2-digit years.
*/
context->leap_seconds = LEAPSECOND_NOW;
context->century = CENTURY_BASE;
context->start_time = starttime;
context->rollovers = (int)((context->start_time-GPS_EPOCH) / GPS_ROLLOVER);
if (context->start_time < GPS_EPOCH)
gpsd_report(LOG_ERROR, "system time looks bogus, dates may not be reliable.\n");
else {
struct tm *now = localtime(&context->start_time);
char scr[128];
/*
* This is going to break our regression-test suite once a century.
* I think we can live with that consequence.
*/
now->tm_year += 1900;
context->century = now->tm_year - (now->tm_year % 100);
(void)unix_to_iso8601((timestamp_t)context->start_time, scr, sizeof(scr));
gpsd_report(LOG_INF, "startup at %s (%d)\n",
scr, (int)context->start_time);
}
}
void ntpshm_link_activate(struct gps_device_t *session)
/* set up ntpshm storage for a session */
{
/* allocate a shared-memory segment for "NMEA" time data */
session->shmIndex = ntpshm_alloc(session->context);
if (0 > session->shmIndex) {
gpsd_report(&session->context->errout, LOG_INF,
"NTPD ntpshm_alloc() failed\n");
#if defined(PPS_ENABLE)
} else if (session->sourcetype == source_usb || session->sourcetype == source_rs232) {
/* We also have the 1pps capability, allocate a shared-memory segment
* for the 1pps time data and launch a thread to capture the 1pps
* transitions
*/
if ((session->shmIndexPPS = ntpshm_alloc(session->context)) < 0) {
gpsd_report(&session->context->errout, LOG_INF,
"NTPD ntpshm_alloc(1) failed\n");
} else {
init_hook(session);
session->thread_report_hook = report_hook;
session->thread_wrap_hook = wrap_hook;
pps_thread_activate(session);
}
#endif /* PPS_ENABLE */
}
}
static int ntrip_stream_get_req(const struct ntrip_stream_t *stream,
const int debug)
{
int dsock;
char buf[BUFSIZ];
dsock = netlib_connectsock(AF_UNSPEC, stream->url, stream->port, "tcp");
if (BAD_SOCKET(dsock)) {
gpsd_report(debug, LOG_ERROR,
"ntrip stream connect error %d\n", dsock);
return -1;
}
gpsd_report(debug, LOG_SPIN,
"netlib_connectsock() returns socket on fd %d\n",
dsock);
(void)snprintf(buf, sizeof(buf),
"GET /%s HTTP/1.1\r\n"
"User-Agent: NTRIP gpsd/%s\r\n"
"Host: %s\r\n"
"Accept: rtk/rtcm, dgps/rtcm\r\n"
"%s"
"Connection: close\r\n"
"\r\n", stream->mountpoint, VERSION, stream->url, stream->authStr);
if (write(dsock, buf, strlen(buf)) != (ssize_t) strlen(buf)) {
gpsd_report(debug, LOG_ERROR,
"ntrip stream write error %d on fd %d during get request\n", errno,
dsock);
(void)close(dsock);
return -1;
}
return dsock;
}
void dgpsip_report(struct gps_context_t *context,
struct gps_device_t *gps,
struct gps_device_t *dgpsip)
/* may be time to ship a usage report to the DGPSIP server */
{
/*
* 10 is an arbitrary number, the point is to have gotten several good
* fixes before reporting usage to our DGPSIP server.
*/
if (context->fixcnt > 10 && !dgpsip->dgpsip.reported) {
dgpsip->dgpsip.reported = true;
if (dgpsip->gpsdata.gps_fd > -1) {
char buf[BUFSIZ];
(void)snprintf(buf, sizeof(buf), "R %0.8f %0.8f %0.2f\r\n",
gps->gpsdata.fix.latitude,
gps->gpsdata.fix.longitude,
gps->gpsdata.fix.altitude);
if (write(dgpsip->gpsdata.gps_fd, buf, strlen(buf)) ==
(ssize_t) strlen(buf))
gpsd_report(LOG_IO, "=> dgps %s\n", buf);
else
gpsd_report(LOG_IO, "write to dgps FAILED\n");
}
}
}
void ntrip_report(struct gps_context_t *context,
struct gps_device_t *gps,
struct gps_device_t *caster)
/* may be time to ship a usage report to the Ntrip caster */
{
static int count;
/*
* 10 is an arbitrary number, the point is to have gotten several good
* fixes before reporting usage to our Ntrip caster.
*
* count % 5 is as arbitrary a number as the fixcnt. But some delay
* was needed here
*/
count ++;
if (caster->ntrip.stream.nmea != 0 && context->fixcnt > 10 && (count % 5)==0) {
if (caster->gpsdata.gps_fd > -1) {
char buf[BUFSIZ];
gpsd_position_fix_dump(gps, buf, sizeof(buf));
if (write(caster->gpsdata.gps_fd, buf, strlen(buf)) ==
(ssize_t) strlen(buf)) {
gpsd_report(context->debug, LOG_IO, "=> dgps %s\n", buf);
} else {
gpsd_report(context->debug, LOG_IO, "ntrip report write failed\n");
}
}
}
}
static gps_mask_t decode_itk_utcionomodel(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
int leap;
unsigned short flags;
if (len != 64) {
gpsd_report(LOG_PROG,
"ITALK: bad UTC_IONO_MODEL (len %zu, should be 64)\n",
len);
return 0;
}
flags = (ushort) getleu16(buf, 7);
if (0 == (flags & UTC_IONO_MODEL_UTCVALID))
return 0;
leap = (int)getleu16(buf, 7 + 24);
if (session->context->leap_seconds < leap)
session->context->leap_seconds = leap;
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short) getleu16(buf, 7 + 36),
(unsigned int)getleu32(buf, 7 + 38) / 1000.0);
gpsd_report(LOG_DATA,
"UTC_IONO_MODEL: time=%.2f mask={TIME}\n",
session->newdata.time);
return TIME_SET | PPSTIME_IS;
}
static int ntrip_stream_req_probe(const struct ntrip_stream_t *stream,
const int debug)
{
int dsock;
ssize_t r;
char buf[BUFSIZ];
dsock = netlib_connectsock(AF_UNSPEC, stream->url, stream->port, "tcp");
if (dsock < 0) {
gpsd_report(debug, LOG_ERROR, "ntrip stream connect error %d in req probe\n", dsock);
return -1;
}
gpsd_report(debug, LOG_SPIN, "ntrip stream for req probe connected on fd %d\n", dsock);
(void)snprintf(buf, sizeof(buf),
"GET / HTTP/1.1\r\n"
"User-Agent: NTRIP gpsd/%s\r\n"
"Host: %s\r\n"
"Connection: close\r\n"
"\r\n", VERSION, stream->url);
r = write(dsock, buf, strlen(buf));
if (r != (ssize_t)strlen(buf)) {
gpsd_report(debug, LOG_ERROR,
"ntrip stream write error %d on fd %d during probe request %zd\n",
errno, dsock, r);
(void)close(dsock);
return -1;
}
/* coverity[leaked_handle] This is an intentional allocation */
return dsock;
}
int ntpshm_pps(struct gps_device_t *session, struct timeval *tv)
{
struct shmTime *shmTime = NULL, *shmTimeP = NULL;
time_t seconds;
double offset;
long l_offset;
if (session->shmindex < 0 || session->shmTimeP < 0 ||
(shmTime = session->context->shmTime[session->shmindex]) == NULL ||
(shmTimeP = session->context->shmTime[session->shmTimeP]) == NULL)
return 0;
/* check if received time messages are within locking range */
#ifdef S_SPLINT_S /* avoids an internal error in splint 3.1.1 */
l_offset = 0;
#else
l_offset = shmTime->receiveTimeStampSec - shmTime->clockTimeStampSec;
#endif
/*@ -ignorequals @*/
l_offset *= 1000000;
l_offset += shmTime->receiveTimeStampUSec - shmTime->clockTimeStampUSec;
/*@ +ignorequals @*/
if (labs( l_offset ) > PUT_MAX_OFFSET) {
gpsd_report(LOG_RAW, "ntpshm_pps: not in locking range: %ld\n"
, (long)l_offset);
return -1;
}
/*@ -ignorequals @*/
if (tv->tv_usec < PPS_MAX_OFFSET) {
seconds = (time_t)tv->tv_sec;
offset = (double)tv->tv_usec / 1000000.0;
} else {
if (tv->tv_usec > (1000000 - PPS_MAX_OFFSET)) {
seconds = (time_t)(tv->tv_sec + 1);
offset = 1 - ((double)tv->tv_usec / 1000000.0);
} else {
shmTimeP->precision = -1; /* lost lock */
gpsd_report(LOG_INF, "ntpshm_pps: lost PPS lock\n");
return -1;
}
}
shmTimeP->count++;
shmTimeP->clockTimeStampSec = seconds;
shmTimeP->clockTimeStampUSec = 0;
shmTimeP->receiveTimeStampSec = (time_t)tv->tv_sec;
shmTimeP->receiveTimeStampUSec = tv->tv_usec;
shmTimeP->precision = offset != 0 ? (int)(ceil(log(offset) / M_LN2)) : -20;
shmTimeP->count++;
shmTimeP->valid = 1;
gpsd_report(LOG_RAW, "ntpshm_pps: clock: %lu @ %lu.%06lu, precision %d\n"
, (unsigned long)seconds, (unsigned long)tv->tv_sec
, (unsigned long)tv->tv_usec, shmTimeP->precision);
return 1;
}
/*@ -branchstate @*/
int ntrip_open(struct gps_context_t *context, char *caster)
/* open a connection to a Ntrip broadcaster */
{
char *amp, *colon, *slash;
char *auth = NULL;
char *port = NULL;
char *stream = NULL;
int ret;
/*@ -boolops @*/
if ((amp = strchr(caster, '@')) != NULL) {
if (((colon = strchr(caster, ':')) != NULL) && colon < amp) {
auth = caster;
*amp = '\0';
caster = amp + 1;
} else {
gpsd_report(LOG_ERROR,
"can't extract user-ID and password from %s\n",
caster);
return -1;
}
}
/*@ +boolops @*/
if ((slash = strchr(caster, '/')) != NULL) {
*slash = '\0';
stream = slash + 1;
} else {
/* todo: add autoconnect like in dgpsip.c */
gpsd_report(LOG_ERROR, "can't extract Ntrip stream from %s\n",
caster);
return -1;
}
if ((colon = strchr(caster, ':')) != NULL) {
port = colon + 1;
*colon = '\0';
}
if (!port) {
port = "rtcm-sc104";
if (!getservbyname(port, "tcp"))
port = DEFAULT_RTCM_PORT;
}
if (ntrip_stream_probe(caster, port, stream, &ntrip_stream)) {
gpsd_report(LOG_ERROR,
"unable to probe for data about stream %s:%s/%s\n",
caster, port, stream);
return -1;
}
ret = ntrip_stream_open(caster, port, auth, context, &ntrip_stream);
if (ret >= 0)
gpsd_report(LOG_PROG,
"connection to Ntrip broadcaster %s established.\n",
caster);
else
gpsd_report(LOG_ERROR, "can't connect to Ntrip stream %s:%s/%s.\n",
caster, port, stream);
return ret;
}
static void onsig(int sig)
{
if (sig == SIGALRM) {
gpsd_report(LOG_ERROR, "packet recognition timed out.\n");
exit(1);
} else {
gpsd_report(LOG_ERROR, "killed by signal %d\n", sig);
exit(0);
}
}
static void evermore_configurator(struct gps_device_t *session, unsigned int seq)
{
gpsd_report(LOG_PROG, "evermore_configurator(%d)\n", seq);
(void) evermore_nmea_config(session, 1); /* configure NMEA messages for gpsd (GPGSV every 5s) */
if (seq == 0) {
if (session->packet.type == NMEA_PACKET) {
gpsd_report(LOG_WARN, "NMEA_PACKET packet\n");
}
(void) evermore_mode(session, 1); /* switch GPS to binary mode */
session->back_to_nmea = true;
}
}
static gps_mask_t decode_itk_prnstatus(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
gps_mask_t mask;
if (len < 62) {
gpsd_report(&session->context->errout, LOG_PROG, "ITALK: runt PRN_STATUS (len=%zu)\n", len);
mask = 0;
} else {
unsigned int i, nsv, nchan, st;
session->gpsdata.skyview_time = gpsd_gpstime_resolve(session,
(unsigned short)getleu16(buf, 7 + 4),
(unsigned int)getleu32(buf, 7 + 6) / 1000.0),
gpsd_zero_satellites(&session->gpsdata);
nsv = 0;
nchan = (unsigned int)getleu16(buf, 7 + 50);
if (nchan > MAX_NR_VISIBLE_PRNS)
nchan = MAX_NR_VISIBLE_PRNS;
for (i = st = 0; i < nchan; i++) {
unsigned int off = 7 + 52 + 10 * i;
unsigned short flags;
bool used;
flags = (unsigned short) getleu16(buf, off);
used = flags & PRN_FLAG_USE_IN_NAV;
session->gpsdata.skyview[i].ss = (float)(getleu16(buf, off + 2) & 0xff);
session->gpsdata.skyview[i].PRN = (int)getleu16(buf, off + 4) & 0xff;
session->gpsdata.skyview[i].elevation = (int)getles16(buf, off + 6) & 0xff;
session->gpsdata.skyview[i].azimuth = (int)getles16(buf, off + 8) & 0xff;
session->gpsdata.skyview[i].used = used;
if (session->gpsdata.skyview[i].PRN > 0) {
st++;
if (used)
session->sats_used[nsv++] = session->gpsdata.skyview[i].PRN;
}
}
session->gpsdata.satellites_visible = (int)st;
session->gpsdata.satellites_used = (int)nsv;
mask = USED_IS | SATELLITE_SET;;
gpsd_report(&session->context->errout, LOG_DATA,
"PRN_STATUS: time=%.2f visible=%d used=%d mask={USED|SATELLITE}\n",
session->newdata.time,
session->gpsdata.satellites_visible,
session->gpsdata.satellites_used);
}
return mask;
}
static int ntrip_stream_get_parse(const struct ntrip_stream_t *stream,
const int dsock, const int debug)
{
/*@-nullpass@*/
char buf[BUFSIZ];
int opts;
memset(buf, 0, sizeof(buf));
while (read(dsock, buf, sizeof(buf) - 1) == -1) {
if (errno == EINTR)
continue;
gpsd_report(debug, LOG_ERROR,
"ntrip stream read error %d on fd %d during get rsp\n", errno,
dsock);
goto close;
}
/* parse 401 Unauthorized */
/* coverity[string_null] - guaranteed terminated by the memset above */
if (strstr(buf, NTRIP_UNAUTH)!=NULL) {
gpsd_report(debug, LOG_ERROR,
"not authorized for Ntrip stream %s/%s\n", stream->url,
stream->mountpoint);
goto close;
}
/* parse SOURCETABLE */
if (strstr(buf, NTRIP_SOURCETABLE)!=NULL) {
gpsd_report(debug, LOG_ERROR,
"Broadcaster doesn't recognize Ntrip stream %s:%s/%s\n",
stream->url, stream->port, stream->mountpoint);
goto close;
}
/* parse ICY 200 OK */
if (strstr(buf, NTRIP_ICY)==NULL) {
gpsd_report(debug, LOG_ERROR,
"Unknown reply %s from Ntrip service %s:%s/%s\n", buf,
stream->url, stream->port, stream->mountpoint);
goto close;
}
opts = fcntl(dsock, F_GETFL);
if (opts >= 0)
(void)fcntl(dsock, F_SETFL, opts | O_NONBLOCK);
return dsock;
close:
(void)close(dsock);
return -1;
/*@+nullpass@*/
}
void gpsd_close(struct gps_device_t *session)
{
if (session->gpsdata.gps_fd != -1) {
(void)tcdrain(session->gpsdata.gps_fd);
if (isatty(session->gpsdata.gps_fd) != 0) {
/* force hangup on close on systems that don't do HUPCL properly */
/*@ ignore @*/
(void)cfsetispeed(&session->ttyset, (speed_t) B0);
(void)cfsetospeed(&session->ttyset, (speed_t) B0);
/*@ end @*/
(void)tcsetattr(session->gpsdata.gps_fd, TCSANOW,
&session->ttyset);
}
/* this is the clean way to do it */
session->ttyset_old.c_cflag |= HUPCL;
/* keep the most recent baud rate */
/*@ ignore @*/
(void)cfsetispeed(&session->ttyset_old,
(speed_t) session->gpsdata.dev.baudrate);
(void)cfsetospeed(&session->ttyset_old,
(speed_t) session->gpsdata.dev.baudrate);
/*@ end @*/
(void)tcsetattr(session->gpsdata.gps_fd, TCSANOW,
&session->ttyset_old);
gpsd_report(LOG_SPIN, "close(%d) in gpsd_close(%s)\n",
session->gpsdata.gps_fd, session->gpsdata.dev.path);
(void)close(session->gpsdata.gps_fd);
session->gpsdata.gps_fd = -1;
}
}
timestamp_t gpsd_utc_resolve(/*@in@*/struct gps_device_t *session)
/* resolve a UTC date, checking for rollovers */
{
/*
* We'd like to *correct* for rollover the way we do for GPS week.
* In theory, comparing extracted UTC against present time should
* allow us to compute the device's epoch assumption. In practice,
* this will be hairy and risky.
*/
timestamp_t t;
t = (timestamp_t)mkgmtime(&session->driver.nmea.date) +
session->driver.nmea.subseconds;
session->context->valid &=~ GPS_TIME_VALID;
/*
* If the system clock is zero or has a small-integer value,
* no further sanity-checking is possible.
*/
if (session->context->start_time < GPS_EPOCH)
return t;
/*
* If the GPS is reporting a time from before the daemon started, we've
* had a rollover event while the daemon was running.
*/
if (session->newdata.time < (timestamp_t)session->context->start_time) {
char scr[128];
(void)unix_to_iso8601(session->newdata.time, scr, sizeof(scr));
gpsd_report(LOG_WARN, "GPS week rollover makes time %s (%f) invalid\n",
scr, session->newdata.time);
}
return t;
}
/*@ -branchstate */
int netgnss_uri_open(struct gps_device_t *dev, char *netgnss_service)
/* open a connection to a DGNSS service */
{
#ifdef NTRIP_ENABLE
if (strncmp(netgnss_service, NETGNSS_NTRIP, strlen(NETGNSS_NTRIP)) == 0) {
dev->ntrip.conn_state = ntrip_conn_init;
return ntrip_open(dev, netgnss_service + strlen(NETGNSS_NTRIP));
}
#endif
if (strncmp(netgnss_service, NETGNSS_DGPSIP, strlen(NETGNSS_DGPSIP)) == 0)
return dgpsip_open(dev, netgnss_service + strlen(NETGNSS_DGPSIP));
if (strncmp(netgnss_service, NETGNSS_UDP, strlen(NETGNSS_UDP)) == 0)
return udp_open(dev, netgnss_service + strlen(NETGNSS_UDP));
#ifndef REQUIRE_DGNSS_PROTO
return dgpsip_open(dev, netgnss_service);
#else
gpsd_report(LOG_ERROR,
"Unknown or unspecified DGNSS protocol for service %s\n",
netgnss_service);
return -1;
#endif
}
/*@ -temptrans -mustfreefresh @*/
static /*@null@*/ char *ntrip_field_iterate( /*@null@ */ char *start,
/*@null@*/ char *prev,
const char *eol,
const int debug)
{
char *s, *t, *u;
if (start)
s = start;
else {
if (!prev)
return NULL;
s = prev + strlen(prev) + 1;
if (s >= eol)
return NULL;
}
/* ignore any quoted ; chars as they are part of the field content */
t = s;
while ((u = strstr(t, NTRIP_QSC)))
t = u + strlen(NTRIP_QSC);
if ((t = strstr(t, ";")))
*t = '\0';
gpsd_report(debug, LOG_RAW, "Next Ntrip source table field %s\n", s);
return s;
}
/* offset is actual_ts - clock_ts */
static void chrony_send(struct gps_device_t *session, struct timedrift_t *td)
{
struct sock_sample sample;
/* chrony expects tv-sec since Jan 1970 */
sample.pulse = 0;
sample.leap = session->context->leap_notify;
sample.magic = SOCK_MAGIC;
/*@-type@*//* splint is confused about struct timespec */
TSTOTV(&sample.tv, &td->clock);
/*@-compdef@*/
sample.offset = timespec_diff_ns(td->real, td->clock) / 1e9;
/*@+compdef@*/
#ifdef __COVERITY__
sample._pad = 0;
#endif /* __COVERITY__ */
/*@+type@*/
/*@-type@*/ /* splint is confused about struct timespec */
gpsd_report(&session->context->errout, LOG_RAW,
"PPS chrony_send %lu.%09lu @ %lu.%09lu Offset: %0.9f\n",
(unsigned long)td->real.tv_sec,
(unsigned long)td->real.tv_nsec,
(unsigned long)td->clock.tv_sec,
(unsigned long)td->clock.tv_nsec,
sample.offset);
/*@+type@*/
(void)send(session->chronyfd, &sample, sizeof (sample), 0);
}
ssize_t gpsd_serial_write(struct gps_device_t * session,
const char *buf, const size_t len)
{
ssize_t status;
int error = 0;
bool ok;
/*
if (session == NULL ||
session->context == NULL || session->context->readonly)
return 0;
*/
status = write(session->gpsdata.gps_fd, buf, len);
ok = (status == (ssize_t) len);
session->gpsdata.bytes_send += status;
if(!ok) error = errno;
(void)tcdrain(session->gpsdata.gps_fd);
/* extra guard prevents expensive hexdump calls */
if (session->context->debug >= LOG_IO) {
char scratchbuf[MAX_PACKET_LENGTH*2+1];
gpsd_report(session->context->debug, LOG_IO,
"=> GPS: %s%s (%d, %d)\n",
gpsd_packetdump(scratchbuf, sizeof(scratchbuf),
(char *)buf, len), ok ? "" : " FAILED", status, error);
}
return status;
}
static bool evermore_nmea_config(struct gps_device_t *session, int mode)
/* mode = 0 : EverMore default */
/* mode = 1 : gpsd best */
/* mode = 2 : EverMore search, activate PEMT101 message */
{
unsigned char tmp8;
/*@ +charint */
unsigned char evrm_nmeaout_config[] = {
0x8e, /* 0: msg ID, NMEA Message Control */
0xff, /* 1: NMEA sentence bitmask, GGA(0), GLL(1), GSA(2), GSV(3), ... */
0x01, /* 2: nmea checksum no(0), yes(1) */
1, /* 3: GPGGA, interval 0-255s */
0, /* 4: GPGLL, interval 0-255s */
1, /* 5: GPGSA, interval 0-255s */
1, /* 6: GPGSV, interval 0-255s */
1, /* 7: GPRMC, interval 0-255s */
0, /* 8: GPVTG, interval 0-255s */
0, /* 9: PEMT,101, interval 0-255s */
0, 0, 0, 0, 0, 0, /* 10-15: reserved */
};
/*@ -charint */
gpsd_report(LOG_PROG, "evermore_nmea_config(%d)\n", mode);
/*@i1@*/tmp8 = (mode == 1) ? 5 : 1; /* NMEA GPGSV, gpsd */
evrm_nmeaout_config[6] = tmp8; /* GPGSV, 1s or 5s */
/*@i1@*/tmp8 = (mode == 2) ? 1 : 0; /* NMEA PEMT101 */
evrm_nmeaout_config[9] = tmp8; /* PEMT101, 1s or 0s */
return evermore_write(session, evrm_nmeaout_config, sizeof(evrm_nmeaout_config));
}
gps_mask_t generic_parse_input(struct gps_device_t *session)
{
const struct gps_type_t **dp;
if (session->packet.type == COMMENT_PACKET) {
gpsd_set_century(session);
return 0;
#ifdef NMEA_ENABLE
} else if (session->packet.type == NMEA_PACKET) {
gps_mask_t st = 0;
char *sentence = (char *)session->packet.outbuffer;
if (sentence[strlen(sentence)-1] != '\n')
gpsd_report(LOG_IO, "<= GPS: %s\n", sentence);
else
gpsd_report(LOG_IO, "<= GPS: %s", sentence);
if ((st=nmea_parse(sentence, session)) == 0) {
gpsd_report(LOG_WARN, "unknown sentence: \"%s\"\n", sentence);
}
for (dp = gpsd_drivers; *dp; dp++) {
char *trigger = (*dp)->trigger;
if (trigger!=NULL && strncmp(sentence,trigger,strlen(trigger))==0) {
gpsd_report(LOG_PROG, "found trigger string %s.\n", trigger);
if (*dp != session->device_type) {
(void)gpsd_switch_driver(session, (*dp)->type_name);
if (session->device_type != NULL
&& session->device_type->event_hook != NULL)
session->device_type->event_hook(session,
event_triggermatch);
st |= DEVICEID_SET;
}
}
}
return st;
#endif /* NMEA_ENABLE */
} else {
for (dp = gpsd_drivers; *dp; dp++) {
if (session->packet.type == (*dp)->packet_type) {
(void)gpsd_switch_driver(session, (*dp)->type_name);
return (*dp)->parse_packet(session);
}
}
return 0;
}
}
static /*@null@*/ struct shmTime *getShmTime(int unit)
{
int shmid=shmget ((key_t)(NTPD_BASE+unit),
sizeof (struct shmTime), IPC_CREAT|0644);
if (shmid == -1) {
gpsd_report(LOG_ERROR, "shmget failed\n");
return NULL;
} else {
struct shmTime *p=(struct shmTime *)shmat (shmid, 0, 0);
/*@ -mustfreefresh */
if ((int)(long)p == -1) {
gpsd_report(LOG_ERROR, "shmat failed\n");
return NULL;
}
gpsd_report(LOG_PROG, "shmat(%d,0,0) succeeded\n");
return p;
/*@ +mustfreefresh */
}
}
static bool tnt_send(struct gps_device_t *session, const char *fmt, ...)
/* printf(3)-like TNT command generator */
{
char buf[BUFSIZ];
va_list ap;
ssize_t sent;
va_start(ap, fmt);
(void)vsnprintf(buf, sizeof(buf) - 5, fmt, ap);
va_end(ap);
sent = tnt_control_send(session, buf, strlen(buf));
if (sent == (ssize_t) strlen(buf)) {
gpsd_report(LOG_IO, "=> GPS: %s\n", buf);
return true;
} else {
gpsd_report(LOG_WARN, "=> GPS: %s FAILED\n", buf);
return false;
}
}
void pps_thread_activate(struct gps_device_t *session)
/* activate a thread to watch the device's PPS transitions */
{
int retval;
pthread_t pt;
#if defined(HAVE_SYS_TIMEPPS_H)
/* some operations in init_kernel_pps() require root privs */
(void)init_kernel_pps( session );
if ( 0 <= session->kernelpps_handle ) {
gpsd_report(session->context->debug, LOG_WARN,
"KPPS kernel PPS will be used\n");
}
#endif
/*@-compdef -nullpass@*/
retval = pthread_create(&pt, NULL, gpsd_ppsmonitor, (void *)session);
/*@+compdef +nullpass@*/
gpsd_report(session->context->debug, LOG_PROG, "PPS thread %s\n",
(retval==0) ? "launched" : "FAILED");
}
static gps_mask_t decode_itk_pseudo(struct gps_device_t *session,
unsigned char *buf, size_t len)
{
unsigned short flags, n, i;
union long_double l_d;
n = (ushort) getleu16(buf, 7 + 4);
if ((n < 1) || (n > MAXCHANNELS)){
gpsd_report(LOG_INF, "ITALK: bad PSEUDO channel count\n");
return 0;
}
if (len != (size_t)((n+1)*36)) {
gpsd_report(LOG_PROG,
"ITALK: bad PSEUDO len %zu\n", len);
}
gpsd_report(LOG_PROG, "iTalk PSEUDO [%u]\n", n);
flags = (unsigned short)getleu16(buf, 7 + 6);
if ((flags & 0x3) != 0x3)
return 0; // bail if measurement time not valid.
session->newdata.time = gpsd_gpstime_resolve(session,
(unsigned short int) getleu16(buf, 7 + 8),
(unsigned int)getleu32(buf, 7 + 38) / 1000.0);
/*@-type@*/
for (i = 0; i < n; i++){
session->gpsdata.PRN[i] = getleu16(buf, 7 + 26 + (i*36)) & 0xff;
session->gpsdata.ss[i] = getleu16(buf, 7 + 26 + (i*36 + 2)) & 0x3f;
session->gpsdata.raw.satstat[i] = getleu32(buf, 7 + 26 + (i*36 + 4));
session->gpsdata.raw.pseudorange[i] = getled(buf, 7 + 26 + (i*36 + 8));
session->gpsdata.raw.doppler[i] = getled(buf, 7 + 26 + (i*36 + 16));
session->gpsdata.raw.carrierphase[i] = getleu16(buf, 7 + 26 + (i*36 + 28));
session->gpsdata.raw.mtime[i] = session->newdata.time;
session->gpsdata.raw.codephase[i] = NAN;
session->gpsdata.raw.deltarange[i] = NAN;
}
/*@+type@*/
return RAW_IS;
}
void gpsd_time_init(struct gps_context_t *context, time_t starttime)
/* initialize the GPS context's time fields */
{
/*
* gpsd can't work with 'right' timezones (leapseconds inserted in
* the timezone offset). Avoid this and all manner of other local
* time issues by telling the system we want times returned in UTC.
*/
/*@-observertrans@*/
(void)putenv("TZ=UTC");
/*@+observertrans@*/
/*
* Provides a start time for getting the century. Do this, just
* in case one of our embedded deployments is still in place in
* the year 2.1K. Still likely to fail if we bring up the daemon
* just before a century mark, but that case is probably doomed
* anyhow because of 2-digit years.
*/
context->leap_seconds = LEAPSECOND_NOW;
context->century = CENTURY_BASE;
context->start_time = starttime;
context->rollovers = (int)((context->start_time-GPS_EPOCH) / GPS_ROLLOVER);
if (context->start_time < GPS_EPOCH)
gpsd_report(LOG_ERROR, "system time looks bogus, dates may not be reliable.\n");
else {
/* we've forced the UTC timezone, so this is actually UTC */
struct tm *now = localtime(&context->start_time);
char scr[128];
/*
* This is going to break our regression-test suite once a century.
* I think we can live with that consequence.
*/
now->tm_year += 1900;
context->century = now->tm_year - (now->tm_year % 100);
(void)unix_to_iso8601((timestamp_t)context->start_time, scr, sizeof(scr));
gpsd_report(LOG_INF, "startup at %s (%d)\n",
scr, (int)context->start_time);
}
}
/* Note: you can start gpsd as non-root, and have it work with ntpd.
* However, it will then only use the ntpshm segments 2 and 3.
*
* Ntpd always runs as root (to be able to control the system clock).
* Its logics for the creation of ntpshm segments are:
*
* Segments 0 and 1: permissions 0600, i.e. other programs can only
* read and write as root.
*
* Segments 2 and 3: permissions 0666, i.e. other programs can read
* and write as any user. I.e.: if ntpd has been
* configured to use these segments, any
* unpriviliged user is allowed to provide data
* for synchronisation.
* * As gpsd can be started as both root and non-root, this behaviour is
* mimicked by:
*
* Started as root: do as ntpd when attaching (creating) the segments.
* (In contrast to ntpd, which only attaches (creates) configured
* segments, gpsd creates all segments.)
*
* Started as non-root: only attach (create) segments 2 and 3 with
* permissions 0666. As the permissions are for any user, the creator
* does not matter.
*
* For each GPS module gpsd controls, it will use the attached ntpshm
* segments in pairs (for coarse clock and pps source, respectively)
* starting from the first found segments. I.e. started as root, one
* GPS will deliver data on segments 0 and 1, and as non-root data
* will be delivered on segments 2 and 3.
*
* to debug, try looking at the live segments this way
*
* ipcs -m
*
* results should look like this:
* ------ Shared Memory Segments --------
* key shmid owner perms bytes nattch status
* 0x4e545030 0 root 700 96 2
* 0x4e545031 32769 root 700 96 2
* 0x4e545032 163842 root 666 96 1
* 0x4e545033 196611 root 666 96 1
*
* For a bit more data try this:
* cat /proc/sysvipc/shm
*
* If gpsd can not open the segments be sure you are not running SELinux
* or apparmor.
*
* if you see the shared segments (keys 1314148400 -- 1314148403), and
* no gpsd or ntpd is running then try removing them like this:
*
* ipcrm -M 0x4e545030
* ipcrm -M 0x4e545031
* ipcrm -M 0x4e545032
* ipcrm -M 0x4e545033
*/
static /*@null@*/ volatile struct shmTime *getShmTime(struct gps_context_t *context, int unit)
{
int shmid;
unsigned int perms;
volatile struct shmTime *p;
// set the SHM perms the way ntpd does
if (unit < 2) {
// we are root, be careful
perms = 0600;
} else {
// we are not root, try to work anyway
perms = 0666;
}
/*
* Note: this call requires root under BSD, and possibly on
* well-secured Linux systems. This is why ntpshm_context_init() has to be
* called before privilege-dropping.
*/
shmid = shmget((key_t) (NTPD_BASE + unit),
sizeof(struct shmTime), (int)(IPC_CREAT | perms));
if (shmid == -1) {
gpsd_report(&context->errout, LOG_ERROR,
"NTPD shmget(%ld, %zd, %o) fail: %s\n",
(long int)(NTPD_BASE + unit), sizeof(struct shmTime),
(int)perms, strerror(errno));
return NULL;
}
p = (struct shmTime *)shmat(shmid, 0, 0);
/*@ -mustfreefresh */
if ((int)(long)p == -1) {
gpsd_report(&context->errout, LOG_ERROR,
"NTPD shmat failed: %s\n",
strerror(errno));
return NULL;
}
gpsd_report(&context->errout, LOG_PROG,
"NTPD shmat(%d,0,0) succeeded, segment %d\n",
shmid, unit);
return p;
/*@ +mustfreefresh */
}
bool gpsd_set_raw(struct gps_device_t * session)
{
(void)cfmakeraw(&session->ttyset);
if (tcsetattr(session->gpsdata.gps_fd, TCIOFLUSH, &session->ttyset) == -1) {
gpsd_report(LOG_ERROR,
"error changing port attributes: %s\n", strerror(errno));
return false;
}
return true;
}