void GPSManager::init() {
gps_rec = new gpsmm("localhost", DEFAULT_GPSD_PORT);
lastStatus = STATUS_NO_FIX;
lastLatitude = lastLongitude = lastAltitude = 0;
emit statusChanged(lastStatus);
emit gpsFix(NAN, NAN, NAN);
if (!gps_rec->stream(WATCH_ENABLE|WATCH_JSON)) {
qDebug() << Q_FUNC_INFO << "Warning: no GPSD running";
emit ready(false);
return;
} else {
pollTimer.start();
}
}
void GPSManager::processData(gps_data_t *data) {
if(lastStatus != data->status) {
lastStatus = data->status;
emit statusChanged(lastStatus);
}
if(lastStatus != STATUS_NO_FIX) {
if(lastLatitude != data->fix.latitude || lastLongitude != data->fix.longitude || lastAltitude != data->fix.altitude) {
lastLatitude = data->fix.latitude;
lastLongitude = data->fix.longitude;
lastAltitude = data->fix.altitude;
emit gpsFix(lastLatitude, lastLongitude, lastAltitude);
if(!gotInitialFix) {
gotInitialFix = true;
emit ready(true);
}
}
}
}
inline int parseGpsCmd(int type) {
switch(cmdRead()) {
case 'F':
switch(cmdRead()) {
case 'V':
switch(cmdLook()) {
case LINE_TERMINATOR:
cmdRead();
case '+':
// READ "Fix value"
ShowValueU(gpsFix());
goto pgc_ok;
}
goto pgc_error;
}
goto pgc_error;
case 'G':
switch(cmdRead()) {
case 'S':
switch(cmdLook()) {
case LINE_TERMINATOR:
cmdRead();
case '+':
// READ "Ground speed"
ShowValueD(gpsSpeed());
goto pgc_ok;
}
goto pgc_error;
}
goto pgc_error;
case 'H':
switch(cmdRead()) {
case 'P':
switch(cmdLook()) {
case LINE_TERMINATOR:
cmdRead();
case '+':
// READ "HDOP"
ShowValueD(gpsHdop());
goto pgc_ok;
}
goto pgc_error;
}
goto pgc_error;
case 'L':
switch(cmdRead()) {
case 'A':
switch(cmdLook()) {
case LINE_TERMINATOR:
cmdRead();
case '+':
// READ "Lat"
if (gpsIsPosValid()) {
ShowValueD(gpsLat());
} else
Serial_printStr("NA ");
goto pgc_ok;
}
goto pgc_error;
case 'O':
switch(cmdLook()) {
case LINE_TERMINATOR:
cmdRead();
case '+':
// READ "Lon"
if (gpsIsPosValid()) {
ShowValueD(gpsLon());
} else
Serial_printStr("NA ");
goto pgc_ok;
}
goto pgc_error;
}
goto pgc_error;
case 'P':
switch(cmdRead()) {
case 'S':
switch(cmdLook()) {
case LINE_TERMINATOR:
cmdRead();
case '+':
// READ "Power State"
ShowValueU(d_gpsPowerState);
goto pgc_ok;
case '=':
// WRITE "Power State"
cmdRead();
ReadValueU(d_gpsPowerState);
goto pgc_ok;
}
goto pgc_error;
}
goto pgc_error;
case 'S':
switch(cmdRead()) {
case 'C':
switch(cmdLook()) {
case LINE_TERMINATOR:
cmdRead();
case '=': // WRITE "GPS Command"
cmdRead();
ReadValueUL(d_gpsNextCmd);
goto pgc_ok;
}
goto pgc_error;
}
goto pgc_error;
case 'T':
switch(cmdRead()) {
case 'D':
switch(cmdLook()) {
case LINE_TERMINATOR:
cmdRead();
case '+':
// READ "Track Degree"
ShowValueD(gpsDegree());
goto pgc_ok;
}
goto pgc_error;
}
goto pgc_error;
}
pgc_error:
return ERROR;
pgc_ok:
return OK;
}
