Initial commit of files
This commit is contained in:
26
daemons/gpsd/CMakeLists.txt
Normal file
26
daemons/gpsd/CMakeLists.txt
Normal file
@ -0,0 +1,26 @@
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cmake_minimum_required(VERSION 3.7)
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set(NAME gpsd)
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project(Cnomicon-Daemon)
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set(TARGET ${NAME})
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set(CMAKE_INSTALL_PREFIX ..)
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# includes
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include_directories(
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/usr/include/libxml2
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../include/libgps++
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../include/libnet++
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../include)
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link_directories(../lib)
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link_libraries(gps++ net++ net emb kmlbase kmldom kmlengine xml2 pthread rt)
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# sources
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set(SRCS
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GpsDaemon.cpp
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)
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# executables
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add_executable(${TARGET} ${TARGET}.cpp ${SRCS})
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install(TARGETS ${TARGET} DESTINATION sbin)
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384
daemons/gpsd/GpsDaemon.cpp
Normal file
384
daemons/gpsd/GpsDaemon.cpp
Normal file
@ -0,0 +1,384 @@
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//
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// GPS Daemon
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// Neal Probert
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//
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#include <stdio.h>
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#include <unistd.h>
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#include <stdlib.h>
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#include <fcntl.h>
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#include <string.h>
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#include <time.h>
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#include <sys/timeb.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <sys/socket.h>
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#include <sys/types.h>
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#include "UriParse.h"
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#include "GpsDaemon.h"
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#include "NmeaParser.h"
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#include "ApplanixParser.h"
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#include "FastraxParser.h"
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#include "GarminParser.h"
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#include "SirfParser.h"
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#include "UbloxParser.h"
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#include "netlib.h"
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//****************************************************************************
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// defines
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//***************************************************************************/
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//****************************************************************************
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// macros
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//***************************************************************************/
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//****************************************************************************
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// structs & typedefs
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//***************************************************************************/
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//****************************************************************************
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// global constants
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//***************************************************************************/
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//****************************************************************************
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// global variables
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//***************************************************************************/
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//****************************************************************************
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// static constants
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//***************************************************************************/
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//****************************************************************************
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// static variables
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//***************************************************************************/
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//****************************************************************************
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// static functions
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//***************************************************************************/
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//****************************************************************************
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// C++ functions
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//***************************************************************************/
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GpsDaemon::GpsDaemon()
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{
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log_open( GPSD_NAME );
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clockset = 0;
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msgcount = 0;
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dgps_corr = true;
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SourceIn = CorrIn = -1;
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strcpy( Uri, "" );
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nClients = 0;
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SetClientTimeout(false); // don't reset timeout on client activity
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}
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GpsDaemon::~GpsDaemon()
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{
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Gps.GpsClose();
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Log.LogClose();
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}
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/* NMEA **********************************************************************/
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void GpsDaemon::PositionListener( const GpsPoint &Pos, const ErrorInfo &Err )
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{
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}
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void GpsDaemon::TimeListener( const struct timeval &tv )
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{
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// good fix and time
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if ( clockset && tv.tv_sec )
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{
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if ( getuid() == 0 )
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settimeofday( &tv, NULL );
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clockset = 0;
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}
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}
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/* TCP ***********************************************************************/
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int GpsDaemon::ServerTimeout(void)
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{
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// timeout (a bad thing)
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DgpsReconnect();
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return 0;
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}
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int GpsDaemon::ServerSocket(void)
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{
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char buf[2048];
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int n = 0;
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if ( IsSet( CorrIn ) )
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{
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// corrections
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if ( dgps_corr )
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// from RTCM server (once a minute)
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n = Dgps.DgpsRead( buf, sizeof(buf) );
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else
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// from NTRIP server (once a minute)
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n = Ntrip.NtripRead( (unsigned char *)buf, sizeof(buf) );
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// xmit
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if ( n > 0 )
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Gps.GpsWrite( buf, n );
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else if ( n == 0 )
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{
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if ( dgps_corr )
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log_error( "Remote RTCM server closed!" );
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else
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log_error( "Remote NTRIP server closed!" );
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DgpsReconnect();
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}
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ResetServerTimeout();
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}
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else if ( IsSet( SourceIn ) )
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{
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if ( gps_source )
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// packet from GPS device
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n = Gps.GpsRead( buf, sizeof(buf) );
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else
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// remote gpsd/glty
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n = Gpsd.Recv( buf, sizeof(buf) );
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if ( n > 0 && Parser && Parser->GpsParse(buf, n) > 0 )
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{
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msgcount++;
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// 'cast
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ClientCast( buf, n );
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}
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}
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return n;
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}
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int GpsDaemon::ClientIn( int sock, const char *buf, int n )
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{
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// allows for NMEA playback via netcat
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if ( *buf == '$' )
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{
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// broadcast it
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Bcast.SendTo( buf, n );
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// send to clients
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TcpServer::ClientCast( buf, n );
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}
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else
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{
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// parse for commands?
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// just log it
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log_write( buf );
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}
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return n;
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}
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int GpsDaemon::ClientUp( int sock )
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{
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if ( nClients++ == 0 )
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;
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return 1;
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}
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void GpsDaemon::ClientDown( int sock )
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{
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// disconnect source
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if ( --nClients <= 0 )
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nClients = 0;
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}
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void GpsDaemon::ClientCast( const char *buf, int n )
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{
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// broadcast it
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Bcast.SendTo( buf, n );
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// send to clients
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TcpServer::ClientCast( buf, n );
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// log NMEA data with time stamp
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Log.LogWrite( buf, n );
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}
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/* GPS ***********************************************************************/
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int GpsDaemon::GpsOpen( const char *device, int baud )
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{
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UriParse parsed;
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parsed.setRate( baud );
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parsed.setUri( device );
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const char *proto = parsed.getProto();
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SourceIn = -1;
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if ( !proto )
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proto = "nmea";
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// connect to gpsd?
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if ( strcmp( proto, "gpsd" ) == 0 )
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{
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// does r mode for NMEA
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SourceIn = Gpsd.GpsdConnect( parsed.getHost() );
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proto = "nmea";
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}
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else if ( strcmp( proto, "glty" ) == 0 )
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{
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// put in NMEA mode
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SourceIn = Gpsd.GpsdConnect( parsed.getHost() );
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Gpsd.Send( "$PGLTY,NMEA\n", 12 );
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proto = "pvii";
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}
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else
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{
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// open device
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SourceIn = Gps.GpsOpen( parsed.getPath(), parsed.getRate() );
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gps_source = true;
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}
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// check
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if ( SourceIn < 0 )
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return SourceIn;
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bool binary = false;
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// attach parser (should probably use a table)
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if ( strcasecmp( proto, "nmea") == 0 )
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{
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// ascii
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NmeaParser *parser = new NmeaParser();
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Parser = (GpsParser *)parser;
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}
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else if ( strcasecmp( proto, "applanix") == 0 )
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{
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// binary
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binary = true;
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ApplanixParser *parser = new ApplanixParser();
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Parser = (GpsParser *)parser;
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}
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else if ( strcasecmp( proto, "fastrax") == 0 )
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{
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// ascii
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FastraxParser *parser = new FastraxParser();
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Parser = (GpsParser *)parser;
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}
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else if ( strcasecmp( proto, "garmin") == 0 )
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{
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// ascii/binary
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GarminParser *parser = new GarminParser();
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Parser = (GpsParser *)parser;
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}
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else if ( strcasecmp( proto, "sirf") == 0 )
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{
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// binary
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SirfParser *parser = new SirfParser();
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Parser = (GpsParser *)parser;
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}
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else if ( strcasecmp( proto, "ublox") == 0 )
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{
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// ascii/binary
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UbloxParser *parser = new UbloxParser();
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Parser = (GpsParser *)parser;
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}
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else
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{
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// ascii
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NmeaParser *parser = new NmeaParser();
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Parser = (GpsParser *)parser;
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}
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// set mode
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if ( binary )
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Gps.SetCanonical( false, 0, 0 );
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// subscribe
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Parser->Subscribe( (GpsListener*)this );
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// add listener
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AddFd( SourceIn );
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return SourceIn;
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}
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int GpsDaemon::DgpsConnect( const char *uri )
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{
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if ( !uri )
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return -1;
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// already connected?
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if ( CorrIn >= 0 )
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return CorrIn;
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UriParse parsed;
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parsed.setService( "2101" );
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parsed.setUri( uri );
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const char *proto = parsed.getProto();
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if ( strcmp( proto, "dgps" ) == 0 || strcmp( proto, "dgpsip" ) == 0
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|| strcmp( proto, "rtcmd" ) == 0 )
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{
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// RTCM server (dgpsip)
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CorrIn = Dgps.DgpsConnect( parsed.getHost(), parsed.getService() );
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dgps_corr = true;
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}
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else if ( strcmp( proto, "ntrip" ) == 0 )
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{
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// NTRIP caster
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CorrIn = Ntrip.NtripConnect( uri );
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dgps_corr = false;
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}
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|
||||
// add listener
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||||
if ( CorrIn >= 0 )
|
||||
{
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strcpy( Uri, uri );
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AddFd( CorrIn );
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}
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return CorrIn;
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}
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void GpsDaemon::DgpsDisconnect( void )
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{
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if ( CorrIn >= 0 )
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||||
;
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else
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||||
return;
|
||||
Dgps.DgpsClose();
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Ntrip.NtripClose();
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DelFd( CorrIn );
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CorrIn = -1;
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||||
}
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||||
void GpsDaemon::DgpsReconnect( void )
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{
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if ( nClients == 0 || strlen(Uri) == 0 )
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||||
return;
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||||
log_printf( "Remote RTCM/NTRIP timed out, reconnecting" );
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Dgps.DgpsClose();
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||||
Ntrip.NtripClose();
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||||
DelFd( CorrIn );
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||||
CorrIn = -1;
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||||
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||||
DgpsConnect( Uri );
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||||
}
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int GpsDaemon::GpsBroadcast( const char *host )
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{
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||||
const char *port = GPSD_SERVICE;
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||||
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int sock = Bcast.Caster( host, port );
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||||
|
||||
return sock;
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||||
}
|
||||
121
daemons/gpsd/GpsDaemon.h
Normal file
121
daemons/gpsd/GpsDaemon.h
Normal file
@ -0,0 +1,121 @@
|
||||
//
|
||||
// GPS Daemon
|
||||
// Neal Probert
|
||||
//
|
||||
|
||||
/* prevent multiple inclusions */
|
||||
#ifndef __GpsDaemon__
|
||||
#define __GpsDaemon__
|
||||
|
||||
/* includes *****************************************************************/
|
||||
|
||||
#include "bzlib.h"
|
||||
|
||||
#include "TcpDaemon.h"
|
||||
#include "UdpClient.h"
|
||||
#include "UdpCaster.h"
|
||||
|
||||
#include "GpsDevice.h"
|
||||
#include "GpsdClient.h"
|
||||
#include "NmeaParser.h"
|
||||
#include "SirfParser.h"
|
||||
#include "ApplanixParser.h"
|
||||
#include "DgpsClient.h"
|
||||
#include "NtripClient.h"
|
||||
|
||||
#include "Logging.h"
|
||||
|
||||
/* defines ******************************************************************/
|
||||
|
||||
/* software details */
|
||||
#define GPSD_NAME "gpsd"
|
||||
#define GPSD_VERSION "0.1"
|
||||
|
||||
/* default service and port */
|
||||
#define GPSD_SERVICE "gpsd"
|
||||
#define GPSD_PORT "2947"
|
||||
|
||||
/* macros *******************************************************************/
|
||||
|
||||
/* structs & typedefs *******************************************************/
|
||||
|
||||
/* c class definitions ******************************************************/
|
||||
|
||||
//
|
||||
// Uses the Peak Systems CAN Linux driver and Nissan CAN data
|
||||
//
|
||||
class GpsDaemon : public TcpDaemon, public GpsListener, public Logging {
|
||||
// public data
|
||||
public:
|
||||
GpsdClient Gpsd;
|
||||
GpsDevice Gps;
|
||||
GpsParser *Parser;
|
||||
|
||||
DgpsClient Dgps;
|
||||
NtripClient Ntrip;
|
||||
|
||||
// TrackClient Track;
|
||||
|
||||
// for corrections reconnect
|
||||
char Uri[1024];
|
||||
int nClients;
|
||||
|
||||
// private data
|
||||
private:
|
||||
bool gps_source; // 1=gps, 0=gpsd
|
||||
bool dgps_corr; // 1=dpgs, 0=ntrip
|
||||
|
||||
// FDs
|
||||
int SourceIn; // GpsdClient or GpsDevice
|
||||
int CorrIn; // DpgsIn or NtripIn
|
||||
int TrackOut; //
|
||||
|
||||
// UDP broadcast (data)
|
||||
UdpCaster Bcast;
|
||||
|
||||
// misc
|
||||
int clockset; // set to set clock from GPS
|
||||
int msgcount;
|
||||
|
||||
// private methods
|
||||
|
||||
// static data
|
||||
|
||||
// public methods
|
||||
public:
|
||||
// constructors
|
||||
GpsDaemon();
|
||||
|
||||
// destructor
|
||||
virtual ~GpsDaemon();
|
||||
|
||||
// virtual functions
|
||||
int ServerTimeout(void);
|
||||
int ServerSocket(void);
|
||||
int ClientIn( int sock, const char *buf, int n );
|
||||
int ClientUp( int sock );
|
||||
void ClientDown( int sock );
|
||||
void ClientCast( const char *buf, int n );
|
||||
|
||||
// parser notifications
|
||||
void PositionListener( const GpsPoint &Pos, const ErrorInfo &Err );
|
||||
void TimeListener( const struct timeval &Time );
|
||||
|
||||
// public methods
|
||||
void SetClock( void ) {clockset=1;};
|
||||
int GpsOpen( const char *dev, int baud=38400 );
|
||||
int GpsBroadcast( const char *host = NULL );
|
||||
|
||||
// corrections
|
||||
int DgpsConnect( const char *host );
|
||||
void DgpsDisconnect( void );
|
||||
void DgpsReconnect( void );
|
||||
int DgpsListen( const char *host = NULL );
|
||||
|
||||
// static methods
|
||||
|
||||
// private methods
|
||||
private:
|
||||
};
|
||||
|
||||
#endif
|
||||
226
daemons/gpsd/gpsd.cpp
Normal file
226
daemons/gpsd/gpsd.cpp
Normal file
@ -0,0 +1,226 @@
|
||||
//
|
||||
// GPS Daemon
|
||||
// Neal Probert
|
||||
//
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <ctype.h>
|
||||
#include <string.h>
|
||||
#include <strings.h>
|
||||
#include <unistd.h>
|
||||
#include <errno.h>
|
||||
#include <fcntl.h>
|
||||
#include <signal.h>
|
||||
#include <time.h>
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <sys/socket.h>
|
||||
#include <sys/wait.h>
|
||||
#include <arpa/inet.h>
|
||||
|
||||
#include "GpsDaemon.h"
|
||||
|
||||
#include "netlib.h"
|
||||
|
||||
extern int optind, opterr, optopt;
|
||||
|
||||
//
|
||||
// Written because gpsd (http://gpsd.berlios.de/) is too fat
|
||||
//
|
||||
|
||||
//
|
||||
// GPS Server (port 2947 by default)
|
||||
// ----------
|
||||
//
|
||||
|
||||
static const char *helptext =
|
||||
"This is GPSd, not the open source software gpsd:\n"
|
||||
"gpsd -s /dev/ttyS0:57600 [options]\n"
|
||||
"\t-d debug (foreground with stdio)\n"
|
||||
"\t-h help\n"
|
||||
"\t-l UDP listen for RTCM corrections\n"
|
||||
"\t-m network broadcast GPS data\n"
|
||||
"\t-o outfile output message log\n"
|
||||
"\t-r uri dgpsip://host or ntrip://user@pw:host/ rtcm:/dev/ttyS1\n"
|
||||
"\t-s port nmea:/dev/ttyS0:baud or sirf:/dev/ttyS0:baud\n"
|
||||
"\t-t uri OpenGTS server\n"
|
||||
"\t-w WDM DSRC listen for RTCM corrections\n"
|
||||
"\t-S service TCP service (default=gpsd)\n"
|
||||
"\tUse OSS gpsd, gpspipe and gpsfake to create and replay NMEA log files!\n";
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
char c; /* we have character */
|
||||
|
||||
GpsDaemon Gps;
|
||||
|
||||
/* options */
|
||||
int debug = 0; // run in foreground, leaves stdio open
|
||||
int dsrc_wsm = 0;
|
||||
int timeout = 15;
|
||||
|
||||
/* dgpsip server */
|
||||
char *host = NULL;
|
||||
|
||||
/* service/port */
|
||||
char *service = (char *)"gpsd";
|
||||
|
||||
/* serial port */
|
||||
char *primary = NULL;
|
||||
char *secondary = NULL;
|
||||
int baud = 4800;
|
||||
|
||||
/* logging */
|
||||
char *outfile = NULL;
|
||||
|
||||
/* udp broadcast */
|
||||
char *mcast = NULL;
|
||||
|
||||
/* udp listener */
|
||||
int listen = 0;
|
||||
|
||||
/* data */
|
||||
char szBuf[1600];
|
||||
bzero( szBuf, sizeof(szBuf) );
|
||||
|
||||
// add command line args
|
||||
while ( (c = getopt( argc, argv, "cdhi:jlm:o:r:s:t:S:T:v" )) > 0 )
|
||||
{
|
||||
switch ( c )
|
||||
{
|
||||
case 'c': // clock set
|
||||
Gps.SetClock();
|
||||
break;
|
||||
case 'd':
|
||||
debug = 1;
|
||||
break;
|
||||
case 'h':
|
||||
puts( helptext );
|
||||
return 0;
|
||||
case 'l': // udp/wdm listen
|
||||
listen = 1;
|
||||
break;
|
||||
case 'm': // udp broadcast
|
||||
mcast = optarg;
|
||||
break;
|
||||
case 'o':
|
||||
outfile = optarg;
|
||||
break;
|
||||
case 'r': // rtcm-sc104 host
|
||||
host = optarg;
|
||||
break;
|
||||
case 's': // serial device
|
||||
if ( !primary )
|
||||
primary = optarg;
|
||||
else
|
||||
secondary = optarg;
|
||||
break;
|
||||
case 'S':
|
||||
service = optarg;
|
||||
break;
|
||||
case 'T':
|
||||
timeout = atoi(optarg);
|
||||
if ( timeout == 0 )
|
||||
timeout = 30;
|
||||
break;
|
||||
case 'w': // DSRC WSM
|
||||
fprintf( stderr, "DSRC WSM support not available!\n" );
|
||||
listen = 1;
|
||||
dsrc_wsm = 1;
|
||||
break;
|
||||
default:
|
||||
fprintf( stderr, "Unknown option -%c\n", c );
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
|
||||
// check options
|
||||
if ( !primary )
|
||||
{
|
||||
fprintf( stderr, "Must have a GPS device to communicate with!\n" );
|
||||
exit(1);
|
||||
}
|
||||
if ( mcast && listen )
|
||||
{
|
||||
fprintf( stderr, "Cannot do both UDP broadcast/multicast and listening!\n" );
|
||||
exit(1);
|
||||
}
|
||||
|
||||
// input
|
||||
if ( primary )
|
||||
{
|
||||
// open GPS device on serial port
|
||||
int serial = Gps.GpsOpen( primary, baud );
|
||||
|
||||
if ( serial < 0 )
|
||||
{
|
||||
fprintf( stderr, "Unable to open primary serial device: %s @ %d !\n", primary, baud );
|
||||
|
||||
if ( secondary )
|
||||
{
|
||||
serial = Gps.GpsOpen( secondary, baud ); // won't open till primary dies
|
||||
|
||||
if ( serial < 0 )
|
||||
{
|
||||
fprintf( stderr, "Unable to open secondary serial device: %s @ %d !\n", secondary, baud );
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
fprintf( stderr, "No task specified: use -l, -i <logfile> or -s <dev>!\n" );
|
||||
exit(1);
|
||||
}
|
||||
|
||||
// corrections
|
||||
if ( host )
|
||||
{
|
||||
// RTCM server
|
||||
int remote = Gps.DgpsConnect( host );
|
||||
|
||||
if ( remote < 0 )
|
||||
{
|
||||
fprintf( stderr, "Unable to connect to rtcm-sc104 source host: %s\n", host );
|
||||
// exit(1);
|
||||
}
|
||||
Gps.SetTimeout( timeout * 1000000L );
|
||||
}
|
||||
else if ( listen )
|
||||
{
|
||||
if ( dsrc_wsm )
|
||||
{
|
||||
// listen on WSM control channel for DSRC MSG_RTCM_Corrections
|
||||
}
|
||||
else
|
||||
{
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
// output
|
||||
if ( mcast )
|
||||
{
|
||||
int bcast = Gps.GpsBroadcast( mcast );
|
||||
|
||||
if ( bcast < 0 )
|
||||
{
|
||||
fprintf( stderr, "Unable to create UDP broadcast!\n" );
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
|
||||
// logging
|
||||
if ( outfile )
|
||||
Gps.LogOpen( outfile );
|
||||
|
||||
// TCP listener
|
||||
if ( Gps.StartService( GPSD_NAME, NULL, service, debug ) >= 0 )
|
||||
{
|
||||
return Gps.RunService();
|
||||
}
|
||||
|
||||
return 1;
|
||||
}
|
||||
Reference in New Issue
Block a user