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226
daemons/gpsd/gpsd.cpp
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226
daemons/gpsd/gpsd.cpp
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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 <stdlib.h>
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#include <ctype.h>
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#include <string.h>
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#include <strings.h>
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#include <unistd.h>
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#include <errno.h>
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#include <fcntl.h>
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#include <signal.h>
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#include <time.h>
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#include <sys/types.h>
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#include <sys/socket.h>
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#include <sys/wait.h>
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#include <arpa/inet.h>
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#include "GpsDaemon.h"
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#include "netlib.h"
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extern int optind, opterr, optopt;
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//
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// Written because gpsd (http://gpsd.berlios.de/) is too fat
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//
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//
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// GPS Server (port 2947 by default)
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// ----------
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//
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static const char *helptext =
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"This is GPSd, not the open source software gpsd:\n"
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"gpsd -s /dev/ttyS0:57600 [options]\n"
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"\t-d debug (foreground with stdio)\n"
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"\t-h help\n"
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"\t-l UDP listen for RTCM corrections\n"
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"\t-m network broadcast GPS data\n"
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"\t-o outfile output message log\n"
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"\t-r uri dgpsip://host or ntrip://user@pw:host/ rtcm:/dev/ttyS1\n"
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"\t-s port nmea:/dev/ttyS0:baud or sirf:/dev/ttyS0:baud\n"
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"\t-t uri OpenGTS server\n"
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"\t-w WDM DSRC listen for RTCM corrections\n"
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"\t-S service TCP service (default=gpsd)\n"
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"\tUse OSS gpsd, gpspipe and gpsfake to create and replay NMEA log files!\n";
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int main(int argc, char **argv)
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{
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char c; /* we have character */
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GpsDaemon Gps;
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/* options */
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int debug = 0; // run in foreground, leaves stdio open
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int dsrc_wsm = 0;
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int timeout = 15;
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/* dgpsip server */
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char *host = NULL;
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/* service/port */
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char *service = (char *)"gpsd";
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/* serial port */
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char *primary = NULL;
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char *secondary = NULL;
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int baud = 4800;
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/* logging */
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char *outfile = NULL;
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/* udp broadcast */
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char *mcast = NULL;
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/* udp listener */
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int listen = 0;
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/* data */
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char szBuf[1600];
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bzero( szBuf, sizeof(szBuf) );
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// add command line args
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while ( (c = getopt( argc, argv, "cdhi:jlm:o:r:s:t:S:T:v" )) > 0 )
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{
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switch ( c )
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{
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case 'c': // clock set
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Gps.SetClock();
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break;
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case 'd':
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debug = 1;
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break;
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case 'h':
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puts( helptext );
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return 0;
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case 'l': // udp/wdm listen
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listen = 1;
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break;
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case 'm': // udp broadcast
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mcast = optarg;
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break;
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case 'o':
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outfile = optarg;
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break;
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case 'r': // rtcm-sc104 host
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host = optarg;
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break;
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case 's': // serial device
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if ( !primary )
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primary = optarg;
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else
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secondary = optarg;
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break;
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case 'S':
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service = optarg;
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break;
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case 'T':
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timeout = atoi(optarg);
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if ( timeout == 0 )
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timeout = 30;
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break;
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case 'w': // DSRC WSM
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fprintf( stderr, "DSRC WSM support not available!\n" );
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listen = 1;
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dsrc_wsm = 1;
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break;
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default:
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fprintf( stderr, "Unknown option -%c\n", c );
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exit(1);
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}
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}
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// check options
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if ( !primary )
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{
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fprintf( stderr, "Must have a GPS device to communicate with!\n" );
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exit(1);
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}
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if ( mcast && listen )
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{
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fprintf( stderr, "Cannot do both UDP broadcast/multicast and listening!\n" );
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exit(1);
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}
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// input
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if ( primary )
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{
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// open GPS device on serial port
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int serial = Gps.GpsOpen( primary, baud );
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if ( serial < 0 )
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{
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fprintf( stderr, "Unable to open primary serial device: %s @ %d !\n", primary, baud );
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if ( secondary )
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{
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serial = Gps.GpsOpen( secondary, baud ); // won't open till primary dies
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if ( serial < 0 )
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{
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fprintf( stderr, "Unable to open secondary serial device: %s @ %d !\n", secondary, baud );
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exit(1);
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}
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}
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}
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}
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else
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{
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fprintf( stderr, "No task specified: use -l, -i <logfile> or -s <dev>!\n" );
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exit(1);
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}
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// corrections
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if ( host )
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{
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// RTCM server
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int remote = Gps.DgpsConnect( host );
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if ( remote < 0 )
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{
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fprintf( stderr, "Unable to connect to rtcm-sc104 source host: %s\n", host );
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// exit(1);
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}
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Gps.SetTimeout( timeout * 1000000L );
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}
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else if ( listen )
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{
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if ( dsrc_wsm )
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{
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// listen on WSM control channel for DSRC MSG_RTCM_Corrections
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}
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else
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{
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}
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}
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// output
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if ( mcast )
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{
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int bcast = Gps.GpsBroadcast( mcast );
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if ( bcast < 0 )
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{
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fprintf( stderr, "Unable to create UDP broadcast!\n" );
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exit(1);
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}
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}
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// logging
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if ( outfile )
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Gps.LogOpen( outfile );
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// TCP listener
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if ( Gps.StartService( GPSD_NAME, NULL, service, debug ) >= 0 )
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{
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return Gps.RunService();
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}
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return 1;
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}
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