Initial commit of files
This commit is contained in:
22
daemons/rtcmd/CMakeLists.txt
Normal file
22
daemons/rtcmd/CMakeLists.txt
Normal file
@ -0,0 +1,22 @@
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cmake_minimum_required(VERSION 3.7)
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set(NAME rtcmd)
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project(Cnomicon-Daemon)
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set(TARGET ${NAME})
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set(CMAKE_INSTALL_PREFIX ..)
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# includes
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include_directories(
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/usr/include/libxml2
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../include/libgps++ ../include/libnet++ ../include)
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link_directories(../lib)
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link_libraries(gps++ net++ net emb pthread rt)
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# sources
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set(SRCS
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RtcmDaemon.cpp
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)
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# executables
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add_executable(${TARGET} ${TARGET}.cpp ${SRCS})
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install(TARGETS ${TARGET} DESTINATION sbin)
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307
daemons/rtcmd/RtcmDaemon.cpp
Normal file
307
daemons/rtcmd/RtcmDaemon.cpp
Normal file
@ -0,0 +1,307 @@
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//
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// RTCM Daemon
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// Neal Probert
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//
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//****************************************************************************
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// includes
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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 "RtcmDaemon.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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RtcmDaemon::RtcmDaemon()
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{
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log_open( RTCMD_NAME );
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strcpy( Uri, "" );
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SerialIn = DgpsIn = NtripIn = DgramIn = -1;
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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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RtcmDaemon::~RtcmDaemon()
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{
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}
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int RtcmDaemon::ServerTimeout(void)
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{
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// should not timeout, try reconnecting
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if ( nClients > 0 )
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RtcmReconnect();
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else
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RtcmDisconnect();
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return 0;
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}
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int RtcmDaemon::ServerSocket(void)
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{
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char buf[2048];
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int n = 0, xmit = 0;
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if ( IsSet( DgpsIn ) )
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{
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// from RTCM server
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n = Dgps.DgpsRead( buf, sizeof(buf) );
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// xmit
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if ( n > 0 )
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xmit = n;
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else if ( n == 0 )
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{
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log_error( "Remote RTCM server closed!" );
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RtcmDisconnect();
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}
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else
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{
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log_error( "Remote RTCM server read error!" );
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n = 0;
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}
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ResetServerTimeout();
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}
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else if ( IsSet( NtripIn ) )
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{
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// from NTRIP server
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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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xmit = n;
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else if ( n == 0 )
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{
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log_error( "Remote NTRIP server closed us!" );
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RtcmDisconnect();
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}
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else
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{
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log_error( "Remote NTRIP server read error!" );
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n = 0;
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}
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ResetServerTimeout();
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}
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else if ( IsSet( SerialIn ) )
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{
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// from base station
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n = Rtcm.RtcmRead( buf, sizeof(buf) );
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// xmit
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if ( n > 0 )
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xmit = n;
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}
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// pass on RTCM data
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if ( xmit > 0 )
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{
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ClientCast( buf, xmit );
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}
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return n;
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}
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void RtcmDaemon::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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}
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int RtcmDaemon::ClientIn( int sock, const char *buf, int n )
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{
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if ( n <= 0 )
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return 0;
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// log messages from client, no responses
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if ( *buf == '$' )
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{
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// update to OpenGTS
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// logging
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char name[128];
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char out[1024];
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// need to add ip address
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SockName( sock, name, sizeof(name) );
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n = snprintf( out, sizeof(out), "[%s] %s", name, buf );
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Log.LogWrite( out, n );
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}
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else if ( n > 0 )
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log_write( buf );
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return 0;
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}
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int RtcmDaemon::ClientUp( int sock )
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{
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// connect source on demand
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if ( nClients++ == 0 )
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{
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// re-connect
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RtcmConnect( (const char *)Uri );
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}
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return 1;
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}
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void RtcmDaemon::ClientDown( int sock )
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{
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// disconnect source
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if ( --nClients <= 0 )
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{
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RtcmDisconnect();
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nClients = 0;
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}
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}
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int RtcmDaemon::RtcmOpen( const char *uri )
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{
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// already connected?
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if ( SerialIn >= 0 )
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Rtcm.RtcmClose();
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UriParse parsed;
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parsed.setRate( 38400 );
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parsed.setUri( uri );
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// serial device
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SerialIn = Rtcm.RtcmOpen( parsed.getPath(), parsed.getRate() );
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// add listener
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if ( SerialIn >= 0 )
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{
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strcpy( Uri, uri );
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AddFd( SerialIn );
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}
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return SerialIn;
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}
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int RtcmDaemon::RtcmConnect( const char *uri )
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{
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// already connected?
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if ( DgpsIn >= 0 )
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return DgpsIn;
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else if ( NtripIn >= 0 )
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return NtripIn;
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UriParse parsed;
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parsed.setService( RTCMD_PORT );
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parsed.setRate( 57600 );
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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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{
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// RTCM server (dgpsip)
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DgpsIn = Dgps.DgpsConnect( parsed.getHost(), parsed.getService() );
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// add listener
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if ( DgpsIn >= 0 )
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{
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strcpy( Uri, uri );
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AddFd( DgpsIn );
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}
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return DgpsIn;
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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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NtripIn = Ntrip.NtripConnect( uri );
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// add listener
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if ( NtripIn >= 0 )
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{
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strcpy( Uri, uri );
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AddFd( NtripIn );
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}
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return NtripIn;
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}
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return -1;
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}
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void RtcmDaemon::RtcmDisconnect( void )
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{
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if ( DgpsIn >= 0 || NtripIn >= 0 )
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log_printf( "Remote RTCM/NTRIP dis-connected, no clients listening" );
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else
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return;
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Dgps.DgpsClose();
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DelFd( DgpsIn );
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Ntrip.NtripClose();
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DelFd( NtripIn );
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DgpsIn = NtripIn = -1;
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}
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void RtcmDaemon::RtcmReconnect( void )
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{
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if ( nClients == 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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DelFd( DgpsIn );
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Ntrip.NtripClose();
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DelFd( NtripIn );
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DgpsIn = NtripIn = -1;
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RtcmConnect( Uri );
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}
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int RtcmDaemon::RtcmBroadcast( const char *host, const char *port )
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{
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return Bcast.Caster( host, port );
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}
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94
daemons/rtcmd/RtcmDaemon.h
Normal file
94
daemons/rtcmd/RtcmDaemon.h
Normal file
@ -0,0 +1,94 @@
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//
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// RTCM Daemon
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// Neal Probert
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//
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/* prevent multiple inclusions */
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#ifndef __RtcmDaemon__
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#define __RtcmDaemon__
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/* includes *****************************************************************/
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#include "TcpDaemon.h"
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#include "UdpClient.h"
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#include "UdpCaster.h"
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#include "GpsDevice.h"
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#include "RtcmDevice.h"
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#include "DgpsClient.h"
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#include "NtripClient.h"
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#include "Logging.h"
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/* defines ******************************************************************/
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/* software details */
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#define RTCMD_NAME "rtcmd"
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#define RTCMD_VERSION "0.1"
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/* default service and port */
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#define RTCMD_SERVICE "rtcm-sc104"
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#define RTCMD_PORT "2101"
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/* macros *******************************************************************/
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/* structs & typedefs *******************************************************/
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||||
/* c class definitions ******************************************************/
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||||
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//
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||||
// Uses the Peak Systems CAN Linux driver and Nissan CAN data
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//
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class RtcmDaemon : public TcpDaemon, public Logging {
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// public data
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public:
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DgpsClient Dgps;
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NtripClient Ntrip;
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RtcmDevice Rtcm;
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// private data
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private:
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char Uri[1024];
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// FDs
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int DgpsIn;
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int SerialIn;
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int DgramIn;
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int NtripIn;
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// UDP broadcast
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UdpCaster Bcast;
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int nClients;
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// static data
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||||
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// public methods
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||||
public:
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||||
// constructors
|
||||
RtcmDaemon();
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||||
// destructor
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||||
virtual ~RtcmDaemon();
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// virtual functions
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||||
int ServerTimeout(void);
|
||||
int ServerSocket(void);
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int ClientIn( int sock, const char *buf, int n );
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void ClientCast( const char *buf, int n );
|
||||
int ClientUp( int sock );
|
||||
void ClientDown( int sock );
|
||||
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||||
// public methods
|
||||
int RtcmOpen( const char *uri ); // serial device
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||||
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int RtcmConnect( const char *uri );
|
||||
void RtcmDisconnect( void );
|
||||
void RtcmReconnect( void );
|
||||
int RtcmBroadcast( const char *host = NULL, const char *port = RTCMD_SERVICE );
|
||||
|
||||
// static methods
|
||||
|
||||
// private methods
|
||||
private:
|
||||
};
|
||||
|
||||
#endif
|
||||
145
daemons/rtcmd/rtcmd.cpp
Normal file
145
daemons/rtcmd/rtcmd.cpp
Normal file
@ -0,0 +1,145 @@
|
||||
//
|
||||
// RTCM Daemon (rtcmd.cpp)
|
||||
// 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 "RtcmDaemon.h"
|
||||
|
||||
#include "netlib.h"
|
||||
|
||||
extern int optind, opterr, optopt;
|
||||
|
||||
//
|
||||
// This was written because gpsd didn't have working RTCM104_SERVICE
|
||||
// or the ability to do UDP broadcasts.
|
||||
//
|
||||
|
||||
static const char *helptext =
|
||||
"rtcm -r dgpsip://host [options]\n"
|
||||
"\t-d debug (foreground with stdio)\n"
|
||||
"\t-h help\n"
|
||||
"\t-m network UDP broadcast RTCM data\n"
|
||||
"\t-r uri dgpsip://host or ntrip://user@pass:host:port/mount\n"
|
||||
"\t-t uri OpenGTS server\n"
|
||||
"\t-w WDM DSRC broadcast RTCM corrections\n"
|
||||
"\t-S service TCP service (default=2101)\n"
|
||||
"\t-T timeout reconnect timeout in seconds (default=15)\n";
|
||||
|
||||
static RtcmDaemon Rtcm;
|
||||
|
||||
int main(int argc, char **argv)
|
||||
{
|
||||
char c; /* we have character */
|
||||
|
||||
/* 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 *)"2101"; // "rtcm-sc104"
|
||||
|
||||
/* udp broadcast */
|
||||
char *mcast = NULL;
|
||||
|
||||
/* log */
|
||||
char *outfile = NULL;
|
||||
|
||||
// add command line args
|
||||
while ( (c = getopt( argc, argv, "dhm:o:r:s:t:S:T:" )) > 0 )
|
||||
{
|
||||
switch ( c )
|
||||
{
|
||||
case 'd':
|
||||
debug = 1;
|
||||
break;
|
||||
case 'h':
|
||||
puts( helptext );
|
||||
return 0;
|
||||
case 'm': // udp broadcast
|
||||
mcast = optarg;
|
||||
break;
|
||||
case 'o':
|
||||
break;
|
||||
case 'r': // rtcm-sc104 host
|
||||
host = optarg;
|
||||
break;
|
||||
case 't':
|
||||
break;
|
||||
case 'S':
|
||||
service = optarg;
|
||||
break;
|
||||
case 'T':
|
||||
timeout = atoi(optarg);
|
||||
if ( timeout == 0 )
|
||||
timeout = 30;
|
||||
break;
|
||||
case 'w': // DSRC WSM broadcast or listen
|
||||
fprintf( stderr, "DSRC WSM support not yet available!\n" );
|
||||
// dsrc_wsm = 1;
|
||||
break;
|
||||
default:
|
||||
fprintf( stderr, "Unknown option -%c\n", c );
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
|
||||
// input
|
||||
if ( host )
|
||||
{
|
||||
Rtcm.SetTimeout( timeout * 1000000L );
|
||||
|
||||
// RTCM server
|
||||
int remote = Rtcm.RtcmConnect( host );
|
||||
|
||||
if ( remote < 0 )
|
||||
{
|
||||
fprintf( stderr, "Unable to connect to rtcm-sc104 source host: %s\n", host );
|
||||
if ( debug )
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
|
||||
// output
|
||||
if ( mcast )
|
||||
{
|
||||
int bcast = Rtcm.RtcmBroadcast( mcast );
|
||||
|
||||
if ( bcast < 0 )
|
||||
{
|
||||
fprintf( stderr, "Unable to create UDP broadcast!\n" );
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
else if ( dsrc_wsm )
|
||||
{
|
||||
}
|
||||
|
||||
if ( outfile )
|
||||
Rtcm.LogOpen( outfile, 0 );
|
||||
|
||||
// TCP listener
|
||||
if ( Rtcm.StartService( RTCMD_NAME, NULL, service, debug ) >= 0 )
|
||||
return Rtcm.RunService();
|
||||
|
||||
return 1;
|
||||
}
|
||||
7
daemons/rtcmd/test-mili.sh
Executable file
7
daemons/rtcmd/test-mili.sh
Executable file
@ -0,0 +1,7 @@
|
||||
!/bin/sh
|
||||
|
||||
rm /var/log/cnomicon/rtcmd.log
|
||||
|
||||
../../build/daemons/rtcmd/rtcmd -d -r ntrip://nprobert:p3x-mdotcors@148.149.0.87:10002/LIVONIA_RTCM2.3GPS
|
||||
|
||||
more /var/log/cnomicon/rtcmd.log
|
||||
Reference in New Issue
Block a user