Initial commit of files

.gitignore

@@ -1,17 +1,9 @@
-# Prerequisites
-*.d
-
 # Object files
 *.o
 *.ko
 *.obj
 *.elf
 
-# Linker output
-*.ilk
-*.map
-*.exp
-
 # Precompiled Headers
 *.gch
 *.pch
@@ -25,7 +17,7 @@
 # Shared objects (inc. Windows DLLs)
 *.dll
 *.so
-*.so.*
+#*.so.*
 *.dylib
 
 # Executables
@@ -39,14 +31,18 @@
 # Debug files
 *.dSYM/
 *.su
-*.idb
-*.pdb
 
-# Kernel Module Compile Results
-*.mod*
-*.cmd
-.tmp_versions/
-modules.order
-Module.symvers
-Mkfile.old
-dkms.conf
+# CMake files
+build
+CMakeLists.txt.user
+CMakeCache.txt
+CMakeFiles
+CMakeScripts
+Ignore
+Testing
+Makefile
+cmake_install.cmake
+install_manifest.txt
+compile_commands.json
+CTestTestfile.cmake
+_deps

CMakeLists.txt

@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.7)
+project(Cnomicon)
+set(CMAKE_INSTALL_PREFIX /usr/local/cnomicon)
+
+# list of header files
+set(SUB_DIRS
+  src daemons #tests apps utils
+  )
+
+foreach(SUB_DIR ${SUB_DIRS})
+  add_subdirectory(${SUB_DIR})
+endforeach()
+
+# installs
+file(GLOB BIN_SCRIPTS "bin-scripts/*")
+file(GLOB SBIN_SCRIPTS "sbin-scripts/*")
+
+install(FILES ${BIN_SCRIPTS}
+  DESTINATION bin
+  PERMISSIONS WORLD_EXECUTE WORLD_READ OWNER_WRITE
+)
+install (FILES ${SBIN_SCRIPTS}
+  DESTINATION sbin
+  PERMISSIONS WORLD_EXECUTE WORLD_READ OWNER_WRITE
+)
+
+install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY lib/ DESTINATION lib)

Doxyfile

@@ -0,0 +1,278 @@
+# Doxyfile 1.5.1
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+PROJECT_NAME           = "ProbeStar Telematics Software"
+PROJECT_NUMBER         = 
+OUTPUT_DIRECTORY       = doc/
+CREATE_SUBDIRS         = YES
+OUTPUT_LANGUAGE        = English
+USE_WINDOWS_ENCODING   = NO
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = YES
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = YES
+STRIP_FROM_PATH        = /home/nprobert/
+STRIP_FROM_INC_PATH    = 
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+MULTILINE_CPP_IS_BRIEF = NO
+DETAILS_AT_TOP         = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 8
+ALIASES                = 
+OPTIMIZE_OUTPUT_FOR_C  = NO
+OPTIMIZE_OUTPUT_JAVA   = NO
+BUILTIN_STL_SUPPORT    = YES
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = YES
+EXTRACT_PRIVATE        = YES
+EXTRACT_STATIC         = YES
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = YES
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = YES
+SORT_BRIEF_DOCS        = NO
+SORT_BY_SCOPE_NAME     = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+ENABLED_SECTIONS       = 
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_DIRECTORIES       = YES
+FILE_VERSION_FILTER    = 
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = NO
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+WARN_LOGFILE           = 
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = include \
+                         src \
+                         apps \
+                         daemons
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.d \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.idl \
+                         *.odl \
+                         *.cs \
+                         *.php \
+                         *.php3 \
+                         *.inc \
+                         *.m \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.C \
+                         *.CC \
+                         *.C++ \
+                         *.II \
+                         *.I++ \
+                         *.H \
+                         *.HH \
+                         *.H++ \
+                         *.CS \
+                         *.PHP \
+                         *.PHP3 \
+                         *.M \
+                         *.MM \
+                         *.PY
+RECURSIVE              = YES
+EXCLUDE                = 
+EXCLUDE_SYMLINKS       = NO
+EXCLUDE_PATTERNS       = 
+EXAMPLE_PATH           = 
+EXAMPLE_PATTERNS       = *
+EXAMPLE_RECURSIVE      = NO
+IMAGE_PATH             = 
+INPUT_FILTER           = 
+FILTER_PATTERNS        = 
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = YES
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = YES
+REFERENCES_RELATION    = YES
+REFERENCES_LINK_SOURCE = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+IGNORE_PREFIX          = 
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_HEADER            = 
+HTML_FOOTER            = 
+HTML_STYLESHEET        = 
+HTML_ALIGN_MEMBERS     = YES
+GENERATE_HTMLHELP      = NO
+CHM_FILE               = 
+HHC_LOCATION           = 
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = YES
+DISABLE_INDEX          = NO
+ENUM_VALUES_PER_LINE   = 4
+GENERATE_TREEVIEW      = YES
+TREEVIEW_WIDTH         = 250
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+GENERATE_LATEX         = YES
+LATEX_OUTPUT           = latex
+LATEX_CMD_NAME         = latex
+MAKEINDEX_CMD_NAME     = makeindex
+COMPACT_LATEX          = NO
+PAPER_TYPE             = a4wide
+EXTRA_PACKAGES         = 
+LATEX_HEADER           = 
+PDF_HYPERLINKS         = NO
+USE_PDFLATEX           = NO
+LATEX_BATCHMODE        = NO
+LATEX_HIDE_INDICES     = NO
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+GENERATE_RTF           = YES
+RTF_OUTPUT             = rtf
+COMPACT_RTF            = NO
+RTF_HYPERLINKS         = YES
+RTF_STYLESHEET_FILE    = 
+RTF_EXTENSIONS_FILE    = 
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+GENERATE_MAN           = NO
+MAN_OUTPUT             = man
+MAN_EXTENSION          = .3
+MAN_LINKS              = NO
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+GENERATE_XML           = YES
+XML_OUTPUT             = xml
+XML_SCHEMA             = 
+XML_DTD                = 
+XML_PROGRAMLISTING     = YES
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+GENERATE_AUTOGEN_DEF   = NO
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+GENERATE_PERLMOD       = NO
+PERLMOD_LATEX          = NO
+PERLMOD_PRETTY         = YES
+PERLMOD_MAKEVAR_PREFIX = 
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor   
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+INCLUDE_PATH           = 
+INCLUDE_FILE_PATTERNS  = 
+PREDEFINED             = 
+EXPAND_AS_DEFINED      = 
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references   
+#---------------------------------------------------------------------------
+TAGFILES               = 
+GENERATE_TAGFILE       = 
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool   
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = YES
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = YES
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = YES
+INCLUDED_BY_GRAPH      = YES
+CALL_GRAPH             = YES
+CALLER_GRAPH           = NO
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = YES
+DOT_IMAGE_FORMAT       = png
+DOT_PATH               = 
+DOTFILE_DIRS           = 
+MAX_DOT_GRAPH_WIDTH    = 1024
+MAX_DOT_GRAPH_HEIGHT   = 1024
+MAX_DOT_GRAPH_DEPTH    = 1000
+DOT_TRANSPARENT        = NO
+DOT_MULTI_TARGETS      = YES
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to the search engine   
+#---------------------------------------------------------------------------
+SEARCHENGINE           = YES

apps/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.7)
+project(Cnomicon)
+
+# list of header files
+set(SUB_DIRS
+  )
+
+foreach(SUB_DIR ${SUB_DIRS})
+  add_subdirectory(${SUB_DIR})
+endforeach()

apps/bin

@@ -0,0 +1 @@
+../bin

apps/include

@@ -0,0 +1 @@
+../include

apps/lib

@@ -0,0 +1 @@
+../lib

bin-scripts/can-down

@@ -0,0 +1,6 @@
+#!/bin/sh
+
+killall candump 2> /dev/null
+
+ifconfig can0 down 2> /dev/null
+ifconfig vcan0 down 2> /dev/null

bin-scripts/can-dump

@@ -0,0 +1,5 @@
+#!/bin/sh
+
+can-info
+candump -cae can0
+

bin-scripts/can-log-replay

@@ -0,0 +1,5 @@
+#/bin/sh
+
+echo "can-logging $1 replaying to CAN any indefinitely"
+canplayer -l i -I $@
+

bin-scripts/can-log-start

@@ -0,0 +1,26 @@
+#!/bin/sh
+
+# log file name based on time                                                             
+TIMESTAMP=`date +'%Y-%m-%d_%H%M%S'`                                                         
+LOGDIR=.
+LOGFILE=$LOGDIR/candump-$TIMESTAMP.log
+PIDDIR=.
+PIDFILE=$PIDDIR/can-log.pid
+IF=any
+
+# log directory
+if [ ! -d $LOGDIR ]; then
+  echo "Please run cnomicon-setup!"
+  exit 1
+fi
+
+# kill if already running (restart)
+if [ -f $PIDFILE ]; then
+  sudo pkill -F $PIDFILE
+fi
+
+# let 'er rip
+candump -L -l any > $LOGFILE &
+echo $! > $PIDFILE
+
+echo "CANdump logging started to $LOGFILE"

bin-scripts/can-log-stop

@@ -0,0 +1,12 @@
+#!/bin/sh
+
+# log file name based on time                                                             
+PIDDIR=.
+PIDFILE=$PIDDIR/can-log.pid
+
+# kill if already running (restart)
+if [ -f $PIDFILE ]; then
+  pkill -F $PIDFILE
+  echo "CANdump logging stopped"
+  rm -f $PIDFILE
+fi

bin-scripts/can-record

@@ -0,0 +1,5 @@
+#!/bin/sh
+
+can-info
+candump -l can0
+

bin-scripts/can-replay

@@ -0,0 +1,4 @@
+#!/bin/sh
+
+canplayer -I $1 $2 $3 $4 $5 $6 $7 $8 $9
+

bin-scripts/can-status

@@ -0,0 +1,8 @@
+#!/bin/sh
+
+lspcan
+ls -l /dev/pcan*
+cat /proc/pcan
+ifconfig can0
+ifconfig vcan0
+can-info

bin-scripts/can-up

@@ -0,0 +1,13 @@
+#!/bin/sh
+
+# PCAN
+echo "Can0"
+modprobe pcan
+ip link set can0 up type can bitrate 500000
+ifconfig can0 up
+
+# VCAN
+echo "Vcan0"
+modprobe vcan
+ip link add dev vcan0 type vcan
+ip link set up vcan0

bin-scripts/nmea2kml

@@ -0,0 +1,9 @@
+#!/bin/sh
+
+for i in $@
+do
+    BAS=`basename $i .nmea`
+    KML=$BAS.kml
+    gpsbabel -t -i nmea -f $i -o kml,units=m -f $KML
+done
+

cbuild.sh

@@ -0,0 +1,6 @@
+#!/bin/sh
+
+mkdir -p build lib
+cd build
+cmake ..
+make

cclean.sh

@@ -0,0 +1,6 @@
+#!/bin/sh
+
+rm -rf `find . -name CMakeCache.txt`
+rm -rf `find . -name CMakeFiles`
+rm -rf `find . -name cmake_install.cmake`
+rm -rf `find . -name Makefile`

cinstall.sh

@@ -0,0 +1,4 @@
+#!/bin/sh
+
+cd build
+sudo make install | grep -v "Up-to-date:"

daemons/.gitignore

@@ -0,0 +1,7 @@
+cand/cand
+gpsd/gpsd
+logd/logd
+rtcmd/rtcmd
+seriald/seriald
+stdiod/stdiod
+trackd/trackd

daemons/CMakeLists.txt

@@ -0,0 +1,12 @@
+cmake_minimum_required(VERSION 3.7)
+project(Cnomicon)
+set(CMAKE_INSTALL_PREFIX ../bin)
+
+# list of header files
+set(SUB_DIRS
+  logd seriald stdiod cand gpsd rtcmd
+  )
+
+foreach(SUB_DIR ${SUB_DIRS})
+  add_subdirectory(${SUB_DIR})
+endforeach()

daemons/cand/CMakeLists.txt

@@ -0,0 +1,25 @@
+cmake_minimum_required(VERSION 3.7)
+set(NAME cand)
+project(Cnomicon-Daemon)
+set(TARGET ${NAME})
+set(CMAKE_INSTALL_PREFIX ..)
+
+# includes
+include_directories(
+  /usr/include/libxml2
+  ../include/libcan++ ../include/libgps++ ../include/libnet++ ../include)
+link_directories(../lib)
+link_libraries(can++ gps++ net++ net emb kmlbase kmldom kmlengine xml2 pthread rt)
+
+# sources
+set(SRCS
+  CanDaemon.cpp
+  CanListener.cpp
+  CanRxListener.cpp
+  CanTxGenerator.cpp
+  )
+
+# executables
+add_executable(${TARGET} ${TARGET}.cpp ${SRCS})
+
+install(TARGETS ${TARGET} DESTINATION sbin)

daemons/cand/CanDaemon.cpp

@@ -0,0 +1,138 @@
+//****************************************************************************
+// Copyright (C) 2007
+// Nissan North America
+// All Rights Reserved.  Proprietary and Confidential.
+//============================================================================
+
+//****************************************************************************
+// includes
+//***************************************************************************/
+
+#include    <stdio.h>
+#include    <unistd.h>
+#include    <stdlib.h>
+
+#include    <fcntl.h>
+#include    <string.h>
+#include    <time.h>
+#include    <sys/timeb.h>
+#include    <sys/types.h>
+#include    <sys/stat.h>
+#include    <sys/socket.h>
+#include    <sys/types.h>
+
+#include "CanDaemon.h"
+#include "netlib.h"
+
+//****************************************************************************
+// defines
+//***************************************************************************/
+
+//****************************************************************************
+// macros
+//***************************************************************************/
+
+//****************************************************************************
+// structs & typedefs
+//***************************************************************************/
+
+typedef struct _Can2DsrcMap {
+  int                 Signal;
+  double              Scale;
+  int                 Offset;
+} Can2DsrcMap;
+
+//****************************************************************************
+// global constants
+//***************************************************************************/
+
+//****************************************************************************
+// global variables
+//***************************************************************************/
+
+//****************************************************************************
+// static constants
+//***************************************************************************/
+
+//****************************************************************************
+// static variables
+//***************************************************************************/
+
+//****************************************************************************
+// static functions
+//***************************************************************************/
+
+//****************************************************************************
+// C++ functions
+//***************************************************************************/
+
+CanDaemon::CanDaemon()
+{
+  /* open a log file */
+  log_open( CAND_NAME );
+  SetTimeout( 1000000L );
+}
+
+CanDaemon::~CanDaemon()
+{
+}
+
+/* Server *******************************************************************/
+
+void CanDaemon::DaemonStartup(void)
+{
+  // start threads and detach    
+  Vehicle.Start( &Can, true );    // Receive CAN messages
+  Generator.Start( NULL, true );  // Send TX packets
+  
+  Receiver.Caster = this;
+  Receiver.Start( NULL, true );       // Receive RX and TX Echo packets
+}
+
+void CanDaemon::DaemonShutdown(void)
+{
+  Receiver.Stop();
+  Generator.Stop();
+  Vehicle.Stop();
+}
+
+int CanDaemon::ServerSocket(void)
+{
+  int nrec=0;
+  
+  return nrec;
+}
+
+int CanDaemon::ServerTimeout(void)
+{
+  if ( NumClients() )
+  {
+    // status
+    //        char str[128];
+    //        int n = snprintf( str, sizeof(str), "CANd: %ld sent, %ld recv\n",
+    //                         Generator.SentCount(), Echo.RecvCount() );
+    //        ClientCast( str, n );
+  }
+  
+  return 0;
+}
+
+int CanDaemon::ClientIn( int sock, const char *buf, int n )
+{    
+  // commands?
+  
+  
+  return 0;
+}
+
+void CanDaemon::ClientCast( const char *buf, int n )
+{
+  TcpServer::ClientCast( buf, n );
+}
+
+/* other stuff **************************************************************/
+
+int CanDaemon::CanOpen( const char *uri )
+{
+  return Can.CanOpen( uri );
+}

daemons/cand/CanDaemon.h

@@ -0,0 +1,76 @@
+//****************************************************************************
+// Copyright (C) 2012
+// Nissan North America
+// All Rights Reserved.  Proprietary and Confidential.
+//============================================================================
+
+/* prevent multiple inclusions */
+#ifndef __CanDaemon__
+#define __CanDaemon__
+
+/* includes *****************************************************************/
+
+#include "TcpDaemon.h"
+
+#include "CanDatabase.h"
+
+#include "UdpCaster.h"
+
+#include "CanListener.h"
+#include "CanTxGenerator.h"
+#include "CanRxListener.h"
+
+/* defines ******************************************************************/
+
+/* BSMPd */
+#define CAND_NAME           "cand"
+#define CAND_SERVICE        "cand"
+#define CAND_PORT           "2946"
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+// Uses the Peak Systems CAN Linux driver and Nissan CAN data
+//
+class CanDaemon : public TcpDaemon {
+  // public data
+public:
+  CanTxGenerator     Generator;
+  CanRxListener      Receiver;
+  CanListener        Vehicle;
+  
+  CanSocket   Can;
+  
+  // private data
+private:
+  
+  // public methods
+public:
+  // constructors
+  CanDaemon();
+  
+  // destructor
+  virtual ~CanDaemon();
+  
+  // virtual functions
+  void DaemonStartup(void);
+  void DaemonShutdown(void);
+  int ClientIn( int sock, const char *buf, int n );
+  void ClientCast( const char *buf, int n );
+  int ServerSocket( void );
+  int ServerTimeout( void );
+  
+  // public methods
+  int CanOpen( const char *can );
+  
+  // static methods
+  
+  // private methods
+private:
+};
+
+#endif

daemons/cand/CanListener.cpp

@@ -0,0 +1,321 @@
+//
+// Linux Daemon
+//
+
+//****************************************************************************
+// includes
+//***************************************************************************/
+
+#include    <stdio.h>
+#include    <unistd.h>
+#include    <stdlib.h>
+#include    <stdarg.h>
+#include    <fcntl.h>
+#include    <string.h>
+#include    <ctype.h>
+#include    <regex.h>
+#include    <time.h>
+#include    <sys/timeb.h>
+#include    <sys/types.h>
+#include    <sys/stat.h>
+#include    <sys/socket.h>
+#include    <sys/types.h>
+#include    <sys/wait.h>
+
+#include "libxml/parser.h"
+#include "libxml/tree.h"
+
+#include "CanSignal.h"
+#include "CanListener.h"
+#include "CanRxListener.h"
+#include "CanTxGenerator.h"
+
+#include "CAN_Packet.h"
+
+//****************************************************************************
+// defines
+//***************************************************************************/
+
+#define MAX_DSRC_PARSERS        32
+
+//****************************************************************************
+// macros
+//***************************************************************************/
+
+//****************************************************************************
+// structs & typedefs
+//***************************************************************************/
+
+//****************************************************************************
+// global constants
+//***************************************************************************/
+
+//****************************************************************************
+// global variables
+//***************************************************************************/
+
+// write into the TX buffer
+CAN_Packet Can = {};
+
+//****************************************************************************
+// static constants
+//***************************************************************************/
+
+//****************************************************************************
+// static variables
+//***************************************************************************/
+
+static int num_parsers = 0;
+
+//****************************************************************************
+// static functions
+//***************************************************************************/
+
+//****************************************************************************
+// C++ functions
+//***************************************************************************/
+
+CanListener::CanListener()
+{
+  m_accel_from_speed = false;
+  m_debug = false;
+  m_reverse = false;
+}
+
+CanListener::~CanListener()
+{
+}
+
+bool CanListener::CanParser( CanSignal *pSig, const unsigned char *data )
+{
+  // successful and valid conversion with new data
+  if (!pSig->isNew)
+    return false;
+  
+  // data has changed
+  //    if ( m_debug )
+  //        printf( "%s (%x) = %g (%ld)\n", pSig->Name.c_str(), pSig->Address, dValue, lValue );
+  
+  // match CAN signal to CAN_Packet an copy
+  
+  return true;
+}
+
+int CanListener::CanMapping( const char *file )
+{
+  // parse XML
+  xmlDocPtr doc = NULL;
+  xmlNodePtr root = NULL;
+  
+  /*parse the file and get the DOM */
+  if ( file )
+  {
+    if ( !(doc = xmlParseFile( file )) )
+    {
+      log_printf( "CANd: %s read error", file );
+      return -1;
+    }
+  }
+  else
+  {                    // m/s^2
+    
+    log_printf( "CANd: %s file not found", file );
+    return -1;
+  }
+  
+  xmlChar *dbc = NULL;
+  int error = 0;
+  
+  //  Get the root element node
+  root = xmlDocGetRootElement(doc);
+  if ( !root )
+    return -1;
+  // <CANd> only
+  if ( xmlStrcmp( root->name, (const xmlChar *)"HeartBeat" ) != 0 )
+    return -1;
+  
+  /* walk the tree */
+  xmlNodePtr node = root->xmlChildrenNode;
+  
+  while ( node )
+  {
+    if ( xmlStrcmp( node->name, (const xmlChar *)"text" ) == 0 )
+      ;
+    else if ( xmlStrcmp( node->name, (const xmlChar *)"HeartBeat" ) == 0 )
+      ; // <!-- comment -->
+      else if ( xmlStrcmp( node->name, (const xmlChar *)"Description" ) == 0 )
+        ;
+      else if ( xmlStrcmp( node->name, (const xmlChar *)"Database" ) == 0 )
+      {
+        // database file name
+        dbc = xmlNodeGetContent( node );
+      }
+      else if ( xmlStrcmp( node->name, (const xmlChar *)"CAN" ) == 0 )
+      {
+        xmlNodePtr item = node->xmlChildrenNode;
+        
+        while ( item )
+        {
+          // CAN Signals
+          if ( xmlStrcmp( item->name, (const xmlChar *)"text" ) == 0 )
+            ;
+          else if ( xmlStrcmp( item->name, (const xmlChar *)"Message" ) == 0 )
+          {
+            // get name and address
+            xmlNodePtr message = item->xmlChildrenNode;
+            xmlChar *name = NULL;
+            xmlChar *address = NULL;
+            u_long addr = 0;
+            
+            while ( message )
+            {
+              if ( xmlStrcmp( message->name, (const xmlChar *)"text" ) == 0 )
+                ;
+              else if ( xmlStrcmp( message->name, (const xmlChar *)"Name" ) == 0 )
+                name = xmlNodeGetContent( message );
+              else if ( xmlStrcmp( message->name, (const xmlChar *)"Address" ) == 0 )
+                address = xmlNodeGetContent( message );
+              
+              message = message->next;
+            }
+            
+            // add filter by name and address
+            if ( address )
+              addr = strtol( (char *)address, NULL, 10 );
+            if ( name )
+              AddMsgFilter( (char *)name, addr, addr );
+          }
+          else if ( xmlStrcmp( item->name, (const xmlChar *)"Signal" ) == 0 )
+          {
+            // get name and address
+            xmlNodePtr signal = item->xmlChildrenNode;
+            xmlChar *name = NULL;
+            xmlChar *address = NULL;
+            u_long addr = 0;
+            
+            while ( signal )
+            {
+              if ( xmlStrcmp( signal->name, (const xmlChar *)"text" ) == 0 )
+                ;
+              else if ( xmlStrcmp( signal->name, (const xmlChar *)"Name" ) == 0 )
+                name = xmlNodeGetContent( signal );
+              else if ( xmlStrcmp( signal->name, (const xmlChar *)"Address" ) == 0 )
+                address = xmlNodeGetContent( signal );
+              
+              signal = signal->next;
+            }
+            
+            // add filter by name and address
+            if ( address )
+              addr = strtol( (char *)address, NULL, 10 );
+            if ( name )
+              AddSigFilter( (char *)name, addr, addr );
+          }
+          item = item->next;
+        }
+        
+      }
+      else
+      {
+        error++;
+        break;
+      }
+      node = node->next;
+  }
+  
+  // Load the database after the filters are loaded and parse everything!
+  if ( dbc )
+  {
+    int n = LoadDatabase( (char*)dbc );
+    
+    if (n < 0)
+    {
+      log_printf( "CANd: Database \"%s\" open failed!", (char*)dbc );
+      error = 1;
+    }
+  }
+  else
+  {
+    log_printf( "CANd: No database!" );
+    error = 1;
+  }
+  
+  /* free the document */
+  xmlFreeDoc(doc);
+  xmlCleanupParser();
+  
+  // errors parsing
+  if ( error )
+    return -1;
+  
+  if ( num_parsers )
+  {
+    log_printf( "CANd: Parsers found = %d", num_parsers );
+  }
+  else
+  {
+    log_printf( "CANd: Errors found or no work to do (no CAN signals)!" );
+    return 0;
+  }
+  
+  return num_parsers;
+}
+
+void *CanListener::Run(void *arg)
+{
+  pCan = (CanSocket*)arg;
+  
+  // wait till other threads have time to start
+  sleep(1);
+  
+  // subscribed marked signals
+  SubscribeCan( pCan );
+  pCan->Blocking(0);  // does this even work?
+  
+  // setup for select()
+  fd_set rfds;
+  struct timeval tv;
+  int retval;
+  FD_ZERO(&rfds);
+  
+  // run forever
+  while(1)
+  {
+    // select()
+    FD_SET(pCan->m_sock, &rfds);
+    tv.tv_sec = 0;
+    tv.tv_usec = 10000;
+    retval = select(pCan->m_sock+1, &rfds, NULL, NULL, &tv);
+    
+    if (retval == -1)
+      perror("select()");
+    else if (retval)
+    {
+      CanFrame  frame[20];
+      int n, sigs = 0;
+      
+      // frame from CAN device (will block on more than 1)
+      if ( (n = pCan->CanRawRead( frame, sizeof(frame)/sizeof(CanFrame) )) > 0 )
+      {
+        for ( int i=0 ; i<n ; i++ )
+        {
+          // convert matching addresses (might be more than 1 signal)
+          for ( u_int j=0 ; j<Messages.size() ; j++ )
+          {
+            if ( Messages[j]->Read(&frame[i]) )
+            {
+              for (u_int k=0 ; k<Messages[j]->Signals.size() ; k++)
+              {
+                if ( CanParser( Messages[j]->Signals[k], frame[i].data ) )
+                  sigs++;
+              }
+              break;
+            }
+          }
+        }
+      }
+    }
+  }
+  
+  return NULL;
+}

daemons/cand/CanListener.h

@@ -0,0 +1,70 @@
+//
+// Linux Daemon
+//
+
+/* prevent multiple inclusions */
+#ifndef __CanListener__
+#define __CanListener__
+
+/* includes *****************************************************************/
+
+#include <pthread.h>
+
+#include <muParser.h>
+
+#include "netlib.h"
+
+#include "Thread.h"
+#include "Mutex.h"
+
+#include "UdpCaster.h"
+
+#include "CanSocket.h"
+#include "CanDatabase.h"
+
+#include "CanTxGenerator.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+class CanListener : public Thread, public CanDatabase {
+  // public data
+public:
+  bool m_accel_from_speed;
+  bool m_debug;
+  bool m_reverse;
+  
+  // protected data
+protected:
+  CanSocket   *pCan;
+  
+  // private data
+private:
+  
+  // private methods
+  
+  // public methods
+public:
+  // constructors
+  CanListener();
+  
+  // destructor
+  virtual ~CanListener();
+  
+  // public methods
+  bool CanParser( CanSignal *pSig, const unsigned char * );
+  int  CanMapping( const char *file );
+  
+  // virtual overrides
+  void *Run(void*);
+  
+private:
+  // signal catchers (do not override)
+};
+
+#endif

daemons/cand/CanRxListener.cpp

@@ -0,0 +1,107 @@
+//
+// Linux Daemon
+//
+
+//****************************************************************************
+// includes
+//***************************************************************************/
+
+#include    <stdio.h>
+#include    <unistd.h>
+#include    <stdlib.h>
+#include    <stdarg.h>
+#include    <fcntl.h>
+#include    <string.h>
+#include    <time.h>
+#include    <sys/timeb.h>
+#include    <sys/types.h>
+#include    <sys/stat.h>
+#include    <sys/socket.h>
+#include    <sys/types.h>
+#include    <sys/wait.h>
+
+#include "ClockTimer.h"
+#include "CanRxListener.h"
+
+//****************************************************************************
+// defines
+//***************************************************************************/
+
+//****************************************************************************
+// macros
+//***************************************************************************/
+
+//****************************************************************************
+// structs & typedefs
+//***************************************************************************/
+
+//****************************************************************************
+// global constants
+//***************************************************************************/
+
+//****************************************************************************
+// global variables
+//***************************************************************************/
+
+//****************************************************************************
+// static constants
+//***************************************************************************/
+
+//****************************************************************************
+// static variables
+//***************************************************************************/
+
+extern CAN_Packet Can;
+
+//****************************************************************************
+// static functions
+//***************************************************************************/
+
+//****************************************************************************
+// C++ functions
+//***************************************************************************/
+
+CanRxListener::CanRxListener()
+{
+  m_debug = false;
+  nTxEcho = nRxBsm = nRxOem = 0;
+}
+
+CanRxListener::~CanRxListener()
+{
+}
+
+// listener hooks
+void *CanRxListener::Run(void *arg)
+{
+  unsigned char buf[2048];
+  
+  while(1)
+  {
+    // WSU RX or TX Echo packets
+    int nread = Recv( buf, sizeof(buf) );
+    
+    if ( nread == 0 )
+      continue;
+    
+    char timebuf[32];
+    
+    if ( Logging.IsLogging() )
+    {
+      struct timeval tv;
+      struct tm tm;
+      gettimeofday( &tv, NULL );
+      gmtime_r( &tv.tv_sec, &tm );
+      sprintf( timebuf, "%4d/%02d/%02d-%02d:%02d:%02d.%03ld",
+               tm.tm_year+1900, tm.tm_mon, tm.tm_mday,
+               tm.tm_hour, tm.tm_min, tm.tm_sec,
+               tv.tv_usec / 1000L
+      );
+    }
+    
+    // incoming
+  }
+  
+  return NULL;
+}
+

daemons/cand/CanRxListener.h

@@ -0,0 +1,67 @@
+//
+// Linux Daemon
+//
+
+/* prevent multiple inclusions */
+#ifndef __CanRxListener__
+#define __CanRxListener__
+
+/* includes *****************************************************************/
+
+#include <pthread.h>
+#include "netlib.h"
+
+#include "Thread.h"
+#include "Mutex.h"
+
+#include "GpsPoint.h"
+#include "UdpThread.h"
+#include "TcpServer.h"
+#include "UdpCaster.h"
+#include "LogData.h"
+
+#include "CAN_Packet.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+class CanRxListener : public UdpThread {
+  // public data
+public:
+  bool m_debug;
+  TcpServer   *Caster;
+  UdpCaster   Forward;
+  LogData     Logging;
+  
+  // protected data
+protected:
+  int nTxEcho;
+  int nRxBsm;
+  int nRxOem;
+  
+  // private data
+private:
+  
+  // private methods
+  
+  // public methods
+public:
+  // constructors
+  CanRxListener();
+  
+  // destructor
+  virtual ~CanRxListener();
+  
+  // virtual overrides
+  void *Run(void*);
+  
+private:
+  // signal catchers (do not override)
+};
+
+#endif

daemons/cand/CanTxGenerator.cpp

@@ -0,0 +1,139 @@
+//
+// Linux Daemon
+//
+
+//****************************************************************************
+// includes
+//***************************************************************************/
+
+#include    <stdio.h>
+#include    <unistd.h>
+#include    <stdlib.h>
+#include    <stdarg.h>
+#include    <fcntl.h>
+#include    <string.h>
+#include    <time.h>
+#include    <sys/timeb.h>
+#include    <sys/types.h>
+#include    <sys/stat.h>
+#include    <sys/socket.h>
+#include    <sys/types.h>
+#include    <sys/wait.h>
+
+#include "ClockTimer.h"
+#include "CanTxGenerator.h"
+
+//****************************************************************************
+// defines
+//***************************************************************************/
+
+#ifndef min
+#define min(A,B)    ((A)<(B)?(A):(B))
+#endif
+
+//****************************************************************************
+// macros
+//***************************************************************************/
+
+//****************************************************************************
+// structs & typedefs
+//***************************************************************************/
+
+//****************************************************************************
+// global constants
+//***************************************************************************/
+
+//****************************************************************************
+// global variables
+//***************************************************************************/
+
+extern CAN_Packet Can;
+
+//****************************************************************************
+// static constants
+//***************************************************************************/
+
+//****************************************************************************
+// static variables
+//***************************************************************************/
+
+static CanTxGenerator *Self = NULL;
+
+//****************************************************************************
+// static functions
+//***************************************************************************/
+
+//****************************************************************************
+// C++ functions
+//***************************************************************************/
+
+CanTxGenerator::CanTxGenerator()
+{
+  Self = this;
+  m_period = 100;
+}
+
+CanTxGenerator::~CanTxGenerator()
+{
+}
+
+// generator itself
+void *CanTxGenerator::Run(void *arg)
+{
+  ClockTimer Loop;
+  
+  Loop.Start( m_period * 1000 );  // usec
+  
+  while (1)
+  {
+    
+    // send out
+    SendTo( &Can, sizeof(Can) );
+    
+    // log this message            // log this message
+    if ( Logging.IsLogging() )
+    {
+      struct timeval tv;
+      struct tm tm;
+      gettimeofday( &tv, NULL );
+      gmtime_r( &tv.tv_sec, &tm );
+      char buf[32];
+      sprintf( buf, "%4d/%2d/%2d-%2d:%2d:%2d.%03ld",
+               tm.tm_year+1900, tm.tm_mon, tm.tm_mday,
+               tm.tm_hour, tm.tm_min, tm.tm_sec,
+               tv.tv_usec / 1000L
+      );
+      
+      Logging.LogPrintf( "%s,%s,%f,%f,%f,%f,%u,%f,%u,%f,%f,%f,%f,%f,%u,%u,%u,%f,%u,%f",
+                         buf,
+                         "TX",
+                         0.0,
+                         0.0,
+                         0.0,
+                         0.0,
+                         0,
+                         Can.fSpeed,
+                         Can.byTransmission,
+                         Can.fSteering,
+                         Can.fAccelLongitudinal,
+                         Can.fAccelLateral,
+                         Can.fAccelVertical,
+                         Can.fYawRate,
+                         Can.wBrakeSystemStatus,
+                         Can.wEventFlags,
+                         Can.byExteriorLights,
+                         Can.fThrottle,
+                         Can.byFrontWipers,
+                         0.0
+      );
+    }
+    
+    // 100 msec, leave a little time to do the work
+    Loop.Sync();
+    //        msleep( m_period - 10L );
+    
+  }
+  
+  return NULL;
+}
+

daemons/cand/CanTxGenerator.h

@@ -0,0 +1,60 @@
+//
+// Linux Daemon
+//
+
+/* prevent multiple inclusions */
+#ifndef __CanTxGenerator__
+#define __CanTxGenerator__
+
+/* includes *****************************************************************/
+
+#include <pthread.h>
+
+#include "Thread.h"
+#include "Mutex.h"
+#include "UdpCaster.h"
+#include "UdpThread.h"
+#include "LogData.h"
+
+#include "CAN_Packet.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+class CanTxGenerator : public UdpThread {
+  // public data
+public:
+  LogData     Logging;
+  unsigned long   m_period;
+  
+  // protected data
+protected:
+  UdpClient   *pCan;
+  
+  // private data
+private:
+  
+  // public methods
+public:
+  // constructors
+  CanTxGenerator();
+  
+  // destructor
+  virtual ~CanTxGenerator();
+  
+  // public methods
+  void SetPeriod(unsigned long period) {m_period=period;};
+  
+  // virtual overrides
+  void *Run(void*);
+  
+  // private methods
+private:
+};
+
+#endif

daemons/cand/bsmpbeat.xml

@@ -0,0 +1,139 @@
+<HeartBeat>
+    <Description>Nissan/Infiniti Gen3</Description>
+    <Database>Infiniti_M37_JX35_ADAS.dbc</Database>
+    <CAN>
+        <!-- CAN Database Filter, messages to read
+             Not needed if DBC is edited to CAN messages needed -->
+        <Signal>
+            <Name>CABRESW</Name>
+            <Address>0x35D</Address>
+        </Signal>
+        <Signal>
+            <Name>TURN_IND</Name>
+            <Address>0x60D</Address>
+        </Signal>
+        <Signal>
+            <Name>FR_WIP_REQ</Name>
+            <Address>0x35D</Address>
+        </Signal>
+        <Signal>
+            <Name>HL_HIGH_REQ</Name>
+            <Address>0x60D</Address>
+        </Signal>
+        <Signal>
+            <Name>HL_LOW_REQ</Name>
+            <Address>0x60D</Address>
+        </Signal>
+        <Signal>
+            <Name>TAIL_L_REQ</Name>
+            <Address>0x60D</Address>
+        </Signal>
+        <Signal>
+            <Name>LONG_ACC_02</Name>
+            <Address>0x292</Address>
+        </Signal>
+        <Signal>
+            <Name>TRANS_ACC_02</Name>
+            <Address>0x292</Address>
+        </Signal>
+        <Signal>
+            <Name>YAW_RATE_02</Name>
+            <Address>0x292</Address>
+        </Signal>
+        <Signal>
+            <Name>ABSACT</Name>
+            <Address>0x354</Address>
+        </Signal>
+        <Signal>
+            <Name>V_APO</Name>
+            <Address>0x182</Address>
+        </Signal>
+        <Signal>
+            <Name>VSO</Name>
+            <Address>0x284</Address>
+        </Signal>
+        <Signal>
+            <Name>STRANGLE</Name>
+            <Address>0x002</Address>
+        </Signal>
+        <Signal>
+            <Name>TCSACT</Name>
+            <Address>0x245</Address>
+        </Signal>
+        <Signal>
+            <Name>VDCACT</Name>
+            <Address>0x245</Address>
+        </Signal>
+        <Signal>
+            <Name>OFF_SW</Name>
+            <Address>0x245</Address>
+        </Signal>
+        <Signal>
+            <Name>CURGP</Name>
+            <Address>0x174</Address>
+        </Signal>
+    </CAN>
+    <DSRC>
+        <!-- CAN Signal (real values) to DSRC Element conversion -->
+        <Element>
+            <Name>Speed</Name>
+            <Expr>VSO*0.277777778</Expr>
+        </Element>
+        <Element>
+            <Name>TransmissionState</Name>
+            <Expr>CURGP</Expr>
+        </Element>
+        <Element>
+            <Name>LateralAcceleration</Name>
+            <Expr>TRANS_ACC_02*9.80665</Expr>
+        </Element>
+        <Element>
+            <Name>LongitudinalAcceleration</Name>
+            <Expr>LONG_ACC_02*9.80665</Expr>
+        </Element>
+        <Element>
+            <Name>YawRate</Name>
+            <Expr>YAW_RATE_02*0.1</Expr>
+        </Element>
+        <Element>
+            <Name>BrakeAppliedStatus</Name>
+            <Expr>CABRESW*15</Expr>
+        </Element>
+        <Element>
+            <Name>TractionControlStatus</Name>
+            <Expr>OFF_SW?0:TCSACT+1</Expr>
+        </Element>
+        <Element>
+            <Name>AntilockBrakeStatus</Name>
+            <Expr>ABSACT?ABSACT+1:0</Expr>
+        </Element>
+        <Element>
+            <Name>StabilityControlStatus</Name>
+            <Expr>OFF_SW?0:VDCACT+1</Expr>
+        </Element>
+        <Element>
+            <Name>VehicleWidth</Name>
+            <Expr>1.85</Expr>
+        </Element>
+        <Element>
+            <Name>VehicleLength</Name>
+            <Expr>4.95</Expr>
+        </Element>
+        <Element>
+            <Name>SteeringWheelAngle</Name>
+            <Expr>STRANGLE</Expr>
+        </Element>
+        <Element>
+            <Name>AccelPedalPosition</Name>
+            <Expr>V_APO*0.39216</Expr>
+        </Element>
+        <Element>
+            <Name>ExteriorLights</Name>
+            <Expr>HL_LOW_REQ*1+HL_HIGH_REQ*2+TURN_IND*4+TAIL_L_REQ*128</Expr>
+        </Element>
+        <Element>
+            <Name>FrontWiperStatus</Name>
+            <Expr>FR_WIP_REQ</Expr>
+        </Element>
+    </DSRC>
+</HeartBeat>

daemons/cand/cand.cpp

@@ -0,0 +1,204 @@
+//
+// CAN Daemon (cand.cpp)
+//
+// Neal Probert
+//
+// IPv4 for now, since clients will be localhost anyways
+// IPv6 for testing
+//
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <ctype.h>
+#include <string.h>
+#include <unistd.h>
+#include <errno.h>
+#include <fcntl.h>
+#include <signal.h>
+#include <time.h>
+
+#include <sys/socket.h>
+#include <sys/wait.h>
+
+#include "CanDaemon.h"
+
+#include "netlib.h"
+
+extern int optind, opterr, optopt;
+
+/*
+ * Note that we are doing a multi-client server so that it's possible to
+ * have several applications listening to CAN
+ */
+
+static const char *helptext =
+"cand -m map.txt [options]\n"
+"\t-a          Acceleration calculated from speed\n"
+"\t-b uri      CAN Packet broadcast\n"
+"\t-c can0     CAN Interface (default)\n"
+"\t-d          debug (foreground with stdio)\n"
+"\t-f uri      forward udp port (usually to MABX2)\n"
+"\t-h          help\n"
+"\t-l uri      UDP for TX Echo Listener (WSU BSM Proxy)\n"
+"\t-m file.xml CAN to DSRC mapping file\n"
+"\t-t period   HeartBeat period in msec (default=100)\n"
+"\t-v id       Set Vehicle TempID (default=random)\n"
+"\t-w uri	   UDP for TX Generator (WSU BSM Proxy)\n"
+"\t-L logfile  Message log file\n"
+"\t-S service  TCP service (default=2949)\n";
+
+int main(int argc, char **argv)
+{
+  char    c;          /* we have character */
+  int     n;
+  
+  /* options */
+  int   debug = 0;
+  
+  /* CAN */
+  const char *can = NULL;		// "can0"
+  const char *mapping = NULL;
+  
+  /* HB */
+  const char *tx = "udp://192.168.1.2:2735";	// to WSU
+  const char *rx = "udp://0.0.0.0:2736";	// from WSU
+  const char *tcp = CAND_PORT;
+  unsigned long period = 100UL;
+  const char *fwd = NULL;	// "udp://192.168.1.10:2736";	// mABx2
+  
+  // if we're doing CAN, we must be doing TX as well
+  if ( can )
+    tx = "udp://192.168.1.2:2735";
+  else
+    tx = NULL;	// if we want to use dummy TX for testing
+    
+    /* init hardware interface and daemon */
+    CanDaemon Can;
+  
+  // add command line args
+  while ( (c = getopt( argc, argv, "ac:df:hl:m:tw:L:S:" )) > 0 )
+  {
+    switch ( c )
+    {
+      case 'a':
+        Can.Vehicle.m_accel_from_speed = false;
+        break;
+      case 'c':
+        can = optarg;
+        break;
+      case 'd':
+        debug = 1;
+        Can.Receiver.m_debug = Can.Vehicle.m_debug = true;
+        break;
+      case 'f':
+        fwd = optarg;
+        break;
+      case 'h':
+        puts( helptext );
+        exit(0);
+        break;
+      case 'l':
+        rx = optarg;
+        break;
+      case 'm':
+        mapping = optarg;
+        break;
+      case 't':
+        period = strtoul( optarg, NULL, 10 );
+        break;
+      case 'w':
+        if (strcmp(optarg, "-") == 0)
+          tx = "udp://192.168.1.2:2735";
+        else
+          tx = optarg;
+        break;
+      case 'L':
+        // Open log file (must be to logd!)
+        if ( Can.Receiver.Logging.LogOpen(optarg, 0) )
+        {
+          printf( "%s: Log file opened\n", optarg );
+          Can.Receiver.Logging.LogPrintf( "logtime,timestamp,type,id,latitude,longitude,elevation,heading,"
+          "speed,trans,steering,accel_long,accel_lat,accel_vert,yaw_rate,"
+          "brakes,event,lights,throttle,wipers,pp_radius" );
+        }
+        else
+        {
+          fprintf(stderr, "%s: log file open failed\n", optarg );
+        }
+        break;
+      case 'S':
+        tcp = optarg;
+        break;
+      default:
+        fprintf( stderr, "Unknown option -%c\n", c );
+        exit(1);
+    }
+  }
+  
+  // CAN Database and Parsing
+  if ( mapping )
+  {
+    // Filter to reduce database
+    if ( (n = Can.Vehicle.CanMapping( mapping )) <= 0 )
+    {
+      fprintf( stderr, "Unable to load CAN database and DSRC mapping!\n");
+      exit(1);
+    }
+  }
+  else if ( can )
+  {
+    fprintf( stderr, "CAN to DSRC Mapping file is required!\n" );
+    exit(1);
+  }
+  
+  // CAN device, can run without CAN for testing
+  if ( can )
+  {
+    if ( Can.Can.CanOpen( can ) < 0 )
+    {
+      fprintf( stderr, "Unable to open CAN device: %s!\n", can );
+      exit(1);
+    }
+    //        fprintf( stderr, "CAN Max Filter = %d\n", CAN_MAX_FILTER );
+  }
+  else
+  {
+    fprintf( stderr, "Running without CAN, setting fake values\n" );
+    exit(1);
+  }
+  
+  // TX sending
+  if ( tx )
+  {
+    // UDP
+    if ( Can.Generator.ConnectUri( tx ) < 0 )
+    {
+      fprintf( stderr, "Unable to connect to WSU BSM Proxy!\n" );
+      exit(1);
+    }
+    Can.Generator.SetPeriod( period );
+  }
+  else
+    fprintf( stderr, "Running without TX, RX listener only (TX Echo, RX Msg, OEM Echo)\n" );
+  
+  // UDP broadcast
+  if ( rx )
+    Can.Receiver.ListenUri( rx );
+  else
+    fprintf( stderr, "Running with RX, sending TX only\n" );
+  
+  // Forwarding to MABX2
+  if ( fwd )
+  {
+    if ( Can.Receiver.Forward.CasterUri( fwd ) >= 0 )
+      fprintf( stderr, "Forwarding packets to %s\n", fwd );
+    else
+      fprintf( stderr, "Forward open failed!\n" );
+  }
+  
+  /* TCP Server */
+  if ( Can.StartService( CAND_NAME, NULL, tcp, debug ) >= 0 )
+    return Can.RunService();
+  
+  return 1;
+}

daemons/cand/candebug.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+
+./cand -c can0 -d -m bsmpbeat.xml

daemons/cand/debug.sh

@@ -0,0 +1,3 @@
+#!/bin/sh
+
+./cand -d -f udp://192.168.1.10:2736 -m bsmpbeat.xml

daemons/gpsd/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.7)
+set(NAME gpsd)
+project(Cnomicon-Daemon)
+set(TARGET ${NAME})
+set(CMAKE_INSTALL_PREFIX ..)
+
+# includes
+include_directories(
+  /usr/include/libxml2
+  ../include/libgps++
+  ../include/libnet++
+  ../include)
+
+link_directories(../lib)
+
+link_libraries(gps++ net++ net emb kmlbase kmldom kmlengine xml2 pthread rt)
+
+# sources
+set(SRCS
+  GpsDaemon.cpp
+  )
+
+# executables
+add_executable(${TARGET} ${TARGET}.cpp ${SRCS})
+
+install(TARGETS ${TARGET} DESTINATION sbin)

daemons/gpsd/GpsDaemon.cpp

@@ -0,0 +1,384 @@
+//
+// GPS Daemon
+// Neal Probert
+//
+
+#include    <stdio.h>
+#include    <unistd.h>
+#include    <stdlib.h>
+
+#include    <fcntl.h>
+#include    <string.h>
+#include    <time.h>
+#include    <sys/timeb.h>
+#include    <sys/types.h>
+#include    <sys/stat.h>
+#include    <sys/socket.h>
+#include    <sys/types.h>
+
+#include "UriParse.h"
+#include "GpsDaemon.h"
+
+#include "NmeaParser.h"
+#include "ApplanixParser.h"
+#include "FastraxParser.h"
+#include "GarminParser.h"
+#include "SirfParser.h"
+#include "UbloxParser.h"
+
+#include "netlib.h"
+
+//****************************************************************************
+// defines
+//***************************************************************************/
+
+//****************************************************************************
+// macros
+//***************************************************************************/
+
+//****************************************************************************
+// structs & typedefs
+//***************************************************************************/
+
+//****************************************************************************
+// global constants
+//***************************************************************************/
+
+//****************************************************************************
+// global variables
+//***************************************************************************/
+
+//****************************************************************************
+// static constants
+//***************************************************************************/
+
+//****************************************************************************
+// static variables
+//***************************************************************************/
+
+//****************************************************************************
+// static functions
+//***************************************************************************/
+
+//****************************************************************************
+// C++ functions
+//***************************************************************************/
+
+GpsDaemon::GpsDaemon()
+{
+  log_open( GPSD_NAME );
+  
+  clockset = 0;
+  msgcount = 0;
+  
+  dgps_corr = true;
+  
+  SourceIn = CorrIn = -1;
+  
+  strcpy( Uri, "" );
+  nClients = 0;
+  
+  SetClientTimeout(false);    // don't reset timeout on client activity
+}
+
+GpsDaemon::~GpsDaemon()
+{
+  Gps.GpsClose();
+  Log.LogClose();
+}
+
+/* NMEA **********************************************************************/
+
+void GpsDaemon::PositionListener( const GpsPoint &Pos, const ErrorInfo &Err )
+{
+}
+
+void GpsDaemon::TimeListener( const struct timeval &tv )
+{
+  // good fix and time
+  if ( clockset && tv.tv_sec )
+  {
+    if ( getuid() == 0 )
+      settimeofday( &tv, NULL );
+    clockset = 0;
+  }
+}
+
+/* TCP ***********************************************************************/
+
+int GpsDaemon::ServerTimeout(void)
+{
+  // timeout (a bad thing)
+  DgpsReconnect();
+  return 0;
+}
+
+int GpsDaemon::ServerSocket(void)
+{
+  char buf[2048];
+  int n = 0;
+  
+  
+  if ( IsSet( CorrIn ) )
+  {
+    // corrections
+    if ( dgps_corr )
+      // from RTCM server (once a minute)
+      n = Dgps.DgpsRead( buf, sizeof(buf) );
+    else
+      // from NTRIP server (once a minute)
+      n = Ntrip.NtripRead( (unsigned char *)buf, sizeof(buf) );
+    
+    // xmit
+    if ( n > 0 )
+      Gps.GpsWrite( buf, n );
+    else if ( n == 0 )
+    {
+      if ( dgps_corr )
+        log_error( "Remote RTCM server closed!" );
+      else
+        log_error( "Remote NTRIP server closed!" );
+      DgpsReconnect();                
+    }
+    ResetServerTimeout();
+  }
+  else if ( IsSet( SourceIn ) )
+  {
+    if ( gps_source )
+      // packet from GPS device
+      n = Gps.GpsRead( buf, sizeof(buf) );
+    else
+      // remote gpsd/glty
+      n = Gpsd.Recv( buf, sizeof(buf) );
+    
+    if ( n > 0 && Parser && Parser->GpsParse(buf, n) > 0 )
+    {
+      msgcount++;
+      
+      // 'cast
+      ClientCast( buf, n );
+    }
+  }
+  return n;
+}
+
+int GpsDaemon::ClientIn( int sock, const char *buf, int n )
+{
+  // allows for NMEA playback via netcat
+  if ( *buf == '$' )
+  {
+    // broadcast it
+    Bcast.SendTo( buf, n );
+    
+    // send to clients
+    TcpServer::ClientCast( buf, n );        
+  }
+  else
+  {
+    // parse for commands?
+    
+    // just log it
+    log_write( buf );
+  }
+  
+  return n;
+}
+
+int GpsDaemon::ClientUp( int sock )
+{
+  if ( nClients++ == 0 )
+    ;
+  return 1;
+}
+
+void GpsDaemon::ClientDown( int sock )
+{
+  // disconnect source
+  if ( --nClients <= 0 )
+    nClients = 0;
+}
+
+void GpsDaemon::ClientCast( const char *buf, int n )
+{
+  // broadcast it
+  Bcast.SendTo( buf, n );
+  
+  // send to clients
+  TcpServer::ClientCast( buf, n );
+  
+  // log NMEA data with time stamp
+  Log.LogWrite( buf, n );
+}
+
+/* GPS ***********************************************************************/
+
+int GpsDaemon::GpsOpen( const char *device, int baud )
+{
+  UriParse parsed;
+  parsed.setRate( baud );
+  parsed.setUri( device );
+  
+  const char *proto = parsed.getProto();    
+  
+  SourceIn = -1;
+  
+  if ( !proto )
+    proto = "nmea";
+  
+  // connect to gpsd?
+  if ( strcmp( proto, "gpsd" ) == 0 )
+  {
+    // does r mode for NMEA
+    SourceIn = Gpsd.GpsdConnect( parsed.getHost() );
+    proto = "nmea";
+  }
+  else if ( strcmp( proto, "glty" ) == 0 )
+  {
+    // put in NMEA mode
+    SourceIn = Gpsd.GpsdConnect( parsed.getHost() );
+    Gpsd.Send( "$PGLTY,NMEA\n", 12 );
+    proto = "pvii";
+  }
+  else
+  {
+    // open device
+    SourceIn = Gps.GpsOpen( parsed.getPath(), parsed.getRate() );
+    gps_source = true;
+  }
+  
+  // check
+  if ( SourceIn < 0 )
+    return SourceIn;
+  
+  bool binary = false;
+  
+  // attach parser (should probably use a table)
+  if ( strcasecmp( proto, "nmea") == 0 )
+  {
+    // ascii
+    NmeaParser *parser = new NmeaParser();
+    Parser = (GpsParser *)parser;
+  }
+  else if ( strcasecmp( proto, "applanix") == 0 )
+  {
+    // binary
+    binary = true;
+    ApplanixParser *parser = new ApplanixParser();
+    Parser = (GpsParser *)parser;
+  }
+  else if ( strcasecmp( proto, "fastrax") == 0 )
+  {
+    // ascii
+    FastraxParser *parser = new FastraxParser();
+    Parser = (GpsParser *)parser;
+  }
+  else if ( strcasecmp( proto, "garmin") == 0 )
+  {
+    // ascii/binary
+    GarminParser *parser = new GarminParser();        
+    Parser = (GpsParser *)parser;
+  }
+  else if ( strcasecmp( proto, "sirf") == 0 )
+  {
+    // binary
+    SirfParser *parser = new SirfParser();
+    Parser = (GpsParser *)parser;
+  }
+  else if ( strcasecmp( proto, "ublox") == 0 )
+  {
+    // ascii/binary
+    UbloxParser *parser = new UbloxParser();        
+    Parser = (GpsParser *)parser;
+  }
+  else
+  {
+    // ascii
+    NmeaParser *parser = new NmeaParser();
+    Parser = (GpsParser *)parser;        
+  }
+  
+  // set mode
+  if ( binary )
+    Gps.SetCanonical( false, 0, 0 );
+  
+  // subscribe
+  Parser->Subscribe( (GpsListener*)this );
+  
+  // add listener
+  AddFd( SourceIn );
+  
+  return SourceIn;
+}
+
+int GpsDaemon::DgpsConnect( const char *uri )
+{
+  if ( !uri )
+    return -1;
+  
+  // already connected?
+  if ( CorrIn >= 0 )
+    return CorrIn;
+  
+  UriParse parsed;
+  parsed.setService( "2101" );
+  parsed.setUri( uri );
+  
+  const char *proto = parsed.getProto();
+  
+  if ( strcmp( proto, "dgps" ) == 0 || strcmp( proto, "dgpsip" ) == 0
+    || strcmp( proto, "rtcmd" ) == 0 )
+  {
+    // RTCM server (dgpsip)
+    CorrIn = Dgps.DgpsConnect( parsed.getHost(), parsed.getService() );
+    dgps_corr = true;
+  }
+  else if ( strcmp( proto, "ntrip" ) == 0 )
+  {
+    // NTRIP caster
+    CorrIn = Ntrip.NtripConnect( uri );
+    dgps_corr = false;
+  }
+  
+  // add listener
+  if ( CorrIn >= 0 )
+  {
+    strcpy( Uri, uri );
+    AddFd( CorrIn );
+  }
+  
+  return CorrIn;
+}
+
+void GpsDaemon::DgpsDisconnect( void )
+{
+  if ( CorrIn >= 0 )
+    ;
+  else
+    return;
+  Dgps.DgpsClose();
+  Ntrip.NtripClose();
+  DelFd( CorrIn );
+  CorrIn = -1;
+}
+
+void GpsDaemon::DgpsReconnect( void )
+{
+  if ( nClients == 0 || strlen(Uri) == 0 )
+    return;
+  log_printf( "Remote RTCM/NTRIP timed out, reconnecting" );
+  Dgps.DgpsClose();
+  Ntrip.NtripClose();
+  DelFd( CorrIn );
+  CorrIn = -1;
+  
+  DgpsConnect( Uri );
+}
+
+int GpsDaemon::GpsBroadcast( const char *host )
+{
+  const char *port = GPSD_SERVICE;
+  
+  int sock = Bcast.Caster( host, port );
+  
+  return sock;
+}

daemons/gpsd/GpsDaemon.h

@@ -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

daemons/gpsd/gpsd.cpp

@@ -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;
+}

daemons/include

@@ -0,0 +1 @@
+../include

daemons/lib

@@ -0,0 +1 @@
+../lib

daemons/logd/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.7)
+set(NAME logd)
+project(Cnomicon-Daemon)
+set(TARGET ${NAME})
+set(CMAKE_INSTALL_PREFIX ..)
+
+# includes
+include_directories(
+  /usr/include/libxml2
+  ../include/libnet++ ../include)
+link_directories(../lib)
+link_libraries(net++ net pthread rt)
+
+# sources
+set(SRCS
+  LogDaemon.cpp
+  )
+
+# executables
+add_executable(${TARGET} ${TARGET}.cpp ${SRCS})
+
+install(TARGETS ${TARGET} DESTINATION sbin)

daemons/logd/LogDaemon.cpp

@@ -0,0 +1,139 @@
+//
+// Log Daemon
+// Neal Probert
+//
+
+#include    <stdio.h>
+#include    <unistd.h>
+#include    <stdlib.h>
+
+#include    <fcntl.h>
+#include    <string.h>
+#include    <time.h>
+#include    <sys/timeb.h>
+#include    <sys/types.h>
+#include    <sys/stat.h>
+#include    <sys/socket.h>
+#include    <sys/types.h>
+
+#include "UriParse.h"
+#include "LogDaemon.h"
+#include "netlib.h"
+
+//****************************************************************************
+// defines
+//***************************************************************************/
+
+//****************************************************************************
+// macros
+//***************************************************************************/
+
+//****************************************************************************
+// structs & typedefs
+//***************************************************************************/
+
+//****************************************************************************
+// global constants
+//***************************************************************************/
+
+//****************************************************************************
+// global variables
+//***************************************************************************/
+
+//****************************************************************************
+// static constants
+//***************************************************************************/
+
+//****************************************************************************
+// static variables
+//***************************************************************************/
+
+//****************************************************************************
+// static functions
+//***************************************************************************/
+
+//****************************************************************************
+// C++ functions
+//***************************************************************************/
+
+LogDaemon::LogDaemon()
+{
+  // logging
+  log_open( LOGD_NAME );
+}
+
+LogDaemon::~LogDaemon()
+{
+}
+
+/* UDP ***********************************************************************/
+
+int LogDaemon::ClientInOut( char *buf, int n, int max )
+{
+  if ( n > 0 )
+  {
+    Dprintf( "%s\n", buf );
+    Log.LogWrite( buf, n );
+  }
+  
+  // no response
+  return 0;
+}
+
+/* log ***********************************************************************/
+
+int LogDaemon::LogOpen( const char *uri )
+{
+  if ( Log.LogOpen( uri ) )
+  {
+    return 1;
+  }
+  return -1;
+}
+
+int LogDaemon::LogPlayback( void )
+{
+  timeval tv;
+  tv.tv_sec = 0L;
+  tv.tv_usec = 0L;
+  
+  // read log input
+  // send message
+  //        if ( strlen( logbuf ) )
+  //            ClientCast( logbuf, strlen(logbuf) );
+  
+  // read next message
+  if ( Log.LogRead( &tv, logbuf, sizeof(logbuf) ) > 0 )
+  {
+    // is this first one?
+    if ( logcount == 0 )
+    {
+      // fudge it so it kicks off 10 seconds later
+      loglast.tv_sec = tv.tv_sec - 10;
+      loglast.tv_usec = tv.tv_usec;
+    }
+    logcount++;
+    
+    // diff between this one and last
+    if ( loglast.tv_usec > tv.tv_usec )
+    {
+      // carry
+      tv.tv_sec--;
+      tv.tv_usec += 1000000L;
+    }
+    timeval sv = tv;
+    
+    // diff is timeout period
+    tv.tv_sec = tv.tv_sec - loglast.tv_sec;
+    tv.tv_usec = tv.tv_usec - loglast.tv_usec;
+    
+    // mark last log record
+    loglast = sv;
+  }
+  else
+    return 1;
+  
+  // set next timeout
+  SetTimeout( tv );
+  return 1;
+}

daemons/logd/LogDaemon.h

@@ -0,0 +1,74 @@
+//
+// Log Daemon
+// Neal Probert
+//
+
+/* prevent multiple inclusions */
+#ifndef __LogDaemon__
+#define __LogDaemon__
+
+/* includes *****************************************************************/
+
+#include "UdpDaemon.h"
+#include "LogData.h"
+
+/* defines ******************************************************************/
+
+#define LOGD_NAME       "logd"
+#define LOGD_SERVICE    "logd"
+#ifndef LOGD_PORT
+#define LOGD_PORT       "2940"
+#endif
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+// Listens to OBE HeartBeat messages
+//
+class LogDaemon : public UdpDaemon {
+  // public data
+public:
+  
+  // private data
+private:
+  // Logging output
+  LogData     Log;
+  
+  // log playback
+  char logbuf[512];
+  timeval loglast;
+  unsigned int logcount;
+  
+  // private methods
+  
+  // static data
+  
+  // public methods
+public:
+  // constructors
+  LogDaemon();
+  
+  // destructor
+  virtual ~LogDaemon();
+  
+  // virtual functions
+  int ClientInOut( char *buf, int n, int max );
+  
+  // public methods
+  int LogOpen( const char *uri );
+  int LogWrite( const char *log ) { return Log.LogWrite(log,strlen(log)); };
+  void SetBinary(void) { Log.SetBinary(); };
+  
+  int LogPlayback( void );
+  
+  // static methods
+  
+  // private methods
+private:
+};
+
+#endif

daemons/logd/logd.cpp

@@ -0,0 +1,145 @@
+//
+// Serial Daemon (similar to ser2net)
+// 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 "LogDaemon.h"
+
+#include "netlib.h"
+
+extern int optind, opterr, optopt;
+
+//
+// any port
+//
+
+static const char *helptext =
+"logd [options]\n"
+"\t-d          debug (foreground with stdio)\n"
+"\t-h          help\n"
+"\t-i infile   input log format:/path/to/file.log\n"
+"\t-o logfile  output log format:/path/to/file.log\n"
+"\t-S service  UDP service\n";
+
+
+int main(int argc, char **argv)
+{
+  char    c;           /* we have character */
+  
+  LogDaemon  Log;
+  
+  /* options */
+  int     debug = 0;      // run in foreground, leaves stdio open
+  
+  /* connections */
+  const char    *file = NULL;
+  const char    *log = NULL;
+  const char    *service = LOGD_PORT;
+  
+  // add command line args
+  while ( (c = getopt( argc, argv, "bdhi:o:S:" )) > 0 )
+  {
+    switch ( c )
+    {
+      case 'b':
+        Log.SetBinary();
+        break;
+      case 'd':
+        debug = 1;
+        break;
+      case 'h':
+        puts( helptext );
+        return 0;
+      case 'i':
+        file = optarg;
+        break;
+      case 'o':
+        log = optarg;
+        break;
+      case 'S':
+        service = optarg;
+        break;
+      default:
+        fprintf( stderr, "Unknown option -%c\n", c );
+        exit(1);
+    }
+  }
+  
+  if ( log )
+  {
+    if ( Log.LogOpen( log ) < 0 )
+    {
+      fprintf( stderr, "Unable to open log file: %s!\n", log );
+      exit(1);
+    }
+  }
+  else
+  {
+    fprintf( stderr, "Must specify a MySQL connection: mysql://user:pass@host/database/table\n" );
+    exit(1);
+  }
+  
+  if ( file )
+  {
+    char buf[4096];
+    int n = 0;
+    
+    if ( strcmp( file, "-") == 0 )
+    {
+      while ( fgets(buf, sizeof(buf), stdin) )
+      {
+        Log.LogWrite( buf );
+        n++;
+      }
+    }
+    else
+    {
+      // import
+      FILE *import = fopen( file, "r" );
+      if ( import )
+      {
+        // read into database
+        while ( fgets( buf, sizeof(buf), import ) )
+        {
+          // check for header?
+          
+          Log.LogWrite( buf );
+          n++;
+        }
+        printf( "Imported %d lines into log\n", n );
+        log_printf( "Imported %d lines into log\n", n );
+      }
+      else
+      {
+        fprintf( stderr, "Unable to import log data: %s\n", file );
+        return 1;
+      }
+    }
+    return 0;
+  }
+  else
+  {
+    // UDP listener
+    if ( Log.StartService( LOGD_NAME, "0.0.0.0", service, debug ) >= 0 )
+      return Log.RunService();
+    
+    return 1;
+  }
+  return 0;
+}

daemons/rtcmd/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.7)
+set(NAME rtcmd)
+project(Cnomicon-Daemon)
+set(TARGET ${NAME})
+set(CMAKE_INSTALL_PREFIX ..)
+
+# includes
+include_directories(
+  /usr/include/libxml2
+  ../include/libgps++ ../include/libnet++ ../include)
+link_directories(../lib)
+link_libraries(gps++ net++ net emb pthread rt)
+
+# sources
+set(SRCS
+  RtcmDaemon.cpp
+  )
+
+# executables
+add_executable(${TARGET} ${TARGET}.cpp ${SRCS})
+
+install(TARGETS ${TARGET} DESTINATION sbin)

daemons/rtcmd/RtcmDaemon.cpp

@@ -0,0 +1,307 @@
+//
+// RTCM Daemon
+// Neal Probert
+//
+
+//****************************************************************************
+// includes
+//***************************************************************************/
+
+#include    <stdio.h>
+#include    <unistd.h>
+#include    <stdlib.h>
+
+#include    <fcntl.h>
+#include    <string.h>
+#include    <time.h>
+#include    <sys/timeb.h>
+#include    <sys/types.h>
+#include    <sys/stat.h>
+#include    <sys/socket.h>
+#include    <sys/types.h>
+
+#include "UriParse.h"
+#include "RtcmDaemon.h"
+#include "netlib.h"
+
+//****************************************************************************
+// defines
+//***************************************************************************/
+
+//****************************************************************************
+// macros
+//***************************************************************************/
+
+//****************************************************************************
+// structs & typedefs
+//***************************************************************************/
+
+//****************************************************************************
+// global constants
+//***************************************************************************/
+
+//****************************************************************************
+// global variables
+//***************************************************************************/
+
+//****************************************************************************
+// static constants
+//***************************************************************************/
+
+//****************************************************************************
+// static variables
+//***************************************************************************/
+
+//****************************************************************************
+// static functions
+//***************************************************************************/
+
+//****************************************************************************
+// C++ functions
+//***************************************************************************/
+
+RtcmDaemon::RtcmDaemon()
+{
+  log_open( RTCMD_NAME );
+  
+  strcpy( Uri, "" );
+  SerialIn = DgpsIn = NtripIn = DgramIn = -1;
+  nClients = 0;
+  
+  SetClientTimeout(false);    // don't reset timeout on client activity
+}
+
+RtcmDaemon::~RtcmDaemon()
+{
+}
+
+int RtcmDaemon::ServerTimeout(void)
+{
+  // should not timeout, try reconnecting
+  if ( nClients > 0 )
+    RtcmReconnect();
+  else
+    RtcmDisconnect();
+  return 0;
+}
+
+int RtcmDaemon::ServerSocket(void)
+{
+  char buf[2048];
+  int n = 0, xmit = 0;
+  
+  if ( IsSet( DgpsIn ) )
+  {
+    // from RTCM server
+    n = Dgps.DgpsRead( buf, sizeof(buf) );
+    
+    // xmit
+    if ( n > 0 )
+      xmit = n;
+    else if ( n == 0 )
+    {
+      log_error( "Remote RTCM server closed!" );
+      RtcmDisconnect();
+    }
+    else
+    {
+      log_error( "Remote RTCM server read error!" );
+      n = 0;
+    }
+    ResetServerTimeout();
+  }
+  else if ( IsSet( NtripIn ) )
+  {
+    // from NTRIP server
+    n = Ntrip.NtripRead( (unsigned char *)buf, sizeof(buf) );
+    
+    // xmit
+    if ( n > 0 )
+      xmit = n;
+    else if ( n == 0 )
+    {
+      log_error( "Remote NTRIP server closed us!" );
+      RtcmDisconnect();
+    }
+    else
+    {
+      log_error( "Remote NTRIP server read error!" );
+      n = 0;
+    }
+    ResetServerTimeout();
+  }
+  else if ( IsSet( SerialIn ) )
+  {
+    // from base station
+    n = Rtcm.RtcmRead( buf, sizeof(buf) );
+    
+    // xmit
+    if ( n > 0 )
+      xmit = n;
+  }
+  
+  // pass on RTCM data
+  if ( xmit > 0 )
+  {
+    ClientCast( buf, xmit );
+  }
+  return n;
+}
+
+void RtcmDaemon::ClientCast( const char *buf, int n )
+{
+  // broadcast it
+  Bcast.SendTo( buf, n );
+  
+  // send to clients
+  TcpServer::ClientCast( buf, n );
+}
+
+int RtcmDaemon::ClientIn( int sock, const char *buf, int n )
+{
+  if ( n <= 0 )
+    return 0;
+  
+  // log messages from client, no responses
+  if ( *buf == '$' )
+  {
+    // update to OpenGTS
+    
+    
+    // logging
+    char    name[128];
+    char    out[1024];
+    
+    // need to add ip address
+    SockName( sock, name, sizeof(name) );
+    
+    n = snprintf( out, sizeof(out), "[%s] %s", name, buf );
+    
+    Log.LogWrite( out, n );
+  }
+  else if ( n > 0 )
+    log_write( buf );
+  
+  return 0;
+}
+
+int RtcmDaemon::ClientUp( int sock )
+{
+  // connect source on demand
+  if ( nClients++ == 0 )
+  {
+    // re-connect
+    RtcmConnect( (const char *)Uri );
+  }
+  
+  return 1;
+}
+
+void RtcmDaemon::ClientDown( int sock )
+{
+  // disconnect source
+  if ( --nClients <= 0 )
+  {
+    RtcmDisconnect();
+    nClients = 0;
+  }
+}
+
+int RtcmDaemon::RtcmOpen( const char *uri )
+{
+  // already connected?
+  if ( SerialIn >= 0 )
+    Rtcm.RtcmClose();
+  
+  UriParse parsed;
+  parsed.setRate( 38400 );
+  parsed.setUri( uri );
+  
+  // serial device
+  SerialIn = Rtcm.RtcmOpen( parsed.getPath(), parsed.getRate() );
+  
+  // add listener
+  if ( SerialIn >= 0 )
+  {
+    strcpy( Uri, uri );
+    AddFd( SerialIn );
+  }
+  return SerialIn;
+}
+
+int RtcmDaemon::RtcmConnect( const char *uri )
+{
+  // already connected?
+  if ( DgpsIn >= 0 )
+    return DgpsIn;
+  else if ( NtripIn >= 0 )
+    return NtripIn;
+  
+  UriParse parsed;
+  parsed.setService( RTCMD_PORT );
+  parsed.setRate( 57600 );
+  parsed.setUri( uri );
+  
+  const char *proto = parsed.getProto();
+  
+  if ( strcmp( proto, "dgps" ) == 0 || strcmp( proto, "dgpsip" ) == 0 )
+  {
+    // RTCM server (dgpsip)
+    DgpsIn = Dgps.DgpsConnect( parsed.getHost(), parsed.getService() );
+    
+    // add listener
+    if ( DgpsIn >= 0 )
+    {
+      strcpy( Uri, uri );
+      AddFd( DgpsIn );
+    }
+    
+    return DgpsIn;
+  }
+  else if ( strcmp( proto, "ntrip" ) == 0 )
+  {
+    // NTRIP caster
+    NtripIn = Ntrip.NtripConnect( uri );
+    
+    // add listener
+    if ( NtripIn >= 0 )
+    {
+      strcpy( Uri, uri );
+      AddFd( NtripIn );
+    }
+    
+    return NtripIn;
+  }
+  return -1;
+}
+
+void RtcmDaemon::RtcmDisconnect( void )
+{
+  if ( DgpsIn >= 0 || NtripIn >= 0 )
+    log_printf( "Remote RTCM/NTRIP dis-connected, no clients listening" );
+  else
+    return;
+  Dgps.DgpsClose();
+  DelFd( DgpsIn );
+  Ntrip.NtripClose();
+  DelFd( NtripIn );
+  DgpsIn = NtripIn = -1;
+}
+
+void RtcmDaemon::RtcmReconnect( void )
+{
+  if ( nClients == 0 )
+    return;
+  log_printf( "Remote RTCM/NTRIP timed out, reconnecting" );
+  Dgps.DgpsClose();
+  DelFd( DgpsIn );
+  Ntrip.NtripClose();
+  DelFd( NtripIn );
+  DgpsIn = NtripIn = -1;
+  RtcmConnect( Uri );
+}
+
+int RtcmDaemon::RtcmBroadcast( const char *host, const char *port )
+{
+  return Bcast.Caster( host, port );
+}

daemons/rtcmd/RtcmDaemon.h

@@ -0,0 +1,94 @@
+//
+// RTCM Daemon
+// Neal Probert
+//
+
+/* prevent multiple inclusions */
+#ifndef __RtcmDaemon__
+#define __RtcmDaemon__
+
+/* includes *****************************************************************/
+
+#include "TcpDaemon.h"
+#include "UdpClient.h"
+#include "UdpCaster.h"
+#include "GpsDevice.h"
+#include "RtcmDevice.h"
+#include "DgpsClient.h"
+#include "NtripClient.h"
+#include "Logging.h"
+
+/* defines ******************************************************************/
+
+/* software details */
+#define RTCMD_NAME	"rtcmd"
+#define RTCMD_VERSION	"0.1"
+
+/* default service and port */
+#define RTCMD_SERVICE   "rtcm-sc104"
+#define RTCMD_PORT      "2101"
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+// Uses the Peak Systems CAN Linux driver and Nissan CAN data
+//
+class RtcmDaemon : public TcpDaemon, public Logging {
+  // public data
+public:
+  DgpsClient  Dgps;
+  NtripClient Ntrip;
+  RtcmDevice  Rtcm;
+  
+  // private data
+private:
+  char Uri[1024];
+  
+  // FDs
+  int DgpsIn;
+  int SerialIn;
+  int DgramIn;
+  int NtripIn;
+  
+  // UDP broadcast
+  UdpCaster   Bcast;
+  
+  int nClients;
+  
+  // static data
+  
+  // public methods
+public:
+  // constructors
+  RtcmDaemon();
+  
+  // destructor
+  virtual ~RtcmDaemon();
+  
+  // virtual functions
+  int ServerTimeout(void);
+  int ServerSocket(void);
+  int ClientIn( int sock, const char *buf, int n );
+  void ClientCast( const char *buf, int n );
+  int  ClientUp( int sock );
+  void ClientDown( int sock );
+  
+  // public methods
+  int RtcmOpen( const char *uri );    // serial device
+  
+  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

daemons/rtcmd/rtcmd.cpp

@@ -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;
+}

daemons/rtcmd/test-mili.sh

@@ -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

daemons/sbin

@@ -0,0 +1 @@
+../sbin

daemons/seriald/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.7)
+set(NAME seriald)
+project(Cnomicon-Daemon)
+set(TARGET ${NAME})
+set(CMAKE_INSTALL_PREFIX ..)
+
+# includes
+include_directories(
+  /usr/include/libxml2
+  ../include/libnet++ ../include)
+link_directories(../lib)
+link_libraries(net++ net pthread rt)
+
+# sources
+set(SRCS
+  SerialDaemon.cpp
+  )
+
+# executables
+add_executable(${TARGET} ${TARGET}.cpp ${SRCS})
+
+install(TARGETS ${TARGET} DESTINATION sbin)

daemons/seriald/SerialDaemon.cpp

@@ -0,0 +1,235 @@
+//
+// Serial Daemon
+// Neal Probert
+//
+
+#include    <stdio.h>
+#include    <unistd.h>
+#include    <stdlib.h>
+
+#include    <fcntl.h>
+#include    <string.h>
+#include    <time.h>
+#include    <sys/timeb.h>
+#include    <sys/types.h>
+#include    <sys/stat.h>
+#include    <sys/socket.h>
+#include    <sys/types.h>
+
+#include "UriParse.h"
+#include "SerialDaemon.h"
+#include "netlib.h"
+
+//****************************************************************************
+// defines
+//***************************************************************************/
+
+//****************************************************************************
+// macros
+//***************************************************************************/
+
+//****************************************************************************
+// structs & typedefs
+//***************************************************************************/
+
+//****************************************************************************
+// global constants
+//***************************************************************************/
+
+//****************************************************************************
+// global variables
+//***************************************************************************/
+
+//****************************************************************************
+// static constants
+//***************************************************************************/
+
+//****************************************************************************
+// static variables
+//***************************************************************************/
+
+//****************************************************************************
+// static functions
+//***************************************************************************/
+
+//****************************************************************************
+// C++ functions
+//***************************************************************************/
+
+SerialDaemon::SerialDaemon()
+{
+  // logging
+  log_open( SERIALD_NAME );
+  
+  m_SerialIn = m_RemoteIn = m_DgramIn = -1;
+  
+  m_framed = 0;
+  bzero(m_Framing,sizeof(m_Framing));
+}
+
+SerialDaemon::~SerialDaemon()
+{
+  if ( m_SerialIn >= 0 )
+    close( m_SerialIn );
+}
+
+/* TCP ***********************************************************************/
+
+int SerialDaemon::ServerSocket(void)
+{
+  char buf[2048];
+  int n = 0;
+  
+  if ( IsSet( m_RemoteIn ) )
+  {
+    // from server
+    n = Client.Recv( buf, sizeof(buf) );
+    
+    if ( n > 0 )
+    {
+      // send frame
+      if ( m_framed )
+      {
+        m_Framing[m_framed-2] = n >> 8;
+        m_Framing[m_framed-1] = n;
+        write( m_SerialIn, m_Framing, m_framed );
+      }
+      
+      // send data
+      write( m_SerialIn, buf, n );
+    }
+  }
+  else if ( IsSet( m_SerialIn ) )
+  {
+    // data from device
+    n = read( m_SerialIn, buf, sizeof(buf) );
+    
+    // parse data
+    
+    if ( n>0 )
+      ClientCast( buf, n );
+  }
+  else if ( IsSet( m_DgramIn ) )
+  {
+    // packet from UDP broadcast
+    n = Dgram.RecvFrom( buf, sizeof(buf) );
+    
+    // send to device
+    if ( n > 0 )
+    {
+      // send frame
+      if ( m_framed )
+      {
+        m_Framing[m_framed-2] = n >> 8;
+        m_Framing[m_framed-1] = n;
+        write( m_SerialIn, m_Framing, m_framed );
+      }
+      
+      // send data
+      write( m_SerialIn, buf, n );
+    }
+  }
+  return n;
+}
+
+int SerialDaemon::ClientIn( int sock, const char *buf, int n )
+{
+  return write( m_SerialIn, buf, n );
+}
+
+void SerialDaemon::ClientCast( const char *buf, int n )
+{
+  // broadcast it
+  Bcast.SendTo( buf, n );
+  
+  // send to clients
+  TcpServer::ClientCast( buf, n );
+}
+
+/* GPS ***********************************************************************/
+
+int SerialDaemon::SerialOpen( const char *device, int baud )
+{
+  UriParse parsed;
+  parsed.setRate( baud );
+  parsed.setUri( device );
+  
+  int binary = 0;
+  
+  // parse type
+  if ( strlen( parsed.getProto() ) )
+  {
+    if ( strcasecmp( parsed.getProto(), "binary" ) == 0 )
+      binary = 1;
+  }
+  
+  // open device
+  m_SerialIn = serial_open( (char*)parsed.getPath(), parsed.getRate(), binary, binary?1:0 );
+  
+  // check
+  if ( m_SerialIn < 0 )
+    return m_SerialIn;
+  
+  // add listener
+  AddFd( m_SerialIn );
+  
+  return m_SerialIn;
+}
+
+int SerialDaemon::TcpConnect( const char *uri )
+{
+  UriParse parsed;
+  parsed.setUri( uri );
+  
+  const char *proto = parsed.getProto();
+  
+  if ( strcasecmp( proto, "http" ) == 0 ||
+    strcasecmp( proto, "https" ) == 0 )
+  {
+    // web site
+  }
+  else if ( strcasecmp( proto, "telnet" ) == 0 ||
+    strlen( proto ) == 0 )
+  {
+    // straight TCP client
+    m_RemoteIn = Client.Connect( parsed.getHost(), parsed.getService() );
+  }
+  
+  return m_RemoteIn;
+}
+
+int SerialDaemon::UdpListen( const char *uri )
+{
+  m_DgramIn = Dgram.ListenUri( uri );
+  
+  if ( m_DgramIn > 0 )
+    AddFd( m_DgramIn );
+  
+  return m_DgramIn;
+}
+
+int SerialDaemon::UdpBroadcast( const char *uri )
+{
+  return Bcast.CasterUri( uri );
+}
+
+void SerialDaemon::SetFrame( const char *frame, int n )
+{
+  if ( n )
+  {
+    // string
+    strncpy( m_Framing, frame, sizeof(m_Framing)-2 );
+    m_framed = strlen(m_Framing)+2;
+  }
+  else
+  {
+    // hex
+    unsigned long value = atol( frame );
+    
+    m_framed = 6;
+    m_Framing[0] = value >> 24;
+    m_Framing[1] = value >> 16;
+    m_Framing[2] = value >> 8;
+    m_Framing[3] = value;
+  }
+}

daemons/seriald/SerialDaemon.h

@@ -0,0 +1,92 @@
+//
+// Serial Daemon
+// Neal Probert
+//
+
+/* prevent multiple inclusions */
+#ifndef __SerialDaemon__
+#define __SerialDaemon__
+
+/* includes *****************************************************************/
+
+#include "bzlib.h"
+
+#include "TcpDaemon.h"
+#include "TcpClient.h"
+#include "UdpClient.h"
+#include "UdpCaster.h"
+
+#include "LogData.h"
+
+/* defines ******************************************************************/
+
+#define SERIALD_NAME    "seriald"
+#define SERIALD_SERVICE "seriald"
+#define SERIALD_PORT    "2942"
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+// Uses the Peak Systems CAN Linux driver and Nissan CAN data
+//
+class SerialDaemon : public TcpDaemon {
+  // public data
+public:
+  
+  // private data
+private:
+  // FDs
+  int m_SerialIn;
+  int m_RemoteIn;
+  int m_DgramIn;
+  
+  // TCP client
+  TcpClient   Client;
+  
+  // UDP listen
+  UdpClient   Dgram;
+  
+  // UDP broadcast
+  UdpCaster   Bcast;
+  
+  // misc
+  int     m_framed;
+  char    m_Framing[8];
+  
+  // private methods
+  
+  // static data
+  
+  // public methods
+public:
+  // constructors
+  SerialDaemon();
+  
+  // destructor
+  virtual ~SerialDaemon();
+  
+  // virtual functions
+  int ServerSocket(void);
+  int ClientIn( int sock, const char *buf, int n );
+  void ClientCast( const char *buf, int n );
+  
+  // public methods
+  int SerialOpen( const char *dev, int baud );
+  int TcpConnect( const char *uri );
+  
+  int UdpBroadcast( const char *uri );
+  int UdpListen( const char *uri );
+  
+  void SetFrame( const char *frame, int n=0 );
+  
+  // static methods
+  
+  // private methods
+private:
+};
+
+#endif

daemons/seriald/seriald.cpp

@@ -0,0 +1,175 @@
+//
+// Serial Daemon (similar to ser2net)
+// 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 "SerialDaemon.h"
+
+#include "netlib.h"
+
+extern int optind, opterr, optopt;
+
+//
+// port 2748
+//
+
+static const char *helptext =
+"seriald -s /dev/ttyS0:57600 [options]\n"
+"\t-d          debug (foreground with stdio)\n"
+"\t-h          help\n"
+"\t-l          UDP listen for data\n"
+"\t-m network  broadcast data\n"
+"\t-o outfile  output message log\n"
+"\t-r uri      http://host.domain.com/\n"
+"\t-s port     /dev/ttyS0:baud\n"
+"\t-S service  TCP service\n";
+
+int main(int argc, char **argv)
+{
+  char    c;           /* we have character */
+  
+  SerialDaemon  Ser;
+  
+  /* options */
+  int     debug = 0;      // run in foreground, leaves stdio open
+  
+  /* dgpsip server */
+  char   *host = NULL;
+  
+  /* service/port */
+  char   *service = (char *)SERIALD_PORT;
+  
+  /* serial port */
+  char   *primary = NULL;
+  int     baud = 57600;
+  
+  /* udp broadcast */
+  char   *mcast = NULL;
+  
+  /* udp listener */
+  int     listen = 0;
+  
+  // add command line args
+  while ( (c = getopt( argc, argv, "df:hm:lr:s:S:" )) > 0 )
+  {
+    switch ( c )
+    {
+      case 'd':
+        debug = 1;
+        break;
+      case 'f':
+        Ser.SetFrame( optarg );
+        break;
+      case 'h':
+        puts( helptext );
+        return 0;
+      case 'l':           // udp/wdm listen
+        listen = 1;
+        break;
+      case 'm':           // udp broadcast
+        mcast = optarg;
+        break;
+      case 'r':           // remote host
+        host = optarg;
+        break;
+      case 's':           // serial device
+        primary = optarg;
+        break;
+      case 'S':
+        service = optarg;
+        break;
+      default:
+        fprintf( stderr, "Unknown option -%c\n", c );
+        exit(1);
+    }
+  }
+  
+  // check options
+  if ( !primary )
+  {
+    fprintf( stderr, "Must have a serial 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 = Ser.SerialOpen( primary, baud );
+    
+    if ( serial < 0 )
+    {
+      fprintf( stderr, "Unable to open primary serial device: %s @ %d !\n", primary, baud );
+      exit(1);
+      
+    }
+  }
+  else
+  {
+    fprintf( stderr, "No task specified: use -l or -s <dev>!\n" );
+    exit(1);
+  }
+  
+  // corrections
+  if ( host )
+  {
+    // RTCM server
+    int remote = Ser.TcpConnect( host );
+    
+    if ( remote < 0 )
+    {
+      fprintf( stderr, "Unable to connect to remote host: %s\n", host );
+      exit(1);
+    }
+  }
+  else if ( listen )
+  {
+    // listen on UDP broadcasts for RTCM corrrections
+    int dgram = Ser.UdpListen( NULL );
+    
+    if ( dgram < 0 )
+    {
+      fprintf( stderr, "Unable to listen on UDP broadcast!\n" );
+      exit(1);
+    }
+  }
+  
+  // output
+  if ( mcast )
+  {
+    int bcast = Ser.UdpBroadcast( mcast );
+    
+    if ( bcast < 0 )
+    {
+      fprintf( stderr, "Unable to create UDP broadcast!\n" );
+      exit(1);
+    }
+  }
+  
+  // TCP listener
+  if ( Ser.StartService( SERIALD_NAME, NULL, service, debug ) >= 0 )
+    return Ser.RunService();
+  
+  return 1;
+}

daemons/stdiod/CMakeLists.txt

@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.7)
+set(NAME stdiod)
+project(Cnomicon-Daemon)
+set(TARGET ${NAME})
+set(CMAKE_INSTALL_PREFIX ..)
+
+# includes
+include_directories(
+  /usr/include/libxml2
+  ../include/libnet++ ../include)
+link_directories(../lib)
+link_libraries(net++ net pthread rt)
+
+# sources
+set(SRCS
+  StdioDaemon.cpp
+  )
+
+# executables
+add_executable(${TARGET} ${TARGET}.cpp ${SRCS})
+
+install(TARGETS ${TARGET} DESTINATION sbin)

daemons/stdiod/StdioDaemon.cpp

@@ -0,0 +1,162 @@
+//
+// Stdio Daemon
+// Neal Probert
+//
+
+#include    <stdio.h>
+#include    <unistd.h>
+#include    <stdlib.h>
+
+#include    <fcntl.h>
+#include    <string.h>
+#include    <time.h>
+#include    <sys/timeb.h>
+#include    <sys/types.h>
+#include    <sys/stat.h>
+#include    <sys/socket.h>
+#include    <sys/types.h>
+
+#include "UriParse.h"
+#include "StdioDaemon.h"
+#include "netlib.h"
+
+//****************************************************************************
+// defines
+//***************************************************************************/
+
+//****************************************************************************
+// macros
+//***************************************************************************/
+
+//****************************************************************************
+// structs & typedefs
+//***************************************************************************/
+
+//****************************************************************************
+// global constants
+//***************************************************************************/
+
+//****************************************************************************
+// global variables
+//***************************************************************************/
+
+//****************************************************************************
+// static constants
+//***************************************************************************/
+
+//****************************************************************************
+// static variables
+//***************************************************************************/
+
+//****************************************************************************
+// static functions
+//***************************************************************************/
+
+//****************************************************************************
+// C++ functions
+//***************************************************************************/
+
+StdioDaemon::StdioDaemon()
+{
+  // logging
+  log_open( STDIOD_NAME );
+  
+  m_RemoteIn = m_DgramIn = -1;
+  m_Stdin = 0;
+  AddFd( m_Stdin );
+}
+
+StdioDaemon::~StdioDaemon()
+{
+}
+
+/* TCP ***********************************************************************/
+
+int StdioDaemon::ServerSocket(void)
+{
+  char buf[2048];
+  int n = 0;
+  
+  if ( IsSet( m_RemoteIn ) )
+  {
+    // from server (tbd)
+    int n = Client.Recv( buf, sizeof(buf) );
+    
+    if ( n > 0 )
+      fputs( buf, stdout );
+  }
+  else if ( IsSet( m_Stdin ) )
+  {
+    // packet from GPS device
+    while ( fgets( buf, sizeof(buf), stdin ) )
+    {
+      int n = strlen( buf );
+      
+      if ( n>0 )
+        ClientCast( buf, n );
+    }
+  }
+  else if ( IsSet( m_DgramIn ) )
+  {
+    // RTCM packet from UDP broadcast (once a minute)
+    int n = Dgram.RecvFrom( buf, sizeof(buf) );
+    
+    // send to GPS device
+    if ( n > 0 )
+      fputs( buf, stdout );
+  }
+  return n;
+}
+
+int StdioDaemon::ClientIn( int sock, const char *buf, int n )
+{
+  return fputs( buf, stdout );
+}
+
+void StdioDaemon::ClientCast( const char *buf, int n )
+{
+  // broadcast it
+  Bcast.SendTo( buf, n );
+  
+  // send to clients
+  TcpServer::ClientCast( buf, n );
+}
+
+/* GPS ***********************************************************************/
+
+int StdioDaemon::TcpConnect( const char *uri )
+{
+  UriParse parsed;
+  parsed.setUri( uri );
+  
+  const char *proto = parsed.getProto();
+  
+  if ( strcasecmp( proto, "http" ) == 0 ||
+    strcasecmp( proto, "https" ) == 0 )
+  {
+    // web site
+  }
+  else if ( strcasecmp( proto, "telnet" ) == 0 ||
+    strlen( proto ) == 0 )
+  {
+    // straight TCP client
+    m_RemoteIn = Client.Connect( parsed.getHost(), parsed.getService() );
+  }
+  
+  return m_RemoteIn;
+}
+
+int StdioDaemon::UdpListen( const char *uri )
+{
+  m_DgramIn = Dgram.ListenUri( uri );
+  
+  if ( m_DgramIn > 0 )
+    AddFd( m_DgramIn );
+  
+  return m_DgramIn;
+}
+
+int StdioDaemon::UdpBroadcast( const char *uri )
+{
+  return Bcast.CasterUri( uri );
+}

daemons/stdiod/StdioDaemon.h

@@ -0,0 +1,87 @@
+//
+// Stdio Daemon
+// Neal Probert
+//
+
+/* prevent multiple inclusions */
+#ifndef __StdioDaemon__
+#define __StdioDaemon__
+
+/* includes *****************************************************************/
+
+#include "bzlib.h"
+
+#include "TcpDaemon.h"
+#include "TcpClient.h"
+#include "UdpClient.h"
+#include "UdpCaster.h"
+
+#include "LogData.h"
+
+/* defines ******************************************************************/
+
+#define STDIOD_NAME         "stdiod"
+#define STDIOD_SERVICE      "stdiod"
+#define STDIOD_PORT         "2941"
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+// Uses the Peak Systems CAN Linux driver and Nissan CAN data
+//
+class StdioDaemon : public TcpDaemon {
+  // public data
+public:
+  
+  // private data
+private:
+  // FDs
+  int m_Stdin;
+  int m_RemoteIn;
+  int m_DgramIn;
+  
+  // TCP client
+  TcpClient   Client;
+  
+  // UDP listen
+  UdpClient   Dgram;
+  
+  // UDP broadcast
+  UdpCaster   Bcast;
+  
+  // misc
+  
+  // private methods
+  
+  // static data
+  
+  // public methods
+public:
+  // constructors
+  StdioDaemon();
+  
+  // destructor
+  virtual ~StdioDaemon();
+  
+  // virtual functions
+  int ServerSocket(void);
+  int ClientIn( int sock, const char *buf, int n );
+  void ClientCast( const char *buf, int n );
+  
+  // public methods
+  int TcpConnect( const char *uri );
+  
+  int UdpBroadcast( const char *uri );
+  int UdpListen( const char *uri );
+  
+  // static methods
+  
+  // private methods
+private:
+};
+
+#endif

daemons/stdiod/stdiod.cpp

@@ -0,0 +1,140 @@
+//
+// Stdio 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 "StdioDaemon.h"
+
+#include "netlib.h"
+
+extern int optind, opterr, optopt;
+
+//
+// any port
+//
+
+static const char *helptext =
+"stdiod [options]\n"
+"\t-d          debug (foreground with stdio)\n"
+"\t-h          help\n"
+"\t-l          UDP listen for data\n"
+"\t-m network  broadcast data\n"
+"\t-S service  TCP service\n";
+
+int main(int argc, char **argv)
+{
+  char    c;           /* we have character */
+  
+  StdioDaemon  Std;
+  
+  /* options */
+  int     debug = 0;      // run in foreground, leaves stdio open
+  
+  /* dgpsip server */
+  char   *host = NULL;
+  
+  /* udp broadcast */
+  char   *mcast = NULL;
+  
+  /* udp listener */
+  char    *listen = NULL;
+  
+  /* server */
+  char    *service = (char *)STDIOD_PORT;
+  
+  // add command line args
+  while ( (c = getopt( argc, argv, "dhm:l:r:S:" )) > 0 )
+  {
+    switch ( c )
+    {
+      case 'd':
+        debug = 1;
+        break;
+      case 'h':
+        puts( helptext );
+        return 0;
+      case 'l':           // udp listen
+        listen = optarg;
+        break;
+      case 'm':           // udp broadcast
+        mcast = optarg;
+        break;
+      case 'r':           // remote host
+        host = optarg;
+        break;
+      case 'S':
+        service = optarg;
+        break;
+      default:
+        fprintf( stderr, "Unknown option -%c\n", c );
+        exit(1);
+    }
+  }
+  
+  // check options
+  if ( mcast && listen )
+  {
+    fprintf( stderr, "Cannot do both UDP broadcast/multicast and listening!\n" );
+    exit(1);
+  }
+  
+  // input
+  
+  // corrections
+  if ( host )
+  {
+    // RTCM server
+    int remote = Std.TcpConnect( host );
+    
+    if ( remote < 0 )
+    {
+      fprintf( stderr, "Unable to connect to remote host: %s\n", host );
+      exit(1);
+    }
+  }
+  else if ( listen )
+  {
+    // listen on UDP broadcasts for RTCM corrrections
+    int dgram = Std.UdpListen( listen );
+    
+    if ( dgram < 0 )
+    {
+      fprintf( stderr, "Unable to listen on UDP broadcast!\n" );
+      exit(1);
+    }
+  }
+  
+  // output
+  if ( mcast )
+  {
+    int bcast = Std.UdpBroadcast( mcast );
+    
+    if ( bcast < 0 )
+    {
+      fprintf( stderr, "Unable to create UDP broadcast!\n" );
+      exit(1);
+    }
+  }
+  
+  // TCP listener
+  if ( Std.StartService( STDIOD_NAME, NULL, service, debug ) >= 0 )
+    return Std.RunService();
+  
+  return 1;
+}

daemons/trackd/TrackDaemon.cpp

@@ -0,0 +1,194 @@
+//
+// Track Daemon
+// Neal Probert
+//
+
+#include    <stdio.h>
+#include    <unistd.h>
+#include    <stdlib.h>
+
+#include    <fcntl.h>
+#include    <string.h>
+#include    <time.h>
+#include    <sys/timeb.h>
+#include    <sys/types.h>
+#include    <sys/stat.h>
+#include    <sys/socket.h>
+#include    <sys/types.h>
+
+#include "NmeaParser.h"
+#include "UriParse.h"
+#include "TrackDaemon.h"
+#include "netlib.h"
+
+//****************************************************************************
+// defines
+//***************************************************************************/
+
+//****************************************************************************
+// macros
+//***************************************************************************/
+
+//****************************************************************************
+// structs & typedefs
+//***************************************************************************/
+
+//****************************************************************************
+// global constants
+//***************************************************************************/
+
+//****************************************************************************
+// global variables
+//***************************************************************************/
+
+//****************************************************************************
+// static constants
+//***************************************************************************/
+
+//****************************************************************************
+// static variables
+//***************************************************************************/
+
+//****************************************************************************
+// static functions
+//***************************************************************************/
+
+//****************************************************************************
+// C++ functions
+//***************************************************************************/
+
+TrackDaemon::TrackDaemon()
+{
+    log_open( TRACKD_NAME );
+
+    gethostname( Id, sizeof(Id) );
+}
+
+TrackDaemon::~TrackDaemon()
+{
+}
+
+/* UDP ***********************************************************************/
+
+void TrackDaemon::PositionListener( const PositionFix &Pos, const ErrorInfo &Err )
+{
+    char    buf[256];
+    int     n = 0;
+    char    datetime[40];
+
+    // convert date & time (MySQL friendly)
+    struct tm *tmp = gmtime(&Pos.Time.tv_sec);
+    strftime( datetime, sizeof(datetime), "%Y-%m-%d,%T", tmp );
+
+    // convert to unicsv
+    n = snprintf( buf, sizeof(buf),
+        "%s,%s,%lf,%lf,%lf,%lf,%lf\n",
+        Id,                     // name
+        datetime,               // time
+        Pos.Latitude,           // lat
+        Pos.Longitude,          // long
+        Pos.Altitude,           // elev
+        Pos.Speed,              // speed (m/sec -> kph)
+        Pos.Heading             // heading
+        );
+
+    // send upstream
+    if ( TrackOut >= 0 )
+        Track.SendTo( buf, n );
+
+    // log locally
+    Log.LogWrite( buf, n );
+}
+
+void TrackDaemon::TimeListener( const struct timeval &tv )
+{
+}
+
+int TrackDaemon::ServerSocket(void)
+{
+    char buf[2048];
+    int n = 0;
+
+    if ( IsSet( GpsIn ) )
+    {
+        // Gpsd
+        if ( (n = Gpsd.Recv( buf, sizeof(buf) )) > 0 )
+        {
+            // use NMEA parser (should trigger on RMC or GGA)
+            Gps.Nmea.NmeaParse(buf);
+        }
+    }
+    return n;
+}
+
+int TrackDaemon::ClientInOut( char *buf, int n, int max )
+{
+    // check
+    if ( n <= 0 )
+        return 0;
+
+    // parse $PVII
+    if ( buf[0] == '$' )
+    {
+        // use NMEA parser (should trigger on RMC or GGA)
+        Gps.Nmea.NmeaParse( buf );
+    }
+    else
+    {
+        // forward
+        if ( TrackOut >= 0 )
+            Track.SendTo( buf, n );
+
+        // log
+        Log.LogWrite( buf , n );
+    }
+
+    // no response
+    return 0;
+}
+
+/* GPS ***********************************************************************/
+
+int TrackDaemon::GpsdServer( const char *uri )
+{
+    UriParse parsed;
+    parsed.setProto( "gpsd" );
+    parsed.setService( "gpsd" );
+    parsed.setUri( uri );
+    bGpsd = 0;
+
+    const char *proto = parsed.getProto();
+    if ( !strlen(proto) )
+        proto = "gpsd";
+    GpsDeviceType type = Gps.Proto2Type( proto );
+
+    // open device
+    if ( strcmp( proto, "gpsd" ) == 0 || type == GPS_TYPE_UNDEF )
+        GpsIn = Gpsd.GpsdConnect( parsed.getHost() );
+    else
+        GpsIn = Gps.GpsOpen( parsed.getPath(), parsed.getRate(), type );
+
+    if ( GpsIn >= 0 )
+        AddFd( GpsIn );
+    return GpsIn;
+}
+
+int TrackDaemon::TrackOpen( const char *uri )
+{
+    UriParse parsed;
+    parsed.setService( TRACKD_PORT );
+    parsed.setUri( uri );
+
+    // connect to remote web server to upload data
+    return TrackOut = Track.Connect( parsed.getHost(), TRACKD_PORT );
+}
+
+int TrackDaemon::LogOpen( const char *uri )
+{
+    if ( Log.LogOpen( uri ) )
+    {
+        Log.LogFields( "name,date,time,lat,long,ele,speed,head" );
+        return 1;
+    }
+    return -1;
+}

daemons/trackd/TrackDaemon.h

@@ -0,0 +1,89 @@
+//
+// Track Daemon
+// Neal Probert
+//
+
+/* prevent multiple inclusions */
+#ifndef __TrackDaemon__
+#define __TrackDaemon__
+
+/* includes *****************************************************************/
+
+#include "bzlib.h"
+
+#include "UdpDaemon.h"
+#include "TcpClient.h"
+#include "UdpClient.h"
+#include "Logging.h"
+
+#include "GpsdClient.h"
+#include "GpsDevice.h"
+
+/* defines ******************************************************************/
+
+#define TRACKD_NAME         "trackd"
+#define TRACKD_SERVICE      "trackd"
+#define TRACKD_PORT         "2948"
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+// Listens to OBE HeartBeat messages
+//
+class TrackDaemon : public UdpDaemon, public GpsListener, public Logging {
+    // public data
+public:
+
+    // private data
+private:
+    // my name
+    char    Id[32];
+
+    // Gpsd client
+    GpsdClient  Gpsd;   // direct from GPSd
+    GpsDevice   Gps;    // or from serial port
+    bool    bGpsd;      // true for Gpsd
+    int     GpsIn;      // Gpsd or Gps
+
+    // upstream trackd
+    UdpClient   Track;    // listener
+    int     TrackOut;
+
+    // NMEA parsing
+
+    // private methods
+
+    // static data
+
+    // public methods
+public:
+    // constructors
+    TrackDaemon();
+
+    // destructor
+    virtual ~TrackDaemon();
+
+    // virtual functions
+    int ServerSocket(void);
+    int ClientInOut( char *buf, int n, int max );
+
+    // public methods
+    int GpsdServer( const char *uri );
+    void PositionListener( const PositionFix &Pos, const ErrorInfo &Err );
+    void TimeListener( const struct timeval &Time );
+
+    void SetId( const char *id ) { strncpy(Id,id,sizeof(Id)-1); };
+    int TrackOpen( const char *uri );
+    int LogOpen( const char *uri );
+
+    // static methods
+
+    // private methods
+private:
+};
+
+#endif

daemons/trackd/trackd.cpp

@@ -0,0 +1,132 @@
+//
+// Serial Daemon (similar to ser2net)
+// 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 "TrackDaemon.h"
+
+#include "netlib.h"
+
+extern int optind, opterr, optopt;
+
+//
+// any port
+//
+
+static const char *helptext =
+    "stdiod [options]\n"
+    "\t-d          debug (foreground with stdio)\n"
+    "\t-g host     gpsd\n"
+    "\t-h          help\n"
+    "\t-i id       set my id\n"
+    "\t-c uri      host:port source data (CardiacMonitor)\n"
+    "\t-o logfile  format:/path/to/file.log\n"
+    "\t-r uri      remote web host for upload\n"
+    "\t-S service  TCP service\n";
+
+int main(int argc, char **argv)
+{
+    char    c;           /* we have character */
+
+    TrackDaemon  Track;
+
+    /* options */
+    int     debug = 0;      // run in foreground, leaves stdio open
+
+    /* connections */
+    char    *gpsd = NULL;   // "localhost";
+    char    *host = NULL;
+    char    *id = NULL;
+    char    *log = NULL;
+    char    *service = TRACKD_PORT;
+
+    // add command line args
+    while ( (c = getopt( argc, argv, "dg:hi:o:r:S:" )) > 0 )
+    {
+        switch ( c )
+        {
+            case 'd':
+		debug = 1;
+		break;
+            case 'g':
+                gpsd = optarg;
+                break;
+            case 'h':
+                puts( helptext );
+                return 0;
+            case 'i':
+                id = optarg;
+                break;
+            case 'o':
+                log = optarg;
+                break;
+            case 'r':
+                host = optarg;
+                break;
+            case 'S':
+                service = optarg;
+                break;
+            default:
+                fprintf( stderr, "Unknown option -%c\n", c );
+                exit(1);
+        }
+    }
+
+    // set my id (hostname by default)
+    if ( id )
+        Track.SetId( id );
+
+    // monitor
+    if ( gpsd )
+    {
+        // GPSd
+        int remote = Track.GpsdServer( gpsd );
+
+        if ( remote < 0 )
+        {
+            fprintf( stderr, "Unable to connect to gpsd: %s\n", gpsd );
+//            exit(1);
+        }
+    }
+
+    // output
+    if ( host )
+    {
+        if ( Track.TrackOpen( host ) < 0 )
+        {
+            fprintf( stderr, "Unable to open vehicle location server: %s!\n", host );
+//            exit(1);
+        }
+    }
+
+    if ( log )
+    {
+        if ( !Track.LogOpen( log ) )
+        {
+            fprintf( stderr, "Unable to open log file: %s!\n", log );
+            exit(1);
+        }
+    }
+
+    // TCP listener
+    if ( Track.StartService( TRACKD_NAME, NULL, service, debug ) >= 0 )
+        return Track.RunService();
+
+    return 1;
+}

etc/cnomicon.conf

@@ -0,0 +1,2 @@
+# other libs
+/usr/local/cnomicon/lib

include/CAN_Packet.h

@@ -0,0 +1,61 @@
+#ifndef __CAN_PACKET_INCLUDE__
+#define __CAN_PACKET_INCLUDE__
+
+/******************************************************************************
+ * includes
+ *****************************************************************************/
+
+#ifdef __linux__
+#include <sys/types.h>
+#endif
+
+/******************************************************************************
+ * defines
+ *****************************************************************************/
+
+/******************************************************************************
+ * structs & typedefs
+ *****************************************************************************/
+
+// all data is network byte order (big endian)
+typedef struct _CAN_Packet {
+    uint32_t    dwCounter;          // incrementing counter
+
+    // J2735 Part 1 floating point
+    float       fSpeed;             // meters/sec (m/s)
+    float       fSteering;          // degrees/sec
+    float       fAccelLongitudinal; // meters/sec^2
+    float       fAccelLateral;      // meters/sec^2
+    float       fAccelVertical;     // meters/sec^2
+    float       fYawRate;           // degrees/sec
+    float       fVehicleWidth;
+    float       fVehicleLength;
+    // J2735 Part 2 floating point
+    float       fThrottle;          // %
+
+    // J2735 Part 1/2 integer
+    uint16_t    wBrakeSystemStatus;
+    uint8_t     byTransmission;
+    uint8_t     byExteriorLights;
+    // J2735 Part 2 integer
+    uint16_t    wEventFlags;
+    uint8_t     byFrontWipers;
+} __attribute__((packed)) CAN_Packet;
+
+/******************************************************************************
+ * function prototypes
+ *****************************************************************************/
+/* export C functions to C++ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#ifdef __cplusplus
+}
+#endif
+/******************************************************************************
+ * Macros
+ * ***************************************************************************/
+
+#endif
+

include/asn1common.h

@@ -0,0 +1,77 @@
+#ifndef __ASN1COMMON_INCLUDE__
+#define __ASN1COMMON_INCLUDE__
+
+/******************************************************************************
+ * includes
+ *****************************************************************************/
+
+#include <stdio.h>
+#include <stdint.h>
+#include <sys/types.h>
+#include <memory.h>
+
+#include "embtypes.h"
+
+/******************************************************************************
+ * defines
+ *****************************************************************************/
+
+#define ASN1_UPER_ALIGNED 0
+#define ASN1_APER_ALIGNED 1
+#define ASN1_OER_ALIGNED 2
+
+#define asn1_get_error(S) ((S)->error)
+
+#define asn1_get_bits_consumed(O) ((O)->consumed)
+#define asn1_get_bytes_consumed(O) ((O)->consumed?(((O)->consumed-1)/8+1):0)
+
+#define asn1_init_extension(E)  memset((E),0,sizeof(ASN1_Extension))
+#define asn1_init_bitstream(E)  memset((E),0,sizeof(ASN1_BitStream))
+
+/******************************************************************************
+ * structs & typedefs
+ *****************************************************************************/
+
+typedef struct _asn1_stream {
+  uint8_t  *buf;    // pointer to first byte
+  uint8_t  *ptr;    // pointer to current byte
+  uint8_t  alloc;   // set if alloc'd
+  uint8_t  align;   // alignment
+  uint8_t  error;   // set if error
+  uint16_t bit;     // current bit in byte
+  uint16_t max;     // maximum bits
+  uint16_t consumed;// bits consumed
+} ASN1_Stream;
+
+typedef struct _asn1_bitstream {
+  uint64_t value;   // value
+  uint16_t max;     // maximum bits
+} ASN1_BitStream;
+
+typedef struct _asn1_extension {
+  uint64_t value;       // extension+option bits
+  uint8_t  ellipses;    // 0 or 1
+  uint8_t  options;     // # options
+  uint16_t length;      // length of extension
+} ASN1_Extension;
+
+/******************************************************************************
+ * function prototypes
+ *****************************************************************************/
+/* export C functions to C++ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void asn1_set_debug(uint8_t flag);
+extern uint8_t _asn1_debug_on_;
+
+
+#ifdef __cplusplus
+}
+#endif
+/******************************************************************************
+ * Macros
+ * ***************************************************************************/
+
+#endif

include/asn1oer.h

@@ -0,0 +1,111 @@
+#ifndef __ASN1OER_INCLUDE__
+#define __ASN1OER_INCLUDE__
+
+/******************************************************************************
+ * includes
+ *****************************************************************************/
+
+#include <stdio.h>
+#include <stdint.h>
+#include <sys/types.h>
+#include <memory.h>
+
+#include "embtypes.h"
+#include "asn1common.h"
+
+/******************************************************************************
+ * defines
+ *****************************************************************************/
+
+#define oer_get_error(O) ((O)->error)
+#define oer_get_bytes_consumed(O) asn1_get_bytes_consumed(O)
+
+#define oer_init_extension(E)  asn1_init_extension(E)
+#define oer_init_bitstream(E)  asn1_init_bitstream(E)
+
+#define oer_get_signed_value(U,B,O)  (((int64_t)uper_get_bits_stream(U,B))-O)
+#define oer_get_unsigned_value(U,B)  uper_get_bits_stream(U,B)
+
+#define oer_get_char_value(O)   ((int8_t)(oer_get_value(O,1)))
+#define oer_get_int8_value(O)   ((int8_t)(oer_get_value(O,1)))
+#define oer_get_byte_value(O)   ((uint8_t)(oer_get_value(O,1)))
+#define oer_get_uint8_value(O)  ((uint8_t)(oer_get_value(O,1)))
+
+#define oer_get_short_value(O)  ((int16_t)(oer_get_value(O,2)))
+#define oer_get_int16_value(O)  ((int16_t)(oer_get_value(O,2)))
+#define oer_get_word_value(O)   ((uint16_t)(oer_get_value(O,2)))
+#define oer_get_uint16_value(O) ((uint16_t)(oer_get_value(O,2)))
+
+#define oer_get_long_value(O)   ((int32_t)(oer_get_value(O,4)))
+#define oer_get_int32_value(O)  ((int32_t)(oer_get_value(O,4)))
+#define oer_get_dword_value(O)  ((uint32_t)(oer_get_value(O,4)))
+#define oer_get_uint32_value(O) ((uint32_t)(oer_get_value(O,4)))
+
+#define oer_get_llong_value(O)  ((int64_t)oer_get_value(O,8))
+#define oer_get_int64_value(O)  ((int64_t)oer_get_value(O,8))
+#define oer_get_qword_value(O)  ((uint64_t)oer_get_value(O,8))
+#define oer_get_uint64_value(O) ((uint64_t)oer_get_value(O,8))
+
+#define oer_get_string(O,B,N,X)   oer_get_octet_stream(O,B,N,X)
+#define oer_put_string(O,B,L,N,X) oer_put_octet_stream(O,B,L,N,X)
+
+#define OER_Stream    ASN1_Stream
+#define OER_Extension ASN1_Extension
+#define OER_BitStream ASN1_BitStream
+
+/******************************************************************************
+ * structs & typedefs
+ *****************************************************************************/
+
+/******************************************************************************
+ * function prototypes
+ *****************************************************************************/
+/* export C functions to C++ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void oer_init_stream(OER_Stream *strm, uint8_t *ptr, uint max);
+OER_Stream *uper_alloc_stream(uint8_t *ptr, uint max);
+void oer_free_stream(OER_Stream *oer);
+
+// DECODE
+uint oer_get_length(OER_Stream *oer, uint *value);
+uint64_t oer_get_value(OER_Stream *oer, uint size);
+uint oer_get_data(OER_Stream *oer, uint8_t *data, uint max);
+
+// ENCODE
+uint oer_put_length(OER_Stream *oer, uint value);
+void oer_put_value(OER_Stream *oer, uint64_t value, uint size);
+void oer_put_data(OER_Stream *oer, uint8_t *data, uint length);
+
+// EXTENSIONS
+uint oer_get_extension(OER_Stream *uper, OER_Extension *ext, uint nbits, uint ellipses);
+uint oer_get_ext_ellipses(OER_Extension *ext);
+uint oer_get_ext_optional(OER_Extension *ext, uint bit);
+uint oer_get_ext_length(OER_Stream *uper, OER_Extension *ext);
+uint oer_get_ext_skip(OER_Stream *uper, OER_Extension *ext);
+void oer_put_extension(OER_Stream *uper, OER_Extension *ext);
+void oer_set_ext_ellipses(OER_Extension *ext);
+void oer_set_ext_length(OER_Extension *ext, uint len);
+void oer_set_ext_optional(OER_Extension *ext, uint option, uint val, uint nbits);
+
+// OCTET
+uint oer_get_octet_stream(OER_Stream *ptr, uint8_t *buf, uint min, uint max);
+void oer_put_octet_stream(OER_Stream *ptr, uint8_t *buf, uint len, uint min, uint max);
+
+// BIT STREAM
+uint64_t oer_get_bitstream(OER_Stream *ptr, OER_BitStream *bs, uint max);
+uint64_t oer_get_bit_bitstream(OER_BitStream *bs, uint bit);
+void oer_put_bitstream(OER_Stream *ptr, OER_BitStream *bs);
+void oer_set_bit_bitstream(OER_BitStream *bs, uint bit, uint max);
+void oer_set_bits_bitstream(OER_BitStream *bs, uint64_t value, uint max);
+
+#ifdef __cplusplus
+}
+#endif
+/******************************************************************************
+ * Macros
+ * ***************************************************************************/
+
+#endif

include/asn1uper.h

@@ -0,0 +1,118 @@
+#ifndef __ASN1UPER_INCLUDE__
+#define __ASN1UPER_INCLUDE__
+
+/******************************************************************************
+ * includes
+ *****************************************************************************/
+
+#include <stdio.h>
+#include <stdint.h>
+#include <sys/types.h>
+#include <memory.h>
+
+#include "embtypes.h"
+#include "asn1common.h"
+
+/******************************************************************************
+ * defines
+ *****************************************************************************/
+
+#define uper_get_error(S) ((S)->error)
+#define uper_get_bits_consumed(U)   asn1_get_bits_consumed(U)
+#define uper_get_bytes_consumed(U)  asn1_get_bytes_consumed(U)
+
+#define uper_get_bits_length(U,S) (uper_get_bits_stream(U,S)+1)
+#define uper_put_bits_length(U,L,S) uper_put_bits_stream(U,(L)-1,S)
+
+#define uper_init_extension(E)  asn1_init_extension(E)
+#define uper_init_bitstream(E)  asn1_init_bitstream(E)
+
+#define uper_get_signed_value(U,B,O)  (((int64_t)uper_get_bits_stream(U,B))-O)
+#define uper_get_unsigned_value(U,B)  uper_get_bits_stream(U,B)
+
+#define uper_get_char_value(O)   ((int8_t)(uper_get_value(O,1)))
+#define uper_get_int8_value(O)   ((int8_t)(uper_get_value(O,1)))
+#define uper_get_byte_value(O)   ((uint8_t)(uper_get_value(O,1)))
+#define uper_get_uint8_value(O)  ((uint8_t)(uper_get_value(O,1)))
+
+#define uper_get_short_value(O)  ((int16_t)(uper_get_value(O,2)))
+#define uper_get_int16_value(O)  ((int16_t)(uper_get_value(O,2)))
+#define uper_get_word_value(O)   ((uint16_t)(uper_get_value(O,2)))
+#define uper_get_uint16_value(O) ((uint16_t)(uper_get_value(O,2)))
+
+#define uper_get_long_value(O)   ((int32_t)(uper_get_value(O,4)))
+#define uper_get_int32_value(O)  ((int32_t)(uper_get_value(O,4)))
+#define uper_get_dword_value(O)  ((uint32_t)(uper_get_value(O,4)))
+#define uper_get_uint32_value(O) ((uint32_t)(uper_get_value(O,4)))
+
+#define uper_get_llong_value(O)  ((int64_t)uper_get_value(O,8))
+#define uper_get_int64_value(O)  ((int64_t)uper_get_value(O,8))
+#define uper_get_qword_value(O)  ((uint64_t)uper_get_value(O,8))
+#define uper_get_uint64_value(O) ((uint64_t)uper_get_value(O,8))
+
+#define uper_get_string(O,B,N,X)   uper_get_octet_stream(O,B,N,X)
+#define uper_put_string(O,B,L,N,X) uper_put_octet_stream(O,B,L,N,X)
+
+#define UPER_Stream     ASN1_Stream
+#define UPER_Extension  ASN1_Extension
+#define UPER_BitStream  ASN1_BitStream
+
+/******************************************************************************
+ * structs & typedefs
+ *****************************************************************************/
+
+/******************************************************************************
+ * function prototypes
+ *****************************************************************************/
+/* export C functions to C++ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void uper_init_stream(UPER_Stream *strm, uint8_t *ptr, uint max);
+UPER_Stream *uper_alloc_stream(uint8_t *ptr, uint max);
+void uper_free_stream(UPER_Stream *oer);
+
+// DECODE
+uint uper_get_bit_direct(const uint8_t *pkt, uint bit);
+uint64_t uper_get_bits_direct(const uint8_t *pkt, uint bit, uint bits);
+uint64_t uper_get_bits_stream(UPER_Stream *ptr, uint bits);
+uint64_t uper_get_bits_stream_reverse(UPER_Stream *ptr, uint nbits);
+uint uper_get_bytes_stream(UPER_Stream *uper, uint8_t *buf, uint nbytes);
+
+// ENCODE
+void uper_put_bit_direct(uint8_t *pkt, uint val, uint bit);
+void uper_put_bits_direct(uint8_t *pkt, uint64_t value, uint bit, uint bits);
+void uper_put_bits_stream(UPER_Stream *uper, uint64_t value, uint bits);
+void uper_put_bytes_stream(UPER_Stream *uper, uint8_t *buf, uint nbytes);
+
+// EXTENSIONS
+uint uper_get_extension(UPER_Stream *uper, UPER_Extension *ext, uint nbits, uint ellipses);
+uint uper_get_ext_ellipses(UPER_Extension *ext);
+uint uper_get_ext_optional(UPER_Extension *ext, uint bit);
+uint uper_get_ext_length(UPER_Stream *uper, UPER_Extension *ext);
+uint uper_get_ext_skip(UPER_Stream *uper, UPER_Extension *ext);
+void uper_put_extension(UPER_Stream *uper, UPER_Extension *ext);
+void uper_set_ext_ellipses(UPER_Extension *ext);
+void uper_set_ext_length(UPER_Extension *ext, uint len);
+void uper_set_ext_optional(UPER_Extension *ext, uint option, uint val, uint nbits);
+
+// OCTET
+uint uper_get_octet_stream(UPER_Stream *ptr, uint8_t *buf, uint min, uint max);
+void uper_put_octet_stream(UPER_Stream *uper, uint8_t *buf, uint len, uint min, uint max);
+
+// BIT STREAM
+uint64_t uper_get_bitstream(UPER_Stream *uper, UPER_BitStream *bs, uint max);
+uint64_t uper_get_bit_bitstream(UPER_BitStream *bs, uint bit);
+void uper_put_bitstream(UPER_Stream *uper, UPER_BitStream *bs);
+void uper_set_bit_bitstream(UPER_BitStream *bs, uint bit, uint max);
+void uper_set_bits_bitstream(UPER_BitStream *bs, uint64_t value, uint max);
+
+#ifdef __cplusplus
+}
+#endif
+/******************************************************************************
+ * Macros
+ * ***************************************************************************/
+
+#endif

include/asnlib.h

@@ -0,0 +1,46 @@
+#ifndef __ASNLIB_INCLUDE__
+#define __ASNLIB_INCLUDE__
+
+/******************************************************************************
+ * includes
+ *****************************************************************************/
+
+#include <stdint.h>
+#include <sys/types.h>
+#include <memory.h>
+
+/******************************************************************************
+ * defines
+ *****************************************************************************/
+
+/******************************************************************************
+ * structs & typedefs
+ *****************************************************************************/
+
+typedef struct _bit_struct {
+  const uint8_t *ptr;
+  int bit;
+  int max;
+  int consumed;
+} UPER_Stream;
+
+/******************************************************************************
+ * function prototypes
+ *****************************************************************************/
+/* export C functions to C++ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int uper_get_bit(const uint8_t *pkt, int bit);
+uint64_t uper_get_bits_direct(const uint8_t *pkt, int bit, int bits);
+uint64_t uper_get_bits_stream(UPER_Stream *ptr, int bits)
+
+#ifdef __cplusplus
+}
+#endif
+/******************************************************************************
+ * Macros
+ * ***************************************************************************/
+
+#endif

include/bitlib.h

@@ -0,0 +1,52 @@
+#ifndef __BITLIB_INCLUDE__
+#define __BITLIB_INCLUDE__
+
+/******************************************************************************
+ * includes
+ *****************************************************************************/
+
+#include <stdio.h>
+#include <stdint.h>
+#include <sys/types.h>
+#include <memory.h>
+
+#include "embtypes.h"
+
+/******************************************************************************
+ * defines
+ *****************************************************************************/
+
+/******************************************************************************
+ * structs & typedefs
+ *****************************************************************************/
+
+typedef struct _bit_struct {
+  const uint8_t *ptr;
+  int bit;
+  int max;
+  int consumed;
+} BIT_Stream;
+
+/******************************************************************************
+ * function prototypes
+ *****************************************************************************/
+/* export C functions to C++ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+BYTE reverseByteBits(BYTE b);
+
+void enableBitDebug(int flag);
+int getBitDirect(const uint8_t *pkt, int bit);
+uint64_t getBitsDirect(const uint8_t *pkt, int bit, int bits);
+uint64_t getBitsStream(BIT_Stream *ptr, int bits);
+
+#ifdef __cplusplus
+}
+#endif
+/******************************************************************************
+ * Macros
+ * ***************************************************************************/
+
+#endif

include/bytequeue.h

@@ -0,0 +1,112 @@
+/*****************************************************************************
+ * Copyright (C) 2008
+ * ProbeStar Telematics, LLC
+ * All Rights Reserved.  Proprietary and Confidential.
+ *============================================================================
+ * BYTE Queue
+*****************************************************************************/
+
+/* prevent multiple inclusions */
+#ifndef __EMBEDDED_BYTEQUEUE__
+#define __EMBEDDED_BYTEQUEUE__
+
+/*****************************************************************************
+ * includes
+*****************************************************************************/
+
+#include "embtypes.h"
+
+/*****************************************************************************
+ * defines
+*****************************************************************************/
+
+/*****************************************************************************
+ * macros
+*****************************************************************************/
+
+#define _QueuePut(Q,D) \
+{ \
+  *((Q).pbyBuf+((Q).byFront++)) = (D); \
+  (Q).byCount++; \
+  if ( (Q).byFront == (Q).bySize ) \
+    (Q).byFront = 0; \
+}
+
+#define _QueueUnput(Q) \
+{ \
+  if ( (Q).byFront == 0 ) \
+    (Q).byFront = (Q).bySize; \
+    *((Q).pbyBuf+(--(Q).byFront)) = (0); \
+    (Q).byCount--; \
+}
+
+#define _QueueGet(Q,D) \
+{ \
+  (D) = *((Q).pbyBuf+((Q).byRear++)); \
+  (Q).byCount--; \
+  if ( (Q).byRear == (Q).bySize ) \
+    (Q).byRear = 0; \
+}
+
+#define _QueueUnget(Q,D) \
+{ \
+  if ( (Q).byRear == 0 ) \
+    (Q).byRear = (Q).bySize; \
+    *((Q).pbyBuf+(--(Q).byRear)) = (D); \
+    (Q).byCount++; \
+}
+
+#define	_QueueAlloc(Q,B,N)	(Q).pbyBuf=(B);(Q).bySize=(N)
+#define _QueueClear(Q)		(Q).byCount=(Q).byFront=(Q).byRear=0
+#define _QueueCount(Q)		(Q).byCount
+#define _QueueSize(Q)		(Q).bySize
+#define _QueueEmpty(Q)		((Q).byCount==0)
+#define _QueueFull(Q)		((Q).byCount>=(Q).bySize)
+
+#define QueueCount(Q)		(Q)->byCount
+#define QueueSize(Q)		(Q)->bySize
+#define QueueEmpty(Q)		((Q)->byCount==0)
+#define QueueFull(Q)		((Q)->byCount>=(Q)->bySize)
+
+/*****************************************************************************
+ * structs & typedefs
+*****************************************************************************/
+
+typedef struct _Queue {
+	BYTE byCount;
+	BYTE byFront;
+	BYTE byRear;
+	BYTE bySize;
+	BYTE *pbyBuf;
+} Queue;
+
+/*****************************************************************************
+ * global constants
+*****************************************************************************/
+
+/*****************************************************************************
+ * global variables
+*****************************************************************************/
+
+/*****************************************************************************
+ * C function prototypes
+*****************************************************************************/
+/* export C functions to C++ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void QueueAlloc( Queue *pQ, BYTE *pbyData, BYTE bySize );
+void QueueClear( Queue *pQ );
+
+BYTE QueueGet( Queue *pQ, BYTE *pbyData );
+BYTE QueuePut( Queue *pQ, BYTE *pbyData );
+
+BYTE QueueUnget( Queue *pQ, BYTE byData );
+BYTE QueueUnput( Queue *pQ );
+
+#ifdef __cpluscplus
+}
+#endif
+
+#endif

include/bytestack.h

@@ -0,0 +1,81 @@
+/*****************************************************************************
+ * Copyright (C) 2004-2005
+ * ProbeStar Telematics, LLC
+ * All Rights Reserved.  Proprietary and Confidential.
+ *============================================================================
+ * BYTE Stack
+*****************************************************************************/
+
+/* prevent multiple inclusions */
+#ifndef __EMBEDDED_BYTESTACK__
+#define __EMBEDDED_BYTESTACK__
+
+/*****************************************************************************
+ * includes
+*****************************************************************************/
+
+#include "embtypes.h"
+
+/*****************************************************************************
+ * defines
+*****************************************************************************/
+
+/*****************************************************************************
+ * macros
+*****************************************************************************/
+
+#define _StackPush(S,D) \
+	if ( (S).byCount < (S).bySize ) \
+		*((S).pbyBuf+((S).byCount++)) = (D);
+
+#define _StackPop(S) 	((S).byCount ? *((S).pbyBuf+(--(S).byCount)) : 0)
+
+#define	_StackAlloc(S,B,N)	(S).pbyBuf=(B);(S).bySize=(N)
+#define _StackClear(S)		(S).byCount=0
+#define _StackCount(S)		(S).byCount
+#define _StackSize(S)		(S).bySize
+#define _StackEmpty(S)		((S).byCount==0)
+#define _StackFull(S)		((S).byCount>=(S).bySize)
+		
+#define StackClear(S)		(S)->byCount=0
+#define	StackCount(S)		(S)->byCount
+#define StackSize(S)		(S)->bySize
+#define StackEmpty(S)		((S)->byCount==0)
+#define	StackFull(S)		((S)->byCount>=(S)->bySize)
+
+/*****************************************************************************
+ * structs & typedefs
+*****************************************************************************/
+
+typedef struct _Stack {
+  BYTE byCount;
+  BYTE bySize;
+  BYTE *pbyBuf;
+} Stack;
+
+/*****************************************************************************
+ * global constants
+*****************************************************************************/
+
+/*****************************************************************************
+ * global variables
+*****************************************************************************/
+
+/*****************************************************************************
+ * C function prototypes
+*****************************************************************************/
+/* export C functions to C++ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void StackAlloc( Stack *pS, BYTE *pbyBuf, BYTE bySize );
+
+BYTE StackPush( Stack *pS, BYTE *pbyData );
+BYTE StackPop( Stack *pS, BYTE *pbyData );
+
+#ifdef __cpluscplus
+}
+#endif
+
+#endif

include/emblib.h

@@ -0,0 +1,74 @@
+/*****************************************************************************
+ * Copyright (C) 2008
+ * ProbeStar Telematics, LLC
+ * All Rights Reserved.  Proprietary and Confidential.
+ *============================================================================
+ * Multiplatform Embedded Data Types and Conversion
+ * Checksum and CRC Routines
+*****************************************************************************/
+
+/* prevent multiple inclusions */
+#ifndef	_EMBLIB_H_
+#define _EMBLIB_H_
+
+/*****************************************************************************
+ * includes
+*****************************************************************************/
+
+#include "embtypes.h"
+
+/*****************************************************************************
+ * defines
+*****************************************************************************/
+
+/*****************************************************************************
+ * macros
+*****************************************************************************/
+
+/* useful one to have */
+#define bin2bcd(d)	(((((d)/10)<<4|(d)%10)))
+#define bcd2bin(b)	((((b)>>4)*10)+((b)&0xf))
+
+/*****************************************************************************
+ * structs & typedefs
+*****************************************************************************/
+
+/*****************************************************************************
+ * global constants
+*****************************************************************************/
+
+/*****************************************************************************
+ * global variables
+*****************************************************************************/
+
+/*****************************************************************************
+ * C function prototypes
+*****************************************************************************/
+/* export C functions to C++ */
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+int chomp(char *s);
+void base64(const unsigned char *in, char *out, int len);
+int unbase64(const char *in, unsigned char *out, int max);
+
+extern BYTE doCheckSum( const BYTE *pbyData, BYTE nBytes );
+extern WORD doCheckSumW( const WORD *pwData, WORD nBytes );
+
+extern BYTE doCRC8( BYTE byCrc, BYTE byData );
+extern BYTE strCRC8( BYTE *pbyData, WORD nBytes, BYTE byInit );
+
+extern WORD doCRC16( WORD wCrc, BYTE byData );
+extern WORD strCRC16( BYTE *pbyData, WORD nBytes, WORD wInit );
+
+short InterpolateShortTable( const short *psTbl, BYTE nPairs, short sData );
+long InterpolateLongTable( const long *plTbl, BYTE nPairs, long lData );
+
+BYTE reverseByteBits(BYTE b);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif

include/embstruct.h

@@ -0,0 +1,47 @@
+/*****************************************************************************
+ * Copyright (C) 2008
+ * ProbeStar Telematics, LLC
+ * All Rights Reserved.  Proprietary and Confidential.
+ *============================================================================
+ * Multiplatform Embedded Data Types and Conversion
+ * Checksum and CRC Routines
+*****************************************************************************/
+
+/* prevent multiple inclusions */
+#ifndef	_EMBSTRUCT_H_
+#define _EMBSTRUCT_H_
+
+/*****************************************************************************
+ * includes
+*****************************************************************************/
+
+#include "embtypes.h"
+
+#include "bytequeue.h"
+#include "bytestack.h"
+
+/*****************************************************************************
+ * defines
+*****************************************************************************/
+
+/*****************************************************************************
+ * macros
+*****************************************************************************/
+
+/*****************************************************************************
+ * structs & typedefs
+*****************************************************************************/
+
+/*****************************************************************************
+ * global constants
+*****************************************************************************/
+
+/*****************************************************************************
+ * global variables
+*****************************************************************************/
+
+/*****************************************************************************
+ * C function prototypes
+*****************************************************************************/
+
+#endif

include/embtypes.h

@@ -0,0 +1,291 @@
+/*****************************************************************************
+ * Copyright (C) 2008
+ * ProbeStar Telematics, LLC
+ * All Rights Reserved.  Proprietary and Confidential.
+ *============================================================================
+ * Multiplatform Embedded Data Types and Conversion
+ * Checksum and CRC Routines
+*****************************************************************************/
+
+/* prevent multiple inclusions */
+#ifndef	_EMBTYPES_H_
+#define _EMBTYPES_H_
+
+/*****************************************************************************
+ * includes
+*****************************************************************************/
+
+#ifdef __linux__
+#include <sys/types.h>
+#endif
+
+/*****************************************************************************
+ * defines
+*****************************************************************************/
+
+#ifndef NULL
+#define NULL    0
+#endif
+
+#ifndef TRUE
+#define TRUE	1
+#define FALSE	0
+#endif
+#ifndef ON
+#define ON	1
+#define OFF	0
+#endif
+
+#ifdef __linux__
+/* take out those keywords */
+#define interrupt
+#define	near
+#define far
+#endif
+
+/*****************************************************************************
+ * macros
+*****************************************************************************/
+
+/*****************************************************************************
+ * structs & typedefs
+*****************************************************************************/
+
+// data types
+#ifdef __linux__
+typedef unsigned char bit;
+#else
+typedef bit BOOL;
+#endif
+
+// ProbeStar Standard
+typedef signed char CHAR;
+typedef signed short SHORT;
+typedef signed int INT;
+typedef signed long LONG;
+typedef signed long long LLONG;
+typedef unsigned char BYTE;
+typedef unsigned short WORD;
+typedef unsigned int UINT;
+typedef unsigned long DWORD;
+typedef unsigned long long QWORD;
+
+typedef signed char int8;
+typedef signed short int16;
+typedef signed long int32;
+typedef signed long long int64;
+typedef unsigned char uint8;
+typedef unsigned short uint16;
+typedef unsigned long uint32;
+typedef unsigned long long uint64;
+
+typedef signed char S8;
+typedef signed short S16;
+typedef signed long S32;
+typedef signed long long S64;
+typedef unsigned char U8;
+typedef unsigned short U16;
+typedef unsigned long U32;
+typedef unsigned long long U64;
+
+#ifdef BIG_ENDIAN
+
+typedef union
+{
+  WORD w;
+  SHORT s;
+  struct
+  {
+    BYTE h;
+    BYTE l;
+  }
+  b;
+  BYTE c[2];
+} __attribute__((__packed__)) short_word;
+
+typedef union
+{
+  DWORD dw;
+  LONG l;
+  struct
+  {
+    WORD h;
+    WORD l;
+  }
+  w;
+  short s[2];
+  struct
+  {
+    short_word h;
+    short_word l;
+  }
+  sw;
+  struct
+  {
+    BYTE hh;
+    BYTE hl;
+    BYTE lh;
+    BYTE ll;
+  }
+  b;
+  BYTE c[4];
+} __attribute__((__packed__)) long_dword;
+
+typedef union
+{
+  QWORD qw;
+  LLONG ll;
+  struct
+  {
+    DWORD	h;
+    DWORD	l;
+  } dw;
+  long l[2];
+  struct
+  {
+    WORD hh;
+    WORD hl;
+    WORD lh;
+    WORD ll;
+  }
+  w;
+  short s[4];
+  struct
+  {
+    short_word hh;
+    short_word hl;
+    short_word lh;
+    short_word ll;
+  }
+  sw;
+  struct
+  {
+    BYTE hhh;
+    BYTE hhl;
+    BYTE hlh;
+    BYTE hll;
+    BYTE lhh;
+    BYTE lhl;
+    BYTE llh;
+    BYTE lll;
+  }
+  b;
+  BYTE c[8];
+} __attribute__((__packed__)) llong_qword;
+
+#elif defined(LITTLE_ENDIAN)
+
+// new
+typedef union
+{
+  WORD w;
+  SHORT s;
+  struct
+  {
+    BYTE l;
+    BYTE h;
+  }
+  b;
+  BYTE c[2];
+} __attribute__((__packed__)) short_word;
+
+typedef union
+{
+  DWORD dw;
+  LONG l;
+  struct
+  {
+    WORD l;
+    WORD h;
+  }
+  w;
+  short s[2];
+  struct
+  {
+    short_word l;
+    short_word h;
+  }
+  sw;
+  struct
+  {
+    BYTE ll;
+    BYTE lh;
+    BYTE hl;
+    BYTE hh;
+  }
+  b;
+  BYTE c[4];
+} __attribute__((__packed__)) long dword;
+
+typedef union
+{
+  QWORD qw;
+  LLONG ll;
+  struct
+  {
+    DWORD	l;
+    DWORD	h;
+  } dw;
+  long l[2];
+  struct
+  {
+    WORD ll;
+    WORD lh;
+    WORD hl;
+    WORD hh;
+  }
+  w;
+  short s[4];
+  struct
+  {
+    short_word ll;
+    short_word lh;
+    short_word hl;
+    short_word hh;
+  }
+  sw;
+  struct
+  {
+    BYTE lll;
+    BYTE llh;
+    BYTE lhl;
+    BYTE lhh;
+    BYTE hll;
+    BYTE hlh;
+    BYTE hhl;
+    BYTE hhh;
+  }
+  b;
+  BYTE c[8];
+} __attribute__((__packed__)) llong_qword;
+
+#endif
+
+typedef union
+{
+  BYTE byte;
+  struct {
+    unsigned b0:1;
+    unsigned b1:1;
+    unsigned b2:1;
+    unsigned b3:1;
+    unsigned b4:1;
+    unsigned b5:1;
+    unsigned b6:1;
+    unsigned b7:1;
+  } bits;
+} byte_bits;
+
+/*****************************************************************************
+ * global constants
+*****************************************************************************/
+
+/*****************************************************************************
+ * global variables
+*****************************************************************************/
+
+/*****************************************************************************
+ * C function prototypes
+*****************************************************************************/
+
+#endif

include/libcan++/CanDatabase.h

@@ -0,0 +1,63 @@
+//****************************************************************************
+// Copyright (C) 2007
+// Nissan North America
+// All Rights Reserved.  Proprietary and Confidential.
+//============================================================================
+
+/* prevent multiple inclusions */
+#ifndef __CanDatabase__
+#define __CanDatabase__
+
+/* includes *****************************************************************/
+
+#include    <sys/types.h>
+#include    <vector>
+
+#include    "CanSignal.h"
+#include    "CanSocket.h"
+#include    "DbcParser.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+/**
+ * CAN class to handle database of CAN signals from DBC (.dbc) file
+ */
+class CanDatabase : public DbcParser {
+    // public data
+public:
+    
+    // private data
+private:
+    
+    // static data
+
+    // public methods
+public:
+    // constructors
+    CanDatabase();
+    
+    // destructor
+    virtual ~CanDatabase();
+    
+    // virtual functions
+
+    // public methods
+    int FormatHeader( char *buf, int max );
+    int FormatMessage( char *buf, int max );
+    
+    int SubscribeCan( CanSocket *pCan );
+    int ReadCan( CanSocket *pCan );
+
+    // static methods
+
+    // private methods
+private:
+};
+
+#endif

include/libcan++/CanMessage.h

@@ -0,0 +1,74 @@
+//****************************************************************************
+// Copyright (C) 2007
+// Nissan North America
+// All Rights Reserved.  Proprietary and Confidential.
+//============================================================================
+
+/* prevent multiple inclusions */
+#ifndef __CanMessage__
+#define __CanMessage__
+
+/* includes *****************************************************************/
+
+#include    <sys/types.h>
+#include    <string>
+#include    <vector>
+
+#include "CanSignal.h"
+#include "CanSocket.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+// based on .dbc data
+
+/* c class definitions ******************************************************/
+
+//
+// Uses the Peak Systems CAN Linux driver and Nissan CAN data
+//
+class CanMessage {
+    // public data
+public:
+    std::string     Name;       // Signal Name
+    std::string     Module;     // Module Name
+    u_int32_t   Address;     // 29 bits (standard or extended)
+    u_int8_t	Data[64];    // Data
+    u_int       Size;        // DLC (CAN-FD > 8)
+
+
+    // list of signals in the message
+    std::vector<CanSignal *>  Signals;
+
+    // private data
+private:
+
+    // static data
+
+    // public methods
+public:
+    // constructors
+    CanMessage();
+
+    // destructor
+    virtual ~CanMessage();
+
+    // virtual functions
+
+    // public methods
+    int Read(CanFrame *frame);
+    int Write(CanFrame *frame);
+    int Convert(CanFrame *frame) {return Read(frame);};
+    int Subscribe(void);
+    int Unsubscribe(void);
+
+    // static methods
+
+    // private methods
+private:
+};
+
+#endif

include/libcan++/CanSignal.h

@@ -0,0 +1,116 @@
+//****************************************************************************
+// Copyright (C) 2007
+// Nissan North America
+// All Rights Reserved.  Proprietary and Confidential.
+//============================================================================
+
+/* prevent multiple inclusions */
+#ifndef __CanSignal__
+#define __CanSignal__
+
+/* includes *****************************************************************/
+
+#include    <sys/types.h>
+#include    <string>
+#include    <vector>
+
+//#include "BaseSignal.h"
+//#include "VoltType.h"
+
+#include "CanSocket.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+// based on .dbc data
+
+/* c class definitions ******************************************************/
+
+//
+// Uses the Peak Systems CAN Linux driver and Nissan CAN data
+//
+#ifdef __BaseSignal__
+class CanSignal : public BaseSignal, public VoltType {
+#else
+class CanSignal {
+#endif
+    // public data
+public:
+    std::string     Name;   // Signal Name
+    std::string     Units;  // Signal Units
+    u_int32_t Address;      // 29 bits (standard or extended)
+
+    // data conversion (from .dbc file)
+    u_char  StartBit;       // 0..63
+    u_char  NumBits;        // 1..32
+    u_char  BigEndian;      // 0 = little endian (intel), 1 = big endian (moto)
+    u_char  IsSigned;       // 0 = unsigned, 1 = 2's Complement
+    double  Scale;          // scale
+    double  Offset;         // offset
+
+    // conversion help
+    u_char  StartByte;      // 0..7
+    u_char  NumBytes;       // 1..4
+    u_char  HighBit;        // 0..7
+    u_char  LowBit;         // #bits after
+    u_int64_t   Mask;       // 64 bit mask
+    u_int64_t   Sign;       // 64 bit sign mask
+
+    // status, data
+    u_char  doSubscribe;    // CanSocket filter
+    u_char  isNew;
+    u_char  isValid;
+    int32_t rawValue;
+    int64_t currValue;
+    int64_t lastValue;
+    double  realValue;
+
+    // misc
+    u_int64_t activity;     // activity counter
+    void    *userData;      // user data
+    int     userIndex;      // user index
+
+
+    // private data
+private:
+
+    // static data
+
+    // public methods
+public:
+    // constructors
+    CanSignal();
+
+    // destructor
+    virtual ~CanSignal();
+
+    // virtual functions
+
+    // public methods
+    int Init( void );
+    int Convert(CanFrame *frame) {return Read(frame->data);};
+    int Read(CanFrame *frame) {return Read(frame->data);};
+    int Read(const u_char *pbyData, long *ldata=NULL, double *ddata=NULL);
+    int Write(CanFrame *frame) {return Write(frame->data);};
+    int Write(u_char *pbyData);
+    int Write(long value, u_char *pbyData);
+    long Write(double value, u_char *pbyData);
+    void Subscribe(void) {doSubscribe=1;};
+    void Unsubscribe(void) {doSubscribe=0;};
+
+#ifndef __VoltType__
+    void SetScaling( double scale=1.0, double offset=0.0 ) { Scale=scale; Offset=offset; };
+    double GetScale( void ) { return Scale; };
+    double GetOffset( void ) { return Offset; };
+#endif
+
+    // static methods
+
+    // private methods
+private:
+};
+
+#endif

include/libcan++/CanSocket.h

@@ -0,0 +1,101 @@
+//****************************************************************************
+// Copyright (C) 2007
+// Nissan North America
+// All Rights Reserved.  Proprietary and Confidential.
+//============================================================================
+
+/* prevent multiple inclusions */
+#ifndef __CanSocket__
+#define __CanSocket__
+
+/* includes *****************************************************************/
+
+#include    <vector>
+
+#include    "netlib.h"
+
+#include    <linux/can.h>
+#include    <linux/can/raw.h>
+#include    <linux/can/bcm.h>
+
+
+/* defines ******************************************************************/
+
+#define CAN_MAX_FILTER       31
+#define CAN_MAX_ADDRESSES   256
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+typedef struct can_filter CanFilter;
+typedef struct can_frame CanFrame;
+
+typedef struct _BcmFrame {
+    struct bcm_msg_head head;
+    struct can_frame    frame;
+} BcmFrame;
+
+/* c class definitions ******************************************************/
+
+//
+// Uses the Peak Systems CAN Linux driver and Nissan CAN data
+//
+class CanSocket {
+    // public data
+public:
+    int     m_sock;
+    int     m_proto;
+
+    // private data
+private:
+    // device
+    int     m_flags;
+
+    // errors
+    bool    m_logerrs;
+    long    m_errcount;
+
+    // static data
+
+    // public methods
+public:
+    // constructors
+    CanSocket();
+
+    // destructor
+    virtual ~CanSocket();
+
+    // virtual functions
+
+    // public methods
+    void    AddrFlags( u_long f ) { m_flags = f; };
+    int     GetSock(void) {return m_sock;};
+    int     GetSocket(void) {return m_sock;};
+    int     GetProto(void) {return m_proto;};
+    int     CanOpen( const char *dev="can0", int proto=CAN_RAW, int flags=0 );
+    void    CanClose(void);
+
+    // misc
+    int     ClearFilters( void );
+    int     Blocking(bool block=true);
+    int     NonBlocking(void) { return Blocking(false); };
+    int     Loopback(bool loop=true);
+    int     NoLoopback(void) { return Loopback(false); };
+    void    LogErrors(bool logerrs=true) {m_logerrs = logerrs;};
+
+    // rx filter
+    int     CanAddRx( u_int32_t addr );
+    int     CanAddRx( const CanFilter *filter, int max=1 );
+    int     CanDelRx( u_int32_t addr );
+
+    // raw
+    int     CanRawRead( CanFrame *buf, int max=1 );
+    int     CanRawWrite( const CanFrame *buf, int max=1 );
+
+    // bcm
+    int     CanBcmRead( BcmFrame *msg, int max=1 );
+    int     CanBcmWrite( BcmFrame *msg, int max=1 );
+};
+
+#endif

include/libcan++/DbcParser.h

@@ -0,0 +1,87 @@
+//****************************************************************************
+// Copyright (C) 2007
+// Nissan North America
+// All Rights Reserved.  Proprietary and Confidential.
+//============================================================================
+
+/* prevent multiple inclusions */
+#ifndef __DbcParser__
+#define __DbcParser__
+
+/* includes *****************************************************************/
+
+#include    <regex.h>
+#include    <vector>
+
+#include    "CanMessage.h"
+#include    "CanSignal.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+// based on .dbc data
+typedef struct _DbcFilter {
+    // signal information
+    char    Name[32];       // Signal name
+    regex_t preg;
+
+    // address range
+    u_int32_t   CanAddrLo;   // 29 bits
+    u_int32_t   CanAddrHi;
+
+    // data conversion
+    u_char  StartBit;       // 0..63
+    u_char  NumBits;        // 1..32
+
+    int     found;
+} DbcFilter;
+
+/* c class definitions ******************************************************/
+
+//
+// Uses the Peak Systems CAN Linux driver and Nissan CAN data
+//
+class DbcParser {
+    // public data
+public:
+    std::vector<DbcFilter *>  MsgFilters;            // message filter
+    std::vector<DbcFilter *>  SigFilters;            // signal filter
+    std::vector<CanMessage *> Messages;
+    std::vector<CanSignal *>  Signals;
+
+    // private data
+private:
+
+    // static data
+
+    // private methods
+    DbcFilter *AddFilter( char *name, u_int32_t addr1, u_int32_t addr2 );
+
+    // public methods
+public:
+    // constructors
+    DbcParser();
+
+    // destructor
+    virtual ~DbcParser();
+
+    // virtual functions
+
+    // public methods
+    int AddMsgFilter( char *name, u_int32_t addr1, u_int32_t addr2 );
+    int AddSigFilter( char *name, u_int32_t addr1, u_int32_t addr2 );
+    int AddMessage( char *name, u_int32_t addr, u_int32_t size, char *module );
+    int AddSignal( char *name, char *units, u_int32_t addr, char start, char num, char endian, char sign, float scale, float offset );
+
+    int LoadDatabase( const char *file );
+
+    // static methods
+
+    // private methods
+private:
+};
+
+#endif

include/libgps++/ApplanixParser.h

@@ -0,0 +1,62 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __ApplanixParser__
+#define __ApplanixParser__
+
+/* includes *****************************************************************/
+
+#include <vector>
+
+#include "netlib.h"
+
+#include "GpsListener.h"
+#include "GpsParser.h"
+
+#include "NmeaParser.h"
+#include "NmeaProtocol.h"
+//#include "ApplanixProtocol.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+class ApplanixParser : public NmeaParser {
+    // public data
+public:
+
+    // protected data
+protected:
+
+    // private data
+private:
+    // data
+    u_char      state;          // parser state
+
+    // private methods
+
+    // public methods
+public:
+    // constructors
+    ApplanixParser();
+
+    // destructor
+    virtual ~ApplanixParser();
+
+    // virtual functions
+    int GpsDecode( const char *buf, int max ) { return ApplanixDecode( (const u_char *)buf, max); };
+    int GpsParse( const char *buf, int max ) { return ApplanixParse( buf, max ); };
+
+    // public methods
+    int ApplanixDecode( const u_char *buf, int max );
+    int ApplanixParse( const char *buf, int max );
+};
+
+#endif

include/libgps++/DgpsClient.h

@@ -0,0 +1,56 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __DgpsClient__
+#define __DgpsClient__
+
+/* includes *****************************************************************/
+
+#include "TcpClient.h"
+#include "netlib.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+
+/* c class definitions ******************************************************/
+
+class DgpsClient : public TcpClient {
+    // public data
+public:
+
+    // protected data
+protected:
+
+    // private data
+private:
+    unsigned long   count;
+
+    // private methods
+
+    // static data
+
+    // public methods
+public:
+    // constructors
+    DgpsClient();
+
+    // destructor
+    virtual ~DgpsClient();
+
+    // virtual functions
+
+    // public methods
+    int DgpsConnect( const char *host, const char *service );
+    void DgpsClose(void) {Close();};
+
+    int DgpsRead( char *buf, int max );
+    int DgpsWrite( const char *buf, int max );
+};
+
+#endif

include/libgps++/FastraxParser.h

@@ -0,0 +1,73 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __FastraxParser__
+#define __FastraxParser__
+
+/* includes *****************************************************************/
+
+#include <vector>
+
+#include "netlib.h"
+
+#include "GpsListener.h"
+#include "GpsParser.h"
+
+#include "NmeaParser.h"
+#include "NmeaProtocol.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+// Fastrax iTrax03
+class NmeaSentencePFST : public NmeaSentence {
+public:
+    char    msg[4];
+
+    NmeaSentencePFST();
+    ~NmeaSentencePFST();
+
+    int Decode( int argc, char *argv[] );
+    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+class FastraxParser : public NmeaParser {
+    // public data
+public:
+
+    // protected data
+protected:
+    // Fastrax iTrax03
+    NmeaSentencePFST    PFST;
+
+    // private data
+private:
+    // data
+
+    // private methods
+
+    // public methods
+public:
+    // constructors
+    FastraxParser();
+
+    // destructor
+    virtual ~FastraxParser();
+
+    // virtual functions
+    int GpsDecode( const char *buf, int max ) { return FastraxDecode( (const u_char *)buf, max); };
+    int GpsParse( const char *buf, int max ) { return FastraxParse( buf, max ); };
+
+    // public methods
+    int FastraxDecode( const u_char *buf, int max );
+    int FastraxParse( const char *buf, int max );
+};
+
+#endif

include/libgps++/GarminParser.h

@@ -0,0 +1,125 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __GarminParser__
+#define __GarminParser__
+
+/* includes *****************************************************************/
+
+#include <vector>
+
+#include "netlib.h"
+
+#include "GpsListener.h"
+#include "GpsParser.h"
+
+#include "NmeaParser.h"
+#include "NmeaProtocol.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+
+// Garmin
+class NmeaSentencePGRME : public NmeaSentence {
+public:
+    float   horizontal;
+    char    horizontal_unit[4];
+    float   vertical;
+    char    vertical_unit[4];
+    float   three_dimensions;
+    char    three_dimensions_unit[4];
+
+    NmeaSentencePGRME();
+    ~NmeaSentencePGRME();
+
+    int Decode( int argc, char *argv[] );
+    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+class NmeaSentencePGRMF : public NmeaSentence {
+public:
+    int     week;
+    int     seconds;
+    struct  timespec    utctime;
+    int     leap;
+    double  latitude;
+    double  longitude;
+    char    mode;
+    int     type;
+    double  speed;
+    double  course;
+    double  position_dilution;
+    double  time_dilution;
+
+    NmeaSentencePGRMF();
+    ~NmeaSentencePGRMF();
+
+    int Decode( int argc, char *argv[] );
+    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+class NmeaSentencePGRMM : public NmeaSentence {
+public:
+    char    datum[256];
+
+    NmeaSentencePGRMM();
+    ~NmeaSentencePGRMM();
+
+    int Decode( int argc, char *argv[] );
+    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+class NmeaSentencePGRMZ : public NmeaSentence {
+public:
+
+    NmeaSentencePGRMZ();
+    ~NmeaSentencePGRMZ();
+
+    int Decode( int argc, char *argv[] );
+    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+// main class
+class GarminParser : public NmeaParser {
+    // public data
+public:
+
+    // protected data
+protected:
+    // Garmin
+    NmeaSentencePGRME   PGRME;
+    NmeaSentencePGRMF   PGRMF;
+    NmeaSentencePGRMM   PGRMM;
+
+    // private data
+private:
+    // data
+
+    // private methods
+
+    // public methods
+public:
+    // constructors
+    GarminParser();
+
+    // destructor
+    virtual ~GarminParser();
+
+    // virtual functions
+    int GpsDecode( const char *buf, int max ) { return GarminDecode( (const u_char *)buf, max); };
+    int GpsParse( const char *buf, int max ) { return GarminParse( buf, max ); };
+
+    // public methods
+    int GarminDecode( const u_char *buf, int max );
+    int GarminParse( const char *buf, int max );
+};
+
+#endif

include/libgps++/GpsDevice.h

@@ -0,0 +1,52 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __GpsDevice__
+#define __GpsDevice__
+
+/* includes *****************************************************************/
+
+#include "netlib.h"
+
+#include "SerialIO.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+class GpsDevice : public SerialIO {
+    // public data
+public:
+    // parser
+
+    // protected data
+protected:
+
+    // private data
+private:
+    // private methods
+
+    // public methods
+public:
+    // constructors
+    GpsDevice();
+
+    // destructor
+    virtual ~GpsDevice();
+
+    // virtual functions
+
+    // public methods
+    int GpsOpen( const char *dev, int baud=38400 );
+    int GpsRead( char *buf, int max ) {return Read(buf,max); };
+    int GpsWrite( const char *buf, int max ) {return Write(buf,max); };
+    void GpsClose(void) { Close(); };
+};
+
+#endif

include/libgps++/GpsListener.h

@@ -0,0 +1,95 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __GpsListener__
+#define __GpsListener__
+
+/* includes *****************************************************************/
+
+#include <vector>
+
+#include "netlib.h"
+
+#include "GpsPoint.h"
+
+/* defines ******************************************************************/
+
+#define NMEA_MAX_SATELLITE      32
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+typedef struct _ErrorInfo {
+    // GPGSA dilution of precision (DOP)
+    double  PositionDilution;	// PDOP
+    double  HorizontalDilution;	// HDOP
+    double  VerticalDilution;	// VDOP
+
+    // GPGST standard deviation of error
+    double  HorizontalDeviation; // largest
+    double  VerticalDeviation;
+
+    // PUBX-01
+    double  HorizontalAccuracy;
+    double  VerticalAccuracy;
+    double  TimeDilution;	// TDOP
+} ErrorInfo;
+
+typedef struct _SatelliteInfo {
+    // GPGSV, PUBX-03
+    u_int   Satellites;
+    struct {
+        char    Id;
+        char    Status;
+        double  Elevation;
+        double  Azimuth;
+        double  Signal2noise;
+    } Satellite[NMEA_MAX_SATELLITE];
+} SatelliteInfo;
+
+/* c class definitions ******************************************************/
+
+//
+class GpsListener {    
+    // public data
+public:
+    // Position Data
+    GpsPoint            PosData;
+    
+    // Accuracy, Dilution, Error
+    ErrorInfo           ErrInfo;
+    
+    // Satellite info
+    SatelliteInfo       SatInfo;
+
+    // protected data
+protected:
+    
+    // private data
+private:
+
+    // private methods
+    
+    // static data
+
+    // public methods
+public:
+    // constructors
+    GpsListener();
+    
+    // destructor
+    virtual ~GpsListener();
+    
+    // virtual functions
+    virtual void PositionListener( const GpsPoint &Pos, const ErrorInfo &Err );
+    virtual void TimeListener( const struct timespec &Time );
+
+    // public methods
+    int GpsTime( struct timespec *tv ) {*tv=PosData.TimeStamp;return PosData.Fix;};
+    int GpsFix(void) {return PosData.Fix;};
+};
+
+#endif

include/libgps++/GpsMath.h

@@ -0,0 +1,81 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __GpsMath__
+#define __GpsMath__
+
+/* includes *****************************************************************/
+
+#include <math.h>
+#include <stdint.h>
+#include "netlib.h"
+
+/* defines ******************************************************************/
+
+// degrees <-> radians
+#define     DEG2RAD(X)      ((X)*M_PI/180.0)
+#define     RAD2DEG(X)      ((X)*180.0/M_PI)
+
+// (nautical mile to km) to meters per degree
+#define     MPERDEG         (111.13285*1000.0)
+#define     EARTHRADIUS     6378100.0       // meters
+
+// speed conversions
+#define     KNOTS_KPH           1.85200
+#define     KNOTS_METERSPERSEC  (KNOTS_KPH*1000.0/3600.0)
+
+#define     KPH2MSEC(X)     ((X)*0.277777778)
+#define     MSEC2KPH(X)     ((X)/0.277777778)
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+// GpsLinux because it depennds on GPSd, the HAMLIB and NMEAP libraries
+//
+class GpsMath {
+    // public data
+public:
+
+    // parser
+
+    // protected data
+protected:
+
+    // private data
+private:
+    // static data
+
+    // private methods
+
+    // public methods
+public:
+    // constructors
+    GpsMath();
+
+    // destructor
+    virtual ~GpsMath();
+
+    // virtual functions
+
+    // public methods
+
+    // static methods
+static double Minutes2Degrees(char *value, char *side = NULL);
+static void Degrees2Minutes(double deg, char *buf, int max, bool lat);
+static timespec String2Time(const char *hhmmss, const char *ddmmyy);
+
+static double Bearing( double lat1, double lon1, double lat2, double lon2 );
+static double Distance( double lat1, double lon1, double lat2, double lon2 );
+static double DistanceX( double lat1, double lon1, double lat2, double lon2 );
+static double DistanceY( double lat1, double lon1, double lat2, double lon2 );
+static double DistanceXY(double lat1, double lon1, double lat2, double lon2, double &x, double &y );
+static double Travel( double *lat, double *lon, double *ele, double x, double y, double z);
+};
+
+#endif

include/libgps++/GpsParser.h

@@ -0,0 +1,93 @@
+//
+// Linux GPS
+//
+//
+
+/* prevent multiple inclusions */
+#ifndef __GpsParser__
+#define __GpsParser__
+
+/* includes *****************************************************************/
+
+#include <vector>
+
+#include "netlib.h"
+
+#include "GpsListener.h"
+#include "NmeaProtocol.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+class GpsParser : public NmeaProtocol {
+    // public data
+public:
+    char    Vendor[32];
+    char    Product[32];
+    
+    // Position Data
+    GpsPoint            PosData;
+
+    // Accuracy, Dilution, Error
+    ErrorInfo           ErrInfo;
+
+    // Satellite info
+    SatelliteInfo       SatInfo;
+
+protected:
+    // protected data
+    std::vector<GpsListener *>  GpsListeners;
+
+    // incoming data buffer
+    u_char  data[2048];
+    u_char  lastc;
+    u_short numbytes;       // current byte count
+    u_short totbytes;       // expect byte count
+    u_short checksum;
+    u_long  counter;        // # parsed
+
+    // private data
+private:
+    // private methods
+
+    // static data
+
+    // public methods
+public:
+    // constructors
+    GpsParser();
+
+    // destructor
+    virtual ~GpsParser();
+
+    // virtual functions
+    virtual void GpsInit( void ) {};
+    virtual int GpsDecode( const char *buf, int max );
+    virtual int GpsParse( const char *buf, int max );
+
+    // public methods
+
+    // subscribe/unsubscribe
+    void Subscribe( GpsListener *ear ) {
+            GpsInit();
+            if (ear)
+                GpsListeners.push_back(ear);
+        };
+
+    int GetNumParsed(void) {return counter;};
+
+    // misc
+    int GpsTime( struct timespec *tv ) {*tv=PosData.TimeStamp;return PosData.Fix;};
+    int GpsFix(void) {return PosData.Fix;};
+    int Gps2Vii( char *buf, int max );
+
+    // static functions
+};
+
+#endif

include/libgps++/GpsPoint.h

@@ -0,0 +1,123 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __GpsPoint__
+#define __GpsPoint__
+
+/* includes *****************************************************************/
+
+#include "GpsMath.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+// Gps Point on the planet
+//
+class GpsPoint : public GpsMath {
+    // public data
+public:
+    timespec TimeStamp;
+    double Latitude;
+    double Longitude;
+    double Altitude;
+    double Speed;	// m/sec
+    double Heading;	// deg
+
+    // fix information (GpsListener) for point
+    int     Fix;            // GPGGA
+    int     Mode;           // GPGSA
+    int     Type;           // GPGSA
+    double  Accel;          // m/sec2
+    double  Yaw;            // deg/sec (-left, +right)
+
+    // parser
+
+    // protected data
+protected:
+
+    // private data
+private:
+    // static data
+
+    // private methods
+
+    // public methods
+public:
+    // constructors
+    GpsPoint();
+    GpsPoint( double lat, double lon );
+    GpsPoint(const GpsPoint &copy);
+
+    // destructor
+    virtual ~GpsPoint();
+
+    // operators
+    GpsPoint &operator=(const GpsPoint &rhs);
+
+    // virtual functions
+
+    // public methods
+    double GetLatitude(void) {return Latitude;};
+    double GetLongitude(void) {return Longitude;};
+    double GetAltitude(void) {return Altitude;};
+    double GetElevation(void) {return Altitude;};
+    void GetPosition( double *lat, double *lon, double *elev=NULL );
+    double GetSpeed(void) {return Speed;};
+    double GetHeading(void) {return Heading;};
+    timespec GetTimeVal(void) {return TimeStamp;};
+    uint64_t GetTimeStamp(void) {return (TimeStamp.tv_sec*1000L)+(TimeStamp.tv_nsec/1000000L);};
+    time_t GetTimeStampSec(void) {return TimeStamp.tv_sec;};
+
+    void SetLatitude(double lat) {Latitude = lat;};
+    void SetLongitude(double lon) {Longitude = lon;};
+    void SetAltitude(double alt) {Altitude = alt;};
+    void SetElevation(double ele) {Altitude = ele;};
+    void SetPosition(double lat, double lon, double ele = 0.0)
+        {Latitude=lat;Longitude=lon;Altitude=ele;};
+    void SetSpeed(double spd) {Speed = spd;};   // kph
+    void SetHeading(double hdg) {Heading = hdg;};
+    void SetTimeStamp(timespec &tv) {TimeStamp=tv;};
+    void SetTimeStamp(time_t t) {TimeStamp.tv_sec=t;TimeStamp.tv_nsec=0;};
+    void SetTimeStamp(uint64_t t);
+    void SetTimeStamp(double t);
+    void SetTimeStamp(const char *str);
+
+    void AddMeters( double x, double y );             // add meters
+    void Extrapolate( double speed, double accel, double yaw, double time );
+
+    double Bearing( const GpsPoint &gpt );      // bearing to point
+    double Distance( const GpsPoint &gpt );     // distance to point
+    double Distance( double lat, double lon );
+    double Travel( double x, double y, double z );
+
+    double DistanceX( const GpsPoint &gpt )
+        { return GpsMath::DistanceX(Latitude, Longitude, gpt.Latitude, gpt.Longitude); };
+    double DistanceY( const GpsPoint &gpt )
+        { return GpsMath::DistanceY(Latitude, Longitude, gpt.Latitude, gpt.Longitude); };
+    double DistanceX(double lat, double lon)
+        { return GpsMath::DistanceX(Latitude, Longitude, Latitude, lon); };
+    double DistanceY(double lat, double lon)
+        { return GpsMath::DistanceY(Latitude, Longitude, lat, Longitude); };
+    double DistanceX(double lon)
+        { return GpsMath::DistanceX(Latitude, Longitude, Latitude, lon); };
+    double DistanceY(double lat)
+        { return GpsMath::DistanceY(Latitude, Longitude, lat, Longitude); };
+
+    double DistanceXY( const GpsPoint &gpt1, const GpsPoint &gpt2, double &x, double &y );
+    double DistanceXY( const GpsPoint &gpt1, double lat, double lon, double &x, double &y );
+
+    bool Inside( const GpsPoint polygon[], int num );
+    bool Traversed( GpsPoint &gpt, const GpsPoint polygon[], int num );
+
+    // static methods
+};
+
+#endif

include/libgps++/GpsTrack.h

@@ -0,0 +1,70 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __GpsTrack__
+#define __GpsTrack__
+
+/* includes *****************************************************************/
+
+#include <vector>
+
+#include "GpsPoint.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+typedef std::vector<GpsPoint>   GpsTrack_t;
+
+/* c class definitions ******************************************************/
+
+//
+// GpsLinux because it depennds on GPSd, the HAMLIB and NMEAP libraries
+//
+class GpsTrack {
+    // public data
+public:
+    char    Name[64];
+    GpsTrack_t      Points;
+
+    // parser
+
+    // protected data
+protected:
+
+    // private data
+private:
+    // static data
+
+    // private methods
+
+    // public methods
+public:
+    // constructors
+    GpsTrack();
+    GpsTrack(const char *name);
+    GpsTrack(const GpsTrack &copy);
+
+    // destructor
+    virtual ~GpsTrack();
+
+    // operators
+    GpsTrack &operator=(const GpsTrack &rhs);
+
+    // virtual functions
+
+    // public methods
+    void SetName( const char *name ) { strncpy(Name,name,sizeof(Name)-1); };
+    int AddPoint( const GpsPoint &Pt );
+    
+    int GenerateKML( const char *kmlfile );
+    int ParseKML( const char *kmlfile );
+
+    // static methods
+};
+
+#endif

include/libgps++/GpsdClient.h

@@ -0,0 +1,70 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __GpsdClient__
+#define __GpsdClient__
+
+/* includes *****************************************************************/
+
+#include "TcpClient.h"
+#include "netlib.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+// Connect to http://gpsd.berlios.de/  GPSD
+//
+class GpsdClient : public TcpClient {    
+    // public data
+public:
+    int     Fix;
+    int     Satellites;
+
+    struct  timespec  Time;
+    double  Latitude;
+    double  Longitude;
+    double  Elevation;
+    double  Heading;
+    double  Speed;
+
+    // protected data
+protected:
+    
+    // private data
+private:
+    
+    // static data
+
+    // private methods
+
+    // public methods
+public:
+    // constructors
+    GpsdClient();
+    GpsdClient( const char *host );
+    
+    // destructor
+    virtual ~GpsdClient();
+    
+    // virtual functions
+
+    // public methods
+    int GpsdParse( char *msg );
+    int GpsdConnect( const char *host = "localhost" );
+
+    int GpsdRead( void );
+    int GpsdWrite( const char *msg, int max );
+    
+    int Gpsd2Vii( char *buf, int max );
+};
+
+#endif
+

include/libgps++/KmlFile.h

@@ -0,0 +1,73 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __KmlFile__
+#define __KmlFile__
+
+/* includes *****************************************************************/
+
+#include <libxml/parser.h>
+#include <libxml/tree.h>
+
+#include "netlib.h"
+
+#include "GpsTrack.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+// GpsLinux because it depennds on GPSd, the HAMLIB and NMEAP libraries
+//
+class KmlFile {
+    // public data
+public:
+    xmlDocPtr   xmlDoc;
+    xmlNodePtr  xmlRoot;
+
+    // folders we're interested in
+    xmlNodePtr  xmlRoutes;
+    xmlNodePtr  xmlTracks;
+    xmlNodePtr  xmlWaypoints;
+
+    // parser
+
+    // protected data
+protected:
+    FILE *fileKml;
+
+    // private data
+private:
+    // static data
+
+    // private methods
+
+    // public methods
+public:
+    // constructors
+    KmlFile();
+
+    // destructor
+    virtual ~KmlFile();
+
+    // virtual functions
+
+    // public methods
+    int Open( const char *file );
+    void Close( void );
+    int Create( const char *file );
+
+    GpsTrack *GetTracks(void);
+
+    // static methods
+static time_t ParseTime( const char *time );
+};
+
+#endif

include/libgps++/NmeaParser.h

@@ -0,0 +1,86 @@
+//
+// Linux GPS
+//
+// NMEA Parser code stolen from Pascal Martin's RoadMap
+//
+
+/* prevent multiple inclusions */
+#ifndef __NmeaParser__
+#define __NmeaParser__
+
+/* includes *****************************************************************/
+
+#include <vector>
+
+#include "netlib.h"
+
+#include "GpsListener.h"
+#include "GpsParser.h"
+
+#include "NmeaProtocol.h"
+#include "NmeaSentence.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+class NmeaParser : public GpsParser {
+    // public data
+public:
+    
+protected:
+    // private data
+    std::vector<NmeaSentence *>   NmeaSentences;
+
+    // Standard
+    NmeaSentenceGPRMC   GPRMC;
+    NmeaSentenceGPVTG   GPVTG;
+    NmeaSentenceGPGGA   GPGGA;
+    NmeaSentenceGPGSA   GPGSA;
+    NmeaSentenceGPGSV   GPGSV;
+    NmeaSentenceGPGLL   GPGLL;
+    NmeaSentenceGPGST	GPGST;
+    NmeaSentenceGPZDA   GPZDA;
+
+    // private data
+private:
+    // incoming data buffer
+
+    // NMEA record for notification
+    char    posfixnmea[8];
+    char    timefixnmea[8];
+
+    // private methods
+
+    // static data
+
+    // public methods
+public:
+    // constructors
+    NmeaParser();
+
+    // destructor
+    virtual ~NmeaParser();
+
+    // virtual functions
+    int GpsDecode( const char *buf, int max ) { return NmeaDecode( buf, max ); };
+    int GpsParse( const char *buf, int max ) { return NmeaParse( buf, max ); };
+
+    // public methods
+    int NmeaDecode( const char *msg, int max );
+    int NmeaParse( const char *msg, int max );
+
+    // misc
+    void NmeaPosFix( const char *str )
+        { strncpy(posfixnmea,str,sizeof(posfixnmea)-1);};
+
+    // static functions
+static int CsvSplit( char *buf, char *field[], int max );
+};
+
+#endif

include/libgps++/NmeaProtocol.h

@@ -0,0 +1,50 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __NmeaProtocol__
+#define __NmeaProtocol__
+
+/* includes *****************************************************************/
+
+#include "netlib.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+//
+// GpsLinux because it depennds on GPSd, the HAMLIB and NMEAP libraries
+//
+class NmeaProtocol {
+    // public data
+public:
+
+    // protected data
+protected:
+
+    // private data
+private:
+
+    // private methods
+
+    // public methods
+public:
+    // constructors
+    NmeaProtocol();
+
+    // destructor
+    virtual ~NmeaProtocol();
+
+    // virtual functions
+
+    // public methods
+static int NmeaChecksum( char *msg, int len, int max = 0 );
+};
+
+#endif

include/libgps++/NmeaSentence.h

@@ -0,0 +1,197 @@
+//
+// Linux GPS
+//
+// NMEA Parser code stolen from Pascal Martin's RoadMap
+//
+
+/* prevent multiple inclusions */
+#ifndef __NmeaSentence__
+#define __NmeaSentence__
+
+/* includes *****************************************************************/
+
+#include <vector>
+
+#include "GpsMath.h"
+#include "GpsListener.h"
+
+/* defines ******************************************************************/
+
+#define NMEA_MAX_SATELLITE      32
+
+#define NMEA_FIX_INVALID    0
+#define NMEA_FIX_NOFIX      0
+#define NMEA_FIX_GPS        1
+#define NMEA_FIX_DGPS       2
+#define NMEA_FIX_PPS        3
+#define NMEA_FIX_RTK_FIXED  4
+#define NMEA_FIX_RTK_FLOAT  5
+#define NMEA_FIX_DEAD_RECKONING  6
+#define NMEA_FIX_MANUAL     7
+#define NMEA_FIX_SIMULATION 8
+
+#define NMEA_MODE_AUTOMATIC     'A'
+#define NMEA_MODE_DIFFERENTIAL  'D'
+#define NMEA_MODE_ESTIMATED     'E' // dead reckoning
+#define NMEA_MODE_MANUAL        'M'
+#define NMEA_MODE_SIMULATED     'S'
+#define NMEA_MODE_INVALID       'N'
+
+#define NMEA_TYPE_INVALID       0
+#define NMEA_TYPE_NOFIX         1
+#define NMEA_TYPE_2D            2
+#define NMEA_TYPE_3D            3
+
+/* macros *******************************************************************/
+
+#define DecodeCoordinate(A,B)   GpsMath::Minutes2Degrees(A,B)
+#define DecodeTime(A,B)         GpsMath::String2Time(A,B)
+
+/* structs & typedefs *******************************************************/
+
+/* c class definitions ******************************************************/
+
+class NmeaSentence {
+public:
+    char    name[8];
+    char    argc;
+    char    parsed;         // just parsed flag
+    u_long  counter;
+    timespec timestamp;
+
+    NmeaSentence();
+    virtual ~NmeaSentence();
+
+    virtual int Decode( int argc, char *argv[] );
+    virtual void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+class NmeaSentenceGPGGA : public NmeaSentence {
+public:
+    timespec fixtime;
+    double  latitude;        // decimal degrees
+    double  longitude;
+    int     quality;
+    int     satellites;
+    float   horizontal_dilution;
+    double  altitude;        // meters
+    double  geoid;
+
+    NmeaSentenceGPGGA();
+    ~NmeaSentenceGPGGA();
+
+    int Decode( int argc, char *argv[] );
+    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+class NmeaSentenceGPGLL : public NmeaSentence {
+public:
+    double  latitude;
+    double  longitude;
+    timespec utctime;
+    char    status;
+    char    mode;
+
+    NmeaSentenceGPGLL();
+    ~NmeaSentenceGPGLL();
+
+    int Decode( int argc, char *argv[] );
+    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+class NmeaSentenceGPGSA : public NmeaSentence {
+public:
+    char    mode;
+    char    type;
+    char    satellite[NMEA_MAX_SATELLITE];
+    float   position_dilution;
+    float   horizontal_dilution;
+    float   vertical_dilution;
+
+    NmeaSentenceGPGSA();
+    ~NmeaSentenceGPGSA();
+
+    int Decode( int argc, char *argv[] );
+    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+class NmeaSentenceGPGST : public NmeaSentence {
+public:
+    timespec utctime;
+    // standard deviation of error
+    float   rms_deviation;
+    float   semimajor_deviation;
+    float   semiminor_deviation;
+    float   semimajor_orientation;
+    float   latitude_deviation;
+    float   longitude_deviation;
+    float   altitude_deviation;
+
+    NmeaSentenceGPGST();
+    ~NmeaSentenceGPGST();
+
+    int Decode( int argc, char *argv[] );
+    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+class NmeaSentenceGPGSV : public NmeaSentence {
+public:
+    char    total;
+    char    sequence;
+    char    satellites;
+    struct {
+        char    id;
+        char    elevation;
+        short   azimuth;
+        short   signal2noise;
+    } satellite[NMEA_MAX_SATELLITE];
+
+    NmeaSentenceGPGSV();
+    ~NmeaSentenceGPGSV();
+
+    int Decode( int argc, char *argv[] );
+    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+class NmeaSentenceGPRMC : public NmeaSentence {
+public:
+    timespec utctime;
+    char    status;
+    double  latitude;
+    double  longitude;
+    double  speed;           // convert knots to kph
+    double  course;
+    double  variation;
+
+    NmeaSentenceGPRMC();
+    ~NmeaSentenceGPRMC();
+
+    int Decode( int argc, char *argv[] );
+    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+class NmeaSentenceGPVTG : public NmeaSentence {
+public:
+    double  course;
+    double  speed;
+    char    mode;
+
+    NmeaSentenceGPVTG();
+    ~NmeaSentenceGPVTG();
+
+    int Decode( int argc, char *argv[] );
+    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+class NmeaSentenceGPZDA : public NmeaSentence {
+public:
+    timespec utctime;
+
+    NmeaSentenceGPZDA();
+    ~NmeaSentenceGPZDA();
+
+    int Decode( int argc, char *argv[] );
+    void Update( GpsPoint &PosData, ErrorInfo &ErrInfo, SatelliteInfo &SatInfo );
+};
+
+#endif

include/libgps++/NtripClient.h

@@ -0,0 +1,65 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __NtripClient__
+#define __NtripClient__
+
+/* includes *****************************************************************/
+
+#include "TcpClient.h"
+#include "netlib.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+
+/* c class definitions ******************************************************/
+
+//
+// GpsLinux because it depennds on GPSd, the HAMLIB and NMEAP libraries
+//
+class NtripClient : public TcpClient {
+    // public data
+public:
+    char Uri[1024];
+
+protected:
+    unsigned long   count;
+    
+    // private data
+private:
+    
+    // private methods
+
+    // static data
+
+    // public methods
+public:
+    // constructors
+    NtripClient();
+    
+    // destructor
+    virtual ~NtripClient();
+    
+    // virtual functions
+
+    // public methods
+    int NtripConnect( const char *host, const char *service,
+                     const char *user = "anonymous", const char *pass = "",
+                     const char *path = "" );
+    int NtripConnect( const char *uri );
+    int NtripReconnect( void ) {return NtripConnect( Uri ); };
+    void NtripClose(void) {Close();};
+
+    int NtripRead( unsigned char *buf, int max );
+    int NtripWrite( const unsigned char *buf, int max )
+        {return TcpClient::Send((const char *)buf,max);};
+};
+
+#endif
+

include/libgps++/RtcmDevice.h

@@ -0,0 +1,62 @@
+//
+// Linux GPS
+//
+
+/* prevent multiple inclusions */
+#ifndef __RtcmDevice__
+#define __RtcmDevice__
+
+/* includes *****************************************************************/
+
+#include "TcpClient.h"
+#include "netlib.h"
+
+/* defines ******************************************************************/
+
+/* macros *******************************************************************/
+
+/* structs & typedefs *******************************************************/
+
+
+/* c class definitions ******************************************************/
+
+class RtcmDevice {    
+    // public data
+public:
+
+    // protected data
+protected:
+    int     SerialFd;   // serial port
+
+    // private data
+private:
+
+    // private methods
+    int SerialOpen( const char *dev, int baud );
+    int SerialRead( char *buf, int max );
+    void SerialClose( void );
+
+    // static data
+
+    // public methods
+public:
+    // constructors
+    RtcmDevice();
+    
+    // destructor
+    virtual ~RtcmDevice();
+    
+    // virtual functions
+
+    // public methods
+    int GetFd(void) {return SerialFd;};
+
+    int RtcmOpen( const char *dev, int baud ) {return SerialOpen(dev,baud); };
+    void RtcmClose(void) {SerialClose();};
+    
+    int RtcmRead( char *buf, int max );
+    int RtcmWrite( const char *buf, int max );
+};
+
+#endif
+