Cnomicon/daemons/gpsd/gpsd.cpp

//
// 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;
}