1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
|
#include <stdio.h>
#include <stdlib.h>
#include <stdbool.h>
#include <string.h>
#include <syslog.h>
#include <math.h>
#include <time.h>
#include <errno.h>
#include <libgen.h>
#include <signal.h>
#ifndef S_SPLINT_S
#include <unistd.h>
#endif /* S_SPLINT_S */
#include "gps.h"
#include "gpsd_config.h"
#include "libgps.h"
#if defined(DBUS_EXPORT_ENABLE) && !defined(S_SPLINT_S)
struct privdata_t
{
void (*handler)(struct gps_data_t *);
};
#include <dbus/dbus.h>
/*
* Unpleasant that we have to declare a static context pointer here - means
* you can't have multiple DBUS sessions open (not that this matters
* much in practice). The problem is the DBUS API lacks some hook
* arguments that it ought to have.
*/
static struct gps_data_t *share_gpsdata;
static DBusConnection *connection;
static DBusHandlerResult handle_gps_fix(DBusMessage * message)
{
DBusError error;
/* this packet format was designed before we split eph */
double eph;
const char *gpsd_devname = NULL;
dbus_error_init(&error);
dbus_message_get_args(message,
&error,
DBUS_TYPE_DOUBLE, &share_gpsdata->fix.time,
DBUS_TYPE_INT32, &share_gpsdata->fix.mode,
DBUS_TYPE_DOUBLE, &share_gpsdata->fix.ept,
DBUS_TYPE_DOUBLE, &share_gpsdata->fix.latitude,
DBUS_TYPE_DOUBLE, &share_gpsdata->fix.longitude,
DBUS_TYPE_DOUBLE, &eph,
DBUS_TYPE_DOUBLE, &share_gpsdata->fix.altitude,
DBUS_TYPE_DOUBLE, &share_gpsdata->fix.epv,
DBUS_TYPE_DOUBLE, &share_gpsdata->fix.track,
DBUS_TYPE_DOUBLE, &share_gpsdata->fix.epd,
DBUS_TYPE_DOUBLE, &share_gpsdata->fix.speed,
DBUS_TYPE_DOUBLE, &share_gpsdata->fix.eps,
DBUS_TYPE_DOUBLE, &share_gpsdata->fix.climb,
DBUS_TYPE_DOUBLE, &share_gpsdata->fix.epc,
DBUS_TYPE_STRING, &gpsd_devname, DBUS_TYPE_INVALID);
if (share_gpsdata->fix.mode > MODE_NO_FIX )
share_gpsdata->status = STATUS_FIX;
else
share_gpsdata->status = STATUS_NO_FIX;
PRIVATE(share_gpsdata)->handler(share_gpsdata);
return DBUS_HANDLER_RESULT_HANDLED;
}
/*
* Message dispatching function
*
*/
static DBusHandlerResult signal_handler(DBusConnection * connection UNUSED,
DBusMessage * message)
{
if (dbus_message_is_signal(message, "org.gpsd", "fix"))
return handle_gps_fix(message);
/*
* ignore all other messages
*/
return DBUS_HANDLER_RESULT_NOT_YET_HANDLED;
}
int gps_dbus_open(struct gps_data_t *gpsdata)
{
DBusError error;
gpsdata->privdata = (void *)malloc(sizeof(struct privdata_t));
if (gpsdata->privdata == NULL)
return -1;
dbus_error_init(&error);
connection = dbus_bus_get(DBUS_BUS_SYSTEM, &error);
if (dbus_error_is_set(&error)) {
syslog(LOG_CRIT, "%s: %s", error.name, error.message);
return 3;
}
dbus_bus_add_match(connection, "type='signal'", &error);
if (dbus_error_is_set(&error)) {
syslog(LOG_CRIT, "unable to add match for signals %s: %s", error.name,
error.message);
return 4;
}
if (!dbus_connection_add_filter
(connection, (DBusHandleMessageFunction) signal_handler, NULL,
NULL)) {
syslog(LOG_CRIT, "unable to register filter with the connection");
return 5;
}
#ifndef USE_QT
gpsdata->gps_fd = DBUS_PSEUDO_FD;
#else
gpsdata->gps_fd = (void *)(intptr_t)DBUS_PSEUDO_FD;
#endif /* USE_QT */
share_gpsdata = gpsdata;
return 0;
}
int gps_dbus_mainloop(struct gps_data_t *gpsdata,
int timeout,
void (*hook)(struct gps_data_t *))
/* run a DBUS main loop with a specified handler */
{
share_gpsdata = gpsdata;
PRIVATE(share_gpsdata)->handler = (void (*)(struct gps_data_t *))hook;
for (;;)
if (dbus_connection_read_write_dispatch(connection, timeout * 1000) != TRUE)
return -1;
return 0;
}
#endif /* defined(DBUS_EXPORT_ENABLE) && !defined(S_SPLINT_S) */
|
