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/*
This file is part of Kismet
Kismet is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
Kismet is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with Kismet; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef __GPSD_H__
#define __GPSD_H__
#include "config.h"
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <unistd.h>
#include <netdb.h>
#include <stdio.h>
#include <errno.h>
#include <string.h>
#include <fcntl.h>
#include <math.h>
#ifdef HAVE_INTTYPES_H
#include <inttypes.h>
#endif
// gpsd return looks like
// SEND: PAVM
// RECV: GPSD,P=41.711378 -73.931428,A=42.500000,V=0.000000,M=1
// or
// RECV: GPSD,P=41.711548 -73.931020,A=61.800000,V=0.000000,M=3
// POSITION, ALT, VELOCITY, MODE
// Our command
// const char gpsd_command[] = "PAVMH\n";
// Query gpsd version
const char gpsd_init_command[] = "l\n";
// Optional GPSD commands (enable jitter correction, etc)
const char gpsd_opt_commands[] = "j=1\n";
// Watcher mode
const char gpsd_watch_command[] = "w=1\n";
// GPS poll command
const char gpsd_poll_command[] = "PAVM\n";
// Options
#define GPSD_OPT_FORCEMODE 1
// Max data size
#define GPSD_MAX_DATASIZE 2048
// gpsd GPS capture
class GPSD {
public:
GPSD(char *in_host, int in_port);
~GPSD(void);
char *FetchError();
// Open gpsd on host, port
int OpenGPSD();
// Close it
int CloseGPSD();
// Set options
void SetOptions(uint32_t in_opt) { options = in_opt; }
// Get our file descriptor
int FetchDescriptor() { return sock; }
unsigned int MergeSet(fd_set *in_rset, fd_set *in_wset, unsigned int in_max);
int Poll(fd_set *in_rset, fd_set *in_wset);
// Fetch a location
int FetchLoc(float *in_lat, float *in_lon, float *in_alt,
float *in_spd, float *in_hed, int *mode);
// Fetch mode
int FetchMode() { return mode; }
// Write poll request data
void WritePoll();
// Various GPS transformations
static float CalcHeading(float in_lat, float in_lon, float in_lat2, float in_lon2);
static double CalcRad(double lat);
static double Rad2Deg(double x);
static double Deg2Rad(double x);
static double EarthDistance(double in_lat, double in_lon,
double in_lat2, double in_lon2);
protected:
char errstr[1024];
// Are we in polling or watcher mode?
int poll_mode;
int poll_timer;
// 'O' response reports speed as m/s instead of knots?
int si_units;
int sock;
float lat, lon, alt, spd, hed;
int mode;
int last_mode;
// Last location used for softheading calcs
float last_lat, last_lon, last_hed;
time_t last_hed_time;
char data[GPSD_MAX_DATASIZE + 1];
int data_pos;
char *host;
int port;
struct sockaddr_in localaddr, servaddr;
struct hostent *h;
uint32_t options;
};
#endif
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