Remove GPSd dependency

GPSd was used by the E310 prior to its MPM-ification, GPSd is therefore
no longer required by UHD.

5 files changed, 0 insertions, 399 deletions

diff --git a/host/cmake/Modules/FindGPSD.cmake b/host/cmake/Modules/FindGPSD.cmake
deleted file mode 100644
index 92216438f..000000000
--- a/host/cmake/Modules/FindGPSD.cmake
+++ /dev/null
@@ -1,51 +0,0 @@
-#
-# Copyright 2015 Ettus Research LLC
-#
-# SPDX-License-Identifier: GPL-3.0-or-later
-#
-# - Find libgps
-# Find the Gpsd includes and client library
-# This module defines
-#  LIBGPS_INCLUDE_DIR, where to find gps.h
-#  LIBGPS_LIBRARIES, the libraries needed by a GPSD client.
-#  LIBGPS_FOUND, If false, do not try to use GPSD.
-# also defined, but not for general use are
-#  LIBGPS_LIBRARY, where to find the GPSD library.
-
-include(FindPkgConfig)
-PKG_CHECK_MODULES(PC_GPSD "libgps")
-PKG_CHECK_MODULES(PC_GPSD_V3_11 "libgps >= 3.11")
-
-if(PC_GPSD_FOUND AND NOT PC_GPSD_V3_11_FOUND)
-    message(WARNING "GPSD version found is too old")
-endif(PC_GPSD_FOUND AND NOT PC_GPSD_V3_11_FOUND)
-
-if(PC_GPSD_V3_11_FOUND)
-  find_path(
-      LIBGPS_INCLUDE_DIR
-      NAMES gps.h
-      HINTS ${PC_GPSD_INCLUDE_DIR}
-  )
-
-  set(
-      LIBGPS_NAMES
-      ${LIBGPS_NAMES} gps
-  )
-
-  find_library(
-      LIBGPS_LIBRARY
-      NAMES ${LIBGPS_NAMES}
-      HINTS ${PC_GPSD_LIBDIR}
-  )
-endif(PC_GPSD_V3_11_FOUND)
-
-# handle the QUIETLY and REQUIRED arguments and set LIBGPS_FOUND to TRUE if
-# all listed variables are TRUE
-include(FindPackageHandleStandardArgs)
-FIND_PACKAGE_HANDLE_STANDARD_ARGS(LIBGPS DEFAULT_MSG LIBGPS_LIBRARY LIBGPS_INCLUDE_DIR)
-
-if(LIBGPS_FOUND)
-  set(LIBGPS_LIBRARIES ${LIBGPS_LIBRARY})
-endif(LIBGPS_FOUND)
-
-mark_as_advanced(LIBGPS_LIBRARY LIBGPS_INCLUDE_DIR)
diff --git a/host/lib/CMakeLists.txt b/host/lib/CMakeLists.txt
index 7e28399b4..a156a2eed 100644
--- a/host/lib/CMakeLists.txt
+++ b/host/lib/CMakeLists.txt
@@ -60,12 +60,10 @@ endmacro(INCLUDE_SUBDIRECTORY)
 message(STATUS "")
 # Dependencies
 find_package(USB1)
-find_package(GPSD)
 find_package(LIBERIO)
 find_package(DPDK)
 LIBUHD_REGISTER_COMPONENT("LIBERIO" ENABLE_LIBERIO ON "ENABLE_LIBUHD;LIBERIO_FOUND" OFF OFF)
 LIBUHD_REGISTER_COMPONENT("USB" ENABLE_USB ON "ENABLE_LIBUHD;LIBUSB_FOUND" OFF OFF)
-LIBUHD_REGISTER_COMPONENT("GPSD" ENABLE_GPSD OFF "ENABLE_LIBUHD;ENABLE_GPSD;LIBGPS_FOUND" OFF OFF)
 # Devices
 LIBUHD_REGISTER_COMPONENT("B100" ENABLE_B100 ON "ENABLE_LIBUHD;ENABLE_USB" OFF OFF)
 LIBUHD_REGISTER_COMPONENT("B200" ENABLE_B200 ON "ENABLE_LIBUHD;ENABLE_USB" OFF OFF)
diff --git a/host/lib/usrp/CMakeLists.txt b/host/lib/usrp/CMakeLists.txt
index 6df37c2cf..b62493595 100644
--- a/host/lib/usrp/CMakeLists.txt
+++ b/host/lib/usrp/CMakeLists.txt
@@ -31,13 +31,6 @@ if(ENABLE_C_API)
     )
 endif(ENABLE_C_API)
 
-if(ENABLE_GPSD)
-    LIBUHD_APPEND_SOURCES(
-        ${CMAKE_CURRENT_SOURCE_DIR}/gpsd_iface.cpp
-    )
-    LIBUHD_APPEND_LIBS(${LIBGPS_LIBRARY})
-endif(ENABLE_GPSD)
-
 INCLUDE_SUBDIRECTORY(cores)
 INCLUDE_SUBDIRECTORY(dboard)
 INCLUDE_SUBDIRECTORY(common)
diff --git a/host/lib/usrp/gpsd_iface.cpp b/host/lib/usrp/gpsd_iface.cpp
deleted file mode 100644
index ab9ae4163..000000000
--- a/host/lib/usrp/gpsd_iface.cpp
+++ /dev/null
@@ -1,313 +0,0 @@
-//
-// Copyright 2015-2016 Ettus Research LLC
-// Copyright 2018 Ettus Research, a National Instruments Company
-//
-// SPDX-License-Identifier: GPL-3.0-or-later
-//
-
-#include <cmath>
-#include <stdint.h>
-
-#include <gps.h>
-
-#include <boost/bind.hpp>
-#include "boost/date_time/gregorian/gregorian.hpp"
-#include <boost/format.hpp>
-#include <boost/thread/shared_mutex.hpp>
-#include <boost/thread.hpp>
-#include <boost/math/special_functions/fpclassify.hpp>
-
-#include <uhd/exception.hpp>
-#include <uhd/usrp/gps_ctrl.hpp>
-#include <uhd/utils/log.hpp>
-#include <uhd/types/dict.hpp>
-
-#include "gpsd_iface.hpp"
-
-namespace uhd { namespace usrp {
-
-static const size_t TIMEOUT = 240;
-static const size_t CLICK_RATE = 250000;
-
-class gpsd_iface_impl : public virtual gpsd_iface {
-public:
-    gpsd_iface_impl(const std::string &addr, uint16_t port)
-        : _detected(false), _bthread(), _timeout_cnt(0)
-    {
-        boost::unique_lock<boost::shared_mutex> l(_d_mutex);
-
-        if (gps_open(addr.c_str(),
-            str(boost::format("%u") % port).c_str(),
-            &_gps_data) < 0) {
-            throw uhd::runtime_error(
-                str((boost::format("Failed to connect to gpsd: %s")
-                    % gps_errstr(errno))));
-        }
-
-        // register for updates, we don't specify a specific device,
-        // therefore no WATCH_DEVICE
-        gps_stream(&_gps_data, WATCH_ENABLE, NULL);
-
-        // create background thread talking to gpsd
-        boost::thread t(boost::bind(&gpsd_iface_impl::_thread_fcn ,this));
-        _bthread.swap(t);
-
-        _sensors = {
-            "gps_locked",
-            "gps_time",
-            "gps_position",
-            "gps_gpgga",
-            "gps_gprmc"
-        };
-    }
-
-    virtual ~gpsd_iface_impl(void)
-    {
-        // interrupt the background thread and wait for it to finish
-        _bthread.interrupt();
-        _bthread.join();
-
-        // clean up ...
-        {
-            boost::unique_lock<boost::shared_mutex> l(_d_mutex);
-
-            gps_stream(&_gps_data, WATCH_DISABLE, NULL);
-            gps_close(&_gps_data);
-        }
-    }
-
-    uhd::sensor_value_t get_sensor(std::string key)
-    {
-        if (key == "gps_locked") {
-            return sensor_value_t(
-                "GPS lock status", _gps_locked(), "locked", "unlocked");
-        } else if (key == "gps_time") {
-            return sensor_value_t(
-                "GPS epoch time", int(_epoch_time()), "seconds");
-        } else if (key == "gps_gpgga") {
-            return sensor_value_t(
-                "GPGGA", _gps_gpgga(), "");
-        } else if (key == "gps_gprmc") {
-            return sensor_value_t(
-                "GPRMC", _gps_gprmc(), "");
-        } else if (key == "gps_position") {
-            return sensor_value_t(
-                "GPS Position", str(
-                    boost::format("%s %s %s")
-                    % _gps_position()["lat"]
-                    % _gps_position()["lon"]
-                    % _gps_position()["alt"]), "lat/lon/alt");
-        } else
-            throw uhd::key_error(
-                str(boost::format("sensor %s unknown.") % key));
-    }
-
-    bool gps_detected(void) { return _detected; };
-
-    std::vector<std::string> get_sensors(void) { return _sensors; };
-
-private: // member functions
-    void _thread_fcn()
-    {
-        while (not boost::this_thread::interruption_requested()) {
-            if (!gps_waiting(&_gps_data, CLICK_RATE)) {
-                if (TIMEOUT < _timeout_cnt++)
-                    _detected = false;
-            } else {
-                boost::unique_lock<boost::shared_mutex> l(_d_mutex);
-
-                _timeout_cnt = 0;
-                _detected = true;
-
-#if GPSD_API_MAJOR_VERSION < 7
-                if (gps_read(&_gps_data) < 0)
-#else
-                if (gps_read(&_gps_data, NULL, 0) < 0)
-#endif
-                    throw std::runtime_error("error while reading");
-            }
-        }
-    }
-
-    bool _gps_locked(void)
-    {
-        boost::shared_lock<boost::shared_mutex> l(_d_mutex);
-        return _gps_data.fix.mode >= MODE_2D;
-    }
-
-    int64_t _epoch_time(void)
-    {
-        boost::shared_lock<boost::shared_mutex> l(_d_mutex);
-        return (boost::posix_time::from_time_t(_gps_data.fix.time)
-            - boost::posix_time::from_time_t(0)).total_seconds();
-    }
-
-    boost::gregorian::date _gregorian_date(void)
-    {
-        boost::shared_lock<boost::shared_mutex> l(_d_mutex);
-        return boost::posix_time::from_time_t(_gps_data.fix.time).date();
-    }
-
-    uhd::dict<std::string, std::string> _gps_position(void)
-    {
-        boost::shared_lock<boost::shared_mutex> l(_d_mutex);
-
-        uhd::dict<std::string, std::string> tmp;
-        if (_gps_data.fix.mode >= MODE_2D) {
-            tmp["lon"] = str(boost::format("%f deg")
-                    % _gps_data.fix.longitude);
-            tmp["lat"] = str(boost::format("%f deg")
-                    % _gps_data.fix.latitude);
-            tmp["alt"] = str(boost::format("%fm")
-                    % _gps_data.fix.altitude);
-        } else {
-            tmp["lon"] = "n/a";
-            tmp["lat"] = "n/a";
-            tmp["alt"] = "n/a";
-        }
-        return tmp;
-    }
-
-    float _zeroize(float x)
-    {
-      return boost::math::isnan(x) ? 0.0 : x;
-    }
-
-    int _nmea_checksum(const std::string &s)
-    {
-        if ((s.at(0) != '$'))
-            return 0;
-
-        uint8_t sum = '\0';
-        for (size_t i = 1; i < s.size(); i++)
-            sum ^= static_cast<uint8_t>(s.at(i));
-
-        return sum;
-    }
-
-    double _deg_to_dm(double angle)
-    {
-        double fraction, integer;
-        fraction = std::modf(angle, &integer);
-        return std::floor(angle) * 100 + fraction * 60;
-    }
-
-    std::string _gps_gprmc(void)
-    {
-        struct tm tm;
-        time_t intfixtime;
-
-        boost::shared_lock<boost::shared_mutex> l(_d_mutex);
-
-        tm.tm_mday = tm.tm_mon = tm.tm_year = 0;
-        tm.tm_hour = tm.tm_min = tm.tm_sec = 0;
-
-        if (boost::math::isnan(_gps_data.fix.time) == 0) {
-            intfixtime = (time_t) _gps_data.fix.time;
-            (void)gmtime_r(&intfixtime, &tm);
-            tm.tm_mon++;
-            tm.tm_year %= 100;
-        }
-        std::string string = str(boost::format(
-           "$GPRMC,%02d%02d%02d,%c,%09.4f,%c,%010.4f,%c,%.4f,%.3f,%02d%02d%02d,,")
-        % tm.tm_hour
-        % tm.tm_min
-        % tm.tm_sec
-        % (_gps_data.status ? 'A' : 'V')
-        % _zeroize(_deg_to_dm(std::abs(_gps_data.fix.latitude)))
-        % ((_gps_data.fix.latitude > 0) ? 'N' : 'S')
-        % _zeroize(_deg_to_dm(std::abs(_gps_data.fix.longitude)))
-        % ((_gps_data.fix.longitude > 0) ? 'E' : 'W')
-        % _zeroize(_gps_data.fix.speed * MPS_TO_KNOTS)
-        % _zeroize(_gps_data.fix.track)
-        % tm.tm_mday % tm.tm_mon % tm.tm_year);
-
-        string.append(str(
-            boost::format("*%02X") % _nmea_checksum(string)));
-
-        return string;
-    }
-
-    std::string _gps_gpgga(void)
-    {
-        struct tm tm;
-        time_t intfixtime;
-
-        // currently not supported, make it blank
-        float mag_var = NAN;
-
-        boost::shared_lock<boost::shared_mutex> l(_d_mutex);
-
-        intfixtime = (time_t) _gps_data.fix.time;
-        (void) gmtime_r(&intfixtime, &tm);
-
-        std::string string = str(boost::format(
-            "$GPGGA,%02d%02d%02d,%09.4f,%c,%010.4f,%c,%d,%02d,")
-            % tm.tm_hour
-            % tm.tm_min
-            % tm.tm_sec
-            % _zeroize(_deg_to_dm(std::abs(_gps_data.fix.latitude)))
-            % ((_gps_data.fix.latitude > 0) ? 'N' : 'S')
-            % _zeroize(_deg_to_dm(std::abs(_gps_data.fix.longitude)))
-            % ((_gps_data.fix.longitude > 0) ? 'E' : 'W')
-            % _gps_data.status
-            % _gps_data.satellites_used);
-
-        if (boost::math::isnan(_gps_data.dop.hdop))
-            string.append(",");
-        else
-            string.append(
-                str(boost::format("%.2f,") % _gps_data.dop.hdop));
-
-        if (boost::math::isnan(_gps_data.fix.altitude))
-            string.append(",,");
-        else
-            string.append(
-                str(boost::format("%.2f,M,") % _gps_data.fix.altitude));
-
-#if GPSD_API_MAJOR_VERSION < 9
-        if (boost::math::isnan(_gps_data.separation))
-            string.append(",,");
-        else
-            string.append(
-                str(boost::format("%.3f,M,") % _gps_data.separation));
-#else
-        if (boost::math::isnan(_gps_data.fix.geoid_sep))
-            string.append(",,");
-        else
-            string.append(
-                str(boost::format("%.3f,M,") % _gps_data.fix.geoid_sep));
-#endif
-
-        if (boost::math::isnan(mag_var))
-            string.append(",");
-        else {
-            string.append(
-                str(boost::format("%3.2f,%s") % std::abs(mag_var)
-                % (mag_var > 0 ? "E" : "W")));
-        }
-
-        string.append(str(
-            boost::format("*%02X") % _nmea_checksum(string)));
-
-        return string;
-    }
-
-private: // members
-    std::vector<std::string> _sensors;
-    bool                     _detected;
-
-    gps_data_t               _gps_data;
-    boost::shared_mutex      _d_mutex;
-    boost::thread            _bthread;
-    size_t                   _timeout_cnt;
-};
-
-}} //namespace
-
-using namespace uhd::usrp;
-
-gpsd_iface::sptr gpsd_iface::make(const std::string &addr, const uint16_t port)
-{
-    return gpsd_iface::sptr(new gpsd_iface_impl(addr, port));
-}
diff --git a/host/lib/usrp/gpsd_iface.hpp b/host/lib/usrp/gpsd_iface.hpp
deleted file mode 100644
index f58555d4a..000000000
--- a/host/lib/usrp/gpsd_iface.hpp
+++ /dev/null
@@ -1,26 +0,0 @@
-//
-// Copyright 2015 Ettus Research LLC
-// Copyright 2018 Ettus Research, a National Instruments Company
-//
-// SPDX-License-Identifier: GPL-3.0-or-later
-//
-
-#ifndef INCLUDED_GPSD_IFACE_HPP
-#define INCLUDED_GPSD_IFACE_HPP
-
-#include <stdint.h>
-#include <boost/shared_ptr.hpp>
-
-#include <uhd/usrp/gps_ctrl.hpp>
-
-namespace uhd { namespace usrp {
-
-class gpsd_iface : public virtual uhd::gps_ctrl {
-public:
-    typedef boost::shared_ptr<gpsd_iface> sptr;
-    static sptr make(const std::string &addr, uint16_t port);
-};
-
-}};
-
-#endif /* INCLUDED_GPSD_IFACE_HPP */