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//
// Copyright 2015 Ettus Research LLC
//
// This program 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 3 of the License, or
// (at your option) any later version.
//
// This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
//
#include <cmath>
#include <gps.h>
#include <boost/assign/list_of.hpp>
#include <boost/bind.hpp>
#include <boost/cstdint.hpp>
#include "boost/date_time/gregorian/gregorian.hpp"
#include <boost/format.hpp>
#include <boost/lexical_cast.hpp>
#include <boost/thread/shared_mutex.hpp>
#include <boost/thread.hpp>
#include <uhd/exception.hpp>
#include <uhd/usrp/gps_ctrl.hpp>
#include <uhd/utils/msg.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, boost::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 = boost::assign::list_of("gps_locked")("gps_time")("gps_position");
}
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_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 (gps_read(&_gps_data) < 0)
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;
}
std::time_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;
}
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 boost::uint16_t port)
{
return gpsd_iface::sptr(new gpsd_iface_impl(addr, port));
}
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