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| 1 /* | |
| 2 * This file is Copyright (c) 2010 by the GPSD project | |
| 3 * BSD terms apply: see the file COPYING in the distribution root for details. | |
| 4 */ | |
| 5 #ifndef _GPSD_GPS_H_ | |
| 6 #define _GPSD_GPS_H_ | |
| 7 | |
| 8 /* gps.h -- interface of the libgps library */ | |
| 9 | |
| 10 #ifdef _WIN32 | |
| 11 #define strtok_r(s,d,p) strtok_s(s,d,p) | |
| 12 #endif | |
| 13 | |
| 14 #ifdef __cplusplus | |
| 15 extern "C" { | |
| 16 #endif | |
| 17 | |
| 18 /* Macro for declaring function arguments unused. */ | |
| 19 #if defined(__GNUC__) | |
| 20 # define UNUSED __attribute__((unused)) /* Flag variable as unused */ | |
| 21 #else /* not __GNUC__ */ | |
| 22 # define UNUSED | |
| 23 #endif | |
| 24 | |
| 25 | |
| 26 #include <sys/types.h> | |
| 27 #include <sys/time.h> | |
| 28 #include <stdbool.h> | |
| 29 #include <inttypes.h> /* stdint.h would be smaller but not all have it */ | |
| 30 #include <limits.h> | |
| 31 #include <time.h> | |
| 32 #include <signal.h> | |
| 33 #include <stdio.h> | |
| 34 #ifndef S_SPLINT_S | |
| 35 #include <pthread.h> /* pacifies OpenBSD's compiler */ | |
| 36 #endif | |
| 37 | |
| 38 #define GPSD_API_MAJOR_VERSION 4 /* bump on incompatible changes */ | |
| 39 #define GPSD_API_MINOR_VERSION 1 /* bump on compatible changes */ | |
| 40 | |
| 41 #define MAXTAGLEN 8 /* maximum length of sentence tag name */ | |
| 42 #define MAXCHANNELS 20 /* maximum GPS channels (*not* satellites!) */ | |
| 43 #define GPS_PRNMAX 32 /* above this number are SBAS satellites */ | |
| 44 #define GPS_PATH_MAX 64 /* dev files usually have short names */ | |
| 45 #define MAXUSERDEVS 4 /* max devices per user */ | |
| 46 | |
| 47 /* | |
| 48 * The structure describing an uncertainty volume in kinematic space. | |
| 49 * This is what GPSes are meant to produce; all the other info is | |
| 50 * technical impedimenta. | |
| 51 * | |
| 52 * All double values use NAN to indicate data not available. | |
| 53 * | |
| 54 * Usually all the information in this structure was considered valid | |
| 55 * by the GPS at the time of update. This will be so if you are using | |
| 56 * a GPS chipset that speaks SiRF binary, Garmin binary, or Zodiac binary. | |
| 57 * This covers over 80% of GPS products in early 2005. | |
| 58 * | |
| 59 * If you are using a chipset that speaks NMEA, this structure is updated | |
| 60 * in bits by GPRMC (lat/lon, track, speed), GPGGA (alt, climb), GPGLL | |
| 61 * (lat/lon), and GPGSA (eph, epv). Most NMEA GPSes take a single fix | |
| 62 * at the beginning of a 1-second cycle and report the same timestamp in | |
| 63 * GPRMC, GPGGA, and GPGLL; for these, all info is guaranteed correctly | |
| 64 * synced to the time member, but you'll get different stages of the same | |
| 65 * update depending on where in the cycle you poll. A very few GPSes, | |
| 66 * like the Garmin 48, take a new fix before more than one of of | |
| 67 * GPRMC/GPGGA/GPGLL during a single cycle; thus, they may have different | |
| 68 * timestamps and some data in this structure can be up to 1 cycle (usually | |
| 69 * 1 second) older than the fix time. | |
| 70 * | |
| 71 * Error estimates are at 95% confidence. | |
| 72 */ | |
| 73 struct gps_fix_t { | |
| 74 double time; /* Time of update, seconds since Unix epoch */ | |
| 75 int mode; /* Mode of fix */ | |
| 76 #define MODE_NOT_SEEN 0 /* mode update not seen yet */ | |
| 77 #define MODE_NO_FIX 1 /* none */ | |
| 78 #define MODE_2D 2 /* good for latitude/longitude */ | |
| 79 #define MODE_3D 3 /* good for altitude/climb too */ | |
| 80 double ept; /* Expected time uncertainty */ | |
| 81 double latitude; /* Latitude in degrees (valid if mode >= 2) */ | |
| 82 double epy; /* Latitude position uncertainty, meters */ | |
| 83 double longitude; /* Longitude in degrees (valid if mode >= 2) */ | |
| 84 double epx; /* Longitude position uncertainty, meters */ | |
| 85 double altitude; /* Altitude in meters (valid if mode == 3) */ | |
| 86 double epv; /* Vertical position uncertainty, meters */ | |
| 87 double track; /* Course made good (relative to true north) */ | |
| 88 double epd; /* Track uncertainty, degrees */ | |
| 89 double speed; /* Speed over ground, meters/sec */ | |
| 90 double eps; /* Speed uncertainty, meters/sec */ | |
| 91 double climb; /* Vertical speed, meters/sec */ | |
| 92 double epc; /* Vertical speed uncertainty */ | |
| 93 }; | |
| 94 | |
| 95 /* | |
| 96 * From the RCTM104 2.x standard: | |
| 97 * | |
| 98 * "The 30 bit words (as opposed to 32 bit words) coupled with a 50 Hz | |
| 99 * transmission rate provides a convenient timing capability where the | |
| 100 * times of word boundaries are a rational multiple of 0.6 seconds." | |
| 101 * | |
| 102 * "Each frame is N+2 words long, where N is the number of message data | |
| 103 * words. For example, a filler message (type 6 or 34) with no message | |
| 104 * data will have N=0, and will consist only of two header words. The | |
| 105 * maximum number of data words allowed by the format is 31, so that | |
| 106 * the longest possible message will have a total of 33 words." | |
| 107 */ | |
| 108 #define RTCM2_WORDS_MAX 33 | |
| 109 #define MAXCORRECTIONS 18 /* max correction count in type 1 or 9 */ | |
| 110 #define MAXSTATIONS 10 /* maximum stations in almanac, type 5 */ | |
| 111 /* RTCM104 doesn't specify this, so give it the largest reasonable value */ | |
| 112 #define MAXHEALTH (RTCM2_WORDS_MAX-2) | |
| 113 | |
| 114 #ifndef S_SPLINT_S | |
| 115 /* | |
| 116 * A nominally 30-bit word (24 bits of data, 6 bits of parity) | |
| 117 * used both in the GPS downlink protocol described in IS-GPS-200 | |
| 118 * and in the format for DGPS corrections used in RTCM-104v2. | |
| 119 */ | |
| 120 typedef /*@unsignedintegraltype@*/ uint32_t isgps30bits_t; | |
| 121 #endif /* S_SPLINT_S */ | |
| 122 | |
| 123 /* | |
| 124 * Values for "system" fields. Note, the encoding logic is senstive to the | |
| 125 * actual values of these; it's not sufficient that they're distinct. | |
| 126 */ | |
| 127 #define NAVSYSTEM_GPS 0 | |
| 128 #define NAVSYSTEM_GLONASS 1 | |
| 129 #define NAVSYSTEM_GALILEO 2 | |
| 130 #define NAVSYSTEM_UNKNOWN 3 | |
| 131 | |
| 132 struct rtcm2_t { | |
| 133 /* header contents */ | |
| 134 unsigned type; /* RTCM message type */ | |
| 135 unsigned length; /* length (words) */ | |
| 136 double zcount; /* time within hour: GPS time, no leap secs */ | |
| 137 unsigned refstaid; /* reference station ID */ | |
| 138 unsigned seqnum; /* message sequence number (modulo 8) */ | |
| 139 unsigned stathlth; /* station health */ | |
| 140 | |
| 141 /* message data in decoded form */ | |
| 142 union { | |
| 143 struct { | |
| 144 unsigned int nentries; | |
| 145 struct rangesat_t { /* data from messages 1 & 9 */ | |
| 146 unsigned ident; /* satellite ID */ | |
| 147 unsigned udre; /* user diff. range error */ | |
| 148 unsigned issuedata; /* issue of data */ | |
| 149 double rangerr; /* range error */ | |
| 150 double rangerate; /* range error rate */ | |
| 151 } sat[MAXCORRECTIONS]; | |
| 152 } ranges; | |
| 153 struct { /* data for type 3 messages */ | |
| 154 bool valid; /* is message well-formed? */ | |
| 155 double x, y, z; | |
| 156 } ecef; | |
| 157 struct { /* data from type 4 messages */ | |
| 158 bool valid; /* is message well-formed? */ | |
| 159 int system; | |
| 160 int sense; | |
| 161 #define SENSE_INVALID 0 | |
| 162 #define SENSE_GLOBAL 1 | |
| 163 #define SENSE_LOCAL 2 | |
| 164 char datum[6]; | |
| 165 double dx, dy, dz; | |
| 166 } reference; | |
| 167 struct { /* data from type 5 messages */ | |
| 168 unsigned int nentries; | |
| 169 struct consat_t { | |
| 170 unsigned ident; /* satellite ID */ | |
| 171 bool iodl; /* issue of data */ | |
| 172 unsigned int health; /* is satellite healthy? */ | |
| 173 #define HEALTH_NORMAL (0) /* Radiobeacon operation normal */ | |
| 174 #define HEALTH_UNMONITORED (1) /* No integrity monitor operating */ | |
| 175 #define HEALTH_NOINFO (2) /* No information available */ | |
| 176 #define HEALTH_DONOTUSE (3) /* Do not use this radiobeacon */ | |
| 177 int snr; /* signal-to-noise ratio, dB */ | |
| 178 #define SNR_BAD -1 /* not reported */ | |
| 179 bool health_en; /* health enabled */ | |
| 180 bool new_data; /* new data? */ | |
| 181 bool los_warning; /* line-of-sight warning */ | |
| 182 unsigned int tou; /* time to unhealth, seconds */ | |
| 183 } sat[MAXHEALTH]; | |
| 184 } conhealth; | |
| 185 struct { /* data from type 7 messages */ | |
| 186 unsigned int nentries; | |
| 187 struct station_t { | |
| 188 double latitude, longitude; /* location */ | |
| 189 unsigned int range; /* range in km */ | |
| 190 double frequency; /* broadcast freq */ | |
| 191 unsigned int health; /* station health */ | |
| 192 unsigned int station_id; /* of the transmitter */ | |
| 193 unsigned int bitrate; /* of station transmissions */ | |
| 194 } station[MAXSTATIONS]; | |
| 195 } almanac; | |
| 196 /* data from type 16 messages */ | |
| 197 char message[(RTCM2_WORDS_MAX-2) * sizeof(isgps30bits_t)]; | |
| 198 /* data from messages of unknown type */ | |
| 199 isgps30bits_t words[RTCM2_WORDS_MAX-2]; | |
| 200 }; | |
| 201 }; | |
| 202 | |
| 203 /* RTCM3 report structures begin here */ | |
| 204 | |
| 205 #define RTCM3_MAX_SATELLITES 64 | |
| 206 #define RTCM3_MAX_DESCRIPTOR 31 | |
| 207 #define RTCM3_MAX_ANNOUNCEMENTS 32 | |
| 208 | |
| 209 struct rtcm3_rtk_hdr { /* header data from 1001, 1002, 1003, 1004 */ | |
| 210 /* Used for both GPS and GLONASS, but their timebases differ */ | |
| 211 unsigned int station_id; /* Reference Station ID */ | |
| 212 time_t tow; /* GPS Epoch Time (TOW) in ms, | |
| 213 or GLONASS Epoch Time in ms */ | |
| 214 bool sync; /* Synchronous GNSS Message Flag */ | |
| 215 unsigned short satcount; /* # Satellite Signals Processed */ | |
| 216 bool smoothing; /* Divergence-free Smoothing Indicator */ | |
| 217 unsigned short interval; /* Smoothing Interval */ | |
| 218 }; | |
| 219 | |
| 220 struct rtcm3_basic_rtk { | |
| 221 unsigned char indicator; /* Indicator */ | |
| 222 unsigned char channel; /* Satellite Frequency Channel Number | |
| 223 (GLONASS only) */ | |
| 224 double pseudorange; /* Pseudorange */ | |
| 225 double rangediff; /* PhaseRange – Pseudorange in meters */ | |
| 226 unsigned char locktime; /* Lock time Indicator */ | |
| 227 }; | |
| 228 | |
| 229 struct rtcm3_extended_rtk { | |
| 230 unsigned char indicator; /* Indicator */ | |
| 231 unsigned char channel; /* Satellite Frequency Channel Number | |
| 232 (GLONASS only) */ | |
| 233 double pseudorange; /* Pseudorange */ | |
| 234 double rangediff; /* PhaseRange – L1 Pseudorange */ | |
| 235 unsigned char locktime; /* Lock time Indicator */ | |
| 236 unsigned char ambiguity; /* Integer Pseudorange | |
| 237 Modulus Ambiguity */ | |
| 238 double CNR; /* Carrier-to-Noise Ratio */ | |
| 239 }; | |
| 240 | |
| 241 struct rtcm3_network_rtk_header { | |
| 242 unsigned int network_id; /* Network ID */ | |
| 243 unsigned int subnetwork_id; /* Subnetwork ID */ | |
| 244 time_t time; /* GPS Epoch Time (TOW) in ms */ | |
| 245 bool multimesg; /* GPS Multiple Message Indicator */ | |
| 246 unsigned master_id; /* Master Reference Station ID */ | |
| 247 unsigned aux_id; /* Auxilary Reference Station ID */ | |
| 248 unsigned char satcount; /* count of GPS satellites */ | |
| 249 }; | |
| 250 | |
| 251 struct rtcm3_correction_diff { | |
| 252 unsigned char ident; /* satellite ID */ | |
| 253 enum {reserved, correct, widelane, uncertain} ambiguity; | |
| 254 unsigned char nonsync; | |
| 255 double geometric_diff; /* Geometric Carrier Phase | |
| 256 Correction Difference (1016, 1017) */ | |
| 257 unsigned char iode; /* GPS IODE (1016, 1017) */ | |
| 258 double ionospheric_diff; /* Ionospheric Carrier Phase | |
| 259 Correction Difference (1015, 1017) */ | |
| 260 }; | |
| 261 | |
| 262 struct rtcm3_t { | |
| 263 /* header contents */ | |
| 264 unsigned type; /* RTCM 3.x message type */ | |
| 265 unsigned length; /* payload length, inclusive of checksum */ | |
| 266 | |
| 267 union { | |
| 268 /* 1001-1013 were present in the 3.0 version */ | |
| 269 struct { | |
| 270 struct rtcm3_rtk_hdr header; | |
| 271 struct { | |
| 272 unsigned ident; /* Satellite ID */ | |
| 273 struct rtcm3_basic_rtk L1; | |
| 274 } rtk_data[RTCM3_MAX_SATELLITES]; | |
| 275 } rtcm3_1001; | |
| 276 struct { | |
| 277 struct rtcm3_rtk_hdr header; | |
| 278 struct { | |
| 279 unsigned ident; /* Satellite ID */ | |
| 280 struct rtcm3_extended_rtk L1; | |
| 281 } rtk_data[RTCM3_MAX_SATELLITES]; | |
| 282 } rtcm3_1002; | |
| 283 struct { | |
| 284 struct rtcm3_rtk_hdr header; | |
| 285 struct { | |
| 286 unsigned ident; /* Satellite ID */ | |
| 287 struct rtcm3_basic_rtk L1; | |
| 288 struct rtcm3_basic_rtk L2; | |
| 289 } rtk_data[RTCM3_MAX_SATELLITES]; | |
| 290 } rtcm3_1003; | |
| 291 struct { | |
| 292 struct rtcm3_rtk_hdr header; | |
| 293 struct { | |
| 294 unsigned ident; /* Satellite ID */ | |
| 295 struct rtcm3_extended_rtk L1; | |
| 296 struct rtcm3_extended_rtk L2; | |
| 297 } rtk_data[RTCM3_MAX_SATELLITES]; | |
| 298 } rtcm3_1004; | |
| 299 struct { | |
| 300 unsigned int station_id; /* Reference Station ID */ | |
| 301 int system; /* Which system is it? */ | |
| 302 bool reference_station; /* Reference-station indicator *
/ | |
| 303 bool single_receiver; /* Single Receiver Oscillator */ | |
| 304 double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */ | |
| 305 } rtcm3_1005; | |
| 306 struct { | |
| 307 unsigned int station_id; /* Reference Station ID */ | |
| 308 int system; /* Which system is it? */ | |
| 309 bool reference_station; /* Reference-station indicator *
/ | |
| 310 bool single_receiver; /* Single Receiver Oscillator */ | |
| 311 double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */ | |
| 312 double height; /* Antenna height */ | |
| 313 } rtcm3_1006; | |
| 314 struct { | |
| 315 unsigned int station_id; /* Reference Station ID
*/ | |
| 316 char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ | |
| 317 unsigned char setup_id; | |
| 318 } rtcm3_1007; | |
| 319 struct { | |
| 320 unsigned int station_id; /* Reference Station ID
*/ | |
| 321 char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */ | |
| 322 unsigned char setup_id; | |
| 323 char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */ | |
| 324 } rtcm3_1008; | |
| 325 struct { | |
| 326 struct rtcm3_rtk_hdr header; | |
| 327 struct { | |
| 328 unsigned ident; /* Satellite ID */ | |
| 329 struct rtcm3_basic_rtk L1; | |
| 330 } rtk_data[RTCM3_MAX_SATELLITES]; | |
| 331 } rtcm3_1009; | |
| 332 struct { | |
| 333 struct rtcm3_rtk_hdr header; | |
| 334 struct { | |
| 335 unsigned ident; /* Satellite ID */ | |
| 336 struct rtcm3_extended_rtk L1; | |
| 337 } rtk_data[RTCM3_MAX_SATELLITES]; | |
| 338 } rtcm3_1010; | |
| 339 struct { | |
| 340 struct rtcm3_rtk_hdr header; | |
| 341 struct { | |
| 342 unsigned ident; /* Satellite ID */ | |
| 343 struct rtcm3_extended_rtk L1; | |
| 344 struct rtcm3_extended_rtk L2; | |
| 345 } rtk_data[RTCM3_MAX_SATELLITES]; | |
| 346 } rtcm3_1011; | |
| 347 struct { | |
| 348 struct rtcm3_rtk_hdr header; | |
| 349 struct { | |
| 350 unsigned ident; /* Satellite ID */ | |
| 351 struct rtcm3_extended_rtk L1; | |
| 352 struct rtcm3_extended_rtk L2; | |
| 353 } rtk_data[RTCM3_MAX_SATELLITES]; | |
| 354 } rtcm3_1012; | |
| 355 struct { | |
| 356 unsigned int station_id; /* Reference Station ID */ | |
| 357 unsigned short mjd; /* Modified Julian Day (MJD) Number */ | |
| 358 unsigned int sod; /* Seconds of Day (UTC) */ | |
| 359 unsigned char leapsecs; /* Leap Seconds, GPS-UTC */ | |
| 360 unsigned char ncount; /* Count of announcements to follow */ | |
| 361 struct { | |
| 362 unsigned short id; | |
| 363 bool sync; | |
| 364 unsigned short interval; | |
| 365 } announcements[RTCM3_MAX_ANNOUNCEMENTS]; | |
| 366 } rtcm3_1013; | |
| 367 /* 1014-1017 were added in the 3.1 version */ | |
| 368 struct { | |
| 369 unsigned int network_id; /* Network ID */ | |
| 370 unsigned int subnetwork_id; /* Subnetwork ID */ | |
| 371 unsigned char stationcount; /* # auxiliary stations transmitted */ | |
| 372 unsigned int master_id; /* Master Reference Station ID */ | |
| 373 unsigned int aux_id; /* Auxilary Reference Station ID */ | |
| 374 double d_lat, d_lon, d_alt; /* Aux-master location delta */ | |
| 375 } rtcm3_1014; | |
| 376 struct { | |
| 377 struct rtcm3_network_rtk_header header; | |
| 378 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; | |
| 379 } rtcm3_1015; | |
| 380 struct { | |
| 381 struct rtcm3_network_rtk_header header; | |
| 382 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; | |
| 383 } rtcm3_1016; | |
| 384 struct { | |
| 385 struct rtcm3_network_rtk_header header; | |
| 386 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES]; | |
| 387 } rtcm3_1017; | |
| 388 /* 1018-1029 were in the 3.0 version */ | |
| 389 struct { | |
| 390 unsigned int ident; /* Satellite ID */ | |
| 391 unsigned int week; /* GPS Week Number */ | |
| 392 unsigned char sv_accuracy; /* GPS SV ACCURACY */ | |
| 393 enum {reserved_code, p, ca, l2c} code; | |
| 394 double idot; | |
| 395 unsigned char iode; | |
| 396 /* ephemeris fields, not scaled */ | |
| 397 unsigned int t_sub_oc; | |
| 398 signed int a_sub_f2; | |
| 399 signed int a_sub_f1; | |
| 400 signed int a_sub_f0; | |
| 401 unsigned int iodc; | |
| 402 signed int C_sub_rs; | |
| 403 signed int delta_sub_n; | |
| 404 signed int M_sub_0; | |
| 405 signed int C_sub_uc; | |
| 406 unsigned int e; | |
| 407 signed int C_sub_us; | |
| 408 unsigned int sqrt_sub_A; | |
| 409 unsigned int t_sub_oe; | |
| 410 signed int C_sub_ic; | |
| 411 signed int OMEGA_sub_0; | |
| 412 signed int C_sub_is; | |
| 413 signed int i_sub_0; | |
| 414 signed int C_sub_rc; | |
| 415 signed int argument_of_perigee; | |
| 416 signed int omegadot; | |
| 417 signed int t_sub_GD; | |
| 418 unsigned char sv_health; | |
| 419 bool p_data; | |
| 420 bool fit_interval; | |
| 421 } rtcm3_1019; | |
| 422 struct { | |
| 423 unsigned int ident; /* Satellite ID */ | |
| 424 unsigned short channel; /* Satellite Frequency Channel Number */ | |
| 425 /* ephemeris fields, not scaled */ | |
| 426 bool C_sub_n; | |
| 427 bool health_avAilability_indicator; | |
| 428 unsigned char P1; | |
| 429 unsigned short t_sub_k; | |
| 430 bool msb_of_B_sub_n; | |
| 431 bool P2; | |
| 432 bool t_sub_b; | |
| 433 signed int x_sub_n_t_of_t_sub_b_prime; | |
| 434 signed int x_sub_n_t_of_t_sub_b; | |
| 435 signed int x_sub_n_t_of_t_sub_b_prime_prime; | |
| 436 signed int y_sub_n_t_of_t_sub_b_prime; | |
| 437 signed int y_sub_n_t_of_t_sub_b; | |
| 438 signed int y_sub_n_t_of_t_sub_b_prime_prime; | |
| 439 signed int z_sub_n_t_of_t_sub_b_prime; | |
| 440 signed int z_sub_n_t_of_t_sub_b; | |
| 441 signed int z_sub_n_t_of_t_sub_b_prime_prime; | |
| 442 bool P3; | |
| 443 signed int gamma_sub_n_of_t_sub_b; | |
| 444 unsigned char MP; | |
| 445 bool Ml_n; | |
| 446 signed int tau_n_of_t_sub_b; | |
| 447 signed int M_delta_tau_sub_n; | |
| 448 unsigned int E_sub_n; | |
| 449 bool MP4; | |
| 450 unsigned char MF_sub_T; | |
| 451 unsigned char MN_sub_T; | |
| 452 unsigned char MM; | |
| 453 bool additioinal_data_availability; | |
| 454 unsigned int N_sup_A; | |
| 455 unsigned int tau_sub_c; | |
| 456 unsigned int M_N_sub_4; | |
| 457 signed int M_tau_sub_GPS; | |
| 458 bool M_l_sub_n; | |
| 459 } rtcm3_1020; | |
| 460 struct { | |
| 461 unsigned int station_id; /* Reference Station ID */ | |
| 462 unsigned short mjd; /* Modified Julian Day (MJD) Number */ | |
| 463 unsigned int sod; /* Seconds of Day (UTC) */ | |
| 464 unsigned char len; /* # Chars to follow */ | |
| 465 unsigned char unicode_units; | |
| 466 unsigned char text[128]; | |
| 467 } rtcm3_1029; | |
| 468 } rtcmtypes; | |
| 469 }; | |
| 470 | |
| 471 typedef /*@unsignedintegraltype@*/ unsigned int gps_mask_t; | |
| 472 | |
| 473 /* | |
| 474 * Is an MMSI number that of an auxiliary associated with a mother ship? | |
| 475 * We need to be able to test this for decoding AIS Type 24 messages. | |
| 476 * According to <http://www.navcen.uscg.gov/marcomms/gmdss/mmsi.htm#format>, | |
| 477 * auxiliary-craft MMSIs have the form 98MIDXXXX, where MID is a country | |
| 478 * code and XXXX the vessel ID. | |
| 479 */ | |
| 480 #define AIS_AUXILIARY_MMSI(n) ((n) / 10000000 == 98) | |
| 481 | |
| 482 struct ais_t | |
| 483 { | |
| 484 unsigned int type; /* message type */ | |
| 485 unsigned int repeat; /* Repeat indicator */ | |
| 486 unsigned int mmsi; /* MMSI */ | |
| 487 union { | |
| 488 /* Types 1-3 Common navigation info */ | |
| 489 struct { | |
| 490 unsigned int status; /* navigation status */ | |
| 491 signed turn; /* rate of turn */ | |
| 492 #define AIS_TURN_HARD_LEFT -127 | |
| 493 #define AIS_TURN_HARD_RIGHT 127 | |
| 494 #define AIS_TURN_NOT_AVAILABLE 128 | |
| 495 unsigned int speed; /* speed over ground in deciknot
s */ | |
| 496 #define AIS_SPEED_NOT_AVAILABLE 1023 | |
| 497 #define AIS_SPEED_FAST_MOVER 1022 /* >= 102.2 knots */ | |
| 498 bool accuracy; /* position accuracy */ | |
| 499 #define AIS_LATLON_SCALE 600000.0 | |
| 500 int lon; /* longitude */ | |
| 501 #define AIS_LON_NOT_AVAILABLE 0x6791AC0 | |
| 502 int lat; /* latitude */ | |
| 503 #define AIS_LAT_NOT_AVAILABLE 0x3412140 | |
| 504 unsigned int course; /* course over ground */ | |
| 505 #define AIS_COURSE_NOT_AVAILABLE 3600 | |
| 506 unsigned int heading; /* true heading */ | |
| 507 #define AIS_HEADING_NOT_AVAILABLE 511 | |
| 508 unsigned int second; /* seconds of UTC timestamp */ | |
| 509 #define AIS_SEC_NOT_AVAILABLE 60 | |
| 510 #define AIS_SEC_MANUAL 61 | |
| 511 #define AIS_SEC_ESTIMATED 62 | |
| 512 #define AIS_SEC_INOPERATIVE 63 | |
| 513 unsigned int maneuver; /* maneuver indicator */ | |
| 514 //unsigned int spare; spare bits */ | |
| 515 bool raim; /* RAIM flag */ | |
| 516 unsigned int radio; /* radio status bits */ | |
| 517 } type1; | |
| 518 /* Type 4 - Base Station Report & Type 11 - UTC and Date Response */ | |
| 519 struct { | |
| 520 unsigned int year; /* UTC year */ | |
| 521 #define AIS_YEAR_NOT_AVAILABLE 0 | |
| 522 unsigned int month; /* UTC month */ | |
| 523 #define AIS_MONTH_NOT_AVAILABLE 0 | |
| 524 unsigned int day; /* UTC day */ | |
| 525 #define AIS_DAY_NOT_AVAILABLE 0 | |
| 526 unsigned int hour; /* UTC hour */ | |
| 527 #define AIS_HOUR_NOT_AVAILABLE 24 | |
| 528 unsigned int minute; /* UTC minute */ | |
| 529 #define AIS_MINUTE_NOT_AVAILABLE 60 | |
| 530 unsigned int second; /* UTC second */ | |
| 531 #define AIS_SECOND_NOT_AVAILABLE 60 | |
| 532 bool accuracy; /* fix quality */ | |
| 533 int lon; /* longitude */ | |
| 534 int lat; /* latitude */ | |
| 535 unsigned int epfd; /* type of position fix device */ | |
| 536 //unsigned int spare; spare bits */ | |
| 537 bool raim; /* RAIM flag */ | |
| 538 unsigned int radio; /* radio status bits */ | |
| 539 } type4; | |
| 540 /* Type 5 - Ship static and voyage related data */ | |
| 541 struct { | |
| 542 unsigned int ais_version; /* AIS version level */ | |
| 543 unsigned int imo; /* IMO identification */ | |
| 544 char callsign[8]; /* callsign */ | |
| 545 #define AIS_SHIPNAME_MAXLEN 20 | |
| 546 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */ | |
| 547 unsigned int shiptype; /* ship type code */ | |
| 548 unsigned int to_bow; /* dimension to bow */ | |
| 549 unsigned int to_stern; /* dimension to stern */ | |
| 550 unsigned int to_port; /* dimension to port */ | |
| 551 unsigned int to_starboard; /* dimension to starboard */ | |
| 552 unsigned int epfd; /* type of position fix deviuce */ | |
| 553 unsigned int month; /* UTC month */ | |
| 554 unsigned int day; /* UTC day */ | |
| 555 unsigned int hour; /* UTC hour */ | |
| 556 unsigned int minute; /* UTC minute */ | |
| 557 unsigned int draught; /* draft in meters */ | |
| 558 char destination[21]; /* ship destination */ | |
| 559 unsigned int dte; /* data terminal enable */ | |
| 560 //unsigned int spare; spare bits */ | |
| 561 } type5; | |
| 562 /* Type 6 - Addressed Binary Message */ | |
| 563 struct { | |
| 564 unsigned int seqno; /* sequence number */ | |
| 565 unsigned int dest_mmsi; /* destination MMSI */ | |
| 566 bool retransmit; /* retransmit flag */ | |
| 567 //unsigned int spare; spare bit(s) */ | |
| 568 unsigned int app_id; /* Application ID */ | |
| 569 #define AIS_TYPE6_BINARY_MAX 920 /* 920 bits */ | |
| 570 size_t bitcount; /* bit count of the data */ | |
| 571 char bitdata[(AIS_TYPE6_BINARY_MAX + 7) / 8]; | |
| 572 } type6; | |
| 573 /* Type 7 - Binary Acknowledge */ | |
| 574 struct { | |
| 575 unsigned int mmsi1; | |
| 576 unsigned int mmsi2; | |
| 577 unsigned int mmsi3; | |
| 578 unsigned int mmsi4; | |
| 579 /* spares ignored, they're only padding here */ | |
| 580 } type7; | |
| 581 /* Type 8 - Broadcast Binary Message */ | |
| 582 struct { | |
| 583 //unsigned int spare; spare bit(s) */ | |
| 584 unsigned int app_id; /* Application ID */ | |
| 585 #define AIS_TYPE8_BINARY_MAX 952 /* 952 bits */ | |
| 586 size_t bitcount; /* bit count of the data */ | |
| 587 char bitdata[(AIS_TYPE8_BINARY_MAX + 7) / 8]; | |
| 588 } type8; | |
| 589 /* Type 9 - Standard SAR Aircraft Position Report */ | |
| 590 struct { | |
| 591 unsigned int alt; /* altitude in meters */ | |
| 592 #define AIS_ALT_NOT_AVAILABLE 4095 | |
| 593 #define AIS_ALT_HIGH 4094 /* 4094 meters or higher */ | |
| 594 unsigned int speed; /* speed over ground in deciknots */ | |
| 595 #define AIS_SAR_SPEED_NOT_AVAILABLE 1023 | |
| 596 #define AIS_SAR_FAST_MOVER 1022 | |
| 597 bool accuracy; /* position accuracy */ | |
| 598 int lon; /* longitude */ | |
| 599 int lat; /* latitude */ | |
| 600 unsigned int course; /* course over ground */ | |
| 601 unsigned int second; /* seconds of UTC timestamp */ | |
| 602 unsigned int regional; /* regional reserved */ | |
| 603 unsigned int dte; /* data terminal enable */ | |
| 604 //unsigned int spare; spare bits */ | |
| 605 bool assigned; /* assigned-mode flag */ | |
| 606 bool raim; /* RAIM flag */ | |
| 607 unsigned int radio; /* radio status bits */ | |
| 608 } type9; | |
| 609 /* Type 10 - UTC/Date Inquiry */ | |
| 610 struct { | |
| 611 //unsigned int spare; | |
| 612 unsigned int dest_mmsi; /* destination MMSI */ | |
| 613 //unsigned int spare2; | |
| 614 } type10; | |
| 615 /* Type 12 - Safety-Related Message */ | |
| 616 struct { | |
| 617 unsigned int seqno; /* sequence number */ | |
| 618 unsigned int dest_mmsi; /* destination MMSI */ | |
| 619 bool retransmit; /* retransmit flag */ | |
| 620 //unsigned int spare; spare bit(s) */ | |
| 621 #define AIS_TYPE12_TEXT_MAX 157 /* 936 bits of six-bit, plus NUL */ | |
| 622 char text[AIS_TYPE12_TEXT_MAX]; | |
| 623 } type12; | |
| 624 /* Type 14 - Safety-Related Broadcast Message */ | |
| 625 struct { | |
| 626 //unsigned int spare; spare bit(s) */ | |
| 627 #define AIS_TYPE14_TEXT_MAX 161 /* 952 bits of six-bit, plus NUL */ | |
| 628 char text[AIS_TYPE14_TEXT_MAX]; | |
| 629 } type14; | |
| 630 /* Type 15 - Interrogation */ | |
| 631 struct { | |
| 632 //unsigned int spare; spare bit(s) */ | |
| 633 unsigned int mmsi1; | |
| 634 unsigned int type1_1; | |
| 635 unsigned int offset1_1; | |
| 636 //unsigned int spare2; spare bit(s) */ | |
| 637 unsigned int type1_2; | |
| 638 unsigned int offset1_2; | |
| 639 //unsigned int spare3; spare bit(s) */ | |
| 640 unsigned int mmsi2; | |
| 641 unsigned int type2_1; | |
| 642 unsigned int offset2_1; | |
| 643 //unsigned int spare4; spare bit(s) */ | |
| 644 } type15; | |
| 645 /* Type 16 - Assigned Mode Command */ | |
| 646 struct { | |
| 647 //unsigned int spare; spare bit(s) */ | |
| 648 unsigned int mmsi1; | |
| 649 unsigned int offset1; | |
| 650 unsigned int increment1; | |
| 651 unsigned int mmsi2; | |
| 652 unsigned int offset2; | |
| 653 unsigned int increment2; | |
| 654 } type16; | |
| 655 /* Type 17 - GNSS Broadcast Binary Message */ | |
| 656 struct { | |
| 657 //unsigned int spare; spare bit(s) */ | |
| 658 #define AIS_GNSS_LATLON_SCALE 600.0 | |
| 659 int lon; /* longitude */ | |
| 660 int lat; /* latitude */ | |
| 661 //unsigned int spare2; spare bit(s) */ | |
| 662 #define AIS_TYPE17_BINARY_MAX 736 /* 920 bits */ | |
| 663 size_t bitcount; /* bit count of the data */ | |
| 664 char bitdata[(AIS_TYPE17_BINARY_MAX + 7) / 8]; | |
| 665 } type17; | |
| 666 /* Type 18 - Standard Class B CS Position Report */ | |
| 667 struct { | |
| 668 unsigned int reserved; /* altitude in meters */ | |
| 669 unsigned int speed; /* speed over ground in deciknots */ | |
| 670 bool accuracy; /* position accuracy */ | |
| 671 int lon; /* longitude */ | |
| 672 #define AIS_GNS_LON_NOT_AVAILABLE 0x1a838 | |
| 673 int lat; /* latitude */ | |
| 674 #define AIS_GNS_LAT_NOT_AVAILABLE 0xd548 | |
| 675 unsigned int course; /* course over ground */ | |
| 676 unsigned int heading; /* true heading */ | |
| 677 unsigned int second; /* seconds of UTC timestamp */ | |
| 678 unsigned int regional; /* regional reserved */ | |
| 679 bool cs; /* carrier sense unit flag */ | |
| 680 bool display; /* unit has attached display? */ | |
| 681 bool dsc; /* unit attached to radio with DSC? */ | |
| 682 bool band; /* unit can switch frequency bands? */ | |
| 683 bool msg22; /* can accept Message 22 management? */ | |
| 684 bool assigned; /* assigned-mode flag */ | |
| 685 bool raim; /* RAIM flag */ | |
| 686 unsigned int radio; /* radio status bits */ | |
| 687 } type18; | |
| 688 /* Type 19 - Extended Class B CS Position Report */ | |
| 689 struct { | |
| 690 unsigned int reserved; /* altitude in meters */ | |
| 691 unsigned int speed; /* speed over ground in deciknots */ | |
| 692 bool accuracy; /* position accuracy */ | |
| 693 int lon; /* longitude */ | |
| 694 int lat; /* latitude */ | |
| 695 unsigned int course; /* course over ground */ | |
| 696 unsigned int heading; /* true heading */ | |
| 697 unsigned int second; /* seconds of UTC timestamp */ | |
| 698 unsigned int regional; /* regional reserved */ | |
| 699 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* ship name */ | |
| 700 unsigned int shiptype; /* ship type code */ | |
| 701 unsigned int to_bow; /* dimension to bow */ | |
| 702 unsigned int to_stern; /* dimension to stern */ | |
| 703 unsigned int to_port; /* dimension to port */ | |
| 704 unsigned int to_starboard; /* dimension to starboard */ | |
| 705 unsigned int epfd; /* type of position fix deviuce */ | |
| 706 bool raim; /* RAIM flag */ | |
| 707 unsigned int dte; /* date terminal enable */ | |
| 708 bool assigned; /* assigned-mode flag */ | |
| 709 //unsigned int spare; spare bits */ | |
| 710 } type19; | |
| 711 /* Type 20 - Data Link Management Message */ | |
| 712 struct { | |
| 713 //unsigned int spare; spare bit(s) */ | |
| 714 unsigned int offset1; /* TDMA slot offset */ | |
| 715 unsigned int number1; /* number of xlots to allocate */ | |
| 716 unsigned int timeout1; /* allocation timeout */ | |
| 717 unsigned int increment1; /* repeat increment */ | |
| 718 unsigned int offset2; /* TDMA slot offset */ | |
| 719 unsigned int number2; /* number of xlots to allocate */ | |
| 720 unsigned int timeout2; /* allocation timeout */ | |
| 721 unsigned int increment2; /* repeat increment */ | |
| 722 unsigned int offset3; /* TDMA slot offset */ | |
| 723 unsigned int number3; /* number of xlots to allocate */ | |
| 724 unsigned int timeout3; /* allocation timeout */ | |
| 725 unsigned int increment3; /* repeat increment */ | |
| 726 unsigned int offset4; /* TDMA slot offset */ | |
| 727 unsigned int number4; /* number of xlots to allocate */ | |
| 728 unsigned int timeout4; /* allocation timeout */ | |
| 729 unsigned int increment4; /* repeat increment */ | |
| 730 } type20; | |
| 731 /* Type 21 - Aids to Navigation Report */ | |
| 732 struct { | |
| 733 unsigned int aid_type; /* aid type */ | |
| 734 char name[35]; /* name of aid to navigation */ | |
| 735 bool accuracy; /* position accuracy */ | |
| 736 int lon; /* longitude */ | |
| 737 int lat; /* latitude */ | |
| 738 unsigned int to_bow; /* dimension to bow */ | |
| 739 unsigned int to_stern; /* dimension to stern */ | |
| 740 unsigned int to_port; /* dimension to port */ | |
| 741 unsigned int to_starboard; /* dimension to starboard */ | |
| 742 unsigned int epfd; /* type of EPFD */ | |
| 743 unsigned int second; /* second of UTC timestamp */ | |
| 744 bool off_position; /* off-position indicator */ | |
| 745 unsigned int regional; /* regional reserved field */ | |
| 746 bool raim; /* RAIM flag */ | |
| 747 bool virtual_aid; /* is virtual station? */ | |
| 748 bool assigned; /* assigned-mode flag */ | |
| 749 //unsigned int spare; unused */ | |
| 750 } type21; | |
| 751 /* Type 22 - Channel Management */ | |
| 752 struct { | |
| 753 //unsigned int spare; spare bit(s) */ | |
| 754 unsigned int channel_a; /* Channel A number */ | |
| 755 unsigned int channel_b; /* Channel B number */ | |
| 756 unsigned int txrx; /* transmit/receive mode */ | |
| 757 bool power; /* high-power flag */ | |
| 758 #define AIS_CHANNEL_LATLON_SCALE 600.0 | |
| 759 union { | |
| 760 struct { | |
| 761 int ne_lon; /* NE corner longitude */ | |
| 762 int ne_lat; /* NE corner latitude */ | |
| 763 int sw_lon; /* SW corner longitude */ | |
| 764 int sw_lat; /* SW corner latitude */ | |
| 765 } area; | |
| 766 struct { | |
| 767 unsigned int dest1; /* addressed station MMSI 1 */ | |
| 768 unsigned int dest2; /* addressed station MMSI 2 */ | |
| 769 } mmsi; | |
| 770 }; | |
| 771 bool addressed; /* addressed vs. broadast flag */ | |
| 772 bool band_a; /* fix 1.5kHz band for channel A */ | |
| 773 bool band_b; /* fix 1.5kHz band for channel B */ | |
| 774 unsigned int zonesize; /* size of transitional zone */ | |
| 775 } type22; | |
| 776 /* Type 23 - Group Assignment Command */ | |
| 777 struct { | |
| 778 int ne_lon; /* NE corner longitude */ | |
| 779 int ne_lat; /* NE corner latitude */ | |
| 780 int sw_lon; /* SW corner longitude */ | |
| 781 int sw_lat; /* SW corner latitude */ | |
| 782 //unsigned int spare; spare bit(s) */ | |
| 783 unsigned int stationtype; /* station type code */ | |
| 784 unsigned int shiptype; /* ship type code */ | |
| 785 //unsigned int spare2; spare bit(s) */ | |
| 786 unsigned int txrx; /* transmit-enable code */ | |
| 787 unsigned int interval; /* report interval */ | |
| 788 unsigned int quiet; /* quiet time */ | |
| 789 //unsigned int spare3; spare bit(s) */ | |
| 790 } type23; | |
| 791 /* Type 24 - Class B CS Static Data Report */ | |
| 792 struct { | |
| 793 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */ | |
| 794 unsigned int shiptype; /* ship type code */ | |
| 795 char vendorid[8]; /* vendor ID */ | |
| 796 char callsign[8]; /* callsign */ | |
| 797 union { | |
| 798 unsigned int mothership_mmsi; /* MMSI of main vessel */ | |
| 799 struct { | |
| 800 unsigned int to_bow; /* dimension to bow */ | |
| 801 unsigned int to_stern; /* dimension to stern */ | |
| 802 unsigned int to_port; /* dimension to port */ | |
| 803 unsigned int to_starboard; /* dimension to starboard */ | |
| 804 } dim; | |
| 805 }; | |
| 806 } type24; | |
| 807 /* Type 25 - Addressed Binary Message */ | |
| 808 struct { | |
| 809 bool addressed; /* addressed-vs.broadcast flag */ | |
| 810 bool structured; /* structured-binary flag */ | |
| 811 unsigned int dest_mmsi; /* destination MMSI */ | |
| 812 unsigned int app_id; /* Application ID */ | |
| 813 #define AIS_TYPE25_BINARY_MAX 128 /* Up to 128 bits */ | |
| 814 size_t bitcount; /* bit count of the data */ | |
| 815 char bitdata[(AIS_TYPE25_BINARY_MAX + 7) / 8]; | |
| 816 } type25; | |
| 817 /* Type 26 - Addressed Binary Message */ | |
| 818 struct { | |
| 819 bool addressed; /* addressed-vs.broadcast flag */ | |
| 820 bool structured; /* structured-binary flag */ | |
| 821 unsigned int dest_mmsi; /* destination MMSI */ | |
| 822 unsigned int app_id; /* Application ID */ | |
| 823 #define AIS_TYPE26_BINARY_MAX 1004 /* Up to 128 bits */ | |
| 824 size_t bitcount; /* bit count of the data */ | |
| 825 char bitdata[(AIS_TYPE26_BINARY_MAX + 7) / 8]; | |
| 826 unsigned int radio; /* radio status bits */ | |
| 827 } type26; | |
| 828 }; | |
| 829 }; | |
| 830 | |
| 831 struct attitude_t { | |
| 832 double heading; | |
| 833 double pitch; | |
| 834 double roll; | |
| 835 double yaw; | |
| 836 double dip; | |
| 837 double mag_len; /* unitvector sqrt(x^2 + y^2 +z^2) */ | |
| 838 double mag_x; | |
| 839 double mag_y; | |
| 840 double mag_z; | |
| 841 double acc_len; /* unitvector sqrt(x^2 + y^2 +z^2) */ | |
| 842 double acc_x; | |
| 843 double acc_y; | |
| 844 double acc_z; | |
| 845 double gyro_x; | |
| 846 double gyro_y; | |
| 847 double temp; | |
| 848 double depth; | |
| 849 /* compass status -- TrueNorth (and any similar) devices only */ | |
| 850 char mag_st; | |
| 851 char pitch_st; | |
| 852 char roll_st; | |
| 853 char yaw_st; | |
| 854 }; | |
| 855 | |
| 856 struct dop_t { | |
| 857 /* Dilution of precision factors */ | |
| 858 double xdop, ydop, pdop, hdop, vdop, tdop, gdop; | |
| 859 }; | |
| 860 | |
| 861 struct rawdata_t { | |
| 862 /* raw measurement data */ | |
| 863 double codephase[MAXCHANNELS]; /* meters */ | |
| 864 double carrierphase[MAXCHANNELS]; /* meters */ | |
| 865 double pseudorange[MAXCHANNELS]; /* meters */ | |
| 866 double deltarange[MAXCHANNELS]; /* meters/sec */ | |
| 867 double doppler[MAXCHANNELS]; /* Hz */ | |
| 868 double mtime[MAXCHANNELS]; /* sec */ | |
| 869 unsigned satstat[MAXCHANNELS]; /* tracking status */ | |
| 870 #define SAT_ACQUIRED 0x01 /* satellite acquired */ | |
| 871 #define SAT_CODE_TRACK 0x02 /* code-tracking loop acquired */ | |
| 872 #define SAT_CARR_TRACK 0x04 /* carrier-tracking loop acquired */ | |
| 873 #define SAT_DATA_SYNC 0x08 /* data-bit synchronization done */ | |
| 874 #define SAT_FRAME_SYNC 0x10 /* frame synchronization done */ | |
| 875 #define SAT_EPHEMERIS 0x20 /* ephemeris collected */ | |
| 876 #define SAT_FIX_USED 0x40 /* used for position fix */ | |
| 877 }; | |
| 878 | |
| 879 struct version_t { | |
| 880 char release[64]; /* external version */ | |
| 881 char rev[64]; /* internal revision ID */ | |
| 882 int proto_major, proto_minor; /* API major and minor versions */ | |
| 883 }; | |
| 884 | |
| 885 struct devconfig_t { | |
| 886 char path[GPS_PATH_MAX]; | |
| 887 int flags; | |
| 888 #define SEEN_GPS 0x01 | |
| 889 #define SEEN_RTCM2 0x02 | |
| 890 #define SEEN_RTCM3 0x04 | |
| 891 #define SEEN_AIS 0x08 | |
| 892 char driver[64]; | |
| 893 char subtype[64]; | |
| 894 double activated; | |
| 895 unsigned int baudrate, stopbits; /* RS232 link parameters */ | |
| 896 char parity; /* 'N', 'O', or 'E' */ | |
| 897 double cycle, mincycle; /* refresh cycle time in seconds */ | |
| 898 int driver_mode; /* is driver in native mode or not? */ | |
| 899 }; | |
| 900 | |
| 901 struct policy_t { | |
| 902 bool watcher; /* is watcher mode on? */ | |
| 903 bool json; /* requesting JSON? */ | |
| 904 bool nmea; /* requesting dumping as NMEA? */ | |
| 905 int raw; /* requesting raw data? */ | |
| 906 bool scaled; /* requesting report scaling? */ | |
| 907 bool timing; /* requesting timing info */ | |
| 908 char devpath[GPS_PATH_MAX]; /* specific device to watch */ | |
| 909 }; | |
| 910 | |
| 911 /* | |
| 912 * Someday we may support Windows, under which socket_t is a separate type. | |
| 913 * In the meantime, having a typedef for this semantic kind is no bad thing, | |
| 914 * as it makes clearer what some declarations are doing without breaking | |
| 915 * binary compatibility. | |
| 916 */ | |
| 917 typedef int socket_t; | |
| 918 | |
| 919 /* mode flags for setting streaming policy */ | |
| 920 #define WATCH_ENABLE 0x0001u /* enable streaming */ | |
| 921 #define WATCH_JSON 0x0002u /* enable JSON output */ | |
| 922 #define WATCH_NMEA 0x0004u /* enable output in NMEA */ | |
| 923 #define WATCH_RARE 0x0008u /* enable output of packets in hex */ | |
| 924 #define WATCH_RAW 0x0010u /* enable output of raw packets */ | |
| 925 #define WATCH_SCALED 0x0020u /* scale output to floats, when applicable */ | |
| 926 #define WATCH_NEWSTYLE 0x0040u /* force JSON streaming */ | |
| 927 #define WATCH_OLDSTYLE 0x0080u /* force old-style streaming */ | |
| 928 #define WATCH_DEVICE 0x0100u /* watch specific device */ | |
| 929 #define WATCH_DISABLE 0x0200u /* disable watching */ | |
| 930 #define POLL_NONBLOCK 0x1000u /* set non-blocking poll (experimental!) */ | |
| 931 | |
| 932 /* | |
| 933 * Main structure that includes all previous substructures | |
| 934 */ | |
| 935 | |
| 936 struct gps_data_t { | |
| 937 gps_mask_t set; /* has field been set since this was last cleared? */ | |
| 938 #define ONLINE_SET 0x00000001u | |
| 939 #define TIME_SET 0x00000002u | |
| 940 #define TIMERR_SET 0x00000004u | |
| 941 #define LATLON_SET 0x00000008u | |
| 942 #define ALTITUDE_SET 0x00000010u | |
| 943 #define SPEED_SET 0x00000020u | |
| 944 #define TRACK_SET 0x00000040u | |
| 945 #define CLIMB_SET 0x00000080u | |
| 946 #define STATUS_SET 0x00000100u | |
| 947 #define MODE_SET 0x00000200u | |
| 948 #define DOP_SET 0x00000400u | |
| 949 #define VERSION_SET 0x00000800u | |
| 950 #define HERR_SET 0x00001000u | |
| 951 #define VERR_SET 0x00002000u | |
| 952 #define ATTITUDE_SET 0x00004000u | |
| 953 #define POLICY_SET 0x00008000u | |
| 954 #define SATELLITE_SET 0x00010000u | |
| 955 #define RAW_SET 0x00020000u | |
| 956 #define USED_SET 0x00040000u | |
| 957 #define SPEEDERR_SET 0x00080000u | |
| 958 #define TRACKERR_SET 0x00100000u | |
| 959 #define CLIMBERR_SET 0x00200000u | |
| 960 #define DEVICE_SET 0x00400000u | |
| 961 #define DEVICELIST_SET 0x00800000u | |
| 962 #define DEVICEID_SET 0x01000000u | |
| 963 #define ERROR_SET 0x02000000u | |
| 964 #define RTCM2_SET 0x04000000u | |
| 965 #define RTCM3_SET 0x08000000u | |
| 966 #define AIS_SET 0x10000000u | |
| 967 #define PACKET_SET 0x20000000u | |
| 968 #define AUXDATA_SET 0x80000000u /* reserved */ | |
| 969 double online; /* NZ if GPS is on line, 0 if not. | |
| 970 * | |
| 971 * Note: gpsd clears this time when sentences | |
| 972 * fail to show up within the GPS's normal | |
| 973 * send cycle time. If the host-to-GPS | |
| 974 * link is lossy enough to drop entire | |
| 975 * sentences, this field will be | |
| 976 * prone to false zero values. | |
| 977 */ | |
| 978 | |
| 979 #ifndef USE_QT | |
| 980 socket_t gps_fd; /* socket or file descriptor to GPS */ | |
| 981 #else | |
| 982 void* gps_fd; | |
| 983 #endif | |
| 984 struct gps_fix_t fix; /* accumulated PVT data */ | |
| 985 | |
| 986 double separation; /* Geoidal separation, MSL - WGS84 (Meters) */ | |
| 987 | |
| 988 /* GPS status -- always valid */ | |
| 989 int status; /* Do we have a fix? */ | |
| 990 #define STATUS_NO_FIX 0 /* no */ | |
| 991 #define STATUS_FIX 1 /* yes, without DGPS */ | |
| 992 #define STATUS_DGPS_FIX 2 /* yes, with DGPS */ | |
| 993 | |
| 994 /* precision of fix -- valid if satellites_used > 0 */ | |
| 995 int satellites_used; /* Number of satellites used in solution */ | |
| 996 int used[MAXCHANNELS]; /* PRNs of satellites used in solution */ | |
| 997 struct dop_t dop; | |
| 998 | |
| 999 /* redundant with the estimate elements in the fix structure */ | |
| 1000 double epe; /* spherical position error, 95% confidence (meters) */ | |
| 1001 | |
| 1002 /* satellite status -- valid when satellites_visible > 0 */ | |
| 1003 double skyview_time; /* skyview timestamp */ | |
| 1004 int satellites_visible; /* # of satellites in view */ | |
| 1005 int PRN[MAXCHANNELS]; /* PRNs of satellite */ | |
| 1006 int elevation[MAXCHANNELS]; /* elevation of satellite */ | |
| 1007 int azimuth[MAXCHANNELS]; /* azimuth */ | |
| 1008 double ss[MAXCHANNELS]; /* signal-to-noise ratio (dB) */ | |
| 1009 | |
| 1010 struct devconfig_t dev; /* device that shipped last update */ | |
| 1011 | |
| 1012 struct policy_t policy; /* our listening policy */ | |
| 1013 | |
| 1014 char tag[MAXTAGLEN+1]; /* tag of last sentence processed */ | |
| 1015 | |
| 1016 void (*raw_hook)(struct gps_data_t *, char *, size_t len); /* Raw-mode hook
for GPS data. */ | |
| 1017 | |
| 1018 /* pack things never reported together to reduce structure size */ | |
| 1019 #define UNION_SET (RTCM2_SET|RTCM3_SET|AIS_SET|VERSION_SET|DEVICELIST_SET|
ERROR_SET) | |
| 1020 union { | |
| 1021 /* unusual forms of sensor data that might come up the pipe */ | |
| 1022 struct rtcm2_t rtcm2; | |
| 1023 struct rtcm3_t rtcm3; | |
| 1024 struct ais_t ais; | |
| 1025 struct attitude_t attitude; | |
| 1026 struct rawdata_t raw; | |
| 1027 /* "artificial" structures for various protocol responses */ | |
| 1028 struct version_t version; | |
| 1029 struct { | |
| 1030 double time; | |
| 1031 int ndevices; | |
| 1032 struct devconfig_t list[MAXUSERDEVS]; | |
| 1033 } devices; | |
| 1034 char error[80]; | |
| 1035 }; | |
| 1036 | |
| 1037 /* Private data - client code must not set this */ | |
| 1038 void *privdata; | |
| 1039 }; | |
| 1040 | |
| 1041 extern int gps_open_r(const char *host, const char *, | |
| 1042 /*@out@*/struct gps_data_t *); | |
| 1043 extern /*@null@*/struct gps_data_t *gps_open(const char *, const char *); | |
| 1044 extern int gps_close(struct gps_data_t *); | |
| 1045 extern int gps_send(struct gps_data_t *, const char *, ... ); | |
| 1046 extern int gps_poll(struct gps_data_t *); | |
| 1047 extern bool gps_waiting(struct gps_data_t *); | |
| 1048 extern int gps_stream(struct gps_data_t *, unsigned int, /*@null@*/void *); | |
| 1049 extern void gps_set_raw_hook(struct gps_data_t *, | |
| 1050 void (*)(struct gps_data_t *, char *, size_t)); | |
| 1051 extern char /*@observer@*/ *gps_errstr(const int); | |
| 1052 | |
| 1053 /* this only needs to be visible for the unit tests */ | |
| 1054 extern int gps_unpack(char *, struct gps_data_t *); | |
| 1055 | |
| 1056 /* dependencies on struct gpsdata_t end hrere */ | |
| 1057 | |
| 1058 extern void gps_clear_fix(/*@ out @*/struct gps_fix_t *); | |
| 1059 extern void gps_merge_fix(/*@ out @*/struct gps_fix_t *, | |
| 1060 gps_mask_t, | |
| 1061 /*@ in @*/struct gps_fix_t *); | |
| 1062 extern void gps_enable_debug(int, FILE *); | |
| 1063 extern /*@observer@*/const char *gps_maskdump(gps_mask_t); | |
| 1064 | |
| 1065 extern time_t mkgmtime(register struct tm *); | |
| 1066 extern double timestamp(void); | |
| 1067 extern double iso8601_to_unix(char *); | |
| 1068 extern /*@observer@*/char *unix_to_iso8601(double t, /*@ out @*/char[], size_t l
en); | |
| 1069 extern double gpstime_to_unix(int, double); | |
| 1070 extern void unix_to_gpstime(double, /*@out@*/int *, /*@out@*/double *); | |
| 1071 extern double earth_distance(double, double, double, double); | |
| 1072 extern double wgs84_separation(double, double); | |
| 1073 | |
| 1074 /* some multipliers for interpreting GPS output */ | |
| 1075 #define METERS_TO_FEET 3.2808399 /* Meters to U.S./British feet */ | |
| 1076 #define METERS_TO_MILES 0.00062137119 /* Meters to miles */ | |
| 1077 #define KNOTS_TO_MPH 1.1507794 /* Knots to miles per hour */ | |
| 1078 #define KNOTS_TO_KPH 1.852 /* Knots to kilometers per hour */ | |
| 1079 #define KNOTS_TO_MPS 0.51444444 /* Knots to meters per second */ | |
| 1080 #define MPS_TO_KPH 3.6 /* Meters per second to klicks/hr */ | |
| 1081 #define MPS_TO_MPH 2.2369363 /* Meters/second to miles per hour */ | |
| 1082 #define MPS_TO_KNOTS 1.9438445 /* Meters per second to knots */ | |
| 1083 /* miles and knots are both the international standard versions of the units */ | |
| 1084 | |
| 1085 /* angle conversion multipliers */ | |
| 1086 #define GPS_PI 3.1415926535897932384626433832795029 | |
| 1087 #define RAD_2_DEG 57.2957795130823208767981548141051703 | |
| 1088 #define DEG_2_RAD 0.0174532925199432957692369076848861271 | |
| 1089 | |
| 1090 /* geodetic constants */ | |
| 1091 #define WGS84A 6378137 /* equatorial radius */ | |
| 1092 #define WGS84F 298.257223563 /* flattening */ | |
| 1093 #define WGS84B 6356752.3142 /* polar radius */ | |
| 1094 | |
| 1095 /* gps_open() errno return values */ | |
| 1096 #define NL_NOSERVICE -1 /* can't get service entry */ | |
| 1097 #define NL_NOHOST -2 /* can't get host entry */ | |
| 1098 #define NL_NOPROTO -3 /* can't get protocol entry */ | |
| 1099 #define NL_NOSOCK -4 /* can't create socket */ | |
| 1100 #define NL_NOSOCKOPT -5 /* error SETSOCKOPT SO_REUSEADDR */ | |
| 1101 #define NL_NOCONNECT -6 /* can't connect to host/socket pair */ | |
| 1102 | |
| 1103 #define DEFAULT_GPSD_PORT "2947" /* IANA assignment */ | |
| 1104 #define DEFAULT_RTCM_PORT "2101" /* IANA assignment */ | |
| 1105 | |
| 1106 #ifdef __cplusplus | |
| 1107 } /* End of the 'extern "C"' block */ | |
| 1108 #endif | |
| 1109 | |
| 1110 /* gps.h ends here */ | |
| 1111 #endif /* _GPSD_GPS_H_ */ | |
| OLD | NEW |
|---|
Chromium Code Reviews
Issue 8463022:
Make chrome communicate with gpsd through libgps/shared memory (Closed)
Base URL: http://git.chromium.org/git/chromium.git@trunk