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/*
* Navit, a modular navigation system.
* Copyright (C) 2005-2008 Navit Team
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* version 2 as published by the Free Software Foundation.
*
* 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, write to the
* Free Software Foundation, Inc., 51 Franklin Street, Fifth Floor,
* Boston, MA 02110-1301, USA.
*/
#include <config.h>
#include <string.h>
#include <glib.h>
#include <math.h>
#define DBUS_API_SUBJECT_TO_CHANGE
#include <dbus/dbus.h>
#include <dbus/dbus-glib.h>
#include <dbus/dbus-glib-lowlevel.h>
#include <errno.h>
#include "debug.h"
#include "callback.h"
#include "plugin.h"
#include "coord.h"
#include "item.h"
#include "vehicle.h"
#include "event.h"
/**
* @defgroup vehicle-gpsd-dbus Vehicle Gpsd DBus
* @ingroup vehicle-plugins
* @brief The Vehicle to gain position data from Gpsd over DBus
*
* @{
*/
static char *vehicle_gpsd_dbus_prefix="gpsd_dbus:";
struct vehicle_priv {
char *source;
char *address;
int flags;
struct callback_list *cbl;
DBusConnection *connection;
double time, track, speed, altitude;
time_t fix_time;
struct coord_geo geo;
struct attr ** attrs;
char fixiso8601[128];
};
static void vehicle_gpsd_dbus_close(struct vehicle_priv *priv) {
if (priv->connection)
dbus_connection_unref(priv->connection);
priv->connection=NULL;
}
static DBusHandlerResult vehicle_gpsd_dbus_filter(DBusConnection *connection, DBusMessage *message, void *user_data) {
struct vehicle_priv *priv=user_data;
double time,ept,latitude,longitude,eph,altitude,epv,track,epd,speed,eps,climb,epc;
int mode;
char *devname;
if (dbus_message_is_signal(message, "org.gpsd","fix")) {
dbus_message_get_args (message, NULL,
DBUS_TYPE_DOUBLE, &time,
DBUS_TYPE_INT32, &mode,
DBUS_TYPE_DOUBLE, &ept,
DBUS_TYPE_DOUBLE, &latitude,
DBUS_TYPE_DOUBLE, &longitude,
DBUS_TYPE_DOUBLE, &eph,
DBUS_TYPE_DOUBLE, &altitude,
DBUS_TYPE_DOUBLE, &epv,
DBUS_TYPE_DOUBLE, &track,
DBUS_TYPE_DOUBLE, &epd,
DBUS_TYPE_DOUBLE, &speed,
DBUS_TYPE_DOUBLE, &eps,
DBUS_TYPE_DOUBLE, &climb,
DBUS_TYPE_DOUBLE, &epc,
DBUS_TYPE_STRING, &devname,
DBUS_TYPE_INVALID);
if (!isnan(latitude) && !isnan(longitude)) {
priv->geo.lat=latitude;
priv->geo.lng=longitude;
}
if (!isnan(track))
priv->track=track;
if (!isnan(speed))
priv->speed=speed;
if (!isnan(altitude))
priv->altitude=altitude;
if (time != priv->time || (priv->flags & 1)) {
priv->time=time;
priv->fix_time=time;
callback_list_call_attr_0(priv->cbl, attr_position_coord_geo);
}
}
return DBUS_HANDLER_RESULT_NOT_YET_HANDLED;
}
static int vehicle_gpsd_dbus_open(struct vehicle_priv *priv) {
DBusError error;
dbus_error_init(&error);
if (priv->address) {
priv->connection = dbus_connection_open(priv->address, &error);
} else {
priv->connection = dbus_bus_get(DBUS_BUS_SYSTEM, &error);
}
if (!priv->connection) {
dbg(lvl_error,"Failed to open connection to %s message bus: %s", priv->address?priv->address:"session",error.message);
dbus_error_free(&error);
return 0;
}
dbus_connection_setup_with_g_main(priv->connection, NULL);
dbus_bus_add_match(priv->connection,"type='signal',interface='org.gpsd'",&error);
dbus_connection_flush(priv->connection);
if (dbus_error_is_set(&error)) {
dbg(lvl_error,"Failed to add match to connection: %s", error.message);
vehicle_gpsd_dbus_close(priv);
return 0;
}
if (!dbus_connection_add_filter(priv->connection, vehicle_gpsd_dbus_filter, priv, NULL)) {
dbg(lvl_error,"Failed to add filter to connection");
vehicle_gpsd_dbus_close(priv);
return 0;
}
return 1;
}
static void vehicle_gpsd_dbus_destroy(struct vehicle_priv *priv) {
vehicle_gpsd_dbus_close(priv);
if (priv->source)
g_free(priv->source);
g_free(priv);
}
static int vehicle_gpsd_dbus_position_attr_get(struct vehicle_priv *priv,
enum attr_type type, struct attr *attr) {
switch (type) {
case attr_position_height:
attr->u.numd = &priv->altitude;
break;
case attr_position_speed:
attr->u.numd = &priv->speed;
break;
case attr_position_direction:
attr->u.numd = &priv->track;
break;
case attr_position_coord_geo:
attr->u.coord_geo = &priv->geo;
break;
case attr_position_time_iso8601: {
struct tm tm;
if (!priv->fix_time)
return 0;
if (gmtime_r(&priv->fix_time, &tm)) {
strftime(priv->fixiso8601, sizeof(priv->fixiso8601),
"%Y-%m-%dT%TZ", &tm);
attr->u.str=priv->fixiso8601;
} else
return 0;
}
break;
default:
return 0;
}
attr->type = type;
return 1;
}
static int vehicle_gpsd_dbus_set_attr_do(struct vehicle_priv *priv, struct attr *attr, int init) {
switch (attr->type) {
case attr_source:
if (strncmp(vehicle_gpsd_dbus_prefix,attr->u.str,strlen(vehicle_gpsd_dbus_prefix))) {
dbg(lvl_error,"source must start with '%s'", vehicle_gpsd_dbus_prefix);
return 0;
}
g_free(priv->source);
priv->source=g_strdup(attr->u.str);
priv->address=priv->source+strlen(vehicle_gpsd_dbus_prefix);
if (!priv->address[0])
priv->address=NULL;
if (!init) {
vehicle_gpsd_dbus_close(priv);
vehicle_gpsd_dbus_open(priv);
}
return 1;
case attr_flags:
priv->flags=attr->u.num;
return 1;
default:
return 0;
}
}
static int vehicle_gpsd_dbus_set_attr(struct vehicle_priv *priv, struct attr *attr) {
return vehicle_gpsd_dbus_set_attr_do(priv, attr, 0);
}
static struct vehicle_methods vehicle_gpsd_methods = {
vehicle_gpsd_dbus_destroy,
vehicle_gpsd_dbus_position_attr_get,
vehicle_gpsd_dbus_set_attr,
};
static struct vehicle_priv *vehicle_gpsd_dbus_new(struct vehicle_methods
*meth, struct callback_list
*cbl, struct attr **attrs) {
struct vehicle_priv *ret;
ret = g_new0(struct vehicle_priv, 1);
ret->attrs = attrs;
ret->cbl = cbl;
*meth = vehicle_gpsd_methods;
while (*attrs) {
vehicle_gpsd_dbus_set_attr_do(ret, *attrs, 1);
attrs++;
}
vehicle_gpsd_dbus_open(ret);
return ret;
}
void plugin_init(void) {
dbg(lvl_debug, "enter");
plugin_register_category_vehicle("gpsd_dbus", vehicle_gpsd_dbus_new);
}
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