1 /*
2 * This file is Copyright (c) 2010 by the GPSD project
3 * SPDX-License-Identifier: BSD-2-clause
4 */
5
6 #include "gpsd_config.h" /* must be before all includes */
7
8 #include <stdio.h>
9 #include <string.h> /* for strlcat() */
10
11 #include "gpsd.h"
12 #include "bits.h"
13 #include "gpsmon.h"
14
15 #ifdef ITRAX_ENABLE
16 #include "driver_italk.h"
17
18 extern const struct gps_type_t driver_italk;
19 static WINDOW *satwin, *navfixwin;
20
21 #define display (void)mvwprintw
italk_initialize(void)22 static bool italk_initialize(void)
23 {
24 int i;
25
26 /* "heavily inspired" by monitor_nmea.c */
27 if ((satwin =
28 derwin(devicewin, MAX_NR_VISIBLE_PRNS + 3, 27, 0, 0)) == NULL)
29 return false;
30 (void)wborder(satwin, 0, 0, 0, 0, 0, 0, 0, 0), (void)syncok(satwin, true);
31 (void)wattrset(satwin, A_BOLD);
32 display(satwin, 1, 1, "Ch PRN Az El S/N Flag U");
33 for (i = 0; i < MAX_NR_VISIBLE_PRNS; i++)
34 display(satwin, (int)(i + 2), 1, "%2d", i);
35 display(satwin, MAX_NR_VISIBLE_PRNS + 2, 7, " PRN_STATUS ");
36 (void)wattrset(satwin, A_NORMAL);
37
38 /* "heavily inspired" by monitor_nmea.c */
39 if ((navfixwin = derwin(devicewin, 13, 52, 0, 27)) == NULL)
40 return false;
41 (void)wborder(navfixwin, 0, 0, 0, 0, 0, 0, 0, 0),
42 (void)wattrset(navfixwin, A_BOLD);
43 (void)wmove(navfixwin, 1, 1);
44 (void)wprintw(navfixwin, "ECEF Pos:");
45 (void)wmove(navfixwin, 2, 1);
46 (void)wprintw(navfixwin, "ECEF Vel:");
47
48 (void)wmove(navfixwin, 4, 1);
49 (void)wprintw(navfixwin, "LTP Pos:");
50 (void)wmove(navfixwin, 5, 1);
51 (void)wprintw(navfixwin, "LTP Vel:");
52
53 (void)wmove(navfixwin, 7, 1);
54 (void)wprintw(navfixwin, "Time UTC:");
55 (void)wmove(navfixwin, 8, 1);
56 (void)wprintw(navfixwin, "Time GPS: Day:");
57
58 (void)wmove(navfixwin, 10, 1);
59 (void)wprintw(navfixwin, "DOP [H] [V] [P] [T] [G]");
60 (void)wmove(navfixwin, 11, 1);
61 (void)wprintw(navfixwin, "Fix:");
62
63 display(navfixwin, 12, 20, " NAV_FIX ");
64 (void)wattrset(navfixwin, A_NORMAL);
65 return true;
66 }
67
display_itk_navfix(unsigned char * buf,size_t len)68 static void display_itk_navfix(unsigned char *buf, size_t len)
69 {
70 unsigned int tow, tod, d, svlist;
71 unsigned short gps_week, nsv;
72 unsigned short year, mon, day, hour, min, sec;
73 double epx, epy, epz, evx, evy, evz;
74 double latitude, longitude;
75 float altitude, speed, track, climb;
76 float hdop, gdop, pdop, vdop, tdop;
77
78 if (len != 296)
79 return;
80
81 #ifdef __UNUSED__
82 flags = (unsigned short) getleu16(buf, 7 + 4);
83 cflags = (unsigned short) getleu16(buf, 7 + 6);
84 pflags = (unsigned short) getleu16(buf, 7 + 8);
85 #endif /* __UNUSED__ */
86
87 #define MAX(a,b) (((a) > (b)) ? (a) : (b))
88 nsv = (unsigned short) MAX(getleu16(buf, 7 + 12), getleu16(buf, 7 + 14));
89 svlist = (unsigned int) ((unsigned short) getleu32(buf, 7 + 16) | getleu32(buf, 7 + 24));
90
91 hour = (unsigned short) getleu16(buf, 7 + 66);
92 min = (unsigned short) getleu16(buf, 7 + 68);
93 sec = (unsigned short) getleu16(buf, 7 + 70);
94 //nsec = (unsigned short) getleu32(buf, 7 + 72);
95 year = (unsigned short) getleu16(buf, 7 + 76);
96 mon = (unsigned short) getleu16(buf, 7 + 78);
97 day = (unsigned short) getleu16(buf, 7 + 80);
98 gps_week = (unsigned short) getles16(buf, 7 + 82);
99 tow = (unsigned short) getleu32(buf, 7 + 84);
100
101 epx = (double)(getles32(buf, 7 + 96) / 100.0);
102 epy = (double)(getles32(buf, 7 + 100) / 100.0);
103 epz = (double)(getles32(buf, 7 + 104) / 100.0);
104 evx = (double)(getles32(buf, 7 + 186) / 1000.0);
105 evy = (double)(getles32(buf, 7 + 190) / 1000.0);
106 evz = (double)(getles32(buf, 7 + 194) / 1000.0);
107
108 latitude = (double)(getles32(buf, 7 + 144) / 1e7);
109 longitude = (double)(getles32(buf, 7 + 148) / 1e7);
110 altitude = (float)(getles32(buf, 7 + 152) / 1e3);
111 climb = (float)(getles32(buf, 7 + 206) / 1e3);
112 speed = (float)(getleu32(buf, 7 + 210) / 1e3);
113 track = (float)(getleu16(buf, 7 + 214) / 1e2);
114
115 hdop = (float)(getleu16(buf, 7 + 56) / 100.0);
116 gdop = (float)(getleu16(buf, 7 + 58) / 100.0);
117 pdop = (float)(getleu16(buf, 7 + 60) / 100.0);
118 vdop = (float)(getleu16(buf, 7 + 62) / 100.0);
119 tdop = (float)(getleu16(buf, 7 + 64) / 100.0);
120
121 (void)wmove(navfixwin, 1, 11);
122 (void)wprintw(navfixwin, "%12.2lf %12.2lf %12.2lfm", epx, epy, epz);
123 (void)wmove(navfixwin, 2, 11);
124 (void)wprintw(navfixwin, "%11.2lf %11.2lf %11.2lfm/s", evx, evy, evz);
125
126 (void)wmove(navfixwin, 4, 11);
127 (void)wprintw(navfixwin, "%11.8lf %13.8lf %8.1lfm",
128 latitude, longitude, altitude);
129 (void)mvwaddch(navfixwin, 4, 22, ACS_DEGREE);
130 (void)mvwaddch(navfixwin, 4, 38, ACS_DEGREE);
131 (void)wmove(navfixwin, 5, 11);
132 (void)wprintw(navfixwin, "%6.2lfm/s %5.1lf %6.2lfm/s climb",
133 speed, track, climb);
134 (void)mvwaddch(navfixwin, 5, 27, ACS_DEGREE);
135
136 (void)wmove(navfixwin, 7, 11);
137 (void)wprintw(navfixwin, "%04u-%02u-%02u %02u:%02u:%02u",
138 year, mon, day, hour, min, sec);
139 (void)wmove(navfixwin, 8, 11);
140 (void)wprintw(navfixwin, "%04u+%010.3lf", gps_week, tow / 1000.0);
141 (void)wmove(navfixwin, 8, 33);
142 d = (tow / 1000) / 86400;
143 tod = (tow / 1000) - (d * 86400);
144 sec = (unsigned short)tod % 60;
145 min = (unsigned short)(tod / 60) % 60;
146 hour = (unsigned short)tod / 3600;
147 (void)wprintw(navfixwin, "%1d %02d:%02d:%02d", d, hour, min, sec);
148
149 (void)wmove(navfixwin, 10, 9);
150 (void)wprintw(navfixwin, "%-5.1f", hdop);
151 (void)wmove(navfixwin, 10, 18);
152 (void)wprintw(navfixwin, "%-5.1f", vdop);
153 (void)wmove(navfixwin, 10, 27);
154 (void)wprintw(navfixwin, "%-5.1f", pdop);
155 (void)wmove(navfixwin, 10, 36);
156 (void)wprintw(navfixwin, "%-5.1f", tdop);
157 (void)wmove(navfixwin, 10, 45);
158 (void)wprintw(navfixwin, "%-5.1f", gdop);
159
160 (void)wmove(navfixwin, 11, 6);
161 {
162 char prn[4], satlist[38];
163 unsigned long i; // unsigned long just in case ints are 32-bit
164 satlist[0] = '\0';
165 for (i = 0; i < 32; i++) {
166 if (svlist & (1 << i)) {
167 (void)snprintf(prn, 4, "%lu ", i + 1);
168 (void)strlcat(satlist, prn, sizeof(satlist));
169 }
170 }
171 (void)wprintw(navfixwin, "%02d = %-38s", nsv, satlist);
172 }
173 (void)wnoutrefresh(navfixwin);
174
175 }
176
display_itk_prnstatus(unsigned char * buf,size_t len)177 static void display_itk_prnstatus(unsigned char *buf, size_t len)
178 {
179 int i, nchan;
180 if (len < 62)
181 return;
182
183 nchan = (int)getleu16(buf, 7 + 50);
184 if (nchan > MAX_NR_VISIBLE_PRNS)
185 nchan = MAX_NR_VISIBLE_PRNS;
186 for (i = 0; i < nchan; i++) {
187 int off = 7 + 52 + 10 * i;
188 unsigned short fl;
189 unsigned char ss, prn, el, az;
190
191 fl = (unsigned short)getleu16(buf, off);
192 ss = (unsigned char)getleu16(buf, off + 2) & 0xff;
193 prn = (unsigned char)getleu16(buf, off + 4) & 0xff;
194 el = (unsigned char)getles16(buf, off + 6) & 0xff;
195 az = (unsigned char)getles16(buf, off + 8) & 0xff;
196 (void)wmove(satwin, i + 2, 4);
197 (void)wprintw(satwin, "%3d %3d %2d %02d %04x %c",
198 prn, az, el, ss, fl,
199 (fl & PRN_FLAG_USE_IN_NAV) ? 'Y' : ' ');
200 }
201 for (; i < MAX_NR_VISIBLE_PRNS; i++) {
202 (void)wmove(satwin, (int)i + 2, 4);
203 (void)wprintw(satwin, " ");
204 }
205 (void)wnoutrefresh(satwin);
206 return;
207 }
208
italk_update(void)209 static void italk_update(void)
210 {
211 unsigned char *buf;
212 size_t len;
213 unsigned char type;
214
215 buf = session.lexer.outbuffer;
216 len = session.lexer.outbuflen;
217 type = (unsigned char)getub(buf, 4);
218 switch (type) {
219 case ITALK_NAV_FIX:
220 display_itk_navfix(buf, len);
221 break;
222 case ITALK_PRN_STATUS:
223 display_itk_prnstatus(buf, len);
224 break;
225 default:
226 break;
227 }
228 }
229
italk_command(char line[]UNUSED)230 static int italk_command(char line[]UNUSED)
231 {
232 return COMMAND_UNKNOWN;
233 }
234
italk_wrap(void)235 static void italk_wrap(void)
236 {
237 (void)delwin(satwin);
238 return;
239 }
240
241 const struct monitor_object_t italk_mmt = {
242 .initialize = italk_initialize,
243 .update = italk_update,
244 .command = italk_command,
245 .wrap = italk_wrap,
246 .min_y = 23,.min_x = 80, /* size of the device window */
247 .driver = &driver_italk,
248 };
249 #endif
250