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This commit is contained in:
Martin Mueller
2009-05-14 11:32:10 +00:00
parent 0eec347ec0
commit 79aa75632b
2 changed files with 0 additions and 111 deletions
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sw/in_progress/gps2ivy/Makefile
-3
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gpsd_ivy: gpsd_ivy.c
gcc -g -O2 -Wall `pkg-config glib-2.0 --cflags` -o $@ $^ `pkg-config glib-2.0 --libs` `pcre-config --libs` -lglibivy -lgps
sw/in_progress/gps2ivy/gpsd_ivy.c
-108
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@@ -1,108 +0,0 @@
/*
<message name="FLIGHT_PARAM" id="11">
<field name="ac_id" type="string"/>
<field name="roll" type="float" unit="deg"/>
<field name="pitch" type="float" unit="deg"/>
<field name="heading" type="float" unit="deg"/>
<field name="lat" type="float" unit="deg"/>
<field name="long" type="float" unit="deg"/>
<field name="speed" type="float" unit="m/s"/>
<field name="course" type="float" unit="deg" format="%.1f"/>
<field name="alt" type="float" unit="m"/>
<field name="climb" type="float" unit="m/s"/>
<field name="agl" type="float" unit="m"/>
<field name="unix_time" type="float" unit="s (Unix time)"/>
<field name="itow" type="uint32" unit="ms"/>
</message>
*/
#include <stdio.h>
#include <stdlib.h>
#include <errno.h>
#include <sys/select.h>
#include <sys/socket.h>
#include <glib.h>
#include <Ivy/ivy.h>
#include <Ivy/ivyglibloop.h>
#include "gps.h"
#define MSG_DEST "ground"
#define MSG_NAME "FLIGHT_PARAM"
#define MSG_ID "GCS"
#define TIMEOUT_PERIOD 200
static struct gps_data_t *gpsdata;
fd_set rfds;
static void update_gps(struct gps_data_t *gpsdata,
char *message,
size_t len,
int level)
{
IvySendMsg("%s %s %s %f %f %f %f %f %f %f %f %f %f %f %d",
MSG_DEST,
MSG_NAME,
MSG_ID, //ac_id
0.0, // roll
0.0, // pitch
gpsdata->fix.track, // heading
gpsdata->fix.latitude,
gpsdata->fix.longitude,
gpsdata->fix.speed,
0.0, // course
gpsdata->fix.altitude,
gpsdata->fix.climb,
0.0, // agl
gpsdata->fix.time,
0); // itow
}
static gboolean gps_periodic(gpointer data __attribute__ ((unused)))
{
struct timeval timeout;
int ret;
FD_ZERO(&rfds);
FD_SET(gpsdata->gps_fd, &rfds);
timeout.tv_sec = 0;
timeout.tv_usec = 100000;
ret = select(gpsdata->gps_fd + 1, &rfds, NULL, NULL, &timeout);
if (ret == -1)
{
perror("socket error\n");
exit(2);
}
else if (ret) gps_poll(gpsdata);
return 1;
}
int main(void)
{
char *server = NULL, *port = DEFAULT_GPSD_PORT;
GMainLoop *ml = g_main_loop_new(NULL, FALSE);
gpsdata = gps_open(server, port);
if (!gpsdata) perror("error connecting to gpsd");
gps_set_raw_hook(gpsdata, update_gps);
gps_query(gpsdata, "w+x\n");
IvyInit ("GPSd2Ivy", "GPSd2Ivy READY", NULL, NULL, NULL, NULL);
IvyStart("127.255.255.255");
g_timeout_add(TIMEOUT_PERIOD, gps_periodic, NULL);
g_main_loop_run(ml);
return 0;
}