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+/* gps.h -- interface of the libgps library */
+/*
+ * This file is Copyright (c) 2010 by the GPSD project
+ * BSD terms apply: see the file COPYING in the distribution root for details.
+ */
+#ifndef _GPSD_GPS_H_
+#define _GPSD_GPS_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* Macro for declaring function arguments unused. */
+#if defined(__GNUC__)
+# define UNUSED __attribute__((unused)) /* Flag variable as unused */
+#else /* not __GNUC__ */
+# define UNUSED
+#endif
+
+
+#include <sys/types.h>
+#include <sys/time.h>
+#include <stdbool.h>
+#include <inttypes.h> /* stdint.h would be smaller but not all have it */
+#include <limits.h>
+#include <time.h>
+#include <signal.h>
+#include <stdio.h>
+#ifndef S_SPLINT_S
+#include <pthread.h> /* pacifies OpenBSD's compiler */
+#endif
+
+/*
+ * 4.1 - Base version for initial JSON protocol (Dec 2009, release 2.90)
+ * 4.2 - AIS application IDs split into DAC and FID (July 2010, release 2.95)
+ * 5.0 - MAXCHANNELS bumped from 20 to 32 for GLONASS (Mar 2011, release 2.96)
+ * gps_open() becomes reentrant, what gps_open_r() used to be.
+ * gps_poll() removed in favor of gps_read(). The raw hook is gone.
+ */
+#define GPSD_API_MAJOR_VERSION 5 /* bump on incompatible changes */
+#define GPSD_API_MINOR_VERSION 0 /* bump on compatible changes */
+
+#define MAXTAGLEN 8 /* maximum length of sentence tag name */
+#define MAXCHANNELS 72 /* must be > 12 GPS + 12 GLONASS + 2 WAAS */
+#define GPS_PRNMAX 32 /* above this number are SBAS satellites */
+#define GPS_PATH_MAX 64 /* dev files usually have short names */
+#define MAXUSERDEVS 4 /* max devices per user */
+
+/*
+ * The structure describing an uncertainty volume in kinematic space.
+ * This is what GPSes are meant to produce; all the other info is
+ * technical impedimenta.
+ *
+ * All double values use NAN to indicate data not available.
+ *
+ * Usually all the information in this structure was considered valid
+ * by the GPS at the time of update. This will be so if you are using
+ * a GPS chipset that speaks SiRF binary, Garmin binary, or Zodiac binary.
+ * This covers over 80% of GPS products in early 2005.
+ *
+ * If you are using a chipset that speaks NMEA, this structure is updated
+ * in bits by GPRMC (lat/lon, track, speed), GPGGA (alt, climb), GPGLL
+ * (lat/lon), and GPGSA (eph, epv). Most NMEA GPSes take a single fix
+ * at the beginning of a 1-second cycle and report the same timestamp in
+ * GPRMC, GPGGA, and GPGLL; for these, all info is guaranteed correctly
+ * synced to the time member, but you'll get different stages of the same
+ * update depending on where in the cycle you poll. A very few GPSes,
+ * like the Garmin 48, take a new fix before more than one of of
+ * GPRMC/GPGGA/GPGLL during a single cycle; thus, they may have different
+ * timestamps and some data in this structure can be up to 1 cycle (usually
+ * 1 second) older than the fix time.
+ *
+ * Error estimates are at 95% confidence.
+ */
+typedef double timestamp_t; /* Unix time in seconds with fractional part */
+
+struct gps_fix_t {
+ timestamp_t time; /* Time of update */
+ int mode; /* Mode of fix */
+#define MODE_NOT_SEEN 0 /* mode update not seen yet */
+#define MODE_NO_FIX 1 /* none */
+#define MODE_2D 2 /* good for latitude/longitude */
+#define MODE_3D 3 /* good for altitude/climb too */
+ double ept; /* Expected time uncertainty */
+ double latitude; /* Latitude in degrees (valid if mode >= 2) */
+ double epy; /* Latitude position uncertainty, meters */
+ double longitude; /* Longitude in degrees (valid if mode >= 2) */
+ double epx; /* Longitude position uncertainty, meters */
+ double altitude; /* Altitude in meters (valid if mode == 3) */
+ double epv; /* Vertical position uncertainty, meters */
+ double track; /* Course made good (relative to true north) */
+ double epd; /* Track uncertainty, degrees */
+ double speed; /* Speed over ground, meters/sec */
+ double eps; /* Speed uncertainty, meters/sec */
+ double climb; /* Vertical speed, meters/sec */
+ double epc; /* Vertical speed uncertainty */
+};
+
+/*
+ * The structure describing the pseudorange errors (GPGST)
+ */
+struct gst_t {
+ double utctime;
+ double rms_deviation;
+ double smajor_deviation;
+ double sminor_deviation;
+ double smajor_orientation;
+ double lat_err_deviation;
+ double lon_err_deviation;
+ double alt_err_deviation;
+};
+
+/*
+ * From the RCTM104 2.x standard:
+ *
+ * "The 30 bit words (as opposed to 32 bit words) coupled with a 50 Hz
+ * transmission rate provides a convenient timing capability where the
+ * times of word boundaries are a rational multiple of 0.6 seconds."
+ *
+ * "Each frame is N+2 words long, where N is the number of message data
+ * words. For example, a filler message (type 6 or 34) with no message
+ * data will have N=0, and will consist only of two header words. The
+ * maximum number of data words allowed by the format is 31, so that
+ * the longest possible message will have a total of 33 words."
+ */
+#define RTCM2_WORDS_MAX 33
+#define MAXCORRECTIONS 18 /* max correction count in type 1 or 9 */
+#define MAXSTATIONS 10 /* maximum stations in almanac, type 5 */
+/* RTCM104 doesn't specify this, so give it the largest reasonable value */
+#define MAXHEALTH (RTCM2_WORDS_MAX-2)
+
+#ifndef S_SPLINT_S
+/*
+ * A nominally 30-bit word (24 bits of data, 6 bits of parity)
+ * used both in the GPS downlink protocol described in IS-GPS-200
+ * and in the format for DGPS corrections used in RTCM-104v2.
+ */
+typedef /*@unsignedintegraltype@*/ uint32_t isgps30bits_t;
+#endif /* S_SPLINT_S */
+
+/*
+ * Values for "system" fields. Note, the encoding logic is senstive to the
+ * actual values of these; it's not sufficient that they're distinct.
+ */
+#define NAVSYSTEM_GPS 0
+#define NAVSYSTEM_GLONASS 1
+#define NAVSYSTEM_GALILEO 2
+#define NAVSYSTEM_UNKNOWN 3
+
+struct rtcm2_t {
+ /* header contents */
+ unsigned type; /* RTCM message type */
+ unsigned length; /* length (words) */
+ double zcount; /* time within hour: GPS time, no leap secs */
+ unsigned refstaid; /* reference station ID */
+ unsigned seqnum; /* message sequence number (modulo 8) */
+ unsigned stathlth; /* station health */
+
+ /* message data in decoded form */
+ union {
+ struct {
+ unsigned int nentries;
+ struct gps_rangesat_t { /* data from messages 1 & 9 */
+ unsigned ident; /* satellite ID */
+ unsigned udre; /* user diff. range error */
+ unsigned iod; /* issue of data */
+ double prc; /* range error */
+ double rrc; /* range error rate */
+ } sat[MAXCORRECTIONS];
+ } gps_ranges;
+ struct { /* data for type 3 messages */
+ bool valid; /* is message well-formed? */
+ double x, y, z;
+ } ecef;
+ struct { /* data from type 4 messages */
+ bool valid; /* is message well-formed? */
+ int system;
+ int sense;
+#define SENSE_INVALID 0
+#define SENSE_GLOBAL 1
+#define SENSE_LOCAL 2
+ char datum[6];
+ double dx, dy, dz;
+ } reference;
+ struct { /* data from type 5 messages */
+ unsigned int nentries;
+ struct consat_t {
+ unsigned ident; /* satellite ID */
+ bool iodl; /* issue of data */
+ unsigned int health; /* is satellite healthy? */
+#define HEALTH_NORMAL (0) /* Radiobeacon operation normal */
+#define HEALTH_UNMONITORED (1) /* No integrity monitor operating */
+#define HEALTH_NOINFO (2) /* No information available */
+#define HEALTH_DONOTUSE (3) /* Do not use this radiobeacon */
+ int snr; /* signal-to-noise ratio, dB */
+#define SNR_BAD -1 /* not reported */
+ bool health_en; /* health enabled */
+ bool new_data; /* new data? */
+ bool los_warning; /* line-of-sight warning */
+ unsigned int tou; /* time to unhealth, seconds */
+ } sat[MAXHEALTH];
+ } conhealth;
+ struct { /* data from type 7 messages */
+ unsigned int nentries;
+ struct station_t {
+ double latitude, longitude; /* location */
+ unsigned int range; /* range in km */
+ double frequency; /* broadcast freq */
+ unsigned int health; /* station health */
+ unsigned int station_id; /* of the transmitter */
+ unsigned int bitrate; /* of station transmissions */
+ } station[MAXSTATIONS];
+ } almanac;
+ struct { /* data for type 13 messages */
+ bool status; /* expect a text message */
+ bool rangeflag; /* station range altered? */
+ double lat, lon; /* station longitude/latitude */
+ unsigned int range; /* transmission range in km */
+ } xmitter;
+ struct { /* data from type 14 messages */
+ unsigned int week; /* GPS week (0-1023) */
+ unsigned int hour; /* Hour in week (0-167) */
+ unsigned int leapsecs; /* Leap seconds (0-63) */
+ } gpstime;
+ struct {
+ unsigned int nentries;
+ struct glonass_rangesat_t { /* data from message type 31 */
+ unsigned ident; /* satellite ID */
+ unsigned udre; /* user diff. range error */
+ unsigned tod; /* issue of data */
+ bool change; /* ephemeris change bit */
+ double prc; /* range error */
+ double rrc; /* range error rate */
+ } sat[MAXCORRECTIONS];
+ } glonass_ranges;
+ /* data from type 16 messages */
+ char message[(RTCM2_WORDS_MAX-2) * sizeof(isgps30bits_t)];
+ /* data from messages of unknown type */
+ isgps30bits_t words[RTCM2_WORDS_MAX-2];
+ };
+};
+
+/* RTCM3 report structures begin here */
+
+#define RTCM3_MAX_SATELLITES 64
+#define RTCM3_MAX_DESCRIPTOR 31
+#define RTCM3_MAX_ANNOUNCEMENTS 32
+
+struct rtcm3_rtk_hdr { /* header data from 1001, 1002, 1003, 1004 */
+ /* Used for both GPS and GLONASS, but their timebases differ */
+ unsigned int station_id; /* Reference Station ID */
+ time_t tow; /* GPS Epoch Time (TOW) in ms,
+ or GLONASS Epoch Time in ms */
+ bool sync; /* Synchronous GNSS Message Flag */
+ unsigned short satcount; /* # Satellite Signals Processed */
+ bool smoothing; /* Divergence-free Smoothing Indicator */
+ unsigned short interval; /* Smoothing Interval */
+};
+
+struct rtcm3_basic_rtk {
+ unsigned char indicator; /* Indicator */
+ short channel; /* Satellite Frequency Channel Number
+ (GLONASS only) */
+ double pseudorange; /* Pseudorange */
+ double rangediff; /* PhaseRange – Pseudorange in meters */
+ unsigned char locktime; /* Lock time Indicator */
+};
+
+struct rtcm3_extended_rtk {
+ unsigned char indicator; /* Indicator */
+ short channel; /* Satellite Frequency Channel Number
+ (GLONASS only) */
+ double pseudorange; /* Pseudorange */
+ double rangediff; /* PhaseRange – L1 Pseudorange */
+ unsigned char locktime; /* Lock time Indicator */
+ unsigned char ambiguity; /* Integer Pseudorange
+ Modulus Ambiguity */
+ double CNR; /* Carrier-to-Noise Ratio */
+};
+
+struct rtcm3_network_rtk_header {
+ unsigned int network_id; /* Network ID */
+ unsigned int subnetwork_id; /* Subnetwork ID */
+ time_t time; /* GPS Epoch Time (TOW) in ms */
+ bool multimesg; /* GPS Multiple Message Indicator */
+ unsigned master_id; /* Master Reference Station ID */
+ unsigned aux_id; /* Auxilary Reference Station ID */
+ unsigned char satcount; /* count of GPS satellites */
+};
+
+struct rtcm3_correction_diff {
+ unsigned char ident; /* satellite ID */
+ enum {reserved, correct, widelane, uncertain} ambiguity;
+ unsigned char nonsync;
+ double geometric_diff; /* Geometric Carrier Phase
+ Correction Difference (1016, 1017) */
+ unsigned char iode; /* GPS IODE (1016, 1017) */
+ double ionospheric_diff; /* Ionospheric Carrier Phase
+ Correction Difference (1015, 1017) */
+};
+
+struct rtcm3_t {
+ /* header contents */
+ unsigned type; /* RTCM 3.x message type */
+ unsigned length; /* payload length, inclusive of checksum */
+
+ union {
+ /* 1001-1013 were present in the 3.0 version */
+ struct {
+ struct rtcm3_rtk_hdr header;
+ struct rtcm3_1001_t {
+ unsigned ident; /* Satellite ID */
+ struct rtcm3_basic_rtk L1;
+ } rtk_data[RTCM3_MAX_SATELLITES];
+ } rtcm3_1001;
+ struct rtcm3_1002_t {
+ struct rtcm3_rtk_hdr header;
+ struct {
+ unsigned ident; /* Satellite ID */
+ struct rtcm3_extended_rtk L1;
+ } rtk_data[RTCM3_MAX_SATELLITES];
+ } rtcm3_1002;
+ struct rtcm3_1003_t {
+ struct rtcm3_rtk_hdr header;
+ struct {
+ unsigned ident; /* Satellite ID */
+ struct rtcm3_basic_rtk L1;
+ struct rtcm3_basic_rtk L2;
+ } rtk_data[RTCM3_MAX_SATELLITES];
+ } rtcm3_1003;
+ struct rtcm3_1004_t {
+ struct rtcm3_rtk_hdr header;
+ struct {
+ unsigned ident; /* Satellite ID */
+ struct rtcm3_extended_rtk L1;
+ struct rtcm3_extended_rtk L2;
+ } rtk_data[RTCM3_MAX_SATELLITES];
+ } rtcm3_1004;
+ struct rtcm3_1005_t {
+ unsigned int station_id; /* Reference Station ID */
+ int system; /* Which system is it? */
+ bool reference_station; /* Reference-station indicator */
+ bool single_receiver; /* Single Receiver Oscillator */
+ double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */
+ } rtcm3_1005;
+ struct rtcm3_1006_t {
+ unsigned int station_id; /* Reference Station ID */
+ int system; /* Which system is it? */
+ bool reference_station; /* Reference-station indicator */
+ bool single_receiver; /* Single Receiver Oscillator */
+ double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */
+ double height; /* Antenna height */
+ } rtcm3_1006;
+ struct rtcm3_1007_t {
+ unsigned int station_id; /* Reference Station ID */
+ char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */
+ unsigned char setup_id;
+ } rtcm3_1007;
+ struct rtcm3_1008_t {
+ unsigned int station_id; /* Reference Station ID */
+ char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */
+ unsigned char setup_id;
+ char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */
+ } rtcm3_1008;
+ struct rtcm3_1009_t {
+ struct rtcm3_rtk_hdr header;
+ struct {
+ unsigned ident; /* Satellite ID */
+ struct rtcm3_basic_rtk L1;
+ } rtk_data[RTCM3_MAX_SATELLITES];
+ } rtcm3_1009;
+ struct rtcm3_1010_t {
+ struct rtcm3_rtk_hdr header;
+ struct {
+ unsigned ident; /* Satellite ID */
+ struct rtcm3_extended_rtk L1;
+ } rtk_data[RTCM3_MAX_SATELLITES];
+ } rtcm3_1010;
+ struct rtcm3_1011_t {
+ struct rtcm3_rtk_hdr header;
+ struct {
+ unsigned ident; /* Satellite ID */
+ struct rtcm3_extended_rtk L1;
+ struct rtcm3_extended_rtk L2;
+ } rtk_data[RTCM3_MAX_SATELLITES];
+ } rtcm3_1011;
+ struct rtcm3_1012_t {
+ struct rtcm3_rtk_hdr header;
+ struct {
+ unsigned ident; /* Satellite ID */
+ struct rtcm3_extended_rtk L1;
+ struct rtcm3_extended_rtk L2;
+ } rtk_data[RTCM3_MAX_SATELLITES];
+ } rtcm3_1012;
+ struct rtcm3_1013_t {
+ unsigned int station_id; /* Reference Station ID */
+ unsigned short mjd; /* Modified Julian Day (MJD) Number */
+ unsigned int sod; /* Seconds of Day (UTC) */
+ unsigned char leapsecs; /* Leap Seconds, GPS-UTC */
+ unsigned char ncount; /* Count of announcements to follow */
+ struct {
+ unsigned short id; /* message type ID */
+ bool sync;
+ unsigned short interval; /* interval in 0.1sec units */
+ } announcements[RTCM3_MAX_ANNOUNCEMENTS];
+ } rtcm3_1013;
+ /* 1014-1017 were added in the 3.1 version */
+ struct rtcm3_1014_t {
+ unsigned int network_id; /* Network ID */
+ unsigned int subnetwork_id; /* Subnetwork ID */
+ unsigned char stationcount; /* # auxiliary stations transmitted */
+ unsigned int master_id; /* Master Reference Station ID */
+ unsigned int aux_id; /* Auxilary Reference Station ID */
+ double d_lat, d_lon, d_alt; /* Aux-master location delta */
+ } rtcm3_1014;
+ struct rtcm3_1015_t {
+ struct rtcm3_network_rtk_header header;
+ struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
+ } rtcm3_1015;
+ struct rtcm3_1016_t {
+ struct rtcm3_network_rtk_header header;
+ struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
+ } rtcm3_1016;
+ struct rtcm3_1017_t {
+ struct rtcm3_network_rtk_header header;
+ struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
+ } rtcm3_1017;
+ /* 1018-1029 were in the 3.0 version */
+ struct rtcm3_1019_t {
+ unsigned int ident; /* Satellite ID */
+ unsigned int week; /* GPS Week Number */
+ unsigned char sv_accuracy; /* GPS SV ACCURACY */
+ enum {reserved_code, p, ca, l2c} code;
+ double idot;
+ unsigned char iode;
+ /* ephemeris fields, not scaled */
+ unsigned int t_sub_oc;
+ signed int a_sub_f2;
+ signed int a_sub_f1;
+ signed int a_sub_f0;
+ unsigned int iodc;
+ signed int C_sub_rs;
+ signed int delta_sub_n;
+ signed int M_sub_0;
+ signed int C_sub_uc;
+ unsigned int e;
+ signed int C_sub_us;
+ unsigned int sqrt_sub_A;
+ unsigned int t_sub_oe;
+ signed int C_sub_ic;
+ signed int OMEGA_sub_0;
+ signed int C_sub_is;
+ signed int i_sub_0;
+ signed int C_sub_rc;
+ signed int argument_of_perigee;
+ signed int omegadot;
+ signed int t_sub_GD;
+ unsigned char sv_health;
+ bool p_data;
+ bool fit_interval;
+ } rtcm3_1019;
+ struct rtcm3_1020_t {
+ unsigned int ident; /* Satellite ID */
+ unsigned short channel; /* Satellite Frequency Channel Number */
+ /* ephemeris fields, not scaled */
+ bool C_sub_n;
+ bool health_avAilability_indicator;
+ unsigned char P1;
+ unsigned short t_sub_k;
+ bool msb_of_B_sub_n;
+ bool P2;
+ bool t_sub_b;
+ signed int x_sub_n_t_of_t_sub_b_prime;
+ signed int x_sub_n_t_of_t_sub_b;
+ signed int x_sub_n_t_of_t_sub_b_prime_prime;
+ signed int y_sub_n_t_of_t_sub_b_prime;
+ signed int y_sub_n_t_of_t_sub_b;
+ signed int y_sub_n_t_of_t_sub_b_prime_prime;
+ signed int z_sub_n_t_of_t_sub_b_prime;
+ signed int z_sub_n_t_of_t_sub_b;
+ signed int z_sub_n_t_of_t_sub_b_prime_prime;
+ bool P3;
+ signed int gamma_sub_n_of_t_sub_b;
+ unsigned char MP;
+ bool Ml_n;
+ signed int tau_n_of_t_sub_b;
+ signed int M_delta_tau_sub_n;
+ unsigned int E_sub_n;
+ bool MP4;
+ unsigned char MF_sub_T;
+ unsigned char MN_sub_T;
+ unsigned char MM;
+ bool additioinal_data_availability;
+ unsigned int N_sup_A;
+ unsigned int tau_sub_c;
+ unsigned int M_N_sub_4;
+ signed int M_tau_sub_GPS;
+ bool M_l_sub_n;
+ } rtcm3_1020;
+ struct rtcm3_1029_t {
+ unsigned int station_id; /* Reference Station ID */
+ unsigned short mjd; /* Modified Julian Day (MJD) Number */
+ unsigned int sod; /* Seconds of Day (UTC) */
+ size_t len; /* # chars to follow */
+ size_t unicode_units; /* # Unicode units in text */
+ unsigned char text[128];
+ } rtcm3_1029;
+ struct rtcm3_1033_t {
+ unsigned int station_id; /* Reference Station ID */
+ char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */
+ unsigned char setup_id;
+ char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */
+ char receiver[RTCM3_MAX_DESCRIPTOR+1]; /* Receiver string */
+ char firmware[RTCM3_MAX_DESCRIPTOR+1]; /* Firmware string */
+ } rtcm3_1033;
+ char data[1024]; /* Max RTCM3 msg length is 1023 bytes */
+ } rtcmtypes;
+};
+
+/* RTCM3 scaling constants */
+#define GPS_AMBIGUITY_MODULUS 299792.458 /* 1004, DF014*/
+#define GLONASS_AMBIGUITY_MODULUS 599584.916 /* 1012, DF044 */
+#define MESSAGE_INTERVAL_UNITS 0.1 /* 1013, DF047 */
+
+/*
+ * Raw IS_GPS subframe data
+ */
+
+/* The almanac is a subset of the clock and ephemeris data, with reduced
+ * precision. See IS-GPS-200E, Table 20-VI */
+struct almanac_t
+{
+ uint8_t sv; /* The satellite this refers to */
+ /* toa, almanac reference time, 8 bits unsigned, seconds */
+ uint8_t toa;
+ long l_toa;
+ /* SV health data, 8 bit unsigned bit map */
+ uint8_t svh;
+ /* deltai, correction to inclination, 16 bits signed, semi-circles */
+ int16_t deltai;
+ double d_deltai;
+ /* M0, Mean Anomaly at Reference Time, 24 bits signed, semi-circles */
+ int32_t M0;
+ double d_M0;
+ /* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly Epoch,
+ * 24 bits signed, semi-circles */
+ int32_t Omega0;
+ double d_Omega0;
+ /* omega, Argument of Perigee, 24 bits signed, semi-circles */
+ int32_t omega;
+ double d_omega;
+ /* af0, SV clock correction constant term
+ * 11 bits signed, seconds */
+ int16_t af0;
+ double d_af0;
+ /* af1, SV clock correction first order term
+ * 11 bits signed, seconds/second */
+ int16_t af1;
+ double d_af1;
+ /* eccentricity, 16 bits, unsigned, dimensionless */
+ uint16_t e;
+ double d_eccentricity;
+ /* sqrt A, Square Root of the Semi-Major Axis
+ * 24 bits unsigned, square_root(meters) */
+ uint32_t sqrtA;
+ double d_sqrtA;
+ /* Omega dot, Rate of Right Ascension, 16 bits signed, semi-circles/sec */
+ int16_t Omegad;
+ double d_Omegad;
+};
+
+struct subframe_t {
+ /* subframe number, 3 bits, unsigned, 1 to 5 */
+ uint8_t subframe_num;
+ /* data_id, denotes the NAV data structure of D(t), 2 bits, in
+ * IS-GPS-200E always == 0x1 */
+ uint8_t data_id;
+ /* SV/page id used for subframes 4 & 5, 6 bits */
+ uint8_t pageid;
+ /* tSVID, SV ID of the sat that transmitted this frame, 6 bits unsigned */
+ uint8_t tSVID;
+ /* TOW, Time of Week of NEXT message, 17 bits unsigned, scale 6, seconds */
+ uint32_t TOW17;
+ long l_TOW17;
+ /* integrity, URA bounds flag, 1 bit */
+ bool integrity;
+ /* alert, alert flag, SV URA and/or the SV User Differential Range
+ * Accuracy (UDRA) may be worse than indicated, 1 bit */
+ bool alert;
+ /* antispoof, A-S mode is ON in that SV, 1 bit */
+ bool antispoof;
+ int is_almanac;
+ union {
+ /* subframe 1, part of ephemeris, see IS-GPS-200E, Table 20-II
+ * and Table 20-I */
+ struct {
+ /* WN, Week Number, 10 bits unsigned, scale 1, weeks */
+ uint16_t WN;
+ /* IODC, Issue of Data, Clock, 10 bits, unsigned,
+ * issued in 8 data ranges at the same time */
+ uint16_t IODC;
+ /* toc, clock data reference time, 16 bits, unsigned, seconds
+ * scale 2**4, issued in 8 data ranges at the same time */
+ uint16_t toc;
+ long l_toc;
+ /* l2, code on L2, 2 bits, bit map */
+ uint8_t l2;
+ /* l2p, L2 P data flag, 1 bit */
+ uint8_t l2p;
+ /* ura, SV accuracy, 4 bits unsigned index */
+ unsigned int ura;
+ /* hlth, SV health, 6 bits unsigned bitmap */
+ unsigned int hlth;
+ /* af0, SV clock correction constant term
+ * 22 bits signed, scale 2**-31, seconds */
+ int32_t af0;
+ double d_af0;
+ /* af1, SV clock correction first order term
+ * 22 bits signed, scale 2**-43, seconds/second */
+ int16_t af1;
+ double d_af1;
+ /* af2, SV clock correction second order term
+ * 8 bits signed, scale 2**-55, seconds/second**2 */
+ int8_t af2;
+ double d_af2;
+ /* Tgd, L1-L2 correction term, 8 bits signed, scale 2**-31,
+ * seconds */
+ int8_t Tgd;
+ double d_Tgd;
+ } sub1;
+ /* subframe 2, part of ephemeris, see IS-GPS-200E, Table 20-II
+ * and Table 20-III */
+ struct {
+ /* Issue of Data (Ephemeris),
+ * equal to the 8 LSBs of the 10 bit IODC of the same data set */
+ uint8_t IODE;
+ /* Age of Data Offset for the NMCT, 6 bits, scale 900,
+ * ignore if all ones, seconds */
+ uint8_t AODO;
+ uint16_t u_AODO;
+ /* fit, FIT interval flag, indicates a fit interval greater than
+ * 4 hour, 1 bit */
+ uint8_t fit;
+ /* toe, Reference Time Ephemeris, 16 bits unsigned, scale 2**4,
+ * seconds */
+ uint16_t toe;
+ long l_toe;
+ /* Crs, Amplitude of the Sine Harmonic Correction Term to the
+ * Orbit Radius, 16 bits, scale 2**-5, signed, meters */
+ int16_t Crs;
+ double d_Crs;
+ /* Cus, Amplitude of the Sine Harmonic Correction Term to the
+ * Argument of Latitude, 16 bits, signed, scale 2**-29, radians */
+ int16_t Cus;
+ double d_Cus;
+ /* Cuc, Amplitude of the Cosine Harmonic Correction Term to the
+ * Argument of Latitude, 16 bits, signed, scale 2**-29, radians */
+ int16_t Cuc;
+ double d_Cuc;
+ /* deltan, Mean Motion Difference From Computed Value
+ * Mean Motion Difference From Computed Value
+ * 16 bits, signed, scale 2**-43, semi-circles/sec */
+ int16_t deltan;
+ double d_deltan;
+ /* M0, Mean Anomaly at Reference Time, 32 bits signed,
+ * scale 2**-31, semi-circles */
+ int32_t M0;
+ double d_M0;
+ /* eccentricity, 32 bits, unsigned, scale 2**-33, dimensionless */
+ uint32_t e;
+ double d_eccentricity;
+ /* sqrt A, Square Root of the Semi-Major Axis
+ * 32 bits unsigned, scale 2**-19, square_root(meters) */
+ uint32_t sqrtA;
+ double d_sqrtA;
+ } sub2;
+ /* subframe 3, part of ephemeris, see IS-GPS-200E, Table 20-II,
+ * Table 20-III */
+ struct {
+ /* Issue of Data (Ephemeris), 8 bits, unsigned
+ * equal to the 8 LSBs of the 10 bit IODC of the same data set */
+ uint8_t IODE;
+ /* Rate of Inclination Angle, 14 bits signed, scale2**-43,
+ * semi-circles/sec */
+ uint16_t IDOT;
+ double d_IDOT;
+ /* Cic, Amplitude of the Cosine Harmonic Correction Term to the
+ * Angle of Inclination, 16 bits signed, scale 2**-29, radians*/
+ uint16_t Cic;
+ double d_Cic;
+ /* Cis, Amplitude of the Sine Harmonic Correction Term to the
+ * Angle of Inclination, 16 bits, unsigned, scale 2**-29, radians */
+ int16_t Cis;
+ double d_Cis;
+ /* Crc, Amplitude of the Cosine Harmonic Correction Term to the
+ * Orbit Radius, 16 bits signed, scale 2**-5, meters */
+ int16_t Crc;
+ double d_Crc;
+ /* i0, Inclination Angle at Reference Time, 32 bits, signed,
+ * scale 2**-31, semi-circles */
+ int32_t i0;
+ double d_i0;
+ /* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly
+ * Epoch, 32 bits signed, semi-circles */
+ int32_t Omega0;
+ double d_Omega0;
+ /* omega, Argument of Perigee, 32 bits signed, scale 2**-31,
+ * semi-circles */
+ int32_t omega;
+ double d_omega;
+ /* Omega dot, Rate of Right Ascension, 24 bits signed,
+ * scale 2**-43, semi-circles/sec */
+ int32_t Omegad;
+ double d_Omegad;
+ } sub3;
+ struct {
+ struct almanac_t almanac;
+ } sub4;
+ /* subframe 4, page 13 */
+ struct {
+ /* mapping ord ERD# to SV # is non trivial
+ * leave it alone. See IS-GPS-200E Section 20.3.3.5.1.9 */
+ /* Estimated Range Deviation, 6 bits signed, meters */
+ char ERD[33];
+ /* ai, Availability Indicator, 2bits, bit map */
+ unsigned char ai;
+ } sub4_13;
+ /* subframe 4, page 17, system message, 23 chars, plus nul */
+ struct {
+ char str[24];
+ } sub4_17;
+ /* subframe 4, page 18 */
+ struct {
+ /* ionospheric and UTC data */
+ /* A0, Bias coefficient of GPS time scale relative to UTC time
+ * scale, 32 bits signed, scale 2**-30, seconds */
+ int32_t A0;
+ double d_A0;
+ /* A1, Drift coefficient of GPS time scale relative to UTC time
+ * scale, 24 bits signed, scale 2**-50, seconds/second */
+ int32_t A1;
+ double d_A1;
+
+ /* alphaX, the four coefficients of a cubic equation representing
+ * the amplitude of the vertical delay */
+
+ /* alpha0, 8 bits signed, scale w**-30, seconds */
+ int8_t alpha0;
+ double d_alpha0;
+ /* alpha1, 8 bits signed, scale w**-27, seconds/semi-circle */
+ int8_t alpha1;
+ double d_alpha1;
+ /* alpha2, 8 bits signed, scale w**-24, seconds/semi-circle**2 */
+ int8_t alpha2;
+ double d_alpha2;
+ /* alpha3, 8 bits signed, scale w**-24, seconds/semi-circle**3 */
+ int8_t alpha3;
+ double d_alpha3;
+
+ /* betaX, the four coefficients of a cubic equation representing
+ * the period of the model */
+
+ /* beta0, 8 bits signed, scale w**11, seconds */
+ int8_t beta0;
+ double d_beta0;
+ /* beta1, 8 bits signed, scale w**14, seconds/semi-circle */
+ int8_t beta1;
+ double d_beta1;
+ /* beta2, 8 bits signed, scale w**16, seconds/semi-circle**2 */
+ int8_t beta2;
+ double d_beta2;
+ /* beta3, 8 bits signed, scale w**16, seconds/semi-circle**3 */
+ int8_t beta3;
+ double d_beta3;
+
+ /* leap (delta t ls), current leap second, 8 bits signed,
+ * scale 1, seconds */
+ int8_t leap;
+ /* lsf (delta t lsf), future leap second, 8 bits signed,
+ * scale 1, seconds */
+ int8_t lsf;
+
+ /* tot, reference time for UTC data,
+ * 8 bits unsigned, scale 2**12, seconds */
+ uint8_t tot;
+ double d_tot;
+
+ /* WNt, UTC reference week number, 8 bits unsigned, scale 1,
+ * weeks */
+ uint8_t WNt;
+ /* WNlsf, Leap second reference Week Number,
+ * 8 bits unsigned, scale 1, weeks */
+ uint8_t WNlsf;
+ /* DN, Leap second reference Day Number , 8 bits unsigned,
+ * scale 1, days */
+ uint8_t DN;
+ } sub4_18;
+ /* subframe 4, page 25 */
+ struct {
+ /* svf, A-S status and the configuration code of each SV
+ * 4 bits unsigned, bitmap */
+ unsigned char svf[33];
+ /* svh, SV health data for SV 25 through 32
+ * 6 bits unsigned bitmap */
+ uint8_t svhx[8];
+ } sub4_25;
+ struct {
+ struct almanac_t almanac;
+ } sub5;
+ struct {
+ /* toa, Almanac reference Time, 8 bits unsigned, scale 2**12,
+ * seconds */
+ uint8_t toa;
+ long l_toa;
+ /* WNa, Week Number almanac, 8 bits, scale 2, GPS Week
+ * Number % 256 */
+ uint8_t WNa;
+ /* sv, SV health status, 6 bits, bitmap */
+ uint8_t sv[25];
+ } sub5_25;
+ };
+};
+
+#ifndef S_SPLINT_S
+typedef uint64_t gps_mask_t;
+#else
+typedef /*@unsignedintegraltype@*/ unsigned long long gps_mask_t;
+#endif /* S_SPLINT_S */
+
+/*
+ * Is an MMSI number that of an auxiliary associated with a mother ship?
+ * We need to be able to test this for decoding AIS Type 24 messages.
+ * According to <http://www.navcen.uscg.gov/marcomms/gmdss/mmsi.htm#format>,
+ * auxiliary-craft MMSIs have the form 98MIDXXXX, where MID is a country
+ * code and XXXX the vessel ID.
+ */
+#define AIS_AUXILIARY_MMSI(n) ((n) / 10000000 == 98)
+
+/* N/A values and scaling constant for 25/24 bit lon/lat pairs */
+#define AIS_LON3_NOT_AVAILABLE 181000
+#define AIS_LAT3_NOT_AVAILABLE 91000
+#define AIS_LATLON3_SCALE 60000.0
+
+/* N/A values and scaling constant for 28/27 bit lon/lat pairs */
+#define AIS_LON4_NOT_AVAILABLE 1810000
+#define AIS_LAT4_NOT_AVAILABLE 910000
+#define AIS_LATLON4_SCALE 600000.0
+
+struct route_info {
+ unsigned int linkage; /* Message Linkage ID */
+ unsigned int sender; /* Sender Class */
+ unsigned int rtype; /* Route Type */
+ unsigned int month; /* Start month */
+ unsigned int day; /* Start day */
+ unsigned int hour; /* Start hour */
+ unsigned int minute; /* Start minute */
+ unsigned int duration; /* Duration */
+ int waycount; /* Waypoint count */
+ struct waypoint_t {
+ signed int lon; /* Longitude */
+ signed int lat; /* Latitude */
+ } waypoints[16];
+};
+
+struct ais_t
+{
+ unsigned int type; /* message type */
+ unsigned int repeat; /* Repeat indicator */
+ unsigned int mmsi; /* MMSI */
+ union {
+ /* Types 1-3 Common navigation info */
+ struct {
+ unsigned int status; /* navigation status */
+ signed turn; /* rate of turn */
+#define AIS_TURN_HARD_LEFT -127
+#define AIS_TURN_HARD_RIGHT 127
+#define AIS_TURN_NOT_AVAILABLE 128
+ unsigned int speed; /* speed over ground in deciknots */
+#define AIS_SPEED_NOT_AVAILABLE 1023
+#define AIS_SPEED_FAST_MOVER 1022 /* >= 102.2 knots */
+ bool accuracy; /* position accuracy */
+#define AIS_LATLON_SCALE 600000.0
+ int lon; /* longitude */
+#define AIS_LON_NOT_AVAILABLE 0x6791AC0
+ int lat; /* latitude */
+#define AIS_LAT_NOT_AVAILABLE 0x3412140
+ unsigned int course; /* course over ground */
+#define AIS_COURSE_NOT_AVAILABLE 3600
+ unsigned int heading; /* true heading */
+#define AIS_HEADING_NOT_AVAILABLE 511
+ unsigned int second; /* seconds of UTC timestamp */
+#define AIS_SEC_NOT_AVAILABLE 60
+#define AIS_SEC_MANUAL 61
+#define AIS_SEC_ESTIMATED 62
+#define AIS_SEC_INOPERATIVE 63
+ unsigned int maneuver; /* maneuver indicator */
+ //unsigned int spare; spare bits */
+ bool raim; /* RAIM flag */
+ unsigned int radio; /* radio status bits */
+ } type1;
+ /* Type 4 - Base Station Report & Type 11 - UTC and Date Response */
+ struct {
+ unsigned int year; /* UTC year */
+#define AIS_YEAR_NOT_AVAILABLE 0
+ unsigned int month; /* UTC month */
+#define AIS_MONTH_NOT_AVAILABLE 0
+ unsigned int day; /* UTC day */
+#define AIS_DAY_NOT_AVAILABLE 0
+ unsigned int hour; /* UTC hour */
+#define AIS_HOUR_NOT_AVAILABLE 24
+ unsigned int minute; /* UTC minute */
+#define AIS_MINUTE_NOT_AVAILABLE 60
+ unsigned int second; /* UTC second */
+#define AIS_SECOND_NOT_AVAILABLE 60
+ bool accuracy; /* fix quality */
+ int lon; /* longitude */
+ int lat; /* latitude */
+ unsigned int epfd; /* type of position fix device */
+ //unsigned int spare; spare bits */
+ bool raim; /* RAIM flag */
+ unsigned int radio; /* radio status bits */
+ } type4;
+ /* Type 5 - Ship static and voyage related data */
+ struct {
+ unsigned int ais_version; /* AIS version level */
+ unsigned int imo; /* IMO identification */
+ char callsign[7+1]; /* callsign */
+#define AIS_SHIPNAME_MAXLEN 20
+ char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */
+ unsigned int shiptype; /* ship type code */
+ unsigned int to_bow; /* dimension to bow */
+ unsigned int to_stern; /* dimension to stern */
+ unsigned int to_port; /* dimension to port */
+ unsigned int to_starboard; /* dimension to starboard */
+ unsigned int epfd; /* type of position fix deviuce */
+ unsigned int month; /* UTC month */
+ unsigned int day; /* UTC day */
+ unsigned int hour; /* UTC hour */
+ unsigned int minute; /* UTC minute */
+ unsigned int draught; /* draft in meters */
+ char destination[20+1]; /* ship destination */
+ unsigned int dte; /* data terminal enable */
+ //unsigned int spare; spare bits */
+ } type5;
+ /* Type 6 - Addressed Binary Message */
+ struct {
+ unsigned int seqno; /* sequence number */
+ unsigned int dest_mmsi; /* destination MMSI */
+ bool retransmit; /* retransmit flag */
+ //unsigned int spare; spare bit(s) */
+ unsigned int dac; /* Application ID */
+ unsigned int fid; /* Functional ID */
+#define AIS_TYPE6_BINARY_MAX 920 /* 920 bits */
+ size_t bitcount; /* bit count of the data */
+ union {
+ char bitdata[(AIS_TYPE6_BINARY_MAX + 7) / 8];
+ /* IMO236 - Dangerous Cargo Indication */
+ struct {
+ char lastport[5+1]; /* Last Port Of Call */
+ unsigned int lmonth; /* ETA month */
+ unsigned int lday; /* ETA day */
+ unsigned int lhour; /* ETA hour */
+ unsigned int lminute; /* ETA minute */
+ char nextport[5+1]; /* Next Port Of Call */
+ unsigned int nmonth; /* ETA month */
+ unsigned int nday; /* ETA day */
+ unsigned int nhour; /* ETA hour */
+ unsigned int nminute; /* ETA minute */
+ char dangerous[20+1]; /* Main Dangerous Good */
+ char imdcat[4+1]; /* IMD Category */
+ unsigned int unid; /* UN Number */
+ unsigned int amount; /* Amount of Cargo */
+ unsigned int unit; /* Unit of Quantity */
+ } dac1fid12;
+ /* IMO236 - Extended Ship Static and Voyage Related Data */
+ struct {
+ unsigned int airdraught; /* Air Draught */
+ } dac1fid15;
+ /* IMO236 - Number of Persons on board */
+ struct {
+ unsigned persons; /* number of persons */
+ } dac1fid16;
+ /* IMO289 - Clearance Time To Enter Port */
+ struct {
+ unsigned int linkage; /* Message Linkage ID */
+ unsigned int month; /* Month (UTC) */
+ unsigned int day; /* Day (UTC) */
+ unsigned int hour; /* Hour (UTC) */
+ unsigned int minute; /* Minute (UTC) */
+ char portname[20+1]; /* Name of Port & Berth */
+ char destination[5+1]; /* Destination */
+ signed int lon; /* Longitude */
+ signed int lat; /* Latitude */
+ } dac1fid18;
+ /* IMO289 - Berthing Data (addressed) */
+ struct {
+ unsigned int linkage; /* Message Linkage ID */
+ unsigned int berth_length; /* Berth length */
+ unsigned int berth_depth; /* Berth Water Depth */
+ unsigned int position; /* Mooring Position */
+ unsigned int month; /* Month (UTC) */
+ unsigned int day; /* Day (UTC) */
+ unsigned int hour; /* Hour (UTC) */
+ unsigned int minute; /* Minute (UTC) */
+ unsigned int availability; /* Services Availability */
+ unsigned int agent; /* Agent */
+ unsigned int fuel; /* Bunker/fuel */
+ unsigned int chandler; /* Chandler */
+ unsigned int stevedore; /* Stevedore */
+ unsigned int electrical; /* Electrical */
+ unsigned int water; /* Potable water */
+ unsigned int customs; /* Customs house */
+ unsigned int cartage; /* Cartage */
+ unsigned int crane; /* Crane(s) */
+ unsigned int lift; /* Lift(s) */
+ unsigned int medical; /* Medical facilities */
+ unsigned int navrepair; /* Navigation repair */
+ unsigned int provisions; /* Provisions */
+ unsigned int shiprepair; /* Ship repair */
+ unsigned int surveyor; /* Surveyor */
+ unsigned int steam; /* Steam */
+ unsigned int tugs; /* Tugs */
+ unsigned int solidwaste; /* Waste disposal (solid) */
+ unsigned int liquidwaste; /* Waste disposal (liquid) */
+ unsigned int hazardouswaste; /* Waste disposal (hazardous) */
+ unsigned int ballast; /* Reserved ballast exchange */
+ unsigned int additional; /* Additional services */
+ unsigned int regional1; /* Regional reserved 1 */
+ unsigned int regional2; /* Regional reserved 2 */
+ unsigned int future1; /* Reserved for future */
+ unsigned int future2; /* Reserved for future */
+ char berth_name[20+1]; /* Name of Berth */
+ signed int berth_lon; /* Longitude */
+ signed int berth_lat; /* Latitude */
+ } dac1fid20;
+ /* IMO289 - Dangerous Cargo Indication */
+ struct {
+ unsigned int unit; /* Unit of Quantity */
+ unsigned int amount; /* Amount of Cargo */
+ int ncargos;
+ struct cargo_t {
+ unsigned int code; /* Cargo code */
+ unsigned int subtype; /* Cargo subtype */
+ } cargos[28];
+ } dac1fid25;
+ /* IMO289 - Route info (addressed) */
+ struct route_info dac1fid28;
+ /* IMO289 - Text message (addressed) */
+ struct {
+ unsigned int linkage;
+#define AIS_DAC1FID30_TEXT_MAX 154 /* 920 bits of six-bit, plus NUL */
+ char text[AIS_DAC1FID30_TEXT_MAX];
+ } dac1fid30;
+ /* IMO289 & IMO236 - Tidal Window */
+ struct {
+ unsigned int type; /* Message Type */
+ unsigned int repeat; /* Repeat Indicator */
+ unsigned int mmsi; /* Source MMSI */
+ unsigned int seqno; /* Sequence Number */
+ unsigned int dest_mmsi; /* Destination MMSI */
+ signed int retransmit; /* Retransmit flag */
+ unsigned int dac; /* DAC */
+ unsigned int fid; /* FID */
+ unsigned int month; /* Month */
+ unsigned int day; /* Day */
+ signed int ntidals;
+ struct tidal_t {
+ signed int lon; /* Longitude */
+ signed int lat; /* Latitude */
+ unsigned int from_hour; /* From UTC Hour */
+ unsigned int from_min; /* From UTC Minute */
+ unsigned int to_hour; /* To UTC Hour */
+ unsigned int to_min; /* To UTC Minute */
+#define DAC1FID32_CDIR_NOT_AVAILABLE 360
+ unsigned int cdir; /* Current Dir. Predicted */
+#define DAC1FID32_CSPEED_NOT_AVAILABLE 127
+ unsigned int cspeed; /* Current Speed Predicted */
+ } tidals[3];
+ } dac1fid32;
+ };
+ } type6;
+ /* Type 7 - Binary Acknowledge */
+ struct {
+ unsigned int mmsi1;
+ unsigned int mmsi2;
+ unsigned int mmsi3;
+ unsigned int mmsi4;
+ /* spares ignored, they're only padding here */
+ } type7;
+ /* Type 8 - Broadcast Binary Message */
+ struct {
+ //unsigned int spare; spare bit(s) */
+ unsigned int dac; /* Designated Area Code */
+ unsigned int fid; /* Functional ID */
+#define AIS_TYPE8_BINARY_MAX 952 /* 952 bits */
+ size_t bitcount; /* bit count of the data */
+ union {
+ char bitdata[(AIS_TYPE8_BINARY_MAX + 7) / 8];
+ /* IMO236 - Fairway Closed */
+ struct {
+ char reason[20+1]; /* Reason For Closing */
+ char closefrom[20+1]; /* Location Of Closing From */
+ char closeto[20+1]; /* Location of Closing To */
+ unsigned int radius; /* Radius extension */
+#define AIS_DAC1FID13_RADIUS_NOT_AVAILABLE 10001
+ unsigned int extunit; /* Unit of extension */
+#define AIS_DAC1FID13_EXTUNIT_NOT_AVAILABLE 0
+ unsigned int fday; /* From day (UTC) */
+ unsigned int fmonth; /* From month (UTC) */
+ unsigned int fhour; /* From hour (UTC) */
+ unsigned int fminute; /* From minute (UTC) */
+ unsigned int tday; /* To day (UTC) */
+ unsigned int tmonth; /* To month (UTC) */
+ unsigned int thour; /* To hour (UTC) */
+ unsigned int tminute; /* To minute (UTC) */
+ } dac1fid13;
+ /* IMO236 - Extended ship and voyage data */
+ struct {
+ unsigned int airdraught; /* Air Draught */
+ } dac1fid15;
+ /* IMO289 - VTS-generated/Synthetic Targets */
+ struct {
+ signed int ntargets;
+ struct target_t {
+#define DAC1FID17_IDTYPE_MMSI 0
+#define DAC1FID17_IDTYPE_IMO 1
+#define DAC1FID17_IDTYPE_CALLSIGN 2
+#define DAC1FID17_IDTYPE_OTHER 3
+ unsigned int idtype; /* Identifier type */
+ union target_id { /* Target identifier */
+ unsigned int mmsi;
+ unsigned int imo;
+#define DAC1FID17_ID_LENGTH 7
+ char callsign[DAC1FID17_ID_LENGTH+1];
+ char other[DAC1FID17_ID_LENGTH+1];
+ } id;
+ signed int lat; /* Latitude */
+ signed int lon; /* Longitude */
+#define DAC1FID17_COURSE_NOT_AVAILABLE 360
+ unsigned int course; /* Course Over Ground */
+ unsigned int second; /* Time Stamp */
+#define DAC1FID17_SPEED_NOT_AVAILABLE 255
+ unsigned int speed; /* Speed Over Ground */
+ } targets[4];
+ } dac1fid17;
+ /* IMO 289 - Marine Traffic Signal */
+ struct {
+ unsigned int linkage; /* Message Linkage ID */
+ char station[20+1]; /* Name of Signal Station */
+ signed int lon; /* Longitude */
+ signed int lat; /* Latitude */
+ unsigned int status; /* Status of Signal */
+ unsigned int signal; /* Signal In Service */
+ unsigned int hour; /* UTC hour */
+ unsigned int minute; /* UTC minute */
+ unsigned int nextsignal; /* Expected Next Signal */
+ } dac1fid19;
+ /* IMO289 - Route info (broadcast) */
+ struct route_info dac1fid27;
+ /* IMO289 - Text message (broadcast) */
+ struct {
+ unsigned int linkage;
+#define AIS_DAC1FID29_TEXT_MAX 162 /* 920 bits of six-bit, plus NUL */
+ char text[AIS_DAC1FID29_TEXT_MAX];
+ } dac1fid29;
+ /* IMO236 & IMO289 - Meteorological-Hydrological data */
+ struct {
+ bool accuracy; /* position accuracy, <10m if true */
+#define DAC1FID31_LATLON_SCALE 1000
+ int lon; /* longitude in minutes * .001 */
+#define DAC1FID31_LON_NOT_AVAILABLE (181*60*DAC1FID31_LATLON_SCALE)
+ int lat; /* longitude in minutes * .001 */
+#define DAC1FID31_LAT_NOT_AVAILABLE (91*60*DAC1FID31_LATLON_SCALE)
+ unsigned int day; /* UTC day */
+ unsigned int hour; /* UTC hour */
+ unsigned int minute; /* UTC minute */
+ unsigned int wspeed; /* average wind speed */
+ unsigned int wgust; /* wind gust */
+#define DAC1FID31_WIND_HIGH 126
+#define DAC1FID31_WIND_NOT_AVAILABLE 127
+ unsigned int wdir; /* wind direction */
+ unsigned int wgustdir; /* wind gust direction */
+#define DAC1FID31_DIR_NOT_AVAILABLE 360
+ int airtemp; /* temperature, units 0.1C */
+#define DAC1FID31_AIRTEMP_NOT_AVAILABLE -1084
+ unsigned int humidity; /* relative humidity, % */
+#define DAC1FID31_HUMIDITY_NOT_AVAILABLE 101
+ int dewpoint; /* dew point, units 0.1C */
+#define DAC1FID31_DEWPOINT_NOT_AVAILABLE 501
+ unsigned int pressure; /* air pressure, hpa */
+#define DAC1FID31_PRESSURE_NOT_AVAILABLE 511
+#define DAC1FID31_PRESSURE_HIGH 402
+ unsigned int pressuretend; /* tendency */
+#define DAC1FID31_PRESSURETREND_NOT_AVAILABLE 3
+ bool visgreater; /* visibility greater than */
+ unsigned int visibility; /* units 0.1 nautical miles */
+#define DAC1FID31_VISIBILITY_NOT_AVAILABLE 127
+ int waterlevel; /* decimeters or cm */
+#define DAC1FID11_WATERLEVEL_NOT_AVAILABLE 4001
+#define DAC1FID31_WATERLEVEL_NOT_AVAILABLE 40001
+ unsigned int leveltrend; /* water level trend code */
+#define DAC1FID31_LEVELTREND_NOT_AVAILABLE 3
+ unsigned int cspeed; /* current speed in deciknots */
+#define DAC1FID31_CSPEED_NOT_AVAILABLE 255
+ unsigned int cdir; /* current dir., degrees */
+ unsigned int cspeed2; /* current speed in deciknots */
+ unsigned int cdir2; /* current dir., degrees */
+ unsigned int cdepth2; /* measurement depth, 0.1m */
+#define DAC1FID31_CDEPTH_NOT_AVAILABLE 301
+ unsigned int cspeed3; /* current speed in deciknots */
+ unsigned int cdir3; /* current dir., degrees */
+ unsigned int cdepth3; /* measurement depth, 0.1m */
+ unsigned int waveheight; /* in decimeters */
+#define DAC1FID31_HEIGHT_NOT_AVAILABLE 31
+ unsigned int waveperiod; /* in seconds */
+#define DAC1FID31_PERIOD_NOT_AVAILABLE 63
+ unsigned int wavedir; /* direction in degrees */
+ unsigned int swellheight; /* in decimeters */
+ unsigned int swellperiod; /* in seconds */
+ unsigned int swelldir; /* direction in degrees */
+ unsigned int seastate; /* Beaufort scale, 0-12 */
+#define DAC1FID31_SEASTATE_NOT_AVAILABLE 15
+ int watertemp; /* units 0.1deg Celsius */
+#define DAC1FID31_PRECIPTYPE_NOT_AVAILABLE 7
+ unsigned int preciptype; /* 0-7, enumerated */
+ unsigned int salinity; /* units of 0.1% */
+#define DAC1FID31_SALINITY_NOT_AVAILABLE 510
+ bool ice; /* is there sea ice? */
+ } dac1fid31;
+ };
+ } type8;
+ /* Type 9 - Standard SAR Aircraft Position Report */
+ struct {
+ unsigned int alt; /* altitude in meters */
+#define AIS_ALT_NOT_AVAILABLE 4095
+#define AIS_ALT_HIGH 4094 /* 4094 meters or higher */
+ unsigned int speed; /* speed over ground in deciknots */
+#define AIS_SAR_SPEED_NOT_AVAILABLE 1023
+#define AIS_SAR_FAST_MOVER 1022
+ bool accuracy; /* position accuracy */
+ int lon; /* longitude */
+ int lat; /* latitude */
+ unsigned int course; /* course over ground */
+ unsigned int second; /* seconds of UTC timestamp */
+ unsigned int regional; /* regional reserved */
+ unsigned int dte; /* data terminal enable */
+ //unsigned int spare; spare bits */
+ bool assigned; /* assigned-mode flag */
+ bool raim; /* RAIM flag */
+ unsigned int radio; /* radio status bits */
+ } type9;
+ /* Type 10 - UTC/Date Inquiry */
+ struct {
+ //unsigned int spare;
+ unsigned int dest_mmsi; /* destination MMSI */
+ //unsigned int spare2;
+ } type10;
+ /* Type 12 - Safety-Related Message */
+ struct {
+ unsigned int seqno; /* sequence number */
+ unsigned int dest_mmsi; /* destination MMSI */
+ bool retransmit; /* retransmit flag */
+ //unsigned int spare; spare bit(s) */
+#define AIS_TYPE12_TEXT_MAX 157 /* 936 bits of six-bit, plus NUL */
+ char text[AIS_TYPE12_TEXT_MAX];
+ } type12;
+ /* Type 14 - Safety-Related Broadcast Message */
+ struct {
+ //unsigned int spare; spare bit(s) */
+#define AIS_TYPE14_TEXT_MAX 161 /* 952 bits of six-bit, plus NUL */
+ char text[AIS_TYPE14_TEXT_MAX];
+ } type14;
+ /* Type 15 - Interrogation */
+ struct {
+ //unsigned int spare; spare bit(s) */
+ unsigned int mmsi1;
+ unsigned int type1_1;
+ unsigned int offset1_1;
+ //unsigned int spare2; spare bit(s) */
+ unsigned int type1_2;
+ unsigned int offset1_2;
+ //unsigned int spare3; spare bit(s) */
+ unsigned int mmsi2;
+ unsigned int type2_1;
+ unsigned int offset2_1;
+ //unsigned int spare4; spare bit(s) */
+ } type15;
+ /* Type 16 - Assigned Mode Command */
+ struct {
+ //unsigned int spare; spare bit(s) */
+ unsigned int mmsi1;
+ unsigned int offset1;
+ unsigned int increment1;
+ unsigned int mmsi2;
+ unsigned int offset2;
+ unsigned int increment2;
+ } type16;
+ /* Type 17 - GNSS Broadcast Binary Message */
+ struct {
+ //unsigned int spare; spare bit(s) */
+#define AIS_GNSS_LATLON_SCALE 600.0
+ int lon; /* longitude */
+ int lat; /* latitude */
+ //unsigned int spare2; spare bit(s) */
+#define AIS_TYPE17_BINARY_MAX 736 /* 920 bits */
+ size_t bitcount; /* bit count of the data */
+ char bitdata[(AIS_TYPE17_BINARY_MAX + 7) / 8];
+ } type17;
+ /* Type 18 - Standard Class B CS Position Report */
+ struct {
+ unsigned int reserved; /* altitude in meters */
+ unsigned int speed; /* speed over ground in deciknots */
+ bool accuracy; /* position accuracy */
+ int lon; /* longitude */
+#define AIS_GNS_LON_NOT_AVAILABLE 0x1a838
+ int lat; /* latitude */
+#define AIS_GNS_LAT_NOT_AVAILABLE 0xd548
+ unsigned int course; /* course over ground */
+ unsigned int heading; /* true heading */
+ unsigned int second; /* seconds of UTC timestamp */
+ unsigned int regional; /* regional reserved */
+ bool cs; /* carrier sense unit flag */
+ bool display; /* unit has attached display? */
+ bool dsc; /* unit attached to radio with DSC? */
+ bool band; /* unit can switch frequency bands? */
+ bool msg22; /* can accept Message 22 management? */
+ bool assigned; /* assigned-mode flag */
+ bool raim; /* RAIM flag */
+ unsigned int radio; /* radio status bits */
+ } type18;
+ /* Type 19 - Extended Class B CS Position Report */
+ struct {
+ unsigned int reserved; /* altitude in meters */
+ unsigned int speed; /* speed over ground in deciknots */
+ bool accuracy; /* position accuracy */
+ int lon; /* longitude */
+ int lat; /* latitude */
+ unsigned int course; /* course over ground */
+ unsigned int heading; /* true heading */
+ unsigned int second; /* seconds of UTC timestamp */
+ unsigned int regional; /* regional reserved */
+ char shipname[AIS_SHIPNAME_MAXLEN+1]; /* ship name */
+ unsigned int shiptype; /* ship type code */
+ unsigned int to_bow; /* dimension to bow */
+ unsigned int to_stern; /* dimension to stern */
+ unsigned int to_port; /* dimension to port */
+ unsigned int to_starboard; /* dimension to starboard */
+ unsigned int epfd; /* type of position fix deviuce */
+ bool raim; /* RAIM flag */
+ unsigned int dte; /* date terminal enable */
+ bool assigned; /* assigned-mode flag */
+ //unsigned int spare; spare bits */
+ } type19;
+ /* Type 20 - Data Link Management Message */
+ struct {
+ //unsigned int spare; spare bit(s) */
+ unsigned int offset1; /* TDMA slot offset */
+ unsigned int number1; /* number of xlots to allocate */
+ unsigned int timeout1; /* allocation timeout */
+ unsigned int increment1; /* repeat increment */
+ unsigned int offset2; /* TDMA slot offset */
+ unsigned int number2; /* number of xlots to allocate */
+ unsigned int timeout2; /* allocation timeout */
+ unsigned int increment2; /* repeat increment */
+ unsigned int offset3; /* TDMA slot offset */
+ unsigned int number3; /* number of xlots to allocate */
+ unsigned int timeout3; /* allocation timeout */
+ unsigned int increment3; /* repeat increment */
+ unsigned int offset4; /* TDMA slot offset */
+ unsigned int number4; /* number of xlots to allocate */
+ unsigned int timeout4; /* allocation timeout */
+ unsigned int increment4; /* repeat increment */
+ } type20;
+ /* Type 21 - Aids to Navigation Report */
+ struct {
+ unsigned int aid_type; /* aid type */
+ char name[35]; /* name of aid to navigation */
+ bool accuracy; /* position accuracy */
+ int lon; /* longitude */
+ int lat; /* latitude */
+ unsigned int to_bow; /* dimension to bow */
+ unsigned int to_stern; /* dimension to stern */
+ unsigned int to_port; /* dimension to port */
+ unsigned int to_starboard; /* dimension to starboard */
+ unsigned int epfd; /* type of EPFD */
+ unsigned int second; /* second of UTC timestamp */
+ bool off_position; /* off-position indicator */
+ unsigned int regional; /* regional reserved field */
+ bool raim; /* RAIM flag */
+ bool virtual_aid; /* is virtual station? */
+ bool assigned; /* assigned-mode flag */
+ //unsigned int spare; unused */
+ } type21;
+ /* Type 22 - Channel Management */
+ struct {
+ //unsigned int spare; spare bit(s) */
+ unsigned int channel_a; /* Channel A number */
+ unsigned int channel_b; /* Channel B number */
+ unsigned int txrx; /* transmit/receive mode */
+ bool power; /* high-power flag */
+#define AIS_CHANNEL_LATLON_SCALE 600.0
+ union {
+ struct {
+ int ne_lon; /* NE corner longitude */
+ int ne_lat; /* NE corner latitude */
+ int sw_lon; /* SW corner longitude */
+ int sw_lat; /* SW corner latitude */
+ } area;
+ struct {
+ unsigned int dest1; /* addressed station MMSI 1 */
+ unsigned int dest2; /* addressed station MMSI 2 */
+ } mmsi;
+ };
+ bool addressed; /* addressed vs. broadast flag */
+ bool band_a; /* fix 1.5kHz band for channel A */
+ bool band_b; /* fix 1.5kHz band for channel B */
+ unsigned int zonesize; /* size of transitional zone */
+ } type22;
+ /* Type 23 - Group Assignment Command */
+ struct {
+ int ne_lon; /* NE corner longitude */
+ int ne_lat; /* NE corner latitude */
+ int sw_lon; /* SW corner longitude */
+ int sw_lat; /* SW corner latitude */
+ //unsigned int spare; spare bit(s) */
+ unsigned int stationtype; /* station type code */
+ unsigned int shiptype; /* ship type code */
+ //unsigned int spare2; spare bit(s) */
+ unsigned int txrx; /* transmit-enable code */
+ unsigned int interval; /* report interval */
+ unsigned int quiet; /* quiet time */
+ //unsigned int spare3; spare bit(s) */
+ } type23;
+ /* Type 24 - Class B CS Static Data Report */
+ struct {
+ char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */
+ unsigned int shiptype; /* ship type code */
+ char vendorid[8]; /* vendor ID */
+ char callsign[8]; /* callsign */
+ union {
+ unsigned int mothership_mmsi; /* MMSI of main vessel */
+ struct {
+ unsigned int to_bow; /* dimension to bow */
+ unsigned int to_stern; /* dimension to stern */
+ unsigned int to_port; /* dimension to port */
+ unsigned int to_starboard; /* dimension to starboard */
+ } dim;
+ };
+ } type24;
+ /* Type 25 - Addressed Binary Message */
+ struct {
+ bool addressed; /* addressed-vs.broadcast flag */
+ bool structured; /* structured-binary flag */
+ unsigned int dest_mmsi; /* destination MMSI */
+ unsigned int app_id; /* Application ID */
+#define AIS_TYPE25_BINARY_MAX 128 /* Up to 128 bits */
+ size_t bitcount; /* bit count of the data */
+ char bitdata[(AIS_TYPE25_BINARY_MAX + 7) / 8];
+ } type25;
+ /* Type 26 - Addressed Binary Message */
+ struct {
+ bool addressed; /* addressed-vs.broadcast flag */
+ bool structured; /* structured-binary flag */
+ unsigned int dest_mmsi; /* destination MMSI */
+ unsigned int app_id; /* Application ID */
+#define AIS_TYPE26_BINARY_MAX 1004 /* Up to 128 bits */
+ size_t bitcount; /* bit count of the data */
+ char bitdata[(AIS_TYPE26_BINARY_MAX + 7) / 8];
+ unsigned int radio; /* radio status bits */
+ } type26;
+ /* Type 27 - Long Range AIS Broadcast message */
+ struct {
+ bool accuracy; /* position accuracy */
+ bool raim; /* RAIM flag */
+ unsigned int status; /* navigation status */
+#define AIS_LONGRANGE_LATLON_SCALE 600.0
+ int lon; /* longitude */
+#define AIS_LONGRANGE_LON_NOT_AVAILABLE 0x1a838
+ int lat; /* latitude */
+#define AIS_LONGRANGE_LAT_NOT_AVAILABLE 0xd548
+ unsigned int speed; /* speed over ground in deciknots */
+#define AIS_LONGRANGE_SPEED_NOT_AVAILABLE 63
+ unsigned int course; /* course over ground */
+#define AIS_LONGRANGE_COURSE_NOT_AVAILABLE 511
+ bool gnss; /* are we reporting GNSS position? */
+ } type27;
+ };
+};
+
+struct attitude_t {
+ double heading;
+ double pitch;
+ double roll;
+ double yaw;
+ double dip;
+ double mag_len; /* unitvector sqrt(x^2 + y^2 +z^2) */
+ double mag_x;
+ double mag_y;
+ double mag_z;
+ double acc_len; /* unitvector sqrt(x^2 + y^2 +z^2) */
+ double acc_x;
+ double acc_y;
+ double acc_z;
+ double gyro_x;
+ double gyro_y;
+ double temp;
+ double depth;
+ /* compass status -- TrueNorth (and any similar) devices only */
+ char mag_st;
+ char pitch_st;
+ char roll_st;
+ char yaw_st;
+};
+
+struct dop_t {
+ /* Dilution of precision factors */
+ double xdop, ydop, pdop, hdop, vdop, tdop, gdop;
+};
+
+struct rawdata_t {
+ /* raw measurement data */
+ double codephase[MAXCHANNELS]; /* meters */
+ double carrierphase[MAXCHANNELS]; /* meters */
+ double pseudorange[MAXCHANNELS]; /* meters */
+ double deltarange[MAXCHANNELS]; /* meters/sec */
+ double doppler[MAXCHANNELS]; /* Hz */
+ double mtime[MAXCHANNELS]; /* sec */
+ unsigned satstat[MAXCHANNELS]; /* tracking status */
+#define SAT_ACQUIRED 0x01 /* satellite acquired */
+#define SAT_CODE_TRACK 0x02 /* code-tracking loop acquired */
+#define SAT_CARR_TRACK 0x04 /* carrier-tracking loop acquired */
+#define SAT_DATA_SYNC 0x08 /* data-bit synchronization done */
+#define SAT_FRAME_SYNC 0x10 /* frame synchronization done */
+#define SAT_EPHEMERIS 0x20 /* ephemeris collected */
+#define SAT_FIX_USED 0x40 /* used for position fix */
+};
+
+struct version_t {
+ char release[64]; /* external version */
+ char rev[64]; /* internal revision ID */
+ int proto_major, proto_minor; /* API major and minor versions */
+ char remote[GPS_PATH_MAX]; /* could be from a remote device */
+};
+
+struct devconfig_t {
+ char path[GPS_PATH_MAX];
+ int flags;
+#define SEEN_GPS 0x01
+#define SEEN_RTCM2 0x02
+#define SEEN_RTCM3 0x04
+#define SEEN_AIS 0x08
+ char driver[64];
+ char subtype[64];
+ double activated;
+ unsigned int baudrate, stopbits; /* RS232 link parameters */
+ char parity; /* 'N', 'O', or 'E' */
+ double cycle, mincycle; /* refresh cycle time in seconds */
+ int driver_mode; /* is driver in native mode or not? */
+};
+
+struct policy_t {
+ bool watcher; /* is watcher mode on? */
+ bool json; /* requesting JSON? */
+ bool nmea; /* requesting dumping as NMEA? */
+ int raw; /* requesting raw data? */
+ bool scaled; /* requesting report scaling? */
+ bool timing; /* requesting timing info */
+ int loglevel; /* requested log level of messages */
+ char devpath[GPS_PATH_MAX]; /* specific device to watch */
+ char remote[GPS_PATH_MAX]; /* ...if this was passthrough */
+};
+
+/*
+ * Someday we may support Windows, under which socket_t is a separate type.
+ * In the meantime, having a typedef for this semantic kind is no bad thing,
+ * as it makes clearer what some declarations are doing without breaking
+ * binary compatibility.
+ */
+typedef int socket_t;
+
+/* mode flags for setting streaming policy */
+#define WATCH_ENABLE 0x000001u /* enable streaming */
+#define WATCH_DISABLE 0x000002u /* disable watching */
+#define WATCH_JSON 0x000010u /* JSON output */
+#define WATCH_NMEA 0x000020u /* output in NMEA */
+#define WATCH_RARE 0x000040u /* output of packets in hex */
+#define WATCH_RAW 0x000080u /* output of raw packets */
+#define WATCH_SCALED 0x000100u /* scale output to floats */
+#define WATCH_TIMING 0x000200u /* timing information */
+#define WATCH_DEVICE 0x000800u /* watch specific device */
+#define WATCH_NEWSTYLE 0x010000u /* force JSON streaming */
+#define WATCH_OLDSTYLE 0x020000u /* force old-style streaming */
+
+/*
+ * Main structure that includes all previous substructures
+ */
+
+struct gps_data_t {
+ gps_mask_t set; /* has field been set since this was last cleared? */
+#define ONLINE_SET (1llu<<1)
+#define TIME_SET (1llu<<2)
+#define TIMERR_SET (1llu<<3)
+#define LATLON_SET (1llu<<4)
+#define ALTITUDE_SET (1llu<<5)
+#define SPEED_SET (1llu<<6)
+#define TRACK_SET (1llu<<7)
+#define CLIMB_SET (1llu<<8)
+#define STATUS_SET (1llu<<9)
+#define MODE_SET (1llu<<10)
+#define DOP_SET (1llu<<11)
+#define HERR_SET (1llu<<12)
+#define VERR_SET (1llu<<13)
+#define ATTITUDE_SET (1llu<<14)
+#define SATELLITE_SET (1llu<<15)
+#define SPEEDERR_SET (1llu<<16)
+#define TRACKERR_SET (1llu<<17)
+#define CLIMBERR_SET (1llu<<18)
+#define DEVICE_SET (1llu<<19)
+#define DEVICELIST_SET (1llu<<20)
+#define DEVICEID_SET (1llu<<21)
+#define RTCM2_SET (1llu<<22)
+#define RTCM3_SET (1llu<<23)
+#define AIS_SET (1llu<<24)
+#define PACKET_SET (1llu<<25)
+#define SUBFRAME_SET (1llu<<26)
+#define GST_SET (1llu<<27)
+#define VERSION_SET (1llu<<28)
+#define POLICY_SET (1llu<<29)
+#define LOGMESSAGE_SET (1llu<<30)
+#define ERROR_SET (1llu<<31)
+#define SET_HIGH_BIT 31
+ timestamp_t online; /* NZ if GPS is on line, 0 if not.
+ *
+ * Note: gpsd clears this time when sentences
+ * fail to show up within the GPS's normal
+ * send cycle time. If the host-to-GPS
+ * link is lossy enough to drop entire
+ * sentences, this field will be
+ * prone to false zero values.
+ */
+
+#ifndef USE_QT
+ socket_t gps_fd; /* socket or file descriptor to GPS */
+#else
+ void* gps_fd;
+#endif
+ struct gps_fix_t fix; /* accumulated PVT data */
+
+ double separation; /* Geoidal separation, MSL - WGS84 (Meters) */
+
+ /* GPS status -- always valid */
+ int status; /* Do we have a fix? */
+#define STATUS_NO_FIX 0 /* no */
+#define STATUS_FIX 1 /* yes, without DGPS */
+#define STATUS_DGPS_FIX 2 /* yes, with DGPS */
+
+ /* precision of fix -- valid if satellites_used > 0 */
+ int satellites_used; /* Number of satellites used in solution */
+ int used[MAXCHANNELS]; /* PRNs of satellites used in solution */
+ struct dop_t dop;
+
+ /* redundant with the estimate elements in the fix structure */
+ double epe; /* spherical position error, 95% confidence (meters) */
+
+ /* satellite status -- valid when satellites_visible > 0 */
+ timestamp_t skyview_time; /* skyview timestamp */
+ int satellites_visible; /* # of satellites in view */
+ int PRN[MAXCHANNELS]; /* PRNs of satellite */
+ int elevation[MAXCHANNELS]; /* elevation of satellite */
+ int azimuth[MAXCHANNELS]; /* azimuth */
+ double ss[MAXCHANNELS]; /* signal-to-noise ratio (dB) */
+
+ struct devconfig_t dev; /* device that shipped last update */
+
+ struct policy_t policy; /* our listening policy */
+
+ /* should be moved to privdata sometday */
+ char tag[MAXTAGLEN+1]; /* tag of last sentence processed */
+
+ /* pack things never reported together to reduce structure size */
+#define UNION_SET (RTCM2_SET|RTCM3_SET|SUBFRAME_SET|AIS_SET|ATTITUDE_SET|VERSION_SET|DEVICELIST_SET|LOGMESSAGE_SET|ERROR_SET|GST_SET|VERSION_SET)
+ union {
+ /* unusual forms of sensor data that might come up the pipe */
+ struct rtcm2_t rtcm2;
+ struct rtcm3_t rtcm3;
+ struct subframe_t subframe;
+ struct ais_t ais;
+ struct attitude_t attitude;
+ struct rawdata_t raw;
+ struct gst_t gst;
+ /* "artificial" structures for various protocol responses */
+ struct version_t version;
+ struct {
+ timestamp_t time;
+ int ndevices;
+ struct devconfig_t list[MAXUSERDEVS];
+ } devices;
+ char error[256];
+ };
+
+ /* Private data - client code must not set this */
+ void *privdata;
+};
+
+extern int gps_open(/*@null@*/const char *, /*@null@*/const char *,
+ /*@out@*/struct gps_data_t *);
+extern int gps_close(struct gps_data_t *);
+extern int gps_send(struct gps_data_t *, const char *, ... );
+extern int gps_read(/*@out@*/struct gps_data_t *);
+extern int gps_unpack(char *, struct gps_data_t *);
+extern bool gps_waiting(const struct gps_data_t *, int);
+extern int gps_stream(struct gps_data_t *, unsigned int, /*@null@*/void *);
+extern const char /*@observer@*/ *gps_data(const struct gps_data_t *);
+extern const char /*@observer@*/ *gps_errstr(const int);
+
+extern int gps_sock_open(/*@null@*/const char *, /*@null@*/const char *,
+ /*@out@*/struct gps_data_t *);
+extern int gps_sock_read(/*@out@*/struct gps_data_t *);
+extern int gps_sock_close(struct gps_data_t *);
+extern int gps_sock_send(struct gps_data_t *, const char *);
+extern int gps_shm_open(/*@out@*/struct gps_data_t *);
+extern int gps_shm_read(struct gps_data_t *);
+extern bool gps_sock_waiting(const struct gps_data_t *, int);
+extern int gps_sock_stream(struct gps_data_t *, unsigned int, /*@null@*/void *);
+extern const char /*@observer@*/ *gps_sock_data(const struct gps_data_t *);
+extern void gps_shm_close(struct gps_data_t *);
+
+extern void libgps_trace(int errlevel, const char *, ...);
+
+/* dependencies on struct gpsdata_t end hrere */
+
+extern void gps_clear_fix(/*@ out @*/struct gps_fix_t *);
+extern void gps_clear_dop( /*@out@*/ struct dop_t *);
+extern void gps_merge_fix(/*@ out @*/struct gps_fix_t *,
+ gps_mask_t,
+ /*@ in @*/struct gps_fix_t *);
+extern void gps_enable_debug(int, FILE *);
+extern /*@observer@*/const char *gps_maskdump(gps_mask_t);
+
+extern double safe_atof(const char *);
+extern time_t mkgmtime(register struct tm *);
+extern timestamp_t timestamp(void);
+extern timestamp_t iso8601_to_unix(char *);
+extern /*@observer@*/char *unix_to_iso8601(timestamp_t t, /*@ out @*/char[], size_t len);
+extern double earth_distance(double, double, double, double);
+extern double earth_distance_and_bearings(double, double, double, double,
+ /*@null@*//*@out@*/double *,
+ /*@null@*//*@out@*/double *);
+extern double wgs84_separation(double, double);
+
+/* some multipliers for interpreting GPS output */
+#define METERS_TO_FEET 3.2808399 /* Meters to U.S./British feet */
+#define METERS_TO_MILES 0.00062137119 /* Meters to miles */
+#define KNOTS_TO_MPH 1.1507794 /* Knots to miles per hour */
+#define KNOTS_TO_KPH 1.852 /* Knots to kilometers per hour */
+#define KNOTS_TO_MPS 0.51444444 /* Knots to meters per second */
+#define MPS_TO_KPH 3.6 /* Meters per second to klicks/hr */
+#define MPS_TO_MPH 2.2369363 /* Meters/second to miles per hour */
+#define MPS_TO_KNOTS 1.9438445 /* Meters per second to knots */
+/* miles and knots are both the international standard versions of the units */
+
+/* angle conversion multipliers */
+#define GPS_PI 3.1415926535897932384626433832795029
+#define RAD_2_DEG 57.2957795130823208767981548141051703
+#define DEG_2_RAD 0.0174532925199432957692369076848861271
+
+/* geodetic constants */
+#define WGS84A 6378137 /* equatorial radius */
+#define WGS84F 298.257223563 /* flattening */
+#define WGS84B 6356752.3142 /* polar radius */
+
+/* netlib_connectsock() errno return values */
+#define NL_NOSERVICE -1 /* can't get service entry */
+#define NL_NOHOST -2 /* can't get host entry */
+#define NL_NOPROTO -3 /* can't get protocol entry */
+#define NL_NOSOCK -4 /* can't create socket */
+#define NL_NOSOCKOPT -5 /* error SETSOCKOPT SO_REUSEADDR */
+#define NL_NOCONNECT -6 /* can't connect to host/socket pair */
+#define SHM_NOSHARED -7 /* shared-memory segment not available */
+#define SHM_NOATTACH -8 /* shared-memory attach failed */
+
+#define DEFAULT_GPSD_PORT "2947" /* IANA assignment */
+#define DEFAULT_RTCM_PORT "2101" /* IANA assignment */
+
+/* special host values for non-socket exports */
+#define GPSD_SHARED_MEMORY "shared memory"
+
+/*
+ * Platform-specific declarations
+ */
+
+#ifdef _WIN32
+#define strtok_r(s,d,p) strtok_s(s,d,p)
+#endif
+
+/* Some libc's don't have strlcat/strlcpy. Local copies are provided */
+#ifndef HAVE_STRLCAT
+size_t strlcat(/*@out@*/char *dst, /*@in@*/const char *src, size_t size);
+#endif
+#ifndef HAVE_STRLCPY
+size_t strlcpy(/*@out@*/char *dst, /*@in@*/const char *src, size_t size);
+#endif
+
+#ifdef __cplusplus
+} /* End of the 'extern "C"' block */
+#endif
+
+/* gps.h ends here */
+#endif /* _GPSD_GPS_H_ */
generated by cgit v1.1 at 2025-01-18 02:40:14 +0000