diff options
Diffstat (limited to 'third_party')
| -rw-r--r-- | third_party/gpsd/COPYING | 38 | ||||
| -rw-r--r-- | third_party/gpsd/README.chromium | 20 | ||||
| -rw-r--r-- | third_party/gpsd/release-3.1/gps.h | 1809 |
3 files changed, 0 insertions, 1867 deletions
diff --git a/third_party/gpsd/COPYING b/third_party/gpsd/COPYING deleted file mode 100644 index 0765386..0000000 --- a/third_party/gpsd/COPYING +++ /dev/null @@ -1,38 +0,0 @@ - COPYRIGHTS - -Compilation copyright is held by the GPSD project. All rights reserved. - -GPSD project copyrights are assigned to the project lead, currently -Eric S. Raymond. Other portions of the GPSD code are Copyright (c) -1997, 1998, 1999, 2000, 2001, 2002 by Remco Treffkorn, and others -Copyright (c) 2005 by Eric S. Raymond. For other copyrights, see -individual files. - - BSD LICENSE - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions -are met:<P> - -Redistributions of source code must retain the above copyright -notice, this list of conditions and the following disclaimer.<P> - -Redistributions in binary form must reproduce the above copyright -notice, this list of conditions and the following disclaimer in the -documentation and/or other materials provided with the distribution.<P> - -Neither name of the GPSD project nor the names of its contributors -may be used to endorse or promote products derived from this software -without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR -CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. diff --git a/third_party/gpsd/README.chromium b/third_party/gpsd/README.chromium deleted file mode 100644 index 5fd1245..0000000 --- a/third_party/gpsd/README.chromium +++ /dev/null @@ -1,20 +0,0 @@ -Name: gpsd -URL: http://download-mirror.savannah.gnu.org/releases/gpsd/ -InfoURL: http://catb.org/gpsd/ -Version: 3.1 -License: BSD - -Description: -versions 3.1 -gpsd is a service daemon that monitors one or more GPSes or AIS receivers -attached to a host computer through serial or USB ports, making all data on the -location/course/velocity of the sensors available to be queried on TCP port -2947 of the host computer. From version 3.1 on, shared memory export is also -availble for gps data communication between gpsd and clients. - -Local Modifications: -No modifications. -Only the gps.h file is imported, as the client library (libgps.so.20) is -dynamically loaded (where present). - -Security Critical: yes diff --git a/third_party/gpsd/release-3.1/gps.h b/third_party/gpsd/release-3.1/gps.h deleted file mode 100644 index 4ecce8e..0000000 --- a/third_party/gpsd/release-3.1/gps.h +++ /dev/null @@ -1,1809 +0,0 @@ -/* 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_ */ |