Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*/
-#include "defs.h"
-#include "gbser.h"
-#include <QThread>
-#include <cmath>
-#include <cstdio>
-#include <cstdlib>
+#include "skytraq.h"
+
+#include <QByteArray> // for QByteArray
+#include <QtGlobal> // for qPrintable
+#include <QLatin1Char> // for QLatin1Char
+#include <QThread> // for QThread
+
+#include <cctype> // for isprint
+#include <cmath> // for cos, sin, atan2, pow, sqrt, M_PI
+#include <cstdarg> // for va_end, va_list, va_start
+#include <cstdio> // for sscanf, snprintf, vprintf, SEEK_SET
+#include <cstdlib> // for atoi, free
+#include <cstring> // for memset
+#include <ctime> // for time, time_t
+
+#include "defs.h" // for fatal, le_readu32, Waypoint, be_write32, be_read16, be_read_double, be_write16, be_write_double, warning, KPH_TO_MPS, le_readu16, le_write_double, track_add_head, track_add_wpt, waypt_add, xfree, xmalloc, route_head, xasprintf, SECONDS_PER_DAY, WAYPT_SET, globa...
+#include "gbser.h" // for gbser_set_speed, gbser_OK, gbser_deinit, gbser_flush, gbser_init, gbser_read_wait, gbser_readc_wait, gbser_writec
+
#define MYNAME "skytraq"
#define MAX(X,Y) ((X) > (Y) ? (X) : (Y))
-static void* serial_handle = nullptr; /* IO file descriptor */
-static int skytraq_baud = 0; /* detected baud rate */
-static gbfile* file_handle = nullptr; /* file descriptor (used by skytraq-bin format) */
-
-static char* opt_erase = nullptr; /* erase after read? (0/1) */
-static char* opt_initbaud = nullptr; /* baud rate used to init device */
-static char* opt_dlbaud = nullptr; /* baud rate used for downloading tracks */
-static char* opt_read_at_once = nullptr; /* number of sectors to read at once (Venus6 only) */
-static char* opt_first_sector = nullptr; /* first sector to be read from the device (default: 0) */
-static char* opt_last_sector = nullptr; /* last sector to be read from the device (default: smart read everything) */
-static char* opt_dump_file = nullptr; /* dump raw data to this file (optional) */
-static char* opt_no_output = nullptr; /* disable output? (0/1) */
-static char* opt_set_location = nullptr; /* set if the "targetlocation" options was used */
-static char* opt_configure_logging = nullptr;
-static char* opt_gps_utc_offset = nullptr;
-static char* opt_gps_week_rollover = nullptr;
-
-static
-QVector<arglist_t> skytraq_args = {
- {
- "erase", &opt_erase, "Erase device data after download",
- "0", ARGTYPE_BOOL, ARG_NOMINMAX, nullptr
- },
- {
- "targetlocation", &opt_set_location, "Set location finder target location as lat,lng",
- nullptr, ARGTYPE_STRING, "", "", nullptr
- },
- {
- "configlog", &opt_configure_logging, "Configure logging parameter as tmin:tmax:dmin:dmax",
- nullptr, ARGTYPE_STRING, "", "", nullptr
- },
- {
- "baud", &opt_dlbaud, "Baud rate used for download",
- "230400", ARGTYPE_INT, "0", "230400", nullptr
- },
- {
- "initbaud", &opt_initbaud, "Baud rate used to init device (0=autodetect)",
- "0", ARGTYPE_INT, "4800", "230400", nullptr
- },
- {
- "read-at-once", &opt_read_at_once, "Number of sectors to read at once (0=use single sector mode)",
- "255", ARGTYPE_INT, "0", "255", nullptr
- },
- {
- "first-sector", &opt_first_sector, "First sector to be read from the device",
- "0", ARGTYPE_INT, "0", "65535", nullptr
- },
- {
- "last-sector", &opt_last_sector, "Last sector to be read from the device (-1: smart read everything)",
- "-1", ARGTYPE_INT, "-1", "65535", nullptr
- },
- {
- "dump-file", &opt_dump_file, "Dump raw data to this file",
- nullptr, ARGTYPE_OUTFILE, ARG_NOMINMAX, nullptr
- },
- {
- "no-output", &opt_no_output, "Disable output (useful with erase)",
- "0", ARGTYPE_BOOL, ARG_NOMINMAX, nullptr
- },
- {
- "gps-utc-offset", &opt_gps_utc_offset, "Seconds that GPS time tracks UTC (0: best guess)",
- "0", ARGTYPE_INT, ARG_NOMINMAX, nullptr
- },
- {
- "gps-week-rollover", &opt_gps_week_rollover, "GPS week rollover period we're in (-1: best guess)",
- "-1", ARGTYPE_INT, ARG_NOMINMAX, nullptr
- },
-};
-
-static
-QVector<arglist_t> skytraq_fargs = {
- {
- "first-sector", &opt_first_sector, "First sector to be read from the file",
- "0", ARGTYPE_INT, "0", "65535", nullptr
- },
- {
- "last-sector", &opt_last_sector, "Last sector to be read from the file (-1: read till empty sector)",
- "-1", ARGTYPE_INT, "-1", "65535", nullptr
- },
- {
- "gps-utc-offset", &opt_gps_utc_offset, "Seconds that GPS time tracks UTC (0: best guess)",
- "0", ARGTYPE_INT, ARG_NOMINMAX, nullptr
- },
- {
- "gps-week-rollover", &opt_gps_week_rollover, "GPS week rollover period we're in (-1: best guess)",
- "-1", ARGTYPE_INT, ARG_NOMINMAX, nullptr
- },
-};
-
-static void
-db(int l, const char* msg, ...)
+void
+SkytraqBase::db(int l, const char* msg, ...)
{
va_list ap;
va_start(ap, msg);
va_end(ap);
}
-static void
-rd_drain()
+void
+SkytraqBase::rd_drain() const
{
if (gbser_flush(serial_handle)) {
db(1, MYNAME ": rd_drain(): Comm error\n");
}
}
-static int
-rd_char(int* errors)
+int
+SkytraqBase::rd_char(int* errors) const
{
while (*errors > 0) {
int c = gbser_readc_wait(serial_handle, TIMEOUT);
return -1;
}
-static int
-rd_buf(uint8_t* buf, int len)
+int
+SkytraqBase::rd_buf(uint8_t* buf, int len) const
{
char dump[16*3+16+2];
return res_OK;
}
-static int
-rd_word()
+int
+SkytraqBase::rd_word() const
{
int errors = 5; /* allow this many errors */
int c;
return (buffer[0] << 8) | buffer[1];
}
-static void
-wr_char(int c)
+void
+SkytraqBase::wr_char(int c) const
{
int rc;
db(4, "Sending: %02x '%c'\n", (unsigned)c, isprint(c) ? c : '.');
}
}
-static void
-wr_buf(const unsigned char* str, int len)
+void
+SkytraqBase::wr_buf(const unsigned char* str, int len) const
{
for (int i = 0; i < len; i++) {
wr_char(str[i]);
* %%% SkyTraq protocol implementation %%% *
*******************************************************************************/
-static uint8_t NL[2] = { 0x0D, 0x0A };
-static uint8_t MSG_START[2] = { 0xA0, 0xA1 };
-static uint8_t SECTOR_READ_END[13] = { 'E','N','D', 0, 'C','H','E','C','K','S','U','M','=' };
-
-static int
-skytraq_calc_checksum(const unsigned char* buf, int len)
+int
+SkytraqBase::skytraq_calc_checksum(const unsigned char* buf, int len)
{
int cs = 0;
for (int i = 0; i < len; i++) {
return cs;
}
-static int
-skytraq_rd_msg(void* payload, unsigned int len)
+int
+SkytraqBase::skytraq_rd_msg(void* payload, unsigned int len) const
{
int errors = 5; // Allow this many receiver errors silently.
unsigned int c, i, state;
return res_OK;
}
-static void
-skytraq_wr_msg(const uint8_t* payload, int len)
+void
+SkytraqBase::skytraq_wr_msg(const uint8_t* payload, int len) const
{
rd_drain();
wr_buf(NL, sizeof(NL));
}
-static int
-skytraq_expect_ack(uint8_t id)
+int
+SkytraqBase::skytraq_expect_ack(uint8_t id) const
{
uint8_t ack_msg[2];
//int rcv_len;
return res_PROTOCOL_ERR;
}
-static int
-skytraq_expect_msg(uint8_t id, uint8_t* payload, int len)
+int
+SkytraqBase::skytraq_expect_msg(uint8_t id, uint8_t* payload, int len) const
{
for (int i = 0; i < MSG_RETRIES; i++) {
int rc = skytraq_rd_msg(payload, len);
return res_PROTOCOL_ERR;
}
-static int
-skytraq_wr_msg_verify(const uint8_t* payload, int len)
+int
+SkytraqBase::skytraq_wr_msg_verify(const uint8_t* payload, int len) const
{
for (int i = 0; i < MSG_RETRIES; i++) {
if (i > 0) {
return res_ERROR;
}
-static int
-skytraq_system_restart()
+int
+SkytraqBase::skytraq_system_restart() const
{
uint8_t MSG_SYSTEM_RESTART[15] =
{ 0x01, 0x01, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
return skytraq_wr_msg_verify(MSG_SYSTEM_RESTART, sizeof(MSG_SYSTEM_RESTART));
}
-static int
-skytraq_set_baud(int baud)
+int
+SkytraqBase::skytraq_set_baud(int baud) const
{
/* Note: according to AN0003_v3.pdf, attrib == 0x00 means write to SRAM only, however
* it seems to write to flash too. The Windows software sends 0x02 so we do here too.
return res_OK;
}
-static int
-skytraq_configure_logging()
+int
+SkytraqBase::skytraq_configure_logging() const
{
// an0008-1.4.14: logs if
// (dt > tmin & dd >= dmin & v >= vmin) | dt > tmax | dd > dmax | v > vmax
return skytraq_wr_msg_verify(MSG_LOG_CONFIGURE_CONTROL, sizeof(MSG_LOG_CONFIGURE_CONTROL));
}
-static int
-skytraq_get_log_buffer_status(uint32_t* log_wr_ptr, uint16_t* sectors_free, uint16_t* sectors_total)
+int
+SkytraqBase::skytraq_get_log_buffer_status(uint32_t* log_wr_ptr, uint16_t* sectors_free, uint16_t* sectors_total) const
{
uint8_t MSG_LOG_STATUS_CONTROL = 0x17;
struct {
}
/* reads 32-bit "middle-endian" fields */
-static unsigned int me_read32(const unsigned char* p)
+unsigned int SkytraqBase::me_read32(const unsigned char* p)
{
return ((unsigned)be_read16(p+2) << 16) | ((unsigned)be_read16(p));
}
-static time_t
-gpstime_to_timet(int week, int sec)
+time_t
+SkytraqBase::gpstime_to_timet(int week, int sec) const
{
/* Notes:
* * week rollover period can be specified using option
return gps_timet; /* returns UTC time */
}
-static void
-ECEF_to_LLA(double x, double y, long z, double* lat, double* lon, double* alt)
+void
+SkytraqBase::ECEF_to_LLA(double x, double y, long z, double* lat, double* lon, double* alt)
{
/* constants: */
- const double CA = 6378137.0;
- const double CB = 6356752.31424518;
- const double CE2 = (CA*CA - CB*CB) / (CA*CA); /* =e^2 */
- const double CE_2 = (CA*CA - CB*CB) / (CB*CB); /* =e'^2 */
+ constexpr double CA = 6378137.0;
+ constexpr double CB = 6356752.31424518;
+ constexpr double CE2 = (CA*CA - CB*CB) / (CA*CA); /* =e^2 */
+ constexpr double CE_2 = (CA*CA - CB*CB) / (CB*CB); /* =e'^2 */
/* auxiliary values: */
double AP = sqrt(x*x + y*y);
*lon = *lon /M_PI*180;
}
-namespace { // fix ODR violation with wbt-200
- struct read_state {
- route_head* route_head_;
- unsigned wpn, tpn;
-
- unsigned gps_week;
- unsigned gps_sec;
- long x, y, z;
- };
-}
-
-static void
-state_init(struct read_state* pst)
+void
+SkytraqBase::state_init(struct read_state* pst)
{
auto* track = new route_head;
track->rte_name = "SkyTraq tracklog";
pst->z = 0;
}
-static Waypoint*
-make_trackpoint(struct read_state* st, double lat, double lon, double alt)
+Waypoint*
+SkytraqBase::make_trackpoint(struct read_state* st, double lat, double lon, double alt) const
{
auto* wpt = new Waypoint;
return wpt;
}
-struct full_item {
- uint32_t gps_week;
- uint32_t gps_sec;
- int32_t x;
- int32_t y;
- int32_t z;
-};
-
-struct compact_item {
- uint16_t dt;
- int16_t dx;
- int16_t dy;
- int16_t dz;
-};
-
-struct multi_hz_item {
- uint32_t gps_week;
- uint32_t gps_sec;
- int32_t lat;
- int32_t lon;
- int32_t alt;
-};
-
-
-struct full_item_frame {
- unsigned char ts[4];
- unsigned char x[4];
- unsigned char y[4];
- unsigned char z[4];
-};
-
-struct compact_item_frame {
- unsigned char dt[2]; /* big endian unsigned short */
- unsigned char dpos[4];
-};
-
-struct multi_hz_item_frame {
- unsigned char v_kmh[2];
- unsigned char ts[4];
- unsigned char lat[4];
- unsigned char lon[4];
- unsigned char alt[4];
-};
-
-struct item_frame {
- unsigned char type_and_speed[2];
- union {
- multi_hz_item_frame multi_hz;
- full_item_frame full;
- compact_item_frame comp;
- };
-};
#define ITEM_WEEK_NUMBER(item) (item->type_and_speed[1] | ((item->type_and_speed[0] & 0x03) << 8))
#define POW_2_M20 0.000000953674316
#define ITEM_TYPE(item) (item->type_and_speed[0] >> 4)
#define ITEM_SPEED(item) (item->type_and_speed[1] | ((item->type_and_speed[0] & 0x0F) << 8))
-static int
-process_data_item(struct read_state* pst, const item_frame* pitem, int len)
+int
+SkytraqBase::process_data_item(struct read_state* pst, const item_frame* pitem, int len) const
{
int res = 0;
double lat;
return res;
}
-static int /* returns number of bytes processed (terminates on 0xFF i.e. empty or padding bytes) */
-process_data_sector(struct read_state* pst, const uint8_t* buf, int len)
+int /* returns number of bytes processed (terminates on 0xFF i.e. empty or padding bytes) */
+SkytraqBase::process_data_sector(struct read_state* pst, const uint8_t* buf, int len) const
{
int plen, ilen;
}
/* Note: the buffer is being padded with 0xFFs if necessary so there are always SECTOR_SIZE valid bytes */
-static int
-skytraq_read_single_sector(unsigned int sector, uint8_t* buf)
+int
+SkytraqBase::skytraq_read_single_sector(unsigned int sector, uint8_t* buf) const
{
uint8_t MSG_LOG_SECTOR_READ_CONTROL[2] = { 0x1B, (uint8_t)(sector) };
int errors = 5; /* allow this many errors */
return res_OK;
}
-static int
-skytraq_read_multiple_sectors(int first_sector, unsigned int sector_count, uint8_t* buf)
+int
+SkytraqBase::skytraq_read_multiple_sectors(int first_sector, unsigned int sector_count, uint8_t* buf) const
{
uint8_t MSG_LOG_READ_MULTI_SECTORS[5] = { 0x1D };
unsigned int i;
return res_OK;
}
-static void
-skytraq_read_tracks()
+void
+SkytraqBase::skytraq_read_tracks() const
{
struct read_state st;
uint32_t log_wr_ptr;
}
}
-static int
-skytraq_probe()
+int
+SkytraqBase::skytraq_probe() const
{
int baud_rates[] = { 9600, 230400, 115200, 57600, 4800, 19200, 38400 };
int baud_rates_count = sizeof(baud_rates)/sizeof(baud_rates[0]);
return res_NOTFOUND;
}
-static int
-skytraq_erase()
+int
+SkytraqBase::skytraq_erase() const
{
uint8_t MSG_LOG_ERASE = 0x19;
return res_OK;
}
-static void
-skytraq_set_location()
+void
+SkytraqBase::skytraq_set_location() const
{
double lat, lng;
uint8_t MSG_SET_LOCATION[17] = { 0x36, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 };
* %%% global callbacks called by gpsbabel main process %%% *
*******************************************************************************/
-static void
-skytraq_rd_init(const QString& fname)
+void
+SkytraqBase::skytraq_rd_init(const QString& fname)
{
if ((serial_handle = gbser_init(qPrintable(fname))) == nullptr) {
fatal(MYNAME ": Can't open port '%s'\n", qPrintable(fname));
}
}
-static void
-skytraq_rd_deinit()
+void
+SkytraqBase::skytraq_rd_deinit()
{
gbser_deinit(serial_handle);
serial_handle = nullptr;
}
-static void
-skytraq_read()
+void
+SkytraqBase::skytraq_read() const
{
if (opt_set_location) {
skytraq_set_location();
skytraq_system_restart();
}
-static void
-file_init(const QString& fname)
+void
+SkytraqfileFormat::rd_init(const QString& fname)
{
db(1, "Opening file...\n");
if ((file_handle = gbfopen(fname, "rb", MYNAME)) == nullptr) {
}
}
-static void
-file_deinit()
+void
+SkytraqfileFormat::rd_deinit()
{
db(1, "Closing file...\n");
gbfclose(file_handle);
file_handle = nullptr;
}
-static void
-file_read()
+void
+SkytraqfileFormat::read()
{
struct read_state st;
int got_bytes;
db(1, MYNAME ": Got %i trackpoints from %i sectors.\n", st.tpn, sectors_read);
}
-/**************************************************************************/
-
-// capabilities below means: we can only read tracks
-
-ff_vecs_t skytraq_vecs = {
- ff_type_serial,
- {
- ff_cap_read /* waypoints */,
- ff_cap_read /* tracks */,
- ff_cap_none /* routes */
- },
- skytraq_rd_init,
- nullptr,
- skytraq_rd_deinit,
- nullptr,
- skytraq_read,
- nullptr,
- nullptr,
- &skytraq_args,
- CET_CHARSET_UTF8, 1 /* master process: don't convert anything */
- , NULL_POS_OPS,
- nullptr
-};
-
-ff_vecs_t skytraq_fvecs = {
- ff_type_file,
- {
- ff_cap_read /* waypoints */,
- ff_cap_read /* tracks */,
- ff_cap_none /* routes */
- },
- file_init,
- nullptr,
- file_deinit,
- nullptr,
- file_read,
- nullptr,
- nullptr,
- &skytraq_fargs,
- CET_CHARSET_UTF8, 1 /* master process: don't convert anything */
- , NULL_POS_OPS,
- nullptr
-};
/**************************************************************************/
/*
* support POI of skytraq based miniHomer device
#undef MYNAME
#endif
#define MYNAME "miniHomer"
-static char* opt_set_poi_home = nullptr; /* set if a "poi" option was used */
-static char* opt_set_poi_car = nullptr; /* set if a "poi" option was used */
-static char* opt_set_poi_boat = nullptr; /* set if a "poi" option was used */
-static char* opt_set_poi_heart = nullptr; /* set if a "poi" option was used */
-static char* opt_set_poi_bar = nullptr; /* set if a "poi" option was used */
-static QVector<arglist_t> miniHomer_args = {
- { "baud", &opt_dlbaud, "Baud rate used for download", "115200", ARGTYPE_INT, "0", "115200", nullptr },
- { "dump-file", &opt_dump_file, "Dump raw data to this file", nullptr, ARGTYPE_OUTFILE, ARG_NOMINMAX, nullptr },
- { "erase", &opt_erase, "Erase device data after download", "0", ARGTYPE_BOOL, ARG_NOMINMAX, nullptr },
- { "first-sector", &opt_first_sector, "First sector to be read from the device", "0", ARGTYPE_INT, "0", "65535", nullptr },
- { "initbaud", &opt_initbaud, "Baud rate used to init device (0=autodetect)", "38400", ARGTYPE_INT, "38400", "38400", nullptr },
- { "last-sector", &opt_last_sector, "Last sector to be read from the device (-1: smart read everything)", "-1", ARGTYPE_INT, "-1", "65535", nullptr },
- { "no-output", &opt_no_output, "Disable output (useful with erase)", "0", ARGTYPE_BOOL, ARG_NOMINMAX, nullptr },
- { "read-at-once", &opt_read_at_once, "Number of sectors to read at once (0=use single sector mode)", "255", ARGTYPE_INT, "0", "255", nullptr },
- { "Home", &opt_set_poi_home, "POI for Home Symbol as lat:lng[:alt]", nullptr, ARGTYPE_STRING, "", "", nullptr },
- { "Car", &opt_set_poi_car, "POI for Car Symbol as lat:lng[:alt]", nullptr, ARGTYPE_STRING, "", "", nullptr },
- { "Boat", &opt_set_poi_boat, "POI for Boat Symbol as lat:lng[:alt]", nullptr, ARGTYPE_STRING, "", "", nullptr },
- { "Heart", &opt_set_poi_heart, "POI for Heart Symbol as lat:lng[:alt]", nullptr, ARGTYPE_STRING, "", "", nullptr },
- { "Bar", &opt_set_poi_bar, "POI for Bar Symbol as lat:lng[:alt]", nullptr, ARGTYPE_STRING, "", "", nullptr },
- {
- "gps-utc-offset", &opt_gps_utc_offset, "Seconds that GPS time tracks UTC (0: best guess)",
- "0", ARGTYPE_INT, ARG_NOMINMAX, nullptr
- },
- {
- "gps-week-rollover", &opt_gps_week_rollover, "GPS week rollover period we're in (-1: best guess)",
- "-1", ARGTYPE_INT, ARG_NOMINMAX, nullptr
- },
-};
-/*
- * Names of the POIs on miniHomer
- */
-static const char* poinames[] = {
- "Home", "Car", "Boat", "Heart", "Bar"
-};
#define NUMPOI (sizeof poinames/sizeof poinames[0])
#ifdef DEAD_CODE_IS_REBORN
-static int getPoiByName(char* name)
+int MinihomerFormat::getPoiByName(char* name)
{
unsigned int i;
for (i=0; i<NUMPOI; i++) {
// http://www.mathworks.com/matlabcentral/fileexchange/7942-covert-lat-lon-alt-to-ecef-cartesian
// http://en.wikipedia.org/wiki/Geodetic_system#From_ECEF_to_geodetic
// http://earth-info.nga.mil/GandG/publications/tr8350.2/wgs84fin.pdf
-static void lla2ecef(double lat, double lng, double alt, double* ecef_x, double* ecef_y, double* ecef_z)
+void MinihomerFormat::lla2ecef(double lat, double lng, double alt, double* ecef_x, double* ecef_y, double* ecef_z)
{
long double a = 6378137.0;
long double esqr = 6.69437999014e-3;
*ecef_y = (double)((n+lalt) * cos(llat) * sin(llng));
*ecef_z = (double)((n*(1-esqr) + lalt)* sin(llat));
}
-static void miniHomer_get_poi()
+void MinihomerFormat::miniHomer_get_poi() const
{
uint8_t MSG_GET_POI[3] = { 0x4D, 0, 0};
uint8_t buf[32];
* -1 in case of errors
* the number of the POI will not be checked - if it is not correct, miniHome will send NACK
*/
-static int miniHomer_set_poi(uint16_t poinum, const char* opt_poi)
+int MinihomerFormat::miniHomer_set_poi(uint16_t poinum, const char* opt_poi) const
{
#define MSG_SET_POI_SIZE (sizeof(uint8_t)+sizeof(uint16_t)+3*sizeof(double)+sizeof(uint8_t))
uint8_t MSG_SET_POI[MSG_SET_POI_SIZE] = {
}
return result;
}
-static QString mhport;
-static void
-miniHomer_rd_init(const QString& fname)
+void
+MinihomerFormat::rd_init(const QString& fname)
{
opt_set_location=nullptr; // otherwise it will lead to bus error
skytraq_rd_init(fname); // sets global var serial_handle
mhport=fname;
}
-static void
-miniHomer_rd_deinit()
+void
+MinihomerFormat::rd_deinit()
{
skytraq_rd_deinit();
mhport.clear();
}
#define SETPOI(poinum, poiname) if (opt_set_poi_##poiname ) {miniHomer_set_poi(poinum, opt_set_poi_##poiname);}
-static void
-miniHomer_read()
+void
+MinihomerFormat::read()
{
int npoi=0;
/*
miniHomer_get_poi(); // add POI as waypoints to the waypoints of the track
}
}
-
-ff_vecs_t miniHomer_vecs = {
- ff_type_serial,
- {
- ff_cap_read /* waypoints */,
- ff_cap_read /* tracks */,
- ff_cap_none /* routes */
- },
- miniHomer_rd_init,
- nullptr,
- miniHomer_rd_deinit,
- nullptr,
- miniHomer_read,
- nullptr,
- nullptr,
- &miniHomer_args,
- CET_CHARSET_UTF8, 1, /* master process: don't convert anything */
- NULL_POS_OPS,
- nullptr
-};
--- /dev/null
+/*
+
+ Serial download of track data from GPS loggers with Skytraq chipset.
+
+ Copyright (C) 2008-2019 Mathias Adam, m.adam (at) adamis.de
+
+ 2008 J.C Haessig, jean-christophe.haessig (at) dianosis.org
+ 2009-09-06 | Josef Reisinger | Added "set target location", i.e. -i skytrag,targetlocation=<lat>:<lng>
+ 2010-10-23 | Josef Reisinger | Added read/write for miniHomer POI
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ */
+#ifndef SKYTRAQ_H_INCLUDED_
+#define SKYTRAQ_H_INCLUDED_
+
+#include <QString> // for QString
+#include <QVector> // for QVector
+
+#include <cstdint> // for uint8_t, int32_t, uint32_t, uint16_t, int16_t
+#include <ctime> // for time_t
+
+#include "defs.h" // for arglist_t, ARGTYPE_INT, ff_cap, ARG_NOMINMAX, ARGTYPE_STRING, ff_cap_read, ARGTYPE_BOOL, CET_CHARSET_UTF8, ff_cap_none, ff_type, ARGTYPE_OUTFILE, ff_type_serial, Waypoint, ff_type_file, route_head
+#include "format.h" // for Format
+#include "gbfile.h" // for gbfile
+
+
+class SkytraqBase
+{
+protected:
+ /* Types */
+
+ struct read_state {
+ route_head* route_head_;
+ unsigned wpn, tpn;
+
+ unsigned gps_week;
+ unsigned gps_sec;
+ long x, y, z;
+ };
+
+ struct full_item {
+ uint32_t gps_week;
+ uint32_t gps_sec;
+ int32_t x;
+ int32_t y;
+ int32_t z;
+ };
+
+ struct compact_item {
+ uint16_t dt;
+ int16_t dx;
+ int16_t dy;
+ int16_t dz;
+ };
+
+ struct multi_hz_item {
+ uint32_t gps_week;
+ uint32_t gps_sec;
+ int32_t lat;
+ int32_t lon;
+ int32_t alt;
+ };
+
+ struct full_item_frame {
+ unsigned char ts[4];
+ unsigned char x[4];
+ unsigned char y[4];
+ unsigned char z[4];
+ };
+
+ struct compact_item_frame {
+ unsigned char dt[2]; /* big endian unsigned short */
+ unsigned char dpos[4];
+ };
+
+ struct multi_hz_item_frame {
+ unsigned char v_kmh[2];
+ unsigned char ts[4];
+ unsigned char lat[4];
+ unsigned char lon[4];
+ unsigned char alt[4];
+ };
+
+ struct item_frame {
+ unsigned char type_and_speed[2];
+ union {
+ multi_hz_item_frame multi_hz;
+ full_item_frame full;
+ compact_item_frame comp;
+ };
+ };
+
+ /* Constants */
+
+ static constexpr uint8_t NL[2] = { 0x0D, 0x0A };
+ static constexpr uint8_t MSG_START[2] = { 0xA0, 0xA1 };
+ static constexpr uint8_t SECTOR_READ_END[13] = { 'E','N','D', 0, 'C','H','E','C','K','S','U','M','=' };
+
+ /* Member Functions */
+
+ static void db(int l, const char* msg, ...);
+ void rd_drain() const;
+ int rd_char(int* errors) const;
+ int rd_buf(uint8_t* buf, int len) const;
+ int rd_word() const;
+ void wr_char(int c) const;
+ void wr_buf(const unsigned char* str, int len) const;
+ static int skytraq_calc_checksum(const unsigned char* buf, int len);
+ int skytraq_rd_msg(void* payload, unsigned int len) const;
+ void skytraq_wr_msg(const uint8_t* payload, int len) const;
+ int skytraq_expect_ack(uint8_t id) const;
+ int skytraq_expect_msg(uint8_t id, uint8_t* payload, int len) const;
+ int skytraq_wr_msg_verify(const uint8_t* payload, int len) const;
+ int skytraq_system_restart() const;
+ int skytraq_set_baud(int baud) const;
+ int skytraq_configure_logging() const;
+ int skytraq_get_log_buffer_status(uint32_t* log_wr_ptr, uint16_t* sectors_free, uint16_t* sectors_total) const;
+ static unsigned int me_read32(const unsigned char* p);
+ time_t gpstime_to_timet(int week, int sec) const;
+ static void ECEF_to_LLA(double x, double y, long int z, double* lat, double* lon, double* alt);
+ static void state_init(read_state* pst);
+ Waypoint* make_trackpoint(read_state* st, double lat, double lon, double alt) const;
+ int process_data_item(read_state* pst, const item_frame* pitem, int len) const;
+ int process_data_sector(read_state* pst, const uint8_t* buf, int len) const;
+ int skytraq_read_single_sector(unsigned int sector, uint8_t* buf) const;
+ int skytraq_read_multiple_sectors(int first_sector, unsigned int sector_count, uint8_t* buf) const;
+ void skytraq_read_tracks() const;
+ int skytraq_probe() const;
+ int skytraq_erase() const;
+ void skytraq_set_location() const;
+ void skytraq_rd_init(const QString& fname);
+ void skytraq_read() const;
+ void skytraq_rd_deinit();
+
+ /* Data Members */
+
+ void* serial_handle = nullptr; /* IO file descriptor */
+ int skytraq_baud = 0; /* detected baud rate */
+
+ char* opt_erase = nullptr; /* erase after read? (0/1) */
+ char* opt_initbaud = nullptr; /* baud rate used to init device */
+ char* opt_dlbaud = nullptr; /* baud rate used for downloading tracks */
+ char* opt_read_at_once = nullptr; /* number of sectors to read at once (Venus6 only) */
+ char* opt_first_sector = nullptr; /* first sector to be read from the device (default: 0) */
+ char* opt_last_sector = nullptr; /* last sector to be read from the device (default: smart read everything) */
+ char* opt_dump_file = nullptr; /* dump raw data to this file (optional) */
+ char* opt_no_output = nullptr; /* disable output? (0/1) */
+ char* opt_set_location = nullptr; /* set if the "targetlocation" options was used */
+ char* opt_configure_logging = nullptr;
+ char* opt_gps_utc_offset = nullptr;
+ char* opt_gps_week_rollover = nullptr;
+};
+
+class SkytraqFormat : public Format, private SkytraqBase
+{
+public:
+ QVector<arglist_t>* get_args() override
+ {
+ return &skytraq_args;
+ }
+
+ ff_type get_type() const override
+ {
+ return ff_type_serial;
+ }
+
+ QVector<ff_cap> get_cap() const override
+ {
+ /* waypoints, tracks, routes */
+ return { ff_cap_read, ff_cap_read, ff_cap_none };
+ }
+
+ QString get_encode() const override
+ {
+ return CET_CHARSET_UTF8;
+ }
+
+ int get_fixed_encode() const override
+ {
+ return 1;
+ }
+
+ void rd_init(const QString& fname) override {skytraq_rd_init(fname);}
+ void read() override {skytraq_read();}
+ void rd_deinit() override {skytraq_rd_deinit();}
+
+private:
+ /* Data Members */
+
+ QVector<arglist_t> skytraq_args = {
+ {
+ "erase", &opt_erase, "Erase device data after download",
+ "0", ARGTYPE_BOOL, ARG_NOMINMAX, nullptr
+ },
+ {
+ "targetlocation", &opt_set_location, "Set location finder target location as lat,lng",
+ nullptr, ARGTYPE_STRING, "", "", nullptr
+ },
+ {
+ "configlog", &opt_configure_logging, "Configure logging parameter as tmin:tmax:dmin:dmax",
+ nullptr, ARGTYPE_STRING, "", "", nullptr
+ },
+ {
+ "baud", &opt_dlbaud, "Baud rate used for download",
+ "230400", ARGTYPE_INT, "0", "230400", nullptr
+ },
+ {
+ "initbaud", &opt_initbaud, "Baud rate used to init device (0=autodetect)",
+ "0", ARGTYPE_INT, "4800", "230400", nullptr
+ },
+ {
+ "read-at-once", &opt_read_at_once, "Number of sectors to read at once (0=use single sector mode)",
+ "255", ARGTYPE_INT, "0", "255", nullptr
+ },
+ {
+ "first-sector", &opt_first_sector, "First sector to be read from the device",
+ "0", ARGTYPE_INT, "0", "65535", nullptr
+ },
+ {
+ "last-sector", &opt_last_sector, "Last sector to be read from the device (-1: smart read everything)",
+ "-1", ARGTYPE_INT, "-1", "65535", nullptr
+ },
+ {
+ "dump-file", &opt_dump_file, "Dump raw data to this file",
+ nullptr, ARGTYPE_OUTFILE, ARG_NOMINMAX, nullptr
+ },
+ {
+ "no-output", &opt_no_output, "Disable output (useful with erase)",
+ "0", ARGTYPE_BOOL, ARG_NOMINMAX, nullptr
+ },
+ {
+ "gps-utc-offset", &opt_gps_utc_offset, "Seconds that GPS time tracks UTC (0: best guess)",
+ "0", ARGTYPE_INT, ARG_NOMINMAX, nullptr
+ },
+ {
+ "gps-week-rollover", &opt_gps_week_rollover, "GPS week rollover period we're in (-1: best guess)",
+ "-1", ARGTYPE_INT, ARG_NOMINMAX, nullptr
+ },
+ };
+};
+
+class SkytraqfileFormat : public Format, private SkytraqBase
+{
+public:
+ QVector<arglist_t>* get_args() override
+ {
+ return &skytraq_fargs;
+ }
+
+ ff_type get_type() const override
+ {
+ return ff_type_file;
+ }
+
+ QVector<ff_cap> get_cap() const override
+ {
+ /* waypoints, tracks, routes */
+ return { ff_cap_read, ff_cap_read, ff_cap_none };
+ }
+
+ QString get_encode() const override
+ {
+ return CET_CHARSET_UTF8;
+ }
+
+ int get_fixed_encode() const override
+ {
+ return 1;
+ }
+
+ void rd_init(const QString& fname) override;
+ void read() override;
+ void rd_deinit() override;
+
+private:
+
+ /* Data Members */
+
+ gbfile* file_handle = nullptr; /* file descriptor (used by skytraq-bin format) */
+
+ QVector<arglist_t> skytraq_fargs = {
+ {
+ "first-sector", &opt_first_sector, "First sector to be read from the file",
+ "0", ARGTYPE_INT, "0", "65535", nullptr
+ },
+ {
+ "last-sector", &opt_last_sector, "Last sector to be read from the file (-1: read till empty sector)",
+ "-1", ARGTYPE_INT, "-1", "65535", nullptr
+ },
+ {
+ "gps-utc-offset", &opt_gps_utc_offset, "Seconds that GPS time tracks UTC (0: best guess)",
+ "0", ARGTYPE_INT, ARG_NOMINMAX, nullptr
+ },
+ {
+ "gps-week-rollover", &opt_gps_week_rollover, "GPS week rollover period we're in (-1: best guess)",
+ "-1", ARGTYPE_INT, ARG_NOMINMAX, nullptr
+ },
+ };
+};
+
+
+/**************************************************************************/
+/*
+ * support POI of skytraq based miniHomer device
+ * http://navin.com.tw/miniHomer.htm
+ * 2010-10-23 Josef Reisinger
+ */
+class MinihomerFormat : public Format, private SkytraqBase
+{
+public:
+ QVector<arglist_t>* get_args() override
+ {
+ return &miniHomer_args;
+ }
+
+ ff_type get_type() const override
+ {
+ return ff_type_serial;
+ }
+
+ QVector<ff_cap> get_cap() const override
+ {
+ /* waypoints, tracks, routes */
+ return { ff_cap_read, ff_cap_read, ff_cap_none };
+ }
+
+ QString get_encode() const override
+ {
+ return CET_CHARSET_UTF8;
+ }
+
+ int get_fixed_encode() const override
+ {
+ return 1;
+ }
+
+ void rd_init(const QString& fname) override;
+ void read() override;
+ void rd_deinit() override;
+
+private:
+
+ /* Constants */
+
+ /*
+ * Names of the POIs on miniHomer
+ */
+ static constexpr const char* poinames[] = {
+ "Home", "Car", "Boat", "Heart", "Bar"
+ };
+
+ /* Member Functions */
+
+ static void lla2ecef(double lat, double lng, double alt, double* ecef_x, double* ecef_y, double* ecef_z);
+ void miniHomer_get_poi() const;
+ int miniHomer_set_poi(uint16_t poinum, const char* opt_poi) const;
+
+ /* Data Members */
+
+ char* opt_set_poi_home = nullptr; /* set if a "poi" option was used */
+ char* opt_set_poi_car = nullptr; /* set if a "poi" option was used */
+ char* opt_set_poi_boat = nullptr; /* set if a "poi" option was used */
+ char* opt_set_poi_heart = nullptr; /* set if a "poi" option was used */
+ char* opt_set_poi_bar = nullptr; /* set if a "poi" option was used */
+
+ QVector<arglist_t> miniHomer_args = {
+ { "baud", &opt_dlbaud, "Baud rate used for download", "115200", ARGTYPE_INT, "0", "115200", nullptr },
+ { "dump-file", &opt_dump_file, "Dump raw data to this file", nullptr, ARGTYPE_OUTFILE, ARG_NOMINMAX, nullptr },
+ { "erase", &opt_erase, "Erase device data after download", "0", ARGTYPE_BOOL, ARG_NOMINMAX, nullptr },
+ { "first-sector", &opt_first_sector, "First sector to be read from the device", "0", ARGTYPE_INT, "0", "65535", nullptr },
+ { "initbaud", &opt_initbaud, "Baud rate used to init device (0=autodetect)", "38400", ARGTYPE_INT, "38400", "38400", nullptr },
+ { "last-sector", &opt_last_sector, "Last sector to be read from the device (-1: smart read everything)", "-1", ARGTYPE_INT, "-1", "65535", nullptr },
+ { "no-output", &opt_no_output, "Disable output (useful with erase)", "0", ARGTYPE_BOOL, ARG_NOMINMAX, nullptr },
+ { "read-at-once", &opt_read_at_once, "Number of sectors to read at once (0=use single sector mode)", "255", ARGTYPE_INT, "0", "255", nullptr },
+ { "Home", &opt_set_poi_home, "POI for Home Symbol as lat:lng[:alt]", nullptr, ARGTYPE_STRING, "", "", nullptr },
+ { "Car", &opt_set_poi_car, "POI for Car Symbol as lat:lng[:alt]", nullptr, ARGTYPE_STRING, "", "", nullptr },
+ { "Boat", &opt_set_poi_boat, "POI for Boat Symbol as lat:lng[:alt]", nullptr, ARGTYPE_STRING, "", "", nullptr },
+ { "Heart", &opt_set_poi_heart, "POI for Heart Symbol as lat:lng[:alt]", nullptr, ARGTYPE_STRING, "", "", nullptr },
+ { "Bar", &opt_set_poi_bar, "POI for Bar Symbol as lat:lng[:alt]", nullptr, ARGTYPE_STRING, "", "", nullptr },
+ {
+ "gps-utc-offset", &opt_gps_utc_offset, "Seconds that GPS time tracks UTC (0: best guess)",
+ "0", ARGTYPE_INT, ARG_NOMINMAX, nullptr
+ },
+ {
+ "gps-week-rollover", &opt_gps_week_rollover, "GPS week rollover period we're in (-1: best guess)",
+ "-1", ARGTYPE_INT, ARG_NOMINMAX, nullptr
+ },
+ };
+
+ QString mhport;
+
+};
+
+#endif // SKYTRAQ_H_INCLUDED_
projects / gpsbabel.git / commitdiff