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- <course>215.755188</course>
- <speed>3.826882</speed>
<name>WP0240</name>
</trkpt>
<trkpt lat="54.786864600" lon="-2.344376200">
- <course>47.400951</course>
- <speed>11.480646</speed>
<name>WP0241</name>
</trkpt>
<trkpt lat="54.787250300" lon="-2.343633900">
- <course>47.977039</course>
- <speed>12.756274</speed>
<name>WP0242</name>
</trkpt>
<trkpt lat="54.787807600" lon="-2.342578800">
- <course>47.508724</course>
- <speed>17.858784</speed>
<name>WP0243</name>
</trkpt>
<trkpt lat="54.787178600" lon="-2.344040000">
- <course>233.257462</course>
- <speed>19.134411</speed>
<name>WP0244</name>
</trkpt>
<trkpt lat="54.786722100" lon="-2.344530500">
- <course>211.781097</course>
- <speed>7.175404</speed>
<name>WP0245</name>
</trkpt>
<trkpt lat="54.786872300" lon="-2.344456200">
- <course>15.920190</course>
- <speed>2.733487</speed>
<name>WP0246</name>
</trkpt>
<trkpt lat="54.786790900" lon="-2.344473100">
- <course>186.826736</course>
- <speed>0.911162</speed>
<name>WP0247</name>
</trkpt>
<trkpt lat="54.786866200" lon="-2.344096600">
- <course>70.870804</course>
- <speed>1.962504</speed>
<name>WP0248</name>
</trkpt>
<trkpt lat="54.786926000" lon="-2.344155900">
- <course>330.239197</course>
- <speed>1.275627</speed>
<name>WP0249</name>
</trkpt>
<trkpt lat="54.787223500" lon="-2.343181500">
- <course>62.098572</course>
- <speed>14.031901</speed>
<name>WP0250</name>
</trkpt>
<trkpt lat="54.787151700" lon="-2.343740700">
- <course>257.446716</course>
- <speed>7.653764</speed>
<name>WP0251</name>
</trkpt>
<trkpt lat="54.787281000" lon="-2.343534000">
- <course>42.669178</course>
- <speed>3.826882</speed>
<name>WP0252</name>
</trkpt>
<trkpt lat="54.787392100" lon="-2.343651100">
- <course>328.710785</course>
- <speed>2.551255</speed>
<name>WP0253</name>
</trkpt>
<trkpt lat="54.787738600" lon="-2.342950500">
- <course>49.378994</course>
- <speed>11.480646</speed>
<name>WP0254</name>
</trkpt>
<trkpt lat="54.787550500" lon="-2.343047500">
- <course>196.559738</course>
- <speed>2.733487</speed>
<name>WP0255</name>
</trkpt>
<trkpt lat="54.786874100" lon="-2.344481700">
- <course>230.720337</course>
- <speed>3.029615</speed>
<name>WP0256</name>
</trkpt>
<trkpt lat="54.787425000" lon="-2.342911400">
- <course>58.682175</course>
- <speed>22.961292</speed>
<name>WP0257</name>
</trkpt>
<trkpt lat="54.787020700" lon="-2.344089400">
- <course>239.238800</course>
- <speed>1.075830</speed>
<name>WP0258</name>
</trkpt>
<trkpt lat="54.787111400" lon="-2.344023100">
- <course>22.855204</course>
- <speed>0.135705</speed>
<name>WP0259</name>
</trkpt>
</trkseg>
/*
* Serial download of track data from a Wintec WBT-200.
- *
+ *
* Copyright (C) 2006 Andy Armstrong
- *
- * This program is free software; you can redistribute it and/or modify it
+ *
+ * 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.,
- * 59 Temple Place - Suite 330, Boston, MA 02111 USA
+ *
+ * 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.,
+ * 59 Temple Place - Suite 330, Boston, MA 02111 USA
*/
#include "defs.h"
#include "grtcirc.h"
#include <errno.h>
+#define MYNAME "WBT-100/200"
+#define NL "\x0D\x0A"
+
#define BAUD 9600
#define TIMEOUT 1500
+#define RECLEN_V1 12
+#define RECLEN_V2 16
+
+/* Used to sanity check data - from
+ * http://hypertextbook.com/facts/2001/DanaWollman.shtml
+ * The MAXALT check doesn't need to be enabled unless there's
+ * a format with larger records than V2.
+ */
+/*#define MAXALT 120000*/
+
+#define _MAX(a, b) ((a) > (b) ? (a) : (b))
+#define RECLEN_MAX _MAX(RECLEN_V1, RECLEN_V2)
+
+/* The formats here must be in ascending record length order so that
+ * each format identification attempt can read more data from the
+ * device if necessary. If that proves to be a bad order to try the
+ * heuristics the format matching code will have to be rejigged.
+ */
+static struct {
+ size_t reclen;
+} fmt_version[] = {
+ { RECLEN_V1 },
+ { RECLEN_V2 },
+ { 0 }
+};
+
+/* Number of lines to skip while waiting for an ACK from a command. I've seen
+ * conversations with up to 30 lines of cruft before the response so 50 isn't
+ * too crazy.
+ */
+#define RETRIES 50
+
/*
A conversation looks like this
>> $PFST,READLOGGER
<< $PFST,READLOGGER,*17
<< 0xFFFF, <length>, 0xFFFF
- << (length + 1) * 12 bytes of data
+ << (length + 1) * 12 or 16 bytes of data
<< ====
>> $PFST,NORMAL
<< $PFST,NORMAL,*02
*/
-/*static gpsdevh *fd;*/
static void *fd;
static FILE *fl;
static char *port;
static char *erase;
-#define MYNAME "WBT-100/200"
-#define NL "\x0D\x0A"
+struct buf_chunk {
+ struct buf_chunk *next;
+ size_t size;
+ size_t used;
+ /* data follows in memory */
+};
-struct read_state {
- route_head *route_head;
- double plat, plon; /* previous point */
- time_t ptim;
- unsigned wpn;
+#define buf_CHUNK_DATA(c) \
+ ((void *) ((struct buf_chunk *) (c) + 1))
+
+#define buf_CHUNK_PTR(c, offset) \
+ ((void *) ((char *) buf_CHUNK_DATA(c) + (offset)))
+
+struct buf_head {
+ struct buf_chunk *head;
+ struct buf_chunk *tail;
+ size_t alloc;
+ size_t used;
+ /* read position */
+ struct buf_chunk *current;
+ unsigned long offset;
};
-/* Number of lines to skip while waiting for an ACK from a command. I've seen
- * conversations with up to 30 lines of cruft before the response so 50 isn't
- * too crazy.
- */
-#define RETRIES 50
+struct read_state {
+ route_head *route_head;
+ double plat, plon; /* previous point */
+ time_t ptim;
+ unsigned wpn;
+
+ struct buf_head data;
+};
static void db(int l, const char *msg, ...) {
va_list ap;
va_end(ap);
}
+/* Growable buffer support. TODO: Put this in a separate file and
+ * tidy up its interface.
+ */
+
+static void buf_init(struct buf_head *h, size_t alloc) {
+ h->head = NULL;
+ h->tail = NULL;
+ h->alloc = alloc;
+ h->used = 0;
+}
+
+static void buf_empty(struct buf_head *h) {
+ struct buf_chunk *chunk, *next;
+ for (chunk = h->head; chunk; chunk = next) {
+ next = chunk->next;
+ xfree(chunk);
+ }
+ h->head = NULL;
+ h->tail = NULL;
+ h->used = 0;
+}
+
+static void buf_rewind(struct buf_head *h) {
+ h->current = h->head;
+ h->offset = 0;
+}
+
+static size_t buf_read(struct buf_head *h, void *data, size_t len) {
+ char *bp = data;
+
+ while (len != 0 && h->current != NULL) {
+ size_t avail = h->current->used - h->offset;
+ if (avail > len) { avail = len; }
+
+ memcpy(bp, buf_CHUNK_PTR(h->current, h->offset), avail);
+ h->offset += avail;
+ bp += avail;
+ len -= avail;
+
+ if (h->offset == h->current->used) {
+ h->current = h->current->next;
+ h->offset = 0;
+ }
+ }
+
+ return bp - (char *) data;
+}
+
+static void buf_extend(struct buf_head *h, size_t amt) {
+ struct buf_chunk *c;
+ size_t sz = amt + sizeof(struct buf_chunk);
+ if (c = xmalloc(sz), NULL == c) {
+ fatal(MYNAME ": Can't allocate %lu bytes for buffer", (unsigned long) sz);
+ }
+
+ c->next = NULL;
+ c->size = amt;
+ c->used = 0;
+
+ if (NULL == h->head) {
+ h->head = c;
+ } else {
+ h->tail->next = c;
+ }
+
+ h->tail = c;
+}
+
+static void buf_write(struct buf_head *h, const void *data, size_t len) {
+ size_t avail;
+ const char *bp = data;
+
+ h->used += len;
+
+ if (NULL == h->tail) {
+ buf_extend(h, h->alloc);
+ }
+
+ for (;;) {
+ avail = h->tail->size - h->tail->used;
+ if (avail > len) { avail = len; }
+
+ memcpy((char *) buf_CHUNK_PTR(h->tail, h->tail->used), bp, avail);
+ h->tail->used += avail;
+ bp += avail;
+ len -= avail;
+ if (len == 0) {
+ break;
+ }
+ buf_extend(h, h->alloc);
+ }
+}
+
static void rd_drain() {
if (gbser_flush(fd)) {
fatal(MYNAME ": Comm error\n");
/* Send a command then wait for a line starting with the command string
* to be returned.
*/
-
static void do_cmd(const char *cmd, const char *expect, char *buf, int len) {
int try;
rd_drain();
- wr_cmd(cmd);
+ wr_cmd(cmd);
wr_cmd(NL);
db(2, "Cmd: %s\n", cmd);
fatal(MYNAME ": Bad response from unit\n");
}
+/* Issue a command that expects the same string to be echoed
+ * back as an ACK
+ */
static void do_simple(const char *cmd, char *buf, int len) {
do_cmd(cmd, cmd, buf, len);
}
-static void data_chunk(struct read_state *st, const void *buf) {
- char wp_name[20];
- gbuint32 tim;
- double lat, lon;
- struct tm t;
- time_t rtim;
- waypoint *wpt = NULL;
- const char *bp = buf;
-
+/* Decompose binary date into discreet fields */
+#define _SPLIT_DATE(tim) \
+ int sec = (((tim) >> 0) & 0x3F); \
+ int min = (((tim) >> 6) & 0x3F); \
+ int hour = (((tim) >> 12) & 0x1F); \
+ int mday = (((tim) >> 17) & 0x1F); \
+ int mon = (((tim) >> 22) & 0x0F); \
+ int year = (((tim) >> 26) & 0x3F);
+
+static time_t decode_date(gbuint32 tim) {
+ _SPLIT_DATE(tim)
+ struct tm t;
+
+ t.tm_sec = sec;
+ t.tm_min = min;
+ t.tm_hour = hour;
+ t.tm_mday = mday;
+ t.tm_mon = mon - 1;
+ t.tm_year = year + 100;
+
+ return mkgmtime(&t);
+}
+
+static int check_date(gbuint32 tim) {
+ _SPLIT_DATE(tim)
+
+ /* Sanity check the date. We don't allow years prior to 2004 because zero in
+ * those bits will usually indicate that we have an altitude instead of a
+ * date (i.e. that the data is the new format that uses 16 byte records).
+ */
+ return sec < 60 && min < 60 && hour < 24 &&
+ mday > 0 && mday <= 31 && mon > 0 && mon <= 12 && year >= 4;
+}
+
+static int data_chunk(struct read_state *st, const void *buf, int fmt) {
+ char wp_name[20];
+ gbuint32 tim;
+ double lat, lon, alt;
+ time_t rtim;
+ waypoint *wpt = NULL;
+ const char *bp = buf;
+ size_t buf_used = fmt_version[fmt].reclen;
+
tim = le_read32(bp + 0);
-
+
lat = (double) ((gbint32) le_read32(bp + 4)) / 10000000;
lon = (double) ((gbint32) le_read32(bp + 8)) / 10000000;
-
- t.tm_sec = ((tim >> 0) & 0x3F);
- t.tm_min = ((tim >> 6) & 0x3F);
- t.tm_hour = ((tim >> 12) & 0x1F);
- t.tm_mday = ((tim >> 17) & 0x1F);
- t.tm_mon = ((tim >> 22) & 0x0F) - 1;
- t.tm_year = ((tim >> 26) & 0x3F) + 100;
-
- rtim = mkgmtime(&t);
+
+ /* Handle extra fields in longer records here. */
+ if (buf_used >= 16) {
+ alt = (double) le_read32(bp + 12) / 10;
+ } else {
+ alt = unknown_alt;
+ }
+
+ rtim = decode_date(tim);
if (lat >= 100) {
/* Start new track in the northern hemisphere */
lat += 100;
st->route_head = NULL;
} else {
- double speed, gcd, dtim, rtm;
+ /* TODO: Should this code execute for /every/ waypoint - even the first in
+ * a track? Presumably it should because the first point looks as valid as
+ * any other.
+ */
+
wpt = waypt_new();
-
+
wpt->latitude = lat;;
wpt->longitude = lon;
+ wpt->altitude = alt;
wpt->creation_time = rtim;
wpt->centiseconds = 0;
-
+
sprintf(wp_name, "WP%04d", ++st->wpn);
wpt->shortname = xstrdup(wp_name);
-
- /* Broken down to make it easier to find the source of rounding errors */
- gcd = gcdist(RAD(st->plat), RAD(st->plon), RAD(lat), RAD(lon));
- gcd = (double) ((long) (gcd * 1000000 + 0.5)) / 1000000;
- dtim = rtim - st->ptim;
- rtm = radtometers(gcd);
- speed = rtm / dtim;
-
- wpt->speed = speed;
- wpt->course = heading_true_degrees(RAD(st->plat), RAD(st->plon),
- RAD(lat), RAD(lon));
- wpt->pdop = 0;
- wpt->fix = fix_unknown;
if (NULL == st->route_head) {
db(1, "New Track\n");
track_add_wpt(st->route_head, wpt);
}
-
+
st->ptim = rtim;
st->plat = lat;
st->plon = lon;
+
+ return 1;
+}
+
+/* Return true iff the data appears valid with the specified record length */
+static int is_valid(struct buf_head *h, int fmt) {
+ char buf[RECLEN_MAX];
+ size_t reclen = fmt_version[fmt].reclen;
+
+ buf_rewind(h);
+
+ db(2, "Checking %lu bytes of data against format %d\n", h->used, fmt);
+
+ for (;;) {
+ size_t got = buf_read(h, buf, reclen);
+ gbuint32 tim;
+ /* Don't mind odd bytes at the end - we may
+ * be examining an incomplete dataset.
+ */
+ if (got != reclen) {
+ break;
+ }
+
+ tim = le_read32(buf + 0);
+ if (!check_date(tim)) {
+ return 0;
+ }
+
+ if (reclen > 12) {
+#ifdef MAXALT
+ gbuint32 alt = le_read32(buf + 12);
+ if (alt > MAXALT * 10) {
+ return 0;
+ }
+#endif
+ }
+ }
+
+ return 1;
+}
+
+static void process_data(struct read_state *pst, int fmt) {
+ char buf[RECLEN_MAX];
+ size_t reclen = fmt_version[fmt].reclen;
+
+ buf_rewind(&pst->data);
+
+ db(2, "Processing %lu bytes of data using format %d\n", pst->data.used, fmt);
+
+ for (;;) {
+ size_t got = buf_read(&pst->data, buf, reclen);
+ if (got != reclen) {
+ break;
+ }
+ data_chunk(pst, buf, fmt);
+ }
+}
+
+static void state_init(struct read_state *pst) {
+ pst->route_head = NULL;
+ pst->wpn = 0;
+
+ buf_init(&pst->data, RECLEN_V1 * RECLEN_V2);
+}
+
+static void state_empty(struct read_state *pst) {
+ buf_empty(&pst->data);
+ state_init(pst);
}
static void file_read(void) {
- char buf[12];
- int rc;
+ char buf[512];
+ size_t rc;
struct read_state st;
-
- st.route_head = NULL;
- st.wpn = 0;
-
- rc = fread(buf, sizeof(buf), 1, fl);
- while (rc == 1) {
- data_chunk(&st, buf);
- rc = fread(buf, sizeof(buf), 1, fl);
+ int fmt;
+
+ state_init(&st);
+
+ /* Read the whole file into the buffer */
+ rc = fread(buf, 1, sizeof(buf), fl);
+ while (rc != 0) {
+ buf_write(&st.data, buf, rc);
+ rc = fread(buf, 1, sizeof(buf), fl);
+ }
+
+ if (!feof(fl)) {
+ fatal(MYNAME ": Read error");
+ }
+
+ /* Try to guess the data format */
+ for (fmt = 0; fmt_version[fmt].reclen != 0; fmt++) {
+ size_t reclen = fmt_version[fmt].reclen;
+ if ((st.data.used % reclen) == 0 && is_valid(&st.data, fmt)) {
+ break;
+ }
+ }
+
+ if (fmt_version[fmt].reclen == 0) {
+ fatal(MYNAME ": Can't autodetect data format");
+ }
+
+ process_data(&st, fmt);
+
+ state_empty(&st);
+}
+
+static void want_bytes(struct buf_head *h, size_t len) {
+ char buf[512];
+
+ db(3, "Reading %lu bytes from device\n", (unsigned long) len);
+
+ while (len > 0) {
+ size_t want = sizeof(buf);
+ if (want > len) { want = len; }
+ rd_buf(buf, want);
+ buf_write(h, buf, want);
+ len -= want;
}
}
* long lines returning only the first N characters
*/
char line_buf[100];
- int count, d;
+ int fmt;
+ unsigned long count;
struct read_state st;
-
- st.route_head = NULL;
- st.wpn = 0;
+ state_init(&st);
+
+ /* We could potentially parse the version string to find out which
+ * data format to use - but it's not clear how the version string
+ * will increment in the future - so just now it's more future-
+ * proof to rely on analysing the data. We need to be able to do
+ * that with files anyway - because they're not versioned.
+ */
do_simple("$PFST,FIRMWAREVERSION", line_buf, sizeof(line_buf));
+
do_simple("$PFST,NORMAL", line_buf, sizeof(line_buf));
do_simple("$PFST,READLOGGER", line_buf, sizeof(line_buf));
-
+
/* Now we're into binary mode */
rd_buf(line_buf, 6); /* six byte header */
count = le_read16(line_buf + 2) + 1;
if (count == 0x10000) {
count = 0;
}
-
- db(1, "Reading %d data\n", count);
- for (d = 0; d < count; d++) {
- rd_buf(line_buf, 12); /* twelve byte record */
- data_chunk(&st, line_buf);
+
+ db(3, "%lu points available\n", count);
+
+ /* Loop through the known formats requesting more data from the
+ * device each time. When the device contains only a single
+ * point the first format will get a false positive - so we'll
+ * lose the altitude data.
+ */
+ for (fmt = 0; fmt_version[fmt].reclen != 0; fmt++) {
+ size_t reclen = fmt_version[fmt].reclen;
+ size_t want = reclen * count;
+
+ if (want < st.data.used) {
+ fatal(MYNAME ": Internal error: formats not ordered in ascending size order");
+ }
+
+ db(3, "Want %lu bytes of data\n", (unsigned long) want);
+
+ /* Top up the buffer */
+ want_bytes(&st.data, want - st.data.used);
+
+ /* And see if it's valid */
+ if (is_valid(&st.data, fmt)) {
+ break;
+ }
+ }
+
+ if (fmt_version[fmt].reclen == 0) {
+ fatal(MYNAME ": Can't autodetect data format");
}
-
+
+ process_data(&st, fmt);
+
/* Erase data? */
-
+
if (*erase != '0') {
int f;
db(1, "Erasing data\n");
}
do_simple("$PFST,NORMAL", line_buf, sizeof(line_buf));
-
+
+ state_empty(&st);
}
static arglist_t wbt_sargs[] = {
- { "erase", &erase, "Erase device data after download",
+ { "erase", &erase, "Erase device data after download",
"0", ARGTYPE_BOOL, ARG_NOMINMAX },
ARG_TERMINATOR
};
projects / gpsbabel.git / commitdiff