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119 lines
3.6 KiB
119 lines
3.6 KiB
#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <signal.h>
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#include <unistd.h>
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#include <sched.h>
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#include <errno.h>
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#include <sys/time.h>
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#include <sys/cdefs.h>
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#include <sys/types.h>
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#include <assert.h>
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#include <math.h>
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#include <ctime>
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#include <chrono>
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#include "messaging.hpp"
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#include "common/util.h"
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#include "common/params.h"
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#include "common/swaglog.h"
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#include "common/timing.h"
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#include "ublox_msg.h"
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volatile sig_atomic_t do_exit = 0; // Flag for process exit on signal
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void set_do_exit(int sig) {
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do_exit = 1;
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}
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using namespace ublox;
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int ubloxd_main(poll_ubloxraw_msg_func poll_func, send_gps_event_func send_func) {
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LOGW("starting ubloxd");
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signal(SIGINT, (sighandler_t) set_do_exit);
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signal(SIGTERM, (sighandler_t) set_do_exit);
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UbloxMsgParser parser;
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Context * context = Context::create();
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SubSocket * subscriber = SubSocket::create(context, "ubloxRaw");
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assert(subscriber != NULL);
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subscriber->setTimeout(100);
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PubMaster pm({"ubloxGnss", "gpsLocationExternal"});
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while (!do_exit) {
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Message * msg = subscriber->receive();
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if (!msg){
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if (errno == EINTR) {
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do_exit = true;
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}
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continue;
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}
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auto amsg = kj::heapArray<capnp::word>((msg->getSize() / sizeof(capnp::word)) + 1);
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memcpy(amsg.begin(), msg->getData(), msg->getSize());
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capnp::FlatArrayMessageReader cmsg(amsg);
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cereal::Event::Reader event = cmsg.getRoot<cereal::Event>();
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auto ubloxRaw = event.getUbloxRaw();
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const uint8_t *data = ubloxRaw.begin();
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size_t len = ubloxRaw.size();
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size_t bytes_consumed = 0;
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while(bytes_consumed < len && !do_exit) {
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size_t bytes_consumed_this_time = 0U;
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if(parser.add_data(data + bytes_consumed, (uint32_t)(len - bytes_consumed), bytes_consumed_this_time)) {
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// New message available
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if(parser.msg_class() == CLASS_NAV) {
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if(parser.msg_id() == MSG_NAV_PVT) {
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//LOGD("MSG_NAV_PVT");
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auto words = parser.gen_solution();
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if(words.size() > 0) {
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auto bytes = words.asBytes();
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pm.send("gpsLocationExternal", bytes.begin(), bytes.size());
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}
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} else
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LOGW("Unknown nav msg id: 0x%02X", parser.msg_id());
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} else if(parser.msg_class() == CLASS_RXM) {
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if(parser.msg_id() == MSG_RXM_RAW) {
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//LOGD("MSG_RXM_RAW");
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auto words = parser.gen_raw();
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if(words.size() > 0) {
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auto bytes = words.asBytes();
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pm.send("ubloxGnss", bytes.begin(), bytes.size());
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}
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} else if(parser.msg_id() == MSG_RXM_SFRBX) {
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//LOGD("MSG_RXM_SFRBX");
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auto words = parser.gen_nav_data();
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if(words.size() > 0) {
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auto bytes = words.asBytes();
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pm.send("ubloxGnss", bytes.begin(), bytes.size());
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}
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} else
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LOGW("Unknown rxm msg id: 0x%02X", parser.msg_id());
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} else if(parser.msg_class() == CLASS_MON) {
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if(parser.msg_id() == MSG_MON_HW) {
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//LOGD("MSG_MON_HW");
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auto words = parser.gen_mon_hw();
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if(words.size() > 0) {
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auto bytes = words.asBytes();
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pm.send("ubloxGnss", bytes.begin(), bytes.size());
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}
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} else {
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LOGW("Unknown mon msg id: 0x%02X", parser.msg_id());
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}
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} else
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LOGW("Unknown msg class: 0x%02X", parser.msg_class());
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parser.reset();
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}
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bytes_consumed += bytes_consumed_this_time;
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}
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delete msg;
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}
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delete subscriber;
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delete context;
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return 0;
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}
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