1 | package GPS; |
1 | package GPS; |
2 | |
2 | |
3 | use strict; |
3 | use strict; |
4 | use warnings; |
4 | use warnings; |
5 | use POSIX (); |
5 | use POSIX (); |
6 | use Coro::Socket; |
6 | use IO::Socket::INET; |
7 | |
7 | |
8 | our $VERSION = 0.01; |
8 | our $VERSION = 0.01; |
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9 | |
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10 | |
9 | |
11 | |
10 | sub new { |
12 | sub new { |
11 | my ($class, %arg) = @_; |
13 | my ($class, %arg) = @_; |
12 | $arg{port} ||= 2947; |
14 | $arg{port} ||= 2947; |
13 | $arg{host} ||= 'localhost'; |
15 | $arg{host} ||= 'localhost'; |
14 | |
16 | |
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|
17 | print "$class\n"; |
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18 | my $m = $class =~ /Raw$/ ? 'Coro::Socket' : 'IO::Socket::INET'; |
15 | my $sock = new Coro::Socket PeerHost => $arg{host}, PeerPort => $arg{port} |
19 | my $sock = new $m PeerHost => $arg{host}, PeerPort => $arg{port} |
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20 | |
16 | or die 'GPSD ($arg{host}:$arg{port}): $!'; |
21 | or die 'GPSD ($arg{host}:$arg{port}): $!'; |
17 | print $sock "HELO\n"; |
22 | print $sock "HELO\n"; |
18 | <$sock> =~ /GPSD/ or die 'no GPSD'; |
23 | <$sock> =~ /GPSD/ or die 'no GPSD'; |
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24 | if($class =~/Raw$/) { |
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25 | print $sock "R\n"; |
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26 | <$sock> =~ /GPSD,R=1/ or die "can't enable raw-mode"; |
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27 | } |
19 | |
28 | |
20 | bless { |
29 | bless { |
21 | fh => $sock, |
30 | fh => $sock, |
22 | minpoll => $arg{minpoll} || 1, |
31 | minpoll => $arg{minpoll} || 1, |
23 | last => 0, |
32 | last => 0, |
24 | data => {} |
33 | data => {}, |
25 | }, $class; |
34 | }, $class; |
26 | } |
35 | } |
27 | |
36 | |
28 | sub poll { |
37 | sub poll { |
29 | my $self = shift; |
38 | my $self = shift; |
30 | |
39 | |
31 | print {$self->{fh}} "dpva\n"; |
40 | print {$self->{fh}} "dpva\n"; |
32 | |
41 | |
33 | if ($self->{fh}->readline =~ m%GPSD,D=(\d\d)/(\d\d)/(\d\d\d\d) (\d\d):(\d\d):(\d\d),P=([\-0-9.]+) ([\-0-9.]+),V=([0-9.]+),A=([\-0-9.]+)%) { |
42 | if (readline ($self->{fh}) =~ m%GPSD,D=(\d\d)/(\d\d)/(\d\d\d\d) (\d\d):(\d\d):(\d\d),P=([\-0-9.]+) ([\-0-9.]+),V=([0-9.]+),A=([\-0-9.]+)%) { |
34 | local $ENV{TZ} = "+0000"; |
43 | local $ENV{TZ} = "+0000"; |
35 | $self->{data} = { |
44 | $self->{data} = { |
36 | time => (POSIX::mktime $6,$5,$4,$2,$1-1,$3-1900,0,0), |
45 | time => (POSIX::mktime $6,$5,$4,$2,$1-1,$3-1900,0,0), |
37 | lat => $7, |
46 | lat => $7, |
38 | long => $8, |
47 | long => $8, |
… | |
… | |
46 | sub data { |
55 | sub data { |
47 | $_[0]->poll if time - $_[0]{last} >= $_[0]{minpoll}; |
56 | $_[0]->poll if time - $_[0]{last} >= $_[0]{minpoll}; |
48 | $_[0]{data}; |
57 | $_[0]{data}; |
49 | } |
58 | } |
50 | |
59 | |
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60 | package GPS::Raw; |
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61 | our @ISA = qw(GPS); |
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62 | use strict; |
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63 | use warnings; |
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64 | use POSIX qw(modf); |
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65 | use Coro::Socket; |
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66 | use Coro::Event; |
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67 | use Coro; |
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68 | |
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69 | sub PI { 3.14159265 } # not used :) |
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70 | |
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71 | sub latlon($$) { |
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72 | my ($t1,$t2) = modf($_[0] / 100); |
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73 | $t2 = $t2 + $t1*100 / 60; |
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74 | $t2 *= -1 if $_[1] =~ /[SW]/i; |
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75 | $t2 |
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76 | } |
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77 | |
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78 | our %cbs = ( 'GPGLL' => sub { my ($res, @a) = @_; |
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79 | $res->{Plain}{Latitude} = $a[0]; |
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80 | $res->{lat} = latlon $a[0], $a[1]; |
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81 | $res->{Plain}{NS} = $a[1]; |
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82 | $res->{Plain}{Longitude} = $a[2]; |
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83 | $res->{long} = latlon $a[2], $a[3]; |
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84 | $res->{Plain}{WE} = $a[3]; |
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85 | $res->{Plain}{UTC} = $a[4]; |
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86 | }, |
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87 | 'PGRMZ' => sub { my ($res, @a) = @_; |
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88 | $res->{Plain}{Altitude} = $a[0]; |
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89 | $res->{alt} = $a[0] / 3.2808399; # foot -> meters |
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90 | }, |
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91 | 'GPRMC' => sub { my ($res, @a) = @_; |
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92 | $res->{Plain}{Speed} = $a[6]; |
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93 | $res->{v} = $a[6] * 1.852; # knoten :) |
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94 | $res->{Plain}{Course} = $a[7]; |
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95 | $res->{course} = $a[7]; |
|
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96 | }, |
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97 | 'GPRMB' => sub { my ($res, @a) = @_; |
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98 | $res->{WP}{origin} = $a[2]; |
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99 | $res->{WP}{destination} = $a[3]; |
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100 | $res->{WP}{destination} = $a[4]; |
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101 | $res->{WP}{desLat} = latlon $a[5], $a[6]; |
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102 | $res->{WP}{desLong} = latlon $a[7], $a[8]; |
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103 | $res->{WP}{distance} = $a[9]* 1.852; #seemeilen -> km |
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104 | $res->{WP}{bearing} = $a[10]; |
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105 | $res->{WP}{speed} = $a[11] *1852; #knoten->km/h |
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106 | |
|
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107 | }, |
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108 | ); |
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109 | |
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110 | |
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111 | sub _chksum($) { |
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112 | my ($line,$cs) = (shift,0); |
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113 | $line =~ m/\$([^\*]+)\*([0-9A-F]{2})$/ or do { |
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114 | warn "illegal line \"$line\""; |
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115 | return 0; |
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116 | }; |
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117 | my ($str, $pcs) = ($1, $2); |
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118 | map {$cs ^= $_} unpack ("C*", $str); |
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119 | return 1 if $cs == hex($pcs); |
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120 | warn "illegal checksum. packet=$pcs computed=$cs"; |
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121 | return 0; |
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122 | } |
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123 | |
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124 | sub get_line($) { |
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125 | my $sock = $_[0]{fh}; |
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126 | cserr: |
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127 | my $l = readline $sock; |
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128 | $l =~ s/[\015\012\0]*//g; |
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129 | _chksum($l) or goto cserr; |
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130 | warn "unknown line \"$l\"" unless $l =~ /^\$([^,]+),([^\*]+)\*[A-F0-9]{2}$/; |
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131 | my ($cmd, $arg) = ($1,$2); |
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132 | ($l, $cmd, $arg); |
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133 | } |
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134 | |
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135 | sub daemon($) { |
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136 | my $self = shift; |
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137 | async { |
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138 | my $self = shift; |
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139 | my $res = $self->{data}; |
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140 | use Data::Dumper; |
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141 | $res->{lines} = 0; |
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142 | while(1) { |
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143 | my($line, $cmd, $arg) = $self->get_line; |
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144 | $res->{lines}++; |
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145 | $res->{Raw}{$cmd} = $arg; |
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146 | &{$cbs{$cmd}}($res, split /,/, $arg) if exists $cbs{$cmd}; |
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147 | } |
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148 | } $self; |
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149 | } |
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150 | |
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151 | sub data { |
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152 | cede; |
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153 | $_[0]{data}; |
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154 | } |
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155 | |
51 | 1; |
156 | 1; |
52 | |
157 | |