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