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package GPS; |
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|
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use strict; |
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use warnings; |
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use POSIX (); |
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use IO::Socket::INET; |
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|
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our $VERSION = 0.01; |
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|
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|
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|
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sub new { |
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my ($class, %arg) = @_; |
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$arg{port} ||= 2947; |
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$arg{host} ||= 'localhost'; |
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|
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print "$class\n"; |
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my $m = $class =~ /Raw$/ ? 'Coro::Socket' : 'IO::Socket::INET'; |
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my $sock = new $m PeerHost => $arg{host}, PeerPort => $arg{port} |
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|
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or die 'GPSD ($arg{host}:$arg{port}): $!'; |
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print $sock "HELO\n"; |
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<$sock> =~ /GPSD/ or die 'no GPSD'; |
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if($class =~/Raw$/) { |
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print $sock "R\n"; |
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<$sock> =~ /GPSD,R=1/ or die "can't enable raw-mode"; |
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} |
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|
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bless { |
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fh => $sock, |
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minpoll => $arg{minpoll} || 1, |
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last => 0, |
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data => {}, |
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}, $class; |
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} |
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|
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sub poll { |
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my $self = shift; |
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|
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print {$self->{fh}} "dpva\n"; |
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|
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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.]+)%) { |
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local $ENV{TZ} = "+0000"; |
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$self->{data} = { |
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time => (POSIX::mktime $6,$5,$4,$2,$1-1,$3-1900,0,0), |
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lat => $7, |
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long => $8, |
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v => $9, |
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alt => $10, |
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}; |
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$self->{last} = time; |
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} |
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} |
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|
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sub data { |
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$_[0]->poll if time - $_[0]{last} >= $_[0]{minpoll}; |
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$_[0]{data}; |
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} |
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|
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package GPS::Raw; |
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our @ISA = qw(GPS); |
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use strict; |
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use warnings; |
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use POSIX qw(modf); |
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use Coro::Socket; |
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use Coro::Event; |
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use Coro; |
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|
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sub PI { 3.14159265 } # not used :) |
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|
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sub latlon($$) { |
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my ($t1,$t2) = modf($_[0] / 100); |
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$t2 = $t2 + $t1*100 / 60; |
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$t2 *= -1 if $_[1] =~ /[SW]/i; |
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$t2 |
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} |
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|
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our %cbs = ( 'GPGLL' => sub { my ($res, @a) = @_; |
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$res->{Plain}{Latitude} = $a[0]; |
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$res->{lat} = latlon $a[0], $a[1]; |
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$res->{Plain}{NS} = $a[1]; |
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$res->{Plain}{Longitude} = $a[2]; |
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$res->{long} = latlon $a[2], $a[3]; |
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$res->{Plain}{WE} = $a[3]; |
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$res->{Plain}{UTC} = $a[4]; |
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}, |
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'PGRMZ' => sub { my ($res, @a) = @_; |
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$res->{Plain}{Altitude} = $a[0]; |
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$res->{alt} = $a[0] / 3.2808399; # foot -> meters |
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}, |
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'GPRMC' => sub { my ($res, @a) = @_; |
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$res->{Plain}{Speed} = $a[6]; |
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$res->{v} = $a[6] * 1.852; # knoten :) |
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$res->{Plain}{Course} = $a[7]; |
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$res->{course} = $a[7]; |
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}, |
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'GPRMB' => sub { my ($res, @a) = @_; |
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$res->{WP}{origin} = $a[2]; |
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$res->{WP}{destination} = $a[3]; |
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$res->{WP}{destination} = $a[4]; |
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$res->{WP}{desLat} = latlon $a[5], $a[6]; |
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$res->{WP}{desLong} = latlon $a[7], $a[8]; |
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$res->{WP}{distance} = $a[9]* 1.852; #seemeilen -> km |
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$res->{WP}{bearing} = $a[10]; |
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$res->{WP}{speed} = $a[11] *1852; #knoten->km/h |
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|
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}, |
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); |
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|
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|
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sub _chksum($) { |
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my ($line,$cs) = (shift,0); |
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$line =~ m/\$([^\*]+)\*([0-9A-F]{2})$/ or do { |
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warn "illegal line \"$line\""; |
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return 0; |
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}; |
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my ($str, $pcs) = ($1, $2); |
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map {$cs ^= $_} unpack ("C*", $str); |
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return 1 if $cs == hex($pcs); |
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warn "illegal checksum. packet=$pcs computed=$cs"; |
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return 0; |
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} |
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|
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sub get_line($) { |
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my $sock = $_[0]{fh}; |
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cserr: |
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my $l = readline $sock; |
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$l =~ s/[\015\012\0]*//g; |
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_chksum($l) or goto cserr; |
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warn "unknown line \"$l\"" unless $l =~ /^\$([^,]+),([^\*]+)\*[A-F0-9]{2}$/; |
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my ($cmd, $arg) = ($1,$2); |
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($l, $cmd, $arg); |
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} |
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|
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sub daemon($) { |
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my $self = shift; |
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async { |
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my $self = shift; |
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my $res = $self->{data}; |
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use Data::Dumper; |
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$res->{lines} = 0; |
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while(1) { |
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my($line, $cmd, $arg) = $self->get_line; |
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$res->{lines}++; |
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$res->{Raw}{$cmd} = $arg; |
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&{$cbs{$cmd}}($res, split /,/, $arg) if exists $cbs{$cmd}; |
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} |
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} $self; |
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} |
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|
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sub data { |
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cede; |
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$_[0]{data}; |
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} |
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|
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1; |
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