Add host-side gps protocol testing program

1 files changed, 204 insertions, 0 deletions

diff --git a/src/ao_gps_test.c b/src/ao_gps_test.c
new file mode 100644
index 00000000..7489e788
--- /dev/null
+++ b/src/ao_gps_test.c
@@ -0,0 +1,204 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * 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; version 2 of the License.
+ *
+ * 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 02111-1307 USA.
+ */
+
+#define AO_GPS_TEST
+#include "ao_host.h"
+#include <termios.h>
+#include <errno.h>
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <pthread.h>
+#include <semaphore.h>
+#define AO_GPS_NUM_SAT_MASK	(0xf << 0)
+#define AO_GPS_NUM_SAT_SHIFT	(0)
+
+#define AO_GPS_VALID		(1 << 4)
+
+struct ao_gps_data {
+	uint8_t			hour;
+	uint8_t			minute;
+	uint8_t			second;
+	uint8_t			flags;
+	int32_t			latitude;	/* degrees * 10⁷ */
+	int32_t			longitude;	/* degrees * 10⁷ */
+	int16_t			altitude;	/* m */
+	uint16_t		ground_speed;	/* cm/s */
+	uint8_t			course;		/* degrees / 2 */
+	uint8_t			hdop;		/* * 5 */
+	int16_t			climb_rate;	/* cm/s */
+	uint16_t		h_error;	/* m */
+	uint16_t		v_error;	/* m */
+};
+
+void
+ao_mutex_get(uint8_t *mutex)
+{
+}
+
+void
+ao_mutex_put(uint8_t *mutex)
+{
+}
+
+static int
+ao_gps_fd;
+
+static void
+ao_dbg_char(char c)
+{
+	char	line[128];
+	line[0] = '\0';
+	if (c < ' ') {
+		if (c == '\n')
+			sprintf (line, "\n");
+		else
+			sprintf (line, "\\%02x", ((int) c) & 0xff);
+	} else {
+		sprintf (line, "%c", c);
+	}
+	write(1, line, strlen(line));
+}
+
+#define QUEUE_LEN	4096
+
+static char	input_queue[QUEUE_LEN];
+int		input_head, input_tail;
+
+static sem_t input_semaphore;
+
+char
+ao_serial_getchar(void)
+{
+	char	c;
+	int	value;
+	char	line[100];
+
+	sem_getvalue(&input_semaphore, &value);
+//	printf ("ao_serial_getchar %d\n", value);
+	sem_wait(&input_semaphore);
+	c = input_queue[input_head];
+	input_head = (input_head + 1) % QUEUE_LEN;
+//	sprintf (line, "%02x\n", ((int) c) & 0xff);
+//	write(1, line, strlen(line));
+	return c;
+}
+
+void *
+ao_gps_input(void *arg)
+{
+	int	i;
+	char	c;
+
+	printf("ao_gps_input\n");
+	for (;;) {
+		i = read(ao_gps_fd, &c, 1);
+		if (i == 1) {
+			int	v;
+
+			input_queue[input_tail] = c;
+			input_tail = (input_tail + 1) % QUEUE_LEN;
+			sem_post(&input_semaphore);
+			sem_getvalue(&input_semaphore, &v);
+//			printf ("ao_gps_input %02x %d\n", ((int) c) & 0xff, v);
+			fflush(stdout);
+			continue;
+		}
+		if (i < 0 && (errno == EINTR || errno == EAGAIN))
+			continue;
+		perror("getchar");
+		exit(1);
+	}
+}
+
+void
+ao_serial_putchar(char c)
+{
+	int	i;
+
+	ao_dbg_char(c);
+	for (;;) {
+		i = write(ao_gps_fd, &c, 1);
+		if (i == 1)
+			break;
+		if (i < 0 && (errno == EINTR || errno == EAGAIN))
+			continue;
+		perror("putchar");
+		exit(1);
+	}
+}
+
+static void
+ao_serial_set_speed(uint8_t fast)
+{
+	int	fd = ao_gps_fd;
+	struct termios	termios;
+
+	tcdrain(fd);
+	tcgetattr(fd, &termios);
+	cfsetspeed(&termios, fast ? B9600 : B4800);
+	tcsetattr(fd, TCSAFLUSH, &termios);
+	tcflush(fd, TCIFLUSH);
+}
+
+#include "ao_gps_print.c"
+#include "ao_gps.c"
+
+void
+ao_dump_state(void)
+{
+	printf ("dump state\n");
+}
+
+int
+ao_gps_open(const char *tty)
+{
+	struct termios	termios;
+	int fd;
+
+	fd = open (tty, O_RDWR);
+	if (fd < 0)
+		return -1;
+
+	tcgetattr(fd, &termios);
+	cfmakeraw(&termios);
+	cfsetspeed(&termios, B4800);
+	tcsetattr(fd, TCSAFLUSH, &termios);
+
+	tcdrain(fd);
+	tcflush(fd, TCIFLUSH);
+	return fd;
+}
+
+pthread_t input_thread;
+
+int
+main (int argc, char **argv)
+{
+	char	*gps_file = "/dev/ttyUSB0";
+
+	ao_gps_fd = ao_gps_open(gps_file);
+	if (ao_gps_fd < 0) {
+		perror (gps_file);
+		exit (1);
+	}
+	ao_gps_setup();
+	sem_init(&input_semaphore, 0, 0);
+	if (pthread_create(&input_thread, NULL, ao_gps_input, NULL) != 0)
+		perror("pthread_create");
+	ao_gps();
+}