gpsd/gpsmon/monitor_oncore.c

/*
 * OnCore object for the GPS packet monitor.
 *
 * This file is Copyright 2010 by the GPSD project
 * SPDX-License-Identifier: BSD-2-clause
 */

#include "../include/gpsd_config.h"  /* must be before all includes */

#include <assert.h>
#include <math.h>
#include <stdio.h>
#include <string.h>

#include "../include/gpsd.h"
#include "../include/bits.h"
#include "../include/gpsmon.h"

#if defined(ONCORE_ENABLE) && defined(BINARY_ENABLE)
extern const struct gps_type_t driver_oncore;

static WINDOW *Ea1win, *Eawin, *Bbwin, *Enwin;
static WINDOW *Bowin, *Awwin, *Aywin, *Aswin, *Atwin;
static unsigned char EaSVlines[8];

static const char *antenna[] = {
    "OK (conn)",
    "OC (short)",
    "UC (open)",
    "OU (short)",
    "Unk",
};

static const char *sv_mode[] = {
    "srch",
    "acq",
    "AGCs",
    "pacq",
    "bits",
    "msgs",
    "satT",
    "epha",
    "avl",
    "Unk",
};

static const char *pps_ctrl[] = {
    "off",
    "on",
    "on if >= 1 SV",
    "on if TRAIM ok",
    "Unk",
};

static const char *pps_sync[] = {
    "UTC",
    "GPS",
    "Unk",
};

static const char *traim_sol[] = {
    "OK",
    "ALARM",
    "UNKNOWN",
    "Unk",
};

static const char *traim_status[] = {
    "detect & isolate",
    "detect",
    "insufficient",
    "Unk",
};

static const char *time_mode[] = {
    "GPS",
    "UTC",
    "Unk",
};

static const char *pos_hold_mode[] = {
    "off",
    "on",
    "survey",
    "Unk",
};

#define ONCTYPE(id2,id3) ((((unsigned int)id2)<<8)|(id3))

#define MAXTRACKSATS    8       /* the most satellites being tracked */
#define MAXVISSATS      12      /* the most satellites with known az/el */

static bool oncore_initialize(void)
{
    unsigned int i;

    Ea1win = subwin(devicewin, 5, 80, 1, 0);
    Eawin = subwin(devicewin, MAXTRACKSATS + 3, 27, 6, 0);
    Bbwin = subwin(devicewin, MAXVISSATS + 3, 22, 6, 28);
    Enwin = subwin(devicewin, 10, 29, 6, 51);
    Bowin = subwin(devicewin, 4, 9, 17, 0);
    Awwin = subwin(devicewin, 4, 6, 17, 9);
    Aywin = subwin(devicewin, 4, 13, 17, 15);
    Atwin = subwin(devicewin, 5, 9, 16, 51);
    Aswin = subwin(devicewin, 5, 19, 16, 61);

    if (Ea1win == NULL || Eawin == NULL || Bbwin == NULL || Enwin == NULL
        || Bowin == NULL || Aswin == NULL || Atwin == NULL || Aywin == NULL)
        return false;

    (void)syncok(Ea1win, true);
    (void)syncok(Eawin, true);
    (void)syncok(Bbwin, true);
    (void)syncok(Enwin, true);
    (void)syncok(Bowin, true);
    (void)syncok(Awwin, true);
    (void)syncok(Aywin, true);
    (void)syncok(Aswin, true);
    (void)syncok(Atwin, true);

    (void)wborder(Ea1win, 0, 0, 0, 0, 0, 0, 0, 0),
        (void)wattrset(Ea1win, A_BOLD);
    (void)mvwaddstr(Ea1win, 1, 1,
                    "Time:                                     "
                    "Lat:              Lon:");
    (void)mvwaddstr(Ea1win, 2, 1,
                    "Antenna:             DOP:                 "
                    "Speed:            Course:");
    (void)mvwaddstr(Ea1win, 3, 1,
                    "SV/vis:        "
                    "Status:                                      Alt:");
    (void)mvwprintw(Ea1win, 4, 4, " @@Ea (pos) ");
    (void)wattrset(Ea1win, A_NORMAL);

    (void)wborder(Eawin, 0, 0, 0, 0, 0, 0, 0, 0),
        (void)wattrset(Eawin, A_BOLD);
    (void)mvwprintw(Eawin, 1, 1, "Ch PRN mode S/N ????????");
    (void)mvwprintw(Eawin, 10, 4, " @@Ea (sat) ");
    for (i = 0; i < 8; i++) {
        (void)mvwprintw(Eawin, (int)(i + 2), 1, "%2d", i);
    }
    (void)wattrset(Eawin, A_NORMAL);

    (void)wborder(Bbwin, 0, 0, 0, 0, 0, 0, 0, 0),
        (void)wattrset(Bbwin, A_BOLD);
    (void)mvwprintw(Bbwin, 1, 1, "PRN  Az El doppl ??");
    (void)mvwprintw(Bbwin, 14, 4, " @@Bb ");
    (void)wattrset(Bbwin, A_NORMAL);

    (void)wborder(Enwin, 0, 0, 0, 0, 0, 0, 0, 0),
        (void)wattrset(Enwin, A_BOLD);
    (void)mvwprintw(Enwin, 1, 1, "Time RAIM: ");
    (void)mvwprintw(Enwin, 2, 1, "Alarm limit:");
    (void)mvwprintw(Enwin, 3, 1, "PPS ctrl:");
    (void)mvwprintw(Enwin, 4, 1, "Pulse:");
    (void)mvwprintw(Enwin, 5, 1, "PPS sync:");
    (void)mvwprintw(Enwin, 6, 1, "TRAIM sol stat:");
    (void)mvwprintw(Enwin, 7, 1, "Status:");
    (void)mvwprintw(Enwin, 8, 1, "Time sol sigma:");
    (void)mvwprintw(Enwin, 9, 4, " @@En ");
    (void)wattrset(Enwin, A_NORMAL);

    (void)wborder(Bowin, 0, 0, 0, 0, 0, 0, 0, 0),
        (void)wattrset(Bowin, A_BOLD);
    (void)mvwprintw(Bowin, 1, 1, "UTC:");
    (void)mvwprintw(Bowin, 3, 2, " @@Bo ");
    (void)wattrset(Bowin, A_NORMAL);

    (void)wborder(Awwin, 0, 0, 0, 0, 0, 0, 0, 0),
        (void)wattrset(Awwin, A_BOLD);
    (void)mvwprintw(Awwin, 1, 1, "Mode");
    (void)mvwprintw(Awwin, 3, 0, " @@Aw ");
    (void)wattrset(Awwin, A_NORMAL);

    (void)wborder(Aywin, 0, 0, 0, 0, 0, 0, 0, 0),
        (void)wattrset(Aywin, A_BOLD);
    (void)mvwprintw(Aywin, 1, 1, "PPS offset:");
    (void)mvwprintw(Aywin, 3, 4, " @@Ay ");
    (void)wattrset(Aywin, A_NORMAL);

    (void)wborder(Atwin, 0, 0, 0, 0, 0, 0, 0, 0),
        (void)wattrset(Atwin, A_BOLD);
    (void)mvwprintw(Atwin, 1, 1, "PHold:");
    (void)mvwprintw(Atwin, 4, 1, " @@At ");
    (void)wattrset(Atwin, A_NORMAL);

    (void)wborder(Aswin, 0, 0, 0, 0, 0, 0, 0, 0),
        (void)wattrset(Aswin, A_BOLD);
    (void)mvwprintw(Aswin, 1, 1, "Lat:");
    (void)mvwprintw(Aswin, 2, 1, "Lon:");
    (void)mvwprintw(Aswin, 3, 1, "Alt:");
    (void)mvwprintw(Aswin, 4, 4, " @@As ");
    (void)wattrset(Aswin, A_NORMAL);

    memset(EaSVlines, 0, sizeof(EaSVlines));

    return true;
}

static void oncore_update(void)
{
    unsigned int i, off;
    unsigned char *buf;
    unsigned int type;

    assert(Eawin != NULL);
    buf = session.lexer.outbuffer;
    type = ONCTYPE(buf[2], buf[3]);
    switch (type) {
    case ONCTYPE('E', 'a'):
    {
        double lat, lon, alt;
        float speed, track;
        float dop;
        unsigned short year;
        unsigned char mon, day, hour, min, sec;
        unsigned int nsec;
        unsigned char dopt, nvis, nsat, status;
        char statusbuf[64];     /* 6+9+3+3+10+5+7+12+1=56 */

        mon = (unsigned char)getub(buf, 4);
        day = (unsigned char)getub(buf, 5);
        year = (unsigned short)getbeu16(buf, 6);
        hour = (unsigned char)getub(buf, 8);
        min = (unsigned char)getub(buf, 9);
        sec = (unsigned char)getub(buf, 10);
        nsec = (unsigned int)getbeu32(buf, 11);

        lat = (double)getbes32(buf, 15) / 3600000.0;
        lon = (double)getbes32(buf, 19) / 3600000.0;
        alt = (double)getbes32(buf, 23) / 100.0;
        speed = (float)(getbeu16(buf, 31) / 100.0);
        track = (float)(getbeu16(buf, 33) / 10.0);
        dop = (float)(getbeu16(buf, 35) / 10.0);
        dopt = (unsigned char)getub(buf, 37);
        nvis = (unsigned char)getub(buf, 38);
        nsat = (unsigned char)getub(buf, 39);
        status = (unsigned char)getub(buf, 72);

        (void)mvwprintw(Ea1win, 1, 7, "%04d-%02d-%02d %02d:%02d:%02d.%09d",
                        year, mon, day, hour, min, sec, nsec);
        (void)mvwprintw(Ea1win, 1, 47, "%10.6lf %c",
                        fabs(lat), lat < 0 ? 'S' : lat > 0 ? 'N' : ' ');
        (void)mvwprintw(Ea1win, 1, 66, "%10.6lf %c",
                        fabs(lon), lon < 0 ? 'W' : lon > 0 ? 'E' : ' ');

        (void)mvwprintw(Ea1win, 2, 50, "%6.2f m/s", speed);
        (void)mvwprintw(Ea1win, 2, 70, "%5.1f", track);
        (void)mvwprintw(Ea1win, 3, 68, "%8.2f m", alt);

        (void)snprintf(statusbuf, sizeof(statusbuf), "%s%s%s%s%s%s%s%s%s",
                       (status & 0x80) ? "PProp " : "",
                       (status & 0x40) ? "PoorGeom " : "",
                       (status & 0x20) ? "3D " : "",
                       (status & 0x10) ? "2D " : "",
                       (status & 0x08) ? "Acq/PHold " : "",
                       (status & 0x04) ? "Diff " : "",
                       (status & 0x02) ? "Ins (<3 SV) " : "",
                       (status & 0x01) ? "BadAlm " : "",
                       (dopt   & 0x20) ? "survey " : "");

        (void)mvwprintw(Ea1win, 3, 24, "%-37s", statusbuf);

        dopt >>= 6;
        if (3 < dopt) {
            // pacify coverity
            dopt = 4;
        }
        (void)mvwprintw(Ea1win, 2, 10, "%-10s", antenna[dopt]);

        (void)mvwprintw(Ea1win, 2, 27, "%s %4.1f",
                        (dopt & 1) ? "hdop" : "pdop", dop);

        (void)mvwprintw(Ea1win, 3, 10, "%d/%d ", nsat, nvis);
    }

        for (i = 0; i < 8; i++) {
            unsigned char sv, mode, sn, status;

            off = 40 + 4 * i;
            sv = (unsigned char)getub(buf, off);
            mode = (unsigned char)getub(buf, off + 1);
            sn = (unsigned char)getub(buf, off + 2);
            status = (unsigned char)getub(buf, off + 3);
            (void)wmove(Eawin, (int)(i + 2), 3);
            (void)wprintw(Eawin, " %3d", sv);
            EaSVlines[i] = sv;
            if (8 < mode) {
                // pacify coverity
                mode = 9;
            }
            (void)wprintw(Eawin, " %4s", sv_mode[mode]);
            (void)wprintw(Eawin, " %3d", sn);
            (void)wprintw(Eawin, " %c%c%c%c%c%c%c%c",
                          (status & 0x80) ? 'p' : ' ',  /* used for pos fix  */
                          (status & 0x40) ? 'M' : ' ',  /* momentum alert    */
                          (status & 0x20) ? 's' : ' ',  /* anti-spoof   */
                          (status & 0x10) ? 'U' : ' ',  /* unhealthy     */
                          (status & 0x08) ? 'I' : ' ',  /* inaccurate   */
                          (status & 0x04) ? 'S' : ' ',  /* spare             */
                          (status & 0x02) ? 't' : ' ',  /* used for time sol */
                          (status & 0x01) ? 'P' : ' '); /* parity error      */
        }

        monitor_log("Ea =");
        break;

    case ONCTYPE('B', 'b'):
    {
        unsigned int Bblines[12];
        unsigned int Bblines_mask;
        unsigned int next_line;
        unsigned char sv;
        unsigned int ch;

        ch = (unsigned int)getub(buf, 4);
        if (ch > 12)
            ch = 12;
        /* Try to align the entries for each SV of the Bb message at
         * the same lines as in the Ea message.
         */
        memset(Bblines, 0, sizeof(Bblines));
        Bblines_mask = 0;
        for (i = 0; i < ch; i++) {
            unsigned int j;
            off = 5 + 7 * i;
            sv = (unsigned char)getub(buf, off);
            for (j = 0; j < 8; j++)
                if (EaSVlines[j] == sv && !(Bblines_mask & (1 << (j + 2)))) {
                    Bblines[i] = j + 2;
                    Bblines_mask |= 1 << Bblines[i];
                }
        }
        /* SVs not seen in Ea fill lines left over. */
        next_line = 2;
        for (i = 0; i < ch; i++) {
            if (Bblines[i] == 0) {
                while (Bblines_mask & (1 << next_line))
                    next_line++;
                Bblines[i] = next_line++;
                Bblines_mask |= 1 << Bblines[i];
            }
        }
        /* Ready to print on precalculated lines. */
        for (i = 0; i < ch; i++) {
            int doppl, el, az, health;

            off = 5 + 7 * i;
            sv = (unsigned char)getub(buf, off);
            doppl = (int)getbes16(buf, off + 1);
            el = (int)getub(buf, off + 3);
            az = (int)getbeu16(buf, off + 4);
            health = (int)getub(buf, off + 6);

            (void)wmove(Bbwin, (int)Bblines[i], 1);
            (void)wprintw(Bbwin, "%3d %3d %2d %5d %c%c",
                          sv, az, el, doppl,
                          (health & 0x02) ? 'U' : ' ',      /* unhealthy */
                          (health & 0x01) ? 'R' : ' ');     /* removed   */
        }

        for (i = 2; i < 14; i++)
            if (!(Bblines_mask & (1 << i))) {
                (void)wmove(Bbwin, (int)i, 1);
                (void)wprintw(Bbwin, "                   ");
            }
    }

        monitor_log("Bb =");
        break;

    case ONCTYPE('E', 'n'):
    {
        unsigned char traim, ctrl, pulse, sync, sol_stat, status;
        float alarm, sigma;

        traim = (unsigned char)getub(buf, 5);
        alarm = (float)(getbeu16(buf, 6) / 10.);
        ctrl = (unsigned char)getub(buf, 8);
        pulse = (unsigned char)getub(buf, 19);
        sync = (unsigned char)getub(buf, 20);
        sol_stat = (unsigned char)getub(buf, 21);
        status = (unsigned char)getub(buf, 22);
        sigma = (float)(getbeu16(buf, 23));

        (void)mvwprintw(Enwin, 1, 24, "%3s", traim ? "on" : "off");
        (void)mvwprintw(Enwin, 2, 18, "%6.1f us", alarm);
        if (3 < ctrl) {
            ctrl = 4;
        }
        (void)mvwprintw(Enwin, 3, 13, "%14s", pps_ctrl[ctrl]);
        (void)mvwprintw(Enwin, 4, 24, "%3s", pulse ? "on" : "off");
        if (1 < sync) {
            sync = 2;
        }
        (void)mvwprintw(Enwin, 5, 24, "%3s", pps_sync[sync]);
        if (2 < sol_stat) {
            sol_stat = 3;
        }
        (void)mvwprintw(Enwin, 6, 20, "%7s", traim_sol[sol_stat]);
        if (2 < status) {
            status = 3;
        }
        (void)mvwprintw(Enwin, 7, 11, "%16s", traim_status[status]);
        (void)mvwprintw(Enwin, 8, 18, "%6.3f us", sigma * 0.001);
    }

        monitor_log("En =");
        break;

    case ONCTYPE('B', 'o'):
    {
        unsigned char utc_offset;

        utc_offset = (unsigned char)getub(buf, 4);

        if (utc_offset != (unsigned char)0)
            (void)mvwprintw(Bowin, 2, 1, "GPS%+4d", utc_offset);
        else
            (void)mvwprintw(Bowin, 2, 1, "unknown");
    }

        monitor_log("Bo =");
        break;

    case ONCTYPE('A', 'w'):
    {
        unsigned char mode;

        mode = (unsigned char)getub(buf, 4);

        if (1 < mode) {
            mode = 2;
        }
        (void)mvwprintw(Awwin, 2, 1, "%4s", time_mode[mode]);
    }

        monitor_log("Aw =");
        break;

    case ONCTYPE('A', 'y'):
    {
        double pps_offset;

        /* note this is the GPS calc'ed offset
         * not a PPS offset gpsmon calculated */
        pps_offset = (double)getbes32(buf, 4) / 1000000.0;

        (void)mvwprintw(Aywin, 2, 1, " %7.3f ms", pps_offset);
    }

        monitor_log("Ay =");
        break;

    case ONCTYPE('A', 't'):
    {
        unsigned char mode;

        mode = (unsigned char)getub(buf, 4);

        if (2 < mode) {
            // pacify coverity
            mode = 3;
        }
        (void)mvwprintw(Atwin, 2, 1, "%6s", pos_hold_mode[mode]);
    }

        monitor_log("At =");
        break;

    case ONCTYPE('A', 's'):
    {
        double lat, lon, alt;

        lat = (double)getbes32(buf, 4) / 3600000.0;
        lon = (double)getbes32(buf, 8) / 3600000.0;
        alt = (double)getbes32(buf, 12) / 100.0;

        (void)mvwprintw(Aswin, 1, 5, "%10.6lf %c",
                        fabs(lat), lat < 0 ? 'S' : lat > 0 ? 'N' : ' ');
        (void)mvwprintw(Aswin, 2, 5, "%10.6lf %c",
                        fabs(lon), lon < 0 ? 'W' : lon > 0 ? 'E' : ' ');
        (void)mvwprintw(Aswin, 3, 7, "%8.2f m", alt);
    }

        monitor_log("As =");
        break;

    default:
        monitor_log("%c%c =", buf[2], buf[3]);
        break;
    }
}

static int oncore_command(char line[]UNUSED)
{
    return COMMAND_UNKNOWN;
}

static void oncore_wrap(void)
{
    (void)delwin(Ea1win);
    (void)delwin(Eawin);
    (void)delwin(Bbwin);
    (void)delwin(Enwin);
    (void)delwin(Bowin);
    (void)delwin(Awwin);
    (void)delwin(Aywin);
    (void)delwin(Atwin);
    (void)delwin(Aswin);
}

const struct monitor_object_t oncore_mmt = {
    .initialize = oncore_initialize,
    .update = oncore_update,
    .command = oncore_command,
    .wrap = oncore_wrap,
    .min_y = 20,.min_x = 80,    /* size of the device window */
    .driver = &driver_oncore,
};

#endif /* defined(ONCORE_ENABLE) && defined(BINARY_ENABLE) */
// vim: set expandtab shiftwidth=4