gpsd/driver_greis.c

/*
 * A Javad GNSS Receiver External Interface Specification (GREIS) driver.
 *
 * Author(s):
 * - Gregory Fong <gregory.fong@virginorbit.com>
 *
 * Documentation for GREIS can be found at:
http://www.javad.com/downloads/javadgnss/manuals/GREIS/GREIS_Reference_Guide.pdf
 *
 * The version used for reference is that which
 * "Reflects Firmware Version 3.6.7, Last revised: August 25, 2016".
 *
 * This assumes little endian byte order in messages, which is the default, but
 * that is configurable. A future improvement could change to read the
 * information in [MF] Message Format.
 *
 * This file is Copyright 2017 Virgin Orbit
 * This file is Copyright 2017 the GPSD project
 * SPDX-License-Identifier: BSD-2-clause
 */

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

#include <assert.h>
#include <math.h>
#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>       /* for abs() */
#include <string.h>
#include <sys/select.h>

#include "bits.h"
#include "driver_greis.h"
#include "gpsd.h"
#include "timespec.h"

#if defined(GREIS_ENABLE) && defined(BINARY_ENABLE)

#define HEADER_LENGTH 5

static ssize_t greis_write(struct gps_device_t *session,
                           const char *msg, size_t msglen);
static const char disable_messages[] = "\%dm\%dm";
static const char get_vendor[] = "\%vendor\%print,/par/rcv/vendor";
static const char get_ver[] = "\%ver\%print,rcv/ver";
static const char set_update_rate_4hz[] = "\%msint\%set,/par/raw/msint,250";

/* Where applicable, the order here is how these will be received per cycle. */
/* TODO: stop hardcoding the cycle time, make it selectable */
static const char enable_messages_4hz[] =
    "\%em\%em,,jps/{RT,UO,GT,PV,SG,DP,SI,EL,AZ,EC,SS,ET}:0.25";

/*
 * GREIS message handlers. The checksum has been already confirmed valid in the
 * packet acceptance logic, so we don't need to retest it here.
 */

/**
 * Handle the message [RE] Reply
 */
static gps_mask_t greis_msg_RE(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    if (0 == memcmp(buf, "%ver%", 5)) {
        strlcpy(session->subtype, (const char*)&buf[5],
                sizeof(session->subtype));
        GPSD_LOG(LOG_DATA, &session->context->errout,
                 "GREIS: RE, ->subtype: %s\n", session->subtype);
        return DEVICEID_SET;
    }

    GPSD_LOG(LOG_INFO, &session->context->errout,
             "GREIS: RE %3zd, reply: %.*s\n", len, (int)len, buf);
    return 0;
}

/**
 * Handle the message [ER] Reply
 */
static gps_mask_t greis_msg_ER(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    GPSD_LOG(LOG_WARN, &session->context->errout,
             "GREIS: ER %3zd, reply: %.*s\n", len, (int)len, buf);
    return 0;
}

/**
 * Handle the message [~~](RT) Receiver Time.
 */
static gps_mask_t greis_msg_RT(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    if (len < 5) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: RT bad len %zu\n", len);
        return 0;
    }

    session->driver.greis.rt_tod = getleu32(buf, 0);
    memset(&session->gpsdata.raw, 0, sizeof(session->gpsdata.raw));

    session->driver.greis.seen_rt = true;
    session->driver.greis.seen_az = false;
    session->driver.greis.seen_ec = false;
    session->driver.greis.seen_el = false;
    session->driver.greis.seen_si = false;
    GPSD_LOG(LOG_DATA, &session->context->errout,
             "GREIS: RT, tod: %lu\n",
             (unsigned long)session->driver.greis.rt_tod);

    return CLEAR_IS;
}

/**
 * Handle the message [UO] GPS UTC Time Parameters.
 */
static gps_mask_t greis_msg_UO(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    /*
     * For additional details on these parameters and the computation done using
     * them, refer to the Javad GREIS spec mentioned at the top of this file and
     * also to ICD-GPS-200C, Revision IRN-200C-004 April 12, 2000. At the time
     * of writing, that could be found at
     * https://www.navcen.uscg.gov/pubs/gps/icd200/ICD200Cw1234.pdf .
     */
    uint32_t tot;           /* Reference time of week [s] */
    uint16_t wnt;           /* Reference week number [dimensionless] */
    int8_t dtls;            /* Delta time due to leap seconds [s] */
    uint8_t dn;             /* 'Future' reference day number [1..7] */
    uint16_t wnlsf;         /* 'Future' reference week number [dimensionless] */
    int8_t dtlsf;           /* 'Future' delta time due to leap seconds [s] */

    if (len < 24) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: UO bad len %zu\n", len);
        return 0;
    }

    tot = getleu32(buf, 12);
    wnt = getleu16(buf, 16);
    dtls = getsb(buf, 18);
    dn = getub(buf, 19);
    wnlsf = getleu16(buf, 20);
    dtlsf = getsb(buf, 22);
    session->driver.greis.seen_uo = true;

    /*
     * See ICD-GPS-200C 20.3.3.5.2.4 "Universal Coordinated Time (UTC)".
     * I totally ripped this off of driver_navcom.c.  Might want to dedupe at
     * some point.
     */
    if ((wnt % 256U) * 604800U + tot < wnlsf * 604800U + dn * 86400U) {
        /* Current time is before effectivity time of the leap second event */
        session->context->leap_seconds = dtls;
    } else {
        session->context->leap_seconds = dtlsf;
    }

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "GREIS: UO, leap_seconds: %d\n", session->context->leap_seconds);

    return 0;
}

/**
 * Handle the message [GT] GPS Time.
 */
static gps_mask_t greis_msg_GT(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    timespec_t ts_tow;
    uint32_t tow;            /* Time of week [ms] */
    uint16_t wn;             /* GPS week number (modulo 1024) [dimensionless] */
    char ts_buf[TIMESPEC_LEN];

    if (len < 7) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: GT bad len %zu\n", len);
        return 0;
    }

    if (!session->driver.greis.seen_uo) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: can't use GT until after UO has supplied "
                 "leap second data\n");
        return 0;
    }

    tow = getleu32(buf, 0);
    wn = getleu16(buf, 4);

    MSTOTS(&ts_tow, tow);
    session->newdata.time = gpsd_gpstime_resolv(session, wn, ts_tow);

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "GREIS: GT, tow: %" PRIu32 ", wn: %" PRIu16 ", time: %s Leap:%u\n",
             tow, wn,
             timespec_str(&session->newdata.time, ts_buf, sizeof(ts_buf)),
             session->context->leap_seconds);


    /* save raw.mtime, just in case */
    session->gpsdata.raw.mtime = session->newdata.time;

    return TIME_SET | NTPTIME_IS | ONLINE_SET;
}

/**
 * Handle the message [PV] Cartesian Position and Velocity.
 */
static gps_mask_t greis_msg_PV(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    double x, y, z;         /* Cartesian coordinates [m] */
    float p_sigma;          /* Position spherical error probability (SEP) [m] */
    float vx, vy, vz;       /* Cartesian velocities [m/s] */
    float v_sigma;          /* Velocity SEP [m/s] */
    uint8_t solution_type;
    gps_mask_t mask = 0;

    if (len < 46) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: PV bad len %zu\n", len);
        return 0;
    }

    x = getled64((char *)buf, 0);
    y = getled64((char *)buf, 8);
    z = getled64((char *)buf, 16);
    p_sigma = getlef32((char *)buf, 24);
    vx = getlef32((char *)buf, 28);
    vy = getlef32((char *)buf, 32);
    vz = getlef32((char *)buf, 36);
    v_sigma = getlef32((char *)buf, 40);
    solution_type = getub(buf, 44);

    session->newdata.ecef.x = x;
    session->newdata.ecef.y = y;
    session->newdata.ecef.z = z;
    session->newdata.ecef.pAcc = p_sigma;
    session->newdata.ecef.vx = vx;
    session->newdata.ecef.vy = vy;
    session->newdata.ecef.vz = vz;
    session->newdata.ecef.vAcc = v_sigma;

    /* GREIS Reference Guide 3.4.2 "General Notes" part "Solution Types" */
    if (solution_type > 0 && solution_type < 5) {
        session->newdata.mode = MODE_3D;
        if (solution_type > 1)
            session->newdata.status = STATUS_DGPS_FIX;
        else
            session->newdata.status = STATUS_FIX;
    }

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "GREIS: PV, ECEF x=%.2f y=%.2f z=%.2f pAcc=%.2f\n",
             session->newdata.ecef.x,
             session->newdata.ecef.y,
             session->newdata.ecef.z,
             session->newdata.ecef.pAcc);

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "GREIS: PV, ECEF vx=%.2f vy=%.2f vz=%.2f vAcc=%.2f "
             "solution_type: %d\n",
             session->newdata.ecef.vx,
             session->newdata.ecef.vy,
             session->newdata.ecef.vz,
             session->newdata.ecef.vAcc,
             solution_type);

   mask |= MODE_SET | STATUS_SET | ECEF_SET | VECEF_SET;
   return mask;
}

/**
 * Handle the message [SG] Position and Velocity RMS Errors.
 */
static gps_mask_t greis_msg_SG(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    float hpos;                 /* Horizontal position RMS error [m] */
    float vpos;                 /* Vertical position RMS error [m] */
    float hvel;                 /* Horizontal velocity RMS error [m/s] */
    float vvel;                 /* Vertical velocity RMS error [m/s] */

    if (len < 18) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: SG bad len %zu\n", len);
        return 0;
    }

    hpos = getlef32((char *)buf, 0);
    vpos = getlef32((char *)buf, 4);
    hvel = getlef32((char *)buf, 8);
    vvel = getlef32((char *)buf, 12);

    /*
     * All errors are RMS which can be approximated as 1 sigma, so we can just
     * use them directly.
     *
     * Compute missing items in gpsd_error_model(), not here.
     */
    session->newdata.eph = hpos;
    session->newdata.epv = vpos;
    session->newdata.eps = hvel;
    session->newdata.epc = vvel;

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "GREIS: SG, eph: %.2f, eps: %.2f, epc: %.2f\n",
             session->newdata.eph,
             session->newdata.eps, session->newdata.epc);

    return HERR_SET | SPEEDERR_SET | CLIMBERR_SET;
}

/**
 * Handle the message [DP] Dilution of Precision.
 * Note that fill_dop() will handle the unset dops later.
 */
static gps_mask_t greis_msg_DP(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    if (len < 18) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: DP bad len %zu\n", len);
        return 0;
    }

    /* clear so that computed DOPs get recomputed. */
    gps_clear_dop(&session->gpsdata.dop);

    session->gpsdata.dop.hdop = getlef32((char *)buf, 0);
    session->gpsdata.dop.vdop = getlef32((char *)buf, 4);
    session->gpsdata.dop.tdop = getlef32((char *)buf, 8);

    session->gpsdata.dop.pdop = sqrt(pow(session->gpsdata.dop.hdop, 2) +
                                     pow(session->gpsdata.dop.vdop, 2));

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "GREIS: DP, hdop: %.2f, vdop: %.2f, tdop: %.2f, pdop: %.2f\n",
             session->gpsdata.dop.hdop, session->gpsdata.dop.vdop,
             session->gpsdata.dop.tdop, session->gpsdata.dop.pdop);

    return DOP_SET;
}

/**
 * Handle the message [SI] Satellite Indices.
 *
 * This message tells us how many satellites are seen and contains their
 * Universal Satellite Identifier (USI).
 */
static gps_mask_t greis_msg_SI(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    int i;

    if (len < 1) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: SI bad len %zu\n", len);
        return 0;
    }

    gpsd_zero_satellites(&session->gpsdata);
    /* FIXME: check against MAXCHANNELS? */
    session->gpsdata.satellites_visible = len - 1;
    for (i = 0; i < session->gpsdata.satellites_visible; i++) {
        /* This isn't really PRN, this is USI.  Convert it. */
        unsigned short PRN = getub(buf, i);
        session->gpsdata.skyview[i].PRN = PRN;

        /* fit into gnssid:svid */
        if (0 == PRN) {
            /* skip 0 PRN */
            continue;
        } else if ((1 <= PRN) && (37 >= PRN)) {
            /* GPS */
            session->gpsdata.skyview[i].gnssid = 0;
            session->gpsdata.skyview[i].svid = PRN;
        } else if ((38 <= PRN) && (69 >= PRN)) {
            /* GLONASS */
            session->gpsdata.skyview[i].gnssid = 6;
            session->gpsdata.skyview[i].svid = PRN - 37;
        } else if (70 == PRN) {
            /* GLONASS, again */
            session->gpsdata.skyview[i].gnssid = 6;
            session->gpsdata.skyview[i].svid = 255;
        } else if ((71 <= PRN) && (119 >= PRN)) {
            /* Galileo */
            session->gpsdata.skyview[i].gnssid = 2;
            session->gpsdata.skyview[i].svid = PRN - 70;
        } else if ((120 <= PRN) && (142 >= PRN)) {
            /* SBAS */
            session->gpsdata.skyview[i].gnssid = 1;
            session->gpsdata.skyview[i].svid = PRN - 119;
        } else if ((193 <= PRN) && (197 >= PRN)) {
            /* QZSS */
            session->gpsdata.skyview[i].gnssid = 5;
            session->gpsdata.skyview[i].svid = PRN - 192;
        } else if ((211 <= PRN) && (247 >= PRN)) {
            /* BeiDou */
            session->gpsdata.skyview[i].gnssid = 3;
            session->gpsdata.skyview[i].svid = PRN - 210;
        }
        session->gpsdata.raw.meas[i].obs_code[0] = '\0';
        session->gpsdata.raw.meas[i].gnssid =
            session->gpsdata.skyview[i].gnssid;
        session->gpsdata.raw.meas[i].svid =
            session->gpsdata.skyview[i].svid;
        /* GREIS does not report locktime, so assume max */
        session->gpsdata.raw.meas[i].locktime = LOCKMAX;
        /* Make sure the unused raw fields are set consistently */
        session->gpsdata.raw.meas[i].sigid = 0;
        session->gpsdata.raw.meas[i].snr = 0;
        session->gpsdata.raw.meas[i].freqid = 0;
        session->gpsdata.raw.meas[i].lli = 0;
        session->gpsdata.raw.meas[i].codephase = NAN;
        session->gpsdata.raw.meas[i].deltarange = NAN;
    }

    session->driver.greis.seen_si = true;
    GPSD_LOG(LOG_DATA, &session->context->errout,
             "GREIS: SI, satellites_visible: %d\n",
             session->gpsdata.satellites_visible);

    return 0;
}

/**
 * Handle the message [EL] Satellite Elevations.
 */
static gps_mask_t greis_msg_EL(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    int i;

    if (!session->driver.greis.seen_si) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: can't use EL until after SI provides indices\n");
        return 0;
    }

    /* check against number of satellites + checksum */
    if (len < session->gpsdata.satellites_visible + 1U) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: EL bad len %zu, needed at least %d\n", len,
                 session->gpsdata.satellites_visible + 1);
        return 0;
    }

    for (i = 0; i < session->gpsdata.satellites_visible; i++) {
        short elevation;

        /* GREIS elevation is -90 to 90 degrees */
        /* GREIS uses 127 for n/a */
        /* gpsd uses NAN for n/a, so adjust accordingly */
        elevation = getub(buf, i);
        if (90 < abs(elevation)) {
            session->gpsdata.skyview[i].elevation = (double)elevation;
        } /* else leave as NAN */
    }

    session->driver.greis.seen_el = true;
    GPSD_LOG(LOG_DATA, &session->context->errout, "GREIS: EL\n");

    return 0;
}

/**
 * Handle the message [AZ] Satellite Azimuths.
 */
static gps_mask_t greis_msg_AZ(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    int i;

    if (!session->driver.greis.seen_si) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: can't use AZ until after SI provides indices\n");
        return 0;
    }

    /* check against number of satellites + checksum */
    if (len < session->gpsdata.satellites_visible + 1U) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: AZ bad len %zu, needed at least %d\n", len,
                 session->gpsdata.satellites_visible + 1);
        return 0;
    }

    for (i = 0; i < session->gpsdata.satellites_visible; i++) {
        short azimuth;

        /* GREIS azimuth is 0 to 180, multiply by 2 for 0 to 360 */
        /* GREIS uses 255 for n/a */
        /* gpsd azimuth is 0 to 359, so adjust accordingly */
        azimuth = getub(buf, i) * 2;
        if (360 == azimuth) {
            session->gpsdata.skyview[i].azimuth = 0;
        } else if (0 <= azimuth &&
                   360 > azimuth) {
            session->gpsdata.skyview[i].azimuth = (double)azimuth;
        } /* else leave as NAN */
    }

    session->driver.greis.seen_az = true;
    GPSD_LOG(LOG_DATA, &session->context->errout, "GREIS: AZ\n");

    return 0;
}

/**
 * Handle the message [DC] Doppler (CA/L1)
 */
static gps_mask_t greis_msg_DC(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    int i;
    long int_doppler;
    size_t len_needed = (session->gpsdata.satellites_visible * 4) + 1;

    if (!session->driver.greis.seen_si) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: can't use DC until after SI provides indices\n");
        return 0;
    }

    /* check against number of satellites + checksum */
    if (len < len_needed) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: DC bad len %zu, needed at least %zu\n", len,
                 len_needed);
        return 0;
    }

    for (i = 0; i < session->gpsdata.satellites_visible; i++) {
        int_doppler = getles32((char *)buf, i * 4);
        if (0x7fffffff == int_doppler) {
            /* out of range */
            session->gpsdata.raw.meas[i].doppler = NAN;
        } else {
            session->gpsdata.raw.meas[i].doppler = int_doppler * 1e-4;
        }
    }

    session->driver.greis.seen_raw = true;
    GPSD_LOG(LOG_DATA, &session->context->errout, "GREIS: DC\n");

    return 0;
}

/**
 * Handle the message [EC] SNR (CA/L1).
 * EC really outputs CNR, but what gpsd refers to as SNR _is_ CNR.
 */
static gps_mask_t greis_msg_EC(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    int i;

    if (!session->driver.greis.seen_si) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: can't use EC until after SI provides indices\n");
        return 0;
    }

    /* check against number of satellites + checksum */
    if (len < session->gpsdata.satellites_visible + 1U) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: EC bad len %zu, needed at least %d\n", len,
                 session->gpsdata.satellites_visible + 1);
        return 0;
    }

    for (i = 0; i < session->gpsdata.satellites_visible; i++)
        session->gpsdata.skyview[i].ss = getub(buf, i);

    session->driver.greis.seen_ec = true;
    GPSD_LOG(LOG_DATA, &session->context->errout, "GREIS: EC\n");

    return 0;
}


/**
 * Handle the message [P3] CA/L2 Carrier Phases, RINEX L2C
 */
static gps_mask_t greis_msg_P3(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    int i;
    size_t len_needed = (session->gpsdata.satellites_visible * 8) + 1;

    if (!session->driver.greis.seen_si) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: can't use P3 until after SI provides indices\n");
        return 0;
    }

    /* check against number of satellites + checksum */
    if (len < len_needed) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: P3 bad len %zu, needed at least %zu\n", len,
                 len_needed);
        return 0;
    }

    for (i = 0; i < session->gpsdata.satellites_visible; i++) {
        session->gpsdata.raw.meas[i].l2c = getled64((char *)buf, i * 8);
    }

    session->driver.greis.seen_raw = true;
    GPSD_LOG(LOG_DATA, &session->context->errout, "GREIS: P3\n");

    return 0;
}

/**
 * Handle the message [PC] CA/L1 Carrier Phases, RINEX L1C
 */
static gps_mask_t greis_msg_PC(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    int i;
    size_t len_needed = (session->gpsdata.satellites_visible * 8) + 1;

    if (!session->driver.greis.seen_si) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: can't use PC until after SI provides indices\n");
        return 0;
    }

    /* check against number of satellites + checksum */
    if (len < len_needed) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: PC bad len %zu, needed at least %zu\n", len,
                 len_needed);
        return 0;
    }

    for (i = 0; i < session->gpsdata.satellites_visible; i++) {
        session->gpsdata.raw.meas[i].carrierphase = getled64((char *)buf,
                                                            i * 8);
    }

    session->driver.greis.seen_raw = true;
    GPSD_LOG(LOG_DATA, &session->context->errout, "GREIS: PC\n");

    return 0;
}

/**
 * Handle the message [R3] CA/L2 Pseudo-range, RINEX C2C
 */
static gps_mask_t greis_msg_R3(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    int i;
    size_t len_needed = (session->gpsdata.satellites_visible * 8) + 1;

    if (!session->driver.greis.seen_si) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: can't use R3 until after SI provides indices\n");
        return 0;
    }

    /* check against number of satellites + checksum */
    if (len < len_needed) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: R3 bad len %zu, needed at least %zu\n", len,
                 len_needed);
        return 0;
    }

    for (i = 0; i < session->gpsdata.satellites_visible; i++) {
        /* get, and convert to meters */
        session->gpsdata.raw.meas[i].c2c = \
            getled64((char *)buf, i * 8) * CLIGHT;
    }

    session->driver.greis.seen_raw = true;
    GPSD_LOG(LOG_DATA, &session->context->errout, "GREIS: R3\n");

    return 0;
}

/**
 * Handle the message [RC] Pseudo-range CA/L1, RINEX C1C
 */
static gps_mask_t greis_msg_RC(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    int i;
    size_t len_needed = (session->gpsdata.satellites_visible * 8) + 1;

    if (!session->driver.greis.seen_si) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: can't use RC until after SI provides indices\n");
        return 0;
    }

    /* check against number of satellites + checksum */
    if (len < len_needed) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: RC bad len %zu, needed at least %zu\n", len,
                 len_needed);
        return 0;
    }

    for (i = 0; i < session->gpsdata.satellites_visible; i++) {
        /* get, and convert to meters */
        session->gpsdata.raw.meas[i].pseudorange = \
            getled64((char *)buf, i * 8) * CLIGHT;
    }

    session->driver.greis.seen_raw = true;
    GPSD_LOG(LOG_DATA, &session->context->errout, "GREIS: RC\n");

    return 0;
}

/**
 * Handle the message [SS] Satellite Navigation Status.
 */
static gps_mask_t greis_msg_SS(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    int i;
    int used_count = 0;

    if (!session->driver.greis.seen_si) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: can't use SS until after SI provides indices\n");
        return 0;
    }

    /* check against number of satellites + solution type + checksum */
    if (len < session->gpsdata.satellites_visible + 2U) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: SI bad len %zu, needed at least %d\n", len,
                 session->gpsdata.satellites_visible + 2);
        return 0;
    }

    for (i = 0; i < session->gpsdata.satellites_visible; i++) {
        /*
         * From the GREIS Reference Guide: "Codes [0...3], [40...62], and
         * [64...255] indicate that given satellite is used in position
         * computation and show which measurements are used. The rest of codes
         * indicate that satellite is not used in position computation and
         * indicate why this satellite is excluded from position computation."
         * Refer to Table 3-4 "Satellite Navigation Status" for the specific
         * code meanings.
         */
        uint8_t nav_status = getub(buf, i);
        session->gpsdata.skyview[i].used =
            (nav_status <= 3) ||
            (nav_status >= 40 && nav_status <= 62) ||
            (nav_status >= 64);

        if (session->gpsdata.skyview[i].used)
            used_count++;
    }
    session->gpsdata.satellites_used = used_count;

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "GREIS: SS, satellites_used: %d\n",
             session->gpsdata.satellites_used);

    return used_count ? USED_IS : 0;
}


/**
 * Handle the message [::](ET) Epoch Time.
 * This should be kept as the last message in each epoch.
 */
static gps_mask_t greis_msg_ET(struct gps_device_t *session,
                               unsigned char *buf, size_t len)
{
    uint32_t tod;
    gps_mask_t mask = 0;

    if (len < 5) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: ET bad len %zu\n", len);
        return 0;
    }

    if (!session->driver.greis.seen_rt) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: got ET, but no preceding RT for epoch\n");
        return 0;
    }

    tod = getleu32(buf, 0);
    if (tod != session->driver.greis.rt_tod) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: broken epoch, RT had %lu, but ET has %lu\n",
                 (unsigned long)session->driver.greis.rt_tod,
                 (unsigned long)tod);
        return 0;
    }

    /* Skyview time does not differ from time in GT message */
    session->gpsdata.skyview_time.tv_sec = 0;
    session->gpsdata.skyview_time.tv_nsec = 0;

    GPSD_LOG(LOG_DATA, &session->context->errout,
             "GREIS: ET, seen: az %d, ec %d, el %d, rt %d, si %d, uo %d\n",
             (int)session->driver.greis.seen_az,
             (int)session->driver.greis.seen_ec,
             (int)session->driver.greis.seen_el,
             (int)session->driver.greis.seen_rt,
             (int)session->driver.greis.seen_si,
             (int)session->driver.greis.seen_uo);

    /* Make sure we got the satellite data, then report it. */
    if ((session->driver.greis.seen_az && session->driver.greis.seen_ec &&
         session->driver.greis.seen_el && session->driver.greis.seen_si)) {
        /* Skyview seen, update it.  Go even if no seen_ss or none visible */
        mask |= SATELLITE_SET;

        if (session->driver.greis.seen_raw) {
            mask |= RAW_IS;
        } else {
            session->gpsdata.raw.mtime.tv_sec = 0;
            session->gpsdata.raw.mtime.tv_nsec = 0;
        }

    } else {
        session->gpsdata.raw.mtime.tv_sec = 0;
        session->gpsdata.raw.mtime.tv_nsec = 0;
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: ET: missing satellite details in this epoch\n");
    }

    GPSD_LOG(LOG_DATA, &session->context->errout, "GREIS: ET, tod: %lu\n",
             (unsigned long)tod);

    /* This is a good place to poll firmware version if we need it.
     * Waited until now to avoid the startup rush and out of
     * critical time path
     */
    if (0 == strlen(session->subtype)) {
        /* get version */
        (void)greis_write(session, get_ver, sizeof(get_ver) - 1);
    }
    /* The driver waits for ET to send any reports
     * Just REPORT_IS is not enough to trigger sending of reports to clients.
     * STATUS_SET seems best, if no status by now the status is no fix */
    return mask | REPORT_IS | STATUS_SET;
}

struct dispatch_table_entry {
    char id0;
    char id1;
    gps_mask_t (*handler)(struct gps_device_t *, unsigned char *, size_t);
};

static struct dispatch_table_entry dispatch_table[] = {
    {':', ':', greis_msg_ET},
    {'A', 'Z', greis_msg_AZ},
    {'D', 'C', greis_msg_DC},
    {'D', 'P', greis_msg_DP},
    {'E', 'C', greis_msg_EC},
    {'E', 'R', greis_msg_ER},
    {'E', 'L', greis_msg_EL},
    {'G', 'T', greis_msg_GT},
    {'R', '3', greis_msg_R3},
    {'R', 'C', greis_msg_RC},
    {'P', '3', greis_msg_P3},
    {'P', 'C', greis_msg_PC},
    {'P', 'V', greis_msg_PV},
    {'R', 'E', greis_msg_RE},
    {'S', 'G', greis_msg_SG},
    {'S', 'I', greis_msg_SI},
    {'S', 'S', greis_msg_SS},
    {'U', 'O', greis_msg_UO},
    {'~', '~', greis_msg_RT},
};

#define dispatch_table_size (sizeof(dispatch_table) / sizeof(dispatch_table[0]))

/**
 * Parse the data from the device
 */
static gps_mask_t greis_dispatch(struct gps_device_t *session,
                                 unsigned char *buf, size_t len)
{
    size_t i;
    char id0, id1;

    if (len == 0)
        return 0;

    /*
     * This is set because the device reliably signals end of cycle.
     * The core library zeroes it just before it calls each driver's
     * packet analyzer.
     */
    session->cycle_end_reliable = true;

    /* Length should have already been checked in packet.c, but just in case */
    if (len < HEADER_LENGTH) {
        GPSD_LOG(LOG_WARN, &session->context->errout,
                 "GREIS: Packet length %zu shorter than min length\n", len);
        return 0;
    }

    /* we may need to dump the raw packet */
    GPSD_LOG(LOG_RAW, &session->context->errout,
             "GREIS: raw packet id '%c%c'\n", buf[0], buf[1]);

    id0 = buf[0];
    id1 = buf[1];
    len -= HEADER_LENGTH;
    buf += HEADER_LENGTH;

    for (i = 0; i < dispatch_table_size; i++) {
        struct dispatch_table_entry *entry = &dispatch_table[i];

        if (id0 == entry->id0 && id1 == entry->id1) {
            return entry->handler(session, buf, len);
        }
    }

    GPSD_LOG(LOG_WARN, &session->context->errout,
             "GREIS: unknown packet id '%c%c' length %zu\n", id0, id1, len);
    return 0;
}

/**********************************************************
 *
 * Externally called routines below here
 *
 **********************************************************/

/**
 * Write data to the device with checksum.
 * Returns number of bytes written on successful write, -1 otherwise.
 */
static ssize_t greis_write(struct gps_device_t *session,
                           const char *msg, size_t msglen)
{
    char checksum_str[3] = {0};
    ssize_t count;

    if (session->context->readonly) {
        /* readonly mode, do not write anything */
        return -1;
    }

    if (NULL == msg) {
        /* We do sometimes write zero length to wake up GPS,
         * so just test for NULL msg, not zero length message */
        GPSD_LOG(LOG_ERROR, &session->context->errout,
                 "GREIS: nothing to write\n");
        return -1;
    }

    /* Account for length + checksum marker + checksum + \r + \n + \0 */
    if (msglen + 6 > sizeof(session->msgbuf)) {
        GPSD_LOG(LOG_ERROR, &session->context->errout,
                 "GREIS: msgbuf is smaller than write length %zu\n", msglen);
        return -1;
    }

    if (msg != NULL)
        memcpy(&session->msgbuf[0], msg, msglen);

    if (msglen == 0) {
        /* This is a dummy write, don't give a checksum. */
        session->msgbuf[0] = '\n';
        session->msgbuflen = 1;
        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "GREIS: Dummy write\n");
    } else {
        unsigned char checksum;

        session->msgbuflen = msglen;
        session->msgbuf[session->msgbuflen++] = '@'; /* checksum marker */

        /* calculate checksum with @, place at end, and set length to write */
        checksum = greis_checksum((unsigned char *)session->msgbuf,
                                  session->msgbuflen);
        (void)snprintf(checksum_str, sizeof(checksum_str), "%02X", checksum);
        session->msgbuf[session->msgbuflen++] = checksum_str[0];
        session->msgbuf[session->msgbuflen++] = checksum_str[1];
        session->msgbuf[session->msgbuflen++] = '\r';
        session->msgbuf[session->msgbuflen++] = '\n';

        GPSD_LOG(LOG_PROG, &session->context->errout,
                 "GREIS: Writing command '%.*s', checksum: %s\n",
                 (int)msglen, msg, checksum_str);
    }
    session->msgbuf[session->msgbuflen] = '\0';
    count = gpsd_write(session, session->msgbuf, session->msgbuflen);

    if (count != (ssize_t)session->msgbuflen)
        return -1;
    else
        return count;
}

/**
 * Write data to the device, doing any required padding or checksumming
 */
static ssize_t greis_control_send(struct gps_device_t *session,
                                  char *msg, size_t msglen)
{
    return greis_write(session, msg, msglen);
}

static void greis_event_hook(struct gps_device_t *session, event_t event)
{
    if (session->context->readonly ||
        session->context->passive) {
        return;
    }

    if (event == event_wakeup) {
        /*
         * Code to make the device ready to communicate.  Only needed if the
         * device is in some kind of sleeping state, and only shipped to
         * RS232C, so that gpsd won't send strings to unidentified USB devices
         * that might not be GPSes at all.
         */

        /*
         * Disable any existing messages, then request vendor for
         * identification.
         */
        (void)greis_write(session, disable_messages,
                          sizeof(disable_messages) - 1);
        (void)greis_write(session, get_vendor, sizeof(get_vendor) - 1);
    } else if (event == event_identified || event == event_reactivate) {
        /*
         * Fires when the first full packet is recognized from a previously
         * unidentified device OR the device is reactivated after close. The
         * session.lexer counter is zeroed.
         *
         * TODO: If possible, get the software version and store it in
         * session->subtype.
         */
        (void)greis_write(session, disable_messages,
                          sizeof(disable_messages) - 1);
        (void)greis_write(session, set_update_rate_4hz,
                          sizeof(set_update_rate_4hz) - 1);
        (void)greis_write(session, enable_messages_4hz,
                          sizeof(enable_messages_4hz) - 1);

        /* Store (expected) cycle time (seconds) */
        session->gpsdata.dev.cycle.tv_sec = 0;
        session->gpsdata.dev.cycle.tv_nsec = 250000000L;
    } else if (event == event_driver_switch) {
        /*
         * Fires when the driver on a device is changed *after* it
         * has been identified.
         */
    } else if (event == event_deactivate) {
        /*
         * Fires when the device is deactivated.  Use this to revert
         * whatever was done at event_identified and event_configure
         * time.
         */
        (void)greis_write(session, disable_messages,
                          sizeof(disable_messages) - 1);
    }
}

/**
 * This is the entry point to the driver. When the packet sniffer recognizes
 * a packet for this driver, it calls this method which passes the packet to
 * the binary processor or the nmea processor, depending on the session type.
 */
static gps_mask_t greis_parse_input(struct gps_device_t *session)
{
    if (session->lexer.type == GREIS_PACKET) {
        return greis_dispatch(session, session->lexer.outbuffer,
                              session->lexer.outbuflen);
#ifdef NMEA0183_ENABLE
    } else if (session->lexer.type == NMEA_PACKET) {
        return nmea_parse((char *)session->lexer.outbuffer, session);
#endif /* NMEA0183_ENABLE */
    } else
        return 0;
}

/**
 * Set port operating mode, speed, parity, stopbits etc. here.
 * Note: parity is passed as 'N'/'E'/'O', but you should program
 * defensively and allow 0/1/2 as well.
 */
static bool greis_set_speed(struct gps_device_t *session,
                            speed_t speed, char parity, int stopbits)
{
    /* change on current port */
    static const char set_rate[] = "set,/par/cur/term/rate,";
    static const char set_parity[] = "set,/par/cur/term/parity,";
    static const char set_stops[] = "set,/par/cur/term/stops,";
    static const char parity_none[] = "N";
    static const char parity_even[] = "even";
    static const char parity_odd[] = "odd";

    char command[BUFSIZ] = {0};
    const char *selected_parity = NULL;

    switch (parity) {
    case 'N':
    case 0:
        selected_parity = parity_none;
        break;
    case 'E':
    case 1:
        selected_parity = parity_even;
        break;
    case 'O':
    case 2:
        selected_parity = parity_odd;
        break;
    default:
        return false;
    }

    (void)snprintf(command, sizeof(command) - 1, "%s%lu && %s%s && %s%d",
             set_rate, (unsigned long)speed, set_parity, selected_parity,
             set_stops, stopbits);
    return (bool)greis_write(session, command, strlen(command));
}

#if 0
/**
 * TODO: Switch between NMEA and binary mode
 */
static void greis_set_mode(struct gps_device_t *session, int mode)
{
    if (mode == MODE_NMEA) {
        /* send a mode switch control string */
    } else {
        /* send a mode switch control string */
    }
}
#endif

#if 0 /* TODO */
static double greis_time_offset(struct gps_device_t *session)
{
    /*
     * If NTP notification is enabled, the GPS will occasionally NTP
     * its notion of the time. This will lag behind actual time by
     * some amount which has to be determined by observation vs. (say
     * WWVB radio broadcasts) and, furthermore, may differ by baud
     * rate. This method is for computing the NTP fudge factor.  If
     * it's absent, an offset of 0.0 will be assumed, effectively
     * falling back on what's in ntp.conf. When it returns NAN,
     * nothing will be sent to NTP.
     */
    return MAGIC_CONSTANT;
}
#endif

/* This is everything we export */
/* *INDENT-OFF* */
const struct gps_type_t driver_greis = {
    /* Full name of type */
    .type_name        = "GREIS",
    /* Associated lexer packet type */
    .packet_type      = GREIS_PACKET,
    /* Driver type flags */
    .flags            = DRIVER_STICKY,
    /* Response string that identifies device (not active) */
    .trigger          = NULL,
    /* Number of satellite channels supported by the device */
    .channels         = 128,
    /* Startup-time device detector */
    .probe_detect     = NULL,
    /* Packet getter (using default routine) */
    .get_packet       = generic_get,
    /* Parse message packets */
    .parse_packet     = greis_parse_input,
    /* non-perturbing initial query (e.g. for version) */
    .init_query        = NULL,
    /* fire on various lifetime events */
    .event_hook       = greis_event_hook,
    /* Speed (baudrate) switch */
    .speed_switcher   = greis_set_speed,
#if 0 /* TODO */
    /* Switch to NMEA mode */
    .mode_switcher    = greis_set_mode,
#endif
    /* Message delivery rate switcher (not active) */
    .rate_switcher    = NULL,
    /* Minimum cycle time of the device.
     * Default is 1/100, but this is tunable using /par/raw/msint . */
    .min_cycle.tv_sec  = 0,
    .min_cycle.tv_nsec = 10000000,
    /* Control string sender - should provide checksum and headers/trailer */
    .control_send   = greis_control_send,
    .time_offset     = NULL,
/* *INDENT-ON* */
};
#endif /* defined(GREIS_ENABLE) && defined(BINARY_ENABLE) */
// vim: set expandtab shiftwidth=4