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New upstream version 3.19

tags/upstream/3.19^0
Bernd Zeimetz 1 year ago
parent
837962190b
commit
8dfbe190d2
100 changed files with 7432 additions and 2002 deletions
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  1. +14
    -0
      .gitlab-ci.yml
  2. +5
    -5
      .travis.yml
  3. +243
    -0
      Android.bp
  4. +11
    -14
      COPYING
  5. +54
    -10
      INSTALL
  6. +15
    -1
      NEWS
  7. +450
    -219
      SConstruct
  8. +12
    -15
      TODO
  9. +3
    -2
      Tachometer.c
  10. +4
    -1
      ais_json.c
  11. +8
    -0
      ais_json.i
  12. +157
    -0
      android/README
  13. +104
    -0
      android/gps_test.c
  14. +5
    -0
      android/gpsd.rc
  15. +81
    -0
      android/gpsd_config.in
  16. +24
    -0
      android/gpsd_wrapper.c
  17. +29
    -0
      android/hal/Android.bp
  18. +389
    -0
      android/hal/Gnss.cpp
  19. +107
    -0
      android/hal/Gnss.h
  20. +84
    -0
      android/hal/GnssConfiguration.cpp
  21. +73
    -0
      android/hal/GnssConfiguration.h
  22. +35
    -0
      android/hal/GnssMeasurement.cpp
  23. +42
    -0
      android/hal/GnssMeasurement.h
  24. +4
    -0
      android/hal/android.hardware.gnss@1.1-service.gpsd.rc
  25. +11
    -0
      android/hal/android.hardware.gnss@1.1-service.gpsd.xml
  26. +25
    -0
      android/hal/service.cpp
  27. +3
    -0
      android/sepolicy/file_contexts
  28. +17
    -0
      android/sepolicy/gpsd.te
  29. +7
    -0
      android/sepolicy/hal_gnss.te
  30. +3
    -1
      bits.c
  31. +2
    -0
      bsd_base64.c
  32. +62
    -11
      build.txt
  33. +96
    -69
      cgps.c
  34. +3
    -0
      contrib/SConstruct
  35. +2
    -2
      contrib/ashctl.c
  36. +3
    -2
      contrib/binlog.c
  37. +4
    -3
      contrib/binreplay.c
  38. +3
    -0
      contrib/clock_test.c
  39. +1
    -1
      contrib/gps
  40. +4
    -4
      contrib/gpssnmp.c
  41. +3
    -2
      contrib/lla2ecef.c
  42. +3
    -0
      contrib/maxsats.pl
  43. +2
    -2
      contrib/motosend.c
  44. +2
    -0
      contrib/ntpoffset
  45. +6
    -4
      contrib/ntpshmviz
  46. +3
    -0
      contrib/skyview.php
  47. +7
    -5
      contrib/skyview2svg
  48. +5
    -2
      contrib/webgps.py
  49. +4
    -1
      crc24q.c
  50. +4
    -6
      dbusexport.c
  51. +1
    -1
      devtools/client-projects
  52. +1
    -1
      devtools/flock-instructions
  53. +1
    -1
      devtools/gps
  54. +0
    -10
      dgpsip-servers
  55. +30
    -2
      doc/explan_gpsdclient.c.xml
  56. +12
    -11
      driver_ais.c
  57. +16
    -10
      driver_evermore.c
  58. +20
    -19
      driver_garmin.c
  59. +8
    -7
      driver_garmin_txt.c
  60. +5
    -11
      driver_geostar.c
  61. +234
    -17
      driver_greis.c
  62. +3
    -1
      driver_greis_checksum.c
  63. +40
    -20
      driver_italk.c
  64. +14
    -23
      driver_navcom.c
  65. +1693
    -539
      driver_nmea0183.c
  66. +21
    -17
      driver_nmea2000.c
  67. +4
    -1
      driver_oncore.c
  68. +18
    -8
      driver_proto.c
  69. +3
    -1
      driver_rtcm2.c
  70. +3
    -1
      driver_rtcm3.c
  71. +1078
    -173
      driver_sirf.c
  72. +166
    -7
      driver_skytraq.c
  73. +21
    -10
      driver_superstar2.c
  74. +5
    -21
      driver_tsip.c
  75. +1131
    -424
      driver_ubx.c
  76. +8
    -2
      driver_ubx.h
  77. +13
    -19
      driver_zodiac.c
  78. +4
    -2
      drivers.c
  79. +10
    -3
      gegps
  80. +6
    -1
      geoid.c
  81. +140
    -32
      gps.h
  82. +2
    -2
      gps/__init__.py
  83. +13
    -6
      gps/fake.py
  84. +1
    -1
      gps/gps.py
  85. +18
    -30
      gps2udp.c
  86. +4
    -2
      gps_json.h
  87. +4
    -1
      gps_maskdump.c
  88. +11
    -0
      gpscap.ini
  89. +15
    -6
      gpscat
  90. +13
    -2
      gpsclient.c
  91. +16
    -19
      gpsctl.c
  92. +44
    -55
      gpsd.c
  93. +53
    -24
      gpsd.h
  94. +8
    -10
      gpsd.php
  95. +6
    -8
      gpsd.php.in
  96. +3
    -0
      gpsd.rules.in
  97. +32
    -10
      gpsd_config.h
  98. +131
    -23
      gpsd_json.c
  99. +106
    -25
      gpsdclient.c
  100. +5
    -1
      gpsdclient.h

+ 14
- 0
.gitlab-ci.yml View File

@@ -0,0 +1,14 @@
image: alpine:latest

pages:
stage: deploy
script:
- apk update && apk add python xmlto asciidoc scons rsync
- mkdir .pages; WEBSITE=.public scons website=.pages website; mv .public public
- find public -type f -regex '.*\.\(htm\|html\|txt\|text\|js\|css\)$' -exec gzip -f -k {} \;
- ls -lR public
artifacts:
paths:
- public
only:
- master

+ 5
- 5
.travis.yml View File

@@ -6,13 +6,13 @@ language: generic
# context, we disable the C++ builds in the clang case.

env:
- TRAVIS_DEBIAN_DISTRIBUTION=unstable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis/build.sh" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev libdbus-glib-1-dev makedev libbluetooth-dev qtbase5-dev qt5-default lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd python-serial"
- TRAVIS_DEBIAN_DISTRIBUTION=unstable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis/build.sh" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev libdbus-glib-1-dev makedev libbluetooth-dev libqt4-dev lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd python-serial"
- TRAVIS_DEBIAN_DISTRIBUTION=unstable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis/build.sh libgpsmm=no qt=no" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev libdbus-glib-1-dev makedev libbluetooth-dev libqt4-dev lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd clang python-serial" TRAVIS_DEBIAN_BUILD_ENVIRONMENT="CC=clang CXX=clang++"
- TRAVIS_DEBIAN_DISTRIBUTION=stable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis/build.sh" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev libdbus-glib-1-dev makedev libbluetooth-dev libqt4-dev lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd python-serial"
- TRAVIS_DEBIAN_DISTRIBUTION=unstable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis/build.sh" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev makedev libbluetooth-dev qtbase5-dev qt5-default lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd python-serial"
- TRAVIS_DEBIAN_DISTRIBUTION=unstable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis/build.sh" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev makedev libbluetooth-dev libqt4-dev lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd python-serial"
- TRAVIS_DEBIAN_DISTRIBUTION=unstable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis/build.sh libgpsmm=no qt=no" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev makedev libbluetooth-dev libqt4-dev lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd clang python-serial" TRAVIS_DEBIAN_BUILD_ENVIRONMENT="CC=clang CXX=clang++"
- TRAVIS_DEBIAN_DISTRIBUTION=stable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis/build.sh" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev makedev libbluetooth-dev libqt4-dev lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd python-serial"

services:
- docker

script:
- wget -O- http://build-in-debian.bzed.at/script.sh | sh -
- wget -O- https://build-in-debian.bzed.at/script.sh | sh -

+ 243
- 0
Android.bp View File

@@ -0,0 +1,243 @@
cc_binary {
name: "gps_test",
vendor: true,
srcs: [
"android/gps_test.c"
],
shared_libs: [
"libutils",
"liblog",
"libcutils"
],
static_libs: [
"libgps_static"
],
cflags: [
"-Wno-unused-variable",
"-Wno-unused-parameter",
"-Wno-missing-field-initializers",
]
}

cc_binary {
name: "gpsd",
vendor: true,
required: ["gpsd_wrapper"],
generated_headers: [
"gpsd_timebase_h",
"gpsd_revision_h",
"gpsd_config_h",
"gpsd_packet_names_h"
],
srcs: [
"dbusexport.c",
"gpsd.c",
"shmexport.c",
"timehint.c"
],
static_libs: [
"libgpsd",
"libgps_static",
],
cflags: [
"-Wno-unused-variable",
"-Wno-unused-parameter",
"-Wno-missing-field-initializers",
]
}

cc_binary {
name: "gpsd_wrapper",
vendor: true,
init_rc: ["android/gpsd.rc"],
srcs: ["android/gpsd_wrapper.c"],
shared_libs: [
"liblog",
"libcutils"
]
}

cc_library_shared {
name: "libgps",
vendor: true,
export_include_dirs: ["."],
generated_headers: [
"gpsd_timebase_h",
"gpsd_revision_h",
"gpsd_config_h",
"gpsd_packet_names_h"
],
generated_sources: ["gps_maskdump_c"],
srcs: [
"bits.c",
"gpsdclient.c",
"gpsutils.c",
"hex.c",
"json.c",
"libgps_core.c",
"libgps_dbus.c",
"libgps_json.c",
"libgps_shm.c",
"libgps_sock.c",
"netlib.c",
"os_compat.c",
"rtcm2_json.c",
"rtcm3_json.c",
"shared_json.c"
],
cflags: [
"-Wno-unused-variable",
"-Wno-unused-parameter",
"-Wno-missing-field-initializers",
],
}

cc_library_static {
name: "libgps_static",
vendor: true,
export_include_dirs: ["."],
generated_headers: [
"gpsd_timebase_h",
"gpsd_revision_h",
"gpsd_config_h",
"gpsd_packet_names_h"
],
generated_sources: ["gps_maskdump_c"],
srcs: [
"bits.c",
"gpsdclient.c",
"gpsutils.c",
"hex.c",
"json.c",
"libgps_core.c",
"libgps_dbus.c",
"libgps_json.c",
"libgps_shm.c",
"libgps_sock.c",
"netlib.c",
"os_compat.c",
"rtcm2_json.c",
"rtcm3_json.c",
"shared_json.c"
],
cflags: [
"-Wno-unused-variable",
"-Wno-unused-parameter",
"-Wno-missing-field-initializers",
],
}

genrule {
name: "gpsd_packet_names_h",
cmd: "rm -f $(out); sed -e '/^ *\\([A-Z][A-Z0-9_]*\\)," +
"/s// \"\\1\",/' < $(in) > $(out)",
srcs: ["packet_states.h"],
out: ["packet_names.h"]
}

genrule {
name: "gpsd_config_h",
cmd: "cat $(in)/android/gpsd_config.in > $(out);" +
"grep \"^gpsd_version\" $(in)/SConstruct | " +
"cut -d\\= -f2 | sed -e 's/^/#define VERSION/'" +
">> $(out)",
srcs: [""],
out: ["gpsd_config.h"]
}

genrule {
name: "gpsd_revision_h",
cmd: "grep \"^gpsd_version\" $(in) | cut -d\\= -f2 " +
"| sed -e 's/^/#define REVISION/' > $(out)",
srcs: ["SConstruct"],
out: ["revision.h"]
}

python_binary_host {
name: "leapsecond",
main: "leapsecond.py",
srcs: ["leapsecond.py"],
}

genrule {
name: "gpsd_timebase_h",
tools: ["leapsecond"],
cmd: "$(location leapsecond) -H $(in) > $(out)",
srcs: ["leapseconds.cache"],
out: ["timebase.h"]
}

python_binary_host {
name: "maskaudit",
main: "maskaudit.py",
srcs: ["maskaudit.py"]
}

genrule {
name: "gps_maskdump_c",
tools: ["maskaudit"],
cmd: "$(location maskaudit) -c $(in) > $(out)",
out: ["gps_maskdump.c"],
srcs: [""]
}

cc_library_static {
name: "libgpsd",
vendor: true,
export_include_dirs: ["."],
generated_headers: [
"gpsd_timebase_h",
"gpsd_revision_h",
"gpsd_config_h",
"gpsd_packet_names_h"
],
srcs: [
"bsd_base64.c",
"crc24q.c",
"driver_ais.c",
"driver_evermore.c",
"driver_garmin.c",
"driver_garmin_txt.c",
"driver_geostar.c",
"driver_greis.c",
"driver_greis_checksum.c",
"driver_italk.c",
"driver_navcom.c",
"driver_nmea0183.c",
"driver_nmea2000.c",
"driver_oncore.c",
"driver_rtcm2.c",
"driver_rtcm3.c",
"drivers.c",
"driver_sirf.c",
"driver_skytraq.c",
"driver_superstar2.c",
"driver_tsip.c",
"driver_ubx.c",
"driver_zodiac.c",
"geoid.c",
"gpsd_json.c",
"isgps.c",
"libgpsd_core.c",
"matrix.c",
"net_dgpsip.c",
"net_gnss_dispatch.c",
"net_ntrip.c",
"ntpshmread.c",
"ntpshmwrite.c",
"packet.c",
"ppsthread.c",
"pseudoais.c",
"pseudonmea.c",
"serial.c",
"subframe.c",
"timebase.c",
"timespec_str.c"
],
cflags: [
"-Wno-unused-variable",
"-Wno-unused-parameter",
"-Wno-missing-field-initializers",
"-Wno-uninitialized"
],
}

+ 11
- 14
COPYING View File

@@ -1,4 +1,4 @@
COPYRIGHTS
COPYRIGHTS

Compilation copyright is held by the GPSD project. All rights reserved.

@@ -8,28 +8,25 @@ Eric S. Raymond. Other portions of the GPSD code are Copyright (c)
Copyright (c) 2005 by Eric S. Raymond. For other copyrights, see
individual files.

BSD LICENSE
LICENSE
(SPDX short identifier: BSD-2-Clause)

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions
are met:<P>
are met:

Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.<P>
1. Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.

Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.<P>

Neither name of the GPSD project nor the names of its contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER
OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF


+ 54
- 10
INSTALL View File

@@ -96,7 +96,7 @@ various additional features have additional prerequisites:
|Qt + qmake | libQgpsmm depends on this
|python2.x(x>=6) or 3.y(y>=2) | required for various clients and utilities
|python-GI bindings | the test clients xgps and xgpsspeed, need this
|pyserial | ubxtool and zerk need this
|pyserial | for ubxtool and zerk in direct-serial mode
|===============================================================================

Some ncurses packages contain the terminfo library; some break it out
@@ -183,16 +183,19 @@ GPSD Time Service HOWTO in the distribution or on the web.

== Special Notes for OS X Installation ==

gpsd will build, install and run on OS X. The easiest way to do so is
to first install the MacPorts package. Follow their install procedure
at: http://www.macports.org/install.php
gpsd will build, install and run on OS X (osX). The easiest way to
do so is to first install the MacPorts package. Follow their install
procedure at: http://www.macports.org/install.php

Then use their port command to install scons, and optionally git if you
want to access the development source.
Then use their port command to install scons. Optionally git if you
want to access the development source. Optionally install libxslt and
xmlto to build the documentation.

--------------------------------------------------------------
# port install scons
# port install git
# port install libxslt
# port install xmlto
--------------------------------------------------------------

While running gpsd, or scons check, you may run out of shared memory
@@ -273,7 +276,7 @@ and testing gpsd:
You need scons at 2.3.0 or higher to build.
If your scons is less than 2.3.0 you will need to get a newer scons
from wheezy-backport. Partial instructions are detailed here:
http://backports.debian.org/Instructions/
https://backports.debian.org/Instructions/

Basically you need to add this line to /etc/apt/sources.list:

@@ -399,12 +402,53 @@ fudge 127.127.28.2 refid PPS

Now proceed as for any other operating system to use gpsd.

Warning, the pps_gpio driver in all linux kernels up to the current
3.19 only reports one edge. Be sure to validate that your PPS signal
is not offset by the pulse width.
Be sure to validate that your PPS signal is not offset by the pulse
width. That would mean gpsd is using the wrong edge.

Detailed instructions are available from their web site:
https://learn.adafruit.com/adafruit-ultimate-gps-hat-for-raspberry-pi/

You will need to dig deeper to make the PPS work, here is a good reference:
http://www.satsignal.eu/ntp/Raspberry-Pi-NTP.html

== Special Notes for FreeBSD Installation ==

gpsd will build, install and run on FreeBSD.

Use their pkg command to install scons, and optionally git if you
want to access the development source.

--------------------------------------------------------------
# pkg install scons
# pkg install git
# git clone ssh://git@gitlab.com/gpsd/gpsd.git
# cd gpsd
# scons --config=force && scons install
--------------------------------------------------------------

== Special Notes for CentOS 7 Installation ==

gpsd currently will build, install and run on CentOS 7.

Install the gcc compiler and tools. Install EPEL.

Note: there is no EPEL for i386.

Use the yum command to install git if you
want to access the development source.

--------------------------------------------------------------
# yum group install "Development Tools"
# yum install git
# yum install \
https://dl.fedoraproject.org/pub/epel/epel-release-latest-7.noarch.rpm
# yum install scons
# yum install python-devel
# yum install ncurses-devel
# yum install pps-tools-devel
# git clone https://gitlab.com/gpsd/gpsd.git
# cd gpsd
# scons
--------------------------------------------------------------



+ 15
- 1
NEWS View File

@@ -1,6 +1,20 @@
GPSD project news

3.19: not released yet
3.19: 2019-07-01
Rearrange rawdata_t. Bump the API because gps_data_t changed.
Report sequence-ID fields in type 7 and 13 AIS messages.
Preliminary support for SiRFstar V
Improve error modeling.
Update pseudo NMEA to v3.0, with fractional time.
Improve cycle detection, mostly for NMEA.
Move epe from gps_data_t to be near its friends in gps_fix_t.
Preliminary u-blox 9 support.
Add qErr in gps_data_t to store PPS quantization error.
Add Android (AOSP) support
Improved multi gnss and multi signal support.
NMEA 4.10 multi gnss multi signal support.
The arguments to "ubxtool -p P" have been expanded and changed.
New options, -g, -x, -z, added to ubxtool for u-blox 9 support.

3.18.1: 2018-10-19 (Gary E. Miller <gem@rellim.com>)
Fix some installation issues.


+ 450
- 219
SConstruct
File diff suppressed because it is too large
View File


+ 12
- 15
TODO View File

@@ -12,7 +12,7 @@ the "Upstream Bugs" page on the project website.

Improve the uninstall target. Remove library syminks.

Make libdir conform to new Gentoo layout: 32bit in lib/ and 64bit in
Make libdir conform to new FHS layout: 32bit in lib/ and 64bit in
lib64/. Doing that also makes the uninstall more complex.

** Documentation **
@@ -27,16 +27,14 @@ the calibration process less annoying?

** Things to do when we can break compatibility **

In gps_data_t add more string like subtype for HW version, SW version, etc.
-------------------------------------------------------------------------

In gps_data_t, save PPS precision; this will require creating a pps struct.
Where would PPS precision come from?

Convert all the time_t (double) and timeval (usec) to timespec (nsec).
Convert all the timestamp_t (double) timespec (nsec).
That could be done one small step at a time.

Add MMSI sequence number fields to AIS type 7.

Make the Python JSON client as smart as the C JSON client. Gonna be
a big job. The C client checks all the JSON classes for completeness
and correctness. For example, a missing JSON field will be replaced
@@ -47,19 +45,12 @@ client uses a generic validator function, fed with templates for each
JSON message. Initially harder than a simple procedural parser, Once
running it is very robust and easy to tweak.

Handle mutifrequency GNSS (B1, E1, L1, L2, B3, L3, L5, L2C, E5, E6,
etc.)

Handle raw measurements, like UBX-RXM-RAW. With an uploader for
postprocessing.

add u-blox IMU (UBX-ESF-RAW) and qErr (UBX-TIM-TP) support.
Add u-blox IMU (UBX-ESF-RAW) support. Nothing we can do without
samples or a u-blox IMU.

Adding a sample Go client (gpspipe -> pytogo -> Go ?).

Add RTCM3, RINEX, and/or RAW message forwarders.

Move webgps.py out of contrib. It needs a man page and light cleanup.
Move webgps.py out of contrib. It needs a man page and light cleanup.

** Bugs in gpsd and its clients:

@@ -115,10 +106,16 @@ message 6 and 8 subtypes - specifically, 6/23, 8/21, 8/22, 8/24, and

** New features **

** Qt **

Add a sample client

*** Time tracking

Our goal is to be independent of the system clock.

Create a CLI tool to convert UTC to GPS week/tow and back.

**** Maybe apply wraparound compensation ****

See <http://www.febo.com/pipermail/time-nuts/2013-August/079271.html>


+ 3
- 2
Tachometer.c View File

@@ -6,15 +6,16 @@
* Modifications : ilham@mit.edu (July 10 '90)
* Cleaned up and simplified by Eric S. Raymond, December 2004.
*
* This file is Copyright (c) 2010 by the GPSD project
* This file is Copyright (c) 2004-2018 by the GPSD project
* SPDX-License-Identifier: BSD-2-clause
*/
#include "gpsd_config.h" /* must be before all includes */

#include <X11/IntrinsicP.h>
#include <X11/StringDefs.h>
#include <TachometerP.h>
#include <math.h>

#include "gpsd_config.h"
#include "gps.h"

#define D2R 0.0174532925199432957692369076848861271 /* radians = pi/180 */


+ 4
- 1
ais_json.c View File

@@ -7,8 +7,12 @@ DESCRIPTION
This module uses the generic JSON parser to get data from AIS
representations to libgps structures.

This file is Copyright (c)2010-2018 by the GPSD project
SPDX-License-Identifier: BSD-2-clause
***************************************************************************/

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

#include <stdio.h>
#include <string.h>
#include <stdbool.h>
@@ -16,7 +20,6 @@ representations to libgps structures.
#include <stddef.h>
#include <time.h>

#include "gpsd_config.h"
#include "gps.h"
#include "json.h"
#ifdef SOCKET_EXPORT_ENABLE


+ 8
- 0
ais_json.i View File

@@ -411,6 +411,14 @@
.dflt.uinteger = 0},
{"mmsi4", t_uinteger, .addr.uinteger = &ais->type7.mmsi4,
.dflt.uinteger = 0},
{"seqno1", t_uinteger, .addr.uinteger = &ais->type7.seqno1,
.dflt.uinteger = 0},
{"seqno2", t_uinteger, .addr.uinteger = &ais->type7.seqno2,
.dflt.uinteger = 0},
{"seqno3", t_uinteger, .addr.uinteger = &ais->type7.seqno3,
.dflt.uinteger = 0},
{"seqno4", t_uinteger, .addr.uinteger = &ais->type7.seqno4,
.dflt.uinteger = 0},
{NULL}
};



+ 157
- 0
android/README View File

@@ -0,0 +1,157 @@
GPSd on Android/AOSP:
---------------------

The files in this path, as well as the Android.bp in the path below,
are used for building the GPSd client as a platform library for AOSP.

Five components are currently implemented;
gpsd executable,
Shared library, libgps (builds libgps.so)
Static library, libgps_static
Test client, gps_test (builds executable gps_test)
Android GNSS 1.1 HAL, (builds android.hardware.gnss@1.1-service.gpsd)


Build instructions:
-------------------

1) clone gpsd into your Android build tree at;
platform/external/gpsd

2) initialize your build environment for your target device;
cd platform/
. build/envsetup.sh
lunch

3) build the component;
m libgps
or
m gps_test

This will build the component and output it at;
platform/out/target/product/<device name>/vendor/


As a platform dependency:
-------------------------

You can add the components to your device's dependency list by adding
it to the PRODUCT_PACKAGES variable in one of your device's makefiles.

For example;
PRODUCT_PACKAGES += libgps gps_test

Following this, performing a full build for your device will
incorporate the component(s) into the vendor partition image for
your device.

Note that for the HAL, you also have to include some additional
components;
PRODUCT_PACKAGES += android.hardware.gnss@1.1 \
android.hardware.gnss@1.1-impl \
android.hardware.gnss@1.1-service.gpsd


Running gps_test:
-----------------
gps_test is an extremely simple test client that continually prints
fix and SV details to the console.

It accepts one parameter, which is the IP address or hostname of
a running instance of GPSd.


Building other components using libgps:
---------------------------------------
gps_test is a good starting point for building other components using
libgps. libgps can be added either as a shared object or static
linked. For use as a shared object, add "libgps" to the list of
shared_libs that your module depends on. For static, use
"libgps_static" in the list of static_libs.


GPSd:
-----
The only configuration needed for GPSd is to set a system property
with the launch parameters to use. This should be appended to the
PRODUCT_PROPERTY_OVERRIDES variable in an appropriate device specific
makefile. This is a comma-separated list of parameters.

For example (note that this is the default if unspecified);
PRODUCT_PROPERTY_OVERRIDES += \
service.gpsd.parameters=-Nn,-D2,/dev/ttyACM0,/dev/ttyACM1


GNSS 1.1 HAL for Android:
-------------------------
This is the part that wraps everything together on Android. It makes
it possible for location services on Android to be fed location data
by gpsd.

The HAL is able to operate with or without gpsd running on the same
device. By default, the HAL will look to localhost:2947 for gpsd,
however, it is possible to change both the host and port by setting
the system properties "service.gpsd.host" and "service.gpsd.port"
to reflect the hostname or ip address of the gpsd host, and the
port number it is listening on.

The HAL also has a special automotive mode that can be activated
by setting the system property "service.gpsd.automotive" to any
value. When the automotive mode is activated, the HAL will feed
the location services with the last known fix coordinates until
the first valid fix has been received. If the fix is later lost,
it will correctly NOT continue to feed a fix. The updated fix will
be stored in persistent system properties every 30 seconds while
there is a valid fix.

The purpose of automotive mode is to make it possible to immediately
input a destination into navigation software without having to wait
for a valid fix. A valid fix can take minutes to establish, even with
a clear view of the sky, but worse, a fix can even be impossible if
the vehicle is parked underground or in any structure that
effectively blocks the signals. The consequence is that without
automotive mode, it would be necessary to drive the vehicle from
its current location to somewhere with a clear view of the sky,
and then wait potentially several minutes for a valid fix before
being able to enter a destination. With automotive mode, it is
possible to immediately enter a destination, and begin driving.
Once a fix has been established, the navigation software will
update to the current location on the route.

Note that in addition to including the components, it is also
necessary to make adjustments to the device's selinux policy in
order for the HAL to properly interact with the network. A typical
policy file will be provided.


VERY IMPORTANT: SEPOLICY!
-------------------------
In the old days prior to Android 8, it was possible to achieve full
system functionality by simply disabling selinux enforcement. This
is no longer enough with Android 8+, since the init process does
its own selinux checks before it will even attempt to launch a daemon.

And not only this, but it is also very important to enforce a certain
degree of security. As such, appropriate policy for the GPSd process
and the GNSS HAL are included, however, it is necessary for it to be
included in the device configuration.

Add the following to an appropriate device specific makefile;
BOARD_SEPOLICY_DIRS += external/gpsd/android/sepolicy


Putting it all together:
------------------------
Adding the following to your device's makefile will build and install
GPSd and its GNSS HAL:

PRODUCT_PACKAGES += android.hardware.gnss@1.1 \
android.hardware.gnss@1.1-impl \
android.hardware.gnss@1.1-service.gpsd \
gpsd
PRODUCT_PROPERTY_OVERRIDES += \
service.gpsd.parameters=-Nn,-G,/dev/ttyACM0
BOARD_SEPOLICY_DIRS += external/gpsd/android/sepolicy


Contact: Adam Serbinski <aserbinski@gmail.com>

+ 104
- 0
android/gps_test.c View File

@@ -0,0 +1,104 @@
/*
* This file is Copyright (c) 2019 by the GPSD project
* SPDX-License-Identifier: BSD-2-clause
*/

#include <stdlib.h>
#include <time.h>
#include <stdio.h>
#include <unistd.h>
#include <errno.h>
#include <string.h>

#include "gps.h"

int main (int argc, char **argv) {
struct gps_data_t gps_data;
int gpsopen = -2;

/* debug
* FILE *fp = fopen("/data/bin/gpslog", "a+");
* gps_enable_debug(3, fp);
*/

printf("Usage: gpsdtest [host]\n\n");

memset(&gps_data, 0, sizeof(gps_data));

while (1) {
if (gpsopen < 0) {
gpsopen = gps_open((argc == 1 ? "localhost" : argv[1]),
"2947", &gps_data);
if (0 == gpsopen) {
printf("gps_open returned 0 (success)\n");
gps_stream(&gps_data, WATCH_ENABLE, NULL);
} else {
printf("gps_open failed, returned: %d\n", gpsopen);
gpsopen = -1;
sleep(5);
continue;
}
}

if (gps_waiting (&gps_data, 2000000)) {
errno = 0;
if (gps_read (&gps_data, NULL, 0) != -1) {
if (gps_data.status >= 1 && gps_data.fix.mode >= 2){
printf("\nHave a fix: ");
if (gps_data.fix.mode == 2)
printf("2D\n");
else
printf("3D\n");

printf("Latitude: %f\n", gps_data.fix.latitude);
printf("Longitude: %f\n", gps_data.fix.longitude);
printf("Speed: %f\n", gps_data.fix.speed);
printf("Bearing: %f\n", gps_data.fix.track);
printf("H Accuracy: %f\n", gps_data.fix.eph);
printf("S Accuracy: %f\n", gps_data.fix.eps);
printf("B Accuracy: %f\n", gps_data.fix.epd);
printf("Time: %ld\n", (long) gps_data.fix.time);
printf("Altitude: %f\n", gps_data.fix.altitude);
printf("V Accuracy: %f\n\n", gps_data.fix.epv);
}

printf("Satellites visible: %d\n",
gps_data.satellites_visible);
for (int i = 0; i < gps_data.satellites_visible; i++) {
printf("SV type: ");
switch (gps_data.skyview[i].gnssid) {
case 0:
printf("GPS, ");
break;
case 1:
printf("SBAS, ");
break;
case 2:
printf("Galileo, ");
break;
case 3:
printf("Beidou, ");
break;
case 4:
printf("Unknown, ");
break;
case 5:
printf("QZSS, ");
break;
case 6:
printf("Glonass, ");
break;
}

printf("SVID: %d, SNR: %d, Elevation: %d, "
"Azimuth: %d, Used: %d\n",
gps_data.skyview[i].svid,
(int)gps_data.skyview[i].ss,
gps_data.skyview[i].elevation,
gps_data.skyview[i].azimuth,
gps_data.skyview[i].used);
}
}
}
}
}

+ 5
- 0
android/gpsd.rc View File

@@ -0,0 +1,5 @@
service gpsd /vendor/bin/gpsd_wrapper
class main
user root
group root
oneshot

+ 81
- 0
android/gpsd_config.in View File

@@ -0,0 +1,81 @@
/*
* The Android build system is unable to make use of scons,
* therefore this configuration file has to be prepopulated.
*
* This file is Copyright (c) 2019 by the GPSD project
* SPDX-License-Identifier: BSD-2-clause
*/

#define GPSD_URL "https://gpsd.gitlab.io/gpsd"
#define HAVE_LIBRT 1
#define HAVE_LINUX_CAN_H 1
#define HAVE_STDATOMIC_H 1
#define HAVE_BUILTIN_ENDIANNESS 1
#define HAVE_SYS_SOCKET_H 1
#define HAVE_SYS_SELECT_H 1
#define HAVE_NETDB_H 1
#define HAVE_NETINET_IN_H 1
#define HAVE_NETINET_IP_H 1
#define HAVE_ARPA_INET_H 1
#define HAVE_SYSLOG_H 1
#define HAVE_TERMIOS_H 1
#define HAVE_DAEMON 1
#define HAVE_CLOCK_GETTIME 1
#define HAVE_STRPTIME 1
#define HAVE_GMTIME_R 1
#define HAVE_INET_NTOP 1
#define HAVE_FCNTL 1
#define HAVE_FORK 1
#define ASHTECH_ENABLE 1
#define CLIENTDEBUG_ENABLE 1
#define CONTROL_SOCKET_ENABLE 1
#define CONTROLSEND_ENABLE 1
#define EARTHMATE_ENABLE 1
#define EVERMORE_ENABLE 1
#define FURY_ENABLE 1
#define FV18_ENABLE 1
#define GARMIN_ENABLE 1
#define GARMINTXT_ENABLE 1
#define GEOSTAR_ENABLE 1
#define GPSCLOCK_ENABLE 1
#define GPSD_ENABLE 1
#define GPSD_USER "nobody"
#define GPSDCLIENTS_ENABLE 1
#define GREIS_ENABLE 1
#define IMPLICIT_LINK_ENABLE 1
#define IPV6_ENABLE 1
#define ISYNC_ENABLE 1
#define ITRAX_ENABLE 1
#define LEAPFETCH_ENABLE 1
#define LIBGPSMM_ENABLE 1
#define MAX_CLIENTS 64
#define MAX_DEVICES 4
#define MTK3301_ENABLE 1
#define NAVCOM_ENABLE 1
#define NETFEED_ENABLE 1
#define NMEA0183_ENABLE 1
#define NTP_ENABLE 1
#define NTPSHM_ENABLE 1
#define NTRIP_ENABLE 1
#define OCEANSERVER_ENABLE 1
#define ONCORE_ENABLE 1
#define OSCILLATOR_ENABLE 1
#define PASSTHROUGH_ENABLE 1
#define PPS_ENABLE 1
#define QT_ENABLE 1
#define RECONFIGURE_ENABLE 1
#define RTCM104V2_ENABLE 1
#define RTCM104V3_ENABLE 1
#define SHARED_ENABLE 1
#define SHM_EXPORT_ENABLE 1
#define SIRF_ENABLE 1
#define SKYTRAQ_ENABLE 1
#define SOCKET_EXPORT_ENABLE 1
#define SUPERSTAR2_ENABLE 1
#define SYSCONFDIR "vendor/etc"
#define TNT_ENABLE 1
#define TRIPMATE_ENABLE 1
#define TSIP_ENABLE 1
#define UBLOX_ENABLE 1
#define UDEVDIR "/lib/udev"
#define USB_ENABLE 1

+ 24
- 0
android/gpsd_wrapper.c View File

@@ -0,0 +1,24 @@
#include <stdio.h>
#include <stdlib.h>
#include <android/log.h>
#include <cutils/properties.h>
#include <sys/system_properties.h>

int main (){
char gpsd_params[PROP_VALUE_MAX];
char cmd[1024];
int i = 0;
property_get("service.gpsd.parameters", gpsd_params, "-Nn,-D2,/dev/ttyACM0,/dev/ttyACM1");
while (gpsd_params[i] != 0){
if (gpsd_params[i] == ',') gpsd_params[i] = ' ';
i++;
}

sprintf(cmd, "/vendor/bin/logwrapper /vendor/bin/gpsd %s", gpsd_params);

__android_log_print(ANDROID_LOG_DEBUG, "gpsd_wrapper", "Starting gpsd: %s", cmd);

system(cmd);
return 0;
}


+ 29
- 0
android/hal/Android.bp View File

@@ -0,0 +1,29 @@
cc_binary {
name: "android.hardware.gnss@1.1-service.gpsd",
overrides: ["android.hardware.gnss@1.0-impl"],
vintf_fragments: ["android.hardware.gnss@1.1-service.gpsd.xml"],
init_rc: ["android.hardware.gnss@1.1-service.gpsd.rc"],
relative_install_path: "hw",
vendor: true,
srcs: [
"Gnss.cpp",
"GnssConfiguration.cpp",
"GnssMeasurement.cpp",
"service.cpp",
],
shared_libs: [
"libhidlbase",
"libhidltransport",
"libutils",
"liblog",
"libcutils",
"android.hardware.gnss@1.1",
"android.hardware.gnss@1.0",
],
static_libs: [
"libgps_static"
],
cflags: [
"-Wno-register"
]
}

+ 389
- 0
android/hal/Gnss.cpp View File

@@ -0,0 +1,389 @@
#define LOG_TAG "GPSd_HAL"

#include <android/hardware/gnss/1.0/types.h>
#include <log/log.h>
#include <cutils/properties.h>
#include <stdlib.h>
#include <time.h>

#include "Gnss.h"
#include "GnssMeasurement.h"

namespace android {
namespace hardware {
namespace gnss {
namespace V1_1 {
namespace implementation {

using GnssSvFlags = IGnssCallback::GnssSvFlags;

const uint32_t MIN_INTERVAL_MILLIS = 100;
sp<::android::hardware::gnss::V1_1::IGnssCallback> Gnss::sGnssCallback = nullptr;

Gnss::Gnss() : mMinIntervalMs(1000), mGnssConfiguration{new GnssConfiguration()} {}

Gnss::~Gnss() {
stop();
}

// Methods from ::android::hardware::gnss::V1_0::IGnss follow.
Return<bool> Gnss::setCallback(const sp<::android::hardware::gnss::V1_0::IGnssCallback>&) {
// Mock handles only new callback (see setCallback1_1) coming from Android P+
return false;
}

Return<bool> Gnss::start() {
if (mIsActive) {
ALOGW("Gnss has started. Restarting...");
stop();
}

mIsActive = true;
mThread = std::thread([this]() {
struct gps_data_t gps_data;
int gpsopen = -1;
char gpsdhost[PROP_VALUE_MAX];
char gpsdport[PROP_VALUE_MAX];
char gpsdauto[PROP_VALUE_MAX];
int is_automotive;
char gpslat[PROP_VALUE_MAX];
char gpslon[PROP_VALUE_MAX];
long last_recorded_fix = 0;
char dtos[100];
GnssLocation location;

// Normally, GPSd will be running on localhost, but we can set a system property
// "service.gpsd.host" to some other hostname in order to open a GPSd instance
// running on a different host.
property_get("service.gpsd.host", gpsdhost, "localhost");
property_get("service.gpsd.port", gpsdport, "2947");
is_automotive = (property_get("service.gpsd.automotive", gpsdauto, "") > 0);

// Load coordinates stored in persist properties as current location
// This is to provide instantaneous fix to the last good location
// in order to provide instantaneous ability to begin navigator routing.
if (is_automotive && property_get("persist.service.gpsd.latitude", gpslat, "") > 0
&& property_get("persist.service.gpsd.longitude", gpslon, "") > 0){
location = {
.gnssLocationFlags = 0xDD,
.latitudeDegrees = atof(gpslat),
.longitudeDegrees = atof(gpslon),
.speedMetersPerSec = 0.0,
.bearingDegrees = 0.0,
.horizontalAccuracyMeters = 0.0,
.speedAccuracyMetersPerSecond = 0.0,
.bearingAccuracyDegrees = 0.0,
.timestamp = (long) time(NULL)
};
this->reportLocation(location);
}

memset(&gps_data, 0, sizeof(gps_data));

while (mIsActive == true) {
// If the connection to GPSd is not open, try to open it.
// If the attempt to open it fails, sleep 5 seconds and try again.
// Note the continue; statement that will skip the reading in the
// event that the connection to GPSd cannot be established.
if (gpsopen != 0){
ALOGD("%s: gpsd_host: %s, gpsd_port: %s", __func__, gpsdhost, gpsdport);
if ((gpsopen = gps_open(gpsdhost, gpsdport, &gps_data)) == 0){
ALOGD("%s: gps_open SUCCESS", __func__);
gps_stream(&gps_data, WATCH_ENABLE, NULL);
} else {
ALOGD("%s: gps_open FAIL (%d). Trying again in 5 seconds.", __func__, gpsopen);
sleep(5);
continue;
}
}

// Wait for data from gpsd, then process it.
if (gps_waiting (&gps_data, 2000000)) {
errno = 0;
if (gps_read (&gps_data, NULL, 0) != -1) {

if (gps_data.status >= 1 && gps_data.fix.mode >= 2){

// Every 30 seconds, store current coordinates to persist property.
if (is_automotive && ((long) gps_data.fix.time) > last_recorded_fix + 30){
last_recorded_fix = (long) gps_data.fix.time;
sprintf(dtos, "%lf", gps_data.fix.latitude);
property_set("persist.service.gpsd.latitude", dtos);
sprintf(dtos, "%lf", gps_data.fix.longitude);
property_set("persist.service.gpsd.longitude", dtos);
}

unsigned short flags =
V1_0::GnssLocationFlags::HAS_LAT_LONG |
V1_0::GnssLocationFlags::HAS_SPEED |
V1_0::GnssLocationFlags::HAS_BEARING |
V1_0::GnssLocationFlags::HAS_HORIZONTAL_ACCURACY |
V1_0::GnssLocationFlags::HAS_SPEED_ACCURACY |
V1_0::GnssLocationFlags::HAS_BEARING_ACCURACY;

location = {
.latitudeDegrees = (double) gps_data.fix.latitude,
.longitudeDegrees = (double) gps_data.fix.longitude,
.speedMetersPerSec = (float) gps_data.fix.speed,
.bearingDegrees = (float) gps_data.fix.track,
.horizontalAccuracyMeters = (float) gps_data.fix.eph,
.speedAccuracyMetersPerSecond = (float) gps_data.fix.eps,
.bearingAccuracyDegrees = (float) gps_data.fix.epd,
.timestamp = (long) gps_data.fix.time
};

if (gps_data.fix.mode == 3){
flags |= V1_0::GnssLocationFlags::HAS_ALTITUDE |
V1_0::GnssLocationFlags::HAS_VERTICAL_ACCURACY;

location.altitudeMeters = gps_data.fix.altitude;
location.verticalAccuracyMeters = gps_data.fix.epv;
}

location.gnssLocationFlags = flags;

this->reportLocation(location);
} else if (is_automotive && last_recorded_fix == 0){
location.timestamp = (long) time(NULL);
this->reportLocation(location);
}

GnssSvStatus svStatus = {.numSvs = (uint32_t) gps_data.satellites_visible};
for (int i = 0; i < gps_data.satellites_visible; i++){
GnssConstellationType constellation_type = GnssConstellationType::UNKNOWN;
switch (gps_data.skyview[i].gnssid){
case 0:
constellation_type = GnssConstellationType::GPS;
break;
case 1:
constellation_type = GnssConstellationType::SBAS;
break;
case 2:
constellation_type = GnssConstellationType::GALILEO;
break;
case 3:
constellation_type = GnssConstellationType::BEIDOU;
break;
case 4:
constellation_type = GnssConstellationType::UNKNOWN;
break;
case 5:
constellation_type = GnssConstellationType::QZSS;
break;
case 6:
constellation_type = GnssConstellationType::GLONASS;
break;
}
svStatus.gnssSvList[i] = getSvInfo(
gps_data.skyview[i].svid,
constellation_type,
gps_data.skyview[i].ss,
gps_data.skyview[i].elevation,
gps_data.skyview[i].azimuth,
gps_data.skyview[i].used
);

svStatus.gnssSvList[i].svFlag = 0;
if (gps_data.skyview[i].used == 1) svStatus.gnssSvList[i].svFlag |= GnssSvFlags::USED_IN_FIX;

if (gps_data.skyview[i].elevation > -91 && gps_data.skyview[i].azimuth > -1){
svStatus.gnssSvList[i].svFlag |= GnssSvFlags::HAS_ALMANAC_DATA;
if (gps_data.skyview[i].ss > 0)
svStatus.gnssSvList[i].svFlag |= GnssSvFlags::HAS_EPHEMERIS_DATA;
}
}
this->reportSvStatus(svStatus);
}
}
}

// Close the GPS
gps_stream(&gps_data, WATCH_DISABLE, NULL);
gps_close (&gps_data);
});

return true;
}

Return<bool> Gnss::stop() {
mIsActive = false;
if (mThread.joinable()) {
mThread.join();
}
return true;
}

Return<void> Gnss::cleanup() {
// TODO implement
return Void();
}

Return<bool> Gnss::injectTime(int64_t, int64_t, int32_t) {
// TODO implement
return bool{};
}

Return<bool> Gnss::injectLocation(double, double, float) {
// TODO implement
return bool{};
}

Return<void> Gnss::deleteAidingData(::android::hardware::gnss::V1_0::IGnss::GnssAidingData) {
return Void();
}

Return<bool> Gnss::setPositionMode(::android::hardware::gnss::V1_0::IGnss::GnssPositionMode,
::android::hardware::gnss::V1_0::IGnss::GnssPositionRecurrence,
uint32_t, uint32_t, uint32_t) {
// TODO implement
return bool{};
}

Return<sp<::android::hardware::gnss::V1_0::IAGnssRil>> Gnss::getExtensionAGnssRil() {
// TODO implement
return ::android::sp<::android::hardware::gnss::V1_0::IAGnssRil>{};
}

Return<sp<::android::hardware::gnss::V1_0::IGnssGeofencing>> Gnss::getExtensionGnssGeofencing() {
// TODO implement
return ::android::sp<::android::hardware::gnss::V1_0::IGnssGeofencing>{};
}

Return<sp<::android::hardware::gnss::V1_0::IAGnss>> Gnss::getExtensionAGnss() {
// TODO implement
return ::android::sp<::android::hardware::gnss::V1_0::IAGnss>{};
}

Return<sp<::android::hardware::gnss::V1_0::IGnssNi>> Gnss::getExtensionGnssNi() {
// TODO implement
return ::android::sp<::android::hardware::gnss::V1_0::IGnssNi>{};
}

Return<sp<::android::hardware::gnss::V1_0::IGnssMeasurement>> Gnss::getExtensionGnssMeasurement() {
// TODO implement
return new GnssMeasurement();
}

Return<sp<::android::hardware::gnss::V1_0::IGnssNavigationMessage>>
Gnss::getExtensionGnssNavigationMessage() {
// TODO implement
return ::android::sp<::android::hardware::gnss::V1_0::IGnssNavigationMessage>{};
}

Return<sp<::android::hardware::gnss::V1_0::IGnssXtra>> Gnss::getExtensionXtra() {
// TODO implement
return ::android::sp<::android::hardware::gnss::V1_0::IGnssXtra>{};
}

Return<sp<::android::hardware::gnss::V1_0::IGnssConfiguration>>
Gnss::getExtensionGnssConfiguration() {
// TODO implement
return new GnssConfiguration();
}

Return<sp<::android::hardware::gnss::V1_0::IGnssDebug>> Gnss::getExtensionGnssDebug() {
// TODO implement
return ::android::sp<::android::hardware::gnss::V1_0::IGnssDebug>{};
}

Return<sp<::android::hardware::gnss::V1_0::IGnssBatching>> Gnss::getExtensionGnssBatching() {
// TODO implement
return ::android::sp<::android::hardware::gnss::V1_0::IGnssBatching>{};
}

// Methods from ::android::hardware::gnss::V1_1::IGnss follow.
Return<bool> Gnss::setCallback_1_1(
const sp<::android::hardware::gnss::V1_1::IGnssCallback>& callback) {
if (callback == nullptr) {
ALOGE("%s: Null callback ignored", __func__);
return false;
}

sGnssCallback = callback;

uint32_t capabilities = 0x0;
auto ret = sGnssCallback->gnssSetCapabilitesCb(capabilities);
if (!ret.isOk()) {
ALOGE("%s: Unable to invoke callback", __func__);
}

IGnssCallback::GnssSystemInfo gnssInfo = {.yearOfHw = 2018};

ret = sGnssCallback->gnssSetSystemInfoCb(gnssInfo);
if (!ret.isOk()) {
ALOGE("%s: Unable to invoke callback", __func__);
}

auto gnssName = "GPSd GNSS Implementation v1.1";
ret = sGnssCallback->gnssNameCb(gnssName);
if (!ret.isOk()) {
ALOGE("%s: Unable to invoke callback", __func__);
}

return true;
}

Return<bool> Gnss::setPositionMode_1_1(
::android::hardware::gnss::V1_0::IGnss::GnssPositionMode,
::android::hardware::gnss::V1_0::IGnss::GnssPositionRecurrence, uint32_t minIntervalMs,
uint32_t, uint32_t, bool) {
mMinIntervalMs = (minIntervalMs < MIN_INTERVAL_MILLIS) ? MIN_INTERVAL_MILLIS : minIntervalMs;
return true;
}

Return<sp<::android::hardware::gnss::V1_1::IGnssConfiguration>>
Gnss::getExtensionGnssConfiguration_1_1() {
return mGnssConfiguration;
}

Return<sp<::android::hardware::gnss::V1_1::IGnssMeasurement>>
Gnss::getExtensionGnssMeasurement_1_1() {
// TODO implement
return new GnssMeasurement();
}

Return<bool> Gnss::injectBestLocation(const GnssLocation&) {
return true;
}

Return<GnssSvInfo> Gnss::getSvInfo(int16_t svid, GnssConstellationType type, float cN0DbHz,
float elevationDegrees, float azimuthDegrees, int16_t used) const {
GnssSvInfo svInfo = {.svid = svid,
.constellation = type,
.cN0Dbhz = cN0DbHz,
.elevationDegrees = elevationDegrees,
.azimuthDegrees = azimuthDegrees,
.svFlag = 0};
if (used)
svInfo.svFlag |= GnssSvFlags::USED_IN_FIX;
if (elevationDegrees > 0 && azimuthDegrees > 0)
svInfo.svFlag |= GnssSvFlags::HAS_EPHEMERIS_DATA | GnssSvFlags::HAS_ALMANAC_DATA;

return svInfo;
}

Return<void> Gnss::reportLocation(const GnssLocation& location) const {
std::unique_lock<std::mutex> lock(mMutex);
if (sGnssCallback == nullptr) {
ALOGE("%s: sGnssCallback is null.", __func__);
return Void();
}
sGnssCallback->gnssLocationCb(location);
return Void();
}

Return<void> Gnss::reportSvStatus(const GnssSvStatus& svStatus) const {
std::unique_lock<std::mutex> lock(mMutex);
if (sGnssCallback == nullptr) {
ALOGE("%s: sGnssCallback is null.", __func__);
return Void();
}
sGnssCallback->gnssSvStatusCb(svStatus);
return Void();
}

} // namespace implementation
} // namespace V1_1
} // namespace gnss
} // namespace hardware
} // namespace android

+ 107
- 0
android/hal/Gnss.h View File

@@ -0,0 +1,107 @@
#ifndef ANDROID_HARDWARE_GNSS_V1_1_GNSS_H
#define ANDROID_HARDWARE_GNSS_V1_1_GNSS_H

#include <android/hardware/gnss/1.1/IGnss.h>
#include <hidl/MQDescriptor.h>
#include <hidl/Status.h>
#include <atomic>
#include <mutex>
#include <thread>
#include "GnssConfiguration.h"
#include "gps.h"

namespace android {
namespace hardware {
namespace gnss {
namespace V1_1 {
namespace implementation {

using ::android::hardware::hidl_array;
using ::android::hardware::hidl_memory;
using ::android::hardware::hidl_string;
using ::android::hardware::hidl_vec;
using ::android::hardware::Return;
using ::android::hardware::Void;
using ::android::sp;

using GnssConstellationType = V1_0::GnssConstellationType;
using GnssLocation = V1_0::GnssLocation;
using GnssSvInfo = V1_0::IGnssCallback::GnssSvInfo;
using GnssSvStatus = V1_0::IGnssCallback::GnssSvStatus;

/**
* Unlike the gnss/1.0/default implementation, which is a shim layer to the legacy gps.h, this
* default implementation serves as a mock implementation for emulators
*/
struct Gnss : public IGnss {
Gnss();
~Gnss();
// Methods from ::android::hardware::gnss::V1_0::IGnss follow.
Return<bool> setCallback(
const sp<::android::hardware::gnss::V1_0::IGnssCallback>& callback) override;
Return<bool> start() override;
Return<bool> stop() override;
Return<void> cleanup() override;
Return<bool> injectTime(int64_t timeMs, int64_t timeReferenceMs,
int32_t uncertaintyMs) override;
Return<bool> injectLocation(double latitudeDegrees, double longitudeDegrees,
float accuracyMeters) override;
Return<void> deleteAidingData(
::android::hardware::gnss::V1_0::IGnss::GnssAidingData aidingDataFlags) override;
Return<bool> setPositionMode(
::android::hardware::gnss::V1_0::IGnss::GnssPositionMode mode,
::android::hardware::gnss::V1_0::IGnss::GnssPositionRecurrence recurrence,
uint32_t minIntervalMs, uint32_t preferredAccuracyMeters,
uint32_t preferredTimeMs) override;
Return<sp<::android::hardware::gnss::V1_0::IAGnssRil>> getExtensionAGnssRil() override;
Return<sp<::android::hardware::gnss::V1_0::IGnssGeofencing>> getExtensionGnssGeofencing()
override;
Return<sp<::android::hardware::gnss::V1_0::IAGnss>> getExtensionAGnss() override;
Return<sp<::android::hardware::gnss::V1_0::IGnssNi>> getExtensionGnssNi() override;
Return<sp<::android::hardware::gnss::V1_0::IGnssMeasurement>> getExtensionGnssMeasurement()
override;
Return<sp<::android::hardware::gnss::V1_0::IGnssNavigationMessage>>
getExtensionGnssNavigationMessage() override;
Return<sp<::android::hardware::gnss::V1_0::IGnssXtra>> getExtensionXtra() override;
Return<sp<::android::hardware::gnss::V1_0::IGnssConfiguration>> getExtensionGnssConfiguration()
override;
Return<sp<::android::hardware::gnss::V1_0::IGnssDebug>> getExtensionGnssDebug() override;
Return<sp<::android::hardware::gnss::V1_0::IGnssBatching>> getExtensionGnssBatching() override;

// Methods from ::android::hardware::gnss::V1_1::IGnss follow.
Return<bool> setCallback_1_1(
const sp<::android::hardware::gnss::V1_1::IGnssCallback>& callback) override;
Return<bool> setPositionMode_1_1(
::android::hardware::gnss::V1_0::IGnss::GnssPositionMode mode,
::android::hardware::gnss::V1_0::IGnss::GnssPositionRecurrence recurrence,
uint32_t minIntervalMs, uint32_t preferredAccuracyMeters, uint32_t preferredTimeMs,
bool lowPowerMode) override;
Return<sp<::android::hardware::gnss::V1_1::IGnssConfiguration>>
getExtensionGnssConfiguration_1_1() override;
Return<sp<::android::hardware::gnss::V1_1::IGnssMeasurement>> getExtensionGnssMeasurement_1_1()
override;
Return<bool> injectBestLocation(
const ::android::hardware::gnss::V1_0::GnssLocation& location) override;

// Methods from ::android::hidl::base::V1_0::IBase follow.
private:
Return<GnssSvInfo> getSvInfo(int16_t svid, GnssConstellationType type, float cN0DbHz,
float elevationDegress, float azimuthDegress, int16_t used) const;
Return<void> reportLocation(const GnssLocation&) const;
Return<void> reportSvStatus(const GnssSvStatus&) const;

static sp<IGnssCallback> sGnssCallback;
std::atomic<long> mMinIntervalMs;
sp<GnssConfiguration> mGnssConfiguration;
std::atomic<bool> mIsActive;
std::thread mThread;
mutable std::mutex mMutex;
};

} // namespace implementation
} // namespace V1_1
} // namespace gnss
} // namespace hardware
} // namespace android

#endif // ANDROID_HARDWARE_GNSS_V1_1_GNSS_H

+ 84
- 0
android/hal/GnssConfiguration.cpp View File

@@ -0,0 +1,84 @@
#define LOG_TAG "GnssConfiguration"

#include "GnssConfiguration.h"
#include <log/log.h>

namespace android {
namespace hardware {
namespace gnss {
namespace V1_1 {
namespace implementation {

// Methods from ::android::hardware::gnss::V1_0::IGnssConfiguration follow.
Return<bool> GnssConfiguration::setSuplEs(bool) {
// TODO implement
return bool{};
}

Return<bool> GnssConfiguration::setSuplVersion(uint32_t) {
// TODO implement
return bool{};
}

Return<bool> GnssConfiguration::setSuplMode(hidl_bitfield<SuplMode>) {
// TODO implement
return bool{};
}

Return<bool> GnssConfiguration::setGpsLock(hidl_bitfield<GpsLock>) {
// TODO implement
return bool{};
}

Return<bool> GnssConfiguration::setLppProfile(hidl_bitfield<LppProfile>) {
// TODO implement
return bool{};
}

Return<bool> GnssConfiguration::setGlonassPositioningProtocol(hidl_bitfield<GlonassPosProtocol>) {
// TODO implement
return bool{};
}

Return<bool> GnssConfiguration::setEmergencySuplPdn(bool) {
// TODO implement
return bool{};
}

// Methods from ::android::hardware::gnss::V1_1::IGnssConfiguration follow.
Return<bool> GnssConfiguration::setBlacklist(const hidl_vec<BlacklistedSource>& sourceList) {
std::unique_lock<std::recursive_mutex> lock(mMutex);
mBlacklistedConstellationSet.clear();
mBlacklistedSourceSet.clear();
for (auto source : sourceList) {
if (source.svid == 0) {
// Wildcard blacklist, i.e., blacklist entire constellation.
mBlacklistedConstellationSet.insert(source.constellation);
} else {
mBlacklistedSourceSet.insert(source);
}
}
return true;
}

Return<bool> GnssConfiguration::isBlacklisted(const GnssSvInfo& gnssSvInfo) const {
std::unique_lock<std::recursive_mutex> lock(mMutex);
if (mBlacklistedConstellationSet.find(gnssSvInfo.constellation) !=
mBlacklistedConstellationSet.end()) {
return true;
}
BlacklistedSource source = {.constellation = gnssSvInfo.constellation, .svid = gnssSvInfo.svid};
return (mBlacklistedSourceSet.find(source) != mBlacklistedSourceSet.end());
}

std::recursive_mutex& GnssConfiguration::getMutex() const {
return mMutex;
}

// Methods from ::android::hidl::base::V1_0::IBase follow.

} // namespace implementation
} // namespace V1_1
} // namespace gnss
} // namespace hardware
} // namespace android

+ 73
- 0
android/hal/GnssConfiguration.h View File

@@ -0,0 +1,73 @@
#ifndef ANDROID_HARDWARE_GNSS_V1_1_GNSSCONFIGURATION_H
#define ANDROID_HARDWARE_GNSS_V1_1_GNSSCONFIGURATION_H

#include <android/hardware/gnss/1.1/IGnssCallback.h>
#include <android/hardware/gnss/1.1/IGnssConfiguration.h>
#include <hidl/MQDescriptor.h>
#include <hidl/Status.h>
#include <mutex>
#include <unordered_set>

namespace android {
namespace hardware {
namespace gnss {
namespace V1_1 {
namespace implementation {

using ::android::hardware::hidl_array;
using ::android::hardware::hidl_memory;
using ::android::hardware::hidl_string;
using ::android::hardware::hidl_vec;
using ::android::hardware::Return;
using ::android::hardware::Void;
using ::android::sp;

using BlacklistedSource = ::android::hardware::gnss::V1_1::IGnssConfiguration::BlacklistedSource;
using GnssConstellationType = V1_0::GnssConstellationType;
using GnssSvInfo = V1_0::IGnssCallback::GnssSvInfo;

struct BlacklistedSourceHash {
inline int operator()(const BlacklistedSource& source) const {
return int(source.constellation) * 1000 + int(source.svid);
}
};

struct BlacklistedSourceEqual {
inline bool operator()(const BlacklistedSource& s1, const BlacklistedSource& s2) const {
return (s1.constellation == s2.constellation) && (s1.svid == s2.svid);
}
};

using BlacklistedSourceSet =
std::unordered_set<BlacklistedSource, BlacklistedSourceHash, BlacklistedSourceEqual>;
using BlacklistedConstellationSet = std::unordered_set<GnssConstellationType>;

struct GnssConfiguration : public IGnssConfiguration {
// Methods from ::android::hardware::gnss::V1_0::IGnssConfiguration follow.
Return<bool> setSuplEs(bool enabled) override;
Return<bool> setSuplVersion(uint32_t version) override;
Return<bool> setSuplMode(hidl_bitfield<SuplMode> mode) override;
Return<bool> setGpsLock(hidl_bitfield<GpsLock> lock) override;
Return<bool> setLppProfile(hidl_bitfield<LppProfile> lppProfile) override;
Return<bool> setGlonassPositioningProtocol(hidl_bitfield<GlonassPosProtocol> protocol) override;
Return<bool> setEmergencySuplPdn(bool enable) override;

// Methods from ::android::hardware::gnss::V1_1::IGnssConfiguration follow.
Return<bool> setBlacklist(const hidl_vec<BlacklistedSource>& blacklist) override;

Return<bool> isBlacklisted(const GnssSvInfo& gnssSvInfo) const;
std::recursive_mutex& getMutex() const;

private:
BlacklistedSourceSet mBlacklistedSourceSet;
BlacklistedConstellationSet mBlacklistedConstellationSet;
mutable std::recursive_mutex mMutex;
};

} // namespace implementation
} // namespace V1_1
} // namespace gnss
} // namespace hardware
} // namespace android

#endif // ANDROID_HARDWARE_GNSS_V1_1_GNSSCONFIGURATION_H

+ 35
- 0
android/hal/GnssMeasurement.cpp View File

@@ -0,0 +1,35 @@
#include "GnssMeasurement.h"

namespace android {
namespace hardware {
namespace gnss {
namespace V1_1 {
namespace implementation {

// Methods from ::android::hardware::gnss::V1_0::IGnssMeasurement follow.
Return<::android::hardware::gnss::V1_0::IGnssMeasurement::GnssMeasurementStatus>
GnssMeasurement::setCallback(const sp<::android::hardware::gnss::V1_0::IGnssMeasurementCallback>&) {
// TODO implement
return ::android::hardware::gnss::V1_0::IGnssMeasurement::GnssMeasurementStatus{};
}

Return<void> GnssMeasurement::close() {
// TODO implement
return Void();
}

// Methods from ::android::hardware::gnss::V1_1::IGnssMeasurement follow.
Return<::android::hardware::gnss::V1_0::IGnssMeasurement::GnssMeasurementStatus>
GnssMeasurement::setCallback_1_1(
const sp<::android::hardware::gnss::V1_1::IGnssMeasurementCallback>&, bool) {
// TODO implement
return ::android::hardware::gnss::V1_0::IGnssMeasurement::GnssMeasurementStatus{};
}

// Methods from ::android::hidl::base::V1_0::IBase follow.

} // namespace implementation
} // namespace V1_1
} // namespace gnss
} // namespace hardware
} // namespace android

+ 42
- 0
android/hal/GnssMeasurement.h View File

@@ -0,0 +1,42 @@
#ifndef ANDROID_HARDWARE_GNSS_V1_1_GNSSMEASUREMENT_H
#define ANDROID_HARDWARE_GNSS_V1_1_GNSSMEASUREMENT_H

#include <android/hardware/gnss/1.1/IGnssMeasurement.h>
#include <hidl/MQDescriptor.h>
#include <hidl/Status.h>

namespace android {
namespace hardware {
namespace gnss {
namespace V1_1 {
namespace implementation {

using ::android::hardware::hidl_array;
using ::android::hardware::hidl_memory;
using ::android::hardware::hidl_string;
using ::android::hardware::hidl_vec;
using ::android::hardware::Return;
using ::android::hardware::Void;
using ::android::sp;

struct GnssMeasurement : public IGnssMeasurement {
// Methods from ::android::hardware::gnss::V1_0::IGnssMeasurement follow.
Return<::android::hardware::gnss::V1_0::IGnssMeasurement::GnssMeasurementStatus> setCallback(
const sp<::android::hardware::gnss::V1_0::IGnssMeasurementCallback>& callback) override;
Return<void> close() override;

// Methods from ::android::hardware::gnss::V1_1::IGnssMeasurement follow.
Return<::android::hardware::gnss::V1_0::IGnssMeasurement::GnssMeasurementStatus>
setCallback_1_1(const sp<::android::hardware::gnss::V1_1::IGnssMeasurementCallback>& callback,
bool enableFullTracking) override;

// Methods from ::android::hidl::base::V1_0::IBase follow.
};

} // namespace implementation
} // namespace V1_1
} // namespace gnss
} // namespace hardware
} // namespace android

#endif // ANDROID_HARDWARE_GNSS_V1_1_GNSSMEASUREMENT_H

+ 4
- 0
android/hal/android.hardware.gnss@1.1-service.gpsd.rc View File

@@ -0,0 +1,4 @@
service gnss-gpsd /vendor/bin/hw/android.hardware.gnss@1.1-service.gpsd
class hal
user root
group system gps radio

+ 11
- 0
android/hal/android.hardware.gnss@1.1-service.gpsd.xml View File

@@ -0,0 +1,11 @@
<manifest version="1.0" type="device">
<hal format="hidl">
<name>android.hardware.gnss</name>
<transport>hwbinder</transport>
<version>1.1</version>
<interface>
<name>IGnss</name>
<instance>default</instance>
</interface>
</hal>
</manifest>

+ 25
- 0
android/hal/service.cpp View File

@@ -0,0 +1,25 @@
#define LOG_TAG "android.hardware.gnss@1.1-service.gpsd"

#include <hidl/HidlSupport.h>
#include <hidl/HidlTransportSupport.h>
#include "Gnss.h"

using ::android::hardware::configureRpcThreadpool;
using ::android::hardware::gnss::V1_1::implementation::Gnss;
using ::android::hardware::gnss::V1_1::IGnss;
using ::android::hardware::joinRpcThreadpool;
using ::android::OK;
using ::android::sp;

int main(int /* argc */, char* /* argv */ []) {
sp<IGnss> gnss = new Gnss();
configureRpcThreadpool(1, true /* will join */);
if (gnss->registerAsService() != OK) {
ALOGE("Could not register gnss 1.1 service.");
return 1;
}
joinRpcThreadpool();

ALOGE("Service exited!");
return 1;
}

+ 3
- 0
android/sepolicy/file_contexts View File

@@ -0,0 +1,3 @@
/vendor/bin/hw/android\.hardware\.gnss@1\.1-service\.gpsd u:object_r:hal_gnss_default_exec:s0
/vendor/bin/gpsd u:object_r:gpsd_exec:s0
/vendor/bin/gpsd_wrapper u:object_r:gpsd_exec:s0

+ 17
- 0
android/sepolicy/gpsd.te View File

@@ -0,0 +1,17 @@
type gpsd, domain;
type gpsd_exec, exec_type, vendor_file_type, file_type;

init_daemon_domain(gpsd)
net_domain(gpsd)

allow gpsd gpsd:capability { net_raw };
allow gpsd serial_device:chr_file rw_file_perms;

# The following are needed by logwrapper to get gpsd's output
# to Android's logs.
typeattribute gpsd vendor_executes_system_violators;
allow gpsd shell_exec:file { execute execute_no_trans read open getattr };
allow gpsd vendor_file:file { execute execute_no_trans read open getattr };
allow gpsd devpts:chr_file { read write open getattr };
allow gpsd gpsd_exec:file { execute execute_no_trans read open getattr };
allow gpsd vendor_shell_exec:file { execute execute_no_trans read open getattr };

+ 7
- 0
android/sepolicy/hal_gnss.te View File

@@ -0,0 +1,7 @@
# Hijack hostapd domain and attribute to gain network access
hal_server_domain(hal_gnss_default, hal_wifi_hostapd);
typeattribute hal_gnss_default hal_wifi_hostapd_server;

net_domain(hal_gnss_default)
allow hal_gnss_default hal_gnss_default:capability { net_raw };
allow hal_gnss_default property_socket:sock_file { write };

+ 3
- 1
bits.c View File

@@ -1,6 +1,6 @@
/* bits.c - bitfield extraction code
*
* This file is Copyright (c)2010 by the GPSD project
* This file is Copyright (c)2010-2018 by the GPSD project
* SPDX-License-Identifier: BSD-2-clause
*
* Bitfield extraction functions. In each, start is a bit index - not
@@ -10,6 +10,8 @@
* The sbits() function assumes twos-complement arithmetic. ubits()
* and sbits() assume no padding in integers.
*/
#include "gpsd_config.h" /* must be before all includes */

#include <assert.h>
#include <stdint.h>
#include <stdbool.h>


+ 2
- 0
bsd_base64.c View File

@@ -41,6 +41,8 @@
* IF IBM IS APPRISED OF THE POSSIBILITY OF SUCH DAMAGES.
*/

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

#include <stdlib.h>
#include <sys/types.h>
#include <ctype.h>


+ 62
- 11
build.txt View File

@@ -9,6 +9,9 @@ Some hints for people building binary packages are in packaging/readme.txt.

== Quick start ==

You can download the most recent development snapshot from:
https://gitlab.com/gpsd/gpsd/tree/master

You can download the lastest gpsd tarball from:
http://download.savannah.gnu.org/releases/gpsd/

@@ -72,6 +75,12 @@ Necessary components for any build:
|Python2.x(x>=6) or 3.y(y>=2) | for scons and some helper scripts
|============================================================================

On Gentoo, a basic build only requires this package:

|============================================================================
|dev-util/scons | for executing the build recipe
|============================================================================

=== C compiler ===

C99 conformance is required in the compiler. The C code depends on one
@@ -121,13 +130,24 @@ extensions are installed:
|python-gi-cairo | Python bindings for Cairo toolkit under GI
|===========================================================================

The ubxtool and zerk clients will only be installed if this Python
extensions is installed:
On Gentoo systems those packages are named:
|============================================================================
|dev-python/pygobject
|dev-python/pycairo
|============================================================================

The ubxtool and zerk clients will only be usable in direct-serial mode
if this Python extension is installed:

|============================================================================
|pyserial | Python Serial Port extension
|===========================================================================

On Gentoo systems that package is named:
|============================================================================
|dev-python/pyserial
|============================================================================

=== Scons ===

You will need scons version 2.3.0 (from 2013-03-02) or later to build the code.
@@ -140,8 +160,21 @@ various additional capabilities and extensions:
|============================================================================
|C++ compiler | allows building libgpsmm C++ wrapper for client library
|Qt 4.53+ | allows building libQgpsmm C++ wrapper for client library
|libcap | Capabilities library, allows 1PPS support under Linux
|libcap | Capabilities library, improved security under Linux
|(n)curses | curses screen-painting library, used by cgps and gpsmon
|pps-tools | adds support for the KPPS API, for improved timing
|libusb | Userspace access to USB devices
|============================================================================

On Gentoo systems those packages are named:

|============================================================================
|dev-qt/qtcore | Basic Qt
|dev-qt/qtnetwork | Qt network components
|sys-libs/libcap | Capabilities library
|sys-libs/ncurses | curses screen-painting library, used by cgps and gpsmon
|net-misc/pps-tools | adds support for the KPPS API, for improved timing
|virtual/libusb | Userspace access to USB devices
|============================================================================

If you have libusb-1.0.0 or later, the GPSD build will autodetect
@@ -157,8 +190,8 @@ http://qt.nokia.com/doc/4.6/platform-specific.html for platform
specific building documentation

For working with DBUS, you'll need the DBUS development
headers and libraries installed. Under Debian/Ubuntu these
are the packages libdbus-1-dev and libdbus-glib-1-dev.
headers and libraries installed. Under Debian/Ubuntu this
is the package libdbus-1-dev.

Under Ubuntu, the ncurses package you want is libncurses5-dev. Under
Fedora, it's ncurses-devel. Depending on how your distribution
@@ -174,6 +207,12 @@ We've seen a report that compiling on the Raspberry Pi fails with
a complaint about curses.h not being found. You need to install
Raspbian's curses development library if this happens.

If your kernel provides the RFC 2783 KPPS (kernel PPS) API, gpsd will
use that for extra accuracy. Many Linux distributions have a package
called "pps-tools" that will install KPPS support and the timepps.h
header file. We recommend you do that. If your kernel is built in
the normal modular way, this package installation will suffice.

For building from the source tree, or if you change the man page
source, xslt and docbook xsl style files are used to generate nroff
-man source from docbook xml. The following packages are used in this
@@ -186,6 +225,15 @@ process:
|asciidoc | DocBook front end with lighter markup
|============================================================================

On Gentoo systems those packages are named:

|============================================================================
|app-text/xmlto | DocBook formatter program
|app-text/asciidoc | DocBook front end with lighter markup
|dev-libs/libxslt | pulled in by asciidoc
|app-text/docbook-xsl-stylesheets | pulled in by asciidoc
|============================================================================

The build degrades gracefully in the absence of any of these. You should
be able to tell from scons messages which extensions you will get.

@@ -198,12 +246,15 @@ If you are custom-building a Linux kernel for embedded deployment, you
will need some subset of the following modules:

|============================================================================
|pl2303 | Prolific Technology, Inc. PL2303 Serial Port
|ftdi_sio | FTDI 8U232AM / FT232
|cypress_m8 | M8/CY7C64013
|cp210x | Cygnal Integrated Products devices
|garmin_gps | Garmin USB mice including GPS-18
|cdc_am | USB Communication Device Class Abstract Control Model interface
|pl2303 | Prolific Technology, Inc. PL2303 Serial Port
|ftdi_sio | FTDI 8U232AM / FT232
|cypress_m8 | M8/CY7C64013
|cp210x | Cygnal Integrated Products devices
|garmin_gps | Garmin USB mice including GPS-18
|cdc_am | USB Communication Device Class Abstract Control Model interface
|pps-gpio | For KPPS support on ARM systems
|pps-ldisc | For KPPS support with RS-232 ports
|pps_parport | For KPPS support with a parallel port
|============================================================================

These are listed in rough order of devices covered as of 2013; the


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