/* Makes a simple HTML and SVG layout for GPSD */
/* (C)2007 Jason Hecker v0.03*/
/* This is a severely mangled version of xgps.c */
/* To use call: webgps [server] [port] [path] [period] */
/* server: the gpsd server you are connecting to */
/* port: the port number of the gpsd server */
/* path: the destination path for gpsd.svg/html */
/* period: time period in seconds for webgps to update */
#include <stdio.h>
#include <math.h>
#include <unistd.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <time.h>
#include <math.h>
/* v2.33 */
#include "config.h"
/* v2.34+ */
//#include "gpsd_config.h"
#include "gps.h"
#define TRACKMAX 1024
#define SATMAX 20
#define STALECOUNT 3
typedef struct trackloc_s{
int x;
int y;
} trackloc_t;
typedef struct trackloc_head_s{
int PRN;
int count;
int stale;
trackloc_t posn[TRACKMAX];
} trackloc_head_t;
trackloc_head_t sattrack[SATMAX];
static enum deg_str_type deg_type = deg_dd;
static struct gps_data_t *gpsdata;
static time_t timer; /* time of last state change */
static int state = 0; /* or MODE_NO_FIX=1, MODE_2D=2, MODE_3D=3 */
void do_html(FILE *fh);
void do_svg(FILE *fs);
void polartocart(int *x, int *y, int el, int az){
#define DEG2RAD PI/180.0
#define DIAMETER 200
#define XYOFFSET 10
float radius, theta;
radius = DIAMETER * cos(((float)(el)) * DEG2RAD);
theta = ((float)(az - 90) * DEG2RAD);
*x = (int)(radius * cos(theta) + 0.5) + DIAMETER + XYOFFSET;
*y = (int)(radius * sin(theta) + 0.5) + DIAMETER + XYOFFSET;
}
void do_html(FILE *fh){
int i, newstate;
char s[128], *latlon;
const char pageheader[] = "<html xmlns=\"http://www.w3.org/1999/xhtml\">\n" \
"\t<head>\n\t<title>GPSD Satellite Positions and Readings</title>\n\t</head>\n<body>\n" \
"<table border=\"1\">\n\t<td>\n\t\t<table border=\"0\">\n"
"\t\t\t<tr>\n\t\t\t\t<td><b>PRN:</b></td><td><b>Elev:</b></td><td><b>Azim:</b></td>"
"<td><b>SNR:</b></td><td><b>Used:</b></td>\n\t\t\t</tr>\n";
const char rowhead[] = "\t\t\t<tr>\n\t\t\t\t<td><b>%s</b></d><td>%s</td>\n\t\t\t</tr>\n";
fprintf(fh,pageheader);
if (gpsdata->satellites) {
for (i = 0; i < MAXCHANNELS; i++) {
if (i < (unsigned int)gpsdata->satellites) {
fprintf(fh,"\t\t\t<tr>\n\t\t\t\t<td>%3d</td><td>%2d</td><td>%3d</td><td>%2d</td><td>%c</td>\n\t\t\t</tr>\n",
gpsdata->PRN[i],
gpsdata->elevation[i], gpsdata->azimuth[i],
gpsdata->ss[i], gpsdata->used[i] ? 'Y' : 'N');
}
}
}
fprintf(fh,"\t\t</table>\n");
fprintf(fh,"\t\t<table border=\"0\">\n");
if (isnan(gpsdata->fix.time)==0) {
(void)unix_to_iso8601(gpsdata->fix.time, s, (int)sizeof(s));
} else
(void)strcpy(s,"n/a");
fprintf(fh,rowhead,"Time:",s);
if (gpsdata->fix.mode >= MODE_2D) {
latlon = deg_to_str(deg_type, fabs(gpsdata->fix.latitude));
(void)snprintf(s, sizeof(s), "%s %c", latlon, (gpsdata->fix.latitude < 0) ? 'S' : 'N');
} else
(void)strcpy(s, "n/a");
fprintf(fh,rowhead,"Latitude:",s);
if (gpsdata->fix.mode >= MODE_2D) {
latlon = deg_to_str(deg_type, fabs(gpsdata->fix.longitude));
(void)snprintf(s, sizeof(s), "%s %c", latlon, (gpsdata->fix.longitude < 0) ? 'W' : 'E');
} else
(void)strcpy(s, "n/a");
fprintf(fh,rowhead,"Longitude:",s);
if (gpsdata->fix.mode == MODE_3D) {
(void)snprintf(s, sizeof(s), "%f metres", gpsdata->fix.altitude);
} else
(void)strcpy(s, "n/a");
fprintf(fh,rowhead,"Altitude:",s);
if (gpsdata->fix.mode >= MODE_2D && isnan(gpsdata->fix.track)==0) {
(void)snprintf(s, sizeof(s), "%f metres/sec", gpsdata->fix.speed);
} else
(void)strcpy(s, "n/a");
fprintf(fh,rowhead,"Speed:",s);
if (gpsdata->fix.mode >= MODE_2D && isnan(gpsdata->fix.track)==0) {
(void)snprintf(s, sizeof(s), "%f degrees", gpsdata->fix.track);
} else
(void)strcpy(s, "n/a");
fprintf(fh,rowhead,"Course:",s);
if (isnan(gpsdata->fix.eph)==0) {
(void)snprintf(s, sizeof(s), "%f metres", gpsdata->fix.eph);
} else
(void)strcpy(s, "n/a");
fprintf(fh,rowhead,"EPH:",s);
if (isnan(gpsdata->fix.epv)==0) {
(void)snprintf(s, sizeof(s), "%f metres", gpsdata->fix.epv);
} else
(void)strcpy(s, "n/a");
fprintf(fh,rowhead,"EPV:",s);
if (gpsdata->fix.mode == MODE_3D && isnan(gpsdata->fix.climb)==0) {
(void)snprintf(s, sizeof(s), "%f metres/sec", gpsdata->fix.climb);
} else
(void)strcpy(s, "n/a");
fprintf(fh,rowhead,"Climb:",s);
if (gpsdata->online == 0) {
newstate = 0;
(void)snprintf(s, sizeof(s), "OFFLINE");
} else {
newstate = gpsdata->fix.mode;
switch (gpsdata->fix.mode) {
case MODE_2D:
(void)snprintf(s, sizeof(s), "2D %sFIX",(gpsdata->status==STATUS_DGPS_FIX)?"DIFF ":"");
break;
case MODE_3D:
(void)snprintf(s, sizeof(s), "3D %sFIX",(gpsdata->status==STATUS_DGPS_FIX)?"DIFF ":"");
break;
default:
(void)snprintf(s, sizeof(s), "NO FIX");
break;
}
}
if (newstate != state) {
timer = time(NULL);
state = newstate;
}
(void)snprintf(s+strlen(s), sizeof(s)-strlen(s), " (%d secs)", (int) (time(NULL) - timer));
fprintf(fh,"\t\t\t<tr>\n\t\t\t\t<td><b>State</b></d><td>%s</td>\n\t\t\t</tr>\n",s);
fprintf(fh,"\t\t</table>\n\t</td>\n");
/* SVG Stuff */
fprintf(fh,"\t<td>\n\t\t<embed src=\"gpsd.svg\" width=\"425\" height=\"425\" type=\"image/svg+xml\">\n");
//fprintf(fh,"\t<td>\n\t\t<object data=\"gpsd.svg\" width=\"425\" height=\"425\" align=\"center\"\n");
//fprintf(fh,"\t\t\ttype=\"image/svg+xml\"\n\t\t\tcodebase=\"http://www.adobe.com/svg/viewer/install/\" />\n\t</td>\n");
fprintf(fh,"</table>\n\n</body>\n</html>");
}
void do_svg(FILE *fs){
int i, j, x, y, offset;
char *fill;
const char svghead[] = "<?xml version=\"1.0\" standalone=\"no\"?>\n" \
"<!DOCTYPE svg PUBLIC \"-//W3C//DTD SVG 1.1//EN\"\n" \
"\"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd\">\n" \
"<svg width=\"100%%\" height=\"100%%\" version=\"1.1\" xmlns=\"http://www.w3.org/2000/svg\">\n" \
"\t<g transform=\"translate(00,0)\">\n" \
"\t\t<circle cx=\"210\" cy=\"210\" r=\"200\" stroke=\"black\"\n" \
"\t\tstroke-width=\"1\" fill=\"white\"/>\n" \
"\t\t<circle cx=\"210\" cy=\"210\" r=\"100\" stroke=\"grey\"\n" \
"\t\tstroke-width=\"1\" fill=\"white\"/>\n" \
"\t\t<circle cx=\"210\" cy=\"210\" r=\"2\" stroke=\"grey\"\n" \
"\t\tstroke-width=\"1\" fill=\"white\"/>\n" \
"\t\t<line x1=\"210\" y1=\"10\" x2=\"210\" y2=\"410\" stroke=\"lightgrey\" />\n" \
"\t\t<line x1=\"10\" y1=\"210\" x2=\"410\" y2=\"210\" stroke=\"lightgrey\" />\n" \
"\t\t<line x1=\"68.578644\" y1=\"68.578644\" x2=\"351.42136\" y2=\"351.42136\" stroke=\"lightgrey\" />\n" \
"\t\t<line x1=\"68.578644\" y1=\"351.42136\" x2=\"351.42136\" y2=\"68.578644\" stroke=\"lightgrey\" />\n" \
"\t\t<g font-size=\"10\" stroke=\"black\" stroke-width=\"0.5\">\n" \
"\t\t\t<text x=\"206\" y=\"8\">N</text>\n" \
"\t\t\t<text x=\"0\" y=\"214\">W</text>\n" \
"\t\t\t<text x=\"412\" y=\"214\">E</text>\n" \
"\t\t\t<text x=\"206\" y=\"420\">S</text>\n";
/* Draw the chart axes */
fprintf(fs, svghead);
/* Draw the skid marks */
//printf("Skidin\n");
for(i=0;i<SATMAX;i++){
if(sattrack[i].PRN != -1){
if(sattrack[i].count > 1){
fprintf(fs,"\t\t\t<polyline stroke-width=\"0.6\" stroke=\"red\" fill=\"none\" points=\"");
for(j=0;j <= sattrack[i].count-1;j++){
x = sattrack[i].posn[j].x;
y = sattrack[i].posn[j].y;
fprintf(fs,"%d,%d ", x, y);
}
fprintf(fs,"\"/>\n");
}
}
}
//printf("Skidout\n");
/* Draw the birdies */
if (gpsdata->satellites) {
for (i = 0; i < MAXCHANNELS; i++) {
if (i < (unsigned int)gpsdata->satellites) {
polartocart(&x , &y, gpsdata->elevation[i], gpsdata->azimuth[i]);
if(gpsdata->ss[i] < 30)
fill = "\"silver\"";
else if (gpsdata->ss[i] < 40)
fill = "\"yellow\"";
else
fill = "\"lime\"";
/* Centre single digits PRNs in the circle */
if(gpsdata->PRN[i] < 10)
offset = 3;
else
offset = 0;
fprintf(fs,"\t\t\t<circle cx=\"%d\" cy=\"%d\" r=\"8\" stroke=\"black\"\n",x,y);
fprintf(fs,"\t\t\t\tstroke-width=\"1\" fill=%s/>\n",fill);
fprintf(fs,"\t\t\t<text x=\"%d\" y=\"%d\" stroke=\"black\" fill=\"black\" " \
"font-size=\"10\">%d</text>\n",x-6+offset,y+4,gpsdata->PRN[i]);
}
}
}
fprintf(fs,"\t\t</g>\n");
fprintf(fs,"\t</g>\n");
fprintf(fs,"</svg>\n");
}
/* Initialise the track table */
void init_track_table(void){
int i;
//printf("ITT\n");
for (i=0; i<SATMAX; i++){
sattrack[i].PRN = -1;
sattrack[i].count = 0;
sattrack[i].stale = 0;
}
}
/* Make all tracks stale */
void make_tracks_stale(void){
int i;
//printf("MTS\n");
for(i=0; i<SATMAX; i++){
if(sattrack[i].stale != 0)
sattrack[i].stale--;
}
}
/* Returns the index the PRN is in - -1 is a fail*/
int exists_in_table(int prn){
int i;
//printf("EIT\n");
for(i=0; i< SATMAX; i++){
if (sattrack[i].PRN == prn)
return(i);
}
return -1;
}
/* Inserts a new sat xy entry into the table */
void insert_sat(int prn, int x, int y){
int i, idx;
idx = exists_in_table(prn);
if (idx == -1){
for(i=0; i<SATMAX; i++){
if(sattrack[i].PRN == -1){
sattrack[i].PRN = prn;
sattrack[i].posn[0].x = x;
sattrack[i].posn[0].y = y;
sattrack[i].count = 1;
sattrack[i].stale = STALECOUNT;
}
}
}
else{
if(sattrack[idx].count < (TRACKMAX-1)){
if(sattrack[idx].posn[sattrack[idx].count-1].x != x || \
sattrack[idx].posn[sattrack[idx].count-1].y != y){
sattrack[idx].posn[sattrack[idx].count].x = x;
sattrack[idx].posn[sattrack[idx].count].y = y;
sattrack[idx].count++;
}
sattrack[idx].stale = STALECOUNT;
}
}
//printf("IS %d %d %d\n",idx,prn,sattrack[idx].count);
}
/* Deletes stale sats */
void delete_stale_sats(void){
int i;
//printf("DSS\n");
for(i=0; i<SATMAX; i++){
if (sattrack[i].stale == 0){
sattrack[i].PRN = -1;
sattrack[i].count = 0;
}
}
//printf("DSSO\n");
}
void update_track_table(void){
int i, x, y;
//printf("UTT\n");
make_tracks_stale();
if (gpsdata->satellites) {
for (i = 0; i < MAXCHANNELS; i++) {
if (i < (unsigned int)gpsdata->satellites) {
polartocart(&x , &y, gpsdata->elevation[i], gpsdata->azimuth[i]);
insert_sat(gpsdata->PRN[i],x,y);
}
}
}
delete_stale_sats();
}
int main(int argc, char *argv[])
{
FILE *fh,*fs = NULL;
char *err_str = NULL;
//char server[] = "gpsd.mainframe.cx";
//char port[] = "2947";
char *server;
char *port;
char *path;
int period;
char name1[256], name2[256];
//printf("argc %d\n",argc);
if (argc != 5){
fprintf(stderr,"Not enough arguments: <server> <port> <path> <period>\n");
exit(2);
}
server = argv[1];
port = argv[2];
path = argv[3];
period = atoi(argv[4]);
gpsdata = gps_open(server, port);
if (!gpsdata) {
switch ( errno ) {
case NL_NOSERVICE: err_str = "can't get service entry"; break;
case NL_NOHOST: err_str = "can't get host entry"; break;
case NL_NOPROTO: err_str = "can't get protocol entry"; break;
case NL_NOSOCK: err_str = "can't create socket"; break;
case NL_NOSOCKOPT: err_str = "error SETSOCKOPT SO_REUSEADDR"; break;
case NL_NOCONNECT: err_str = "can't connect to host"; break;
default: err_str = "Unknown"; break;
}
(void)fprintf( stderr, "xgps: no gpsd running or network error: %d, %s\n", errno, err_str);
exit(2);
}
init_track_table();
(void)gps_query(gpsdata, "w+x");
(void)gps_query(gpsdata, "j=1");
for(;;){
(void)gps_poll(gpsdata);
update_track_table();
sprintf(name1,"%s/gpsd.html",path);
sprintf(name2,"%s/gpsd.svg",path);
if((fh=fopen(name1,"w")) != NULL ){
do_html(fh);
fclose(fh);
}
if((fs=fopen(name2,"w")) != NULL ){
do_svg(fs);
fclose(fs);
}
sleep(period);
}
return(0);
}
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