gps.c File Reference

#include <include.h>

Include dependency graph for gps.c:

Go to the source code of this file.

Defines

#define DEFAULTHOST "localhost"

#define DEFAULTPORT "2947"

Functions

int OpenGPSD (void)

GetGPSPos (float lat, float lon)

Variables

int GPSDsock

float lat

float lon

float alt

float spd

float hed

float last_lat

float last_lon

float last_hed

struct sockaddr_in servaddr localaddr

int mode

const char gpsd_command [] = "PAVMH\n"

return

Define Documentation

#define DEFAULTHOST "localhost"

Definition at line 24 of file gps.c.

Referenced by OpenGPSD().

#define DEFAULTPORT "2947"

Definition at line 25 of file gps.c.

Referenced by my_serial_open(), and OpenGPSD().

Function Documentation

int OpenGPSD ( void )

Definition at line 34 of file gps.c.

References alt, DEFAULTHOST, DEFAULTPORT, GPSD_CANT_BIND_PORT, GPSD_CANT_CONNECT, GPSD_CANT_OPEN_SOCKET, GPSD_UNKNOWN_HOST, GPSDsock, hed, last_hed, last_lat, last_lon, lat, localaddr, lon, mode, and spd.

00035 {
00036   int save_mode;
00037 
00038   GPSDsock = -1;
00039   lat = lon = alt = spd = hed = 0;
00040   last_lat = last_lon = last_hed = 0;
00041   mode = -1;
00042 
00043   host = strdup(DEFAULTHOST);
00044   port = DEFAULTPORT;
00045 
00046   // Find the host
00047   h = gethostbyname(host);
00048   if (h == NULL) {
00049     return GPSD_UNKNOWN_HOST;
00050   }
00051   // Fill in the server
00052   servaddr.sin_family = h->h_addrtype;
00053   memcpy((char *) &servaddr.sin_addr.s_addr, h->h_addr_list[0],
00054          h->h_length);
00055   servaddr.sin_port = htons(port);
00056 
00057   // Create the socket
00058   if ((GPSDsock = socket(AF_INET, SOCK_STREAM, 0)) < 0) {
00059     return GPSD_CANT_OPEN_SOCKET;
00060   }
00061   // Bind to any local port
00062   localaddr.sin_family = AF_INET;
00063   localaddr.sin_addr.s_addr = htonl(INADDR_ANY);
00064   localaddr.sin_port = htons(0);
00065 
00066   if (bind(sock, (struct sockaddr *) &localaddr, sizeof(localaddr)) < 0) {
00067     return GPSD_CANT_BIND_PORT;
00068   }
00069   // Connect
00070   if (connect(sock, (struct sockaddr *) &servaddr, sizeof(servaddr)) < 0) {
00071     return GPSD_CANT_CONNECT;
00072   }
00073   // Set nonblocking mode
00074   save_mode = fcntl(sock, F_GETFL, 0);
00075   fcntl(sock, F_SETFL, save_mode | O_NONBLOCK);
00076 
00077   }

GetGPSPos	(	float	lat,
		float	lon
	)

Definition at line 82 of file gps.c.

References gpsd_command, GPSD_WRITE_ERROR, GPSDsock, and NO_ERROR.

00083 {
00084   const gpsd_command = "P";
00085   int result;
00086 
00087   // Kick a command off into the system, too
00088   if (write(sock, gpsd_command, sizeof(gpsd_command)) < 0) {
00089     if (errno != EAGAIN) {
00090       close(GPSDsock);
00091       GPSDsock = -1;
00092       return GPSD_WRITE_ERROR;
00093     }
00094   }
00095   result = read(sock, buf, 1024);
00096   return NO_ERROR;
00097 }

Variable Documentation

int GPSDsock

Definition at line 26 of file gps.c.

Referenced by GetGPSPos(), and OpenGPSD().

float lat