gps/gps_qemu.c

#include <errno.h>
#include <pthread.h>
#include "qemu.h"
#include <fcntl.h>
#include <sys/epoll.h>
#include <math.h>
#include <time.h>

#define  LOG_TAG  "gps_qemu"
#include <cutils/log.h>
#include <cutils/sockets.h>
#include <hardware/gps.h>

/* the name of the qemud-controlled socket */
#define  QEMU_CHANNEL_NAME  "gps"

#define  GPS_DEBUG  0

#if GPS_DEBUG
#  define  D(...)   LOGD(__VA_ARGS__)
#else
#  define  D(...)   ((void)0)
#endif


/*****************************************************************/
/*****************************************************************/
/*****                                                       *****/
/*****       N M E A   T O K E N I Z E R                     *****/
/*****                                                       *****/
/*****************************************************************/
/*****************************************************************/

typedef struct {
    const char*  p;
    const char*  end;
} Token;

#define  MAX_NMEA_TOKENS  16

typedef struct {
    int     count;
    Token   tokens[ MAX_NMEA_TOKENS ];
} NmeaTokenizer;

static int
nmea_tokenizer_init( NmeaTokenizer*  t, const char*  p, const char*  end )
{
    int    count = 0;
    char*  q;

    // the initial '$' is optional
    if (p < end && p[0] == '$')
        p += 1;

    // remove trailing newline
    if (end > p && end[-1] == '\n') {
        end -= 1;
        if (end > p && end[-1] == '\r')
            end -= 1;
    }

    // get rid of checksum at the end of the sentecne
    if (end >= p+3 && end[-3] == '*') {
        end -= 3;
    }

    while (p < end) {
        const char*  q = p;

        q = memchr(p, ',', end-p);
        if (q == NULL)
            q = end;

        if (q > p) {
            if (count < MAX_NMEA_TOKENS) {
                t->tokens[count].p   = p;
                t->tokens[count].end = q;
                count += 1;
            }
        }
        if (q < end)
            q += 1;

        p = q;
    }

    t->count = count;
    return count;
}

static Token
nmea_tokenizer_get( NmeaTokenizer*  t, int  index )
{
    Token  tok;
    static const char*  dummy = "";

    if (index < 0 || index >= t->count) {
        tok.p = tok.end = dummy;
    } else
        tok = t->tokens[index];

    return tok;
}


static int
str2int( const char*  p, const char*  end )
{
    int   result = 0;
    int   len    = end - p;

    for ( ; len > 0; len--, p++ )
    {
        int  c;

        if (p >= end)
            goto Fail;

        c = *p - '0';
        if ((unsigned)c >= 10)
            goto Fail;

        result = result*10 + c;
    }
    return  result;

Fail:
    return -1;
}

static double
str2float( const char*  p, const char*  end )
{
    int   result = 0;
    int   len    = end - p;
    char  temp[16];

    if (len >= (int)sizeof(temp))
        return 0.;

    memcpy( temp, p, len );
    temp[len] = 0;
    return strtod( temp, NULL );
}

/*****************************************************************/
/*****************************************************************/
/*****                                                       *****/
/*****       N M E A   P A R S E R                           *****/
/*****                                                       *****/
/*****************************************************************/
/*****************************************************************/

#define  NMEA_MAX_SIZE  83

typedef struct {
    int     pos;
    int     overflow;
    int     utc_year;
    int     utc_mon;
    int     utc_day;
    int     utc_diff;
    GpsLocation  fix;
    gps_location_callback  callback;
    char    in[ NMEA_MAX_SIZE+1 ];
} NmeaReader;


static void
nmea_reader_update_utc_diff( NmeaReader*  r )
{
    time_t         now = time(NULL);
    struct tm      tm_local;
    struct tm      tm_utc;
    long           time_local, time_utc;

    gmtime_r( &now, &tm_utc );
    localtime_r( &now, &tm_local );

    time_local = tm_local.tm_sec +
                 60*(tm_local.tm_min +
                 60*(tm_local.tm_hour +
                 24*(tm_local.tm_yday +
                 365*tm_local.tm_year)));

    time_utc = tm_utc.tm_sec +
               60*(tm_utc.tm_min +
               60*(tm_utc.tm_hour +
               24*(tm_utc.tm_yday +
               365*tm_utc.tm_year)));

    r->utc_diff = time_utc - time_local;
}


static void
nmea_reader_init( NmeaReader*  r )
{
    memset( r, 0, sizeof(*r) );

    r->pos      = 0;
    r->overflow = 0;
    r->utc_year = -1;
    r->utc_mon  = -1;
    r->utc_day  = -1;
    r->callback = NULL;

    nmea_reader_update_utc_diff( r );
}


static void
nmea_reader_set_callback( NmeaReader*  r, gps_location_callback  cb )
{
    r->callback = cb;
    if (cb != NULL && r->fix.flags != 0) {
        D("%s: sending latest fix to new callback", __FUNCTION__);
        r->callback( &r->fix );
        r->fix.flags = 0;
    }
}


static int
nmea_reader_update_time( NmeaReader*  r, Token  tok )
{
    int        hour, minute;
    double     seconds;
    struct tm  tm;
    time_t     fix_time;

    if (tok.p + 6 > tok.end)
        return -1;

    if (r->utc_year < 0) {
        // no date yet, get current one
        time_t  now = time(NULL);
        gmtime_r( &now, &tm );
        r->utc_year = tm.tm_year + 1900;
        r->utc_mon  = tm.tm_mon + 1;
        r->utc_day  = tm.tm_mday;
    }

    hour    = str2int(tok.p,   tok.p+2);
    minute  = str2int(tok.p+2, tok.p+4);
    seconds = str2float(tok.p+4, tok.end);

    tm.tm_hour = hour;
    tm.tm_min  = minute;
    tm.tm_sec  = (int) seconds;
    tm.tm_year = r->utc_year - 1900;
    tm.tm_mon  = r->utc_mon - 1;
    tm.tm_mday = r->utc_day;

    fix_time = mktime( &tm ) + r->utc_diff;
    r->fix.timestamp = (long long)fix_time * 1000;
    return 0;
}

static int
nmea_reader_update_date( NmeaReader*  r, Token  date, Token  time )
{
    Token  tok = date;
    int    day, mon, year;

    if (tok.p + 6 != tok.end) {
        D("date not properly formatted: '%.*s'", tok.end-tok.p, tok.p);
        return -1;
    }
    day  = str2int(tok.p, tok.p+2);
    mon  = str2int(tok.p+2, tok.p+4);
    year = str2int(tok.p+4, tok.p+6) + 2000;

    if ((day|mon|year) < 0) {
        D("date not properly formatted: '%.*s'", tok.end-tok.p, tok.p);
        return -1;
    }

    r->utc_year  = year;
    r->utc_mon   = mon;
    r->utc_day   = day;

    return nmea_reader_update_time( r, time );
}


static double
convert_from_hhmm( Token  tok )
{
    double  val     = str2float(tok.p, tok.end);
    int     degrees = (int)(floor(val) / 100);
    double  minutes = val - degrees*100.;
    double  dcoord  = degrees + minutes / 60.0;
    return dcoord;
}


static int
nmea_reader_update_latlong( NmeaReader*  r,
                            Token        latitude,
                            char         latitudeHemi,
                            Token        longitude,
                            char         longitudeHemi )
{
    double   lat, lon;
    Token    tok;

    tok = latitude;
    if (tok.p + 6 > tok.end) {
        D("latitude is too short: '%.*s'", tok.end-tok.p, tok.p);
        return -1;
    }
    lat = convert_from_hhmm(tok);
    if (latitudeHemi == 'S')
        lat = -lat;

    tok = longitude;
    if (tok.p + 6 > tok.end) {
        D("longitude is too short: '%.*s'", tok.end-tok.p, tok.p);
        return -1;
    }
    lon = convert_from_hhmm(tok);
    if (longitudeHemi == 'W')
        lon = -lon;

    r->fix.flags    |= GPS_LOCATION_HAS_LAT_LONG;
    r->fix.latitude  = lat;
    r->fix.longitude = lon;
    return 0;
}


static int
nmea_reader_update_altitude( NmeaReader*  r,
                             Token        altitude,
                             Token        units )
{
    double  alt;
    Token   tok = altitude;

    if (tok.p >= tok.end)
        return -1;

    r->fix.flags   |= GPS_LOCATION_HAS_ALTITUDE;
    r->fix.altitude = str2float(tok.p, tok.end);
    return 0;
}


static int
nmea_reader_update_bearing( NmeaReader*  r,
                            Token        bearing )
{
    double  alt;
    Token   tok = bearing;

    if (tok.p >= tok.end)
        return -1;

    r->fix.flags   |= GPS_LOCATION_HAS_BEARING;
    r->fix.bearing  = str2float(tok.p, tok.end);
    return 0;
}


static int
nmea_reader_update_speed( NmeaReader*  r,
                          Token        speed )
{
    double  alt;
    Token   tok = speed;

    if (tok.p >= tok.end)
        return -1;

    r->fix.flags   |= GPS_LOCATION_HAS_SPEED;
    r->fix.speed    = str2float(tok.p, tok.end);
    return 0;
}


static void
nmea_reader_parse( NmeaReader*  r )
{
   /* we received a complete sentence, now parse it to generate
    * a new GPS fix...
    */
    NmeaTokenizer  tzer[1];
    Token          tok;

    D("Received: '%.*s'", r->pos, r->in);
    if (r->pos < 9) {
        D("Too short. discarded.");
        return;
    }

    nmea_tokenizer_init(tzer, r->in, r->in + r->pos);
#if GPS_DEBUG
    {
        int  n;
        D("Found %d tokens", tzer->count);
        for (n = 0; n < tzer->count; n++) {
            Token  tok = nmea_tokenizer_get(tzer,n);
            D("%2d: '%.*s'", n, tok.end-tok.p, tok.p);
        }
    }
#endif

    tok = nmea_tokenizer_get(tzer, 0);
    if (tok.p + 5 > tok.end) {
        D("sentence id '%.*s' too short, ignored.", tok.end-tok.p, tok.p);
        return;
    }

    // ignore first two characters.
    tok.p += 2;
    if ( !memcmp(tok.p, "GGA", 3) ) {
        // GPS fix
        Token  tok_time          = nmea_tokenizer_get(tzer,1);
        Token  tok_latitude      = nmea_tokenizer_get(tzer,2);
        Token  tok_latitudeHemi  = nmea_tokenizer_get(tzer,3);
        Token  tok_longitude     = nmea_tokenizer_get(tzer,4);
        Token  tok_longitudeHemi = nmea_tokenizer_get(tzer,5);
        Token  tok_altitude      = nmea_tokenizer_get(tzer,9);
        Token  tok_altitudeUnits = nmea_tokenizer_get(tzer,10);

        nmea_reader_update_time(r, tok_time);
        nmea_reader_update_latlong(r, tok_latitude,
                                      tok_latitudeHemi.p[0],
                                      tok_longitude,
                                      tok_longitudeHemi.p[0]);
        nmea_reader_update_altitude(r, tok_altitude, tok_altitudeUnits);

    } else if ( !memcmp(tok.p, "GSA", 3) ) {
        // do something ?
    } else if ( !memcmp(tok.p, "RMC", 3) ) {
        Token  tok_time          = nmea_tokenizer_get(tzer,1);
        Token  tok_fixStatus     = nmea_tokenizer_get(tzer,2);
        Token  tok_latitude      = nmea_tokenizer_get(tzer,3);
        Token  tok_latitudeHemi  = nmea_tokenizer_get(tzer,4);
        Token  tok_longitude     = nmea_tokenizer_get(tzer,5);
        Token  tok_longitudeHemi = nmea_tokenizer_get(tzer,6);
        Token  tok_speed         = nmea_tokenizer_get(tzer,7);
        Token  tok_bearing       = nmea_tokenizer_get(tzer,8);
        Token  tok_date          = nmea_tokenizer_get(tzer,9);

        D("in RMC, fixStatus=%c", tok_fixStatus.p[0]);
        if (tok_fixStatus.p[0] == 'A')
        {
            nmea_reader_update_date( r, tok_date, tok_time );

            nmea_reader_update_latlong( r, tok_latitude,
                                           tok_latitudeHemi.p[0],
                                           tok_longitude,
                                           tok_longitudeHemi.p[0] );

            nmea_reader_update_bearing( r, tok_bearing );
            nmea_reader_update_speed  ( r, tok_speed );
        }
    } else {
        tok.p -= 2;
        D("unknown sentence '%.*s", tok.end-tok.p, tok.p);
    }
    if (r->fix.flags != 0) {
#if GPS_DEBUG
        char   temp[256];
        char*  p   = temp;
        char*  end = p + sizeof(temp);
        struct tm   utc;

        p += snprintf( p, end-p, "sending fix" );
        if (r->fix.flags & GPS_LOCATION_HAS_LAT_LONG) {
            p += snprintf(p, end-p, " lat=%g lon=%g", r->fix.latitude, r->fix.longitude);
        }
        if (r->fix.flags & GPS_LOCATION_HAS_ALTITUDE) {
            p += snprintf(p, end-p, " altitude=%g", r->fix.altitude);
        }
        if (r->fix.flags & GPS_LOCATION_HAS_SPEED) {
            p += snprintf(p, end-p, " speed=%g", r->fix.speed);
        }
        if (r->fix.flags & GPS_LOCATION_HAS_BEARING) {
            p += snprintf(p, end-p, " bearing=%g", r->fix.bearing);
        }
        if (r->fix.flags & GPS_LOCATION_HAS_ACCURACY) {
            p += snprintf(p,end-p, " accuracy=%g", r->fix.accuracy);
        }
        gmtime_r( (time_t*) &r->fix.timestamp, &utc );
        p += snprintf(p, end-p, " time=%s", asctime( &utc ) );
        D(temp);
#endif
        if (r->callback) {
            r->callback( &r->fix );
            r->fix.flags = 0;
        }
        else {
            D("no callback, keeping data until needed !");
        }
    }
}


static void
nmea_reader_addc( NmeaReader*  r, int  c )
{
    if (r->overflow) {
        r->overflow = (c != '\n');
        return;
    }

    if (r->pos >= (int) sizeof(r->in)-1 ) {
        r->overflow = 1;
        r->pos      = 0;
        return;
    }

    r->in[r->pos] = (char)c;
    r->pos       += 1;

    if (c == '\n') {
        nmea_reader_parse( r );
        r->pos = 0;
    }
}


/*****************************************************************/
/*****************************************************************/
/*****                                                       *****/
/*****       C O N N E C T I O N   S T A T E                 *****/
/*****                                                       *****/
/*****************************************************************/
/*****************************************************************/

/* commands sent to the gps thread */
enum {
    CMD_QUIT  = 0,
    CMD_START = 1,
    CMD_STOP  = 2
};


/* this is the state of our connection to the qemu_gpsd daemon */
typedef struct {
    int                     init;
    int                     fd;
    GpsCallbacks            callbacks;
    pthread_t               thread;
    int                     control[2];
    QemuChannel             channel;
} GpsState;

static GpsState  _gps_state[1];


static void
gps_state_done( GpsState*  s )
{
    // tell the thread to quit, and wait for it
    char   cmd = CMD_QUIT;
    void*  dummy;
    write( s->control[0], &cmd, 1 );
    pthread_join(s->thread, &dummy);

    // close the control socket pair
    close( s->control[0] ); s->control[0] = -1;
    close( s->control[1] ); s->control[1] = -1;

    // close connection to the QEMU GPS daemon
    close( s->fd ); s->fd = -1;
    s->init = 0;
}


static void
gps_state_start( GpsState*  s )
{
    char  cmd = CMD_START;
    int   ret;

    do { ret=write( s->control[0], &cmd, 1 ); }
    while (ret < 0 && errno == EINTR);

    if (ret != 1)
        D("%s: could not send CMD_START command: ret=%d: %s",
          __FUNCTION__, ret, strerror(errno));
}


static void
gps_state_stop( GpsState*  s )
{
    char  cmd = CMD_STOP;
    int   ret;

    do { ret=write( s->control[0], &cmd, 1 ); }
    while (ret < 0 && errno == EINTR);

    if (ret != 1)
        D("%s: could not send CMD_STOP command: ret=%d: %s",
          __FUNCTION__, ret, strerror(errno));
}


static int
epoll_register( int  epoll_fd, int  fd )
{
    struct epoll_event  ev;
    int                 ret, flags;

    /* important: make the fd non-blocking */
    flags = fcntl(fd, F_GETFL);
    fcntl(fd, F_SETFL, flags | O_NONBLOCK);

    ev.events  = EPOLLIN;
    ev.data.fd = fd;
    do {
        ret = epoll_ctl( epoll_fd, EPOLL_CTL_ADD, fd, &ev );
    } while (ret < 0 && errno == EINTR);
    return ret;
}


static int
epoll_deregister( int  epoll_fd, int  fd )
{
    int  ret;
    do {
        ret = epoll_ctl( epoll_fd, EPOLL_CTL_DEL, fd, NULL );
    } while (ret < 0 && errno == EINTR);
    return ret;
}

/* this is the main thread, it waits for commands from gps_state_start/stop and,
 * when started, messages from the QEMU GPS daemon. these are simple NMEA sentences
 * that must be parsed to be converted into GPS fixes sent to the framework
 */
static void*
gps_state_thread( void*  arg )
{
    GpsState*   state = (GpsState*) arg;
    NmeaReader  reader[1];
    int         epoll_fd   = epoll_create(2);
    int         started    = 0;
    int         gps_fd     = state->fd;
    int         control_fd = state->control[1];

    nmea_reader_init( reader );

    // register control file descriptors for polling
    epoll_register( epoll_fd, control_fd );
    epoll_register( epoll_fd, gps_fd );

    D("gps thread running");

    // now loop
    for (;;) {
        struct epoll_event   events[2];
        int                  ne, nevents;

        nevents = epoll_wait( epoll_fd, events, 2, -1 );
        if (nevents < 0) {
            if (errno != EINTR)
                LOGE("epoll_wait() unexpected error: %s", strerror(errno));
            continue;
        }
        D("gps thread received %d events", nevents);
        for (ne = 0; ne < nevents; ne++) {
            if ((events[ne].events & (EPOLLERR|EPOLLHUP)) != 0) {
                LOGE("EPOLLERR or EPOLLHUP after epoll_wait() !?");
                goto Exit;
            }
            if ((events[ne].events & EPOLLIN) != 0) {
                int  fd = events[ne].data.fd;

                if (fd == control_fd)
                {
                    char  cmd = 255;
                    int   ret;
                    D("gps control fd event");
                    do {
                        ret = read( fd, &cmd, 1 );
                    } while (ret < 0 && errno == EINTR);

                    if (cmd == CMD_QUIT) {
                        D("gps thread quitting on demand");
                        goto Exit;
                    }
                    else if (cmd == CMD_START) {
                        if (!started) {
                            D("gps thread starting  location_cb=%p", state->callbacks.location_cb);
                            started = 1;
                            nmea_reader_set_callback( reader, state->callbacks.location_cb );
                        }
                    }
                    else if (cmd == CMD_STOP) {
                        if (started) {
                            D("gps thread stopping");
                            started = 0;
                            nmea_reader_set_callback( reader, NULL );
                        }
                    }
                }
                else if (fd == gps_fd)
                {
                    char  buff[32];
                    D("gps fd event");
                    for (;;) {
                        int  nn, ret;

                        ret = read( fd, buff, sizeof(buff) );
                        if (ret < 0) {
                            if (errno == EINTR)
                                continue;
                            if (errno != EWOULDBLOCK)
                                LOGE("error while reading from gps daemon socket: %s:", strerror(errno));
                            break;
                        }
                        D("received %d bytes: %.*s", ret, ret, buff);
                        for (nn = 0; nn < ret; nn++)
                            nmea_reader_addc( reader, buff[nn] );
                    }
                    D("gps fd event end");
                }
                else
                {
                    LOGE("epoll_wait() returned unkown fd %d ?", fd);
                }
            }
        }
    }
Exit:
    return NULL;
}


static void
gps_state_init( GpsState*  state )
{
    state->init       = 1;
    state->control[0] = -1;
    state->control[1] = -1;
    state->fd         = -1;

    state->fd = qemu_channel_open( &state->channel,
                                   QEMU_CHANNEL_NAME,
                                   O_RDONLY );

    if (state->fd < 0) {
        D("no gps emulation detected");
        return;
    }

    D("gps emulation will read from %s", device);

    if ( socketpair( AF_LOCAL, SOCK_STREAM, 0, state->control ) < 0 ) {
        LOGE("could not create thread control socket pair: %s", strerror(errno));
        goto Fail;
    }

    if ( pthread_create( &state->thread, NULL, gps_state_thread, state ) != 0 ) {
        LOGE("could not create gps thread: %s", strerror(errno));
        goto Fail;
    }

    D("gps state initialized");
    return;

Fail:
    gps_state_done( state );
}


/*****************************************************************/
/*****************************************************************/
/*****                                                       *****/
/*****       I N T E R F A C E                               *****/
/*****                                                       *****/
/*****************************************************************/
/*****************************************************************/


static int
qemu_gps_init(GpsCallbacks* callbacks)
{
    GpsState*  s = _gps_state;

    if (!s->init)
        gps_state_init(s);

    if (s->fd < 0)
        return -1;

    s->callbacks = *callbacks;

    return 0;
}

static void
qemu_gps_cleanup(void)
{
    GpsState*  s = _gps_state;

    if (s->init)
        gps_state_done(s);
}


static int
qemu_gps_start()
{
    GpsState*  s = _gps_state;

    if (!s->init) {
        D("%s: called with uninitialized state !!", __FUNCTION__);
        return -1;
    }

    D("%s: called", __FUNCTION__);
    gps_state_start(s);
    return 0;
}


static int
qemu_gps_stop()
{
    GpsState*  s = _gps_state;

    if (!s->init) {
        D("%s: called with uninitialized state !!", __FUNCTION__);
        return -1;
    }

    D("%s: called", __FUNCTION__);
    gps_state_stop(s);
    return 0;
}


static void
qemu_gps_set_fix_frequency()
{
    GpsState*  s = _gps_state;

    if (!s->init) {
        D("%s: called with uninitialized state !!", __FUNCTION__);
        return;
    }

    D("%s: called", __FUNCTION__);
    // FIXME - support fix_frequency
}

static int
qemu_gps_inject_time(GpsUtcTime time, int64_t timeReference, int uncertainty)
{
    return 0;
}

static void
qemu_gps_delete_aiding_data(GpsAidingData flags)
{
}

static int qemu_gps_set_position_mode(GpsPositionMode mode, int fix_frequency)
{
    // FIXME - support fix_frequency
    // only standalone supported for now.
    if (mode != GPS_POSITION_MODE_STANDALONE)
        return -1;
    return 0;
}

static const void*
qemu_gps_get_extension(const char* name)
{
    return NULL;
}

static const GpsInterface  qemuGpsInterface = {
    qemu_gps_init,
    qemu_gps_start,
    qemu_gps_stop,
    qemu_gps_set_fix_frequency,
    qemu_gps_cleanup,
    qemu_gps_inject_time,
    qemu_gps_delete_aiding_data,
    qemu_gps_set_position_mode,
    qemu_gps_get_extension,
};

const GpsInterface* gps_get_qemu_interface()
{
    return &qemuGpsInterface;
}