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sdk:scripts:gps-udp-client [2019/07/08 12:47] – fachetsdk:scripts:gps-udp-client [2022/09/05 12:04] (current) – schmitt
Line 6: Line 6:
  */  */
  
-void usage() +void usage() { 
 + printf("usage: gps-udp-client.are <server> <port>\n"); 
 + exit(1); 
 +} 
 + 
 +int gpsd_restart ()
 { {
-    nb_syslog("Usage: gps-udp-client.are <server> <port>"); +    nb_syslog("Restarting GPS daemon"); 
-    exit(1);+ 
 +    nb_config_set("gpsd.0.status=0"); 
 +    sleep(3); 
 +    nb_config_set("gpsd.0.status=1"); 
 +    sleep(5); 
 + 
 +    return 0;
 } }
  
-int connect_gpsd ()+int gpsd_connect ()
 { {
-    for (attempt = 0; attempt < 60; attempt++) { +    nb_syslog("Connecting to GPS daemon");
-        sleep(1);+
  
-        sock = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP); +    gpsd = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP); 
-        if (sock < 0) { +    if (gpsd < 0) { 
-            nb_syslog("Unable to create socket"); +        nb_syslog("ERROR: Unable to open socket"); 
-            continue; +            exit(-1); 
-        } +    } 
-        nb_syslog("Connecting to GPS daemon"); +    for (attempt = 0; attempt <= 5; attempt++) { 
-        if (connect(sock, "127.0.0.1", 2947) < 0){ +        sleep(3);
-            nb_syslog("Could not connect to GPS daemon"); +
-            close(sock); +
-            continue; +
-        } +
-        nb_syslog("Requesting raw NMEA stream"); +
-        if (send(sock, "R\n") < 0) { +
-            nb_syslog("Unable to request raw NMEA stream"); +
-            close(sock); +
-            continue; +
-        }+
  
-        nb_syslog("Successfully connected to GPS daemon"); +        if (connect(gpsd, "127.0.0.1", 2947) < 0) { 
-        return sock;+            nb_syslog("Could not connect to daemon"); 
 + 
 +            if (attempt == 3) { 
 +                nb_syslog("Unable to connect, restarting daemon"); 
 +                gpsd_restart(); 
 +            } 
 +        } else { 
 +            break; 
 +        }
     }     }
 +    nb_syslog("Connected to daemon, requesting NMEA");
 +    send(gpsd,"R=1\n");
 +
 +    nb_syslog("Processing NMEA");
  
-    return -1;+    return gpsd;
 } }
  
 if (argc < 2) { if (argc < 2) {
-    usage();+ usage();
 } }
  
 SERVER = trim((string) argv[1]); SERVER = trim((string) argv[1]);
 PORT = (int) argv[2]; PORT = (int) argv[2];
- +gpsd = -1;
-gpsd = connect_gpsd(); +
-if (gpsd < 0) { +
-    exit(1); +
-}+
  
 /* open UDP server socket */ /* open UDP server socket */
 server = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP); server = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
 if (server < 0) { if (server < 0) {
-    nb_syslog("Unable to open server socket"); + nb_syslog("Unable to open socket"); 
-    close(gpsd); + exit(-1);
-    exit(1);+
 } }
  
 /* process NMEA stream */ /* process NMEA stream */
 nb_syslog("Processing NMEA data"); nb_syslog("Processing NMEA data");
- 
 while (1) { while (1) {
-    /* wait for socket data  */ +    /* connect to gpsd */ 
-    rv = select(gpsd, 3); +    if (gpsd < 0) { 
-    if (rv > 0) { +        gpsd = gpsd_connect(gpsd);
-        data = recv(gpsd); +
-        len = strlen(data); +
-    } else if (rv < 0) { +
-        nb_syslog("select failed"); +
-        len = -1; +
-    } else { +
-        /* nothing received */ +
-        continue; +
-    }  +
-    if (len <= 0) { +
-        nb_syslog("Receive failed, re-connecting to GPS daemon"); +
-        close(gpsd); +
-        gpsd = connect_gpsd();+
         if (gpsd < 0) {         if (gpsd < 0) {
-            exit(1); +                nb_syslog("ERROR: Unable to connect to daemon"); 
-        } +                sleep(5); 
-    } else { +                continue;
-       +
-       /* Convert message $GN to $GP */ +
-       /* if (strstr(data,"$GNGGA")==0) { +
-        *  a_arr = explode(data); +
-        *  a_arr[2]="P"; +
-        *  data = implode(a_arr); +
-        * } +
- */ +
-       /* skip all messages different from GPGGA */ +
-       /* if (strstr(data,"$GPGGA")==()) +
-        *  continue; +
-        */           +
-        sent = sendto(server, data, SERVER, PORT); +
-        if (sent != len) { +
-            nb_syslog("Unable to send message to %s:%d", SERVER, PORT);+
         }         }
 +    }
 +
 +    /* wait for client socket data  */
 +    rv = select(gpsd, 3);
 +
 +    if (rv == -1) {
 +            nb_syslog("ERROR: select failed, re-connecting");
 +            close(gpsd);
 +            gpsd = -1;
 +            continue;
 +    } else if (rv == 0) {
 +            /* nothing received */
 +            continue;
 +    }
 +    data = recv(gpsd);
 +    len = strlen(data);
 +
 +    if (len == 0) {
 +        nb_syslog("ERROR: no data, re-connecting");
 +        close(gpsd);
 +        gpsd = -1;
 +        continue;
 +    }
 +
 +    sent = sendto(server, data, SERVER, PORT);
 +    if (sent != len) {
 +        nb_syslog("ERROR: Unable to send %d bytes to %s:%d", len, SERVER, PORT);
     }     }
 } }
  
-close(gpsd); +if (gpsd > -1) close(gpsd); 
-close(server);+if (server > -1) close(server); 
 + 
 +exit(-1); 
  
-exit(0); 
  
 </code> </code>
  
  

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sdk/scripts/gps-udp-client.1562590034.txt.gz · Last modified: 2019/07/08 12:47 by fachet