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//! The `gpsd_proto` module contains types and functions to connect to //! [gpsd](http://catb.org/gpsd/) to get GPS coordinates and satellite //! information. //! //! `gpsd_proto` uses a plain TCP socket to connect to `gpsd`, reads //! and writes JSON messages. The main motivation to create this crate //! was independence from C libraries, like `libgps` (provided by //! `gpsd`) to ease cross compiling. //! //! A example demo application is provided in the `example` sub //! directory. Check the repository for up to date sample code. //! //! # Testing //! //! `gpsd_proto` has been tested against `gpsd` version 3.17 on macOS //! with a GPS mice (Adopt SkyTraQ Venus 8) and the iOS app //! [GPS2IP](http://www.capsicumdreams.com/iphone/gps2ip/). //! //! Feel free to report any other supported GPS by opening a GitHub //! issue. //! //! # Reference documentation //! //! Important reference documentation of `gpsd` are the [JSON //! protocol](http://www.catb.org/gpsd/gpsd_json.html) and the [client //! HOWTO](http://catb.org/gpsd/client-howto.html). //! //! # Development notes //! //! Start `gpsd` with a real GPS device: //! //! ```sh //! /usr/local/sbin/gpsd -N -D4 /dev/tty.SLAB_USBtoUART //! ``` //! //! Or start [gpsd](http://catb.org/gpsd/gpsd.html) with a TCP stream to a remote GPS: //! //! ```sh //! /usr/local/sbin/gpsd -N -D2 tcp://192.168.177.147:11123 //! ``` //! //! Test the connection to `gpsd` with `telnet localhost 2947` and send the string: //! //! ```text //! ?WATCH={"enable":true,"json":true}; //! ``` extern crate serde; extern crate serde_json; #[macro_use] extern crate serde_derive; use std::io; use std::io::Write; use serde::de::*; use serde::Deserializer; /// Minimum supported version of `gpsd`. pub const PROTO_MAJOR_MIN: u8 = 3; /// Command to enable watch pub const ENABLE_WATCH_CMD: &str = "?WATCH={\"enable\":true,\"json\":true};\r\n"; /// Simple device information as reported by `gpsd` #[derive(Debug, Deserialize)] pub struct DeviceInfo { /// Name the device for which the control bits are being reported, /// or for which they are to be applied. This attribute may be /// omitted only when there is exactly one subscribed channel. pub path: Option<String>, /// Time the device was activated as an ISO8601 timestamp. If the /// device is inactive this attribute is absent. pub activated: Option<String>, } /// Responses from `gpsd` during handshake #[derive(Debug, Deserialize)] #[serde(tag = "class")] pub enum ResponseHandshake { /// `gpsd` ships a VERSION response to each client when the client /// first connects to it. #[serde(rename = "VERSION")] Version { /// Public release level. release: String, /// Internal revision-control level. rev: String, /// API major revision level. proto_major: u8, /// API minor revision level. proto_minor: u8, /// URL of the remote daemon reporting this version. If empty, /// this is the version of the local daemon. remote: Option<String>, }, /// Device information (i.e. device enumeration) #[serde(rename = "DEVICES")] Devices { devices: Vec<DeviceInfo> }, /// Watch response. Elicits a report of per-subscriber policy. #[serde(rename = "WATCH")] Watch { /// Enable (true) or disable (false) watcher mode. Default is /// true. enable: Option<bool>, /// Enable (true) or disable (false) dumping of JSON reports. /// Default is false. json: Option<bool>, /// Enable (true) or disable (false) dumping of binary packets /// as pseudo-NMEA. Default is false. nmea: Option<bool>, /// Controls 'raw' mode. When this attribute is set to 1 for a /// channel, gpsd reports the unprocessed NMEA or AIVDM data /// stream from whatever device is attached. Binary GPS /// packets are hex-dumped. RTCM2 and RTCM3 packets are not /// dumped in raw mode. When this attribute is set to 2 for a /// channel that processes binary data, gpsd reports the /// received data verbatim without hex-dumping. raw: Option<u8>, /// If true, apply scaling divisors to output before dumping; /// default is false. scaled: Option<bool>, /// undocumented timing: Option<bool>, /// If true, aggregate AIS type24 sentence parts. If false, /// report each part as a separate JSON object, leaving the /// client to match MMSIs and aggregate. Default is false. /// Applies only to AIS reports. split24: Option<bool>, /// If true, emit the TOFF JSON message on each cycle and a /// PPS JSON message when the device issues 1PPS. Default is /// false. pps: Option<bool>, }, } /// Responses from `gpsd` after handshake (i.e. the payload) #[derive(Debug, Deserialize)] #[serde(tag = "class")] pub enum ResponseData { /// Device information #[serde(rename = "DEVICE")] Device { /// Name the device for which the control bits are being /// reported, or for which they are to be applied. This /// attribute may be omitted only when there is exactly one /// subscribed channel. path: Option<String>, /// Time the device was activated as an ISO8601 timestamp. If /// the device is inactive this attribute is absent. activated: Option<String>, /// Bit vector of property flags. Currently defined flags are: /// describe packet types seen so far (GPS, RTCM2, RTCM3, /// AIS). Won't be reported if empty, e.g. before gpsd has /// seen identifiable packets from the device. flags: Option<i32>, /// GPSD's name for the device driver type. Won't be reported /// before gpsd has seen identifiable packets from the device. driver: Option<String>, /// Whatever version information the device returned. subtype: Option<String>, /// Device speed in bits per second. bps: Option<u16>, /// N, O or E for no parity, odd, or even. parity: Option<String>, /// Stop bits (1 or 2). stopbits: Option<u8>, /// 0 means NMEA mode and 1 means alternate mode (binary if it /// has one, for SiRF and Evermore chipsets in particular). /// Attempting to set this mode on a non-GPS device will yield /// an error. native: Option<u8>, /// Device cycle time in seconds. cycle: Option<f32>, /// Device minimum cycle time in seconds. Reported from /// ?DEVICE when (and only when) the rate is switchable. It is /// read-only and not settable. mincycle: Option<f32>, }, /// GPS position. /// /// A TPV object is a time-position-velocity report. The "mode" /// field will be emitted before optional fields that may be /// absent when there is no fix. Error estimates will be emitted /// after the fix components they're associated with. Others may /// be reported or not depending on the fix quality. #[serde(rename = "TPV")] Tpv { /// Name of the originating device. device: Option<String>, /// NMEA mode, see `Mode` enum. #[serde(deserialize_with = "mode_from_str")] mode: Mode, /// Time/date stamp in ISO8601 format, UTC. May have a /// fractional part of up to .001sec precision. May be absent /// if mode is not 2 or 3. time: Option<String>, /// Estimated timestamp error (%f, seconds, 95% confidence). /// Present if time is present. ept: Option<f32>, /// Latitude in degrees: +/- signifies North/South. Present /// when mode is 2 or 3. lat: Option<f64>, /// Longitude in degrees: +/- signifies East/West. Present /// when mode is 2 or 3. lon: Option<f64>, /// Altitude in meters. Present if mode is 3. alt: Option<f32>, /// Longitude error estimate in meters, 95% confidence. /// Present if mode is 2 or 3 and DOPs can be calculated from /// the satellite view. epx: Option<f32>, /// Latitude error estimate in meters, 95% confidence. Present /// if mode is 2 or 3 and DOPs can be calculated from the /// satellite view. epy: Option<f32>, /// Estimated vertical error in meters, 95% confidence. /// Present if mode is 3 and DOPs can be calculated from the /// satellite view. epv: Option<f32>, /// Course over ground, degrees from true north. track: Option<f32>, /// Speed over ground, meters per second. speed: Option<f32>, /// Climb (positive) or sink (negative) rate, meters per /// second. climb: Option<f32>, /// Direction error estimate in degrees, 95% confidence. epd: Option<f32>, /// Speed error estinmate in meters/sec, 95% confidence. eps: Option<f32>, /// Climb/sink error estimate in meters/sec, 95% confidence. epc: Option<f32>, }, /// Satellites information. /// /// A SKY object reports a sky view of the GPS satellite /// positions. If there is no GPS device available, or no skyview /// has been reported yet. /// /// Many devices compute dilution of precision factors but do not /// include them in their reports. Many that do report DOPs report /// only HDOP, two-dimensional circular error. gpsd always passes /// through whatever the device actually reports, then attempts to /// fill in other DOPs by calculating the appropriate determinants /// in a covariance matrix based on the satellite view. DOPs may /// be missing if some of these determinants are singular. It can /// even happen that the device reports an error estimate in /// meters when the corresponding DOP is unavailable; some devices /// use more sophisticated error modeling than the covariance /// calculation. #[serde(rename = "SKY")] Sky { /// Name of originating device. device: Option<String>, /// Longitudinal dilution of precision, a dimensionless factor /// which should be multiplied by a base UERE to get an error /// estimate. xdop: Option<f32>, /// Latitudinal dilution of precision, a dimensionless factor /// which should be multiplied by a base UERE to get an error /// estimate. ydop: Option<f32>, /// Altitude dilution of precision, a dimensionless factor /// which should be multiplied by a base UERE to get an error /// estimate. vdop: Option<f32>, /// Time dilution of precision, a dimensionless factor which /// should be multiplied by a base UERE to get an error /// estimate. tdop: Option<f32>, /// Horizontal dilution of precision, a dimensionless factor /// which should be multiplied by a base UERE to get a /// circular error estimate. hdop: Option<f32>, /// Hyperspherical dilution of precision, a dimensionless /// factor which should be multiplied by a base UERE to get an /// error estimate. gdop: Option<f32>, /// Spherical dilution of precision, a dimensionless factor /// which should be multiplied by a base UERE to get an error /// estimate. pdop: Option<f32>, /// List of satellite objects in skyview. satellites: Vec<Satellite>, }, } /// Type of GPS fix #[derive(Debug)] pub enum Mode { /// No fix at all. NoFix, /// Two dimensional fix, 2D. Fix2d, /// Three dimensional fix, 3D (i.e. with altitude). Fix3d, } impl ToString for Mode { fn to_string(&self) -> String { match self { Mode::NoFix => String::from("NoFix"), Mode::Fix2d => String::from("2d"), Mode::Fix3d => String::from("3d"), } } } fn mode_from_str<'de, D>(deserializer: D) -> Result<Mode, D::Error> where D: Deserializer<'de>, { let s = u8::deserialize(deserializer)?; match s { 2 => Ok(Mode::Fix2d), 3 => Ok(Mode::Fix3d), _ => Ok(Mode::NoFix), } } /// Detailed satellite information. #[derive(Debug, Deserialize)] pub struct Satellite { /// PRN ID of the satellite. 1-63 are GNSS satellites, 64-96 are /// GLONASS satellites, 100-164 are SBAS satellites. #[serde(rename = "PRN")] pub prn: u16, /// Elevation in degrees. pub el: u16, /// Azimuth, degrees from true north. pub az: u16, /// Signal strength in dB. pub ss: u16, /// Used in current solution? (SBAS/WAAS/EGNOS satellites may be /// flagged used if the solution has corrections from them, but /// not all drivers make this information available.). pub used: bool, } /// Errors during handshake or data acquisition. #[derive(Debug)] pub enum GpsdError { /// Generic I/O error. IoError(io::Error), /// JSON error. JsonError(serde_json::Error), /// The protocol version reported by `gpsd` is smaller `PROTO_MAJOR_MIN`. UnsupportedGpsdProtocolVersion, /// Unexpected reply of `gpsd`. UnexpectedGpsdReply(String), /// Failed to enable watch. WatchFail(String), } impl From<io::Error> for GpsdError { fn from(err: io::Error) -> GpsdError { GpsdError::IoError(err) } } impl From<serde_json::Error> for GpsdError { fn from(err: serde_json::Error) -> GpsdError { GpsdError::JsonError(err) } } /// Performs the initial handshake with `gpsd`. /// /// The following sequence of messages is expected: get VERSION, set /// WATCH, get DEVICES, get WATCH. /// /// # Arguments /// /// * `debug` - enable debug printing of raw JSON data received /// * `reader` - reader to fetch data from `gpsd` /// * `writer` - write to send data to `gpsd` /// /// # Errors /// /// If the handshake fails, this functions returns an error that /// indicates the type of error. pub fn handshake<R>( debug: bool, reader: &mut io::BufRead, writer: &mut io::BufWriter<R>, ) -> Result<(), GpsdError> where R: std::io::Write, { // Get VERSION let mut data = Vec::new(); reader.read_until(b'\n', &mut data)?; if debug { println!("DEBUG {}", String::from_utf8(data.clone()).unwrap()); } let msg: ResponseHandshake = serde_json::from_slice(&mut data)?; match msg { ResponseHandshake::Version { release: _, rev: _, proto_major, .. } => { if proto_major < PROTO_MAJOR_MIN { return Err(GpsdError::UnsupportedGpsdProtocolVersion); } } _ => { return Err(GpsdError::UnexpectedGpsdReply( String::from_utf8(data.clone()).unwrap(), )) } } // Enable WATCH writer.write(ENABLE_WATCH_CMD.as_bytes())?; writer.flush()?; // Get DEVICES let mut data = Vec::new(); reader.read_until(b'\n', &mut data)?; if debug { println!("DEBUG {}", String::from_utf8(data.clone()).unwrap()); } let msg: ResponseHandshake = serde_json::from_slice(&mut data)?; match msg { ResponseHandshake::Devices { devices: _ } => {} _ => { return Err(GpsdError::UnexpectedGpsdReply( String::from_utf8(data.clone()).unwrap(), )) } } // Get WATCH let mut data = Vec::new(); reader.read_until(b'\n', &mut data)?; if debug { println!("DEBUG {}", String::from_utf8(data.clone()).unwrap()); } let msg: ResponseHandshake = serde_json::from_slice(&mut data)?; match msg { ResponseHandshake::Watch { enable, json, nmea, .. } => { if let (false, false, true) = ( enable.unwrap_or(false), json.unwrap_or(false), nmea.unwrap_or(false), ) { return Err(GpsdError::WatchFail( String::from_utf8(data.clone()).unwrap(), )); } } _ => { return Err(GpsdError::UnexpectedGpsdReply( String::from_utf8(data.clone()).unwrap(), )) } } Ok(()) } /// Get one payload entry from `gpsd`. /// /// # Arguments /// /// * `debug` - enable debug printing of raw JSON data received /// * `reader` - reader to fetch data from `gpsd` /// * `writer` - write to send data to `gpsd` pub fn get_data(debug: bool, reader: &mut io::BufRead) -> Result<ResponseData, GpsdError> { let mut data = Vec::new(); reader.read_until(b'\n', &mut data)?; if debug { println!("DEBUG {}", String::from_utf8(data.clone()).unwrap()); } let msg: ResponseData = serde_json::from_slice(&mut data)?; Ok(msg) } #[cfg(test)] mod tests { use super::{get_data, handshake, GpsdError, Mode, ResponseData, Satellite, ENABLE_WATCH_CMD}; use std::io::BufWriter; #[test] fn handshake_ok() { // Note: linefeeds (0x0a) are added implicit; each line ends with 0x0d 0x0a. let mut reader: &[u8] = b"{\"class\":\"VERSION\",\"release\":\"blah\",\"rev\":\"blurp\",\"proto_major\":3,\"proto_minor\":12}\x0d {\"class\":\"DEVICES\",\"devices\":[{\"path\":\"/dev/gps\",\"activated\":\"true\"}]} {\"class\":\"WATCH\",\"enable\":true,\"json\":true,\"nmea\":false} "; let mut writer = BufWriter::new(Vec::<u8>::new()); let r = handshake(false, &mut reader, &mut writer); assert!(r.is_ok()); assert_eq!(writer.get_mut().as_slice(), ENABLE_WATCH_CMD.as_bytes()); } #[test] fn handshake_unsupported_protocol_version() { let mut reader: &[u8] = b"{\"class\":\"VERSION\",\"release\":\"blah\",\"rev\":\"blurp\",\"proto_major\":2,\"proto_minor\":17}\x0d "; let mut writer = BufWriter::new(Vec::<u8>::new()); let err = match handshake(false, &mut reader, &mut writer) { Err(GpsdError::UnsupportedGpsdProtocolVersion) => Ok(()), _ => Err(()), }; assert_eq!(err, Ok(())); let empty: &[u8] = &[]; assert_eq!(writer.get_mut().as_slice(), empty); } #[test] fn handshake_unexpected_gpsd_reply() { // A possible response, but in the wrong order; At the begin // of the handshake, a VERSION reply is expected. let mut reader: &[u8] = b"{\"class\":\"DEVICES\",\"devices\":[{\"path\":\"/dev/gps\",\"activated\":\"true\"}]} "; let mut writer = BufWriter::new(Vec::<u8>::new()); let err = match handshake(true, &mut reader, &mut writer) { Err(GpsdError::UnexpectedGpsdReply(_)) => Ok(()), _ => Err(()), }; assert_eq!(err, Ok(())); let empty: &[u8] = &[]; assert_eq!(writer.get_mut().as_slice(), empty); } #[test] fn handshake_json_error() { let mut reader: &[u8] = b"{\"class\":broken"; let mut writer = BufWriter::new(Vec::<u8>::new()); let err = match handshake(false, &mut reader, &mut writer) { Err(GpsdError::JsonError(_)) => Ok(()), _ => Err(()), }; assert_eq!(err, Ok(())); let empty: &[u8] = &[]; assert_eq!(writer.get_mut().as_slice(), empty); } #[test] fn get_data_tpv() { let mut reader: &[u8] = b"{\"class\":\"TPV\",\"mode\":3,\"lat\":66.123}\x0d\x0a"; let r = get_data(false, &mut reader).unwrap(); let test = match r { ResponseData::Tpv { device: _, mode, time: _, ept: _, lat, .. } => { assert!(match mode { Mode::Fix3d => true, _ => false, }); assert_eq!(lat.unwrap(), 66.123); Ok(()) } _ => Err(()), }; assert_eq!(test, Ok(())); } #[test] fn get_data_sky() { let mut reader: &[u8] = b"{\"class\":\"SKY\",\"device\":\"adevice\",\"satellites\":[{\"PRN\":123,\"el\":1,\"az\":2,\"ss\":3,\"used\":true}]}\x0d\x0a"; let r = get_data(false, &mut reader).unwrap(); let test = match r { ResponseData::Sky { device, xdop: _, ydop: _, vdop: _, tdop: _, hdop: _, gdop: _, pdop: _, satellites, } => { assert_eq!(device.unwrap(), "adevice"); let actual = &satellites[0]; match actual { Satellite { prn: 123, el: 1, az: 2, ss: 3, used: true, } => Ok(()), _ => Err(()), } } _ => Err(()), }; assert_eq!(test, Ok(())); } }