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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}; //! ``` #[macro_use] extern crate log; #[macro_use] extern crate serde_derive; use serde::de::*; use serde::Deserializer; use std::fmt; use std::io; /// 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"; /// `gpsd` ships a VERSION response to each client when the client /// first connects to it. #[derive(Debug, Deserialize)] #[cfg_attr(feature = "serialize", derive(Serialize))] pub struct Version { /// Public release level. pub release: String, /// Internal revision-control level. pub rev: String, /// API major revision level. pub proto_major: u8, /// API minor revision level. pub proto_minor: u8, /// URL of the remote daemon reporting this version. If empty, /// this is the version of the local daemon. pub remote: Option<String>, } /// Device information (i.e. device enumeration). #[derive(Debug, Deserialize)] #[cfg_attr(feature = "serialize", derive(Serialize))] pub struct Devices { devices: Vec<DeviceInfo>, } /// Single device information as reported by `gpsd`. #[derive(Debug, Deserialize)] #[cfg_attr(feature = "serialize", derive(Serialize))] 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>, } /// Watch response. Elicits a report of per-subscriber policy. #[derive(Debug, Deserialize)] #[cfg_attr(feature = "serialize", derive(Serialize))] pub struct Watch { /// Enable (true) or disable (false) watcher mode. Default is /// true. pub enable: Option<bool>, /// Enable (true) or disable (false) dumping of JSON reports. /// Default is false. pub json: Option<bool>, /// Enable (true) or disable (false) dumping of binary packets /// as pseudo-NMEA. Default is false. pub 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. pub raw: Option<u8>, /// If true, apply scaling divisors to output before dumping; /// default is false. pub scaled: Option<bool>, /// undocumented pub 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. pub 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. pub pps: Option<bool>, } /// Responses from `gpsd` during handshake.. #[derive(Debug, Deserialize)] #[cfg_attr(feature = "serialize", derive(Serialize))] #[serde(tag = "class")] #[serde(rename_all = "UPPERCASE")] pub enum ResponseHandshake { Version(Version), Devices(Devices), Watch(Watch), } /// Device information. #[derive(Debug, Deserialize)] #[cfg_attr(feature = "serialize", derive(Serialize))] pub struct 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. 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>, /// 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. pub flags: Option<i32>, /// GPSD's name for the device driver type. Won't be reported /// before gpsd has seen identifiable packets from the device. pub driver: Option<String>, /// Whatever version information the device returned. pub subtype: Option<String>, /// Device speed in bits per second. pub bps: Option<u16>, /// N, O or E for no parity, odd, or even. pub parity: Option<String>, /// Stop bits (1 or 2). pub 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. pub native: Option<u8>, /// Device cycle time in seconds. pub 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. pub mincycle: Option<f32>, } /// Type of GPS fix. #[derive(Debug, Copy, Clone)] pub enum Mode { /// No fix at all. NoFix, /// Two dimensional fix, 2D. Fix2d, /// Three dimensional fix, 3D (i.e. with altitude). Fix3d, } impl fmt::Display for Mode { fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result { match self { Mode::NoFix => write!(f, "NoFix"), Mode::Fix2d => write!(f, "2d"), Mode::Fix3d => write!(f, "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), } } /// 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. #[derive(Debug, Deserialize)] #[cfg_attr(feature = "serialize", derive(Serialize))] pub struct Tpv { /// Name of the originating device. pub device: Option<String>, /// GPS fix status. pub status: Option<i32>, /// NMEA mode, see `Mode` enum. #[serde(deserialize_with = "mode_from_str")] pub 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. pub time: Option<String>, /// Estimated timestamp error (%f, seconds, 95% confidence). /// Present if time is present. pub ept: Option<f32>, pub leapseconds: Option<i32>, /// MSL altitude in meters. #[serde(rename = "altMSL")] pub alt_msl: Option<f32>, /// Altitude height above ellipsoid (elipsoid is unspecified, but probably WGS48) #[serde(rename = "altHAE")] pub alt_hae: Option<f32>, /// Geoid separation between whatever geoid the device uses and WGS84, in metres #[serde(rename = "geoidSep")] pub geoid_sep: Option<f32>, /// Latitude in degrees: +/- signifies North/South. Present /// when mode is 2 or 3. pub lat: Option<f64>, /// Longitude in degrees: +/- signifies East/West. Present /// when mode is 2 or 3. pub lon: Option<f64>, /// Altitude in meters. Present if mode is 3. pub 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. pub 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. pub epy: Option<f32>, /// Estimated vertical error in meters, 95% confidence. /// Present if mode is 3 and DOPs can be calculated from the /// satellite view. pub epv: Option<f32>, /// Course over ground, degrees from true north. pub track: Option<f32>, /// Speed over ground, meters per second. pub speed: Option<f32>, /// Climb (positive) or sink (negative) rate, meters per /// second. pub climb: Option<f32>, /// Direction error estimate in degrees, 95% confidence. pub epd: Option<f32>, /// Speed error estinmate in meters/sec, 95% confidence. pub eps: Option<f32>, /// Climb/sink error estimate in meters/sec, 95% confidence. pub epc: Option<f32>, /// Horizontal 2D position error in meters. pub eph: Option<f32>, } /// Detailed satellite information. #[derive(Debug, Deserialize)] #[cfg_attr(feature = "serialize", derive(Serialize))] 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: i16, /// Elevation in degrees. pub el: Option<f32>, /// Azimuth, degrees from true north. pub az: Option<f32>, /// Signal strength in dB. pub ss: Option<f32>, /// 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, pub gnssid: Option<u8>, pub svid: Option<u16>, pub health: Option<u8>, } /// 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. #[derive(Debug, Deserialize)] #[cfg_attr(feature = "serialize", derive(Serialize))] pub struct Sky { /// Name of originating device. pub device: Option<String>, /// Longitudinal dilution of precision, a dimensionless factor /// which should be multiplied by a base UERE to get an error /// estimate. pub xdop: Option<f32>, /// Latitudinal dilution of precision, a dimensionless factor /// which should be multiplied by a base UERE to get an error /// estimate. pub ydop: Option<f32>, /// Altitude dilution of precision, a dimensionless factor /// which should be multiplied by a base UERE to get an error /// estimate. pub vdop: Option<f32>, /// Time dilution of precision, a dimensionless factor which /// should be multiplied by a base UERE to get an error /// estimate. pub tdop: Option<f32>, /// Horizontal dilution of precision, a dimensionless factor /// which should be multiplied by a base UERE to get a /// circular error estimate. pub hdop: Option<f32>, /// Hyperspherical dilution of precision, a dimensionless /// factor which should be multiplied by a base UERE to get an /// error estimate. pub gdop: Option<f32>, /// Spherical dilution of precision, a dimensionless factor /// which should be multiplied by a base UERE to get an error /// estimate. pub pdop: Option<f32>, /// List of satellite objects in skyview. pub satellites: Vec<Satellite>, } /// This message is emitted each time the daemon sees a valid PPS (Pulse Per /// Second) strobe from a device. /// /// This message exactly mirrors the TOFF message except for two details. /// /// PPS emits the NTP precision. See the NTP documentation for their definition /// of precision. /// /// The TOFF message reports the GPS time as derived from the GPS serial data /// stream. The PPS message reports the GPS time as derived from the GPS PPS /// pulse. /// /// There are various sources of error in the reported clock times. The speed of /// the serial connection between the GPS and the system adds a delay to start /// of cycle detection. An even bigger error is added by the variable /// computation time inside the GPS. Taken together the time derived from the /// start of the GPS cycle can have offsets of 10 millisecond to 700 /// milliseconds and combined jitter and wander of 100 to 300 millisecond. /// /// This message is emitted once per second to watchers of a device emitting /// PPS, and reports the time of the start of the GPS second (when the 1PPS /// arrives) and seconds as reported by the system clock (which may be /// NTP-corrected) at that moment. /// /// The message contains two second/nanosecond pairs: real_sec and real_nsec /// contain the time the GPS thinks it was at the PPS edge; clock_sec and /// clock_nsec contain the time the system clock thinks it was at the PPS edge. /// real_nsec is always to nanosecond precision. clock_nsec is nanosecond /// precision on most systems. /// /// There are various sources of error in the reported clock times. For PPS /// delivered via a real serial-line strobe, serial-interrupt latency plus /// processing time to the timer call should be bounded above by about 10 /// microseconds; that can be reduced to less than 1 microsecond if your kernel /// supports RFC 2783. USB1.1-to-serial control-line emulation is limited to /// about 1 millisecond. #[derive(Debug, Deserialize)] #[cfg_attr(feature = "serialize", derive(Serialize))] pub struct Pps { /// Name of originating device. pub device: String, /// Seconds from the PPS source. pub real_sec: f32, /// Nanoseconds from the PPS source. pub real_nsec: f32, /// Seconds from the system clock. pub clock_sec: f32, /// Nanoseconds from the system clock. pub clock_nsec: f32, /// NTP style estimate of PPS precision. pub precision: f32, } /// Pseudorange noise report. #[derive(Debug, Deserialize)] #[cfg_attr(feature = "serialize", derive(Serialize))] pub struct Gst { /// Name of originating device. pub device: Option<String>, /// Time/date stamp in ISO8601 format, UTC. May have a fractional part of up /// to .001 sec precision. pub time: Option<String>, /// Value of the standard deviation of the range inputs to the navigation /// process (range inputs include pseudoranges and DGPS corrections). pub rms: Option<f32>, /// Standard deviation of semi-major axis of error ellipse, in meters. pub major: Option<f32>, /// Standard deviation of semi-minor axis of error ellipse, in meters. pub minor: Option<f32>, /// Orientation of semi-major axis of error ellipse, in degrees from true /// north. pub orient: Option<f32>, /// Standard deviation of latitude error, in meters. pub lat: Option<f32>, /// Standard deviation of longitude error, in meters. pub lon: Option<f32>, /// Standard deviation of altitude error, in meters. pub alt: Option<f32>, } /// Responses from `gpsd` after handshake (i.e. the payload) #[derive(Debug, Deserialize)] #[cfg_attr(feature = "serialize", derive(Serialize))] #[serde(tag = "class")] #[serde(rename_all = "UPPERCASE")] pub enum ResponseData { Device(Device), Tpv(Tpv), Sky(Sky), Pps(Pps), Gst(Gst), } /// All known `gpsd` responses (handshake + normal operation). #[derive(Debug, Deserialize)] #[cfg_attr(feature = "serialize", derive(Serialize))] #[serde(tag = "class")] #[serde(rename_all = "UPPERCASE")] pub enum UnifiedResponse { Version(Version), Devices(Devices), Watch(Watch), Device(Device), Tpv(Tpv), Sky(Sky), Pps(Pps), Gst(Gst), } /// 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) } } impl fmt::Display for GpsdError { fn fmt(&self, f: &mut fmt::Formatter) -> fmt::Result { match self { GpsdError::IoError(e) => write!(f, "IoError: {}", e), GpsdError::JsonError(e) => write!(f, "JsonError: {}", e), GpsdError::UnsupportedGpsdProtocolVersion => { write!(f, "UnsupportedGpsdProtocolVersion") } GpsdError::UnexpectedGpsdReply(e) => write!(f, "UnexpectedGpsdReply: {}", e), GpsdError::WatchFail(e) => write!(f, "WatchFail: {}", e), } } } /// 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( reader: &mut dyn io::BufRead, writer: &mut dyn io::Write, ) -> Result<(), GpsdError> { // Get VERSION let mut data = Vec::new(); reader.read_until(b'\n', &mut data)?; trace!("{}", String::from_utf8(data.clone()).unwrap()); let msg: ResponseHandshake = serde_json::from_slice(&data)?; match msg { ResponseHandshake::Version(v) => { if v.proto_major < PROTO_MAJOR_MIN { return Err(GpsdError::UnsupportedGpsdProtocolVersion); } } _ => { return Err(GpsdError::UnexpectedGpsdReply( String::from_utf8(data).unwrap(), )) } } // Enable WATCH writer.write_all(ENABLE_WATCH_CMD.as_bytes())?; writer.flush()?; // Get DEVICES let mut data = Vec::new(); reader.read_until(b'\n', &mut data)?; trace!("{}", String::from_utf8(data.clone()).unwrap()); let msg: ResponseHandshake = serde_json::from_slice(&data)?; match msg { ResponseHandshake::Devices(_) => {} _ => { return Err(GpsdError::UnexpectedGpsdReply( String::from_utf8(data).unwrap(), )) } } // Get WATCH let mut data = Vec::new(); reader.read_until(b'\n', &mut data)?; trace!("{}", String::from_utf8(data.clone()).unwrap()); let msg: ResponseHandshake = serde_json::from_slice(&data)?; match msg { ResponseHandshake::Watch(w) => { if let (false, false, true) = ( w.enable.unwrap_or(false), w.json.unwrap_or(false), w.nmea.unwrap_or(false), ) { return Err(GpsdError::WatchFail( String::from_utf8(data).unwrap(), )); } } _ => { return Err(GpsdError::UnexpectedGpsdReply( String::from_utf8(data).unwrap(), )) } } Ok(()) } /// Get one payload entry from `gpsd`. /// /// # Arguments /// /// * `reader` - reader to fetch data from `gpsd` /// * `writer` - write to send data to `gpsd` pub fn get_data(reader: &mut dyn io::BufRead) -> Result<ResponseData, GpsdError> { let mut data = Vec::new(); reader.read_until(b'\n', &mut data)?; trace!("{}", String::from_utf8(data.clone()).unwrap()); let msg: ResponseData = serde_json::from_slice(&data)?; Ok(msg) } #[cfg(test)] mod tests { use super::{get_data, handshake, GpsdError, Mode, ResponseData, 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(&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(&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(&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(&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(&mut reader).unwrap(); let test = match r { ResponseData::Tpv(tpv) => { assert!(match tpv.mode { Mode::Fix3d => true, _ => false, }); assert_eq!(tpv.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\":1.0,\"az\":2.0,\"ss\":3.0,\"used\":true,\"gnssid\":1,\"svid\":271,\"health\":1}]}\x0d\x0a"; let r = get_data(&mut reader).unwrap(); let test = match r { ResponseData::Sky(sky) => { assert_eq!(sky.device.unwrap(), "aDevice"); let actual = &sky.satellites[0]; assert_eq!(actual.prn, 123); assert_eq!(actual.el, Some(1.)); assert_eq!(actual.az, Some(2.)); assert_eq!(actual.ss, Some(3.)); assert_eq!(actual.used, true); assert_eq!(actual.gnssid, Some(1)); assert_eq!(actual.svid, Some(271)); assert_eq!(actual.health, Some(1)); Ok(()) } _ => Err(()), }; assert_eq!(test, Ok(())); } #[test] fn mode_to_string() { assert_eq!("NoFix", Mode::NoFix.to_string()); assert_eq!("2d", Mode::Fix2d.to_string()); assert_eq!("3d", Mode::Fix3d.to_string()); } }