test_recgps.c

open source for car navigation in linux

#ident "@(#) test_recGPS.c         v1.0.0"
/*
 * Copyright (C) 2002 Ricardo Arroyo <[e-mail]>
 *
 * This code may be used under the terms of Version 2 of the GPL,
 * read the file COPYING for details.
 *
 * This program is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * as published by the Free Software Foundation; either version 2
 * of the License, or (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
 ******************************************************************************/


/*Test of GPS Reception module*/


#include <stdio.h>
#include <sys/param.h>
#include <sys/stat.h>
#include <stdlib.h>
#include <errno.h>
#include <string.h>
#include <signal.h>

#include "lc_debug.h"
#include "lc_msg_q.h"
#include "lc_syslog.h"

#include "recGPS.h"
#include "gps.h"
#include "rGPS_Debug.h"

int iDebug;

static key_t ktGPSR_q = GPS_REC_Q; /* default GPS reception module queue key */
static key_t ktQueue; /* local queue */

static int iLocalQid;
static int iRemoteQid;



/*----------------------------------------------------------------------------*/
/*  FUNCTION :   vExitHandler(int iSigId)                                     */
/*                                                                            */
/*          .-   Handles the SIGTERM SIGNAL.                                  */
/*               deletes rec_GPS input queue                                  */
/*                                                                            */
/* INPUT PARAMETERS        iSigId:     Signal identifier (SIGTERM)            */
/*                                                                            */
/* OUTPUT PARAMETERS       none                                               */
/* 			                                                      */
/*----------------------------------------------------------------------------*/
static void vExitHandler(int iSigId)
{
RGPS_ctlMsg *pMsg = NULL;

    if (iDebug & DEP_GPSREC)
    {
        fprintf(stderr,"vExitHandler: signal=%d\n",iSigId);
    }

    // send disconnect message
    pMsg = malloc(sizeof(RGPS_ctlMsg));
    if (iDebug & DEP_GPSREC)
    {
        fprintf(stderr,"test_recGPS, pMsg=%lx\n",(long)pMsg);
    }
    pMsg->mtype = MSG_CONTROL;
    pMsg->iRGPSid = GPSREC_DISC;
    pMsg->RGPSctl.stcRGPS_disc.ktQueue = ktQueue;
    if (iDebug & DEP_GPSREC)
    {
        fprintf(stderr,"test_recGPS/vExitHandler, disconnect message: Queue=%d\n",pMsg->RGPSctl.stcRGPS_disc.ktQueue);
    }
    if (iSend2Queue(iRemoteQid, pMsg, sizeof(RGPS_ctlMsg)) < 0)
    {
        vLC_syslog(LCLOG_ERR_MSGQSEND, "test_recGPS/vExitHandler", iRemoteQid);
    }

    // delete recGPS input Queue
//    iDelQmsg(iQid);
    exit(0);
}


int main(int argc, char **argv)
{
    char sGPSdir[MAXPATHLEN];
    struct stat buf;
    FILE *inf;
    char line[MAXPATHLEN];

    RGPS_ctlMsg *pMsg = NULL;
    RGPS_dataMsg *pDMsg = NULL;

    char *p;

    // *************** Check for Debug environment variable ****************
    iDebug = ( getenv("GPSNAV_DEBUG") == (char *)0 ? 0 : atoi(getenv("GPSNAV_DEBUG")));

    if(argc != 5)
    {
        fprintf(stdout,"Usage: test_recGPS <local_queue_key> <Datum> <Units> <PosFormat>\n");
        exit(-1);
    }

    // register SIGTERM handler
    signal(SIGTERM,vExitHandler);
    signal(SIGQUIT,vExitHandler);
    signal(SIGINT,vExitHandler);

    p = getenv("GPSDIR");
    if(p)
    {
	(void) strcpy(sGPSdir,p);
	(void) strcat(sGPSdir,"/");
    }
    else
    {
	(void) strcpy(sGPSdir,"");
    }
    (void) strcat(sGPSdir,".GPSconf");

    if (iDebug & DEP_GPSREC)
    {
        fprintf(stderr,"test_recGPS: ConfFile = \"%s\"\n",sGPSdir);
    }

    if(!stat(sGPSdir,&buf))
    {
	if(buf.st_mode | S_IRUSR)
	{
	    if((inf=fopen(sGPSdir,"r")))
	    {
		while(fgets(line,MAXPATHLEN,inf))
		{
		    if (iDebug & DEP_GPSREC)
		    {
			fprintf(stderr,"test_recGPS: line = %s\n",line);
		    }
		    if(*line=='#' || *line=='\n') continue;
		    line[strlen(line)-1]='\0';

		    if(!strncmp(line,"REC_QUEUE",9))
		    {
			sscanf(&line[9],"%d",&ktGPSR_q);
			if (iDebug & DEP_GPSREC)
		    	{
			    fprintf(stderr,"Init_Jeeps: Queue = %d\n",ktGPSR_q);
		    	}
		    }
		}
	    }
	 }
    }

    ktQueue = atoi(argv[1]); /* first argument is local queue key */
    iLocalQid = iCreateQmsg(ktQueue);
    if (iLocalQid < 0)
    {
        vLC_syslog(LCLOG_ERR_MSGQCREATE, "test_recGPS", ktQueue);
	exit(-1);
    }

    iRemoteQid = iOpenQmsg(ktGPSR_q);
    if (iRemoteQid < 0)
    {
        vLC_syslog(LCLOG_ERR_MSGQOPEN, "test_recGPS", ktGPSR_q);
	exit(-1);
    }

    if (iDebug & DEP_GPSREC)
    {
        fprintf(stderr,"test_recGPS, iLocalQid=%d, iRemoteQid=%d\n",iLocalQid, iRemoteQid);
    }

    pMsg = malloc(sizeof(RGPS_ctlMsg));
    if (iDebug & DEP_GPSREC)
    {
        fprintf(stderr,"test_recGPS, pMsg=%lx\n",(long)pMsg);
    }
    pMsg->mtype = MSG_CONTROL;
    pMsg->iRGPSid = GPSREC_CON;
    pMsg->RGPSctl.stcRGPS_con.ktQueue = ktQueue;
    pMsg->RGPSctl.stcRGPS_con.iDatum = atoi(argv[2]);
    pMsg->RGPSctl.stcRGPS_con.btUnits = atoi(argv[3]);
    pMsg->RGPSctl.stcRGPS_con.btPosFormat = atoi(argv[4]);
    if (iDebug & DEP_GPSREC)
    {
        fprintf(stderr,"test_recGPS, connect message: Queue=%d, Datum=%d, Units=%d, PosFormat=%d\n",
		      pMsg->RGPSctl.stcRGPS_con.ktQueue,
	              pMsg->RGPSctl.stcRGPS_con.iDatum,
	              pMsg->RGPSctl.stcRGPS_con.btUnits,
	              pMsg->RGPSctl.stcRGPS_con.btPosFormat);
    }
    if (iSend2Queue(iRemoteQid, pMsg, sizeof(RGPS_ctlMsg)) < 0)
    {
        vLC_syslog(LCLOG_ERR_MSGQSEND, "test_recGPS", iRemoteQid);
    }

    for(;;)
    {
        pDMsg = NULL;
	pDMsg = (RGPS_dataMsg *)pRecQueue(iLocalQid);
	if (pDMsg == NULL)
	{
	    vLC_syslog(LCLOG_ERR_MSGQRECEIVE, "test_recGPS", iLocalQid);
	    exit (-1);
	}

	/* message received */
        if (iDebug & DEP_GPSREC)
        {
            fprintf(stderr,"test_recGPS, message received: Type=%ld, Id=%d\n",pDMsg->mtype, pDMsg->iRGPSid);
        }

	if (pDMsg->mtype == MSG_CONTROL)
	{
	    free(pDMsg);
	    pDMsg = NULL;
	}
	else
	{
	    switch (pDMsg->iRGPSid)
	    {
	        case GPSSEND_POS:
			if (iDebug & DEP_GPSREC)
			{
			    vPrint_Debug_DataPos(pDMsg, "test_recGPS");
			}
                    free(pDMsg);
		    pDMsg = NULL;
		    break;
	        default:
		    free(pDMsg);
		    pDMsg = NULL;
		    break;
	    }
	}

    }

}