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cc: Added inline to Tile::IsReadyToDraw
[chromium-blink-merge.git] / third_party / gpsd / release-3.1 / gps.h
blob4ecce8ec24c7bc71954fdb91789451467131cea0
1 /* gps.h -- interface of the libgps library */
2 /*
3 * This file is Copyright (c) 2010 by the GPSD project
4 * BSD terms apply: see the file COPYING in the distribution root for details.
5 */
6 #ifndef _GPSD_GPS_H_
7 #define _GPSD_GPS_H_
8
9 #ifdef __cplusplus
10 extern "C" {
11 #endif
12
13 /* Macro for declaring function arguments unused. */
14 #if defined(__GNUC__)
15 # define UNUSED __attribute__((unused)) /* Flag variable as unused */
16 #else /* not __GNUC__ */
17 # define UNUSED
18 #endif
19
20
21 #include <sys/types.h>
22 #include <sys/time.h>
23 #include <stdbool.h>
24 #include <inttypes.h> /* stdint.h would be smaller but not all have it */
25 #include <limits.h>
26 #include <time.h>
27 #include <signal.h>
28 #include <stdio.h>
29 #ifndef S_SPLINT_S
30 #include <pthread.h> /* pacifies OpenBSD's compiler */
31 #endif
32
33 /*
34 * 4.1 - Base version for initial JSON protocol (Dec 2009, release 2.90)
35 * 4.2 - AIS application IDs split into DAC and FID (July 2010, release 2.95)
36 * 5.0 - MAXCHANNELS bumped from 20 to 32 for GLONASS (Mar 2011, release 2.96)
37 * gps_open() becomes reentrant, what gps_open_r() used to be.
38 * gps_poll() removed in favor of gps_read(). The raw hook is gone.
39 */
40 #define GPSD_API_MAJOR_VERSION 5 /* bump on incompatible changes */
41 #define GPSD_API_MINOR_VERSION 0 /* bump on compatible changes */
42
43 #define MAXTAGLEN 8 /* maximum length of sentence tag name */
44 #define MAXCHANNELS 72 /* must be > 12 GPS + 12 GLONASS + 2 WAAS */
45 #define GPS_PRNMAX 32 /* above this number are SBAS satellites */
46 #define GPS_PATH_MAX 64 /* dev files usually have short names */
47 #define MAXUSERDEVS 4 /* max devices per user */
48
49 /*
50 * The structure describing an uncertainty volume in kinematic space.
51 * This is what GPSes are meant to produce; all the other info is
52 * technical impedimenta.
53 *
54 * All double values use NAN to indicate data not available.
55 *
56 * Usually all the information in this structure was considered valid
57 * by the GPS at the time of update. This will be so if you are using
58 * a GPS chipset that speaks SiRF binary, Garmin binary, or Zodiac binary.
59 * This covers over 80% of GPS products in early 2005.
60 *
61 * If you are using a chipset that speaks NMEA, this structure is updated
62 * in bits by GPRMC (lat/lon, track, speed), GPGGA (alt, climb), GPGLL
63 * (lat/lon), and GPGSA (eph, epv). Most NMEA GPSes take a single fix
64 * at the beginning of a 1-second cycle and report the same timestamp in
65 * GPRMC, GPGGA, and GPGLL; for these, all info is guaranteed correctly
66 * synced to the time member, but you'll get different stages of the same
67 * update depending on where in the cycle you poll. A very few GPSes,
68 * like the Garmin 48, take a new fix before more than one of of
69 * GPRMC/GPGGA/GPGLL during a single cycle; thus, they may have different
70 * timestamps and some data in this structure can be up to 1 cycle (usually
71 * 1 second) older than the fix time.
72 *
73 * Error estimates are at 95% confidence.
74 */
75 typedef double timestamp_t; /* Unix time in seconds with fractional part */
76
77 struct gps_fix_t {
78 timestamp_t time; /* Time of update */
79 int mode; /* Mode of fix */
80 #define MODE_NOT_SEEN 0 /* mode update not seen yet */
81 #define MODE_NO_FIX 1 /* none */
82 #define MODE_2D 2 /* good for latitude/longitude */
83 #define MODE_3D 3 /* good for altitude/climb too */
84 double ept; /* Expected time uncertainty */
85 double latitude; /* Latitude in degrees (valid if mode >= 2) */
86 double epy; /* Latitude position uncertainty, meters */
87 double longitude; /* Longitude in degrees (valid if mode >= 2) */
88 double epx; /* Longitude position uncertainty, meters */
89 double altitude; /* Altitude in meters (valid if mode == 3) */
90 double epv; /* Vertical position uncertainty, meters */
91 double track; /* Course made good (relative to true north) */
92 double epd; /* Track uncertainty, degrees */
93 double speed; /* Speed over ground, meters/sec */
94 double eps; /* Speed uncertainty, meters/sec */
95 double climb; /* Vertical speed, meters/sec */
96 double epc; /* Vertical speed uncertainty */
97 };
98
99 /*
100 * The structure describing the pseudorange errors (GPGST)
101 */
102 struct gst_t {
103 double utctime;
104 double rms_deviation;
105 double smajor_deviation;
106 double sminor_deviation;
107 double smajor_orientation;
108 double lat_err_deviation;
109 double lon_err_deviation;
110 double alt_err_deviation;
111 };
112
113 /*
114 * From the RCTM104 2.x standard:
115 *
116 * "The 30 bit words (as opposed to 32 bit words) coupled with a 50 Hz
117 * transmission rate provides a convenient timing capability where the
118 * times of word boundaries are a rational multiple of 0.6 seconds."
119 *
120 * "Each frame is N+2 words long, where N is the number of message data
121 * words. For example, a filler message (type 6 or 34) with no message
122 * data will have N=0, and will consist only of two header words. The
123 * maximum number of data words allowed by the format is 31, so that
124 * the longest possible message will have a total of 33 words."
125 */
126 #define RTCM2_WORDS_MAX 33
127 #define MAXCORRECTIONS 18 /* max correction count in type 1 or 9 */
128 #define MAXSTATIONS 10 /* maximum stations in almanac, type 5 */
129 /* RTCM104 doesn't specify this, so give it the largest reasonable value */
130 #define MAXHEALTH (RTCM2_WORDS_MAX-2)
131
132 #ifndef S_SPLINT_S
133 /*
134 * A nominally 30-bit word (24 bits of data, 6 bits of parity)
135 * used both in the GPS downlink protocol described in IS-GPS-200
136 * and in the format for DGPS corrections used in RTCM-104v2.
137 */
138 typedef /*@unsignedintegraltype@*/ uint32_t isgps30bits_t;
139 #endif /* S_SPLINT_S */
140
141 /*
142 * Values for "system" fields. Note, the encoding logic is senstive to the
143 * actual values of these; it's not sufficient that they're distinct.
144 */
145 #define NAVSYSTEM_GPS 0
146 #define NAVSYSTEM_GLONASS 1
147 #define NAVSYSTEM_GALILEO 2
148 #define NAVSYSTEM_UNKNOWN 3
149
150 struct rtcm2_t {
151 /* header contents */
152 unsigned type; /* RTCM message type */
153 unsigned length; /* length (words) */
154 double zcount; /* time within hour: GPS time, no leap secs */
155 unsigned refstaid; /* reference station ID */
156 unsigned seqnum; /* message sequence number (modulo 8) */
157 unsigned stathlth; /* station health */
158
159 /* message data in decoded form */
160 union {
161 struct {
162 unsigned int nentries;
163 struct gps_rangesat_t { /* data from messages 1 & 9 */
164 unsigned ident; /* satellite ID */
165 unsigned udre; /* user diff. range error */
166 unsigned iod; /* issue of data */
167 double prc; /* range error */
168 double rrc; /* range error rate */
169 } sat[MAXCORRECTIONS];
170 } gps_ranges;
171 struct { /* data for type 3 messages */
172 bool valid; /* is message well-formed? */
173 double x, y, z;
174 } ecef;
175 struct { /* data from type 4 messages */
176 bool valid; /* is message well-formed? */
177 int system;
178 int sense;
179 #define SENSE_INVALID 0
180 #define SENSE_GLOBAL 1
181 #define SENSE_LOCAL 2
182 char datum[6];
183 double dx, dy, dz;
184 } reference;
185 struct { /* data from type 5 messages */
186 unsigned int nentries;
187 struct consat_t {
188 unsigned ident; /* satellite ID */
189 bool iodl; /* issue of data */
190 unsigned int health; /* is satellite healthy? */
191 #define HEALTH_NORMAL (0) /* Radiobeacon operation normal */
192 #define HEALTH_UNMONITORED (1) /* No integrity monitor operating */
193 #define HEALTH_NOINFO (2) /* No information available */
194 #define HEALTH_DONOTUSE (3) /* Do not use this radiobeacon */
195 int snr; /* signal-to-noise ratio, dB */
196 #define SNR_BAD -1 /* not reported */
197 bool health_en; /* health enabled */
198 bool new_data; /* new data? */
199 bool los_warning; /* line-of-sight warning */
200 unsigned int tou; /* time to unhealth, seconds */
201 } sat[MAXHEALTH];
202 } conhealth;
203 struct { /* data from type 7 messages */
204 unsigned int nentries;
205 struct station_t {
206 double latitude, longitude; /* location */
207 unsigned int range; /* range in km */
208 double frequency; /* broadcast freq */
209 unsigned int health; /* station health */
210 unsigned int station_id; /* of the transmitter */
211 unsigned int bitrate; /* of station transmissions */
212 } station[MAXSTATIONS];
213 } almanac;
214 struct { /* data for type 13 messages */
215 bool status; /* expect a text message */
216 bool rangeflag; /* station range altered? */
217 double lat, lon; /* station longitude/latitude */
218 unsigned int range; /* transmission range in km */
219 } xmitter;
220 struct { /* data from type 14 messages */
221 unsigned int week; /* GPS week (0-1023) */
222 unsigned int hour; /* Hour in week (0-167) */
223 unsigned int leapsecs; /* Leap seconds (0-63) */
224 } gpstime;
225 struct {
226 unsigned int nentries;
227 struct glonass_rangesat_t { /* data from message type 31 */
228 unsigned ident; /* satellite ID */
229 unsigned udre; /* user diff. range error */
230 unsigned tod; /* issue of data */
231 bool change; /* ephemeris change bit */
232 double prc; /* range error */
233 double rrc; /* range error rate */
234 } sat[MAXCORRECTIONS];
235 } glonass_ranges;
236 /* data from type 16 messages */
237 char message[(RTCM2_WORDS_MAX-2) * sizeof(isgps30bits_t)];
238 /* data from messages of unknown type */
239 isgps30bits_t words[RTCM2_WORDS_MAX-2];
240 };
241 };
242
243 /* RTCM3 report structures begin here */
244
245 #define RTCM3_MAX_SATELLITES 64
246 #define RTCM3_MAX_DESCRIPTOR 31
247 #define RTCM3_MAX_ANNOUNCEMENTS 32
248
249 struct rtcm3_rtk_hdr { /* header data from 1001, 1002, 1003, 1004 */
250 /* Used for both GPS and GLONASS, but their timebases differ */
251 unsigned int station_id; /* Reference Station ID */
252 time_t tow; /* GPS Epoch Time (TOW) in ms,
253 or GLONASS Epoch Time in ms */
254 bool sync; /* Synchronous GNSS Message Flag */
255 unsigned short satcount; /* # Satellite Signals Processed */
256 bool smoothing; /* Divergence-free Smoothing Indicator */
257 unsigned short interval; /* Smoothing Interval */
258 };
259
260 struct rtcm3_basic_rtk {
261 unsigned char indicator; /* Indicator */
262 short channel; /* Satellite Frequency Channel Number
263 (GLONASS only) */
264 double pseudorange; /* Pseudorange */
265 double rangediff; /* PhaseRange – Pseudorange in meters */
266 unsigned char locktime; /* Lock time Indicator */
267 };
268
269 struct rtcm3_extended_rtk {
270 unsigned char indicator; /* Indicator */
271 short channel; /* Satellite Frequency Channel Number
272 (GLONASS only) */
273 double pseudorange; /* Pseudorange */
274 double rangediff; /* PhaseRange – L1 Pseudorange */
275 unsigned char locktime; /* Lock time Indicator */
276 unsigned char ambiguity; /* Integer Pseudorange
277 Modulus Ambiguity */
278 double CNR; /* Carrier-to-Noise Ratio */
279 };
280
281 struct rtcm3_network_rtk_header {
282 unsigned int network_id; /* Network ID */
283 unsigned int subnetwork_id; /* Subnetwork ID */
284 time_t time; /* GPS Epoch Time (TOW) in ms */
285 bool multimesg; /* GPS Multiple Message Indicator */
286 unsigned master_id; /* Master Reference Station ID */
287 unsigned aux_id; /* Auxilary Reference Station ID */
288 unsigned char satcount; /* count of GPS satellites */
289 };
290
291 struct rtcm3_correction_diff {
292 unsigned char ident; /* satellite ID */
293 enum {reserved, correct, widelane, uncertain} ambiguity;
294 unsigned char nonsync;
295 double geometric_diff; /* Geometric Carrier Phase
296 Correction Difference (1016, 1017) */
297 unsigned char iode; /* GPS IODE (1016, 1017) */
298 double ionospheric_diff; /* Ionospheric Carrier Phase
299 Correction Difference (1015, 1017) */
300 };
301
302 struct rtcm3_t {
303 /* header contents */
304 unsigned type; /* RTCM 3.x message type */
305 unsigned length; /* payload length, inclusive of checksum */
306
307 union {
308 /* 1001-1013 were present in the 3.0 version */
309 struct {
310 struct rtcm3_rtk_hdr header;
311 struct rtcm3_1001_t {
312 unsigned ident; /* Satellite ID */
313 struct rtcm3_basic_rtk L1;
314 } rtk_data[RTCM3_MAX_SATELLITES];
315 } rtcm3_1001;
316 struct rtcm3_1002_t {
317 struct rtcm3_rtk_hdr header;
318 struct {
319 unsigned ident; /* Satellite ID */
320 struct rtcm3_extended_rtk L1;
321 } rtk_data[RTCM3_MAX_SATELLITES];
322 } rtcm3_1002;
323 struct rtcm3_1003_t {
324 struct rtcm3_rtk_hdr header;
325 struct {
326 unsigned ident; /* Satellite ID */
327 struct rtcm3_basic_rtk L1;
328 struct rtcm3_basic_rtk L2;
329 } rtk_data[RTCM3_MAX_SATELLITES];
330 } rtcm3_1003;
331 struct rtcm3_1004_t {
332 struct rtcm3_rtk_hdr header;
333 struct {
334 unsigned ident; /* Satellite ID */
335 struct rtcm3_extended_rtk L1;
336 struct rtcm3_extended_rtk L2;
337 } rtk_data[RTCM3_MAX_SATELLITES];
338 } rtcm3_1004;
339 struct rtcm3_1005_t {
340 unsigned int station_id; /* Reference Station ID */
341 int system; /* Which system is it? */
342 bool reference_station; /* Reference-station indicator */
343 bool single_receiver; /* Single Receiver Oscillator */
344 double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */
345 } rtcm3_1005;
346 struct rtcm3_1006_t {
347 unsigned int station_id; /* Reference Station ID */
348 int system; /* Which system is it? */
349 bool reference_station; /* Reference-station indicator */
350 bool single_receiver; /* Single Receiver Oscillator */
351 double ecef_x, ecef_y, ecef_z; /* ECEF antenna location */
352 double height; /* Antenna height */
353 } rtcm3_1006;
354 struct rtcm3_1007_t {
355 unsigned int station_id; /* Reference Station ID */
356 char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */
357 unsigned char setup_id;
358 } rtcm3_1007;
359 struct rtcm3_1008_t {
360 unsigned int station_id; /* Reference Station ID */
361 char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */
362 unsigned char setup_id;
363 char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */
364 } rtcm3_1008;
365 struct rtcm3_1009_t {
366 struct rtcm3_rtk_hdr header;
367 struct {
368 unsigned ident; /* Satellite ID */
369 struct rtcm3_basic_rtk L1;
370 } rtk_data[RTCM3_MAX_SATELLITES];
371 } rtcm3_1009;
372 struct rtcm3_1010_t {
373 struct rtcm3_rtk_hdr header;
374 struct {
375 unsigned ident; /* Satellite ID */
376 struct rtcm3_extended_rtk L1;
377 } rtk_data[RTCM3_MAX_SATELLITES];
378 } rtcm3_1010;
379 struct rtcm3_1011_t {
380 struct rtcm3_rtk_hdr header;
381 struct {
382 unsigned ident; /* Satellite ID */
383 struct rtcm3_extended_rtk L1;
384 struct rtcm3_extended_rtk L2;
385 } rtk_data[RTCM3_MAX_SATELLITES];
386 } rtcm3_1011;
387 struct rtcm3_1012_t {
388 struct rtcm3_rtk_hdr header;
389 struct {
390 unsigned ident; /* Satellite ID */
391 struct rtcm3_extended_rtk L1;
392 struct rtcm3_extended_rtk L2;
393 } rtk_data[RTCM3_MAX_SATELLITES];
394 } rtcm3_1012;
395 struct rtcm3_1013_t {
396 unsigned int station_id; /* Reference Station ID */
397 unsigned short mjd; /* Modified Julian Day (MJD) Number */
398 unsigned int sod; /* Seconds of Day (UTC) */
399 unsigned char leapsecs; /* Leap Seconds, GPS-UTC */
400 unsigned char ncount; /* Count of announcements to follow */
401 struct {
402 unsigned short id; /* message type ID */
403 bool sync;
404 unsigned short interval; /* interval in 0.1sec units */
405 } announcements[RTCM3_MAX_ANNOUNCEMENTS];
406 } rtcm3_1013;
407 /* 1014-1017 were added in the 3.1 version */
408 struct rtcm3_1014_t {
409 unsigned int network_id; /* Network ID */
410 unsigned int subnetwork_id; /* Subnetwork ID */
411 unsigned char stationcount; /* # auxiliary stations transmitted */
412 unsigned int master_id; /* Master Reference Station ID */
413 unsigned int aux_id; /* Auxilary Reference Station ID */
414 double d_lat, d_lon, d_alt; /* Aux-master location delta */
415 } rtcm3_1014;
416 struct rtcm3_1015_t {
417 struct rtcm3_network_rtk_header header;
418 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
419 } rtcm3_1015;
420 struct rtcm3_1016_t {
421 struct rtcm3_network_rtk_header header;
422 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
423 } rtcm3_1016;
424 struct rtcm3_1017_t {
425 struct rtcm3_network_rtk_header header;
426 struct rtcm3_correction_diff corrections[RTCM3_MAX_SATELLITES];
427 } rtcm3_1017;
428 /* 1018-1029 were in the 3.0 version */
429 struct rtcm3_1019_t {
430 unsigned int ident; /* Satellite ID */
431 unsigned int week; /* GPS Week Number */
432 unsigned char sv_accuracy; /* GPS SV ACCURACY */
433 enum {reserved_code, p, ca, l2c} code;
434 double idot;
435 unsigned char iode;
436 /* ephemeris fields, not scaled */
437 unsigned int t_sub_oc;
438 signed int a_sub_f2;
439 signed int a_sub_f1;
440 signed int a_sub_f0;
441 unsigned int iodc;
442 signed int C_sub_rs;
443 signed int delta_sub_n;
444 signed int M_sub_0;
445 signed int C_sub_uc;
446 unsigned int e;
447 signed int C_sub_us;
448 unsigned int sqrt_sub_A;
449 unsigned int t_sub_oe;
450 signed int C_sub_ic;
451 signed int OMEGA_sub_0;
452 signed int C_sub_is;
453 signed int i_sub_0;
454 signed int C_sub_rc;
455 signed int argument_of_perigee;
456 signed int omegadot;
457 signed int t_sub_GD;
458 unsigned char sv_health;
459 bool p_data;
460 bool fit_interval;
461 } rtcm3_1019;
462 struct rtcm3_1020_t {
463 unsigned int ident; /* Satellite ID */
464 unsigned short channel; /* Satellite Frequency Channel Number */
465 /* ephemeris fields, not scaled */
466 bool C_sub_n;
467 bool health_avAilability_indicator;
468 unsigned char P1;
469 unsigned short t_sub_k;
470 bool msb_of_B_sub_n;
471 bool P2;
472 bool t_sub_b;
473 signed int x_sub_n_t_of_t_sub_b_prime;
474 signed int x_sub_n_t_of_t_sub_b;
475 signed int x_sub_n_t_of_t_sub_b_prime_prime;
476 signed int y_sub_n_t_of_t_sub_b_prime;
477 signed int y_sub_n_t_of_t_sub_b;
478 signed int y_sub_n_t_of_t_sub_b_prime_prime;
479 signed int z_sub_n_t_of_t_sub_b_prime;
480 signed int z_sub_n_t_of_t_sub_b;
481 signed int z_sub_n_t_of_t_sub_b_prime_prime;
482 bool P3;
483 signed int gamma_sub_n_of_t_sub_b;
484 unsigned char MP;
485 bool Ml_n;
486 signed int tau_n_of_t_sub_b;
487 signed int M_delta_tau_sub_n;
488 unsigned int E_sub_n;
489 bool MP4;
490 unsigned char MF_sub_T;
491 unsigned char MN_sub_T;
492 unsigned char MM;
493 bool additioinal_data_availability;
494 unsigned int N_sup_A;
495 unsigned int tau_sub_c;
496 unsigned int M_N_sub_4;
497 signed int M_tau_sub_GPS;
498 bool M_l_sub_n;
499 } rtcm3_1020;
500 struct rtcm3_1029_t {
501 unsigned int station_id; /* Reference Station ID */
502 unsigned short mjd; /* Modified Julian Day (MJD) Number */
503 unsigned int sod; /* Seconds of Day (UTC) */
504 size_t len; /* # chars to follow */
505 size_t unicode_units; /* # Unicode units in text */
506 unsigned char text[128];
507 } rtcm3_1029;
508 struct rtcm3_1033_t {
509 unsigned int station_id; /* Reference Station ID */
510 char descriptor[RTCM3_MAX_DESCRIPTOR+1]; /* Description string */
511 unsigned char setup_id;
512 char serial[RTCM3_MAX_DESCRIPTOR+1]; /* Serial # string */
513 char receiver[RTCM3_MAX_DESCRIPTOR+1]; /* Receiver string */
514 char firmware[RTCM3_MAX_DESCRIPTOR+1]; /* Firmware string */
515 } rtcm3_1033;
516 char data[1024]; /* Max RTCM3 msg length is 1023 bytes */
517 } rtcmtypes;
518 };
519
520 /* RTCM3 scaling constants */
521 #define GPS_AMBIGUITY_MODULUS 299792.458 /* 1004, DF014*/
522 #define GLONASS_AMBIGUITY_MODULUS 599584.916 /* 1012, DF044 */
523 #define MESSAGE_INTERVAL_UNITS 0.1 /* 1013, DF047 */
524
525 /*
526 * Raw IS_GPS subframe data
527 */
528
529 /* The almanac is a subset of the clock and ephemeris data, with reduced
530 * precision. See IS-GPS-200E, Table 20-VI */
531 struct almanac_t
532 {
533 uint8_t sv; /* The satellite this refers to */
534 /* toa, almanac reference time, 8 bits unsigned, seconds */
535 uint8_t toa;
536 long l_toa;
537 /* SV health data, 8 bit unsigned bit map */
538 uint8_t svh;
539 /* deltai, correction to inclination, 16 bits signed, semi-circles */
540 int16_t deltai;
541 double d_deltai;
542 /* M0, Mean Anomaly at Reference Time, 24 bits signed, semi-circles */
543 int32_t M0;
544 double d_M0;
545 /* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly Epoch,
546 * 24 bits signed, semi-circles */
547 int32_t Omega0;
548 double d_Omega0;
549 /* omega, Argument of Perigee, 24 bits signed, semi-circles */
550 int32_t omega;
551 double d_omega;
552 /* af0, SV clock correction constant term
553 * 11 bits signed, seconds */
554 int16_t af0;
555 double d_af0;
556 /* af1, SV clock correction first order term
557 * 11 bits signed, seconds/second */
558 int16_t af1;
559 double d_af1;
560 /* eccentricity, 16 bits, unsigned, dimensionless */
561 uint16_t e;
562 double d_eccentricity;
563 /* sqrt A, Square Root of the Semi-Major Axis
564 * 24 bits unsigned, square_root(meters) */
565 uint32_t sqrtA;
566 double d_sqrtA;
567 /* Omega dot, Rate of Right Ascension, 16 bits signed, semi-circles/sec */
568 int16_t Omegad;
569 double d_Omegad;
570 };
571
572 struct subframe_t {
573 /* subframe number, 3 bits, unsigned, 1 to 5 */
574 uint8_t subframe_num;
575 /* data_id, denotes the NAV data structure of D(t), 2 bits, in
576 * IS-GPS-200E always == 0x1 */
577 uint8_t data_id;
578 /* SV/page id used for subframes 4 & 5, 6 bits */
579 uint8_t pageid;
580 /* tSVID, SV ID of the sat that transmitted this frame, 6 bits unsigned */
581 uint8_t tSVID;
582 /* TOW, Time of Week of NEXT message, 17 bits unsigned, scale 6, seconds */
583 uint32_t TOW17;
584 long l_TOW17;
585 /* integrity, URA bounds flag, 1 bit */
586 bool integrity;
587 /* alert, alert flag, SV URA and/or the SV User Differential Range
588 * Accuracy (UDRA) may be worse than indicated, 1 bit */
589 bool alert;
590 /* antispoof, A-S mode is ON in that SV, 1 bit */
591 bool antispoof;
592 int is_almanac;
593 union {
594 /* subframe 1, part of ephemeris, see IS-GPS-200E, Table 20-II
595 * and Table 20-I */
596 struct {
597 /* WN, Week Number, 10 bits unsigned, scale 1, weeks */
598 uint16_t WN;
599 /* IODC, Issue of Data, Clock, 10 bits, unsigned,
600 * issued in 8 data ranges at the same time */
601 uint16_t IODC;
602 /* toc, clock data reference time, 16 bits, unsigned, seconds
603 * scale 2**4, issued in 8 data ranges at the same time */
604 uint16_t toc;
605 long l_toc;
606 /* l2, code on L2, 2 bits, bit map */
607 uint8_t l2;
608 /* l2p, L2 P data flag, 1 bit */
609 uint8_t l2p;
610 /* ura, SV accuracy, 4 bits unsigned index */
611 unsigned int ura;
612 /* hlth, SV health, 6 bits unsigned bitmap */
613 unsigned int hlth;
614 /* af0, SV clock correction constant term
615 * 22 bits signed, scale 2**-31, seconds */
616 int32_t af0;
617 double d_af0;
618 /* af1, SV clock correction first order term
619 * 22 bits signed, scale 2**-43, seconds/second */
620 int16_t af1;
621 double d_af1;
622 /* af2, SV clock correction second order term
623 * 8 bits signed, scale 2**-55, seconds/second**2 */
624 int8_t af2;
625 double d_af2;
626 /* Tgd, L1-L2 correction term, 8 bits signed, scale 2**-31,
627 * seconds */
628 int8_t Tgd;
629 double d_Tgd;
630 } sub1;
631 /* subframe 2, part of ephemeris, see IS-GPS-200E, Table 20-II
632 * and Table 20-III */
633 struct {
634 /* Issue of Data (Ephemeris),
635 * equal to the 8 LSBs of the 10 bit IODC of the same data set */
636 uint8_t IODE;
637 /* Age of Data Offset for the NMCT, 6 bits, scale 900,
638 * ignore if all ones, seconds */
639 uint8_t AODO;
640 uint16_t u_AODO;
641 /* fit, FIT interval flag, indicates a fit interval greater than
642 * 4 hour, 1 bit */
643 uint8_t fit;
644 /* toe, Reference Time Ephemeris, 16 bits unsigned, scale 2**4,
645 * seconds */
646 uint16_t toe;
647 long l_toe;
648 /* Crs, Amplitude of the Sine Harmonic Correction Term to the
649 * Orbit Radius, 16 bits, scale 2**-5, signed, meters */
650 int16_t Crs;
651 double d_Crs;
652 /* Cus, Amplitude of the Sine Harmonic Correction Term to the
653 * Argument of Latitude, 16 bits, signed, scale 2**-29, radians */
654 int16_t Cus;
655 double d_Cus;
656 /* Cuc, Amplitude of the Cosine Harmonic Correction Term to the
657 * Argument of Latitude, 16 bits, signed, scale 2**-29, radians */
658 int16_t Cuc;
659 double d_Cuc;
660 /* deltan, Mean Motion Difference From Computed Value
661 * Mean Motion Difference From Computed Value
662 * 16 bits, signed, scale 2**-43, semi-circles/sec */
663 int16_t deltan;
664 double d_deltan;
665 /* M0, Mean Anomaly at Reference Time, 32 bits signed,
666 * scale 2**-31, semi-circles */
667 int32_t M0;
668 double d_M0;
669 /* eccentricity, 32 bits, unsigned, scale 2**-33, dimensionless */
670 uint32_t e;
671 double d_eccentricity;
672 /* sqrt A, Square Root of the Semi-Major Axis
673 * 32 bits unsigned, scale 2**-19, square_root(meters) */
674 uint32_t sqrtA;
675 double d_sqrtA;
676 } sub2;
677 /* subframe 3, part of ephemeris, see IS-GPS-200E, Table 20-II,
678 * Table 20-III */
679 struct {
680 /* Issue of Data (Ephemeris), 8 bits, unsigned
681 * equal to the 8 LSBs of the 10 bit IODC of the same data set */
682 uint8_t IODE;
683 /* Rate of Inclination Angle, 14 bits signed, scale2**-43,
684 * semi-circles/sec */
685 uint16_t IDOT;
686 double d_IDOT;
687 /* Cic, Amplitude of the Cosine Harmonic Correction Term to the
688 * Angle of Inclination, 16 bits signed, scale 2**-29, radians*/
689 uint16_t Cic;
690 double d_Cic;
691 /* Cis, Amplitude of the Sine Harmonic Correction Term to the
692 * Angle of Inclination, 16 bits, unsigned, scale 2**-29, radians */
693 int16_t Cis;
694 double d_Cis;
695 /* Crc, Amplitude of the Cosine Harmonic Correction Term to the
696 * Orbit Radius, 16 bits signed, scale 2**-5, meters */
697 int16_t Crc;
698 double d_Crc;
699 /* i0, Inclination Angle at Reference Time, 32 bits, signed,
700 * scale 2**-31, semi-circles */
701 int32_t i0;
702 double d_i0;
703 /* Omega0, Longitude of Ascending Node of Orbit Plane at Weekly
704 * Epoch, 32 bits signed, semi-circles */
705 int32_t Omega0;
706 double d_Omega0;
707 /* omega, Argument of Perigee, 32 bits signed, scale 2**-31,
708 * semi-circles */
709 int32_t omega;
710 double d_omega;
711 /* Omega dot, Rate of Right Ascension, 24 bits signed,
712 * scale 2**-43, semi-circles/sec */
713 int32_t Omegad;
714 double d_Omegad;
715 } sub3;
716 struct {
717 struct almanac_t almanac;
718 } sub4;
719 /* subframe 4, page 13 */
720 struct {
721 /* mapping ord ERD# to SV # is non trivial
722 * leave it alone. See IS-GPS-200E Section 20.3.3.5.1.9 */
723 /* Estimated Range Deviation, 6 bits signed, meters */
724 char ERD[33];
725 /* ai, Availability Indicator, 2bits, bit map */
726 unsigned char ai;
727 } sub4_13;
728 /* subframe 4, page 17, system message, 23 chars, plus nul */
729 struct {
730 char str[24];
731 } sub4_17;
732 /* subframe 4, page 18 */
733 struct {
734 /* ionospheric and UTC data */
735 /* A0, Bias coefficient of GPS time scale relative to UTC time
736 * scale, 32 bits signed, scale 2**-30, seconds */
737 int32_t A0;
738 double d_A0;
739 /* A1, Drift coefficient of GPS time scale relative to UTC time
740 * scale, 24 bits signed, scale 2**-50, seconds/second */
741 int32_t A1;
742 double d_A1;
743
744 /* alphaX, the four coefficients of a cubic equation representing
745 * the amplitude of the vertical delay */
746
747 /* alpha0, 8 bits signed, scale w**-30, seconds */
748 int8_t alpha0;
749 double d_alpha0;
750 /* alpha1, 8 bits signed, scale w**-27, seconds/semi-circle */
751 int8_t alpha1;
752 double d_alpha1;
753 /* alpha2, 8 bits signed, scale w**-24, seconds/semi-circle**2 */
754 int8_t alpha2;
755 double d_alpha2;
756 /* alpha3, 8 bits signed, scale w**-24, seconds/semi-circle**3 */
757 int8_t alpha3;
758 double d_alpha3;
759
760 /* betaX, the four coefficients of a cubic equation representing
761 * the period of the model */
762
763 /* beta0, 8 bits signed, scale w**11, seconds */
764 int8_t beta0;
765 double d_beta0;
766 /* beta1, 8 bits signed, scale w**14, seconds/semi-circle */
767 int8_t beta1;
768 double d_beta1;
769 /* beta2, 8 bits signed, scale w**16, seconds/semi-circle**2 */
770 int8_t beta2;
771 double d_beta2;
772 /* beta3, 8 bits signed, scale w**16, seconds/semi-circle**3 */
773 int8_t beta3;
774 double d_beta3;
775
776 /* leap (delta t ls), current leap second, 8 bits signed,
777 * scale 1, seconds */
778 int8_t leap;
779 /* lsf (delta t lsf), future leap second, 8 bits signed,
780 * scale 1, seconds */
781 int8_t lsf;
782
783 /* tot, reference time for UTC data,
784 * 8 bits unsigned, scale 2**12, seconds */
785 uint8_t tot;
786 double d_tot;
787
788 /* WNt, UTC reference week number, 8 bits unsigned, scale 1,
789 * weeks */
790 uint8_t WNt;
791 /* WNlsf, Leap second reference Week Number,
792 * 8 bits unsigned, scale 1, weeks */
793 uint8_t WNlsf;
794 /* DN, Leap second reference Day Number , 8 bits unsigned,
795 * scale 1, days */
796 uint8_t DN;
797 } sub4_18;
798 /* subframe 4, page 25 */
799 struct {
800 /* svf, A-S status and the configuration code of each SV
801 * 4 bits unsigned, bitmap */
802 unsigned char svf[33];
803 /* svh, SV health data for SV 25 through 32
804 * 6 bits unsigned bitmap */
805 uint8_t svhx[8];
806 } sub4_25;
807 struct {
808 struct almanac_t almanac;
809 } sub5;
810 struct {
811 /* toa, Almanac reference Time, 8 bits unsigned, scale 2**12,
812 * seconds */
813 uint8_t toa;
814 long l_toa;
815 /* WNa, Week Number almanac, 8 bits, scale 2, GPS Week
816 * Number % 256 */
817 uint8_t WNa;
818 /* sv, SV health status, 6 bits, bitmap */
819 uint8_t sv[25];
820 } sub5_25;
821 };
822 };
823
824 #ifndef S_SPLINT_S
825 typedef uint64_t gps_mask_t;
826 #else
827 typedef /*@unsignedintegraltype@*/ unsigned long long gps_mask_t;
828 #endif /* S_SPLINT_S */
829
830 /*
831 * Is an MMSI number that of an auxiliary associated with a mother ship?
832 * We need to be able to test this for decoding AIS Type 24 messages.
833 * According to <http://www.navcen.uscg.gov/marcomms/gmdss/mmsi.htm#format>,
834 * auxiliary-craft MMSIs have the form 98MIDXXXX, where MID is a country
835 * code and XXXX the vessel ID.
836 */
837 #define AIS_AUXILIARY_MMSI(n) ((n) / 10000000 == 98)
838
839 /* N/A values and scaling constant for 25/24 bit lon/lat pairs */
840 #define AIS_LON3_NOT_AVAILABLE 181000
841 #define AIS_LAT3_NOT_AVAILABLE 91000
842 #define AIS_LATLON3_SCALE 60000.0
843
844 /* N/A values and scaling constant for 28/27 bit lon/lat pairs */
845 #define AIS_LON4_NOT_AVAILABLE 1810000
846 #define AIS_LAT4_NOT_AVAILABLE 910000
847 #define AIS_LATLON4_SCALE 600000.0
848
849 struct route_info {
850 unsigned int linkage; /* Message Linkage ID */
851 unsigned int sender; /* Sender Class */
852 unsigned int rtype; /* Route Type */
853 unsigned int month; /* Start month */
854 unsigned int day; /* Start day */
855 unsigned int hour; /* Start hour */
856 unsigned int minute; /* Start minute */
857 unsigned int duration; /* Duration */
858 int waycount; /* Waypoint count */
859 struct waypoint_t {
860 signed int lon; /* Longitude */
861 signed int lat; /* Latitude */
862 } waypoints[16];
863 };
864
865 struct ais_t
866 {
867 unsigned int type; /* message type */
868 unsigned int repeat; /* Repeat indicator */
869 unsigned int mmsi; /* MMSI */
870 union {
871 /* Types 1-3 Common navigation info */
872 struct {
873 unsigned int status; /* navigation status */
874 signed turn; /* rate of turn */
875 #define AIS_TURN_HARD_LEFT -127
876 #define AIS_TURN_HARD_RIGHT 127
877 #define AIS_TURN_NOT_AVAILABLE 128
878 unsigned int speed; /* speed over ground in deciknots */
879 #define AIS_SPEED_NOT_AVAILABLE 1023
880 #define AIS_SPEED_FAST_MOVER 1022 /* >= 102.2 knots */
881 bool accuracy; /* position accuracy */
882 #define AIS_LATLON_SCALE 600000.0
883 int lon; /* longitude */
884 #define AIS_LON_NOT_AVAILABLE 0x6791AC0
885 int lat; /* latitude */
886 #define AIS_LAT_NOT_AVAILABLE 0x3412140
887 unsigned int course; /* course over ground */
888 #define AIS_COURSE_NOT_AVAILABLE 3600
889 unsigned int heading; /* true heading */
890 #define AIS_HEADING_NOT_AVAILABLE 511
891 unsigned int second; /* seconds of UTC timestamp */
892 #define AIS_SEC_NOT_AVAILABLE 60
893 #define AIS_SEC_MANUAL 61
894 #define AIS_SEC_ESTIMATED 62
895 #define AIS_SEC_INOPERATIVE 63
896 unsigned int maneuver; /* maneuver indicator */
897 //unsigned int spare; spare bits */
898 bool raim; /* RAIM flag */
899 unsigned int radio; /* radio status bits */
900 } type1;
901 /* Type 4 - Base Station Report & Type 11 - UTC and Date Response */
902 struct {
903 unsigned int year; /* UTC year */
904 #define AIS_YEAR_NOT_AVAILABLE 0
905 unsigned int month; /* UTC month */
906 #define AIS_MONTH_NOT_AVAILABLE 0
907 unsigned int day; /* UTC day */
908 #define AIS_DAY_NOT_AVAILABLE 0
909 unsigned int hour; /* UTC hour */
910 #define AIS_HOUR_NOT_AVAILABLE 24
911 unsigned int minute; /* UTC minute */
912 #define AIS_MINUTE_NOT_AVAILABLE 60
913 unsigned int second; /* UTC second */
914 #define AIS_SECOND_NOT_AVAILABLE 60
915 bool accuracy; /* fix quality */
916 int lon; /* longitude */
917 int lat; /* latitude */
918 unsigned int epfd; /* type of position fix device */
919 //unsigned int spare; spare bits */
920 bool raim; /* RAIM flag */
921 unsigned int radio; /* radio status bits */
922 } type4;
923 /* Type 5 - Ship static and voyage related data */
924 struct {
925 unsigned int ais_version; /* AIS version level */
926 unsigned int imo; /* IMO identification */
927 char callsign[7+1]; /* callsign */
928 #define AIS_SHIPNAME_MAXLEN 20
929 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */
930 unsigned int shiptype; /* ship type code */
931 unsigned int to_bow; /* dimension to bow */
932 unsigned int to_stern; /* dimension to stern */
933 unsigned int to_port; /* dimension to port */
934 unsigned int to_starboard; /* dimension to starboard */
935 unsigned int epfd; /* type of position fix deviuce */
936 unsigned int month; /* UTC month */
937 unsigned int day; /* UTC day */
938 unsigned int hour; /* UTC hour */
939 unsigned int minute; /* UTC minute */
940 unsigned int draught; /* draft in meters */
941 char destination[20+1]; /* ship destination */
942 unsigned int dte; /* data terminal enable */
943 //unsigned int spare; spare bits */
944 } type5;
945 /* Type 6 - Addressed Binary Message */
946 struct {
947 unsigned int seqno; /* sequence number */
948 unsigned int dest_mmsi; /* destination MMSI */
949 bool retransmit; /* retransmit flag */
950 //unsigned int spare; spare bit(s) */
951 unsigned int dac; /* Application ID */
952 unsigned int fid; /* Functional ID */
953 #define AIS_TYPE6_BINARY_MAX 920 /* 920 bits */
954 size_t bitcount; /* bit count of the data */
955 union {
956 char bitdata[(AIS_TYPE6_BINARY_MAX + 7) / 8];
957 /* IMO236 - Dangerous Cargo Indication */
958 struct {
959 char lastport[5+1]; /* Last Port Of Call */
960 unsigned int lmonth; /* ETA month */
961 unsigned int lday; /* ETA day */
962 unsigned int lhour; /* ETA hour */
963 unsigned int lminute; /* ETA minute */
964 char nextport[5+1]; /* Next Port Of Call */
965 unsigned int nmonth; /* ETA month */
966 unsigned int nday; /* ETA day */
967 unsigned int nhour; /* ETA hour */
968 unsigned int nminute; /* ETA minute */
969 char dangerous[20+1]; /* Main Dangerous Good */
970 char imdcat[4+1]; /* IMD Category */
971 unsigned int unid; /* UN Number */
972 unsigned int amount; /* Amount of Cargo */
973 unsigned int unit; /* Unit of Quantity */
974 } dac1fid12;
975 /* IMO236 - Extended Ship Static and Voyage Related Data */
976 struct {
977 unsigned int airdraught; /* Air Draught */
978 } dac1fid15;
979 /* IMO236 - Number of Persons on board */
980 struct {
981 unsigned persons; /* number of persons */
982 } dac1fid16;
983 /* IMO289 - Clearance Time To Enter Port */
984 struct {
985 unsigned int linkage; /* Message Linkage ID */
986 unsigned int month; /* Month (UTC) */
987 unsigned int day; /* Day (UTC) */
988 unsigned int hour; /* Hour (UTC) */
989 unsigned int minute; /* Minute (UTC) */
990 char portname[20+1]; /* Name of Port & Berth */
991 char destination[5+1]; /* Destination */
992 signed int lon; /* Longitude */
993 signed int lat; /* Latitude */
994 } dac1fid18;
995 /* IMO289 - Berthing Data (addressed) */
996 struct {
997 unsigned int linkage; /* Message Linkage ID */
998 unsigned int berth_length; /* Berth length */
999 unsigned int berth_depth; /* Berth Water Depth */
1000 unsigned int position; /* Mooring Position */
1001 unsigned int month; /* Month (UTC) */
1002 unsigned int day; /* Day (UTC) */
1003 unsigned int hour; /* Hour (UTC) */
1004 unsigned int minute; /* Minute (UTC) */
1005 unsigned int availability; /* Services Availability */
1006 unsigned int agent; /* Agent */
1007 unsigned int fuel; /* Bunker/fuel */
1008 unsigned int chandler; /* Chandler */
1009 unsigned int stevedore; /* Stevedore */
1010 unsigned int electrical; /* Electrical */
1011 unsigned int water; /* Potable water */
1012 unsigned int customs; /* Customs house */
1013 unsigned int cartage; /* Cartage */
1014 unsigned int crane; /* Crane(s) */
1015 unsigned int lift; /* Lift(s) */
1016 unsigned int medical; /* Medical facilities */
1017 unsigned int navrepair; /* Navigation repair */
1018 unsigned int provisions; /* Provisions */
1019 unsigned int shiprepair; /* Ship repair */
1020 unsigned int surveyor; /* Surveyor */
1021 unsigned int steam; /* Steam */
1022 unsigned int tugs; /* Tugs */
1023 unsigned int solidwaste; /* Waste disposal (solid) */
1024 unsigned int liquidwaste; /* Waste disposal (liquid) */
1025 unsigned int hazardouswaste; /* Waste disposal (hazardous) */
1026 unsigned int ballast; /* Reserved ballast exchange */
1027 unsigned int additional; /* Additional services */
1028 unsigned int regional1; /* Regional reserved 1 */
1029 unsigned int regional2; /* Regional reserved 2 */
1030 unsigned int future1; /* Reserved for future */
1031 unsigned int future2; /* Reserved for future */
1032 char berth_name[20+1]; /* Name of Berth */
1033 signed int berth_lon; /* Longitude */
1034 signed int berth_lat; /* Latitude */
1035 } dac1fid20;
1036 /* IMO289 - Dangerous Cargo Indication */
1037 struct {
1038 unsigned int unit; /* Unit of Quantity */
1039 unsigned int amount; /* Amount of Cargo */
1040 int ncargos;
1041 struct cargo_t {
1042 unsigned int code; /* Cargo code */
1043 unsigned int subtype; /* Cargo subtype */
1044 } cargos[28];
1045 } dac1fid25;
1046 /* IMO289 - Route info (addressed) */
1047 struct route_info dac1fid28;
1048 /* IMO289 - Text message (addressed) */
1049 struct {
1050 unsigned int linkage;
1051 #define AIS_DAC1FID30_TEXT_MAX 154 /* 920 bits of six-bit, plus NUL */
1052 char text[AIS_DAC1FID30_TEXT_MAX];
1053 } dac1fid30;
1054 /* IMO289 & IMO236 - Tidal Window */
1055 struct {
1056 unsigned int type; /* Message Type */
1057 unsigned int repeat; /* Repeat Indicator */
1058 unsigned int mmsi; /* Source MMSI */
1059 unsigned int seqno; /* Sequence Number */
1060 unsigned int dest_mmsi; /* Destination MMSI */
1061 signed int retransmit; /* Retransmit flag */
1062 unsigned int dac; /* DAC */
1063 unsigned int fid; /* FID */
1064 unsigned int month; /* Month */
1065 unsigned int day; /* Day */
1066 signed int ntidals;
1067 struct tidal_t {
1068 signed int lon; /* Longitude */
1069 signed int lat; /* Latitude */
1070 unsigned int from_hour; /* From UTC Hour */
1071 unsigned int from_min; /* From UTC Minute */
1072 unsigned int to_hour; /* To UTC Hour */
1073 unsigned int to_min; /* To UTC Minute */
1074 #define DAC1FID32_CDIR_NOT_AVAILABLE 360
1075 unsigned int cdir; /* Current Dir. Predicted */
1076 #define DAC1FID32_CSPEED_NOT_AVAILABLE 127
1077 unsigned int cspeed; /* Current Speed Predicted */
1078 } tidals[3];
1079 } dac1fid32;
1080 };
1081 } type6;
1082 /* Type 7 - Binary Acknowledge */
1083 struct {
1084 unsigned int mmsi1;
1085 unsigned int mmsi2;
1086 unsigned int mmsi3;
1087 unsigned int mmsi4;
1088 /* spares ignored, they're only padding here */
1089 } type7;
1090 /* Type 8 - Broadcast Binary Message */
1091 struct {
1092 //unsigned int spare; spare bit(s) */
1093 unsigned int dac; /* Designated Area Code */
1094 unsigned int fid; /* Functional ID */
1095 #define AIS_TYPE8_BINARY_MAX 952 /* 952 bits */
1096 size_t bitcount; /* bit count of the data */
1097 union {
1098 char bitdata[(AIS_TYPE8_BINARY_MAX + 7) / 8];
1099 /* IMO236 - Fairway Closed */
1100 struct {
1101 char reason[20+1]; /* Reason For Closing */
1102 char closefrom[20+1]; /* Location Of Closing From */
1103 char closeto[20+1]; /* Location of Closing To */
1104 unsigned int radius; /* Radius extension */
1105 #define AIS_DAC1FID13_RADIUS_NOT_AVAILABLE 10001
1106 unsigned int extunit; /* Unit of extension */
1107 #define AIS_DAC1FID13_EXTUNIT_NOT_AVAILABLE 0
1108 unsigned int fday; /* From day (UTC) */
1109 unsigned int fmonth; /* From month (UTC) */
1110 unsigned int fhour; /* From hour (UTC) */
1111 unsigned int fminute; /* From minute (UTC) */
1112 unsigned int tday; /* To day (UTC) */
1113 unsigned int tmonth; /* To month (UTC) */
1114 unsigned int thour; /* To hour (UTC) */
1115 unsigned int tminute; /* To minute (UTC) */
1116 } dac1fid13;
1117 /* IMO236 - Extended ship and voyage data */
1118 struct {
1119 unsigned int airdraught; /* Air Draught */
1120 } dac1fid15;
1121 /* IMO289 - VTS-generated/Synthetic Targets */
1122 struct {
1123 signed int ntargets;
1124 struct target_t {
1125 #define DAC1FID17_IDTYPE_MMSI 0
1126 #define DAC1FID17_IDTYPE_IMO 1
1127 #define DAC1FID17_IDTYPE_CALLSIGN 2
1128 #define DAC1FID17_IDTYPE_OTHER 3
1129 unsigned int idtype; /* Identifier type */
1130 union target_id { /* Target identifier */
1131 unsigned int mmsi;
1132 unsigned int imo;
1133 #define DAC1FID17_ID_LENGTH 7
1134 char callsign[DAC1FID17_ID_LENGTH+1];
1135 char other[DAC1FID17_ID_LENGTH+1];
1136 } id;
1137 signed int lat; /* Latitude */
1138 signed int lon; /* Longitude */
1139 #define DAC1FID17_COURSE_NOT_AVAILABLE 360
1140 unsigned int course; /* Course Over Ground */
1141 unsigned int second; /* Time Stamp */
1142 #define DAC1FID17_SPEED_NOT_AVAILABLE 255
1143 unsigned int speed; /* Speed Over Ground */
1144 } targets[4];
1145 } dac1fid17;
1146 /* IMO 289 - Marine Traffic Signal */
1147 struct {
1148 unsigned int linkage; /* Message Linkage ID */
1149 char station[20+1]; /* Name of Signal Station */
1150 signed int lon; /* Longitude */
1151 signed int lat; /* Latitude */
1152 unsigned int status; /* Status of Signal */
1153 unsigned int signal; /* Signal In Service */
1154 unsigned int hour; /* UTC hour */
1155 unsigned int minute; /* UTC minute */
1156 unsigned int nextsignal; /* Expected Next Signal */
1157 } dac1fid19;
1158 /* IMO289 - Route info (broadcast) */
1159 struct route_info dac1fid27;
1160 /* IMO289 - Text message (broadcast) */
1161 struct {
1162 unsigned int linkage;
1163 #define AIS_DAC1FID29_TEXT_MAX 162 /* 920 bits of six-bit, plus NUL */
1164 char text[AIS_DAC1FID29_TEXT_MAX];
1165 } dac1fid29;
1166 /* IMO236 & IMO289 - Meteorological-Hydrological data */
1167 struct {
1168 bool accuracy; /* position accuracy, <10m if true */
1169 #define DAC1FID31_LATLON_SCALE 1000
1170 int lon; /* longitude in minutes * .001 */
1171 #define DAC1FID31_LON_NOT_AVAILABLE (181*60*DAC1FID31_LATLON_SCALE)
1172 int lat; /* longitude in minutes * .001 */
1173 #define DAC1FID31_LAT_NOT_AVAILABLE (91*60*DAC1FID31_LATLON_SCALE)
1174 unsigned int day; /* UTC day */
1175 unsigned int hour; /* UTC hour */
1176 unsigned int minute; /* UTC minute */
1177 unsigned int wspeed; /* average wind speed */
1178 unsigned int wgust; /* wind gust */
1179 #define DAC1FID31_WIND_HIGH 126
1180 #define DAC1FID31_WIND_NOT_AVAILABLE 127
1181 unsigned int wdir; /* wind direction */
1182 unsigned int wgustdir; /* wind gust direction */
1183 #define DAC1FID31_DIR_NOT_AVAILABLE 360
1184 int airtemp; /* temperature, units 0.1C */
1185 #define DAC1FID31_AIRTEMP_NOT_AVAILABLE -1084
1186 unsigned int humidity; /* relative humidity, % */
1187 #define DAC1FID31_HUMIDITY_NOT_AVAILABLE 101
1188 int dewpoint; /* dew point, units 0.1C */
1189 #define DAC1FID31_DEWPOINT_NOT_AVAILABLE 501
1190 unsigned int pressure; /* air pressure, hpa */
1191 #define DAC1FID31_PRESSURE_NOT_AVAILABLE 511
1192 #define DAC1FID31_PRESSURE_HIGH 402
1193 unsigned int pressuretend; /* tendency */
1194 #define DAC1FID31_PRESSURETREND_NOT_AVAILABLE 3
1195 bool visgreater; /* visibility greater than */
1196 unsigned int visibility; /* units 0.1 nautical miles */
1197 #define DAC1FID31_VISIBILITY_NOT_AVAILABLE 127
1198 int waterlevel; /* decimeters or cm */
1199 #define DAC1FID11_WATERLEVEL_NOT_AVAILABLE 4001
1200 #define DAC1FID31_WATERLEVEL_NOT_AVAILABLE 40001
1201 unsigned int leveltrend; /* water level trend code */
1202 #define DAC1FID31_LEVELTREND_NOT_AVAILABLE 3
1203 unsigned int cspeed; /* current speed in deciknots */
1204 #define DAC1FID31_CSPEED_NOT_AVAILABLE 255
1205 unsigned int cdir; /* current dir., degrees */
1206 unsigned int cspeed2; /* current speed in deciknots */
1207 unsigned int cdir2; /* current dir., degrees */
1208 unsigned int cdepth2; /* measurement depth, 0.1m */
1209 #define DAC1FID31_CDEPTH_NOT_AVAILABLE 301
1210 unsigned int cspeed3; /* current speed in deciknots */
1211 unsigned int cdir3; /* current dir., degrees */
1212 unsigned int cdepth3; /* measurement depth, 0.1m */
1213 unsigned int waveheight; /* in decimeters */
1214 #define DAC1FID31_HEIGHT_NOT_AVAILABLE 31
1215 unsigned int waveperiod; /* in seconds */
1216 #define DAC1FID31_PERIOD_NOT_AVAILABLE 63
1217 unsigned int wavedir; /* direction in degrees */
1218 unsigned int swellheight; /* in decimeters */
1219 unsigned int swellperiod; /* in seconds */
1220 unsigned int swelldir; /* direction in degrees */
1221 unsigned int seastate; /* Beaufort scale, 0-12 */
1222 #define DAC1FID31_SEASTATE_NOT_AVAILABLE 15
1223 int watertemp; /* units 0.1deg Celsius */
1224 #define DAC1FID31_PRECIPTYPE_NOT_AVAILABLE 7
1225 unsigned int preciptype; /* 0-7, enumerated */
1226 unsigned int salinity; /* units of 0.1% */
1227 #define DAC1FID31_SALINITY_NOT_AVAILABLE 510
1228 bool ice; /* is there sea ice? */
1229 } dac1fid31;
1230 };
1231 } type8;
1232 /* Type 9 - Standard SAR Aircraft Position Report */
1233 struct {
1234 unsigned int alt; /* altitude in meters */
1235 #define AIS_ALT_NOT_AVAILABLE 4095
1236 #define AIS_ALT_HIGH 4094 /* 4094 meters or higher */
1237 unsigned int speed; /* speed over ground in deciknots */
1238 #define AIS_SAR_SPEED_NOT_AVAILABLE 1023
1239 #define AIS_SAR_FAST_MOVER 1022
1240 bool accuracy; /* position accuracy */
1241 int lon; /* longitude */
1242 int lat; /* latitude */
1243 unsigned int course; /* course over ground */
1244 unsigned int second; /* seconds of UTC timestamp */
1245 unsigned int regional; /* regional reserved */
1246 unsigned int dte; /* data terminal enable */
1247 //unsigned int spare; spare bits */
1248 bool assigned; /* assigned-mode flag */
1249 bool raim; /* RAIM flag */
1250 unsigned int radio; /* radio status bits */
1251 } type9;
1252 /* Type 10 - UTC/Date Inquiry */
1253 struct {
1254 //unsigned int spare;
1255 unsigned int dest_mmsi; /* destination MMSI */
1256 //unsigned int spare2;
1257 } type10;
1258 /* Type 12 - Safety-Related Message */
1259 struct {
1260 unsigned int seqno; /* sequence number */
1261 unsigned int dest_mmsi; /* destination MMSI */
1262 bool retransmit; /* retransmit flag */
1263 //unsigned int spare; spare bit(s) */
1264 #define AIS_TYPE12_TEXT_MAX 157 /* 936 bits of six-bit, plus NUL */
1265 char text[AIS_TYPE12_TEXT_MAX];
1266 } type12;
1267 /* Type 14 - Safety-Related Broadcast Message */
1268 struct {
1269 //unsigned int spare; spare bit(s) */
1270 #define AIS_TYPE14_TEXT_MAX 161 /* 952 bits of six-bit, plus NUL */
1271 char text[AIS_TYPE14_TEXT_MAX];
1272 } type14;
1273 /* Type 15 - Interrogation */
1274 struct {
1275 //unsigned int spare; spare bit(s) */
1276 unsigned int mmsi1;
1277 unsigned int type1_1;
1278 unsigned int offset1_1;
1279 //unsigned int spare2; spare bit(s) */
1280 unsigned int type1_2;
1281 unsigned int offset1_2;
1282 //unsigned int spare3; spare bit(s) */
1283 unsigned int mmsi2;
1284 unsigned int type2_1;
1285 unsigned int offset2_1;
1286 //unsigned int spare4; spare bit(s) */
1287 } type15;
1288 /* Type 16 - Assigned Mode Command */
1289 struct {
1290 //unsigned int spare; spare bit(s) */
1291 unsigned int mmsi1;
1292 unsigned int offset1;
1293 unsigned int increment1;
1294 unsigned int mmsi2;
1295 unsigned int offset2;
1296 unsigned int increment2;
1297 } type16;
1298 /* Type 17 - GNSS Broadcast Binary Message */
1299 struct {
1300 //unsigned int spare; spare bit(s) */
1301 #define AIS_GNSS_LATLON_SCALE 600.0
1302 int lon; /* longitude */
1303 int lat; /* latitude */
1304 //unsigned int spare2; spare bit(s) */
1305 #define AIS_TYPE17_BINARY_MAX 736 /* 920 bits */
1306 size_t bitcount; /* bit count of the data */
1307 char bitdata[(AIS_TYPE17_BINARY_MAX + 7) / 8];
1308 } type17;
1309 /* Type 18 - Standard Class B CS Position Report */
1310 struct {
1311 unsigned int reserved; /* altitude in meters */
1312 unsigned int speed; /* speed over ground in deciknots */
1313 bool accuracy; /* position accuracy */
1314 int lon; /* longitude */
1315 #define AIS_GNS_LON_NOT_AVAILABLE 0x1a838
1316 int lat; /* latitude */
1317 #define AIS_GNS_LAT_NOT_AVAILABLE 0xd548
1318 unsigned int course; /* course over ground */
1319 unsigned int heading; /* true heading */
1320 unsigned int second; /* seconds of UTC timestamp */
1321 unsigned int regional; /* regional reserved */
1322 bool cs; /* carrier sense unit flag */
1323 bool display; /* unit has attached display? */
1324 bool dsc; /* unit attached to radio with DSC? */
1325 bool band; /* unit can switch frequency bands? */
1326 bool msg22; /* can accept Message 22 management? */
1327 bool assigned; /* assigned-mode flag */
1328 bool raim; /* RAIM flag */
1329 unsigned int radio; /* radio status bits */
1330 } type18;
1331 /* Type 19 - Extended Class B CS Position Report */
1332 struct {
1333 unsigned int reserved; /* altitude in meters */
1334 unsigned int speed; /* speed over ground in deciknots */
1335 bool accuracy; /* position accuracy */
1336 int lon; /* longitude */
1337 int lat; /* latitude */
1338 unsigned int course; /* course over ground */
1339 unsigned int heading; /* true heading */
1340 unsigned int second; /* seconds of UTC timestamp */
1341 unsigned int regional; /* regional reserved */
1342 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* ship name */
1343 unsigned int shiptype; /* ship type code */
1344 unsigned int to_bow; /* dimension to bow */
1345 unsigned int to_stern; /* dimension to stern */
1346 unsigned int to_port; /* dimension to port */
1347 unsigned int to_starboard; /* dimension to starboard */
1348 unsigned int epfd; /* type of position fix deviuce */
1349 bool raim; /* RAIM flag */
1350 unsigned int dte; /* date terminal enable */
1351 bool assigned; /* assigned-mode flag */
1352 //unsigned int spare; spare bits */
1353 } type19;
1354 /* Type 20 - Data Link Management Message */
1355 struct {
1356 //unsigned int spare; spare bit(s) */
1357 unsigned int offset1; /* TDMA slot offset */
1358 unsigned int number1; /* number of xlots to allocate */
1359 unsigned int timeout1; /* allocation timeout */
1360 unsigned int increment1; /* repeat increment */
1361 unsigned int offset2; /* TDMA slot offset */
1362 unsigned int number2; /* number of xlots to allocate */
1363 unsigned int timeout2; /* allocation timeout */
1364 unsigned int increment2; /* repeat increment */
1365 unsigned int offset3; /* TDMA slot offset */
1366 unsigned int number3; /* number of xlots to allocate */
1367 unsigned int timeout3; /* allocation timeout */
1368 unsigned int increment3; /* repeat increment */
1369 unsigned int offset4; /* TDMA slot offset */
1370 unsigned int number4; /* number of xlots to allocate */
1371 unsigned int timeout4; /* allocation timeout */
1372 unsigned int increment4; /* repeat increment */
1373 } type20;
1374 /* Type 21 - Aids to Navigation Report */
1375 struct {
1376 unsigned int aid_type; /* aid type */
1377 char name[35]; /* name of aid to navigation */
1378 bool accuracy; /* position accuracy */
1379 int lon; /* longitude */
1380 int lat; /* latitude */
1381 unsigned int to_bow; /* dimension to bow */
1382 unsigned int to_stern; /* dimension to stern */
1383 unsigned int to_port; /* dimension to port */
1384 unsigned int to_starboard; /* dimension to starboard */
1385 unsigned int epfd; /* type of EPFD */
1386 unsigned int second; /* second of UTC timestamp */
1387 bool off_position; /* off-position indicator */
1388 unsigned int regional; /* regional reserved field */
1389 bool raim; /* RAIM flag */
1390 bool virtual_aid; /* is virtual station? */
1391 bool assigned; /* assigned-mode flag */
1392 //unsigned int spare; unused */
1393 } type21;
1394 /* Type 22 - Channel Management */
1395 struct {
1396 //unsigned int spare; spare bit(s) */
1397 unsigned int channel_a; /* Channel A number */
1398 unsigned int channel_b; /* Channel B number */
1399 unsigned int txrx; /* transmit/receive mode */
1400 bool power; /* high-power flag */
1401 #define AIS_CHANNEL_LATLON_SCALE 600.0
1402 union {
1403 struct {
1404 int ne_lon; /* NE corner longitude */
1405 int ne_lat; /* NE corner latitude */
1406 int sw_lon; /* SW corner longitude */
1407 int sw_lat; /* SW corner latitude */
1408 } area;
1409 struct {
1410 unsigned int dest1; /* addressed station MMSI 1 */
1411 unsigned int dest2; /* addressed station MMSI 2 */
1412 } mmsi;
1413 };
1414 bool addressed; /* addressed vs. broadast flag */
1415 bool band_a; /* fix 1.5kHz band for channel A */
1416 bool band_b; /* fix 1.5kHz band for channel B */
1417 unsigned int zonesize; /* size of transitional zone */
1418 } type22;
1419 /* Type 23 - Group Assignment Command */
1420 struct {
1421 int ne_lon; /* NE corner longitude */
1422 int ne_lat; /* NE corner latitude */
1423 int sw_lon; /* SW corner longitude */
1424 int sw_lat; /* SW corner latitude */
1425 //unsigned int spare; spare bit(s) */
1426 unsigned int stationtype; /* station type code */
1427 unsigned int shiptype; /* ship type code */
1428 //unsigned int spare2; spare bit(s) */
1429 unsigned int txrx; /* transmit-enable code */
1430 unsigned int interval; /* report interval */
1431 unsigned int quiet; /* quiet time */
1432 //unsigned int spare3; spare bit(s) */
1433 } type23;
1434 /* Type 24 - Class B CS Static Data Report */
1435 struct {
1436 char shipname[AIS_SHIPNAME_MAXLEN+1]; /* vessel name */
1437 unsigned int shiptype; /* ship type code */
1438 char vendorid[8]; /* vendor ID */
1439 char callsign[8]; /* callsign */
1440 union {
1441 unsigned int mothership_mmsi; /* MMSI of main vessel */
1442 struct {
1443 unsigned int to_bow; /* dimension to bow */
1444 unsigned int to_stern; /* dimension to stern */
1445 unsigned int to_port; /* dimension to port */
1446 unsigned int to_starboard; /* dimension to starboard */
1447 } dim;
1448 };
1449 } type24;
1450 /* Type 25 - Addressed Binary Message */
1451 struct {
1452 bool addressed; /* addressed-vs.broadcast flag */
1453 bool structured; /* structured-binary flag */
1454 unsigned int dest_mmsi; /* destination MMSI */
1455 unsigned int app_id; /* Application ID */
1456 #define AIS_TYPE25_BINARY_MAX 128 /* Up to 128 bits */
1457 size_t bitcount; /* bit count of the data */
1458 char bitdata[(AIS_TYPE25_BINARY_MAX + 7) / 8];
1459 } type25;
1460 /* Type 26 - Addressed Binary Message */
1461 struct {
1462 bool addressed; /* addressed-vs.broadcast flag */
1463 bool structured; /* structured-binary flag */
1464 unsigned int dest_mmsi; /* destination MMSI */
1465 unsigned int app_id; /* Application ID */
1466 #define AIS_TYPE26_BINARY_MAX 1004 /* Up to 128 bits */
1467 size_t bitcount; /* bit count of the data */
1468 char bitdata[(AIS_TYPE26_BINARY_MAX + 7) / 8];
1469 unsigned int radio; /* radio status bits */
1470 } type26;
1471 /* Type 27 - Long Range AIS Broadcast message */
1472 struct {
1473 bool accuracy; /* position accuracy */
1474 bool raim; /* RAIM flag */
1475 unsigned int status; /* navigation status */
1476 #define AIS_LONGRANGE_LATLON_SCALE 600.0
1477 int lon; /* longitude */
1478 #define AIS_LONGRANGE_LON_NOT_AVAILABLE 0x1a838
1479 int lat; /* latitude */
1480 #define AIS_LONGRANGE_LAT_NOT_AVAILABLE 0xd548
1481 unsigned int speed; /* speed over ground in deciknots */
1482 #define AIS_LONGRANGE_SPEED_NOT_AVAILABLE 63
1483 unsigned int course; /* course over ground */
1484 #define AIS_LONGRANGE_COURSE_NOT_AVAILABLE 511
1485 bool gnss; /* are we reporting GNSS position? */
1486 } type27;
1487 };
1488 };
1489
1490 struct attitude_t {
1491 double heading;
1492 double pitch;
1493 double roll;
1494 double yaw;
1495 double dip;
1496 double mag_len; /* unitvector sqrt(x^2 + y^2 +z^2) */
1497 double mag_x;
1498 double mag_y;
1499 double mag_z;
1500 double acc_len; /* unitvector sqrt(x^2 + y^2 +z^2) */
1501 double acc_x;
1502 double acc_y;
1503 double acc_z;
1504 double gyro_x;
1505 double gyro_y;
1506 double temp;
1507 double depth;
1508 /* compass status -- TrueNorth (and any similar) devices only */
1509 char mag_st;
1510 char pitch_st;
1511 char roll_st;
1512 char yaw_st;
1513 };
1514
1515 struct dop_t {
1516 /* Dilution of precision factors */
1517 double xdop, ydop, pdop, hdop, vdop, tdop, gdop;
1518 };
1519
1520 struct rawdata_t {
1521 /* raw measurement data */
1522 double codephase[MAXCHANNELS]; /* meters */
1523 double carrierphase[MAXCHANNELS]; /* meters */
1524 double pseudorange[MAXCHANNELS]; /* meters */
1525 double deltarange[MAXCHANNELS]; /* meters/sec */
1526 double doppler[MAXCHANNELS]; /* Hz */
1527 double mtime[MAXCHANNELS]; /* sec */
1528 unsigned satstat[MAXCHANNELS]; /* tracking status */
1529 #define SAT_ACQUIRED 0x01 /* satellite acquired */
1530 #define SAT_CODE_TRACK 0x02 /* code-tracking loop acquired */
1531 #define SAT_CARR_TRACK 0x04 /* carrier-tracking loop acquired */
1532 #define SAT_DATA_SYNC 0x08 /* data-bit synchronization done */
1533 #define SAT_FRAME_SYNC 0x10 /* frame synchronization done */
1534 #define SAT_EPHEMERIS 0x20 /* ephemeris collected */
1535 #define SAT_FIX_USED 0x40 /* used for position fix */
1536 };
1537
1538 struct version_t {
1539 char release[64]; /* external version */
1540 char rev[64]; /* internal revision ID */
1541 int proto_major, proto_minor; /* API major and minor versions */
1542 char remote[GPS_PATH_MAX]; /* could be from a remote device */
1543 };
1544
1545 struct devconfig_t {
1546 char path[GPS_PATH_MAX];
1547 int flags;
1548 #define SEEN_GPS 0x01
1549 #define SEEN_RTCM2 0x02
1550 #define SEEN_RTCM3 0x04
1551 #define SEEN_AIS 0x08
1552 char driver[64];
1553 char subtype[64];
1554 double activated;
1555 unsigned int baudrate, stopbits; /* RS232 link parameters */
1556 char parity; /* 'N', 'O', or 'E' */
1557 double cycle, mincycle; /* refresh cycle time in seconds */
1558 int driver_mode; /* is driver in native mode or not? */
1559 };
1560
1561 struct policy_t {
1562 bool watcher; /* is watcher mode on? */
1563 bool json; /* requesting JSON? */
1564 bool nmea; /* requesting dumping as NMEA? */
1565 int raw; /* requesting raw data? */
1566 bool scaled; /* requesting report scaling? */
1567 bool timing; /* requesting timing info */
1568 int loglevel; /* requested log level of messages */
1569 char devpath[GPS_PATH_MAX]; /* specific device to watch */
1570 char remote[GPS_PATH_MAX]; /* ...if this was passthrough */
1571 };
1572
1573 /*
1574 * Someday we may support Windows, under which socket_t is a separate type.
1575 * In the meantime, having a typedef for this semantic kind is no bad thing,
1576 * as it makes clearer what some declarations are doing without breaking
1577 * binary compatibility.
1578 */
1579 typedef int socket_t;
1580
1581 /* mode flags for setting streaming policy */
1582 #define WATCH_ENABLE 0x000001u /* enable streaming */
1583 #define WATCH_DISABLE 0x000002u /* disable watching */
1584 #define WATCH_JSON 0x000010u /* JSON output */
1585 #define WATCH_NMEA 0x000020u /* output in NMEA */
1586 #define WATCH_RARE 0x000040u /* output of packets in hex */
1587 #define WATCH_RAW 0x000080u /* output of raw packets */
1588 #define WATCH_SCALED 0x000100u /* scale output to floats */
1589 #define WATCH_TIMING 0x000200u /* timing information */
1590 #define WATCH_DEVICE 0x000800u /* watch specific device */
1591 #define WATCH_NEWSTYLE 0x010000u /* force JSON streaming */
1592 #define WATCH_OLDSTYLE 0x020000u /* force old-style streaming */
1593
1594 /*
1595 * Main structure that includes all previous substructures
1596 */
1597
1598 struct gps_data_t {
1599 gps_mask_t set; /* has field been set since this was last cleared? */
1600 #define ONLINE_SET (1llu<<1)
1601 #define TIME_SET (1llu<<2)
1602 #define TIMERR_SET (1llu<<3)
1603 #define LATLON_SET (1llu<<4)
1604 #define ALTITUDE_SET (1llu<<5)
1605 #define SPEED_SET (1llu<<6)
1606 #define TRACK_SET (1llu<<7)
1607 #define CLIMB_SET (1llu<<8)
1608 #define STATUS_SET (1llu<<9)
1609 #define MODE_SET (1llu<<10)
1610 #define DOP_SET (1llu<<11)
1611 #define HERR_SET (1llu<<12)
1612 #define VERR_SET (1llu<<13)
1613 #define ATTITUDE_SET (1llu<<14)
1614 #define SATELLITE_SET (1llu<<15)
1615 #define SPEEDERR_SET (1llu<<16)
1616 #define TRACKERR_SET (1llu<<17)
1617 #define CLIMBERR_SET (1llu<<18)
1618 #define DEVICE_SET (1llu<<19)
1619 #define DEVICELIST_SET (1llu<<20)
1620 #define DEVICEID_SET (1llu<<21)
1621 #define RTCM2_SET (1llu<<22)
1622 #define RTCM3_SET (1llu<<23)
1623 #define AIS_SET (1llu<<24)
1624 #define PACKET_SET (1llu<<25)
1625 #define SUBFRAME_SET (1llu<<26)
1626 #define GST_SET (1llu<<27)
1627 #define VERSION_SET (1llu<<28)
1628 #define POLICY_SET (1llu<<29)
1629 #define LOGMESSAGE_SET (1llu<<30)
1630 #define ERROR_SET (1llu<<31)
1631 #define SET_HIGH_BIT 31
1632 timestamp_t online; /* NZ if GPS is on line, 0 if not.
1633 *
1634 * Note: gpsd clears this time when sentences
1635 * fail to show up within the GPS's normal
1636 * send cycle time. If the host-to-GPS
1637 * link is lossy enough to drop entire
1638 * sentences, this field will be
1639 * prone to false zero values.
1640 */
1641
1642 #ifndef USE_QT
1643 socket_t gps_fd; /* socket or file descriptor to GPS */
1644 #else
1645 void* gps_fd;
1646 #endif
1647 struct gps_fix_t fix; /* accumulated PVT data */
1648
1649 double separation; /* Geoidal separation, MSL - WGS84 (Meters) */
1650
1651 /* GPS status -- always valid */
1652 int status; /* Do we have a fix? */
1653 #define STATUS_NO_FIX 0 /* no */
1654 #define STATUS_FIX 1 /* yes, without DGPS */
1655 #define STATUS_DGPS_FIX 2 /* yes, with DGPS */
1656
1657 /* precision of fix -- valid if satellites_used > 0 */
1658 int satellites_used; /* Number of satellites used in solution */
1659 int used[MAXCHANNELS]; /* PRNs of satellites used in solution */
1660 struct dop_t dop;
1661
1662 /* redundant with the estimate elements in the fix structure */
1663 double epe; /* spherical position error, 95% confidence (meters) */
1664
1665 /* satellite status -- valid when satellites_visible > 0 */
1666 timestamp_t skyview_time; /* skyview timestamp */
1667 int satellites_visible; /* # of satellites in view */
1668 int PRN[MAXCHANNELS]; /* PRNs of satellite */
1669 int elevation[MAXCHANNELS]; /* elevation of satellite */
1670 int azimuth[MAXCHANNELS]; /* azimuth */
1671 double ss[MAXCHANNELS]; /* signal-to-noise ratio (dB) */
1672
1673 struct devconfig_t dev; /* device that shipped last update */
1674
1675 struct policy_t policy; /* our listening policy */
1676
1677 /* should be moved to privdata sometday */
1678 char tag[MAXTAGLEN+1]; /* tag of last sentence processed */
1679
1680 /* pack things never reported together to reduce structure size */
1681 #define UNION_SET (RTCM2_SET|RTCM3_SET|SUBFRAME_SET|AIS_SET|ATTITUDE_SET|VERSION_SET|DEVICELIST_SET|LOGMESSAGE_SET|ERROR_SET|GST_SET|VERSION_SET)
1682 union {
1683 /* unusual forms of sensor data that might come up the pipe */
1684 struct rtcm2_t rtcm2;
1685 struct rtcm3_t rtcm3;
1686 struct subframe_t subframe;
1687 struct ais_t ais;
1688 struct attitude_t attitude;
1689 struct rawdata_t raw;
1690 struct gst_t gst;
1691 /* "artificial" structures for various protocol responses */
1692 struct version_t version;
1693 struct {
1694 timestamp_t time;
1695 int ndevices;
1696 struct devconfig_t list[MAXUSERDEVS];
1697 } devices;
1698 char error[256];
1699 };
1700
1701 /* Private data - client code must not set this */
1702 void *privdata;
1703 };
1704
1705 extern int gps_open(/*@null@*/const char *, /*@null@*/const char *,
1706 /*@out@*/struct gps_data_t *);
1707 extern int gps_close(struct gps_data_t *);
1708 extern int gps_send(struct gps_data_t *, const char *, ... );
1709 extern int gps_read(/*@out@*/struct gps_data_t *);
1710 extern int gps_unpack(char *, struct gps_data_t *);
1711 extern bool gps_waiting(const struct gps_data_t *, int);
1712 extern int gps_stream(struct gps_data_t *, unsigned int, /*@null@*/void *);
1713 extern const char /*@observer@*/ *gps_data(const struct gps_data_t *);
1714 extern const char /*@observer@*/ *gps_errstr(const int);
1715
1716 extern int gps_sock_open(/*@null@*/const char *, /*@null@*/const char *,
1717 /*@out@*/struct gps_data_t *);
1718 extern int gps_sock_read(/*@out@*/struct gps_data_t *);
1719 extern int gps_sock_close(struct gps_data_t *);
1720 extern int gps_sock_send(struct gps_data_t *, const char *);
1721 extern int gps_shm_open(/*@out@*/struct gps_data_t *);
1722 extern int gps_shm_read(struct gps_data_t *);
1723 extern bool gps_sock_waiting(const struct gps_data_t *, int);
1724 extern int gps_sock_stream(struct gps_data_t *, unsigned int, /*@null@*/void *);
1725 extern const char /*@observer@*/ *gps_sock_data(const struct gps_data_t *);
1726 extern void gps_shm_close(struct gps_data_t *);
1727
1728 extern void libgps_trace(int errlevel, const char *, ...);
1729
1730 /* dependencies on struct gpsdata_t end hrere */
1731
1732 extern void gps_clear_fix(/*@ out @*/struct gps_fix_t *);
1733 extern void gps_clear_dop( /*@out@*/ struct dop_t *);
1734 extern void gps_merge_fix(/*@ out @*/struct gps_fix_t *,
1735 gps_mask_t,
1736 /*@ in @*/struct gps_fix_t *);
1737 extern void gps_enable_debug(int, FILE *);
1738 extern /*@observer@*/const char *gps_maskdump(gps_mask_t);
1739
1740 extern double safe_atof(const char *);
1741 extern time_t mkgmtime(register struct tm *);
1742 extern timestamp_t timestamp(void);
1743 extern timestamp_t iso8601_to_unix(char *);
1744 extern /*@observer@*/char *unix_to_iso8601(timestamp_t t, /*@ out @*/char[], size_t len);
1745 extern double earth_distance(double, double, double, double);
1746 extern double earth_distance_and_bearings(double, double, double, double,
1747 /*@null@*//*@out@*/double *,
1748 /*@null@*//*@out@*/double *);
1749 extern double wgs84_separation(double, double);
1750
1751 /* some multipliers for interpreting GPS output */
1752 #define METERS_TO_FEET 3.2808399 /* Meters to U.S./British feet */
1753 #define METERS_TO_MILES 0.00062137119 /* Meters to miles */
1754 #define KNOTS_TO_MPH 1.1507794 /* Knots to miles per hour */
1755 #define KNOTS_TO_KPH 1.852 /* Knots to kilometers per hour */
1756 #define KNOTS_TO_MPS 0.51444444 /* Knots to meters per second */
1757 #define MPS_TO_KPH 3.6 /* Meters per second to klicks/hr */
1758 #define MPS_TO_MPH 2.2369363 /* Meters/second to miles per hour */
1759 #define MPS_TO_KNOTS 1.9438445 /* Meters per second to knots */
1760 /* miles and knots are both the international standard versions of the units */
1761
1762 /* angle conversion multipliers */
1763 #define GPS_PI 3.1415926535897932384626433832795029
1764 #define RAD_2_DEG 57.2957795130823208767981548141051703
1765 #define DEG_2_RAD 0.0174532925199432957692369076848861271
1766
1767 /* geodetic constants */
1768 #define WGS84A 6378137 /* equatorial radius */
1769 #define WGS84F 298.257223563 /* flattening */
1770 #define WGS84B 6356752.3142 /* polar radius */
1771
1772 /* netlib_connectsock() errno return values */
1773 #define NL_NOSERVICE -1 /* can't get service entry */
1774 #define NL_NOHOST -2 /* can't get host entry */
1775 #define NL_NOPROTO -3 /* can't get protocol entry */
1776 #define NL_NOSOCK -4 /* can't create socket */
1777 #define NL_NOSOCKOPT -5 /* error SETSOCKOPT SO_REUSEADDR */
1778 #define NL_NOCONNECT -6 /* can't connect to host/socket pair */
1779 #define SHM_NOSHARED -7 /* shared-memory segment not available */
1780 #define SHM_NOATTACH -8 /* shared-memory attach failed */
1781
1782 #define DEFAULT_GPSD_PORT "2947" /* IANA assignment */
1783 #define DEFAULT_RTCM_PORT "2101" /* IANA assignment */
1784
1785 /* special host values for non-socket exports */
1786 #define GPSD_SHARED_MEMORY "shared memory"
1787
1788 /*
1789 * Platform-specific declarations
1790 */
1791
1792 #ifdef _WIN32
1793 #define strtok_r(s,d,p) strtok_s(s,d,p)
1794 #endif
1795
1796 /* Some libc's don't have strlcat/strlcpy. Local copies are provided */
1797 #ifndef HAVE_STRLCAT
1798 size_t strlcat(/*@out@*/char *dst, /*@in@*/const char *src, size_t size);
1799 #endif
1800 #ifndef HAVE_STRLCPY
1801 size_t strlcpy(/*@out@*/char *dst, /*@in@*/const char *src, size_t size);
1802 #endif
1803
1804 #ifdef __cplusplus
1805 } /* End of the 'extern "C"' block */
1806 #endif
1807
1808 /* gps.h ends here */
1809 #endif /* _GPSD_GPS_H_ */