Initial gpsd support.

Makefile

@@ -14,7 +14,7 @@ all:
 
 xgen_gdl90:
 	go get -t -d -v ./main ./test ./linux-mpu9150/mpu ./godump978 ./mpu6050 ./uatparse
-	go build $(BUILDINFO) -p 4 main/gen_gdl90.go main/traffic.go main/ry835ai.go main/network.go main/managementinterface.go main/sdr.go main/ping.go main/uibroadcast.go main/monotonic.go main/datalog.go main/equations.go
+	go build $(BUILDINFO) -p 4 main/gen_gdl90.go main/traffic.go main/ry835ai.go main/network.go main/managementinterface.go main/sdr.go main/ping.go main/uibroadcast.go main/monotonic.go main/datalog.go main/equations.go main/gpsd.go
 
 xdump1090:
 	git submodule update --init

image/10-stratux.rules

@@ -6,9 +6,9 @@
 #   ublox7: VK-172, RY725AI
 #   ublox6: VK-162
 
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a8", SYMLINK+="ublox8"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a8", SYMLINK+="ublox8", SYMLINK+="gps%n", TAG+="systemd", ENV{SYSTEMD_WANTS}="gpsdctl@%k.service"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a7", SYMLINK+="ublox7"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a7", SYMLINK+="ublox7", SYMLINK+="gps%n", TAG+="systemd", ENV{SYSTEMD_WANTS}="gpsdctl@%k.service"
-SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a6", SYMLINK+="ublox6"
+SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a6", SYMLINK+="ublox6", SYMLINK+="gps%n", TAG+="systemd", ENV{SYSTEMD_WANTS}="gpsdctl@%k.service"
 #SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a7", SYMLINK+="vk172"
 #SUBSYSTEMS=="usb", ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a6", SYMLINK+="vk162"
 

main/gen_gdl90.go

@@ -1302,7 +1302,8 @@ func main() {
 	//FIXME: Only do this if data logging is enabled.
 	initDataLog()
 
-	initRY835AI()
+	// initRY835AI()
+	initGpsd()
 
 	// Start the heartbeat message loop in the background, once per second.
 	go heartBeatSender()

main/gpsd.go

@@ -0,0 +1,52 @@
+package main
+
+import (
+	"github.com/stratoberry/go-gpsd"
+	"log"
+	"sync"
+)
+
+func processTPV(r interface{}) {
+	tpv := r.(*gpsd.TPVReport)
+	log.Printf("TPV", tpv.Mode, tpv.Time)
+
+	mySituation.mu_GPS.Lock()
+
+	defer func() {
+		if globalSettings.DEBUG {
+			logSituation()
+		}
+		mySituation.mu_GPS.Unlock()
+	}()
+
+	mySituation.Lat = float32(tpv.Lat)
+	mySituation.Lng = float32(tpv.Lon)
+	mySituation.Accuracy = float32((tpv.Epx + tpv.Epy) / 2)
+	mySituation.Alt = float32(tpv.Alt)
+	mySituation.AccuracyVert = float32(tpv.Epv)
+	mySituation.GPSVertVel = float32(tpv.Climb)
+	mySituation.LastFixLocalTime = tpv.Time
+	mySituation.TrueCourse = float32(tpv.Track)
+	mySituation.GroundSpeed = uint16(tpv.Speed)
+	mySituation.LastGroundTrackTime = tpv.Time
+}
+
+func initGpsd() {
+	log.Printf("Initializing GPS\n")
+
+	mySituation.mu_GPS = &sync.Mutex{}
+	mySituation.mu_Attitude = &sync.Mutex{}
+	satelliteMutex = &sync.Mutex{}
+	Satellites = make(map[string]SatelliteInfo)
+
+	var gps *gpsd.Session
+	var err error
+
+	if gps, err = gpsd.Dial(gpsd.DefaultAddress); err != nil {
+		log.Printf("Failed to connect to gpsd: %s", err)
+	}
+
+	gps.AddFilter("TPV", processTPV)
+
+	gps.Watch()
+}