Initial commit

5 files changed, 175 insertions, 0 deletions

diff --git a/brnkl_gps.api b/brnkl_gps.api
new file mode 100644
index 0000000..e45fe77
--- /dev/null
+++ b/brnkl_gps.api
@@ -0,0 +1 @@
+FUNCTION le_result_t getCurrentLocation (double latitude OUT, double longitude OUT, double horizontalAccuracy OUT, uint64 lastReading OUT);
diff --git a/gpsMonitor.adef b/gpsMonitor.adef
new file mode 100644
index 0000000..e7edc07
--- /dev/null
+++ b/gpsMonitor.adef
@@ -0,0 +1,32 @@
+sandboxed: true
+version: 1.1.0
+start: auto
+
+executables:
+{
+  gpsMonitor = ( location )
+}
+
+processes:
+{
+  envVars:
+  {
+    LE_LOG_LEVEL = DEBUG
+  }
+  run:
+  {
+     ( gpsMonitor )
+  }
+  faultAction: restartApp
+}
+
+bindings:
+{
+  gpsMonitor.location.le_posCtrl -> positioningService.le_posCtrl
+  gpsMonitor.location.le_pos -> positioningService.le_pos
+}
+
+extern:
+{
+  gpsMonitor.location.brnkl_gps
+}
diff --git a/location/Component.cdef b/location/Component.cdef
new file mode 100644
index 0000000..7907352
--- /dev/null
+++ b/location/Component.cdef
@@ -0,0 +1,28 @@
+cflags:
+{
+  -std=c99
+  -I$BRNKL_ROOT/apps/util
+}
+
+requires:
+{
+  api:
+  {
+    le_posCtrl = ${LEGATO_ROOT}/interfaces/positioning/le_posCtrl.api
+    le_pos = ${LEGATO_ROOT}/interfaces/positioning/le_pos.api
+  }
+}
+
+provides:
+{
+  api:
+  {
+    $CURDIR/../brnkl_gps.api
+  }
+}
+
+sources:
+{
+  location.c
+  $BRNKL_ROOT/apps/util/util.c
+}
diff --git a/location/location.c b/location/location.c
new file mode 100644
index 0000000..69b934c
--- /dev/null
+++ b/location/location.c
@@ -0,0 +1,101 @@
+#include "location.h"
+#include "interfaces.h"
+#include "legato.h"
+#include "util.h"
+
+le_posCtrl_ActivationRef_t posCtrlRef;
+double lat, lon, horizAccuracy;
+// we initially set these pointers to null
+// so we can tell if there has never been a reading
+double *latPtr = NULL, *lonPtr = NULL, *horizAccuracyPtr = NULL;
+uint64_t lastReadingDatetime = 0;
+le_timer_Ref_t pollingTimer;
+
+bool hasReading() {
+  return latPtr != NULL && lonPtr != NULL && horizAccuracyPtr != NULL;
+}
+
+bool canGetLocation() {
+  return hasReading() && posCtrlRef != NULL;
+}
+
+void setLocationPtrs() {
+  horizAccuracyPtr = &horizAccuracy;
+  latPtr = ⪫
+  lonPtr = &lon;
+}
+
+le_result_t brnkl_gps_getCurrentLocation(double* latitude,
+                                         double* longitude,
+                                         double* horizontalAccuracy,
+                                         uint64_t* lastReading) {
+  if (!canGetLocation()) {
+    return LE_UNAVAILABLE;
+  }
+  *latitude = *latPtr;
+  *longitude = *lonPtr;
+  *horizontalAccuracy = *horizAccuracyPtr;
+  *lastReading = lastReadingDatetime;
+  return LE_OK;
+}
+
+/**
+  * Attempts to use the GPS to find the current latitude, longitude and
+ * horizontal accuracy within
+  * the given timeout constraints.
+  *
+  * @return
+  *      - LE_OK on success
+  *      - LE_UNAVAILABLE if positioning services are unavailable
+  *      - LE_TIMEOUT if the timeout expires before successfully acquiring the
+ * location
+  *
+  * @note
+  *      Blocks until the location has been identified or the timeout has
+ * occurred.
+  */
+void getLocation(le_timer_Ref_t timerRef) {
+  le_timer_Stop(timerRef);
+  LE_DEBUG("Checking GPS position");
+  int32_t rawLat, rawLon, rawHoriz;
+  le_result_t result = le_pos_Get2DLocation(&rawLat, &rawLon, &rawHoriz);
+  bool isAccurate = rawHoriz <= MIN_REQUIRED_HORIZ_ACCURACY_METRES;
+  bool resOk = result == LE_OK;
+  if (resOk && isAccurate) {
+    double denom = powf(10, GPS_DECIMAL_SHIFT);  // divide by this
+    lat = ((double)rawLat) / denom;
+    lon = ((double)rawLon) / denom;
+    // no conversion required for horizontal accuracy
+    horizAccuracy = (double)rawHoriz;
+    // set these so we know there is a reading
+    lastReadingDatetime = GetCurrentTimestamp();
+    if (!hasReading()) {
+      setLocationPtrs();
+    }
+    LE_INFO("Got reading...");
+    LE_INFO("lat: %f, long: %f, horiz: %f", lat, lon, horizAccuracy);
+    le_timer_SetMsInterval(timerRef, POLL_PERIOD_SEC * 1000);
+  } else {
+    if (!isAccurate && resOk) {
+      LE_INFO("Rejected for accuracy (%d m)", rawHoriz);
+    }
+    LE_INFO("Failed to get reading... retrying in %d seconds",
+            RETRY_PERIOD_SEC);
+    le_timer_SetMsInterval(timerRef, RETRY_PERIOD_SEC * 1000);
+  }
+  le_timer_Start(timerRef);
+}
+
+le_result_t gps_init() {
+  pollingTimer = le_timer_Create("GPS polling timer");
+  le_timer_SetHandler(pollingTimer, getLocation);
+  le_timer_SetRepeat(pollingTimer, 1);
+  le_timer_SetMsInterval(pollingTimer, 0);
+  posCtrlRef = le_posCtrl_Request();
+  le_timer_Start(pollingTimer);
+  return posCtrlRef != NULL ? LE_OK : LE_UNAVAILABLE;
+}
+
+COMPONENT_INIT {
+  gps_init();
+}
diff --git a/location/location.h b/location/location.h
new file mode 100644
index 0000000..8ffa3ed
--- /dev/null
+++ b/location/location.h
@@ -0,0 +1,13 @@
+#ifndef LOCATION_H
+#define LOCATION_H
+
+#include "legato.h"
+
+// Used to convert GPS int to double
+#define GPS_DECIMAL_SHIFT 6
+// Used for distance calculations
+#define MIN_REQUIRED_HORIZ_ACCURACY_METRES 10  // TODO validate this
+#define POLL_PERIOD_SEC 2 * 60
+#define RETRY_PERIOD_SEC 1
+
+#endif  // LOCATION_H