nmea_gps: renamed vk2828u7 to nmea_gps

This driver will serve as a generic module for grabbing NMEA data from
various GPS devices via a serial interface.  ublox6 will also be
removed in favor of using this driver going forward.

Signed-off-by: Jon Trulson <jtrulson@ics.com>

src/nmea_gps/CMakeLists.txt

@@ -0,0 +1,9 @@
+upm_mixed_module_init (NAME nmea_gps
+    DESCRIPTION "UPM Generic driver for GPS NMEA sensors"
+    C_HDR nmea_gps.h
+    C_SRC nmea_gps.c
+    CPP_HDR nmea_gps.hpp
+    CPP_SRC nmea_gps.cxx
+    FTI_SRC nmea_gps_fti.c
+    CPP_WRAPS_C
+    REQUIRES mraa)

src/nmea_gps/javaupm_nmea_gps.i

@@ -0,0 +1,20 @@
+%module javaupm_nmea_gps
+%include "../upm.i"
+%include "std_string.i"
+%include "typemaps.i"
+
+%include "nmea_gps.hpp"
+%{
+    #include "nmea_gps.hpp"
+%}
+
+%pragma(java) jniclasscode=%{
+    static {
+        try {
+            System.loadLibrary("javaupm_nmea_gps");
+        } catch (UnsatisfiedLinkError e) {
+            System.err.println("Native code library failed to load. \n" + e);
+            System.exit(1);
+        }
+    }
+%}

src/nmea_gps/jsupm_nmea_gps.i

@@ -0,0 +1,9 @@
+%module jsupm_nmea_gps
+%include "../upm.i"
+%include "std_string.i"
+
+%include "nmea_gps.hpp"
+%{
+    #include "nmea_gps.hpp"
+%}
+

src/nmea_gps/nmea_gps.c

@@ -0,0 +1,151 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <string.h>
+#include <assert.h>
+
+#include "nmea_gps.h"
+
+#include "upm_utilities.h"
+
+nmea_gps_context nmea_gps_init(unsigned int uart, unsigned int baudrate,
+                               int enable_pin)
+{
+  nmea_gps_context dev =
+    (nmea_gps_context)malloc(sizeof(struct _nmea_gps_context));
+
+  if (!dev)
+    return NULL;
+
+  // zero out context
+  memset((void *)dev, 0, sizeof(struct _nmea_gps_context));
+  
+  dev->uart = NULL;
+  dev->gpio_en = NULL;
+
+  // initialize the MRAA contexts
+
+  // uart, default should be 8N1
+  if (!(dev->uart = mraa_uart_init(uart)))
+    {
+      printf("%s: mraa_uart_init() failed.\n", __FUNCTION__);
+      nmea_gps_close(dev);
+      return NULL;
+    }
+
+  if (nmea_gps_set_baudrate(dev, baudrate))
+    {
+      printf("%s: nmea_gps_set_baudrate() failed.\n", __FUNCTION__);
+      nmea_gps_close(dev);
+      return NULL;
+    }      
+
+  mraa_uart_set_flowcontrol(dev->uart, false, false);
+
+  // now the gpio_en, if enabled
+  if (enable_pin >= 0)
+    {
+      if (!(dev->gpio_en = mraa_gpio_init(enable_pin)))
+        {
+          printf("%s: mraa_gpio_init() failed.\n", __FUNCTION__);
+          nmea_gps_close(dev);
+          return NULL;
+        }
+
+      mraa_gpio_dir(dev->gpio_en, MRAA_GPIO_OUT);
+
+      // wake up
+      nmea_gps_enable(dev, true);
+    }
+
+  return dev;
+}
+
+void nmea_gps_close(nmea_gps_context dev)
+{
+  assert(dev != NULL);
+
+  // sleepy-time
+  nmea_gps_enable(dev, false);
+
+  if (dev->uart)
+    mraa_uart_stop(dev->uart);
+  if (dev->gpio_en)
+    mraa_gpio_close(dev->gpio_en);
+
+  free(dev);
+}
+
+upm_result_t nmea_gps_enable(const nmea_gps_context dev, bool enable)
+{
+  assert(dev != NULL);
+
+  if (!dev->gpio_en)
+    return UPM_ERROR_NO_RESOURCES;
+
+  if (enable)
+    mraa_gpio_write(dev->gpio_en, 1);
+  else
+    mraa_gpio_write(dev->gpio_en, 0);
+
+  return UPM_SUCCESS;
+}
+
+int nmea_gps_read(const nmea_gps_context dev, char *buffer, size_t len)
+{
+  assert(dev != NULL);
+
+  return mraa_uart_read(dev->uart, buffer, len);
+}
+
+int nmea_gps_write(const nmea_gps_context dev, char *buffer, size_t len)
+{
+  assert(dev != NULL);
+
+  return mraa_uart_write(dev->uart, buffer, len);
+}
+
+bool nmea_gps_data_available(const nmea_gps_context dev, unsigned int millis)
+{
+  assert(dev != NULL);
+
+  if (mraa_uart_data_available(dev->uart, millis))
+    return true;
+  else
+    return false;
+}
+
+upm_result_t nmea_gps_set_baudrate(const nmea_gps_context dev,
+                                   unsigned int baudrate)
+{
+  assert(dev != NULL);
+
+  if (mraa_uart_set_baudrate(dev->uart, baudrate))
+    {
+      printf("%s: mraa_uart_set_baudrate() failed.\n", __FUNCTION__);
+      return UPM_ERROR_OPERATION_FAILED;
+    }      
+
+  return UPM_SUCCESS;
+}

src/nmea_gps/nmea_gps.cxx

@@ -0,0 +1,89 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include <iostream>
+#include <stdexcept>
+
+#include "nmea_gps.hpp"
+
+using namespace upm;
+using namespace std;
+
+NMEAGPS::NMEAGPS(unsigned int uart, unsigned int baudrate,
+                   int enable_pin) :
+  m_nmea_gps(nmea_gps_init(uart, baudrate, enable_pin))
+{
+  if (!m_nmea_gps)
+    throw std::runtime_error(string(__FUNCTION__)
+                             + ": nmea_gps_init() failed");
+}
+
+NMEAGPS::~NMEAGPS()
+{
+  nmea_gps_close(m_nmea_gps);
+}
+
+std::string NMEAGPS::readStr(unsigned int size)
+{
+  char buffer[size];
+
+  int rv;
+
+  if ((rv = nmea_gps_read(m_nmea_gps, buffer, size)) < 0)
+    throw std::runtime_error(string(__FUNCTION__)
+                             + ": nmea_gps_read() failed");
+
+  return string(buffer, rv);
+}
+
+int NMEAGPS::writeStr(std::string buffer)
+{
+  int rv;
+
+  if ((rv = nmea_gps_write(m_nmea_gps, (char*)buffer.data(),
+                           buffer.size())) < 0)
+    throw std::runtime_error(string(__FUNCTION__)
+                             + ": nmea_gps_write() failed");
+
+  return rv;  
+}
+
+void NMEAGPS::enable(bool enable)
+{
+  if (nmea_gps_enable(m_nmea_gps, enable))
+    throw std::runtime_error(string(__FUNCTION__)
+                             + ": nmea_gps_enable() failed");
+}
+
+void NMEAGPS::setBaudrate(unsigned int baudrate)
+{
+  if (nmea_gps_set_baudrate(m_nmea_gps, baudrate))
+    throw std::runtime_error(string(__FUNCTION__)
+                             + ": nmea_gps_baudrate() failed");
+}
+
+bool NMEAGPS::dataAvailable(unsigned int millis)
+{
+  return nmea_gps_data_available(m_nmea_gps, millis);
+}

src/nmea_gps/nmea_gps.h

@@ -0,0 +1,126 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+
+#include <stdint.h>
+#include "upm.h"
+#include "mraa/uart.h"
+#include "mraa/gpio.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+  /**
+   * @brief UPM C API for a generic GPS serial device reporting NMEA data
+   *
+   * This driver was tested with a number of GPS devices that emit
+   * NMEA data via a serial interface of some sort (typically a UART).
+   *
+   * @snippet nmea_gps.c Interesting
+   */
+  
+  /**
+   * Device context
+   */
+  typedef struct _nmea_gps_context {
+    mraa_uart_context        uart;
+    mraa_gpio_context        gpio_en;
+  } *nmea_gps_context;
+  
+  /**
+   * NMEA_GPS Initializer
+   *
+   * @param uart Specify which uart to use.
+   * @param baudrate Specify the baudrate to use.  The device defaults
+   * to 9600 baud.
+   * @param enable_pin Specify the GPIO pin to use for the enable pin,
+   * -1 to not use an enable pin.
+   * @return an initialized device context on success, NULL on error.
+   */
+  nmea_gps_context nmea_gps_init(unsigned int uart, unsigned int baudrate,
+                                 int enable_pin);
+
+  /**
+   * NMEA_GPS sensor close function
+   */
+  void nmea_gps_close(nmea_gps_context dev);
+
+  /**
+   * Read character data from the device.
+   *
+   * @param dev sensor context
+   * @param buffer The character buffer to read data into.
+   * @param len The maximum size of the buffer
+   * @return The number of bytes successfully read, or -1 on error
+   */
+  int nmea_gps_read(const nmea_gps_context dev, char *buffer, size_t len);
+
+  /**
+   * Write character data to the device.
+   *
+   * @param dev sensor context
+   * @param buffer The character buffer containing data to write.
+   * @param len The number of bytes to write.
+   * @return The number of bytes successfully written, or -1 on error.
+   */
+  int nmea_gps_write(const nmea_gps_context dev, char *buffer, size_t len);
+
+  /**
+   * Enable or disable the device.  When disabled, the device enters a
+   * low power mode and does not emit NMEA data.  It will still
+   * maintain location data however.
+   *
+   * @param dev sensor context
+   * @param enable true to enable the device, false otherwise.
+   * @return UPM result
+   */
+  upm_result_t nmea_gps_enable(const nmea_gps_context dev, bool enable);
+
+  /**
+   * Set the baudrate of the device.  By default, nmea_gps_init() will
+   * set the baudrate to 9600.
+   *
+   * @param dev sensor context
+   * @param baudrate The baud rate to set for the device.
+   * @return UPM result
+   */
+  upm_result_t nmea_gps_set_baudrate(const nmea_gps_context dev,
+                                     unsigned int baudrate);
+
+  /**
+   * Determine whether there is data available to be read.
+   *
+   * @param dev sensor context
+   * @param millis The number of milliseconds to wait for data to
+   * become available.
+   * @return true if data is available to be read, false otherwise.
+   */
+  bool nmea_gps_data_available(const nmea_gps_context dev,
+                               unsigned int millis);
+
+#ifdef __cplusplus
+}
+#endif

src/nmea_gps/nmea_gps.hpp

@@ -0,0 +1,128 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#pragma once
+
+#include <string>
+#include <iostream>
+
+#include <stdlib.h>
+#include <unistd.h>
+
+#include "nmea_gps.h"
+
+namespace upm {
+  /**
+   * @brief UPM C++ API for a generic GPS serial device reporting NMEA data
+   * @defgroup nmea_gps libupm-nmea_gps
+   * @ingroup uart gpio gps
+   */
+  
+  /**
+   * @library nmea_gps
+   * @sensor nmea_gps
+   * @comname Generic Serial GPS NMEA device
+   * @type gps
+   * @man dfrobot seed
+   * @con uart gpio
+   * @altname VK2828u7 ublox LEA-6H
+   *
+   * @brief API for the NMEA GPS Module
+   *
+   * This driver was tested with a number of GPS devices that emit
+   * NMEA data via a serial interface of some sort (typically a UART).
+   *
+   * @snippet nmea_gps.cxx Interesting
+   */
+
+  class NMEAGPS {
+  public:
+
+    /**
+     * NMEAGPS object constructor
+     *
+     * @param uart Specify which uart to use.
+     * @param baudrate Specify the baudrate to use.  The device defaults
+     * to 9600 baud.
+     * @param enable_pin Specify the GPIO pin to use for the enable pin,
+     * -1 to not use an enable pin.
+     */
+    NMEAGPS(unsigned int uart, unsigned int baudrate,
+             int enable_pin);
+
+    /**
+     * NMEAGPS object destructor
+     */
+    ~NMEAGPS();
+
+    /**
+     * Read character data from the device.
+     *
+     * @param size The maximum number of characters to read.
+     * @return string containing the data read.
+     */
+    std::string readStr(size_t size);
+
+    /**
+     * Write character data to the device.
+     *
+     * @param buffer The string containing the data to write.
+     * @return The number of bytes written.
+     */
+    int writeStr(std::string buffer);
+
+    /**
+     * Enable or disable the device.  When disabled, the device enters a
+     * low power mode and does not emit NMEA data.  It will still
+     * maintain location data however.
+     *
+     * @param enable true to enable the device, false otherwise.
+     */
+    void enable(bool enable);
+
+    /**
+     * Set the baudrate of the device.  By default, the constructor
+     * will set the baudrate to 9600.
+     *
+     * @param baudrate The baud rate to set for the device.
+     */
+    void setBaudrate(unsigned int baudrate);
+
+    /**
+     * Determine whether there is data available to be read.
+     *
+     * @param millis The number of milliseconds to wait for data to
+     * become available.
+     * @return true if data is available to be read, false otherwise.
+     */
+    bool dataAvailable(unsigned int millis);
+
+  protected:
+    // nmeaGPS device context
+    nmea_gps_context m_nmea_gps;
+
+  private:
+  };
+}
+
+

src/nmea_gps/nmea_gps_fti.c

@@ -0,0 +1,96 @@
+/*
+ * Author: Jon Trulson <jtrulson@ics.com>
+ * Copyright (c) 2016 Intel Corporation.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining
+ * a copy of this software and associated documentation files (the
+ * "Software"), to deal in the Software without restriction, including
+ * without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to
+ * permit persons to whom the Software is furnished to do so, subject to
+ * the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+ * MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+ * LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+ * OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+ * WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "nmea_gps.h"
+#include "upm_fti.h"
+
+/** 
+ * This file implements the Function Table Interface (FTI) for this sensor
+ */
+
+const char upm_nmea_gps_name[] = "NMEA_GPS";
+const char upm_nmea_gps_description[] = "Serial GPS (providing NMEA data)";
+const upm_protocol_t upm_nmea_gps_protocol[] = {UPM_UART, UPM_GPIO};
+const upm_sensor_t upm_nmea_gps_category[] = {UPM_STREAM};
+
+// forward declarations
+const void* upm_nmea_gps_get_ft(upm_sensor_t sensor_type);
+void* upm_nmea_gps_init_name();
+void upm_nmea_gps_close(void *dev);
+int upm_nmea_gps_read(void *dev, char *buffer, int len);
+int upm_nmea_gps_write(void *dev, char *buffer, int len);
+bool upm_nmea_gps_data_available(void *dev, unsigned int timeout);
+
+static const upm_sensor_ft ft =
+{
+  .upm_sensor_init_name = &upm_nmea_gps_init_name,
+  .upm_sensor_close = &upm_nmea_gps_close,
+};
+
+static const upm_stream_ft sft =
+{
+  .upm_stream_read = upm_nmea_gps_read,
+  .upm_stream_write = upm_nmea_gps_write,
+  .upm_stream_data_available = upm_nmea_gps_data_available
+};
+
+const void* upm_nmea_gps_get_ft(upm_sensor_t sensor_type)
+{
+  switch(sensor_type)
+    {
+    case UPM_SENSOR:
+      return &ft;
+      
+    case UPM_STREAM:
+      return &sft;
+      
+    default:
+      return NULL;
+    }
+}
+
+void* upm_nmea_gps_init_name()
+{
+  return NULL;
+}
+
+void upm_nmea_gps_close(void *dev)
+{
+  nmea_gps_close((nmea_gps_context)dev);
+}
+
+int upm_nmea_gps_read(void *dev, char *buffer, int len)
+{
+  return nmea_gps_read((nmea_gps_context)dev, buffer, len);
+}
+
+int upm_nmea_gps_write(void *dev, char *buffer, int len)
+{
+  return nmea_gps_write((nmea_gps_context)dev, buffer, len);
+}
+
+bool upm_nmea_gps_data_available(void *dev, unsigned int timeout)
+{
+  return nmea_gps_data_available((nmea_gps_context)dev, timeout);
+}

src/nmea_gps/pyupm_nmea_gps.i

@@ -0,0 +1,13 @@
+// Include doxygen-generated documentation
+%include "pyupm_doxy2swig.i"
+%module pyupm_nmea_gps
+%include "../upm.i"
+%include "std_string.i"
+
+%feature("autodoc", "3");
+
+%include "nmea_gps.hpp"
+%{
+    #include "nmea_gps.hpp"
+%}
+