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ublox6: remove driver and replace with generic nmea_gps driver

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Signed-off-by: Jon Trulson <jtrulson@ics.com>
This commit is contained in:
Jon Trulson 2016-08-25 14:04:42 -06:00 committed by Noel Eck
parent a040f51cda
commit d456066277
13 changed files with 5 additions and 713 deletions
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5
docs/apichanges.md
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@ -4,6 +4,11 @@ API Changes {#apichanges}
Here's a list of other API changes made to the library that break source/binary Here's a list of other API changes made to the library that break source/binary
compatibility between releases: compatibility between releases:
* The Ublox6 driver has been removed and replaced with a generic
implementation called nmea_gps. This driver should handle all
generic serial GPS devices that output NMEA data going forward. This
new driver has been tested with ublox6, DFRobot VK2828U7 (ublox7) and
ublox LEA-6H GPS devices.
* There were frequent misspellings of the word *Celsius* in the UPM * There were frequent misspellings of the word *Celsius* in the UPM
code. In some cases, these were in method names, which will cause code. In some cases, these were in method names, which will cause
some API compatibility issues. These have all been corrected for UPM some API compatibility issues. These have all been corrected for UPM

1
examples/c++/CMakeLists.txt
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@ -150,7 +150,6 @@ add_example (grovevdiv)
add_example (grovewater) add_example (grovewater)
add_example (guvas12d) add_example (guvas12d)
add_example (mpr121) add_example (mpr121)
add_example (ublox6)
add_example (yg1006) add_example (yg1006)
add_example (wt5001) add_example (wt5001)
add_example (ppd42ns) add_example (ppd42ns)

97
examples/c++/ublox6.cxx
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@ -1,97 +0,0 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2014 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 <unistd.h>
#include <iostream>
#include <signal.h>
#include "ublox6.hpp"
using namespace std;
bool shouldRun = true;
void sig_handler(int signo)
{
if (signo == SIGINT)
shouldRun = false;
}
const size_t bufferLength = 256;
int main (int argc, char **argv)
{
signal(SIGINT, sig_handler);
//! [Interesting]
// Instantiate a Ublox6 GPS device on uart 0.
upm::Ublox6* nmea = new upm::Ublox6(0);
// make sure port is initialized properly. 9600 baud is the default.
if (!nmea->setupTty(B9600))
{
cerr << "Failed to setup tty port parameters" << endl;
return 1;
}
// Collect and output NMEA data. There are various libraries out on
// the Internet, such as tinyGPS or tinyGPS++ that can handle
// decoding NMEA data and presenting it in a more easily accessible
// format. This example will just check for, and read raw NMEA data
// from the device and output it on stdout.
// This device also supports numerous configuration options, which
// you can set with writeData(). Please refer to the Ublox-6 data
// sheet for further information on the formats of the data sent and
// received, and the various operating modes available.
char nmeaBuffer[bufferLength];
while (shouldRun)
{
// we don't want the read to block in this example, so always
// check to see if data is available first.
if (nmea->dataAvailable())
{
int rv = nmea->readData(nmeaBuffer, bufferLength);
if (rv > 0)
write(1, nmeaBuffer, rv);
if (rv < 0) // some sort of read error occurred
{
cerr << "Port read error." << endl;
break;
}
continue;
}
usleep(100000); // 100ms
}
//! [Interesting]
cout << "Exiting..." << endl;
delete nmea;
return 0;
}

1
examples/java/CMakeLists.txt
View File

@ -97,7 +97,6 @@ add_example(TM1637Sample tm1637)
add_example(TP401Sample gas) add_example(TP401Sample gas)
add_example(TSL2561Sample tsl2561) add_example(TSL2561Sample tsl2561)
add_example(TTP223Sample ttp223) add_example(TTP223Sample ttp223)
add_example(Ublox6Sample ublox6)
add_example(ULN200XASample uln200xa) add_example(ULN200XASample uln200xa)
add_example(WaterLevelSensor waterlevel) add_example(WaterLevelSensor waterlevel)
add_example(WT5001Sample wt5001) add_example(WT5001Sample wt5001)

73
examples/java/Ublox6Sample.java
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@ -1,73 +0,0 @@
/*
* Author: Stefan Andritoiu <stefan.andritoiu@intel.com>
* Copyright (c) 2015 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.
*/
public class Ublox6Sample {
private static final int BUFFERLENGTH = 256;
public static void main(String[] args) throws InterruptedException {
// ! [Interesting]
// Instantiate a Ublox6 GPS device on uart 0
upm_ublox6.Ublox6 nmea = new upm_ublox6.Ublox6(0);
// make sure port is initialized properly. 9600 baud is the default.
if (!nmea.setupTty()) {
throw new RuntimeException("Failed to setup tty port parameters");
}
// Collect and output NMEA data. There are various libraries out on
// the Internet, that can handle decoding NMEA data and presenting
// it in a more easily accessible format. This example will just
// check for, and read raw NMEA data from the device and output it
// on standard output.
// This device also supports numerous configuration options, which
// you can set with writeData(). Please refer to the Ublox-6 data
// sheet for further information on the formats of the data sent and
// received, and the various operating modes available.
byte[] nmeaBuffer = new byte[BUFFERLENGTH];
while (true) {
// we don't want the read to block in this example, so always
// check to see if data is available first.
if (nmea.dataAvailable()) {
int rv = nmea.readData(nmeaBuffer);
if (rv > 0)
for (int i = 0; i < rv; i++)
System.out.print((char) nmeaBuffer[i]);
if (rv < 0) { // some sort of read error occurred
System.err.println("Port read error.");
break;
}
continue;
}
Thread.sleep(1000);
}
// ! [Interesting]
}
}

81
examples/javascript/ublox6.js
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@ -1,81 +0,0 @@
/*
* Author: Zion Orent <zorent@ics.com>
* Copyright (c) 2014 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.
*/
var GPSSensor = require('jsupm_ublox6');
// Instantiate a Ublox6 GPS device on uart 0.
var myGPSSensor = new GPSSensor.Ublox6(0);
if (!myGPSSensor.setupTty(GPSSensor.int_B9600))
{
console.log("Failed to setup tty port parameters");
process.exit(0);
}
// Collect and output NMEA data.
// This device also supports numerous configuration options, which
// you can set with writeData(). Please refer to the Ublox-6 data
// sheet for further information on the formats of the data sent and
// received, and the various operating modes available.
var bufferLength = 256;
var nmeaBuffer = new GPSSensor.charArray(bufferLength);
function getGPSInfo()
{
// we don't want the read to block in this example, so always
// check to see if data is available first.
if (myGPSSensor.dataAvailable())
{
var rv = myGPSSensor.readData(nmeaBuffer, bufferLength);
var GPSData, dataCharCode, isNewLine, lastNewLine;
var numlines= 0;
if (rv > 0)
{
GPSData = "";
// read only the number of characters
// specified by myGPSSensor.readData
for (var x = 0; x < rv; x++)
GPSData += nmeaBuffer.getitem(x);
process.stdout.write(GPSData)
}
if (rv < 0) // some sort of read error occurred
{
console.log("Port read error.");
process.exit(0);
}
}
}
setInterval(getGPSInfo, 100);
// Print message when exiting
process.on('SIGINT', function()
{
console.log("Exiting...");
process.exit(0);
});

82
examples/python/ublox6.py
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@ -1,82 +0,0 @@
#!/usr/bin/python
# Author: Zion Orent <zorent@ics.com>
# Copyright (c) 2015 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.
import time, sys, signal, atexit
import pyupm_ublox6 as upmUblox6
# Instantiate a Ublox6 GPS device on uart 0.
myGPSSensor = upmUblox6.Ublox6(0)
## Exit handlers ##
# This function stops python from printing a stacktrace when you hit control-C
def SIGINTHandler(signum, frame):
raise SystemExit
# This function lets you run code on exit, including functions from myGPSSensor
def exitHandler():
print "Exiting"
sys.exit(0)
# Register exit handlers
atexit.register(exitHandler)
signal.signal(signal.SIGINT, SIGINTHandler)
if (not myGPSSensor.setupTty(upmUblox6.cvar.int_B9600)):
print "Failed to setup tty port parameters"
sys.exit(0)
# Collect and output NMEA data.
# This device also supports numerous configuration options, which
# you can set with writeData(). Please refer to the Ublox-6 data
# sheet for further information on the formats of the data sent and
# received, and the various operating modes available.
bufferLength = 256
nmeaBuffer = upmUblox6.charArray(bufferLength)
def getGPSInfo():
# we don't want the read to block in this example, so always
# check to see if data is available first.
if (myGPSSensor.dataAvailable()):
rv = myGPSSensor.readData(nmeaBuffer, bufferLength)
numlines= 0
if (rv > 0):
GPSData = ""
# read only the number of characters
# specified by myGPSSensor.readData
for x in range(rv):
GPSData += nmeaBuffer.__getitem__(x)
sys.stdout.write(GPSData)
if (rv < 0): # some sort of read error occurred
print "Port read error."
sys.exit(0)
while (1):
getGPSInfo()
time.sleep(.1)

5
src/ublox6/CMakeLists.txt
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@ -1,5 +0,0 @@
set (libname "ublox6")
set (libdescription "upm u-blox 6 GPS UART support module")
set (module_src ${libname}.cxx)
set (module_hpp ${libname}.hpp)
upm_module_init()

30
src/ublox6/javaupm_ublox6.i
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@ -1,30 +0,0 @@
%module javaupm_ublox6
%include "../upm.i"
%include "../java_buffer.i"
%{
#include "ublox6.hpp"
speed_t int_B2400 = B2400;
speed_t int_B4800 = B4800;
speed_t int_B9600 = B9600;
speed_t int_B19200 = B19200;
speed_t int_B38400 = B38400;
%}
%include "ublox6.hpp"
speed_t int_B2400 = B2400;
speed_t int_B4800 = B4800;
speed_t int_B9600 = B9600;
speed_t int_B19200 = B19200;
speed_t int_B38400 = B38400;
%pragma(java) jniclasscode=%{
static {
try {
System.loadLibrary("javaupm_ublox6");
} catch (UnsatisfiedLinkError e) {
System.err.println("Native code library failed to load. \n" + e);
System.exit(1);
}
}
%}

21
src/ublox6/jsupm_ublox6.i
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@ -1,21 +0,0 @@
%module jsupm_ublox6
%include "../upm.i"
%include "stdint.i"
%include "carrays.i"
%{
#include "ublox6.hpp"
speed_t int_B2400 = B2400;
speed_t int_B4800 = B4800;
speed_t int_B9600 = B9600;
speed_t int_B19200 = B19200;
speed_t int_B38400 = B38400;
%}
%include "ublox6.hpp"
speed_t int_B2400 = B2400;
speed_t int_B4800 = B4800;
speed_t int_B9600 = B9600;
speed_t int_B19200 = B19200;
speed_t int_B38400 = B38400;
%array_class(char, charArray);

25
src/ublox6/pyupm_ublox6.i
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@ -1,25 +0,0 @@
// Include doxygen-generated documentation
%include "pyupm_doxy2swig.i"
%module pyupm_ublox6
%include "../upm.i"
%include "stdint.i"
%include "carrays.i"
%feature("autodoc", "3");
%{
#include "ublox6.hpp"
speed_t int_B2400 = B2400;
speed_t int_B4800 = B4800;
speed_t int_B9600 = B9600;
speed_t int_B19200 = B19200;
speed_t int_B38400 = B38400;
%}
%include "ublox6.hpp"
speed_t int_B2400 = B2400;
speed_t int_B4800 = B4800;
speed_t int_B9600 = B9600;
speed_t int_B19200 = B19200;
speed_t int_B38400 = B38400;
%array_class(char, charArray);

167
src/ublox6/ublox6.cxx
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@ -1,167 +0,0 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2014 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 <string>
#include <stdexcept>
#include "ublox6.hpp"
using namespace upm;
using namespace std;
Ublox6::Ublox6(int uart)
{
m_ttyFd = -1;
if ( !(m_uart = mraa_uart_init(uart)) )
{
throw std::invalid_argument(std::string(__FUNCTION__) +
": mraa_uart_init() failed");
return;
}
// This requires a recent MRAA (1/2015)
const char *devPath = mraa_uart_get_dev_path(m_uart);
if (!devPath)
{
throw std::runtime_error(std::string(__FUNCTION__) +
": mraa_uart_get_dev_path() failed");
return;
}
// now open the tty
if ( (m_ttyFd = open(devPath, O_RDWR)) == -1)
{
string err = __FUNCTION__;
err += ": open of " + std::string(devPath) + " failed: " +
std::string(strerror(errno));
throw std::runtime_error(err);
return;
}
}
Ublox6::~Ublox6()
{
if (m_ttyFd != -1)
close(m_ttyFd);
}
bool Ublox6::dataAvailable()
{
if (m_ttyFd == -1)
return false;
struct timeval timeout;
// no waiting
timeout.tv_sec = 0;
timeout.tv_usec = 0;
int nfds;
fd_set readfds;
FD_ZERO(&readfds);
FD_SET(m_ttyFd, &readfds);
if (select(m_ttyFd + 1, &readfds, NULL, NULL, &timeout) > 0)
return true; // data is ready
else
return false;
}
int Ublox6::readData(char *buffer, int len)
{
if (m_ttyFd == -1)
return(-1);
int rv = read(m_ttyFd, buffer, len);
if (rv < 0)
{
string err = string(__FUNCTION__) + ": read failed: " +
string(strerror(errno));
throw std::runtime_error(err);
return rv;
}
return rv;
}
int Ublox6::writeData(char * buffer, int len)
{
if (m_ttyFd == -1)
return(-1);
int rv = write(m_ttyFd, buffer, len);
if (rv < 0)
{
string err = string(__FUNCTION__) + ": write failed: " +
string(strerror(errno));
throw std::runtime_error(err);
return rv;
}
tcdrain(m_ttyFd);
return rv;
}
bool Ublox6::setupTty(speed_t baud)
{
if (m_ttyFd == -1)
return(false);
struct termios termio;
// get current modes
tcgetattr(m_ttyFd, &termio);
// setup for a 'raw' mode. 81N, no echo or special character
// handling, such as flow control.
cfmakeraw(&termio);
// set our baud rates
cfsetispeed(&termio, baud);
cfsetospeed(&termio, baud);
// make it so
int rv;
if ( (rv = tcsetattr(m_ttyFd, TCSAFLUSH, &termio)) < 0)
{
string err = string(__FUNCTION__) + ": tcsetattr failed: " +
string(strerror(errno));
throw std::runtime_error(err);
return false;
}
return true;
}

130
src/ublox6/ublox6.hpp
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@ -1,130 +0,0 @@
/*
* Author: Jon Trulson <jtrulson@ics.com>
* Copyright (c) 2014 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 <stdint.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <fcntl.h>
#include <errno.h>
#include <termios.h>
#include <sys/time.h>
#include <sys/select.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <mraa/uart.h>
const int UBLOX6_DEFAULT_UART = 0;
namespace upm {
/**
* @brief UBLOX6 & SIM28 GPS Module library
* @defgroup ublox6 libupm-ublox6
* @ingroup seeed uart gps tsk
*/
/**
* @library ublox6
* @sensor ublox6
* @comname Grove GPS
* @altname U-BLOX 6 SIM28
* @type gps
* @man seeed
* @web http://www.seeedstudio.com/depot/Grove-GPS-p-959.html
* @con uart
* @kit tsk
*
* @brief API for the U-BLOX 6 and SIM28 GPS Modules
*
* UPM support for the U-BLOX 6 GPS module. It is also compatible with
* the SIM28 GPS module.
*
* @image html ublox6.jpg
* @snippet ublox6.cxx Interesting
*/
class Ublox6 {
public:
/**
* Ublox6 object constructor
*
* @param uart Default UART to use (0 or 1)
*/
Ublox6(int uart);
/**
* Ublox6 object destructor
*/
~Ublox6();
/**
* Checks to see if there is data available for reading
*
* @return True if there is data available for reading
*/
bool dataAvailable();
/**
* Reads any available data in a user-supplied buffer. Note: the
* call blocks until data is available to be read. Use
* dataAvailable() to determine whether there is data available
* beforehand, to avoid blocking.
*
* @param buffer Buffer to hold the data read
* @param len Length of the buffer
* @return the Number of bytes read
*/
int readData(char *buffer, int len);
/**
* Writes the data in the buffer to the device
*
* @param buffer Buffer to hold the data read
* @param len Length of the buffer
* @return Number of bytes written
*/
int writeData(char *buffer, int len);
/**
* Sets up proper tty I/O modes and the baud rate. The default
* baud rate is 9,600 (B9600).
*
* @param baud Desired baud rate
* @return True if successful
*/
bool setupTty(speed_t baud=B9600);
protected:
int ttyFd() { return m_ttyFd; };
private:
mraa_uart_context m_uart;
int m_ttyFd;
};
}