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t-wintec-wsg2000.c
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t-wintec-wsg2000.c
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/*
*
* Wintec WSG-2000 (G-Trender II) .NAL support.
*
* Copyright (C) 2012,2013 Greg A. Woods <[email protected]>
*
* My normal copyright license is effectively a Creative Commons "Attribution
* Share-Alike" license (with some specific terms about attribution and
* re-distribution), but GPSbabel is GNU GPL. Sigh. I will also release this
* under GPLv2 if I must.
*
* (On the other hand a CC "Attribution Share-Alike" copyright license is not
* viral so code covered by it should be mixable with GPL?)
*/
#ifndef DO_MAIN
# include "defs.h" /* i.e. from gpsbabel */
#endif
#include <assert.h>
#include <err.h>
#include <math.h>
#include <stdbool.h>
#include <stddef.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
/*
* Note: a "compat/stdint.h" can be automatically generated, but doing so needs
* help from code compiled for the target, but which can run on the build host.
*
* Note: a "compat/stdbool.h" need only contain these three lines:
*
* typedef bool int;
*
* # define false 0
* # define true 1
*/
/* newer GCC & Clang will already have these defined... */
#if !(defined(__LITTLE_ENDIAN__) || defined(__BIG_ENDIAN__))
# if !(defined(__BYTE_ORDER__) && \
defined(__ORDER_LITTLE_ENDIAN__) && defined(__ORDER_BIG_ENDIAN__))
# if defined(linux) || defined(__linux__) || \
defined (__gnu_linux__) || defined(__linux)
# include <endian.h>
# endif
# if defined(BSD) || \
defined(__NetBSD__) || \
defined(__FreeBSD__) || \
defined(__OpenBSD__) || \
defined(__Darwin__) || \
defined(__DragonFly__)
# include <sys/param.h> /* also <sys/types.h>??? */
# include <machine/endian.h>
# endif
# ifdef __SCO__
# include <sys/types.h>
# include <sys/byteorder.h>
# endif
# ifdef __aix__
# include <sys/machine.h>
# endif
# ifdef __hpux
# include <machine/param.h>
# endif
# ifdef OS2
# include <machine/endian.h>
# endif
# ifdef SVR4
# if defined(NCR) || defined(Mips) || defined(__sgi)
# include <sys/endian.h>
# else
# if !defined(sun)
# include <sys/byteorder.h>
# endif
# endif
# endif
/* the above #includes should define one of the following... */
# if !defined(__ORDER_LITTLE_ENDIAN__) && defined(_LITTLE_ENDIAN)
# define __ORDER_LITTLE_ENDIAN__ _LITTLE_ENDIAN
# endif
# if !defined(__ORDER_BIG_ENDIAN__) && defined(_BIG_ENDIAN)
# define __ORDER_BIG_ENDIAN__ _BIG_ENDIAN
# endif
# if !defined(__BYTE_ORDER__) && defined(_BYTE_ORDER)
# define __BYTE_ORDER__ _BYTE_ORDER
# endif
# if !defined(__ORDER_LITTLE_ENDIAN__) && defined(__LITTLE_ENDIAN)
# define __ORDER_LITTLE_ENDIAN__ __LITTLE_ENDIAN
# endif
# if !defined(__ORDER_BIG_ENDIAN__) && defined(__BIG_ENDIAN)
# define __ORDER_BIG_ENDIAN__ __BIG_ENDIAN
# endif
# if !defined(__BYTE_ORDER__) && defined(__BYTE_ORDER)
# define __BYTE_ORDER__ __BYTE_ORDER
# endif
/*
* If we still dont know the target byte order, then we try one last effort.
*
* This is based on compiler CPU macros, so for bit-field determination it's no
* better than those above, but for code wanting to know the word endianness...
*/
# ifndef __BYTE_ORDER__
/*
* note: these are the values GCC & Clang use....
*/
# ifndef __ORDER_LITTLE_ENDIAN__
# define __ORDER_LITTLE_ENDIAN__ 1234
# endif
# ifndef __ORDER_BIG_ENDIAN__
# define __ORDER_BIG_ENDIAN__ 4321
# endif
# if defined(__QNX__) && !defined(__QNXNTO__)
# define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__
# endif /* __QNX__ */
# if defined(__QNXNTO__)
# if defined(i386) || defined(__i386__) || defined(__x86__)
# define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__
# else
# define __BYTE_ORDER__ __ORDER_BIG_ENDIAN__
# endif
# endif /* __QNXNTO__ */
# ifdef Lynx
# if defined(i386) || defined(__i386__) || defined(__x86__)
# define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__
# else
# define __BYTE_ORDER__ __ORDER_BIG_ENDIAN__
# endif
# endif /* Lynx */
# if !defined(__BYTE_ORDER__) && defined(_LITTLE_ENDIAN)
# define __BYTE_ORDER__ __ORDER_LITTLE_ENDIAN__
# endif
# if !defined(__BYTE_ORDER__) && defined(_BIG_ENDIAN)
# define __BYTE_ORDER__ __ORDER_BIG_ENDIAN__
# endif
# endif /* __BYTE_ORDER__ */
# endif /* !(__BYTE_ORDER__ && __ORDER_LITTLE_ENDIAN__ && __ORDER_BIG_ENDIAN__)) */
# if __BYTE_ORDER__ == __ORDER_BIG_ENDIAN__
# define __BIG_ENDIAN__
# elif __BYTE_ORDER__ == __ORDER_LITTLE_ENDIAN__
# define __LITTLE_ENDIAN__
# endif
#endif /* !(__LITTLE_ENDIAN__) || __BIG_ENDIAN__) */
#if !(defined(__LITTLE_ENDIAN__) || defined(__BIG_ENDIAN__))
# error "one of __LITTLE_ENDIAN__ or __BIG_ENDIAN__ must be defined"
#endif
/*
* Determine the compiler's bitfield order....
*
* Note that it is assumed the host has a two's-complement integer
* representation, and that the compiler can allocate bitfields into 32-bit
* storage unit
*
* The code below does not make any assumptions about the byte order of the
* host. With most compiler implementations the allocation of the bitfields in
* each storage unit is done in the same order as bytes are allocated within
* multibyte objects. Since we disect bitfields from externally created data,
* we must take care to do it in a manner compatible with the compiler.
*
*
* Bit-fields and their order in structs.
*
* From C99:
*
* An implementation may allocate any addressable storage unit large
* enough to hold a bit-field.
*
* If enough space remains, a bit-field that immediately follows another
* bit-field in a structure shall be packed into adjacent bits of the same
* unit.
*
* If insufficient space remains, whether a bit-field that does not fit is
* put into the next unit or overlaps adjacent units is
* implementation-defined.
*
* Some architectures like SPARC and Motorola 68000 use "LSB 0" bit numbering,
* while S/390, PowerPC and PA-RISC use "MSB 0". Dunno about their bit-fields
* though.
*
* GCC's manual discusses the layout of bit-fields in structures, mentioning
* the sections of the relevant C standards which say that this aspect of C is
* "implementation defined", and then says how GCC implements the feature:
*
* * `The order of allocation of bit-fields within a unit (C90 6.5.2.1,
* C99 6.7.2.1).'
*
* Determined by ABI.
*
* Some choices depend on the externally determined ABI for the platform
* which GCC follows
*
* Some compilers, e.g. reportedly Metrowerks CodeWarrior, support a "#pragma
* reverse_bitfields" directive that will reverse the order of the bits in a
* bit-field from the order that would otherwise have applied.
*
* The COSMIC compiler for HC12/HCS12 microcontrollers defines __CSMC__ to a
* value with 6 or more bits, of which bit #4 is set if the "reverse bitfield
* option (was) specified (+rev)". (Apparently it normally uses LtoH
* ordering.)
*
* The UNIX System V ABI for PowerPC says that the CPU may be used in either
* Little Endian mode or Big Endian mode, and with respect to bit-fields:
*
* Bit-fields are allocated from right to left (least to most significant)
* on Little-Endian implementations and from left to right (most to least
* significant) on Big-Endian implementations.
*
* For i386, the SysV ABI says:
*
* Bit-fields are allocated from right to left (least to most significant).
*
* For all Sun Sparc:
*
* The C compiler assigns bit fields from the high to the low end of an
* int (most to least significant).
*
* However for all Sun systems we can get the official value directly from
* <sys/isa_defs.h> as a define of either _BIT_FIELDS_LTOH or _BIT_FIELDS_HTOL.
*/
#if defined(__sun__)
# include <sys/isa_defs.h>
#endif
#if !(defined(_BIT_FIELDS_LTOH) || defined(_BIT_FIELDS_HTOL))
/*
* First try by CPU based on compiler defines....
*/
# if defined(sun3) || defined(mc68000) || \
defined(sun4) || defined(__sparc) || defined(sparc) || \
defined(__hppa) || defined(_ARCH_PPC) || defined(_IBMR2)
# define _BIT_FIELDS_HTOL
# endif
# if defined(__sgi) && defined(__mips)
# define _BIT_FIELDS_HTOL
# endif
# if defined(__i386__) || defined(__i386) || defined(i386) || \
defined(__alpha__) || defined(__alpha) || defined(alpha) || \
defined(__arm__) || defined(__arm) || defined(arm)
# define _BIT_FIELDS_LTOH
# endif
#endif /* !(_BIT_FIELDS_LTOH || _BIT_FIELDS_HTOL) */
/* endian hacks... */
#if !(defined(_BIT_FIELDS_LTOH) || defined(_BIT_FIELDS_HTOL))
/*
* If that didn't work then try using platform-specific compile-time endian
* discovery is a last-ditch effort. This will likely only work on hosted
* implementations.
*/
# if defined(__LITTLE_ENDIAN__)
# define _BIT_FIELDS_LTOH
# elif defined(__BIG_ENDIAN__)
# define _BIT_FIELS_HTOL
# endif
# if !(defined(_BIT_FIELDS_LTOH) || defined(_BIT_FIELDS_HTOL))
# include "one of _BIT_FIELDS_LTOH or _BIT_FIELDS_HTOL must be defined"
# endif
#endif /* endian hacks */
#if defined(__LITTLE_ENDIAN__) && defined(DO_MAIN)
# define le_assert(x) assert(x)
#else
# define le_assert(x) /* Nothing! */
#endif
#ifndef DO_MAIN
# define MYNAME "wsg2000"
#endif
#ifdef DO_MAIN /* for reference only! */
/*
* Wintec WSG 2000 (G-Trender II) external record format
*
* The supplied M$-Windoze conversion and analysis software is a bad joke.
*
* File extension: .NAL
* File format: binary, 32 byte fixed block length, little-endian,
* two's-complement, MSB
*
* Binary format analysis by: Dennis Heynlein (c-logic)
* Posted at: <URL:http://www.mikrocontroller.net/topic/260568>
*
* Note that "named marks" are stored in the /SYS/MARK.BIN file on the device,
* and not in the .NAL log files. The "waypoint" flag simply indicates the
* middle button on the left ("flag/arrow" icon, labeled "Push to Log / Start
* New Log" in the manual) was pressed (twice).
*/
#pragma pack (1)
#if !defined(__LITTLE_ENDIAN__)
# error "This test code will not work on anything but little-endian machines. Strip out the nal_t stuff for portable code"
#endif
#if UINT32_MAX < 0xffffffffU
# error "This test code will not work on any CPU with less than 32-bit integers."
#endif
/* XXX this probably won't work on compilers that don't allow all sized ints bitfields either */
typedef struct nal_data32_le {
uint16_t start: 1, waypoint: 1, padding_flags: 14;
/* note: the next two fit into one uint32_t */
uint32_t second: 6, minute: 6, hour: 5; /* UTC(?) */
uint32_t day: 5, month: 4, year: 6; /* add 2000 to year */
int32_t latitude; /* divide by 1E7 for degrees */
int32_t longitude; /* divide by 1E7 for degrees */
uint16_t height; /* meters (from altimiter?) */
int8_t temperature; /* °C */
uint16_t pressure; /* mbar */
uint8_t cadence; /* RPM from cadence sensor */
uint8_t pulse; /* BPM from heart rate sensor */
int8_t slope; /* degrees */
int16_t compass; /* ° around Z axis (unsigned?) */
int16_t roll; /* ° around X axis */
int16_t yaw; /* ° around Y axis ("pitch" in the Wintec manual) */
uint8_t speed; /* km/h (wheel speed sensor?) */
uint8_t bike; /* "user" ID# 0-3 */
uint16_t padding_end;
} nal_t;
#endif /* DO_MAIN: for reference only! */
#define NAL_BLOCK_SZ 32 /* known value, sizeof(nal_t) must match */
/*
* a GPS and related data point as logged by the Wintec WSG-2000
*
* This is an internal C-friendly representation of the data record.
*
* XXX perhaps [u]int8_t (or [unsigned] char) should be used for fields here
* where the external format only supplies 8-bit values, and that would save us
* from having to be extra careful about sign extension for signed 8-bit
* conversions to short ints. This would require [u]int8_t be a valid type....
*/
typedef struct gpspt {
time_t date; /* record creation date */
unsigned int start :1; /* start of track record */
unsigned int waypoint :1; /* manually marked position */
unsigned char bike; /* "user" ID# 0-3 */
int latitude; /* divide by 1E7 for degrees */
int longitude; /* divide by 1E7 for degrees */
unsigned short height; /* meters (from altimiter?) */
short temperature; /* °C [int8_t] */
unsigned short pressure; /* mbar */
unsigned short cadence; /* RPM from cadence sensor */
unsigned short pulse; /* BPM from heart rate sensor */
unsigned short speed; /* km/h (wheel speed sensor?) */
short slope; /* degrees of incline (calculated?) [int8_t] */
unsigned short compass; /* ° around Z axis */
short roll; /* ° around X axis */
short yaw; /* ° around Y axis */
} gpspt_t;
#ifdef DO_MAIN
int main(int, char *[]);
static size_t process(FILE *, const char *);
static bool is_file_nal_p(FILE *, const char *);
static void pp_nal(nal_t *, size_t);
#endif /* DO_MAIN */
static bool is_nal_p(gpspt_t, const char *, size_t);
static bool fill_gpspt(gpspt_t *pt, unsigned char *, const char *, size_t);
static int pp_gpspt(gpspt_t, size_t);
static void show_distance(int, int, int, int);
static void CalcDist2(int, int, int, int, double *, double *);
#ifdef DO_MAIN
int
main(int argc,
char *argv[])
{
size_t nr;
size_t nt = 0;
warnx("reading %lu byte records with %s byte order and %s bitfields.",
(unsigned long) sizeof(nal_t),
#if defined(__LITTLE_ENDIAN__)
"Little-Endian",
#else
"Big-Endian",
#endif
#ifdef _BIT_FIELDS_LTOH
"Low-to-High"
#else
"High-to-Low"
#endif
);
assert(NAL_BLOCK_SZ == sizeof(nal_t));
if (argc == 1) {
if (!is_file_nal_p(stdin, "stdin")) {
warnx("%s: does not seem to be NAL-format data", "stdin");
} else {
nr = process(stdin, "stdin");
warnx("%s: read %lu records", "stdin", (unsigned long) nr);
}
} else {
argc--;
argv++;
for (; argc > 0; --argc, argv++) {
FILE *fin;
size_t usum;
if (!(fin = fopen(*argv, "r"))) {
warn("error opening %s", *argv);
continue;
}
if (!is_file_nal_p(fin, *argv)) {
warnx("%s: does not seem to be NAL-format data", *argv);
continue;
}
nr = process(fin, *argv);
if (fclose(fin) != 0) {
warn("%s: error closing", *argv);
}
warnx("%s: read %lu records", *argv, (unsigned long) nr);
usum = nt + nr;
if (usum < nt || usum < nr) {
warnx("to many records to count in a %ld-sized integer", (unsigned long) sizeof(usum));
}
nt = usum;
}
warnx("read total of %lu records", (unsigned long) nt);
}
exit(0);
}
static size_t
process(FILE *fin,
const char *fn)
{
char buf[NAL_BLOCK_SZ];
gpspt_t pt;
size_t nb = 0;
size_t nr = 0;
while ((nb = fread(buf, (size_t) 1, sizeof(buf), fin)) == sizeof(buf)) {
if (!fill_gpspt(&pt, (unsigned char *) buf, fn, nr)) {
warnx("%s: record #%lu: failed to convert properly",
fn, (unsigned long) nr);
}
#ifndef NDEBUG
(void) is_nal_p(pt, fn, nr);
#endif
#ifdef DEBUG
pp_nal((nal_t *) buf, nr);
#endif
pp_gpspt(pt, nr);
nr++;
}
if (nb > 0) {
warnx("%s: record #%lu: read incomplete record of %lu bytes",
fn, (unsigned long) nr, (unsigned long) nb);
return (0);
}
if (!feof(fin)) {
warn("%s: finished reading before EOF (last record #%lu was %lu bytes short)",
fn, (unsigned long) nr, (unsigned long) (sizeof(buf) - nb));
}
if (ferror(fin)) {
warn("%s: error reading after %lu records",
fn, (unsigned long) nr);
return (0);
}
return nr;
}
static bool
is_file_nal_p(FILE *fin,
const char *fn)
{
char buf[NAL_BLOCK_SZ];
size_t nb;
gpspt_t pt;
bool rc;
/*
* read the first record...
*/
if ((nb = fread(buf, (size_t) 1, sizeof(buf), fin)) != sizeof(buf)) {
warn("%s: cannot read a complete %lu-byte record to verify format (read %lu bytes)",
fn, (unsigned long) sizeof(buf), (unsigned long) nb);
return false;
}
/*
* try to convert it to internal form....
*/
if (!fill_gpspt(&pt, (unsigned char *) buf, fn, (size_t) 0)) {
warnx("%s: failed to convert first record", fn);
/* what did it look like???? */
pp_nal((nal_t *) buf, (size_t) 0);
return false;
}
/*
* check it out....
*/
rc = is_nal_p(pt, fn, (size_t) 0);
/*
* and put it all back...
*
* (assume the default I/O buffering is full block buffering with a
* block size of BUFSIZ, as is normal for Unix and unix-like systems)
*/
#if (BUFSIZ < NAL_BLOCK_SZ)
# error "Here be dragons! Your stdio buffers are too small! Need a setbuf()."
#endif
for (; nb > 0; nb--) {
/* note: allow the sign extension, then truncate back to sizeof(char) */
if (ungetc((int) buf[nb - 1] & 0xFF, fin) == EOF) {
warn("%s: ungetc()", fn); /* XXX perhaps this should be a fatal err()? */
return false;
}
}
return rc;
}
#endif /* DO_MAIN */
static bool
is_nal_p(gpspt_t pt,
const char *fn,
size_t rn)
{
if (abs(pt.latitude) > 90 * 10000000) {
warnx("%s: #%lu: impossible latitude %d.%d°", fn, (unsigned long) rn, pt.latitude / 10000000, pt.latitude % 10000000);
return false;
}
if (abs(pt.longitude) > 180 * 10000000) {
warnx("%s: #%lu: impossible longitude %d.%d°", fn, (unsigned long) rn, pt.longitude / 10000000, pt.longitude % 10000000);
return false;
}
if (pt.latitude == 0 && pt.longitude == 0) {
warnx("%s: #%lu: impossible position 0° 0° (unless you were on the equator in the middle of the Atlantic Ocean?)", fn, (unsigned long) rn);
return false;
}
/*
* XXX not sure how this can be >90 either way, but I've seen +99° in
* one file, at a time when I was walking, possibly with the unit in my
* hand, and with my camera in the other, and while quite near to an
* iron pipe laid along the ground, sometimes walking, sometimes
* stopped.... all within the period of under two minutes. I will
* have to revisit that location and see if there may be a magnetic
* anomaly or some other possible explanation. Or perhaps a
* beyond-vertical slope up is possible?
*
* On the other hand given that compass, roll, and yaw probably come
* from the MEMS chip, and slope should be calculated by the GPS based
* on the delta of distance and height from the last point, or series
* of points?
*/
if (abs(pt.slope) > 180) {
warnx("%s: #%lu: impossible slope %d°", fn, (unsigned long) rn, pt.slope);
return false;
}
if (pt.compass > 360) {
warnx("%s: #%lu: impossible compass %d°", fn, (unsigned long) rn, pt.compass);
return false;
}
if (abs(pt.roll) > 180) {
warnx("%s: #%lu: impossible roll %d°", fn, (unsigned long) rn, pt.roll);
return false;
}
if (abs(pt.yaw) > 180) {
warnx("%s: #%lu: impossible yaw %d°", fn, (unsigned long) rn, pt.yaw);
return false;
}
/*
* XXX in theory we should verify that cadence, pulse, temperature, and
* speed are have values that will fit in an (unsigned) char, since
* that's how much data was read into them.
*/
return true;
}
/*
* read a .NAL record (from "buf") into a gpspt_t structure (pointed at by
* "pt"), using "fn" and "rn" in any error or warning messages as the file name
* and record number which "buf" contains
*
* This code is endian-independent, but only independent of bitfield-order if
* _BIT_FIELDS_LTOH is defined correctly for the compiler.
*
* Note that using unions for the purposes of memory reinterpretation
* (i.e. writing one member and then reading another, aka type-punning) has
* always been allowed by most C implementations (7th Edition Unix source did
* this in several places).
*
* C99 was initially clumsily worded, appearing to make type-punning through
* unions undefined. In reality, type-punning though unions is legal in C89,
* and legal in C11, and it was actually legal in C99 all along, however it took
* until 2004 for the committee to fix the incorrect wording with the release
* of C99-TC3.
*/
static bool
fill_gpspt(gpspt_t *pt,
unsigned char *buf,
const char *fn,
size_t rn)
{
union flag_data {
uint16_t val;
struct bit_flags {
#ifdef _BIT_FIELDS_LTOH
unsigned start: 1, waypoint: 1, unknown_flags: 14;
#else
unsigned unknown_flags: 14, waypoint: 1, start: 1;
#endif
} fl;
} bfl = { 0 };
union time_data {
uint32_t val;
struct bit_time {
/* add 2000 to year */
#ifdef _BIT_FIELDS_LTOH
unsigned second: 6, minute: 6, hour: 5;
unsigned day: 5, month: 4, year: 6;
#else
unsigned year: 6, month: 4, day: 5;
unsigned hour: 5, minute: 6, second: 6;
#endif
} tmi;
} btm = { 0 };
struct tm rt;
unsigned int i = 0;
/*
* Note: we probably don't have to worry about this since if "unsigned"
* isn't big enough for the first group of bits defined in struct
* bit_time (17), then hopefully the compiler will at least warn, if
* not error out entirely.
*/
assert(sizeof(btm.tmi) == sizeof(btm.val));
memset((char *) pt, 0, sizeof(*pt));
if (!pt) {
return false;
}
if (!buf) {
return false;
}
bfl.val = (uint16_t) (buf[i++] << 0);
bfl.val |= (uint16_t) (buf[i++] << 8);
pt->start = bfl.fl.start;
pt->waypoint = bfl.fl.waypoint;
if (bfl.fl.unknown_flags != 0) {
warnx("%s: #%lu: unknown flags: 0x%X", fn, (unsigned long) rn, (unsigned int) bfl.fl.unknown_flags);
/* XXX should this be an error? or do we care? */
}
btm.val = (uint32_t) (buf[i++] << 0);
btm.val |= (uint32_t) (buf[i++] << 8);
btm.val |= (uint32_t) (buf[i++] << 16);
btm.val |= (uint32_t) (buf[i++] << 24);
/*
* Note: we check these bitfield values here so as to get more
* meaningful warnings, instead of just waiting for mktime() to fail.
*
* These are errors too because they indicate either bad data or some
* other kind of non-recoverable problem.
*/
if (btm.tmi.month == 0 || btm.tmi.month > 12) {
warnx("%s: #%lu: impossible month %d", fn, (unsigned long) rn, btm.tmi.month);
return false;
}
if (btm.tmi.day == 0 || btm.tmi.day > 31) {
warnx("%s: #%lu: impossible day %d", fn, (unsigned long) rn, btm.tmi.day);
return false;
}
if (btm.tmi.hour > 23) {
warnx("%s: #%lu: impossible hour %d", fn, (unsigned long) rn, btm.tmi.hour);
return false;
}
if (btm.tmi.minute > 60) {
warnx("%s: #%lu: impossible minute %d", fn, (unsigned long) rn, btm.tmi.minute);
return false;
}
if (btm.tmi.second > 60) {
warnx("%s: #%lu: impossible second %d", fn, (unsigned long) rn, btm.tmi.second);
return false;
}
rt.tm_sec = btm.tmi.second;
rt.tm_min = btm.tmi.minute;
rt.tm_hour = btm.tmi.hour;
rt.tm_mday = btm.tmi.day;
rt.tm_mon = btm.tmi.month - 1;
rt.tm_year = btm.tmi.year + (2000 - 1900);
rt.tm_gmtoff = 0;
rt.tm_isdst = 0;
rt.tm_zone = NULL;
/*
* GPS time was zero at 1980/01/06-00:00:00Z and since GPS time is has
* not been perturbed by leap seconds the GPS time in seconds is ahead
* of UTC (which has had leap seconds inserted without being counted in
* seconds since the epoch).
*
* Strict Unix time also ignores leap seconds (the clock always ticks,
* and every second is counted).
*
* So, both Unix time and GPS time are similar to International Atomic
* Clock Time (TAI).
*
* On the other hand POSIX requires time_t to represent UTC. Which was
* extremely stupid, but it's too late to change now, unless you just
* ignore it and stick to Unix (or TAI) time. (It is easier this POSIX
* way to handle resetting the system clock after a reboot since
* civilian broadcast clocks do run on UTC.)
*
* The big question here is whether the Wintec folks are storing plain
* GPS time or not..... Do they convert properly to UTC? Perhaps if
* logging is on and the unit is connected and sending NMEA records to
* the USB port, then the time stamps from those records and those from
* the corresponding log can be compared with NTP time.
*
* On systems with the "tz" library it is possible to encode timezone
* files with leap-second information such that time_t values are given
* in TAI, in which case I think leap seconds will be inserted into the
* result by timegm(3), but that may not actually be what we want since
* GPS time is effectively in sync with TAI. Using setenv("TZ", "", 1)
* may actually be best as that avoids any possible handling of leap
* seconds.
*
* XXX timegm(3) can be simulated on any known platform that offers a
* proper ISO C89 or POSIX mktime(3) implmentation with the following
* code (assuming setenv(3) and unsetenv(3), available since the
* Seventh Edition of Unix, is also available (which includes
* M$-Windoze all the way back to at least W95)):
*
* char *otz = getenv("TZ");
* #ifdef WINDOZE
* setenv("TZ", "UTC", 1);
* #else
* setenv("TZ", "", 1);
* #endif
* mktime(&rt);
* if (otz)
* setenv("TZ", otz, 1);
* else
* unsetenv("TZ");
*/
if ((pt->date = timegm(&rt)) == (time_t) -1) {
warn("%s: #%lu: mktime(): failed to convert date", fn, (unsigned long) rn);
return false;
}
le_assert(i == offsetof(nal_t, latitude));
pt->latitude = (buf[i++] << 0);
pt->latitude |= (buf[i++] << 8);
pt->latitude |= (buf[i++] << 16);
pt->latitude |= (buf[i++] << 24);
le_assert(i == offsetof(nal_t, longitude));
pt->longitude = (buf[i++] << 0);
pt->longitude |= (buf[i++] << 8);
pt->longitude |= (buf[i++] << 16);
pt->longitude |= (buf[i++] << 24);
le_assert(i == offsetof(nal_t, height));
pt->height = (unsigned short) (buf[i++] << 0);
pt->height |= (unsigned short) (buf[i++] << 8);
le_assert(i == offsetof(nal_t, temperature));
pt->temperature = (signed char) buf[i++]; /* make sure the sign bit extends! */
le_assert(i == offsetof(nal_t, pressure));
pt->pressure = (unsigned short) (buf[i++] << 0);
pt->pressure |= (unsigned short) (buf[i++] << 8);
le_assert(i == offsetof(nal_t, cadence));
pt->cadence = buf[i++];
le_assert(i == offsetof(nal_t, pulse));
pt->pulse = buf[i++];
le_assert(i == offsetof(nal_t, slope));
pt->slope = (signed char) buf[i++]; /* make sure the sign bit extends! */
le_assert(i == offsetof(nal_t, compass));
pt->compass = (unsigned short) (buf[i++] << 0);
pt->compass |= (unsigned short) (buf[i++] << 8);
le_assert(i == offsetof(nal_t, roll));
pt->roll = (short) (buf[i++] << 0);
pt->roll |= (short) (buf[i++] << 8);
le_assert(i == offsetof(nal_t, yaw));
pt->yaw = (short) (buf[i++] << 0);
pt->yaw |= (short) (buf[i++] << 8);
le_assert(i == offsetof(nal_t, speed));
pt->speed = buf[i++];
le_assert(i == offsetof(nal_t, bike));
pt->bike = buf[i++];
if (buf[i++] != 0) {
warnx("%s: #%lu: trailing pad byte[%u]: 0x%X", fn, (unsigned long) rn, i, (unsigned int) buf[i-1]);
}
if (buf[i++] != 0) {
warnx("%s: #%lu: trailing pad byte[%u]: 0x%X", fn, (unsigned long) rn, i, (unsigned int) buf[i-1]);
}
le_assert(i == sizeof(nal_t));
return true;
}
#ifdef DO_MAIN
static void
pp_nal(nal_t *rec, /* record data */
size_t rn) /* record number */
{
static int oldlong = 0;
static int oldlat = 0;
printf("#%lu (nal_t): bike #%u", (unsigned long) rn, (unsigned int) rec->bike);
if (rec->start) {
printf(", Track Start");
oldlong = 0;
oldlat = 0;
}
if (rec->waypoint)
printf(", Waypoint");
if (rec->padding_flags != 0)
printf(", [padding_flags:0x%X]", (unsigned int) rec->padding_flags);
if (rec->padding_end != 0)
printf(", [padding_end:0x%X]", (unsigned int) rec->padding_end);
putchar('\n');
printf("\tdate: %u/%02u/%02u", rec->year + 2000, rec->month, rec->day);
printf("-%02u:%02u:%02u Z\n", rec->hour, rec->minute, rec->second);
printf("\tpos-dec: %d.%d° %c, %d.%d° %c\n",
abs(rec->longitude) / 10000000,
abs(rec->longitude) % 10000000,
rec->longitude == 0 ? ' ' : rec->longitude > 0 ? 'E' : 'W',
abs(rec->latitude) / 10000000,
abs(rec->latitude) % 10000000,
rec->latitude == 0 ? ' ' : rec->latitude > 0 ? 'N' : 'S');
/*
* 1. The absolute value of the value is the units of degrees
* (i.e. given -121.135° longitude, we start with 121°).
*
* 2. Multiply the remaining decimal part by 60
* (i.e. 0.135 * 60 = 8.1).
*
* 3. The whole number is the number minutes (8').
*
* 4. Take the remainder and multiply by 60.
* (i.e. 0.1 * 60 = 6).
*
* 5. The resulting number becomes the seconds (6"). Seconds can
* remain as a decimal number for fractions of a second.
*
* 6. Take your three sets of numbers and put them together, using the
* symbols for degrees (°), minutes ('), and seconds (")
* (i.e. 121° 8' 6" longitude)
*
* 7. Depending on whether the source number was a latitudinal or
* longitudinal co-ordinate, and depending on the sign of the
* number, add the N/S or E/W specifier.
*
* Pseudo-code (for floating-point representations):
*
* double decimal, minutes_tmp, seconds;
* long degrees, minutes;
*
* degrees = lround(floor(decimal));
* minutes_tmp = (decimal - floor(decimal)) * 60;
* minutes = lround(floor(minutes_tmp));
* seconds = (minutes_tmp - floor(minutes_tmp)) * 60;
*/
printf("\tpos-DMS: %d° %d' %d.%d\" %c",
abs(rec->longitude) / 10000000,
((abs(rec->longitude) % 10000000) * 60) / 10000000,
((((abs(rec->longitude) % 10000000) * 60) % 10000000) * 60) / 10000000,
(((((abs(rec->longitude) % 10000000) * 60) % 10000000) * 60) % 10000000) / 100,
rec->longitude == 0 ? ' ' : rec->longitude > 0 ? 'E' : 'W');
printf(", %d° %d' %d.%d\" %c\n",
abs(rec->latitude) / 10000000,
((abs(rec->latitude) % 10000000) * 60) / 10000000,
((((abs(rec->latitude) % 10000000) * 60) % 10000000) * 60) / 10000000,
(((((abs(rec->latitude) % 10000000) * 60) % 10000000) * 60) % 10000000) / 100,
rec->latitude == 0 ? ' ' : rec->latitude > 0 ? 'N' : 'S');
printf("\tcompass: %d°, roll %d°, yaw %d°",
(int) rec->compass, (int) rec->roll, (int) rec->yaw);
if (rec->slope != 0)
printf(", slope %d°", (int) rec->slope);
putchar('\n');
printf("\talt: %u meters\n", (unsigned int) rec->height);
printf("\ttemp: %d °C\n", (int) rec->temperature);
printf("\tpres: %u mb\n", (unsigned int) rec->pressure);
if (rec->speed != 0)
printf("\tspeed: %u km/h\n", (unsigned int) rec->speed);
if (rec->cadence != 0)
printf("\tcadence: %u RPM\n", (unsigned int) rec->cadence);
if (rec->pulse != 0)
printf("\tpulse: %u B/m\n", (unsigned int) rec->pulse);
show_distance(oldlong, oldlat, rec->longitude, rec->latitude);
oldlong = rec->longitude;
oldlat = rec->latitude;
return;
}
#endif /* DO_MAIN */
static int
pp_gpspt(gpspt_t rec, /* record data */
size_t rn) /* record number */
{
static int oldlong = 0;
static int oldlat = 0;
char dbuf[BUFSIZ];
printf("#%lu: bike #%u", (unsigned long) rn, (unsigned int) rec.bike);
if (rec.start) {
printf(", Track Start");
oldlong = 0;
oldlat = 0;
}
if (rec.waypoint)
printf(", Waypoint");
putchar('\n');
strftime(dbuf, (size_t) BUFSIZ, "%Y/%m/%d-%H:%M:%S Z", gmtime(&rec.date));
printf("\tdate: %s\n", dbuf);
strftime(dbuf, (size_t) BUFSIZ, "%Y/%m/%d-%H:%M:%S [%z]", localtime(&rec.date));
printf("\tlocl: %s\n", dbuf);