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gpsd_json.c
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/****************************************************************************
NAME
gpsd_json.c - move data between in-core and JSON structures
DESCRIPTION
These are functions (used only by the daemon) to dump the contents
of various core data structures in JSON.
PERMISSIONS
Written by Eric S. Raymond, 2009
This file is Copyright (c) 2010-2019 by the GPSD project
SPDX-License-Identifier: BSD-2-clause
***************************************************************************/
#include "gpsd_config.h" /* must be before all includes */
#include <assert.h>
#include <ctype.h>
#include <math.h>
#include <stdio.h>
#include <stdlib.h> // for qsort()
#include <string.h> /* for strcat(), strlcpy() */
#include "gpsd.h"
#include "bits.h"
#include "strfuncs.h"
#ifdef SOCKET_EXPORT_ENABLE
#include "gps_json.h"
#include "timespec.h"
/* *INDENT-OFF* */
#define JSON_BOOL(x) ((x)?"true":"false")
/*
* Manifest names for the gnss_type enum - must be kept synced with it.
* Also, masks so we can tell what packet types correspond to each class.
*/
/* the map of device class names */
struct classmap_t {
char *name;
int typemask;
int packetmask;
};
#define CLASSMAP_NITEMS 5
struct classmap_t classmap[CLASSMAP_NITEMS] = {
/* name typemask packetmask */
{"ANY", 0, 0},
{"GPS", SEEN_GPS, GPS_TYPEMASK},
{"RTCM2", SEEN_RTCM2, PACKET_TYPEMASK(RTCM2_PACKET)},
{"RTCM3", SEEN_RTCM3, PACKET_TYPEMASK(RTCM3_PACKET)},
{"AIS", SEEN_AIS, PACKET_TYPEMASK(AIVDM_PACKET)},
};
/* *INDENT-ON* */
char *json_stringify(char *to,
size_t len,
const char *from)
/* escape double quotes and control characters inside a JSON string */
{
const char *sp;
char *tp;
tp = to;
/*
* The limit is len-6 here because we need to be leave room for
* each character to generate an up to 6-character Java-style
* escape
*/
for (sp = from; *sp != '\0' && ((tp - to) < ((int)len - 6)); sp++) {
if (!isascii((unsigned char) *sp) || iscntrl((unsigned char) *sp)) {
*tp++ = '\\';
switch (*sp) {
case '\b':
*tp++ = 'b';
break;
case '\f':
*tp++ = 'f';
break;
case '\n':
*tp++ = 'n';
break;
case '\r':
*tp++ = 'r';
break;
case '\t':
*tp++ = 't';
break;
default:
/* ugh, we'd prefer a C-style escape here, but this is JSON */
/* http://www.ietf.org/rfc/rfc4627.txt
* section 2.5, escape is \uXXXX */
/* don't forget the NUL in the output count! */
(void)snprintf(tp, 6, "u%04x", 0x00ff & (unsigned int)*sp);
tp += strlen(tp);
}
} else {
if (*sp == '"' || *sp == '\\')
*tp++ = '\\';
*tp++ = *sp;
}
}
*tp = '\0';
return to;
}
void json_version_dump( char *reply, size_t replylen)
{
(void)snprintf(reply, replylen,
"{\"class\":\"VERSION\",\"release\":\"%s\",\"rev\":\"%s\","
"\"proto_major\":%d,\"proto_minor\":%d}\r\n",
VERSION, REVISION,
GPSD_PROTO_VERSION_MAJOR, GPSD_PROTO_VERSION_MINOR);
}
void json_tpv_dump(const struct gps_device_t *session,
const struct gps_policy_t *policy,
char *reply, size_t replylen)
{
const struct gps_data_t *gpsdata = &session->gpsdata;
assert(replylen > sizeof(char *));
(void)strlcpy(reply, "{\"class\":\"TPV\",", replylen);
if (gpsdata->dev.path[0] != '\0')
/* Note: Assumes /dev paths are always plain ASCII */
str_appendf(reply, replylen, "\"device\":\"%s\",", gpsdata->dev.path);
if (STATUS_DGPS_FIX <= gpsdata->status) {
/* to save rebuilding all the regressions, skip NO_FIX and FIX */
str_appendf(reply, replylen, "\"status\":%d,", gpsdata->status);
}
str_appendf(reply, replylen, "\"mode\":%d,", gpsdata->fix.mode);
if (0 < gpsdata->fix.time.tv_sec) {
char tbuf[JSON_DATE_MAX+1];
str_appendf(reply, replylen,
"\"time\":\"%s\",",
timespec_to_iso8601(gpsdata->fix.time,
tbuf, sizeof(tbuf)));
}
if (LEAP_SECOND_VALID == (session->context->valid & LEAP_SECOND_VALID)) {
str_appendf(reply, replylen, "\"leapseconds\":%d,",
session->context->leap_seconds);
}
if (isfinite(gpsdata->fix.ept) != 0)
str_appendf(reply, replylen, "\"ept\":%.3f,", gpsdata->fix.ept);
/*
* Suppressing TPV fields that would be invalid because the fix
* quality doesn't support them is nice for cutting down on the
* volume of meaningless output, but the real reason to do it is
* that we've observed that geodetic fix computation is unstable
* in a way that tends to change low-order digits in invalid
* fixes. Dumping these tends to cause cross-architecture failures
* in the regression tests. This effect has been seen on SiRF-II
* chips, which are quite common.
*/
if (gpsdata->fix.mode >= MODE_2D) {
double altitude = NAN;
if (isfinite(gpsdata->fix.latitude) != 0)
str_appendf(reply, replylen,
"\"lat\":%.9f,", gpsdata->fix.latitude);
if (isfinite(gpsdata->fix.longitude) != 0)
str_appendf(reply, replylen,
"\"lon\":%.9f,", gpsdata->fix.longitude);
if (0 != isfinite(gpsdata->fix.altHAE)) {
altitude = gpsdata->fix.altHAE;
str_appendf(reply, replylen,
"\"altHAE\":%.3f,", gpsdata->fix.altHAE);
}
if (0 != isfinite(gpsdata->fix.altMSL)) {
altitude = gpsdata->fix.altMSL;
str_appendf(reply, replylen,
"\"altMSL\":%.3f,", gpsdata->fix.altMSL);
}
if (0 != isfinite(altitude)) {
// DEPRECATED, undefined
str_appendf(reply, replylen,
"\"alt\":%.3f,", altitude);
}
if (isfinite(gpsdata->fix.epx) != 0)
str_appendf(reply, replylen, "\"epx\":%.3f,", gpsdata->fix.epx);
if (isfinite(gpsdata->fix.epy) != 0)
str_appendf(reply, replylen, "\"epy\":%.3f,", gpsdata->fix.epy);
if (isfinite(gpsdata->fix.epv) != 0)
str_appendf(reply, replylen, "\"epv\":%.3f,", gpsdata->fix.epv);
if (isfinite(gpsdata->fix.track) != 0)
str_appendf(reply, replylen, "\"track\":%.4f,", gpsdata->fix.track);
if (0 != isfinite(gpsdata->fix.magnetic_track))
str_appendf(reply, replylen, "\"magtrack\":%.4f,",
gpsdata->fix.magnetic_track);
if (0 != isfinite(gpsdata->fix.magnetic_var))
str_appendf(reply, replylen, "\"magvar\":%.1f,",
gpsdata->fix.magnetic_var);
if (isfinite(gpsdata->fix.speed) != 0)
str_appendf(reply, replylen, "\"speed\":%.3f,", gpsdata->fix.speed);
if ((gpsdata->fix.mode >= MODE_3D) && isfinite(gpsdata->fix.climb) != 0)
str_appendf(reply, replylen, "\"climb\":%.3f,", gpsdata->fix.climb);
if (isfinite(gpsdata->fix.epd) != 0)
str_appendf(reply, replylen, "\"epd\":%.4f,", gpsdata->fix.epd);
if (isfinite(gpsdata->fix.eps) != 0)
str_appendf(reply, replylen, "\"eps\":%.2f,", gpsdata->fix.eps);
if (gpsdata->fix.mode >= MODE_3D) {
if (isfinite(gpsdata->fix.epc) != 0)
str_appendf(reply, replylen, "\"epc\":%.2f,", gpsdata->fix.epc);
/* ECEF is in meters, so %.3f is millimeter resolution */
if (0 != isfinite(gpsdata->fix.ecef.x))
str_appendf(reply, replylen, "\"ecefx\":%.2f,",
gpsdata->fix.ecef.x);
if (0 != isfinite(gpsdata->fix.ecef.y))
str_appendf(reply, replylen, "\"ecefy\":%.2f,",
gpsdata->fix.ecef.y);
if (0 != isfinite(gpsdata->fix.ecef.z))
str_appendf(reply, replylen, "\"ecefz\":%.2f,",
gpsdata->fix.ecef.z);
if (0 != isfinite(gpsdata->fix.ecef.vx))
str_appendf(reply, replylen, "\"ecefvx\":%.2f,",
gpsdata->fix.ecef.vx);
if (0 != isfinite(gpsdata->fix.ecef.vy))
str_appendf(reply, replylen, "\"ecefvy\":%.2f,",
gpsdata->fix.ecef.vy);
if (0 != isfinite(gpsdata->fix.ecef.vz))
str_appendf(reply, replylen, "\"ecefvz\":%.2f,",
gpsdata->fix.ecef.vz);
if (0 != isfinite(gpsdata->fix.ecef.pAcc))
str_appendf(reply, replylen, "\"ecefpAcc\":%.2f,",
gpsdata->fix.ecef.pAcc);
if (0 != isfinite(gpsdata->fix.ecef.vAcc))
str_appendf(reply, replylen, "\"ecefvAcc\":%.2f,",
gpsdata->fix.ecef.vAcc);
/* NED is in meters, so %.3f is millimeter resolution */
if (0 != isfinite(gpsdata->fix.NED.relPosN))
str_appendf(reply, replylen, "\"relN\":%.3f,",
gpsdata->fix.NED.relPosN);
if (0 != isfinite(gpsdata->fix.NED.relPosE))
str_appendf(reply, replylen, "\"relE\":%.3f,",
gpsdata->fix.NED.relPosE);
if (0 != isfinite(gpsdata->fix.NED.relPosD))
str_appendf(reply, replylen, "\"relD\":%.3f,",
gpsdata->fix.NED.relPosD);
if (0 != isfinite(gpsdata->fix.NED.velN))
str_appendf(reply, replylen, "\"velN\":%.3f,",
gpsdata->fix.NED.velN);
if (0 != isfinite(gpsdata->fix.NED.velE))
str_appendf(reply, replylen, "\"velE\":%.3f,",
gpsdata->fix.NED.velE);
if (0 != isfinite(gpsdata->fix.NED.velD))
str_appendf(reply, replylen, "\"velD\":%.3f,",
gpsdata->fix.NED.velD);
if (0 != isfinite(gpsdata->fix.geoid_sep))
str_appendf(reply, replylen, "\"geoidSep\":%.3f,",
gpsdata->fix.geoid_sep);
}
if (policy->timing) {
char rtime_str[TIMESPEC_LEN];
char ts_buf[TIMESPEC_LEN];
struct timespec rtime_tmp;
(void)clock_gettime(CLOCK_REALTIME, &rtime_tmp);
str_appendf(reply, replylen, "\"rtime\":%s,",
timespec_str(&rtime_tmp, rtime_str,
sizeof(rtime_str)));
if (session->pps_thread.ppsout_count) {
char ts_str[TIMESPEC_LEN];
struct timedelta_t timedelta;
/* ugh - de-consting this might get us in trouble someday */
pps_thread_ppsout(&((struct gps_device_t *)session)->pps_thread,
&timedelta);
str_appendf(reply, replylen, "\"pps\":%s,",
timespec_str(&timedelta.clock, ts_str,
sizeof(ts_str)));
/* TODO: add PPS precision to JSON output */
}
str_appendf(reply, replylen,
"\"sor\":%s,\"chars\":%lu,\"sats\":%2d,"
"\"week\":%u,\"tow\":%lld.%03ld,\"rollovers\":%d",
timespec_str(&session->sor, ts_buf, sizeof(ts_buf)),
session->chars,
gpsdata->satellites_used,
session->context->gps_week,
(long long)session->context->gps_tow.tv_sec,
session->context->gps_tow.tv_nsec / 1000000L,
session->context->rollovers);
}
/* at the end because it is new and microjson chokes on new items */
if (0 != isfinite(gpsdata->fix.eph))
str_appendf(reply, replylen, "\"eph\":%.3f,", gpsdata->fix.eph);
if (0 != isfinite(gpsdata->fix.sep))
str_appendf(reply, replylen, "\"sep\":%.3f,", gpsdata->fix.sep);
if ('\0' != gpsdata->fix.datum[0])
str_appendf(reply, replylen, "\"datum\":\"%.40s\",",
gpsdata->fix.datum);
if (0 != isfinite(gpsdata->fix.depth))
str_appendf(reply, replylen,
"\"depth\":%.3f,", gpsdata->fix.depth);
if (0 != isfinite(gpsdata->fix.dgps_age) &&
0 <= gpsdata->fix.dgps_station) {
/* both, or none */
str_appendf(reply, replylen,
"\"dgpsAge\":%.1f,", gpsdata->fix.dgps_age);
str_appendf(reply, replylen,
"\"dgpsSta\":%d,", gpsdata->fix.dgps_station);
}
}
str_rstrip_char(reply, ',');
(void)strlcat(reply, "}\r\n", replylen);
}
void json_noise_dump(const struct gps_data_t *gpsdata,
char *reply, size_t replylen)
{
assert(replylen > sizeof(char *));
(void)strlcpy(reply, "{\"class\":\"GST\",", replylen);
if (gpsdata->dev.path[0] != '\0')
str_appendf(reply, replylen, "\"device\":\"%s\",", gpsdata->dev.path);
if (0 < gpsdata->gst.utctime.tv_sec) {
char tbuf[JSON_DATE_MAX+1];
str_appendf(reply, replylen,
"\"time\":\"%s\",",
timespec_to_iso8601(gpsdata->gst.utctime,
tbuf, sizeof(tbuf)));
}
#define ADD_GST_FIELD(tag, field) do { \
if (isfinite(gpsdata->gst.field) != 0) \
str_appendf(reply, replylen, "\"" tag "\":%.3f,", gpsdata->gst.field); \
} while(0)
ADD_GST_FIELD("rms", rms_deviation);
ADD_GST_FIELD("major", smajor_deviation);
ADD_GST_FIELD("minor", sminor_deviation);
ADD_GST_FIELD("orient", smajor_orientation);
ADD_GST_FIELD("lat", lat_err_deviation);
ADD_GST_FIELD("lon", lon_err_deviation);
ADD_GST_FIELD("alt", alt_err_deviation);
#undef ADD_GST_FIELD
str_rstrip_char(reply, ',');
(void)strlcat(reply, "}\r\n", replylen);
}
void json_sky_dump(const struct gps_data_t *datap,
char *reply, size_t replylen)
{
int i, reported = 0;
assert(replylen > sizeof(char *));
(void)strlcpy(reply, "{\"class\":\"SKY\",", replylen);
if (datap->dev.path[0] != '\0')
str_appendf(reply, replylen, "\"device\":\"%s\",", datap->dev.path);
if (0 < datap->skyview_time.tv_sec) {
char tbuf[JSON_DATE_MAX+1];
str_appendf(reply, replylen,
"\"time\":\"%s\",",
timespec_to_iso8601(datap->skyview_time,
tbuf, sizeof(tbuf)));
}
if (isfinite(datap->dop.xdop) != 0)
str_appendf(reply, replylen, "\"xdop\":%.2f,", datap->dop.xdop);
if (isfinite(datap->dop.ydop) != 0)
str_appendf(reply, replylen, "\"ydop\":%.2f,", datap->dop.ydop);
if (isfinite(datap->dop.vdop) != 0)
str_appendf(reply, replylen, "\"vdop\":%.2f,", datap->dop.vdop);
if (isfinite(datap->dop.tdop) != 0)
str_appendf(reply, replylen, "\"tdop\":%.2f,", datap->dop.tdop);
if (isfinite(datap->dop.hdop) != 0)
str_appendf(reply, replylen, "\"hdop\":%.2f,", datap->dop.hdop);
if (isfinite(datap->dop.gdop) != 0)
str_appendf(reply, replylen, "\"gdop\":%.2f,", datap->dop.gdop);
if (isfinite(datap->dop.pdop) != 0)
str_appendf(reply, replylen, "\"pdop\":%.2f,", datap->dop.pdop);
/* insurance against flaky drivers */
for (i = 0; i < datap->satellites_visible; i++)
if (datap->skyview[i].PRN)
reported++;
if (reported) {
(void)strlcat(reply, "\"satellites\":[", replylen);
for (i = 0; i < reported; i++) {
if (datap->skyview[i].PRN) {
str_appendf(reply, replylen, "{\"PRN\":%d,",
datap->skyview[i].PRN);
if (0 != isfinite(datap->skyview[i].elevation) &&
90 >= fabs(datap->skyview[i].elevation)) {
str_appendf(reply, replylen, "\"el\":%.1f,",
datap->skyview[i].elevation);
}
if (0 != isfinite(datap->skyview[i].azimuth) &&
0 <= fabs(datap->skyview[i].azimuth) &&
359 >= fabs(datap->skyview[i].azimuth)) {
str_appendf(reply, replylen, "\"az\":%.1f,",
datap->skyview[i].azimuth);
}
if (0 != isfinite(datap->skyview[i].ss)) {
str_appendf(reply, replylen, "\"ss\":%.1f,",
datap->skyview[i].ss);
}
str_appendf(reply, replylen,
"\"used\":%s",
datap->skyview[i].used ? "true" : "false");
if (0 != datap->skyview[i].svid) {
str_appendf(reply, replylen,
",\"gnssid\":%d,\"svid\":%d",
datap->skyview[i].gnssid,
datap->skyview[i].svid);
}
if (0 != datap->skyview[i].sigid) {
str_appendf(reply, replylen,
",\"sigid\":%d", datap->skyview[i].sigid);
}
if (GNSSID_GLO == datap->skyview[i].gnssid &&
0 <= datap->skyview[i].freqid &&
16 >= datap->skyview[i].freqid) {
str_appendf(reply, replylen,
",\"freqid\":%d", datap->skyview[i].freqid);
}
if (SAT_HEALTH_UNK != datap->skyview[i].health) {
str_appendf(reply, replylen,
",\"health\":%d", datap->skyview[i].health);
}
(void)strlcat(reply, "},", replylen);
}
}
str_rstrip_char(reply, ',');
(void)strlcat(reply, "]", replylen);
}
str_rstrip_char(reply, ',');
(void)strlcat(reply, "}\r\n", replylen);
}
void json_device_dump(const struct gps_device_t *device,
char *reply, size_t replylen)
{
struct classmap_t *cmp;
char buf1[JSON_VAL_MAX * 2 + 1];
(void)strlcpy(reply, "{\"class\":\"DEVICE\",\"path\":\"", replylen);
(void)strlcat(reply, device->gpsdata.dev.path, replylen);
(void)strlcat(reply, "\",", replylen);
if (device->device_type != NULL) {
(void)strlcat(reply, "\"driver\":\"", replylen);
(void)strlcat(reply, device->device_type->type_name, replylen);
(void)strlcat(reply, "\",", replylen);
}
if (device->subtype[0] != '\0') {
(void)strlcat(reply, "\"subtype\":\"", replylen);
(void)strlcat(reply,
json_stringify(buf1, sizeof(buf1), device->subtype),
replylen);
(void)strlcat(reply, "\",", replylen);
}
if (device->subtype1[0] != '\0') {
(void)strlcat(reply, "\"subtype1\":\"", replylen);
(void)strlcat(reply,
json_stringify(buf1, sizeof(buf1), device->subtype1),
replylen);
(void)strlcat(reply, "\",", replylen);
}
/*
* There's an assumption here: Anything that we type service_sensor is
* a serial device with the usual control parameters.
*/
if (0 < device->gpsdata.online.tv_sec) {
/* odd, using online, not activated, time */
str_appendf(reply, replylen, "\"activated\":\"%s\",",
timespec_to_iso8601(device->gpsdata.online,
buf1, sizeof(buf1)));
if (device->observed != 0) {
int mask = 0;
for (cmp = classmap; cmp < classmap + NITEMS(classmap); cmp++)
if ((device->observed & cmp->packetmask) != 0)
mask |= cmp->typemask;
if (mask != 0)
str_appendf(reply, replylen, "\"flags\":%d,", mask);
}
if (device->servicetype == service_sensor) {
/* speed can be 0 if the device is not currently active */
speed_t speed = gpsd_get_speed(device);
if (speed != 0)
str_appendf(reply, replylen,
"\"native\":%d,\"bps\":%d,\"parity\":\"%c\","
"\"stopbits\":%u,\"cycle\":%lld.%02ld,",
device->gpsdata.dev.driver_mode,
(int)speed,
device->gpsdata.dev.parity,
device->gpsdata.dev.stopbits,
(long long)device->gpsdata.dev.cycle.tv_sec,
device->gpsdata.dev.cycle.tv_nsec / 10000000);
#ifdef RECONFIGURE_ENABLE
if (device->device_type != NULL
&& device->device_type->rate_switcher != NULL)
str_appendf(reply, replylen,
"\"mincycle\":%lld.%02ld,",
(long long)device->device_type->min_cycle.tv_sec,
device->device_type->min_cycle.tv_nsec /
10000000);
#endif /* RECONFIGURE_ENABLE */
}
}
str_rstrip_char(reply, ',');
(void)strlcat(reply, "}\r\n", replylen);
}
void json_watch_dump(const struct gps_policy_t *ccp,
char *reply, size_t replylen)
{
(void)snprintf(reply, replylen,
"{\"class\":\"WATCH\",\"enable\":%s,\"json\":%s,"
"\"nmea\":%s,\"raw\":%d,\"scaled\":%s,\"timing\":%s,"
"\"split24\":%s,\"pps\":%s,",
ccp->watcher ? "true" : "false",
ccp->json ? "true" : "false",
ccp->nmea ? "true" : "false",
ccp->raw,
ccp->scaled ? "true" : "false",
ccp->timing ? "true" : "false",
ccp->split24 ? "true" : "false",
ccp->pps ? "true" : "false");
if (ccp->devpath[0] != '\0')
str_appendf(reply, replylen, "\"device\":\"%s\",", ccp->devpath);
str_rstrip_char(reply, ',');
(void)strlcat(reply, "}\r\n", replylen);
}
void json_subframe_dump(const struct gps_data_t *datap,
char buf[], size_t buflen)
{
const struct subframe_t *subframe = &datap->subframe;
const bool scaled = datap->policy.scaled;
(void)snprintf(buf, buflen, "{\"class\":\"SUBFRAME\",\"device\":\"%s\","
"\"tSV\":%u,\"TOW17\":%u,\"frame\":%u,\"scaled\":%s",
datap->dev.path,
(unsigned int)subframe->tSVID,
(unsigned int)subframe->TOW17,
(unsigned int)subframe->subframe_num,
JSON_BOOL(scaled));
if ( 1 == subframe->subframe_num ) {
if (scaled) {
str_appendf(buf, buflen,
",\"EPHEM1\":{\"WN\":%u,\"IODC\":%u,\"L2\":%u,"
"\"ura\":%u,\"hlth\":%u,\"L2P\":%u,\"Tgd\":%g,"
"\"toc\":%lu,\"af2\":%.4g,\"af1\":%.6e,\"af0\":%.7e}",
(unsigned int)subframe->sub1.WN,
(unsigned int)subframe->sub1.IODC,
(unsigned int)subframe->sub1.l2,
subframe->sub1.ura,
subframe->sub1.hlth,
(unsigned int)subframe->sub1.l2p,
subframe->sub1.d_Tgd,
(unsigned long)subframe->sub1.l_toc,
subframe->sub1.d_af2,
subframe->sub1.d_af1,
subframe->sub1.d_af0);
} else {
str_appendf(buf, buflen,
",\"EPHEM1\":{\"WN\":%u,\"IODC\":%u,\"L2\":%u,"
"\"ura\":%u,\"hlth\":%u,\"L2P\":%u,\"Tgd\":%d,"
"\"toc\":%u,\"af2\":%ld,\"af1\":%d,\"af0\":%d}",
(unsigned int)subframe->sub1.WN,
(unsigned int)subframe->sub1.IODC,
(unsigned int)subframe->sub1.l2,
subframe->sub1.ura,
subframe->sub1.hlth,
(unsigned int)subframe->sub1.l2p,
(int)subframe->sub1.Tgd,
(unsigned int)subframe->sub1.toc,
(long)subframe->sub1.af2,
(int)subframe->sub1.af1,
(int)subframe->sub1.af0);
}
} else if ( 2 == subframe->subframe_num ) {
if (scaled) {
str_appendf(buf, buflen,
",\"EPHEM2\":{\"IODE\":%u,\"Crs\":%.6e,\"deltan\":%.6e,"
"\"M0\":%.11e,\"Cuc\":%.6e,\"e\":%f,\"Cus\":%.6e,"
"\"sqrtA\":%.11g,\"toe\":%lu,\"FIT\":%u,\"AODO\":%u}",
(unsigned int)subframe->sub2.IODE,
subframe->sub2.d_Crs,
subframe->sub2.d_deltan,
subframe->sub2.d_M0,
subframe->sub2.d_Cuc,
subframe->sub2.d_eccentricity,
subframe->sub2.d_Cus,
subframe->sub2.d_sqrtA,
(unsigned long)subframe->sub2.l_toe,
(unsigned int)subframe->sub2.fit,
(unsigned int)subframe->sub2.u_AODO);
} else {
str_appendf(buf, buflen,
",\"EPHEM2\":{\"IODE\":%u,\"Crs\":%d,\"deltan\":%d,"
"\"M0\":%ld,\"Cuc\":%d,\"e\":%ld,\"Cus\":%d,"
"\"sqrtA\":%lu,\"toe\":%lu,\"FIT\":%u,\"AODO\":%u}",
(unsigned int)subframe->sub2.IODE,
(int)subframe->sub2.Crs,
(int)subframe->sub2.deltan,
(long)subframe->sub2.M0,
(int)subframe->sub2.Cuc,
(long)subframe->sub2.e,
(int)subframe->sub2.Cus,
(unsigned long)subframe->sub2.sqrtA,
(unsigned long)subframe->sub2.toe,
(unsigned int)subframe->sub2.fit,
(unsigned int)subframe->sub2.AODO);
}
} else if ( 3 == subframe->subframe_num ) {
if (scaled) {
str_appendf(buf, buflen,
",\"EPHEM3\":{\"IODE\":%3u,\"IDOT\":%.6g,\"Cic\":%.6e,"
"\"Omega0\":%.11e,\"Cis\":%.7g,\"i0\":%.11e,\"Crc\":%.7g,"
"\"omega\":%.11e,\"Omegad\":%.6e}",
(unsigned int)subframe->sub3.IODE,
subframe->sub3.d_IDOT,
subframe->sub3.d_Cic,
subframe->sub3.d_Omega0,
subframe->sub3.d_Cis,
subframe->sub3.d_i0,
subframe->sub3.d_Crc,
subframe->sub3.d_omega,
subframe->sub3.d_Omegad );
} else {
str_appendf(buf, buflen,
",\"EPHEM3\":{\"IODE\":%u,\"IDOT\":%u,\"Cic\":%u,"
"\"Omega0\":%ld,\"Cis\":%d,\"i0\":%ld,\"Crc\":%d,"
"\"omega\":%ld,\"Omegad\":%ld}",
(unsigned int)subframe->sub3.IODE,
(unsigned int)subframe->sub3.IDOT,
(unsigned int)subframe->sub3.Cic,
(long int)subframe->sub3.Omega0,
(int)subframe->sub3.Cis,
(long int)subframe->sub3.i0,
(int)subframe->sub3.Crc,
(long int)subframe->sub3.omega,
(long int)subframe->sub3.Omegad );
}
} else if ( subframe->is_almanac ) {
if (scaled) {
str_appendf(buf, buflen,
",\"ALMANAC\":{\"ID\":%d,\"Health\":%u,"
"\"e\":%g,\"toa\":%lu,"
"\"deltai\":%.10e,\"Omegad\":%.5e,\"sqrtA\":%.10g,"
"\"Omega0\":%.10e,\"omega\":%.10e,\"M0\":%.11e,"
"\"af0\":%.5e,\"af1\":%.5e}",
(int)subframe->sub5.almanac.sv,
(unsigned int)subframe->sub5.almanac.svh,
subframe->sub5.almanac.d_eccentricity,
(unsigned long)subframe->sub5.almanac.l_toa,
subframe->sub5.almanac.d_deltai,
subframe->sub5.almanac.d_Omegad,
subframe->sub5.almanac.d_sqrtA,
subframe->sub5.almanac.d_Omega0,
subframe->sub5.almanac.d_omega,
subframe->sub5.almanac.d_M0,
subframe->sub5.almanac.d_af0,
subframe->sub5.almanac.d_af1);
} else {
str_appendf(buf, buflen,
",\"ALMANAC\":{\"ID\":%d,\"Health\":%u,"
"\"e\":%u,\"toa\":%u,"
"\"deltai\":%d,\"Omegad\":%d,\"sqrtA\":%lu,"
"\"Omega0\":%ld,\"omega\":%ld,\"M0\":%ld,"
"\"af0\":%d,\"af1\":%d}",
(int)subframe->sub5.almanac.sv,
(unsigned int)subframe->sub5.almanac.svh,
(unsigned int)subframe->sub5.almanac.e,
(unsigned int)subframe->sub5.almanac.toa,
(int)subframe->sub5.almanac.deltai,
(int)subframe->sub5.almanac.Omegad,
(unsigned long)subframe->sub5.almanac.sqrtA,
(long)subframe->sub5.almanac.Omega0,
(long)subframe->sub5.almanac.omega,
(long)subframe->sub5.almanac.M0,
(int)subframe->sub5.almanac.af0,
(int)subframe->sub5.almanac.af1);
}
} else if ( 4 == subframe->subframe_num ) {
str_appendf(buf, buflen,
",\"pageid\":%u",
(unsigned int)subframe->pageid);
switch (subframe->pageid ) {
case 13:
case 52:
{
int i;
/* decoding of ERD to SV is non trivial and not done yet */
str_appendf(buf, buflen,
",\"ERD\":{\"ai\":%u,", subframe->sub4_13.ai);
/* 1-index loop to construct json, rather than giant snprintf */
for(i = 1 ; i <= 30; i++){
str_appendf(buf, buflen,
"\"ERD%d\":%d,", i, subframe->sub4_13.ERD[i]);
}
str_rstrip_char(buf, ',');
str_appendf(buf, buflen, "}");
break;
}
case 55:
/* JSON is UTF-8. double quote, backslash and
* control charactores (U+0000 through U+001F).must be
* escaped. */
/* system message can be 24 bytes, JSON can escape all
* chars so up to 24*6 long. */
{
char buf1[25 * 6];
(void)json_stringify(buf1, sizeof(buf1), subframe->sub4_17.str);
str_appendf(buf, buflen,
",\"system_message\":\"%.144s\"", buf1);
}
break;
case 56:
if (scaled) {
str_appendf(buf, buflen,
",\"IONO\":{\"a0\":%.5g,\"a1\":%.5g,\"a2\":%.5g,"
"\"a3\":%.5g,\"b0\":%.5g,\"b1\":%.5g,\"b2\":%.5g,"
"\"b3\":%.5g,\"A1\":%.11e,\"A0\":%.11e,\"tot\":%lld,"
"\"WNt\":%u,\"ls\":%d,\"WNlsf\":%u,\"DN\":%u,"
"\"lsf\":%d}",
subframe->sub4_18.d_alpha0,
subframe->sub4_18.d_alpha1,
subframe->sub4_18.d_alpha2,
subframe->sub4_18.d_alpha3,
subframe->sub4_18.d_beta0,
subframe->sub4_18.d_beta1,
subframe->sub4_18.d_beta2,
subframe->sub4_18.d_beta3,
subframe->sub4_18.d_A1,
subframe->sub4_18.d_A0,
(long long)subframe->sub4_18.t_tot,
(unsigned int)subframe->sub4_18.WNt,
(int)subframe->sub4_18.leap,
(unsigned int)subframe->sub4_18.WNlsf,
(unsigned int)subframe->sub4_18.DN,
(int)subframe->sub4_18.lsf);
} else {
str_appendf(buf, buflen,
",\"IONO\":{\"a0\":%d,\"a1\":%d,\"a2\":%d,\"a3\":%d,"
"\"b0\":%d,\"b1\":%d,\"b2\":%d,\"b3\":%d,"
"\"A1\":%ld,\"A0\":%ld,\"tot\":%u,\"WNt\":%u,"
"\"ls\":%d,\"WNlsf\":%u,\"DN\":%u,\"lsf\":%d}",
(int)subframe->sub4_18.alpha0,
(int)subframe->sub4_18.alpha1,
(int)subframe->sub4_18.alpha2,
(int)subframe->sub4_18.alpha3,
(int)subframe->sub4_18.beta0,
(int)subframe->sub4_18.beta1,
(int)subframe->sub4_18.beta2,
(int)subframe->sub4_18.beta3,
(long)subframe->sub4_18.A1,
(long)subframe->sub4_18.A0,
(unsigned int)subframe->sub4_18.tot,
(unsigned int)subframe->sub4_18.WNt,
(int)subframe->sub4_18.leap,
(unsigned int)subframe->sub4_18.WNlsf,
(unsigned int)subframe->sub4_18.DN,
(int)subframe->sub4_18.lsf);
}
break;
case 25:
case 63:
{
int i;
str_appendf(buf, buflen,
",\"HEALTH\":{\"data_id\":%d,",
(int)subframe->data_id);
/* 1-index loop to construct json, rather than giant snprintf */
for(i = 1 ; i <= 32; i++){
str_appendf(buf, buflen,
"\"SV%d\":%d,",
i, (int)subframe->sub4_25.svf[i]);
}
for(i = 0 ; i < 8; i++){ /* 0-index */
str_appendf(buf, buflen,
"\"SVH%d\":%d,",
i+25, (int)subframe->sub4_25.svhx[i]);
}
str_rstrip_char(buf, ',');
str_appendf(buf, buflen, "}");
break;
}
}
} else if ( 5 == subframe->subframe_num ) {
str_appendf(buf, buflen,
",\"pageid\":%u",
(unsigned int)subframe->pageid);
if ( 51 == subframe->pageid ) {
int i;
/* subframe5, page 25 */
str_appendf(buf, buflen,
",\"HEALTH2\":{\"toa\":%lu,\"WNa\":%u,",
(unsigned long)subframe->sub5_25.l_toa,
(unsigned int)subframe->sub5_25.WNa);
/* 1-index loop to construct json */
for(i = 1 ; i <= 24; i++){
str_appendf(buf, buflen,
"\"SV%d\":%d,",
i, (int)subframe->sub5_25.sv[i]);
}
str_rstrip_char(buf, ',');
str_appendf(buf, buflen, "}");
}
}
(void)strlcat(buf, "}\r\n", buflen);
}
/* RAW dump - should be good enough to make a RINEX 3 file */
void json_raw_dump(const struct gps_data_t *gpsdata,
char *reply, size_t replylen)
{
int i;
assert(replylen > sizeof(char *));
if (0 == gpsdata->raw.mtime.tv_sec) {
/* no data to dump */
return;
}
(void)strlcpy(reply, "{\"class\":\"RAW\",", replylen);
if (gpsdata->dev.path[0] != '\0')
str_appendf(reply, replylen, "\"device\":\"%s\",", gpsdata->dev.path);
str_appendf(reply, replylen, "\"time\":%lld,\"nsec\":%ld,\"rawdata\":[",
(long long)gpsdata->raw.mtime.tv_sec,
gpsdata->raw.mtime.tv_nsec);
for (i = 0; i < MAXCHANNELS; i++) {
bool comma = false;
if (0 == gpsdata->raw.meas[i].svid ||
255 == gpsdata->raw.meas[i].svid) {
/* skip empty and GLONASS 255 */
continue;
}
str_appendf(reply, replylen,
"{\"gnssid\":%u,\"svid\":%u,\"snr\":%u,"
"\"obs\":\"%s\",\"lli\":%1u,\"locktime\":%u",
gpsdata->raw.meas[i].gnssid, gpsdata->raw.meas[i].svid,
gpsdata->raw.meas[i].snr,
gpsdata->raw.meas[i].obs_code, gpsdata->raw.meas[i].lli,
gpsdata->raw.meas[i].locktime);
if (0 < gpsdata->raw.meas[i].sigid) {
str_appendf(reply, replylen, ",\"sigid\":%u",
gpsdata->raw.meas[i].sigid);
}
if (GNSSID_GLO == gpsdata->raw.meas[i].gnssid) {
str_appendf(reply, replylen, ",\"freqid\":%u",
gpsdata->raw.meas[i].freqid);
}
comma = true;
if (0 != isfinite(gpsdata->raw.meas[i].pseudorange) &&
1.0 < gpsdata->raw.meas[i].pseudorange) {
if (comma)
(void)strlcat(reply, ",", replylen);
str_appendf(reply, replylen, "\"pseudorange\":%f",
gpsdata->raw.meas[i].pseudorange);
comma = true;
if (0 != isfinite(gpsdata->raw.meas[i].carrierphase)) {
str_appendf(reply, replylen, ",\"carrierphase\":%f",
gpsdata->raw.meas[i].carrierphase);
comma = true;
}
}
if (0 != isfinite(gpsdata->raw.meas[i].doppler)) {
if (comma)
(void)strlcat(reply, ",", replylen);
str_appendf(reply, replylen, "\"doppler\":%f",
gpsdata->raw.meas[i].doppler);
comma = true;
}
/* L2 C/A pseudo range, RINEX C2C */
if (0 != isfinite(gpsdata->raw.meas[i].c2c) &&
1.0 < gpsdata->raw.meas[i].c2c) {
if (comma)
(void)strlcat(reply, ",", replylen);
str_appendf(reply, replylen, "\"c2c\":%f",
gpsdata->raw.meas[i].c2c);
comma = true;
/* L2 C/A carrier phase, RINEX L2C */
if (0 != isfinite(gpsdata->raw.meas[i].l2c)) {
if (comma)
(void)strlcat(reply, ",", replylen);
str_appendf(reply, replylen, "\"l2c\":%f",
gpsdata->raw.meas[i].l2c);
// this annoys clang, keep it for future use
comma = true;
}
}
(void)strlcat(reply, "},", replylen);
}
str_rstrip_char(reply, ',');
(void)strlcat(reply, "]", replylen);
str_rstrip_char(reply, ',');
(void)strlcat(reply, "}\r\n", replylen);
}
#if defined(RTCM104V2_ENABLE)
/* compare two struct rtk_sat_t */
static int rtk_sat_cmp(const void *a, const void *b)
{
const struct rtk_sat_t *A = (const struct rtk_sat_t*)a;
const struct rtk_sat_t *B = (const struct rtk_sat_t*)b;
return A->ident - B->ident;
}
void json_rtcm2_dump(const struct rtcm2_t *rtcm,
const char *device,
char buf[], size_t buflen)
/* dump the contents of a parsed RTCM104 message as JSON */
{
char buf1[JSON_VAL_MAX * 2 + 1];
unsigned int n;
if (NULL == rtcm) {
// shut up clang about possible NULL pointer
return;
}
(void)snprintf(buf, buflen, "{\"class\":\"RTCM2\",");
if (device != NULL && device[0] != '\0')
str_appendf(buf, buflen, "\"device\":\"%s\",", device);
str_appendf(buf, buflen,
"\"type\":%u,\"station_id\":%u,\"zcount\":%0.1f,"
"\"seqnum\":%u,\"length\":%u,\"station_health\":%u,",
rtcm->type, rtcm->refstaid, rtcm->zcount, rtcm->seqnum,
rtcm->length, rtcm->stathlth);
switch (rtcm->type) {
case 1:
case 9:
(void)strlcat(buf, "\"satellites\":[", buflen);
for (n = 0; n < rtcm->gps_ranges.nentries; n++) {
const struct gps_rangesat_t *rsp = &rtcm->gps_ranges.sat[n];
str_appendf(buf, buflen,
"{\"ident\":%u,\"udre\":%u,\"iod\":%u,"
"\"prc\":%0.3f,\"rrc\":%0.3f},",
rsp->ident,
rsp->udre, rsp->iod,
rsp->prc, rsp->rrc);
}
str_rstrip_char(buf, ',');
(void)strlcat(buf, "]", buflen);
break;
case 3:
if (rtcm->ref_sta.valid)
str_appendf(buf, buflen,
"\"x\":%.2f,\"y\":%.2f,\"z\":%.2f,",
rtcm->ref_sta.x, rtcm->ref_sta.y, rtcm->ref_sta.z);
break;
case 4:
if (rtcm->reference.valid) {
/*
* Beware! Needs to stay synchronized with a JSON
* enumeration map in the parser. This interpretation of
* NAVSYSTEM_GALILEO is assumed from RTCM3, it's not
* actually documented in RTCM 2.1 or 2.2.
*/
static char *navsysnames[] = { "GPS", "GLONASS", "GALILEO" };
str_appendf(buf, buflen,
"\"system\":\"%s\",\"sense\":%1d,"
"\"datum\":\"%s\",\"dx\":%.1f,\"dy\":%.1f,"
"\"dz\":%.1f,",
rtcm->reference.system >= NITEMS(navsysnames)
? "UNKNOWN"
: navsysnames[rtcm->reference.system],
rtcm->reference.sense,
rtcm->reference.datum,
rtcm->reference.dx,
rtcm->reference.dy, rtcm->reference.dz);
}
break;
case 5:
(void)strlcat(buf, "\"satellites\":[", buflen);
for (n = 0; n < rtcm->conhealth.nentries; n++) {
const struct consat_t *csp = &rtcm->conhealth.sat[n];
str_appendf(buf, buflen,
"{\"ident\":%u,\"iodl\":%s,\"health\":%1u,"
"\"snr\":%d,\"health_en\":%s,\"new_data\":%s,"
"\"los_warning\":%s,\"tou\":%u},",
csp->ident,
JSON_BOOL(csp->iodl),
(unsigned)csp->health,
csp->snr,
JSON_BOOL(csp->health_en),
JSON_BOOL(csp->new_data),
JSON_BOOL(csp->los_warning), csp->tou);
}
str_rstrip_char(buf, ',');