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authorNicolas Dechesne <ndechesne@users.noreply.github.com>2021-10-04 15:24:27 +0200
committerGitHub <noreply@github.com>2021-10-04 15:24:27 +0200
commit6daf06282a59fc5f50a03a05e051c5b09b250ed8 (patch)
treebb1a7df681a4e060145d4e4db627c92ba92ce752
parentbdb15173a686100101ef6fdd3ab7a0fb244507fb (diff)
parent018aeea59de79c0e6903430b94974edfe89b5d55 (diff)
downloadmeta-qcom-master.tar.gz
meta-qcom-master.tar.bz2
meta-qcom-master.zip
Merge pull request #368 from alimon/gpsdHEADmaster
dynamic-layers/recipes-navigation: GPSd update patch to release 3.23.1
-rw-r--r--dynamic-layers/openembedded-layer/recipes-navigation/gpsd/gpsd/0001-Introduce-Qualcomm-PDS-service-support.patch460
1 files changed, 278 insertions, 182 deletions
diff --git a/dynamic-layers/openembedded-layer/recipes-navigation/gpsd/gpsd/0001-Introduce-Qualcomm-PDS-service-support.patch b/dynamic-layers/openembedded-layer/recipes-navigation/gpsd/gpsd/0001-Introduce-Qualcomm-PDS-service-support.patch
index b502fae..6df450b 100644
--- a/dynamic-layers/openembedded-layer/recipes-navigation/gpsd/gpsd/0001-Introduce-Qualcomm-PDS-service-support.patch
+++ b/dynamic-layers/openembedded-layer/recipes-navigation/gpsd/gpsd/0001-Introduce-Qualcomm-PDS-service-support.patch
@@ -1,4 +1,4 @@
-From 3f46e63ff08afba0ad532d4cac1957499769dc69 Mon Sep 17 00:00:00 2001
+From 0f0a1495b3b2ae9da09ea1a05510492bae05a928 Mon Sep 17 00:00:00 2001
From: Bjorn Andersson <bjorn.andersson@linaro.org>
Date: Wed, 4 Apr 2018 04:29:09 +0000
Subject: [PATCH] Introduce Qualcomm PDS service support
@@ -33,33 +33,35 @@ string "any".
Signed-off-by: Bjorn Andersson <bjorn.andersson@linaro.org>
Signed-off-by: Aníbal Limón <anibal.limon@linaro.org>
---
- SConscript | 10 ++
- driver_pds.c | 325 +++++++++++++++++++++++++++++++++++++++++++++++++
- driver_pds.h | 20 +++
- drivers.c | 5 +
- gpsd.h | 2 +
- libgpsd_core.c | 15 ++-
- 6 files changed, 376 insertions(+), 1 deletion(-)
- create mode 100644 driver_pds.c
- create mode 100644 driver_pds.h
+ SConscript | 11 ++
+ drivers/driver_pds.c | 406 +++++++++++++++++++++++++++++++++++++++++++
+ drivers/drivers.c | 5 +
+ gpsd/libgpsd_core.c | 16 +-
+ include/driver_pds.h | 20 +++
+ include/gpsd.h | 9 +
+ man/gpsd.adoc | 8 +
+ 7 files changed, 474 insertions(+), 1 deletion(-)
+ create mode 100644 drivers/driver_pds.c
+ create mode 100644 include/driver_pds.h
-diff --git a/SConscript b/SConstruct
-index 33e0ff326..d4ae81979 100644
+diff --git a/SConscript b/SConscript
+index e3fed4c27..cae23de9c 100644
--- a/SConscript
+++ b/SConscript
-@@ -192,6 +192,7 @@ boolopts = (
+@@ -315,6 +315,8 @@ boolopts = (
("tripmate", True, "DeLorme TripMate support"),
("tsip", True, "Trimble TSIP support"),
("ublox", True, "u-blox Protocol support"),
-+ ("pds", True, "Qualcomm PDS support"),
++ ("pds", sys.platform.startswith('linux'),
++ "Qualcomm PDS support"),
# Non-GPS protocols
("aivdm", True, "AIVDM support"),
("gpsclock", True, "GPSClock support"),
-@@ -977,6 +978,14 @@ else:
+@@ -1156,6 +1158,14 @@ if not cleaning and not helping:
announce("You do not have kernel CANbus available.")
config.env["nmea2000"] = False
-+ if config.CheckHeader(["bits/sockaddr.h", "linux/qrtr.h"]):
++ if config.CheckHeader(["linux/qrtr.h"]):
+ confdefs.append("#define HAVE_LINUX_QRTR_H 1\n")
+ announce("You have kernel QRTR available.")
+ else:
@@ -70,7 +72,7 @@ index 33e0ff326..d4ae81979 100644
# check for C11 or better, and __STDC__NO_ATOMICS__ is not defined
# before looking for stdatomic.h
if ((config.CheckC11() and
-@@ -1655,6 +1664,7 @@ libgpsd_sources = [
+@@ -1684,6 +1694,7 @@ libgpsd_sources = [
"drivers/driver_nmea0183.c",
"drivers/driver_nmea2000.c",
"drivers/driver_oncore.c",
@@ -80,10 +82,19 @@ index 33e0ff326..d4ae81979 100644
"drivers/drivers.c",
diff --git a/drivers/driver_pds.c b/drivers/driver_pds.c
new file mode 100644
-index 000000000..734b40f83
+index 000000000..2ac77ec17
--- /dev/null
+++ b/drivers/driver_pds.c
-@@ -0,0 +1,327 @@
+@@ -0,0 +1,406 @@
++/*
++ * Qualcomm PDS Interface driver.
++ *
++ * Tested in Dragonboard410c (APQ8016) PDS service.
++ *
++ * This file is Copyright 2020 by Linaro Limited
++ * SPDX-License-Identifier: BSD-2-clause
++ */
++
+#include "../include/gpsd_config.h" /* must be before all includes */
+
+#include <sys/socket.h>
@@ -92,15 +103,16 @@ index 000000000..734b40f83
+#include <stdlib.h>
+#include <unistd.h>
+#include "../include/gpsd.h"
-+#include "../include/libgps.h"
+
+#if defined(PDS_ENABLE)
+#include "../include/driver_pds.h"
+
+#include <linux/qrtr.h>
+
++#define QMI_PDS_MAX 16
+#define QMI_PDS_SERVICE_ID 0x10
+#define QMI_PDS_VERSION 0x2
++#define QMI_PDS_PATH_STARTS 6
+
+struct qmi_header {
+ uint8_t type;
@@ -115,6 +127,8 @@ index 000000000..734b40f83
+ uint8_t value[];
+} __attribute__((__packed__));
+
++static struct gps_device_t *pds_devices[QMI_PDS_MAX];
++
+#define QMI_REQUEST 0
+#define QMI_INDICATION 4
+
@@ -129,7 +143,84 @@ index 000000000..734b40f83
+#define QMI_LOC_EVENT_NMEA 0x26
+#define QMI_TLV_NMEA 1
+
-+static ssize_t qmi_pds_get(struct gps_device_t *session)
++static ssize_t qmi_pds_connect(struct gps_device_t *session)
++{
++ struct sockaddr_qrtr sq;
++ socklen_t sl = sizeof(sq);
++ struct qrtr_ctrl_pkt pkt;
++ char *hostname;
++ char *endptr;
++ int ret;
++
++ session->lexer.outbuflen = 0;
++
++ hostname = session->gpsdata.dev.path + QMI_PDS_PATH_STARTS;
++ if (!strcmp(hostname, "any")) {
++ session->driver.pds.hostid = -1;
++ } else {
++ session->driver.pds.hostid = (int)strtol(hostname, &endptr, 10);
++ if (endptr == hostname) {
++ GPSD_LOG(LOG_ERROR, &session->context->errout,
++ "QRTR open: Invalid node id.\n");
++ return -1;
++ }
++ }
++
++ ret = recvfrom(session->gpsdata.gps_fd, &pkt, sizeof(pkt), 0,
++ (struct sockaddr *)&sq, &sl);
++ if (ret < 0) {
++ GPSD_LOG(LOG_ERROR, &session->context->errout,
++ "QRTR connect: Unable to receive lookup request.\n");
++ return -1;
++ }
++
++ if (sl != sizeof(sq) || sq.sq_port != QRTR_PORT_CTRL) {
++ GPSD_LOG(LOG_INFO, &session->context->errout,
++ "QRTR connect: Received message is not ctrl message, ignoring.\n");
++ return 1;
++ }
++
++ if (pkt.cmd != QRTR_TYPE_NEW_SERVER)
++ return 1;
++
++ /* All fields zero indicates end of lookup response */
++ if (!pkt.server.service && !pkt.server.instance &&
++ !pkt.server.node && !pkt.server.port) {
++ GPSD_LOG(LOG_ERROR, &session->context->errout,
++ "QRTR connect: End of lookup, No PDS service found for %s.\n",
++ session->gpsdata.dev.path);
++ return -1;
++ }
++
++ /* Filter results based on specified node */
++ if (session->driver.pds.hostid != -1 &&
++ session->driver.pds.hostid != (int)pkt.server.node)
++ return 1;
++
++ session->driver.pds.pds_node = pkt.server.node;
++ session->driver.pds.pds_port = pkt.server.port;
++
++ GPSD_LOG(LOG_INF, &session->context->errout,
++ "QRTR open: Found PDS at %d %d.\n",
++ session->driver.pds.pds_node,
++ session->driver.pds.pds_port);
++
++ sq.sq_family = AF_QIPCRTR;
++ sq.sq_node = session->driver.pds.pds_node;
++ sq.sq_port = session->driver.pds.pds_port;
++ ret = connect(session->gpsdata.gps_fd, (struct sockaddr *)&sq, sizeof(sq));
++ if (ret < 0) {
++ GPSD_LOG(LOG_ERROR, &session->context->errout,
++ "QRTR connect: Failed to connect socket to PDS Service.\n");
++ return -1;
++ }
++
++ session->driver.pds.ready = 1;
++ session->device_type->event_hook(session, event_reactivate);
++ return 1;
++}
++
++static ssize_t qmi_pds_get_packet(struct gps_device_t *session)
+{
+ struct sockaddr_qrtr sq;
+ socklen_t sl = sizeof(sq);
@@ -153,8 +244,6 @@ index 000000000..734b40f83
+
+ /* TODO: Validate sq to be our peer */
+
-+ session->lexer.type = QMI_PDS_PACKET;
-+
+ hdr = buf;
+ if (hdr->type != QMI_INDICATION ||
+ hdr->msg != QMI_LOC_EVENT_NMEA) {
@@ -171,6 +260,7 @@ index 000000000..734b40f83
+
+ if (tlv->key == QMI_TLV_NMEA) {
+ memcpy(session->lexer.outbuffer, tlv->value, tlv->len);
++ session->lexer.type = NMEA_PACKET;
+ session->lexer.outbuffer[tlv->len] = 0;
+ session->lexer.outbuflen = tlv->len;
+ break;
@@ -182,9 +272,12 @@ index 000000000..734b40f83
+ return ret;
+}
+
-+static gps_mask_t qmi_pds_parse_input(struct gps_device_t *session)
++static ssize_t qmi_pds_get(struct gps_device_t *session)
+{
-+ return nmea_parse((char *)session->lexer.outbuffer, session);
++ if (!session->driver.pds.ready)
++ return qmi_pds_connect(session);
++ else
++ return qmi_pds_get_packet(session);
+}
+
+static void qmi_pds_event_hook(struct gps_device_t *session, event_t event)
@@ -199,6 +292,9 @@ index 000000000..734b40f83
+
+ switch (event) {
+ case event_deactivate:
++ if (!session->driver.pds.ready)
++ return;
++
+ ptr = buf;
+ hdr = (struct qmi_header *)ptr;
+ hdr->type = QMI_REQUEST;
@@ -221,6 +317,9 @@ index 000000000..734b40f83
+ }
+ break;
+ case event_reactivate:
++ if (!session->driver.pds.ready)
++ return;
++
+ ptr = buf;
+ hdr = (struct qmi_header *)ptr;
+ hdr->type = QMI_REQUEST;
@@ -268,40 +367,67 @@ index 000000000..734b40f83
+ }
+}
+
++static ssize_t qmi_control_send(struct gps_device_t *session,
++ char *buf, size_t buflen)
++{
++ /* do not write if -b (readonly) option set */
++ if (session->context->readonly)
++ return true;
++
++ session->msgbuflen = buflen;
++ (void)memcpy(session->msgbuf, buf, buflen);
++ return gpsd_write(session, session->msgbuf, session->msgbuflen);
++}
++
+int qmi_pds_open(struct gps_device_t *session)
+{
+ struct sockaddr_qrtr sq_ctrl;
-+ struct qrtr_ctrl_pkt pkt;
-+ struct sockaddr_qrtr sq;
-+ unsigned int pds_node = 0;
-+ unsigned int pds_port = 0;
+ socklen_t sl = sizeof(sq_ctrl);
-+ char *hostname;
-+ char *endptr;
-+ int hostid;
++ struct qrtr_ctrl_pkt pkt;
+ int flags;
+ int sock;
+ int ret;
++ int i;
+
-+ hostname = session->gpsdata.dev.path + 6;
-+ if (!strcmp(hostname, "any")) {
-+ hostid = -1;
-+ } else {
-+ hostid = (int)strtol(hostname, &endptr, 10);
-+ if (endptr == hostname) {
++ if (session->gpsdata.dev.path == NULL ||
++ strlen(session->gpsdata.dev.path) < QMI_PDS_PATH_STARTS) {
++ GPSD_LOG(LOG_ERROR, &session->context->errout,
++ "QRTR open: Invalid PDS path.\n");
++ return -1;
++ }
++
++ for (i = 0; i < QMI_PDS_MAX; i++) {
++ if (pds_devices[i] == NULL)
++ continue;
++
++ if (strcmp(pds_devices[i]->gpsdata.dev.path,
++ session->gpsdata.dev.path) == 0) {
+ GPSD_LOG(LOG_ERROR, &session->context->errout,
-+ "QRTR open: Invalid node id.\n");
++ "QRTR open: Invalid PDS path already specified.\n");
+ return -1;
+ }
+ }
+
++ for (i = 0; i < QMI_PDS_MAX; i++) {
++ if (pds_devices[i] == NULL)
++ break;
++ }
++ if (i == QMI_PDS_MAX) {
++ GPSD_LOG(LOG_ERROR, &session->context->errout,
++ "QRTR open: Limit of PDS devices reached.\n");
++ return -1;
++ }
++ pds_devices[i] = session;
+
+ sock = socket(AF_QIPCRTR, SOCK_DGRAM, 0);
-+ if (sock < 0) {
++ if (BAD_SOCKET(sock)) {
+ GPSD_LOG(LOG_ERROR, &session->context->errout,
+ "QRTR open: Unable to get QRTR socket.\n");
+ return -1;
+ }
++ flags = fcntl(sock, F_GETFL, 0);
++ flags |= O_NONBLOCK;
++ fcntl(sock, F_SETFL, flags);
+
+ ret = getsockname(sock, (struct sockaddr *)&sq_ctrl, &sl);
+ if (ret < 0 || sq_ctrl.sq_family != AF_QIPCRTR || sl != sizeof(sq_ctrl)) {
@@ -325,123 +451,52 @@ index 000000000..734b40f83
+ return -1;
+ }
+
-+ for (;;) {
-+ sl = sizeof(sq);
-+
-+ ret = recvfrom(sock, &pkt, sizeof(pkt), 0, (struct sockaddr *)&sq, &sl);
-+ if (ret < 0) {
-+ GPSD_LOG(LOG_ERROR, &session->context->errout,
-+ "QRTR open: Unable to receive lookup request.\n");
-+ close(sock);
-+ return -1;
-+ }
-+
-+ if (sl != sizeof(sq) || sq.sq_node != sq_ctrl.sq_node ||
-+ sq.sq_port != sq_ctrl.sq_port) {
-+ GPSD_LOG(LOG_ERROR, &session->context->errout,
-+ "QRTR open: Received message is not ctrl message, ignoring.\n");
-+ continue;
-+ }
-+
-+ if (pkt.cmd != QRTR_TYPE_NEW_SERVER)
-+ continue;
-+
-+ /* All fields zero indicates end of lookup response */
-+ if (!pkt.server.service && !pkt.server.instance &&
-+ !pkt.server.node && !pkt.server.port)
-+ break;
-+
-+ /* Filter results based on specified node */
-+ if (hostid != -1 && hostid != (int)pkt.server.node)
-+ continue;
-+
-+ pds_node = pkt.server.node;
-+ pds_port = pkt.server.port;
-+ }
-+
-+ if (!pds_node && !pds_port) {
-+ GPSD_LOG(LOG_ERROR, &session->context->errout,
-+ "QRTR open: No PDS service found.\n");
-+ close(sock);
-+ return -1;
-+ }
-+
-+ flags = fcntl(sock, F_GETFL, 0);
-+ flags |= O_NONBLOCK;
-+ fcntl(sock, F_SETFL, flags);
-+
-+ GPSD_LOG(LOG_INF, &session->context->errout,
-+ "QRTR open: Found PDS at %d %d.\n", pds_node, pds_port);
-+
-+ sq.sq_family = AF_QIPCRTR;
-+ sq.sq_node = pds_node;
-+ sq.sq_port = pds_port;
-+ ret = connect(sock, (struct sockaddr *)&sq, sizeof(sq));
-+ if (ret < 0) {
-+ GPSD_LOG(LOG_ERROR, &session->context->errout,
-+ "QRTR open: Failed to connect socket.\n");
-+ close(sock);
-+ return -1;
-+ }
-+
+ gpsd_switch_driver(session, "Qualcomm PDS");
+ session->gpsdata.gps_fd = sock;
+ session->sourcetype = SOURCE_QRTR;
-+ session->servicetype = service_sensor;
++ session->servicetype = SERVICE_SENSOR;
+
+ return session->gpsdata.gps_fd;
+}
+
+void qmi_pds_close(struct gps_device_t *session)
+{
++ int i;
++
+ if (!BAD_SOCKET(session->gpsdata.gps_fd)) {
+ close(session->gpsdata.gps_fd);
+ INVALIDATE_SOCKET(session->gpsdata.gps_fd);
+ }
++
++ for (i = 0; i < QMI_PDS_MAX; i++) {
++ if (pds_devices[i] == NULL)
++ continue;
++
++ if (strcmp(pds_devices[i]->gpsdata.dev.path,
++ session->gpsdata.dev.path) == 0) {
++ pds_devices[i] = NULL;
++ break;
++ }
++ }
+}
+
+const struct gps_type_t driver_pds = {
+ .type_name = "Qualcomm PDS", /* full name of type */
-+ .packet_type = QMI_PDS_PACKET, /* associated lexer packet type */
++ .packet_type = NMEA_PACKET, /* associated lexer packet type */
+ .flags = DRIVER_STICKY, /* remember this */
+ .channels = 12, /* not an actual GPS at all */
+ .get_packet = qmi_pds_get, /* how to get a packet */
-+ .parse_packet = qmi_pds_parse_input, /* how to interpret a packet */
++ .parse_packet = generic_parse_input, /* how to interpret a packet */
+ .event_hook = qmi_pds_event_hook,
++ .control_send = qmi_control_send,
+};
+
+#endif /* of defined(PDS_ENABLE) */
-diff --git a/include/driver_pds.h b/include/driver_pds.h
-new file mode 100644
-index 000000000..3b373743d
---- /dev/null
-+++ b/include/driver_pds.h
-@@ -0,0 +1,20 @@
-+/*
-+ * PDS on QRTR.
-+ *
-+ * The entry points for driver_pds
-+ *
-+ * This file is Copyright (c) 2018 by the GPSD project
-+ * SPDX-License-Identifier: BSD-2-clause
-+ */
-+
-+#ifndef _DRIVER_PDS_H_
-+#define _DRIVER_PDS_H_
-+
-+#if defined(PDS_ENABLE)
-+
-+int qmi_pds_open(struct gps_device_t *session);
-+
-+void qmi_pds_close(struct gps_device_t *session);
-+
-+#endif /* of defined(PDS_ENABLE) */
-+#endif /* of ifndef _DRIVER_PDS_H_ */
diff --git a/drivers/drivers.c b/drivers/drivers.c
-index 39e3d0a4c..7d788e1ab 100644
+index 5c7c67b30..47a292423 100644
--- a/drivers/drivers.c
+++ b/drivers/drivers.c
-@@ -1747,6 +1747,7 @@ extern const struct gps_type_t driver_greis;
+@@ -1694,6 +1694,7 @@ extern const struct gps_type_t driver_greis;
extern const struct gps_type_t driver_italk;
extern const struct gps_type_t driver_navcom;
extern const struct gps_type_t driver_nmea2000;
@@ -449,7 +504,7 @@ index 39e3d0a4c..7d788e1ab 100644
extern const struct gps_type_t driver_oncore;
extern const struct gps_type_t driver_sirf;
extern const struct gps_type_t driver_skytraq;
-@@ -1844,6 +1845,10 @@ static const struct gps_type_t *gpsd_driver_array[] = {
+@@ -1787,6 +1788,10 @@ static const struct gps_type_t *gpsd_driver_array[] = {
&driver_nmea2000,
#endif /* NMEA2000_ENABLE */
@@ -460,85 +515,126 @@ index 39e3d0a4c..7d788e1ab 100644
#ifdef RTCM104V2_ENABLE
&driver_rtcm104v2,
#endif /* RTCM104V2_ENABLE */
-diff --git a/include/gpsd.h b/include/gpsd.h
-index 57e4b0553..e9f61cc71 100644
---- a/include/gpsd.h
-+++ b/include/gpsd.h
-@@ -220,12 +220,13 @@ struct gps_lexer_t {
- #define GEOSTAR_PACKET 14
- #define NMEA2000_PACKET 15
- #define GREIS_PACKET 16
--#define MAX_GPSPACKET_TYPE 16 /* increment this as necessary */
--#define RTCM2_PACKET 17
--#define RTCM3_PACKET 18
--#define JSON_PACKET 19
--#define PACKET_TYPES 20 /* increment this as necessary */
--#define SKY_PACKET 21
-+#define QMI_PDS_PACKET 17
-+#define MAX_GPSPACKET_TYPE 17 /* increment this as necessary */
-+#define RTCM2_PACKET 18
-+#define RTCM3_PACKET 19
-+#define JSON_PACKET 20
-+#define PACKET_TYPES 21 /* increment this as necessary */
-+#define SKY_PACKET 22
- #define TEXTUAL_PACKET_TYPE(n) ((((n)>=NMEA_PACKET) && ((n)<=MAX_TEXTUAL_TYPE)) || (n)==JSON_PACKET)
- #define GPS_PACKET_TYPE(n) (((n)>=NMEA_PACKET) && ((n)<=MAX_GPSPACKET_TYPE))
- #define LOSSLESS_PACKET_TYPE(n) (((n)>=RTCM2_PACKET) && ((n)<=RTCM3_PACKET))
-@@ -462,6 +463,7 @@ typedef enum {SOURCE_UNKNOWN,
- SOURCE_USB, // potential GPS source, discoverable
- SOURCE_BLUETOOTH, // potential GPS source, discoverable
- SOURCE_CAN, // potential GPS source, fixed CAN format
-+ SOURCE_QRTR, // potential GPS source, discoverable
- SOURCE_PTY, // PTY: we don't require exclusive access
- SOURCE_TCP, // TCP/IP stream: case detected but not used
- SOURCE_UDP, // UDP stream: case detected but not used
diff --git a/gpsd/libgpsd_core.c b/gpsd/libgpsd_core.c
-index 52bf8e5ae..a8a2ec0d3 100644
+index 60a7c2e2f..ceebb1a2a 100644
--- a/gpsd/libgpsd_core.c
+++ b/gpsd/libgpsd_core.c
@@ -39,6 +39,9 @@
#if defined(NMEA2000_ENABLE)
- #include "../include/driver_nmea2000.h"
+ #include "../include/driver_nmea2000.h"
#endif /* defined(NMEA2000_ENABLE) */
+#if defined(PDS_ENABLE)
+#include "../include/driver_pds.h"
+#endif /* defined(PDS_ENABLE) */
- /* pass low-level data to devices straight through */
+ // pass low-level data to devices straight through
ssize_t gpsd_write(struct gps_device_t *session,
-@@ -351,6 +354,11 @@ void gpsd_deactivate(struct gps_device_t *session)
- (void)nmea2000_close(session);
+@@ -358,6 +361,11 @@ void gpsd_deactivate(struct gps_device_t *session)
} else
- #endif /* of defined(NMEA2000_ENABLE) */
+ #endif // of defined(NMEA2000_ENABLE)
+ {
+#if defined(PDS_ENABLE)
-+ if (session->sourcetype == SOURCE_QRTR)
++ if (SOURCE_QRTR == session->sourcetype)
+ (void)qmi_pds_close(session);
+ else
+#endif /* of defined(PDS_ENABLE) */
(void)gpsd_close(session);
- if (session->mode == O_OPTIMIZE)
- gpsd_run_device_hook(&session->context->errout,
-@@ -553,6 +561,11 @@ int gpsd_open(struct gps_device_t *session)
- return nmea2000_open(session);
}
- #endif /* defined(NMEA2000_ENABLE) */
+ if (O_OPTIMIZE == session->mode) {
+@@ -629,6 +637,11 @@ int gpsd_open(struct gps_device_t *session)
+ #endif // defined(NMEA2000_ENABLE)
+ /* fall through to plain serial open.
+ * could be a naked /dev/ppsX */
+#if defined(PDS_ENABLE)
+ if (str_starts_with(session->gpsdata.dev.path, "pds://")) {
+ return qmi_pds_open(session);
+ }
+#endif /* defined(PDS_ENABLE) */
- /* fall through to plain serial open */
- /* could be a naked /dev/ppsX */
return gpsd_serial_open(session);
-@@ -581,7 +594,7 @@ int gpsd_activate(struct gps_device_t *session, const int mode)
+ }
+
+@@ -656,7 +669,8 @@ int gpsd_activate(struct gps_device_t *session, const int mode)
#ifdef NON_NMEA0183_ENABLE
- /* if it's a sensor, it must be probed */
- if ((session->servicetype == service_sensor) &&
+ // if it's a sensor, it must be probed
+ if ((SERVICE_SENSOR == session->servicetype) &&
- (SOURCE_CAN != session->sourcetype)) {
-+ (SOURCE_CAN != session->sourcetype && SOURCE_QRTR != session->sourcetype)) {
++ (SOURCE_CAN != session->sourcetype) &&
++ (SOURCE_QRTR != session->sourcetype)) {
const struct gps_type_t **dp;
for (dp = gpsd_drivers; *dp; dp++) {
+diff --git a/include/driver_pds.h b/include/driver_pds.h
+new file mode 100644
+index 000000000..3b373743d
+--- /dev/null
++++ b/include/driver_pds.h
+@@ -0,0 +1,20 @@
++/*
++ * PDS on QRTR.
++ *
++ * The entry points for driver_pds
++ *
++ * This file is Copyright (c) 2018 by the GPSD project
++ * SPDX-License-Identifier: BSD-2-clause
++ */
++
++#ifndef _DRIVER_PDS_H_
++#define _DRIVER_PDS_H_
++
++#if defined(PDS_ENABLE)
++
++int qmi_pds_open(struct gps_device_t *session);
++
++void qmi_pds_close(struct gps_device_t *session);
++
++#endif /* of defined(PDS_ENABLE) */
++#endif /* of ifndef _DRIVER_PDS_H_ */
+diff --git a/include/gpsd.h b/include/gpsd.h
+index 110c5601f..b55f1913c 100644
+--- a/include/gpsd.h
++++ b/include/gpsd.h
+@@ -464,6 +464,7 @@ typedef enum {SOURCE_UNKNOWN,
+ SOURCE_USB, // potential GPS source, discoverable
+ SOURCE_BLUETOOTH, // potential GPS source, discoverable
+ SOURCE_CAN, // potential GPS source, fixed CAN format
++ SOURCE_QRTR, // potential GPS source, discoverable
+ SOURCE_PTY, // PTY: we don't require exclusive access
+ SOURCE_TCP, // TCP/IP stream: case detected but not used
+ SOURCE_UDP, // UDP stream: case detected but not used
+@@ -800,6 +801,14 @@ struct gps_device_t {
+ char ais_channel;
+ } aivdm;
+ #endif /* AIVDM_ENABLE */
++#ifdef PDS_ENABLE
++ struct {
++ int ready;
++ int hostid;
++ unsigned int pds_node;
++ unsigned int pds_port;
++ } pds;
++#endif /* PDS_ENABLE */
+ } driver;
+
+ /*
+diff --git a/man/gpsd.adoc b/man/gpsd.adoc
+index 348c6b2b0..61013a8c3 100644
+--- a/man/gpsd.adoc
++++ b/man/gpsd.adoc
+@@ -242,6 +242,14 @@ NMEA2000 CAN data::
+ there is more than one unit on the CAN bus that provides GPS data,
+ *gpsd* chooses the unit from which a GPS message is first seen. Example:
+ *nmea2000://can0*.
++PDS service data::
++ URI with the prefix "pds://", followed by "any" or host id
++ a numerical identifier of the PDS node. Only Linux socket PDS interfaces
++ are supported. The daemon will open a AF_QIPCRTR socket sending/listening for
++ UDP datagrams arriving in form of the QRTR encoded messages for setup and after
++ QMI encoded messages containing GPS NMEA data.
++ If "any" is send the PDS driver chooses the first PDS service
++ found. Example: *pds://any* or *pds://0*.
+
+ (The "ais:://" source type supported in some older versions of the
+ daemon has been retired in favor of the more general "tcp://".)
--
-2.27.0.rc0
+2.33.0