Add toolchain and mbtk source
Change-Id: Ie12546301367ea59240bf23d5e184ad7e36e40b3
diff --git a/mbtk/mbtk_lib/src/mbtk_gnss.c b/mbtk/mbtk_lib/src/mbtk_gnss.c
new file mode 100755
index 0000000..72c207c
--- /dev/null
+++ b/mbtk/mbtk_lib/src/mbtk_gnss.c
@@ -0,0 +1,2214 @@
+/**
+ * \file mbtk_gnss.c
+ * \brief gnss module.
+ *
+ * Detailed description
+ * \Author: Sniper <js.wang@mobiletek.cn>
+ * \Version: 1.0.0
+ * \Date: 2022-03-16
+ */
+#include <stdio.h>
+#include <string.h>
+#include <strings.h>
+#include <stdlib.h>
+#include <errno.h>
+#include <termios.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <signal.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <pthread.h>
+#include <termios.h>
+#include <time.h>
+#include <sys/ioctl.h>
+#include "mbtk_type.h"
+#include "mbtk_gnss.h"
+#include "mbtk_http.h"
+#include "mbtk_log.h"
+#include "ringbuffer.h"
+
+// #define DEBUG 1
+
+#ifdef DEBUG
+ #define gnss_log(...) printf(__VA_ARGS__)
+#else
+ #define gnss_log(...)
+#endif
+
+// 默认为 9600，打开为 115200，但是 AT+MGPSCMD 会重启。
+#define BAUDRATE_115200 1
+
+#define TTFF_TEST 0
+
+#define MBTK_GNSS_DEV "/dev/ttyS2"
+
+#define MBTK_UART_RECV_BUFFER_SIZE 1024
+#define MBTK_UART_SEND_BUFFER_MAX 128
+
+/******************************************************************************
+ * 时间处理相关的宏
+ *****************************************************************************/
+// 获取当前时间
+#define GET_TIME() { gettimeofday(&time_m, NULL); \
+ time_m.tv_sec += TIMEOUT_SEC;\
+}
+// 设置从循环中退出的时间
+#define SET_TIME_OUT(x) { gettimeofday(&time_m, NULL); \
+ time_m.tv_sec += x;\
+}
+// 检测时间是否超时，超时则退出当前函数
+#define CHK_TIME() { gettimeofday(&time_n, NULL); \
+ if(time_n.tv_sec > time_m.tv_sec) { \
+ printf("\ntimeout!!!\n\n");\
+ close(fd); \
+ return ret; \
+ } \
+}
+// 检测时间是否超时，超时则退出当前循环
+#define CHK_TIME_BREAK() { gettimeofday(&time_n, NULL); \
+ if(time_n.tv_sec > time_m.tv_sec) { \
+ printf("\ntimeout!!!\n\n");\
+ break; \
+ } \
+}
+// 检测延时是否到达，到达则退出当前循环
+#define DELAY_TIME_BREAK() { gettimeofday(&time_n, NULL); \
+ if(time_n.tv_sec > time_m.tv_sec) { \
+ break; \
+ } \
+}
+
+typedef void (*gnss_msg_func_t)
+(
+ int index,
+ char *in_data,
+ void *out_ptr
+);
+
+struct mbtk_gnss_cmd_msg_t
+{
+ int index; // 序号
+ char *cmd_str; // 匹配字符
+ gnss_msg_func_t gnss_msg_func; // 回调函数
+ int is_continue; // 是否随NEMA数据一起输出
+};
+
+typedef enum
+{
+ E_MT_LOC_MSG_ID_STATUS_INFO = 0, /**< pv_data = &E_QL_LOC_STATUS_VALUE_T */
+ E_MT_LOC_MSG_ID_LOCATION_INFO, /**< pv_data = &QL_LOC_LOCATION_INFO_T */
+ E_MT_LOC_MSG_ID_SV_INFO, /**< pv_data = &QL_LOC_SV_STATUS_T */
+ E_MT_LOC_MSG_ID_NMEA_INFO, /**< pv_data = &QL_LOC_NMEA_INFO_T */
+ E_MT_LOC_MSG_ID_CAPABILITIES_INFO, /**< pv_data = &E_QL_LOC_CAPABILITIES_T */
+ E_MT_LOC_MSG_ID_AGPS_STATUS, /**< pv_data = &QL_LOC_AGPS_STATUS_T */
+ E_MT_LOC_MSG_ID_NI_NOTIFICATION, /**< pv_data = &QL_LOC_NI_NOTIFICATION_INTO_T */
+ E_MT_LOC_MSG_ID_XTRA_REPORT_SERVER, /**< pv_data = &QL_LOC_XTRA_REPORT_SERVER_INTO_T */
+}e_mt_loc_msg_id_t;
+
+typedef struct
+{
+ int64_t timestamp; /**< System Timestamp, marked for when got the nmea data */
+ int length; /**< NMEA string length. */
+ char nmea[255 + 1]; /**< NMEA string.*/
+}mopen_gnss_nmea_info_t; /* Message */
+
+struct mbtk_gnss_handle_t
+{
+ int dev_fd;
+ pthread_t uart_pthread;
+ pthread_t gnss_pthread;
+ mbtk_gnss_handler_func_t gnss_handler_func;
+ int mode; // 0 - stop, 1 - single, 2 - periodic, 3 - start
+ pthread_mutex_t _cond_mutex;
+ int reset_state;
+ int inited;
+ ring_buffer_t ring_buffer;
+ int getap_status;
+ char *rb;
+
+#if TTFF_TEST
+ pthread_t ttff_pid;
+ int location_state;
+#endif
+ /********************
+ 存储handle的地址指针
+ phandle = &handle
+ handle = mbtk_gnss_handle
+ *********************/
+ uint32 *phandle; // handle的地址指针
+};
+
+#if TTFF_TEST
+struct mbtk_gnss_ttff_t
+{
+ int type;
+ int timeout_sec;
+ int test_count;
+ int average_loc_time;
+};
+
+// ttff 测试 flag
+static int location_test = 0;
+static pthread_mutex_t loc_cond_mutex_r = PTHREAD_MUTEX_INITIALIZER;
+static pthread_cond_t loc_sync_cond = PTHREAD_COND_INITIALIZER;
+#endif
+
+struct mopen_gnss_device_info_t
+{
+ int device_info_valid;
+ int usrt_bandrate;
+ char product_name[10];
+ char dev_config[6];
+ char hw_ver[6];
+ char fw_ver[32];
+ char pn[16];
+ char sn[16];
+ char nmea_ver[4];
+};
+
+static struct mopen_gnss_device_info_t mopen_gnss_device_info;
+static struct mbtk_gnss_handle_t *mbtk_gnss_handle = NULL;
+static int firmware_extren_state = 0;
+
+static char g_no_sv = 0;// 参与定位的卫星数量
+
+int mopen_gnss_get_nmea_config(uint32 h_gnss);
+int mopen_gnss_get_ant_state_info(uint32 h_gnss);
+
+static void get_gnss_time_info(int cmd, char *str, void *data);
+static void get_gnss_agnss_state(int cmd, char *str, void *data);
+static void get_gnss_device_info(int type, char *str, void *usr_ptr);
+static void gnss_uart_info(int cmd, char *str, void *data);
+static void gnss_gsa_info(int cmd, char *str, void *data);
+static int mopen_uart_change(int fd, int check);
+
+static int select_read( int fd, int timeout );
+ssize_t deal_read(int fd, void *buf, size_t count);
+
+static struct mbtk_gnss_cmd_msg_t mbtk_gnss_cmd_msg_map[] = {
+{ 1, "$OK", NULL, 0},
+{ 2, "$Fail", NULL, 0},
+{ 3, "RMC", get_gnss_time_info, 1},
+{ 4, "GGA", get_gnss_time_info, 1},
+{ 5, "$PDTINFO", get_gnss_device_info, 0},
+{ 6, "$CFGNMEA", get_gnss_device_info, 0},
+{ 7, "$CFGPRT", gnss_uart_info, 0},
+{ 8, "$CFGAID", get_gnss_agnss_state, 0},
+{ 9, "$ANTSTAT", NULL, 0},
+#if TTFF_TEST
+{10, "GSA", gnss_gsa_info, 1},
+#endif
+};
+
+/**
+ * \brief strstr_n
+ *
+ * find string return number
+ *
+ * \param param
+ * \return return type
+ */
+int strstr_n(const char *s1, const char *s2)
+{
+ int n;
+ int strlen = 0;
+
+ if(*s2)
+ {
+ while(*s1)
+ {
+ for(n = 0; *(s1+n) == *(s2 + n); n++)
+ {
+ if(!*(s2 + n + 1))
+ {
+ strlen++;
+ return strlen;
+ }
+ }
+ s1++;
+ strlen++;
+ }
+ return 0;
+ }
+ else
+ return 0;
+}
+
+/**
+ * @brief gnss_get_para_from_nmea
+ *
+ * @details 从buf里面得到第num个逗号所在的位置
+ *
+ * @param param
+ *
+ * @return 0~0xfe,代表逗号所在位置的偏移.
+ * 0xff,代表不存在第cx个逗号
+ */
+static int gnss_get_para_from_nmea(const char *data, char *out_data, int num)
+{
+ int i = 0;
+ int n[2] = {0};
+ int tmp;
+
+ // 找到第num个","，结果放到 n[0]
+ for (i = 0; i < num; ++i) {
+ tmp = strstr_n(&data[n[0]], ",");
+ if(0 == tmp) {
+ gnss_log("%s %d : error\n", __func__, __LINE__);
+ gnss_log("error: [%d] %s\n", num, data);
+ return -1;
+ }
+ n[0] += tmp;
+ }
+ if ((n[1] = strstr_n(&data[n[0]], ",")) ||
+ (n[1] = strstr_n(&data[n[0]], "*")) &&
+ (n[1] > 1)) {
+ memcpy(out_data, &data[n[0]], n[1] - 1);
+ } else {
+ gnss_log("%s %d : error [%d]\n" , __func__, __LINE__, n[1]);
+ gnss_log("error: [%d] %s\n", num, data);
+ return -1;
+ }
+
+ return 0;
+}
+/**
+* @brief get_timestamp
+*
+* @details
+*
+* @param param
+*
+* @return return type
+*/
+static time_t get_timestamp(char *time)
+{
+ char tmp_char[4] = {0};
+ struct tm* tmp_time = (struct tm*)malloc(sizeof(struct tm));
+
+ memset(tmp_time, 0, sizeof(struct tm));
+ memset(tmp_char, 0, sizeof(tmp_char));
+ memcpy(tmp_char, &time[4], 2);
+ tmp_time->tm_sec = atoi(tmp_char);
+ memcpy(tmp_char, &time[2], 2);
+ tmp_time->tm_min = atoi(tmp_char);
+ memcpy(tmp_char, &time[0], 2);
+ tmp_time->tm_hour = atoi(tmp_char);
+ memcpy(tmp_char, &time[6], 2);
+ tmp_time->tm_mday = atoi(tmp_char);
+ memcpy(tmp_char, &time[8], 2);
+ tmp_time->tm_mon = atoi(tmp_char);
+ memcpy(tmp_char, &time[10], 2);
+ tmp_time->tm_year = 100 + atoi(tmp_char);
+
+ time_t _t = mktime(tmp_time);//按当地时区解析tmp_time
+ // gnss_log("timestamp: %ld\n",_t);
+ free(tmp_time);
+
+ return _t;
+}
+/**
+ * @brief get_gnss_device_info
+ *
+ * @details 获取设备信息
+ *
+ * @param type: 5-从$PDTINFO获取
+ * 6-从$CFGNMEA获取
+ *
+ * @return return type
+ */
+static void get_gnss_device_info(int type, char *str, void *usr_ptr)
+{
+ char tmp_str[32] = {0};
+ int i, ret;
+
+ if(5 == type) // define mbtk_gnss_cmd_msg_map
+ {
+ // $PDTINFO get product info
+ char *tmp_ptr[6] = {mopen_gnss_device_info.product_name,
+ mopen_gnss_device_info.dev_config,
+ mopen_gnss_device_info.hw_ver,
+ mopen_gnss_device_info.fw_ver,
+ mopen_gnss_device_info.pn,
+ mopen_gnss_device_info.sn
+ };
+ for (i = 0; i < 6; ++i) {
+ memset(tmp_str, 0, sizeof(tmp_str));
+ // get product name
+ ret = gnss_get_para_from_nmea(str, tmp_str, i + 1);
+ if(ret)
+ continue;
+ memcpy(tmp_ptr[i], tmp_str, strlen(tmp_str));
+ }
+ gnss_log("*************************\n");
+ gnss_log("-Pn: %s\n dc: %s\n hv: %s\n fw: %s\n pn: %s\n sn: %s\n ",
+ mopen_gnss_device_info.product_name,
+ mopen_gnss_device_info.dev_config,
+ mopen_gnss_device_info.hw_ver,
+ mopen_gnss_device_info.fw_ver,
+ mopen_gnss_device_info.pn,
+ mopen_gnss_device_info.sn);
+ }
+ if(6 == type) // define mbtk_gnss_cmd_msg_map
+ {
+ // $CFGNMEA get nmea version
+ memset(tmp_str, 0, sizeof(tmp_str));
+ ret = gnss_get_para_from_nmea(str, tmp_str, 1);
+ if(ret)
+ return;
+ memcpy(mopen_gnss_device_info.nmea_ver, tmp_str, strlen(tmp_str));
+ mopen_gnss_device_info.device_info_valid = TRUE;
+ }
+}
+
+static short int from_hex(char a)
+{
+ if (a >= 'A' && a <= 'F')
+ return a - 'A' + 10;
+ else if (a >= 'a' && a <= 'f')
+ return a - 'a' + 10;
+ else
+ return a - '0';
+}
+
+static int str_to_hex(char *str)
+{
+ unsigned char str_len = strlen(str);
+ int i;
+ int ret = 0;
+
+ for (i = 0; i < str_len; ++i) {
+ ret = ret * 16 + from_hex(str[i]);
+ }
+ return ret;
+}
+
+static void get_gnss_agnss_state(int cmd, char *str, void *data)
+{
+ int ret;
+ char tmp_str[10] = {0};
+ int agps;
+ static int count = 0;
+
+ ret = gnss_get_para_from_nmea(str, tmp_str, 2);
+ if(ret) {
+ printf("\n%s[%d] error!\n" , __FUNCTION__, __LINE__);
+ }
+ agps = str_to_hex(tmp_str);
+ gnss_log("\n%s[%d] agnss: %s[%x]\n" , __FUNCTION__, __LINE__, tmp_str, agps);
+ if(0 == agps && count < 5) {
+ mopen_gnss_get_aidinfo(mbtk_gnss_handle);
+ count++;
+ } else {
+ printf("\nagnss: %s\n", str);
+ count = 0;
+ }
+ // $CFGAID,0,00000000,00000000,00*3E
+}
+// 1节=1海里/小时=1.852公里/小时
+/**
+ * @brief function description
+ *
+ * @details 获取位置信息
+ *
+ * @param type: 1-从$RMC获取
+ * 2-从$GGA获取
+ * @return return type
+ */
+static void get_gnss_loc_info(int type, char *str,
+ struct mbtk_gnss_location_info_t *_mopen_location_info)
+
+{
+ char tmp_str[32] = {0};
+ int ret;
+
+ if(1 == type)
+ {
+ // $PDTINFO get product info
+ memset(tmp_str, 0, sizeof(tmp_str));
+ // get product name
+ ret = gnss_get_para_from_nmea(str, tmp_str, 7);
+ if(ret)
+ return;
+ _mopen_location_info->speed = atof(tmp_str);
+ memset(tmp_str, 0, sizeof(tmp_str));
+ // get product name
+ ret = gnss_get_para_from_nmea(str, tmp_str, 8);
+ if(ret)
+ return;
+ _mopen_location_info->bearing = atof(tmp_str);
+ }
+ else if(2 == type)
+ {
+ // $XXGGA get product info
+ memset(tmp_str, 0, sizeof(tmp_str));
+ // get product name
+ ret = gnss_get_para_from_nmea(str, tmp_str, 2);
+ if(ret)
+ return;
+ _mopen_location_info->latitude = atof(tmp_str);
+ memset(tmp_str, 0, sizeof(tmp_str));
+ // get product name
+ ret = gnss_get_para_from_nmea(str, tmp_str, 4);
+ if(ret)
+ return;
+ _mopen_location_info->longitude = atof(tmp_str);
+ memset(tmp_str, 0, sizeof(tmp_str));
+ // get product name
+ ret = gnss_get_para_from_nmea(str, tmp_str, 9);
+ if(ret)
+ return;
+ _mopen_location_info->altitude = atof(tmp_str);
+ }
+}
+
+static void get_gnss_time_info(int cmd, char *str, void *data)
+{
+ int ret;
+ char param[36] = {0};
+ struct mbtk_gnss_location_info_t *mopen_location_info_ptr = (struct mbtk_gnss_location_info_t *)data;
+
+ if (3 == cmd) {
+ memset(param, 0, sizeof(param));
+ // get time
+ ret = gnss_get_para_from_nmea(str, param, 1);
+ if(ret)
+ return;
+ // get date
+ ret = gnss_get_para_from_nmea(str, ¶m[6], 9);
+ if(ret)
+ return;
+
+ mopen_location_info_ptr->timestamp = get_timestamp(param);
+ get_gnss_loc_info(1, str, mopen_location_info_ptr);
+ } else if(4 == cmd) /* GGA */{
+ get_gnss_loc_info(2, str, mopen_location_info_ptr);
+ ret = gnss_get_para_from_nmea(str, param, 7);
+ if(ret)
+ return;
+ char no_sv = (char)atoi(param);
+ gnss_log("SV number: %d, %d\n", g_no_sv, no_sv);
+ /*
+ 只能在临时固件下，才能获取APdata星历数据
+ 在6颗卫星保存文件，每增加2颗保存一次。
+ */
+ if (1 == firmware_extren_state &&
+ g_no_sv < (no_sv - 1) && no_sv > 5) {
+
+ g_no_sv = no_sv;
+ mbtk_gnss_get_ap_data();
+ }
+ }
+}
+
+static void gnss_uart_info(int cmd, char *str, void *data)
+{
+ int ret;
+ char tmp_str[12] = {0};
+
+ // $CFGPRT,1,h0,9600,129,3*57
+ ret = gnss_get_para_from_nmea(str, tmp_str, 3);
+ if(ret)
+ return;
+ mopen_gnss_device_info.usrt_bandrate = atoi(tmp_str);
+ gnss_log("CFGPRT: %s\n", str);
+ gnss_log("Uart bandrate: %d\n" , mopen_gnss_device_info.usrt_bandrate);
+ gnss_log("*************************\n");
+}
+/**
+ * \brief function description
+ *
+ * Detailed 处理gnss数据
+ *
+ * \param param
+ * \return return type
+ */
+static void process_gnss_callback(struct mbtk_gnss_handle_t *handle,
+ const char *data, int data_len)
+{
+ int ret = 0;
+ int i = 0;
+ static struct mbtk_gnss_location_info_t mopen_location_info;
+ static int64_t tmp_time = 0;
+ mopen_gnss_nmea_info_t nmea_info;
+
+ memset(&nmea_info, 0, sizeof(nmea_info));
+ if(0 == tmp_time)
+ memset(&mopen_location_info, 0, sizeof(mopen_location_info));
+
+ for (i = 0;
+ i < (sizeof(mbtk_gnss_cmd_msg_map) / sizeof(struct mbtk_gnss_cmd_msg_t));
+ ++i) {
+ if(strstr_n(data, mbtk_gnss_cmd_msg_map[i].cmd_str)) {
+ if(mbtk_gnss_cmd_msg_map[i].gnss_msg_func)
+ mbtk_gnss_cmd_msg_map[i].gnss_msg_func(mbtk_gnss_cmd_msg_map[i].index,
+ data, &mopen_location_info);
+ break;
+ }
+ }
+ if(0 == mbtk_gnss_cmd_msg_map[i].is_continue)
+ return;
+
+ tmp_time = mopen_location_info.timestamp;
+ nmea_info.timestamp = mopen_location_info.timestamp;
+ nmea_info.length = data_len;
+ memcpy(nmea_info.nmea, data, data_len);
+ gnss_log("nmea:[%d] %s", data_len, data);
+ if(handle->gnss_handler_func && handle->mode == 3 &&
+ nmea_info.timestamp)
+ handle->gnss_handler_func(handle, E_MT_LOC_MSG_ID_NMEA_INFO, &nmea_info, NULL);
+ if(handle->gnss_handler_func && handle->mode == 1 &&
+ mopen_location_info.latitude &&
+ mopen_location_info.longitude &&
+ mopen_location_info.altitude &&
+ mopen_location_info.timestamp &&
+ mopen_location_info.speed)
+ {
+ handle->gnss_handler_func(handle, E_MT_LOC_MSG_ID_LOCATION_INFO, &mopen_location_info, NULL);
+ memset(&mopen_location_info, 0, sizeof(mopen_location_info));
+ }
+
+ return;
+}
+
+/**
+ * \brief get_gnss_from_str
+ *
+ * Detailed 从串口数据解析出每条消息
+ *
+ * \param param
+ * \return return type
+ */
+static int get_gnss_from_str(struct mbtk_gnss_handle_t *handle,
+ const char *data, int data_len)
+{
+ char *tail = NULL;
+ static int seek = 0;
+ // 等待 OK, 如果20条结果没有等到，就异常
+ static int reset_count = 0;
+ int i = 0, ret = -1;
+
+ if (handle->reset_state)
+ {
+ // 等待 reset 回复的 OK
+ if(0 != memcmp(data, "$OK", 3) && reset_count < 20) {
+ printf("gnss reset invalid: [%s]\n", data);
+ reset_count++;
+ return -1;
+ }
+ if (reset_count > 19) {
+ printf("%s: device reset timeout!!!\n", __FUNCTION__);
+ LOGI("%s: device reset timeout!!!\n", __FUNCTION__);
+ }
+ reset_count = 0;
+ gnss_log("reset ok: %s\n", data);
+#if BAUDRATE_115200
+ ret = mopen_uart_change(handle->dev_fd, 0);
+ if(ret) {
+ printf("reset Uart set 115200 error\n");
+ }
+#endif
+ pthread_mutex_lock(&handle->_cond_mutex);
+ handle->reset_state = 0;
+ pthread_mutex_unlock(&handle->_cond_mutex);
+ }
+
+ if((data[0] == '$' || data[0] == '#') &&
+ data[data_len - 1] == '\n' &&
+ data_len < 128) {
+ process_gnss_callback(handle, data, data_len);
+ } else {
+ gnss_log("nmea error: %s\n", data);
+ }
+
+ return 1;
+}
+
+void mopen_gnss_NonBlock(int fd, int cmd)
+{
+ int flags;
+
+ flags = fcntl(fd, F_GETFL, 0);
+ if(cmd)
+ flags |= O_NONBLOCK;
+ else
+ flags &= ~O_NONBLOCK;
+
+ fcntl(fd, F_SETFL, flags);
+}
+
+int set_baudrate(int fd, int baudrate)
+{
+ struct termios options, oldtio;
+
+ if(fcntl(fd, F_SETFL, 0) < 0) {
+ printf("fcntl failed!\n");
+ return -1;
+ }
+
+ if(tcgetattr(fd, &oldtio) != 0) {
+ printf("setup serial error!\n");
+ return -1;
+ }
+
+ /* Get the current options for the port... */
+ tcgetattr(fd, &options);
+
+ /* Set the baud rates to baudrate... */
+ cfsetispeed(&options,baudrate);
+ cfsetospeed(&options,baudrate);
+ tcsetattr(fd, TCSANOW, &options);
+
+ if (0 != tcgetattr(fd, &options))
+ {
+ printf("get options error!\n");
+ return -1;
+ }
+
+ /*
+ * 8bit Data,no partity,1 stop bit...
+ */
+ options.c_cflag &= ~PARENB;//无奇偶校验
+ options.c_cflag &= ~CSTOPB;//停止位，1位
+ options.c_cflag &= ~CSIZE; //数据位的位掩码
+ options.c_cflag |= CS8; //数据位，8位
+
+ cfmakeraw(&options);
+
+ /*
+ * Set the new options for the port...
+ */
+ if (tcsetattr(fd, TCSANOW, &options) != 0)
+ {
+ printf("setup serial error!\n");
+ return -1 ;
+ }
+
+ return 0 ;
+}
+/*
+ 自适应波特率设置
+ */
+static int auto_set_uart_baudrate(int fd)
+{
+ char rbuf[512];
+ int rByte = 0;
+ int b[3] = {B115200, B9600, 0};
+ int ret = B9600;
+ struct timeval time_m, time_n;
+ // 时间超时标志
+ int timeout_sign = 0;
+ // 先测试默认的9600波特率
+ SET_TIME_OUT(3);
+ do {
+ gettimeofday(&time_n, NULL);
+ if(time_n.tv_sec > time_m.tv_sec) {
+ printf("Baudrate--test-9600--- timeout!\n");
+ if(timeout_sign)
+ break;
+ set_baudrate(fd, B115200);
+ ret = B115200;
+ timeout_sign = 1;
+ SET_TIME_OUT(3);
+ continue;
+ }
+
+ if(select_read(fd, 1) > 0)
+ usleep(50000);
+ else
+ continue;
+
+ rByte = deal_read(fd,&rbuf,sizeof(rbuf));
+ if(rByte > 0) {
+ gnss_log("Auto Baudrate[%d]%s\n", rByte, rbuf);
+ if(strstr(rbuf, "$"))
+ return ret;
+ memset(rbuf, 0, sizeof(rbuf));
+ } else {
+ printf("*** read error\n");
+ }
+ }while(1);
+
+ return -1;
+}
+
+int mopen_gnss_open(char *dev, int baudrate)
+{
+ int ret;
+ int fd = 0;
+
+ fd = open(dev, O_RDWR | O_NOCTTY | O_NDELAY);
+ if(fd < 0) {
+ return -1;
+ }
+ gnss_log("curent dev: %s, fd: %d \n", dev, fd);
+
+ if(baudrate) {
+ gnss_log("set baudrate: %d \n", baudrate);
+ ret = set_baudrate(fd, baudrate);
+ if(-1 == ret) {
+ close(fd);
+ return -1;
+ }
+ } else {
+ set_baudrate(fd, B9600);
+ }
+
+ return fd;
+}
+
+static int mopen_gnss_read(int fd, char* buf, unsigned int buf_len)
+{
+ buf_len=(buf_len > MBTK_UART_RECV_BUFFER_SIZE ? MBTK_UART_RECV_BUFFER_SIZE : buf_len);
+ return read(fd, buf, buf_len);
+}
+
+int mopen_gnss_write(int fd, const char* buf, unsigned int buf_len)
+{
+ size_t size;
+ size_t size_to_wr;
+ ssize_t size_written;
+ if(MBTK_UART_SEND_BUFFER_MAX < buf_len)
+ {
+ return -1;
+ }
+ for(size = 0; size < buf_len;)
+ {
+ size_to_wr = buf_len - size;
+ if( size_to_wr > MBTK_UART_SEND_BUFFER_MAX)
+ size_to_wr = MBTK_UART_SEND_BUFFER_MAX;
+
+ size_written = write(fd, &buf[size], size_to_wr);
+ if (size_written==-1)
+ {
+ return -1;
+ }
+ gnss_log("send cmd: %s", &buf[size]);
+ size += size_written;
+ if(size_written != size_to_wr)
+ {
+ return size;
+ }
+ }
+ return size;
+}
+
+int mopen_gnss_close(int fd)
+{
+ return close(fd);
+}
+
+static void gnss_info_pthread(void* hdl)
+{
+ struct mbtk_gnss_handle_t *gnss_handle = (struct mbtk_gnss_handle_t *)hdl;
+ int ret = 0, i;
+ char tmp;
+ char tmp_arr[128] = {0};
+
+ pthread_detach(pthread_self());
+
+ memset(tmp_arr, 0, sizeof(tmp_arr));
+ while(mbtk_gnss_handle->inited)
+ {
+ for (i = 0; i < 256; ++i) {
+ if (0 == mbtk_gnss_handle->inited)
+ goto exit;
+ ret = ring_buffer_peek(&gnss_handle->ring_buffer, &tmp, i);
+ if (0 == ret) {
+ usleep(300000);
+ gnss_log("ring_buffer_peek ringbuffer read error\n");
+ i--;
+ continue;
+ }
+ if (tmp == '\n') {
+ break;
+ }
+ }
+
+ if (i > (256 - 2))
+ continue;
+
+ ret = ring_buffer_dequeue_arr(&gnss_handle->ring_buffer, tmp_arr, i + 1);
+
+ if(ret > 0 && 0 == mbtk_gnss_handle->getap_status) {
+ // gnss_log("NEMA:[%d] %s", ret, tmp_arr);
+ get_gnss_from_str(gnss_handle, tmp_arr, ret);
+ memset(tmp_arr, 0, sizeof(tmp_arr));
+ } else {
+ gnss_log("ringbuffer read error\n");
+ }
+ usleep(5000);
+ }
+ exit:
+ pthread_exit(NULL);
+}
+
+static void gnss_uart_pthread(void* hdl)
+{
+ struct mbtk_gnss_handle_t *gnss_handle = (struct mbtk_gnss_handle_t *)hdl;
+ int ret = 0;
+ char buf[MBTK_UART_RECV_BUFFER_SIZE] = {0};
+
+ pthread_detach(pthread_self());
+
+ memset(buf, 0, sizeof(buf));
+ while(mbtk_gnss_handle->inited)
+ {
+ while(mbtk_gnss_handle->getap_status){
+ // 在读AP_DATA星历时，不能输出NMEA
+ printf("g");
+ usleep(100000);
+ }
+ ret = mopen_gnss_read(gnss_handle->dev_fd, buf, MBTK_UART_RECV_BUFFER_SIZE);
+ if(ret > 0) {
+ // gnss_log("read: [%d] %s\n", ret, buf);
+ ring_buffer_queue_arr(&gnss_handle->ring_buffer, buf, ret);
+ memset(buf, 0, sizeof(buf));
+ } else {
+ gnss_log("read error\n");
+ }
+ usleep(100000);
+ }
+
+ pthread_exit(NULL);
+}
+
+ssize_t deal_read(int fd, void *buf, size_t count)
+{
+ int ret = 0;
+
+#if 0
+ ret = read(fd, buf, count);
+ return ret;
+#else
+ while (1)
+ {
+ ret = read(fd, buf, count);
+ if (ret == 0) {
+ printf("read serial return 0, please check serial device.\n");
+ exit(-5);
+ }
+ if(ret < 0) {
+ if ((errno == EAGAIN) || (errno == EINTR)) {
+ printf("read serial return -1, errno = %d, retry.\n", errno);
+ continue;
+ } else {
+ printf("read serial return -1, errno = %d, please check serial device.\n", errno);
+ exit(-5);
+ }
+ }
+ return ret;
+ }
+#endif
+}
+
+static int select_read( int fd, int timeout ) //1ms
+{
+ fd_set set;
+ struct timeval t;
+ int ret;
+ int i = timeout;
+
+ do {
+ FD_ZERO(&set);
+ FD_SET(fd, &set);
+ t.tv_sec = 0;
+ t.tv_usec = 100;
+
+ ret = select(FD_SETSIZE, &set, NULL, NULL, &t );
+ if(ret == 0) continue;
+ if(ret < 0 && errno == EINTR)continue;
+ else return ret;
+ } while(i--);
+
+ return ret;
+}
+
+// check: 是否需要校验
+static int mopen_uart_change(int fd, int check)
+{
+ int rByte = 0, i = 20;
+ char name[32];
+ char rbuf[1024];
+
+ sprintf(name,"$CFGPRT,1,h0,115200,129,3\r\n");
+ rByte = write( fd, name, strlen(name));
+ tcdrain(fd);
+
+ set_baudrate(fd, B115200);
+ usleep(200000);
+ tcflush(fd, TCIFLUSH);
+
+ if (0 == check)
+ return 0;
+ do{
+ rByte = 0;
+ memset(rbuf, 0, sizeof(rbuf));
+ if(select_read(fd, 1) > 0) {
+ rByte = deal_read(fd, &rbuf, sizeof(rbuf) - 1);
+ rbuf[rByte] = 0;
+ gnss_log("%s: %s", __FUNCTION__, rbuf);
+ }
+ if(strstr(rbuf, "$")) {
+ return 0;
+ } else {
+ gnss_log("%d rByte = %d, [%s]\n", 20 - i, rByte, rbuf);
+ }
+ usleep(5000 * 100);
+ }while(i--);
+
+ return -1;
+}
+
+#define GPS_DEV "/sys/devices/soc.0/d4000000.apb/mbtk-dev-op/gps_power"
+
+static int mopen_open_gps(int state)
+{
+ int fd, ret;
+ char s[4] = "on";
+ fd = open(GPS_DEV, O_RDWR | O_TRUNC, 0644);
+ if(fd < 0) {
+ LOGE("[%s] file [%s] open error\n", __FUNCTION__, GPS_DEV);
+ return -1;
+ }
+ if(0 == state)
+ {
+ memcpy(s, "off", 3);
+ }
+ ret = write(fd, s, 4);
+ if (ret < 0) {
+ LOGE("%s: error writing to file!\n", __FUNCTION__);
+ close(fd);
+ return -2;
+ }
+
+ close(fd);
+ return 0;
+}
+
+int mbtk_gnss_client_init(uint32 *ph_gnss)
+{
+ int ret;
+
+ if(ph_gnss == NULL) {
+ printf("ARG error or has inited.");
+ return -1;
+ }
+
+ if (mbtk_gnss_handle) {
+ printf("GNSS has inited.");
+ *ph_gnss = (uint32)mbtk_gnss_handle;
+ return 0;
+ }
+ mbtk_gnss_handle = malloc(sizeof(struct mbtk_gnss_handle_t));
+ if(NULL == mbtk_gnss_handle)
+ {
+ printf("malloc memory error\n");
+ return -3;
+ }
+ memset(mbtk_gnss_handle, 0, sizeof(struct mbtk_gnss_handle_t));
+ memset(&mopen_gnss_device_info, 0, sizeof(mopen_gnss_device_info));
+
+ ret = mopen_open_gps(1);
+ if(ret) {
+ printf("GNSS open init error\n");
+ return -4;
+ }
+ sleep(1);
+
+ mbtk_gnss_handle->dev_fd = mopen_gnss_open(MBTK_GNSS_DEV, 0);
+
+ printf("Gnss Config Uart Baudrate Start -> \n");
+ ret = auto_set_uart_baudrate(mbtk_gnss_handle->dev_fd);
+ if(-1 == ret) {
+ ret = -2;
+ goto err;
+ } else if (B9600 == ret) {
+ ret = mopen_uart_change(mbtk_gnss_handle->dev_fd, 1);
+ if(ret)
+ {
+ printf("GNSS Uart set B115200 error\n");
+ mopen_gnss_close(mbtk_gnss_handle->dev_fd);
+ mopen_open_gps(0);
+ return -1;
+ }
+ }
+ printf("Gnss Config Uart Baudrate Successful.\n");
+
+ mbtk_gnss_handle->rb = malloc(MBTK_UART_RECV_BUFFER_SIZE);
+ if(NULL == mbtk_gnss_handle->rb)
+ {
+ printf("malloc memory error\n");
+ return -1;
+ }
+
+ ring_buffer_init(&mbtk_gnss_handle->ring_buffer,
+ mbtk_gnss_handle->rb,
+ MBTK_UART_RECV_BUFFER_SIZE);
+
+ mbtk_gnss_handle->inited = 1;
+
+ pthread_mutex_init(&mbtk_gnss_handle->_cond_mutex, NULL);
+ pthread_create(&mbtk_gnss_handle->uart_pthread, NULL, (void *)gnss_uart_pthread, (void *)mbtk_gnss_handle);
+ pthread_create(&mbtk_gnss_handle->gnss_pthread, NULL, (void *)gnss_info_pthread, (void *)mbtk_gnss_handle);
+
+ mopen_gnss_get_ant_state_info((uint32)mbtk_gnss_handle);
+ mopen_gnss_get_device_info((uint32)mbtk_gnss_handle);
+ mopen_gnss_get_nmea_config((uint32)mbtk_gnss_handle);
+ mopen_gnss_get_uart((uint32)mbtk_gnss_handle);
+ mopen_gnss_get_aidinfo((uint32)mbtk_gnss_handle);
+
+ *ph_gnss = (uint32)mbtk_gnss_handle;
+ mbtk_gnss_handle->phandle = ph_gnss;
+
+ return 0;
+ err:
+ mopen_gnss_close(mbtk_gnss_handle->dev_fd);
+ mopen_open_gps(0);
+ firmware_extren_state = 0;
+ if (mbtk_gnss_handle) free(mbtk_gnss_handle);
+ mbtk_gnss_handle = NULL;
+
+ return ret;
+}
+static int _kill_pthread(pthread_t pid, int kill)
+{
+ int ret;
+
+ if (kill) {
+ ret = pthread_cancel(pid);
+ pthread_join(pid, NULL);
+ }
+ do{
+ ret = pthread_kill(pid, 0);
+ if(ret == ESRCH)
+ gnss_log("The specified thread does not exist or has terminated\n");
+ else if(ret == EINVAL)
+ gnss_log("Useless signal\n");
+ else
+ gnss_log("The thread exists\n");
+ usleep(100000);
+ }while(0 == ret);
+
+ return 0;
+}
+int mbtk_gnss_client_deinit(uint32 h_gnss)
+{
+ int ret;
+ struct mbtk_gnss_handle_t *gnss_handle = (struct mbtk_gnss_handle_t *)h_gnss;
+
+ if(h_gnss == NULL)
+ {
+ gnss_log("ARG error or not inited.");
+ return -1;
+ }
+ gnss_handle->inited = 0;
+#if TTFF_TEST
+ // ttff测试线程在运行，而且不是临时固件模式
+ if (gnss_handle->ttff_pid &&
+ 0 == firmware_extren_state &&
+ 0 == location_test) {
+ gnss_log("kill thread ttff.\n");
+ _kill_pthread(gnss_handle->ttff_pid, 1);
+ }
+#endif
+ gnss_log("kill thread info 0.\n");
+ _kill_pthread(gnss_handle->gnss_pthread, 0);
+
+ gnss_log("kill thread uart.\n");
+ _kill_pthread(gnss_handle->uart_pthread, 0);
+
+ mopen_gnss_close(gnss_handle->dev_fd);
+
+ ret = mopen_open_gps(0);
+ if(ret)
+ {
+ printf("GNSS close init error\n");
+ return -1;
+ }
+
+ firmware_extren_state = 0;
+ if (gnss_handle->rb) free(gnss_handle->rb);
+ free(h_gnss);
+ mbtk_gnss_handle = NULL;
+
+ return 0;
+}
+
+int mopen_gnss_send_cmd(uint32 h_gnss, const char *cmd, int cmd_len)
+{
+ struct mbtk_gnss_handle_t *gnss_handle = (struct mbtk_gnss_handle_t *)h_gnss;
+ return mopen_gnss_write(gnss_handle->dev_fd, cmd, cmd_len);
+}
+
+/**
+ * \brief mbtk_gnss_dev_reset
+ *
+ * Detailed description
+ *
+ * \param
+ * type: 0 软件复位
+ * 1 芯片级复位(看门狗)
+ * 2 板级复位
+ * 3 接收机停止
+ * mode :
+ * 0 : 热启动
+ * 1 : 温启动
+ * 2 : 冷启动
+ * \return return type
+ */
+int mbtk_gnss_dev_reset(uint32 h_gnss, int type, int mode)
+{
+ int ret;
+ struct mbtk_gnss_handle_t *handle = (struct mbtk_gnss_handle_t *)h_gnss;
+ // h00 热启动
+ // h01 温启动
+ // h85 冷启动
+ char send_buf[24] = {0};
+
+ if(0 == h_gnss){
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+
+ if (1 == handle->reset_state) {
+ printf("%s already reset_state.\n", __func__);
+ return -2;
+ }
+
+ if (0 == mode || 1 == mode) {
+ snprintf(send_buf, sizeof(send_buf), "$RESET,%d,h0%d\r\n", type, mode);
+ } else if (2 == mode) {
+ snprintf(send_buf, sizeof(send_buf), "$RESET,%d,h85\r\n", type);
+ } else if (3 == mode) {
+ snprintf(send_buf, sizeof(send_buf), "$RESET,%d,hFF\r\n", type);
+ } else {
+ printf("%s reset mode invalid.\n", __func__);
+ return -2;
+ }
+
+ if ( 1 == firmware_extren_state ) {
+ if (mode > 1) {
+ mbtk_gnss_firmware_update();
+ } else {
+ memset(send_buf, 0, sizeof(send_buf));
+ // 在有GLONASS固件的情况下，冷启动指令为: $CFGSYS,H101
+ // 只发$RESET,0,hFF, 会重置波特率，待验证
+ snprintf(send_buf, sizeof(send_buf), "$CFGSYS,H101\r\n");
+ }
+ }
+
+ gnss_log("%s : %s\n", __FUNCTION__, send_buf);
+ LOGI("%s : %s", __FUNCTION__, send_buf);
+ pthread_mutex_lock(&handle->_cond_mutex);
+ handle->reset_state = 1;
+ pthread_mutex_unlock(&handle->_cond_mutex);
+ ret = mopen_gnss_send_cmd(h_gnss, send_buf, strlen(send_buf));
+ if(ret < 0)
+ {
+ printf("%s %d FAIL. ret:%d\n", __FUNCTION__, __LINE__, ret);
+ return -1;
+ }
+
+ // 加载GLONASS固件后，波特率为115200
+ if ( 0 == firmware_extren_state ) {
+ set_baudrate(handle->dev_fd, B9600);
+ gnss_log("%s : set B9600\n", __FUNCTION__);
+ }
+
+ return 0;
+}
+
+int mopen_gnss_get_device_info(uint32 h_gnss)
+{
+ int ret;
+ char *send_buf = "$PDTINFO\r\n";
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+
+ ret = mopen_gnss_send_cmd(h_gnss, send_buf, strlen(send_buf));
+ if(ret < 0)
+ {
+ printf("mopen_gnss_client_init FAIL. ret:%d\n",ret);
+ return -1;
+ }
+
+ return 0;
+}
+/**
+ * @brief mopen_gnss_set_system_config
+ *
+ * @details 设置卫星系统配置
+ *
+ * @param mode
+ * 0 -> H01(1) –GPS L1+SBAS+QZSS
+ * 1 -> H10 – BDS B1
+ * 2 -> H101 2 – GPS+GLONASS+GALILEO+SBAS+QZSS
+ * 3 -> H11 3 – GPS+BDS+GALILEO+SBAS+QZSS
+ * @return return type
+ */
+int mbtk_gnss_set_system_config(uint32 h_gnss, int mode)
+{
+ int ret;
+ char send_buf[20] = "$CFGSYS,H10\r\n";
+ char *str_mode[4] = {"H01", "H10", "H101", "H11"};
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+ if( mode > 3 )
+ {
+ printf("%s param invalid.\n", __func__);
+ return -2;
+ }
+ snprintf(send_buf, sizeof(send_buf), "$CFGSYS,%s\r\n", str_mode[mode]);
+ ret = mopen_gnss_send_cmd(h_gnss, send_buf, strlen(send_buf));
+ if(ret < 0)
+ {
+ printf("%s FAIL. ret:%d\n", __FUNCTION__, ret);
+ return -3;
+ }
+
+ return 0;
+}
+/**
+ * @brief mopen_gnss_set_nema_config
+ *
+ * @details 设定NMEA 配置
+ * 输出的NMEA 协议版本
+ * h30 - 在 NMEA 标准 version 3.0 基础上扩展北斗相关的语句(NMEA 3.0)
+ * h51 - 在标准NMEA4.1 基础上扩展北斗相关语(NMEA 4.1)
+ * 默认配置: h51
+ *
+ * @param mode
+ * 0 -> h30
+ * 1 -> h51
+ *
+ * @return return type
+ */
+int mbtk_gnss_set_nema_config(uint32 h_gnss, int mode)
+{
+ int ret;
+ char send_buf[16] = "$CFGNMEA,h30\r\n";
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+
+ if (mode) {
+ send_buf[10] = '5';
+ send_buf[11] = '1';
+ }
+ ret = mopen_gnss_send_cmd(h_gnss, send_buf, strlen(send_buf));
+ if(ret < 0)
+ {
+ printf("%s FAIL. ret:%d\n", __FUNCTION__, ret);
+ return -3;
+ }
+
+ return 0;
+}
+int mopen_gnss_aidpos(uint32 h_gnss)
+{
+ int ret;
+ char *send_buf = "$AIDPOS,4002.229934,N,11618.096855,E,37.254\r\n";
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+
+ ret = mopen_gnss_send_cmd(h_gnss, send_buf, strlen(send_buf));
+ if(ret < 0)
+ {
+ printf("mopen_gnss_client_init FAIL. ret:%d\n",ret);
+ return -1;
+ }
+ return 0;
+}
+/**
+ * @brief mopen_gnss_get_aidinfo
+ *
+ * @details 查询辅助数据状态
+ * $CFGAID,0,D7FBFBDF,00000000,08*47
+ * @param param
+ *
+ * @return return type
+ */
+int mopen_gnss_get_aidinfo(uint32 h_gnss)
+{
+ int ret;
+ // char *send_buf = "$AIDINFO\r\n";
+ char *send_buf = "$CFGAID,0\r\n";
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+
+ ret = mopen_gnss_send_cmd(h_gnss, send_buf, strlen(send_buf));
+ if(ret < 0)
+ {
+ printf("%s FAIL. ret:%d\n", __FUNCTION__, ret);
+ return -1;
+ }
+ return 0;
+}
+/**
+ * @brief mopen_gnss_get_uart
+ *
+ * @details get uart config info.
+ * $CFGPRT,1,h0,9600,129,3*57
+ *
+ * @param param
+ *
+ * @return return type
+ */
+int mopen_gnss_get_uart(uint32 h_gnss)
+{
+ int ret;
+ char *send_buf = "$CFGPRT,1\r\n";
+ // char *send_buf = "$CFGPRT,2\r\n";
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+
+ ret = mopen_gnss_send_cmd(h_gnss, send_buf, strlen(send_buf));
+ if(ret < 0)
+ {
+ printf("mopen_gnss_client_init FAIL. ret:%d\n",ret);
+ return -1;
+ }
+ return 0;
+}
+
+int mopen_gnss_set_uart(uint32 h_gnss, int baudrate)
+{
+ int ret;
+ char send_buf[28] = {0};
+ // char *send_buf = "$CFGPRT,1,h0,9600,1,3\r\n";
+
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+ sprintf(send_buf, "$CFGPRT,1,h0,%d,1,3\r\n", baudrate);
+ gnss_log("%s %s", __FUNCTION__, send_buf);
+ ret = mopen_gnss_send_cmd(h_gnss, send_buf, strlen(send_buf));
+ if(ret < 0)
+ {
+ printf("mopen_gnss_client_init FAIL. ret:%d\n",ret);
+ return -1;
+ }
+ return 0;
+}
+
+int mopen_gnss_get_msg_output(uint32 h_gnss)
+{
+ int ret;
+ char *send_buf = "$CFGMSG,0,1\r\n"; // msg class, msg id
+
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+ ret = mopen_gnss_send_cmd(h_gnss, send_buf, strlen(send_buf));
+ if(ret < 0)
+ {
+ printf("%s FAIL. ret:%d\n", __func__, ret);
+ return -1;
+ }
+ return 0;
+}
+
+int mopen_gnss_set_msg_output(uint32 h_gnss)
+{
+ int ret;
+ char *send_buf = "$CFGMSG,0,1,1\r\n";// msg class, msg id, msg switch
+
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+ ret = mopen_gnss_send_cmd(h_gnss, send_buf, strlen(send_buf));
+ if(ret < 0)
+ {
+ gnss_log("%s FAIL. ret:%d\n", __func__, ret);
+ return -1;
+ }
+ return 0;
+}
+
+int mopen_gnss_set_lowpower(uint32 h_gnss)
+{
+ int ret;
+ char *send_buf = "$CFGLOWPOWER,0\r\n";// 0 - nomale, 1 - lowpower
+
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+ ret = mopen_gnss_send_cmd(h_gnss, send_buf, strlen(send_buf));
+ if(ret < 0)
+ {
+ gnss_log("%s FAIL. ret:%d\n", __func__, ret);
+ return -1;
+ }
+ return 0;
+}
+
+int mopen_gnss_get_ant_state_info(uint32 h_gnss)
+{
+ int ret;
+ char *cmd1_buf = "$ANTSTAT,1\r\n";
+ char *cmd2_buf = "$ANTSTAT1\r\n";
+
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+ ret = mopen_gnss_send_cmd(h_gnss, cmd1_buf, strlen(cmd1_buf));
+ if(ret < 0)
+ {
+ gnss_log("%s FAIL. ret:%d\n", __func__, ret);
+ return -1;
+ }
+ ret = mopen_gnss_send_cmd(h_gnss, cmd2_buf, strlen(cmd2_buf));
+ if(ret < 0)
+ {
+ gnss_log("%s FAIL. ret:%d\n", __func__, ret);
+ return -1;
+ }
+ return 0;
+}
+
+int mopen_gnss_get_nmea_config(uint32 h_gnss)
+{
+ int ret;
+ char *send_buf = "$CFGNMEA\r\n";
+
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+ ret = mopen_gnss_send_cmd(h_gnss, send_buf, strlen(send_buf));
+ if(ret < 0)
+ {
+ gnss_log("%s FAIL. ret:%d\n", __func__, ret);
+ return -1;
+ }
+ return 0;
+}
+
+int mbtk_gnss_add_rx_msg_handler(uint32 h_gnss, mbtk_gnss_handler_func_t handler_ptr)
+{
+ struct mbtk_gnss_handle_t *gnss_handle = (struct mbtk_gnss_handle_t *)h_gnss;
+
+ if(0 == h_gnss && NULL == handler_ptr)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+ gnss_handle->gnss_handler_func = handler_ptr;
+
+ return 0;
+}
+
+#define AGNSS_TLE_FILE "/tmp/agnss_tle"
+
+static void http_data_cb_func(
+ int session_id, mbtk_http_data_type_enum type,
+ void *data,int data_len)
+{
+ static int agnss_fd = 0;
+ int ret = 0;
+
+ if(type == MBTK_HTTP_DATA_HEADER) {
+ gnss_log("Header(%d):%s\n", data_len, (char*)data);
+ if(agnss_fd > 0)
+ return;
+ unlink(AGNSS_TLE_FILE);
+ agnss_fd = open(AGNSS_TLE_FILE, O_RDWR|O_CREAT|O_TRUNC, 0644);
+ if (agnss_fd <= 0)
+ gnss_log("file open error\n");
+ gnss_log("agnss file open: %d\n", agnss_fd);
+ } else if(type == MBTK_HTTP_DATA_CONTENT) {
+ gnss_log("http Data(%d)\n", data_len);
+
+ ret = write(agnss_fd, (char*)data, data_len);
+ if (ret < 0) {
+ gnss_log("%s: error writing to file!\n", __FUNCTION__);
+ } else if (ret < data_len) {
+ gnss_log("%s: wrote less the buffer size!\n", __FUNCTION__);
+ }
+ } else {
+ gnss_log(">>>>>Complete<<<<<\n");
+ if(agnss_fd <= 0)
+ return;
+ close(agnss_fd);
+ agnss_fd = 0;
+ }
+}
+
+static int gnss_http_requst(char *id, char *pw)
+{
+ char tmp[128] = {0};
+
+ int http_handle = mbtk_http_handle_get(TRUE, http_data_cb_func);
+ if(http_handle < 0)
+ {
+ printf("mbtk_http_handle_get() fail.");
+ return -1;
+ }
+
+ int http_session = mbtk_http_session_create(http_handle, HTTP_OPTION_POST, HTTP_VERSION_1_1);
+ if(http_handle < 0)
+ {
+ printf("mbtk_http_session_create() fail.");
+ return -2;
+ }
+
+ if(mbtk_http_session_url_set(http_handle, http_session, "http://unicore-api.rx-networks.cn/rxn-api/locationApi/rtcm")) {
+ printf("mbtk_http_session_url_set() fail.\n");
+ return -3;
+ }
+
+ char* post_data = "[{\"rtAssistance\":{\"format\":\"rtcm\",\"msgs\":[\"GPS:2NAF\",\"BDS:2NAF\",\"QZS:2NAF\"]}}]\r\n";
+
+ mbtk_http_session_head_add(http_handle, http_session, \
+ "Host", "unicore-api.rx-networks.cn");
+
+ sprintf(tmp, "RXN-BASIC cId=%s,mId=Unicore,dId=12-23-34-45-58,pw=%s", id, pw);
+ mbtk_http_session_head_add(http_handle, http_session, \
+ "Authorization", tmp);
+
+ mbtk_http_session_head_add(http_handle, http_session, \
+ "Content-Type", "application/json");
+
+ mbtk_http_session_head_add(http_handle, http_session, \
+ "Accept", "application/octet-stream");
+ mbtk_http_session_content_set(http_handle, http_session,
+ post_data, strlen(post_data));
+
+ if(mbtk_http_session_start(http_handle, http_session)) {
+ printf("mbtk_http_session_start() fail.\n");
+ return -4;
+ }
+
+ if(mbtk_http_handle_free(http_handle))
+ {
+ printf("mbtk_http_handle_free() fail.");
+ return -5;
+ }
+
+ return 0;
+}
+
+/**********************************
+
+ ID1: TempID1Expire20221031
+ Base 64 PW1: RlJYdkFTNE9DWXJhN2ZWTA==
+**************************************/
+#define AGNSS_CONFIG_FILE "/etc/mbtk/gps.conf"
+
+/**
+ * @brief mopen_gnss_download_tle
+ *
+ * @details 下载星历数据
+ * (卫星星历，又称为两行轨道数据（TLE，Two-Line Orbital Element）)
+ * 保存到文件:AGNSS_TLE_FILE
+ * @param param
+ *
+ * @return return type
+ */
+int mbtk_gnss_download_tle(void)
+{
+ FILE *fp;
+ char StrLine[64];
+ char _id[24] = {0};
+ char _passwd[28] = {0};
+ int i;
+ if((fp = fopen(AGNSS_CONFIG_FILE, "r")) == NULL)
+ {
+ printf("open %s error!\n", AGNSS_CONFIG_FILE);
+ return -1;
+ }
+
+ while (!feof(fp))
+ {
+ memset(StrLine, 0, 64);
+ fgets(StrLine, 64, fp);
+ gnss_log("%s\n", StrLine);
+ i = strstr_n(StrLine, ": ");
+ if(i && strstr_n(StrLine, "ID"))
+ {
+ memcpy(_id, &StrLine[i + 1], strlen(StrLine) - i - 2);
+ }
+ else if( i && strstr_n(StrLine, "Base 64"))
+ {
+ memcpy(_passwd, &StrLine[i + 1], strlen(StrLine) - i - 2);
+ }
+ }
+ fclose(fp);
+ gnss_log("%s : %s[%d], %s[%d]\n", __FUNCTION__, _id, strlen(_id), _passwd, strlen(_passwd));
+
+ return gnss_http_requst(_id, _passwd);
+}
+
+/**
+ * @brief mopen_gnss_injects_aidpos
+ *
+ * @details 注入星历, 128 bytes
+ *
+ * @param param
+ *
+ * @return return type
+ */
+int mbtk_gnss_injects_aidpos(uint32 h_gnss)
+{
+ int ret;
+ int agnss_fd = 0;
+ int size = 0;
+
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+
+ agnss_fd = open(AGNSS_TLE_FILE, O_RDWR);
+ if (agnss_fd <= 0)
+ {
+ printf("%s open file FAIL. errno:%d\n", __FUNCTION__, errno);
+ return -1;
+ }
+ char* databuf = (char*)malloc(128);
+ if(databuf == NULL)
+ {
+ gnss_log("%s malloc() fail.", __FUNCTION__);
+ return -1;
+ }
+ memset(databuf, 0, 128);
+ while(0 < (size = read(agnss_fd, databuf, 128)))
+ {
+ gnss_log("%s Write[%d]\r\n", __FUNCTION__, size);
+ ret = mopen_gnss_send_cmd(h_gnss, databuf, size);
+ if(ret < 0)
+ {
+ printf("%s send cmd FAIL. ret:%d\n", __FUNCTION__, ret);
+ break;
+ }
+ memset(databuf, 0, 128);
+ }
+ close(agnss_fd);
+ free(databuf);
+ mopen_gnss_get_aidinfo(h_gnss);
+
+ return 0;
+}
+/**
+ * @brief mopen_gnss_set_mode
+ *
+ * @details detailed description
+ *
+ * @param mode
+ * 0 : stop
+ * 1 : 输出一次坐标
+ * 2 : stop
+ * 3 : 输出nmea数据到回调函数
+ * 0 - stop, 1 - single, 2 - periodic, 3 - start
+ *
+ * @return return type
+ */
+int mbtk_gnss_set_mode(uint32 h_gnss, int mode)
+{
+ struct mbtk_gnss_handle_t *gnss_handle = (struct mbtk_gnss_handle_t *)h_gnss;
+ if(0 == h_gnss)
+ {
+ printf("%s handler invalid.\n", __func__);
+ return -1;
+ }
+ gnss_handle->mode = mode;
+
+ return 0;
+}
+
+int mbtk_gnss_print_version(uint32 h_gnss)
+{
+ printf("*************************\n");
+ printf("-Pn: %s\n dc: %s\n hv: %s\n fw: %s\n pn: %s\n sn: %s\n ",
+ mopen_gnss_device_info.product_name,
+ mopen_gnss_device_info.dev_config,
+ mopen_gnss_device_info.hw_ver,
+ mopen_gnss_device_info.fw_ver,
+ mopen_gnss_device_info.pn,
+ mopen_gnss_device_info.sn);
+ printf("Uart bandrate: %d\n" , mopen_gnss_device_info.usrt_bandrate);
+ printf("*************************\n");
+
+ return 0;
+}
+
+/**
+* @brief 使用popen调用终端并获取执行结果
+*
+* @param[in] cmd 命令内容
+* @param[out] result 保存结果的地址
+* @return 0或1 执行状态，成功或失败
+*/
+int exec_cmd(const char *cmd, char *result)
+{
+ FILE *pipe = popen(cmd, "r");
+ if(!pipe)
+ return -1;
+
+ char buffer[256] = {0};
+ while(!feof(pipe))
+ {
+ if(fgets(buffer, 256, pipe))
+ {
+ printf("%s", buffer);
+ memset(buffer, 0, sizeof(buffer));
+ }
+ }
+ pclose(pipe);
+ return 0;
+}
+
+#define GNSS_AP_DATA_FILE "/etc/mbtk/rtm.bin"
+
+int mbtk_gnss_get_ap_data(void)
+{
+ int state = 0;
+ uint32 *ph_gnss = NULL;
+ mbtk_gnss_handler_func_t cb;
+ int current_mode;
+ const char* cmd = "mbtk_gnss_update getap -d /dev/ttyS2 -b 115200 -a /etc/mbtk/rtm.bin";
+
+ if(access(GNSS_AP_DATA_FILE, F_OK) != -1) {
+ unlink(GNSS_AP_DATA_FILE);
+ }
+ mbtk_gnss_handle->getap_status = 1;
+ sleep(1);
+ printf("Mopen Gnss Get Ap Data -> \n");
+ int ret = exec_cmd(cmd, NULL);
+
+ usleep(100000);
+ mbtk_gnss_handle->getap_status = 0;
+ if(0 != ret) {
+ printf("Gnss getap result: %x\n", ret);
+ return -1;
+ }
+ LOGI("%s %d: %d.\n", __FUNCTION__, __LINE__, ret);
+ return ret;
+}
+/*
+ sync : 1
+ */
+int mbtk_gnss_firmware_update(void)
+{
+ int state = 0;
+ uint32 *ph_gnss = NULL;
+ mbtk_gnss_handler_func_t cb;
+ int current_mode;
+ int fd = -1;
+ int ret = 0;
+
+ const char* cmd_1 = "mbtk_gnss_update downbl -d /dev/ttyS2 \
+ -l /etc/mbtk/bootloader_r3.0.0_build6773_uartboot_921600.pkg";
+
+ const char* cmd_2 = "mbtk_gnss_update sendap -d /dev/ttyS2 -b 921600 -a /etc/mbtk/rtm.bin";
+
+ const char* cmd_3 = "mbtk_gnss_update downfw -d /dev/ttyS2 -b 921600\
+ -f /etc/mbtk/UC6228CI-R3.4.21.0Build16211_G1L1E1_mfg.pkg";
+ // /etc/mbtk/UC6228CI-R3.4.0.0Build7258_mfg.pkg
+
+ if (mbtk_gnss_handle) {
+ printf("%s gnss thread runing!!!\n", __func__);
+ if (mbtk_gnss_handle->gnss_handler_func)
+ cb = mbtk_gnss_handle->gnss_handler_func;
+
+ ph_gnss = mbtk_gnss_handle->phandle;
+ current_mode = mbtk_gnss_handle->mode;
+ // 主线程是否在运行
+ if (mbtk_gnss_handle->gnss_pthread)
+ state = 1;
+ mbtk_gnss_client_deinit(mbtk_gnss_handle);
+ }
+ printf("Mopen Gnss Bootloader Update -> \n");
+ //int ret = exec_cmd(cmd_1, NULL);
+
+ fd=initial_serialPort("/dev/ttyS2");
+ ret = downloadBL(fd, "/etc/mbtk/bootloader_r3.0.0_build6773_uartboot_921600.pkg");
+ if(0 != ret) {
+ printf("Gnss update result: %x\n", ret);
+ close(fd);
+ return -1;
+ }
+
+ if(access(GNSS_AP_DATA_FILE, F_OK) != -1)
+ {
+ printf("Mopen Gnss Send AP Data -> \n");
+ //ret = exec_cmd(cmd_2, NULL);
+
+ set_baudrate(fd, B921600);
+ ret = sendAPData(fd, "/etc/mbtk/rtm.bin");
+
+ if(0 != ret) {
+ close(fd);
+ printf("Gnss update result: %x\n", ret);
+ }
+ }
+
+ printf("Mopen Gnss Firmware Update -> \n");
+ //ret = exec_cmd(cmd_3, NULL);
+ set_baudrate(fd, B921600);
+ ret = downloadFW(fd, "/etc/mbtk/UC6228CI-R3.4.21.0Build16211_G1L1E1_mfg.pkg");
+ close(fd);
+
+ if(0 != ret) {
+ printf("Gnss update result: %x\n", ret);
+ return -2;
+ }
+
+ if (0 == firmware_extren_state)
+ firmware_extren_state = 1;
+ if (state && ph_gnss) {
+ ret = mbtk_gnss_client_init(ph_gnss);
+ if (cb) {
+ mbtk_gnss_handle->gnss_handler_func = cb;
+ mbtk_gnss_handle->mode = current_mode;
+ }
+ }
+
+ LOGI("%s %d: %d.\n", __FUNCTION__, __LINE__, ret);
+ return ret;
+}
+
+int mbtk_at_gnss(int start_stop, void *cb)
+{
+ static uint32 loc = 0;
+ int ret = -1;
+
+ LOGI("%s %d", __FUNCTION__, __LINE__);
+ switch (start_stop) {
+ case 0: {
+ ret = mbtk_gnss_set_mode(loc, 0);
+ if(ret)
+ return -3;
+ ret = mbtk_gnss_client_deinit(loc);
+ if(ret)
+ return -3;
+ loc = 0;
+ return 0;
+ }
+ case 1: {
+ if (0 != loc)
+ return -1;
+
+ ret = mbtk_gnss_client_init(&loc);
+ if(ret || 0 == loc)
+ return -1;
+
+ if(NULL == cb)
+ return -2;
+
+ ret = mbtk_gnss_add_rx_msg_handler(loc, (mbtk_gnss_handler_func_t)cb);
+ if(ret)
+ return -2;
+ ret = mbtk_gnss_set_mode(loc, 3);
+ break;
+ }
+ case 2: {
+ ret = mbtk_gnss_set_mode(loc, 0);
+ break;
+ }
+ case 3: {
+ ret = mbtk_gnss_set_mode(loc, 3);
+ break;
+ }
+ case 4: {
+ ret = mopen_uart_change(((struct mbtk_gnss_handle_t *)loc)->dev_fd, 1);
+ if(ret) {
+ printf("reset Uart set 115200 error\n");
+ }
+ break;
+ }
+ case 6: {
+ ret = mbtk_gnss_firmware_update();
+ if(ret) {
+ printf("gnss firmware update error!!\n");
+ }
+ break;
+ }
+ case 11:{
+ ret = mbtk_gnss_set_system_config((uint32)mbtk_gnss_handle,3);//GPS+BD
+ break;
+ }
+ case 10:{
+ ret = mbtk_gnss_set_system_config((uint32)mbtk_gnss_handle,0);// only GPS
+ break;
+ }
+ case 9:{
+ ret = mbtk_gnss_set_system_config((uint32)mbtk_gnss_handle,2);//GPS+GLONASS
+ break;
+ }
+ default:
+ break;
+ }
+
+ return ret;
+}
+/*
+ 0 热启动
+ 1 冷启动
+ 2 温启动
+ */
+int mbtk_at_gnss_reset(int type)
+{
+ switch (type)
+ {
+ case 0: {
+ // $RESET,0,h0
+ return mbtk_gnss_dev_reset((uint32)mbtk_gnss_handle, 0, 0);
+ }
+ case 1: {
+ // $RESET,0,h85
+ return mbtk_gnss_dev_reset((uint32)mbtk_gnss_handle, 0, 2);
+ }
+ case 2: {
+ // $RESET,0,h01
+ return mbtk_gnss_dev_reset((uint32)mbtk_gnss_handle, 0, 1);
+ }
+ case 3: {
+ return mbtk_gnss_dev_reset((uint32)mbtk_gnss_handle, 0, 3);
+ }
+ case 4: {
+ return mbtk_gnss_dev_reset((uint32)mbtk_gnss_handle, 3, 0);
+ }
+ case 5: {
+ return mbtk_gnss_dev_reset((uint32)mbtk_gnss_handle, 1, 0);
+ }
+ default:
+ break;
+ }
+ return -9;
+}
+
+#if TTFF_TEST
+static void gnss_gsa_info(int cmd, char *str, void *data)
+{
+ char tmp_str[32] = {0};
+ int ret;
+
+ gnss_log("[ GSA ]: ");
+ // $xxGSA
+ ret = gnss_get_para_from_nmea(str, tmp_str, 1);
+ if(0 == ret && ('A' == tmp_str[0])){
+ gnss_log("Smode: %s, ", tmp_str);
+ memset(tmp_str, 0, 32);
+ } else {
+ printf("%s [exit]: %s\n", __FUNCTION__, str);
+ return;
+ }
+
+ /* 定位模式:
+ 1-未定位
+ 2-2D 定位
+ 3-3D 定位
+ */
+ ret = gnss_get_para_from_nmea(str, tmp_str, 2);
+ if(ret){
+ gnss_log("L%d %s error! \n");
+ return;
+ }
+
+ gnss_log("fs: %s - [%d]", tmp_str, atoi(tmp_str));
+ if ( atoi(tmp_str) != mbtk_gnss_handle->location_state ) {
+ mbtk_gnss_handle->location_state = atoi(tmp_str);
+ if (mbtk_gnss_handle->location_state > 1 && location_test) {
+ pthread_mutex_lock(&loc_cond_mutex_r);
+ location_test = 0;
+ pthread_cond_signal(&loc_sync_cond);
+ pthread_mutex_unlock(&loc_cond_mutex_r);
+ }
+ }
+ gnss_log(" -- \n");
+}
+
+int mbtk_gnss_test_ttff(int type, int timeout_sec)
+{
+ struct timeval tnow;
+ struct timespec tout;
+ long t_start, t_end;
+ int ret;
+
+ pthread_mutex_lock(&loc_cond_mutex_r);
+ location_test = 1;
+ pthread_mutex_unlock(&loc_cond_mutex_r);
+
+ switch (type)
+ {
+ case 0: {
+ // $RESET,0,h0
+ mbtk_gnss_dev_reset((uint32)mbtk_gnss_handle, 0, 0);
+ break;
+ }
+ case 1: {
+ // $RESET,0,hFF
+ mbtk_gnss_dev_reset((uint32)mbtk_gnss_handle, 0, 3);
+ break;
+ }
+ case 2: {
+ // $RESET,0,h01
+ mbtk_gnss_dev_reset((uint32)mbtk_gnss_handle, 0, 1);
+ break;
+ }
+ case 3: {
+ // 在有GLONASS固件的情况下，冷启动指令为: $CFGSYS,H101
+ // 只发$RESET,0,hFF, 会重置波特率，待验证
+ mopen_gnss_set_system_config((uint32)mbtk_gnss_handle, 2);
+ break;
+ }
+ case 4: {
+ if ( 0 == firmware_extren_state )
+ return -2;
+
+ ret = mopen_gnss_firmware_update();
+ if(ret) {
+ printf("gnss firmware update error!!\n");
+ }
+ break;
+ }
+ default:
+ break;
+ }
+ if (0 == timeout_sec )
+ timeout_sec = 60 * 3;
+ gettimeofday(&tnow, NULL);
+ t_start = tnow.tv_sec * 1000 * 1000 + tnow.tv_usec;
+ tout.tv_sec = tnow.tv_sec + timeout_sec;
+ tout.tv_nsec = tnow.tv_usec;
+ if (tout.tv_nsec > 1000000000)
+ {
+ tout.tv_sec += 1;
+ tout.tv_nsec -= 1000000000;
+ }
+ pthread_mutex_lock(&loc_cond_mutex_r);
+ ret = pthread_cond_timedwait(&loc_sync_cond, &loc_cond_mutex_r, &tout);
+ pthread_mutex_unlock(&loc_cond_mutex_r);
+ gettimeofday(&tnow, NULL);
+ t_end = tnow.tv_sec * 1000 * 1000 + tnow.tv_usec;
+ gnss_log("gnss ttff time:%ld\n", t_end - t_start);
+ if(ret == ETIMEDOUT) {
+ location_test = 0;
+ return -1;
+ }
+
+ return (t_end - t_start)/1000;
+}
+
+#define GNSS_TEST_FILE "/tmp/gnss_test"
+#define INSERT_CUT_OFF_RULE() { memset(buffer, 0, sizeof(buffer)); \
+ sprintf(buffer, "----------------------------------\r\n"); \
+ ret = write(fd, buffer, strlen(buffer)); \
+ if (ret < 0) { \
+ printf("%s write error !!\n", __func__); \
+ } \
+}
+
+void *gnss_ttff_thread(void *data)
+{
+ struct mbtk_gnss_ttff_t *handle = (struct mbtk_gnss_ttff_t *)data;
+ int fd, ret, i;
+ int index, time_ms;
+ float loc_time;
+ char buffer[128] = {0};
+
+ pthread_detach(pthread_self());
+
+ if ( !access(GNSS_TEST_FILE, F_OK) ){
+ unlink(GNSS_TEST_FILE);
+ }
+
+ pthread_cond_init(&loc_sync_cond, NULL);
+ pthread_mutex_init(&loc_cond_mutex_r, NULL);
+ fd = open(GNSS_TEST_FILE, O_RDWR|O_CREAT|O_TRUNC, 0644);
+ if (fd <= 0) {
+ gnss_log("file open error\n");
+ }
+ INSERT_CUT_OFF_RULE()
+ sprintf(buffer, "type: %d, timeout: %d, count: %d\r\n", handle->type,
+ handle->timeout_sec,
+ handle->test_count);
+ ret = write(fd, buffer, strlen(buffer));
+ if (ret < 0) {
+ printf("%s write error !!\n", __func__);
+ }
+ INSERT_CUT_OFF_RULE()
+ for (i = 0; i < handle->test_count; ++i) {
+ memset(buffer, 0, sizeof(buffer));
+ time_ms = mbtk_gnss_test_ttff(handle->type, handle->timeout_sec);
+ if (-1 == time_ms)
+ loc_time = time_ms;
+ else
+ loc_time = ((float)time_ms) / 1000;
+ sprintf(buffer, "\t %d - [ %f s ]\r\n", i + 1, loc_time);
+ printf("\t %d - %f\n", i + 1, loc_time);
+ ret = write(fd, buffer, strlen(buffer));
+ if (ret < 0) {
+ printf("%s write error !!\n", __func__);
+ }
+ }
+
+ INSERT_CUT_OFF_RULE()
+ close(fd);
+ mbtk_gnss_handle->ttff_pid = 0;
+ pthread_cond_destroy(&loc_sync_cond);
+ pthread_mutex_destroy(&loc_cond_mutex_r);
+ pthread_exit(NULL);
+}
+#endif
+
+int mbtk_at_gnss_start_ttff(int type, int timeout_sec, int count)
+{
+#if TTFF_TEST
+ int ret;
+ static struct mbtk_gnss_ttff_t mbtk_gnss_ttff;
+
+ LOGI("%s %d, %d, %d", __FUNCTION__, type, timeout_sec, count);
+ if (NULL == mbtk_gnss_handle) {
+ printf("%s not init!!!\n", __func__);
+ return -1;
+ }
+ if (mbtk_gnss_handle->ttff_pid) {
+ printf("%s busy!!!\n", __func__);
+ return -2;
+ }
+ mbtk_gnss_ttff.type = type;
+ mbtk_gnss_ttff.timeout_sec = timeout_sec;
+ mbtk_gnss_ttff.test_count = count;
+ ret = pthread_create(&mbtk_gnss_handle->ttff_pid, NULL, (void *)gnss_ttff_thread, &mbtk_gnss_ttff);
+ if (ret != 0)
+ {
+ fprintf(stderr, "\n%s: Failed create pthread\n", __FUNCTION__);
+ return ret;
+ }
+
+#endif
+ return 0;
+}