Initial ZeroMQ. Private GLOB::nmea

Readme.md

@@ -14,3 +14,8 @@ dtparam=i2c=off
 #dtoverlay=i2c-gpio,bus=1,i2c_gpio_sda=2,i2c_gpio_scl=3
 dtoverlay=i2c-gpio,i2c_gpio_sda=2,i2c_gpio_scl=3
 ```
+
+
+dependencies
+boost program_options
+https://github.com/zeromq/cppzmq/

tracker/code/main/CMakeLists.txt

@@ -1,9 +1,12 @@
 
-
 set ( Boost_USE_STATIC_LIBS ON )
 find_package(Boost REQUIRED COMPONENTS program_options )
 include_directories( ${Boost_INCLUDE_DIRS} )
 
+# https://github.com/zeromq/cppzmq/
+#find cppzmq wrapper, installed by make of cppzmq
+find_package(cppzmq)
+
 set (tracker_src
 	GLOB.h GLOB.cpp
 	cli.h cli.cpp
@@ -20,4 +23,4 @@ include_directories( ${CMAKE_SOURCE_DIR} )
 
 add_executable( tracker ${tracker_src})
 
-target_link_libraries( tracker pthread atomic pigpio ${Boost_LIBRARIES} )
+target_link_libraries( tracker pthread atomic pigpio cppzmq ${Boost_LIBRARIES} )

tracker/code/main/GLOB.h

@@ -15,6 +15,9 @@ private:
     GLOB( const GLOB& ) = delete; // non construction-copyable
     GLOB& operator=( const GLOB& ) = delete; // non copyable
 
+    std::atomic<nmea_t> nmea; // GPS data
+
+
 public:
     static GLOB& get()
     {
@@ -37,8 +40,9 @@ public:
     };
 
     cli_t cli;
-    std::atomic<nmea_t> nmea; // GPS data
 
+    nmea_t nmea_get() { nmea_t ret = get().nmea; return ret; }
+    void   nmea_set(const nmea_t& in_nmea) { get().nmea = in_nmea; }
     std::string str() const;
 
-};
+};

tracker/code/main/cli.cpp

@@ -96,4 +96,4 @@ void CLI(int ac, char* av[])
 		cerr<<e.what()<<endl;
         exit(1);
 	}
-}
+}

tracker/code/main/cli.h

@@ -2,4 +2,4 @@
 
 // command line interface options
 
-void CLI(int ac, char* av[]);
+void CLI(int ac, char* av[]);

tracker/code/main/main.cpp

@@ -8,6 +8,7 @@
 #include <thread>
 
 #include "pigpio.h"
+#include <zmq.hpp>
 
 #include "mtx2/mtx2.h"
 #include "nmea/nmea.h"
@@ -168,7 +169,7 @@ int main1(int argc, char** argv)
 				continue;
 			}
 			NMEA_parse( nmea_str.c_str(), nmea );
-			GLOB::get().nmea = nmea; //update nmea with this message info
+			GLOB::get().nmea_set(nmea); //update nmea with this message info
 		}
 	});
 
@@ -184,6 +185,32 @@ int main1(int argc, char** argv)
     cout<<"ds18b20_device "<<ds18b20_device<<endl;
 
 
+	// ZeroMQ server
+	zmq::context_t zmq_context(1);
+    zmq::socket_t zmq_socket(zmq_context, ZMQ_REP);
+    zmq_socket.bind ( string("tcp://*:6666").c_str() );
+	std::thread zmq_thread( [&zmq_socket]() {
+		while(G_RUN) {
+			zmq::message_t msg;
+			zmq_socket.recv(msg);
+			string msg_str( (char*)msg.data(), msg.size() );
+			std::cout<<"ZMQ msg: "<<msg_str<<std::endl;
+			if(msg_str == "nmea") {
+				nmea_t nmea = GLOB::get().nmea_get();
+				string nmea_str( nmea.str() );
+				zmq::message_t reply( nmea_str.size() );
+				memcpy( (void*) reply.data(), nmea_str.c_str(), nmea_str.size() );
+				zmq_socket.send(reply);
+			}
+			else {
+				zmq::message_t reply( 7 );
+				memcpy( (void*) reply.data(), "UNKNOWN", 7 );
+				zmq_socket.send(reply);
+			}
+		}
+	});
+
+
 	nmea_t valid_nmea;
 	ssdv_t ssdv_data;
 	int msg_num = 0;
@@ -195,7 +222,7 @@ int main1(int argc, char** argv)
         //
         const float temperature_cels = read_temp_from_ds18b20(ds18b20_device);
 
-		nmea_t current_nmea = G.nmea;
+		nmea_t current_nmea = G.nmea_get();
 		const bool gps_fix_valid =
 					current_nmea.fix_status  == nmea_t::fix_status_t::kValid
 				&& 	current_nmea.fix_quality != nmea_t::fix_quality_t::kNoFix;

tracker/code/main/ssdv_t.h

@@ -17,4 +17,4 @@ public:
 private:
     std::deque<tile_t>  tiles_que_;
 
-};
+};

tracker/code/main/test_zmq_client.py

@@ -0,0 +1,26 @@
+#!/usr/bin/env python
+
+import time
+import zmq
+
+def main():
+
+	context = zmq.Context(1)
+	socket = context.socket(zmq.REQ)
+	socket.connect( 'tcp://192.168.1.22:6666' )
+
+	while True:
+		socket.send('nmea')
+		msg = socket.recv()
+		print msg
+		time.sleep(1)
+
+		socket.send('nmeaX')
+		msg = socket.recv()
+		print msg
+		time.sleep(1)
+
+if __name__ == '__main__':
+	main()
+	while(1):
+		pass

tracker/code/mtx2/mtx2.cpp

@@ -170,4 +170,4 @@ baud_t baud_t_from_int(const int baud)
 		case 9600: return	baud_t::k9600;
 	}
 	return baud_t::kInvalid;
-}
+}

tracker/code/mtx2/mtx2.h

@@ -26,4 +26,4 @@ int mtx2_write(const int serial_file_descriptor, const std::string& msg);
 void mtx2_set_frequency(const int mtx2_enable_pin, const float freq_Mhz); // 434.250
 
 int baud_t_to_int(const baud_t&);
-baud_t baud_t_from_int(const int);
+baud_t baud_t_from_int(const int);

tracker/code/nmea/nmea.cpp

@@ -4,6 +4,7 @@
 #include <math.h>
 #include <cstring>
 #include <iostream>
+#include <sstream>
 
 
 namespace
@@ -236,37 +237,39 @@ bool NMEA_parse(const char* Buffer, nmea_t& o_nmea)
 }
 
 
-std::ostream& operator<<(std::ostream& s, const nmea_t& nmea)
+std::string nmea_t::str() const
 {
-	std::string ws(" ");
-	s<<"utc:"<<nmea.utc<<ws;
+	std::stringstream s;
+	std::string ws(",");
 
-	s<<"lat:"<<nmea.lat<<ws;
-	s<<"lon:"<<nmea.lon<<ws;
-	s<<"alt:"<<nmea.alt<<ws;
+	s<<"utc:"<<utc<<ws;
 
-	s<<"speed_over_ground_mps:"<<nmea.speed_over_ground_mps<<ws;
-	s<<"course_over_ground_deg:"<<nmea.course_over_ground_deg<<ws;
+	s<<"lat:"<<lat<<ws;
+	s<<"lon:"<<lon<<ws;
+	s<<"alt:"<<alt<<ws;
 
-	s<<"sats:"<<nmea.sats<<ws;
+	s<<"speed_over_ground_mps:"<<speed_over_ground_mps<<ws;
+	s<<"course_over_ground_deg:"<<course_over_ground_deg<<ws;
 
-	if(nmea.fix_status == nmea_t::fix_status_t::kValid)
+	s<<"sats:"<<sats<<ws;
+
+	if(fix_status == nmea_t::fix_status_t::kValid)
 		s<<"VALID"<<ws;
-	else if(nmea.fix_status == nmea_t::fix_status_t::kInvalid)
+	else if(fix_status == nmea_t::fix_status_t::kInvalid)
 		s<<"INVALID"<<ws;
 
-	if( nmea.fix_quality == nmea_t::fix_quality_t::kNoFix )
-		s<<"Q:kNoFix"<<ws;
-	else if( nmea.fix_quality == nmea_t::fix_quality_t::kAutonomous )
-		s<<"Q:kAutonomous"<<ws;
-	else if( nmea.fix_quality == nmea_t::fix_quality_t::kDifferential )
-		s<<"Q:kDifferential"<<ws;
-	else if( nmea.fix_quality == nmea_t::fix_quality_t::kRtkFixed )
-		s<<"Q:kRtkFixed"<<ws;
-	else if( nmea.fix_quality == nmea_t::fix_quality_t::kRtkFloat )
-		s<<"Q:kRtkFloat"<<ws;
-	else if( nmea.fix_quality == nmea_t::fix_quality_t::kEstimated )
-		s<<"Q:kEstimated"<<ws;
+	if( fix_quality == nmea_t::fix_quality_t::kNoFix )
+		s<<"Q:kNoFix";
+	else if( fix_quality == nmea_t::fix_quality_t::kAutonomous )
+		s<<"Q:kAutonomous";
+	else if( fix_quality == nmea_t::fix_quality_t::kDifferential )
+		s<<"Q:kDifferential";
+	else if( fix_quality == nmea_t::fix_quality_t::kRtkFixed )
+		s<<"Q:kRtkFixed";
+	else if( fix_quality == nmea_t::fix_quality_t::kRtkFloat )
+		s<<"Q:kRtkFloat";
+	else if( fix_quality == nmea_t::fix_quality_t::kEstimated )
+		s<<"Q:kEstimated";
 
-	return s;
+	return s.str();
 }

tracker/code/nmea/nmea.h

@@ -33,6 +33,9 @@ public:
 		kEstimated = 6
 	};
 	fix_quality_t fix_quality = fix_quality_t::kNoFix;
+
+	std::string str() const;
+
 };
 
 
@@ -56,5 +59,3 @@ std::string NMEA_get_last_msg(const char *buff, const size_t buff_sz);
 std::string NMEA_get_last_msg(const std::string& msg);
 
 bool NMEA_parse(const char *Buffer, nmea_t& o_nmea);
-
-std::ostream& operator<<(std::ostream& s, const nmea_t& nmea);

tracker/code/nmea/nmea_test.cpp

@@ -36,5 +36,4 @@ int main()
     else
         cout<<"nmea msg not found"<<endl;
 
-
-}
+}

tracker/code/ublox/CMakeLists.txt

@@ -8,4 +8,4 @@ set (ublox_test_i2c_src
 
 include_directories( ${CMAKE_SOURCE_DIR} )
 
-add_executable( ublox_test_i2c ${ublox_test_i2c_src})
+add_executable( ublox_test_i2c ${ublox_test_i2c_src})

tracker/code/ublox/ublox.cpp

@@ -153,4 +153,3 @@ std::string vec2str(std::vector<char> v)
 	delete [] buff;
 	return res;
 }
-

tracker/code/ublox/ublox.h

@@ -20,4 +20,3 @@ std::vector<char> uBLOX_read_msg(int fd, int usec_sleep = 3e5);
 bool uBLOX_write_msg_ack(int fd, uint8_t* p_msg, size_t msg_sz, const size_t wait = 10);
 
 std::string vec2str(std::vector<char> v);
-

tracker/code/ublox/ublox_cmds.cpp

@@ -151,4 +151,3 @@ bool UBX_PACKET_EQ(const std::vector<char>& i_data, const uint8_t* p_ref, const
 		return false;
 	return UBX_PACKET_EQ( (uint8_t*) i_data.data(), p_ref, ref_sz );
 }
-

tracker/code/ublox/ublox_cmds.h

@@ -31,4 +31,3 @@ void UBX_MAKE_PACKET_NAK(const uint8_t i_class, const uint8_t i_id, uint8_t* o_c
 bool UBX_PACKET_EQ(uint8_t* i_data, const uint8_t* p_ref, const size_t ref_sz);
 
 bool UBX_PACKET_EQ(const std::vector<char>& i_data, const uint8_t* p_ref, const size_t ref_sz);
-