gpsd.go includes a mini-gpsd now.

ptc.go

@@ -10,6 +10,7 @@ import (
 	"github.com/TwiN/go-color"
 	"github.com/albenik/go-serial/v2"
 	"log"
+	"math"
 	"math/bits"
 	"net"
 	"os"
@@ -55,7 +56,6 @@ type pmux struct {
 
 type Modem struct {
 	devicePath string
-
 	localAddr  string
 	remoteAddr string
 
@@ -77,6 +77,7 @@ type Modem struct {
 const (
 	SerialTimeout = 1
 	PactorChannel = 4
+	NMEAChannel   = 249
 	MaxSendData   = 255
 	MaxFrameNotTX = 2
 )
@@ -104,8 +105,6 @@ func debugEnabled() int {
 }
 
 func writeDebug(message string, level int) {
-	//debugMux.Lock()
-	//	defer debugMux.Unlock()
 	if debugEnabled() >= level {
 		_, file, no, ok := runtime.Caller(1)
 		if ok {
@@ -126,7 +125,6 @@ func OpenModem(path string, baudRate int, myCall string, initfile string, cmdlin
 	p = &Modem{
 		// Initialise variables
 		devicePath: path,
-
 		localAddr:  myCall,
 		remoteAddr: "",
 
@@ -160,6 +158,7 @@ func OpenModem(path string, baudRate int, myCall string, initfile string, cmdlin
 		//Setup serial device
 		if p.device, err = serial.Open(p.devicePath, serial.WithBaudrate(baudRate), serial.WithReadTimeout(SerialTimeout)); err != nil {
 			writeDebug(err.Error(), 1)
+			time.Sleep(3 * time.Second)
 			return nil, err
 		}
 	}
@@ -196,7 +195,10 @@ func (p *Modem) init() (err error) {
 	if _, _, err = p.writeAndGetResponse("", -1, false, 10240); err != nil {
 		return err
 	}
-
+	if _, _, err = p.writeAndGetResponse("", -1, false, 10240); err != nil {
+		return err
+	}
+	time.Sleep(time.Second)
 	// Make sure, modem is in main menu. Will respose with "ERROR:" when already in it -> Just discard answer!
 	_, ans, err := p.writeAndGetResponse("Quit", -1, false, 1024)
 	if err != nil {
@@ -223,6 +225,7 @@ func (p *Modem) init() (err error) {
 		return errors.New("Found a modem type: " + ver + " which this driver doesn't support. Please contact the author.")
 	}
 	writeDebug("Found a "+modem+" modem at "+p.devicePath, 0)
+	s.DeviceType = modem
 	writeDebug("Running init commands", 1)
 	ct := time.Now()
 	commands := []string{"DD", "RESTART", "MYcall " + p.localAddr, "PTCH " + strconv.Itoa(PactorChannel),
@@ -241,7 +244,7 @@ func (p *Modem) init() (err error) {
 
 	for _, cmd := range commands {
 		var res string
-		writeDebug("Sending command to modem: "+cmd, 0)
+		writeDebug("Sending command to modem: "+cmd, 1)
 		_, res, err = p.writeAndGetResponse(cmd, -1, false, 1024)
 		if err != nil {
 			return err
@@ -562,16 +565,22 @@ func (p *Modem) checkResponse(resp string, ch int) (n int, data []byte, err erro
 		return 0, nil, fmt.Errorf("Channel missmatch")
 	}
 	if int(head[1]) == 1 { //sucess,message follows
-		writeDebug("*** SUCCESS: "+string(payload), 0)
+		writeDebug(fmt.Sprintf("*** SUCCESS on channel %d: %s", ch, string(payload)), 1)
+		if ch == NMEAChannel && s.GPSdMode {
+			if s.GPSStream.GetLen() == 0 {
+				s.GPSStream.Enqueue("$" + string(bytes.Trim(payload, "\x00"))) //need to remove the trailing NULL byte
+			}
+		}
+
 	}
 	if int(head[1]) == 2 {
 		writeDebug("*** ERROR: "+string(payload), 0)
 	}
 	if int(head[1]) != 7 && int(head[1]) != 3 {
-		if !s.VARAMode {
+		if !s.VARAMode && ch == PactorChannel {
 			s.Command.Response.Enqueue(fmt.Sprintf("%s\n", payload))
 		}
-		writeDebug("Message from Modem: "+string(payload), 0)
+		writeDebug("Message from Modem: "+string(payload), 1)
 		return 0, nil, fmt.Errorf("Not a data response")
 	}
 	if int(head[1]) == 3 { //Link status
@@ -685,7 +694,7 @@ func (p *Modem) writeAndGetResponse(msg string, ch int, isCommand bool, chunkSiz
 					return 0, "", err
 				}
 			}
-			br, b, err := p.read(1)
+			br, b, err := p.read(-1)
 			if err != nil {
 				writeDebug("ERROR at _read: "+error.Error(err), 1)
 			}
@@ -850,14 +859,28 @@ func (p *Modem) writeChannel(msg string, ch int, isCommand bool) error {
 		writeDebug(err.Error(), 2)
 		return err
 	}
+	writeDebug("Done writing channel", 2)
 	/*if !isCommand {
 		p.cmdBuf <- "%Q"
 	}*/
 	return nil
 }
 
-// read: Read from serial connection (thread safe)
-func (p *Modem) read(chunkSize int) (int, []byte, error) {
+// read: Read readsize devices from serial connection (thread safe). If readsize==-1 try to check how many data is there
+func (p *Modem) read(readsize int) (int, []byte, error) {
+	var chunkSize int
+	if readsize == -1 {
+		t, err := p.device.ReadyToRead()
+		if err != nil {
+			chunkSize = math.MaxInt
+			writeDebug("ERROR in ReadyToRead: "+err.Error(), 3)
+		} else {
+			chunkSize = int(t)
+			writeDebug(fmt.Sprintf("chunksize: %d", chunkSize), 3)
+		}
+	} else {
+		chunkSize = readsize
+	}
 	buf := make([]byte, chunkSize)
 	if strings.HasPrefix(p.devicePath, "tcp://") {
 		p.tcpdevice.SetReadDeadline(time.Now().Add(100 * time.Millisecond))
@@ -875,6 +898,7 @@ func (p *Modem) read(chunkSize int) (int, []byte, error) {
 
 		p.mux.device.Lock()
 		defer p.mux.device.Unlock()
+		p.device.SetReadTimeout(100) // 100 ms
 		n, err := p.device.Read(buf)
 		if err != nil {
 			writeDebug("Error received during read: "+err.Error(), 1)