From b4904b5a9c314369cb337ff275821f2aefcb1520 Mon Sep 17 00:00:00 2001
From: Pierre Kancir <pierre.kancir.emn@gmail.com>
Date: Thu, 21 Nov 2024 18:22:53 +0100
Subject: [PATCH] fsfs

---
 libraries/AP_GPS/AP_GPS.cpp      | 12 ++++++++
 libraries/AP_GPS/AP_GPS.h        |  1 +
 libraries/AP_GPS/AP_GPSD.cpp     | 38 +++++++++++++++++++++++
 libraries/AP_GPS/AP_GPSD.h       | 53 ++++++++++++++++++++++++++++++++
 libraries/AP_GPS/AP_GPS_config.h |  4 +++
 5 files changed, 108 insertions(+)
 create mode 100644 libraries/AP_GPS/AP_GPSD.cpp
 create mode 100644 libraries/AP_GPS/AP_GPSD.h

diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 79a69b88b2962..4d940e0589bd6 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -41,6 +41,9 @@
 #include "AP_GPS_MAV.h"
 #include "AP_GPS_MSP.h"
 #include "AP_GPS_ExternalAHRS.h"
+#if AP_GPS_GPSD_ENABLED
+#include "AP_GPS_GPSD.h"
+#endif
 #include "GPS_Backend.h"
 #if HAL_SIM_GPS_ENABLED
 #include "AP_GPS_SITL.h"
@@ -564,6 +567,9 @@ void AP_GPS::send_blob_start(uint8_t instance)
 #if HAL_SIM_GPS_ENABLED
     case GPS_TYPE_SITL:
 #endif  // HAL_SIM_GPS_ENABLED
+#if AP_GPS_GPSD_ENABLED
+    case GPS_TYPE_GPSD:
+#endif //AP_GPS_GPSD_ENABLED
         // none of these GPSs have initialisation blobs
         break;
     default:
@@ -673,6 +679,11 @@ AP_GPS_Backend *AP_GPS::_detect_instance(uint8_t instance)
         dstate->auto_detected_baud = false; // specified, not detected
         return NEW_NOTHROW AP_GPS_GSOF(*this, params[instance], state[instance], _port[instance]);
 #endif //AP_GPS_GSOF_ENABLED
+#if AP_GPS_GPSD_ENABLED
+    case GPS_TYPE_GPSD:
+        dstate->auto_detected_baud = false; // specified, not detected
+        return NEW_NOTHROW AP_GPS_GPSD(*this, params[instance], state[instance], _port[instance]);
+#endif //AP_GPS_GPSD_ENABLED
     default:
         break;
     }
@@ -895,6 +906,7 @@ void AP_GPS::update_instance(uint8_t instance)
             // do not try to detect again if type is MAV or UAVCAN
             if (type == GPS_TYPE_MAV ||
                 type == GPS_TYPE_UAVCAN ||
+                type == GPS_TYPE_GPSD ||
                 type == GPS_TYPE_UAVCAN_RTK_BASE ||
                 type == GPS_TYPE_UAVCAN_RTK_ROVER) {
                 state[instance].status = NO_FIX;
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index a3c814ffc241f..c8cc423858ea1 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -112,6 +112,7 @@ class AP_GPS
         GPS_TYPE_UNICORE_NMEA = 24,
         GPS_TYPE_UNICORE_MOVINGBASE_NMEA = 25,
         GPS_TYPE_SBF_DUAL_ANTENNA = 26,
+        GPS_TYPE_GPSD = 27,
 #if HAL_SIM_GPS_ENABLED
         GPS_TYPE_SITL = 100,
 #endif
diff --git a/libraries/AP_GPS/AP_GPSD.cpp b/libraries/AP_GPS/AP_GPSD.cpp
new file mode 100644
index 0000000000000..f6540c5ab9730
--- /dev/null
+++ b/libraries/AP_GPS/AP_GPSD.cpp
@@ -0,0 +1,38 @@
+/*
+This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+//
+//  GPSD GPS driver
+//
+
+#include "AP_GPS_config.h"
+
+#if AP_GPS_GPSD_ENABLED
+
+#include "AP_GPS_GPSD.h"
+#include <stdint.h>
+
+#endif //AP_GPS_GPSD_ENABLED
+
+
+bool AP_GPS_GPSD::read(void)
+{
+    if (_new_data) {
+        _new_data = false;
+        return true;
+    }
+
+    return false;
+}
\ No newline at end of file
diff --git a/libraries/AP_GPS/AP_GPSD.h b/libraries/AP_GPS/AP_GPSD.h
new file mode 100644
index 0000000000000..c96ebfcb7f396
--- /dev/null
+++ b/libraries/AP_GPS/AP_GPSD.h
@@ -0,0 +1,53 @@
+/*
+This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+//
+//  GPSD GPS driver which accepts gps position data from a GPSD deamon
+//  Initial code by Pierre Kancir
+//
+
+#pragma once
+
+#include "AP_GPS_config.h"
+
+#if AP_GPS_GPSD_ENABLED
+
+#include "AP_GPS.h"
+#include "GPS_Backend.h"
+
+#include <AP_HAL/AP_HAL.h>
+
+#include <libgpsmm.h>
+
+class AP_GPS_GPSD : public AP_GPS_Backend
+{
+public:
+    using AP_GPS_Backend::AP_GPS_Backend;
+
+    // Methods
+    bool read() override;
+
+    // driver specific health, returns true if the driver is healthy
+    bool is_healthy(void) const override;
+
+    bool is_configured(void) const override {
+        return true;
+    }
+
+private:
+    gpsmm gps_rec;
+    struct gps_data_t* newdata;
+
+#endif //AP_GPS_GPSD_ENABLED
diff --git a/libraries/AP_GPS/AP_GPS_config.h b/libraries/AP_GPS/AP_GPS_config.h
index 550add0e1fa62..a5b389bd73ef7 100644
--- a/libraries/AP_GPS/AP_GPS_config.h
+++ b/libraries/AP_GPS/AP_GPS_config.h
@@ -97,6 +97,10 @@
   #define AP_GPS_UBLOX_ENABLED AP_GPS_BACKEND_DEFAULT_ENABLED
 #endif
 
+#ifndef AP_GPS_GPSD_ENABLED
+  #define AP_GPS_GPSD_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL || CONFIG_HAL_BOARD == HAL_BOARD_LINUX)
+#endif
+
 #ifndef AP_GPS_RTCM_DECODE_ENABLED
   #define AP_GPS_RTCM_DECODE_ENABLED BOARD_FLASH_SIZE > 1024
 #endif