GPS alpha

GPS/Makefile

@@ -0,0 +1,29 @@
+PROGRAM = gpstest
+LDFLAGS =
+SRCS = $(wildcard *.c)
+OBJDIR = mk
+CC = gcc
+DEFINES = -D_XOPEN_SOURCE=1001
+CFLAGS = -DEBUG -Wall -Werror -Wextra $(DEFINES)
+OBJS = $(addprefix $(OBJDIR)/, $(SRCS:%.c=%.o))
+
+all : $(OBJDIR) $(OBJS) $(PROGRAM)
+
+$(PROGRAM) : $(OBJDIR) $(OBJS)
+	$(CC) $(CFLAGS) $(OBJS) $(LDFLAGS) -o $(PROGRAM)
+
+$(OBJDIR):
+	mkdir $(OBJDIR)
+
+$(OBJDIR)/%.o: %.c
+	@printf "  CC      $<\n"
+	$(CC) $(LDFLAGS) $(CFLAGS) -o $@ -c $<
+
+# some addition dependencies
+#$(SRCS) : %.c : %.h $(INDEPENDENT_HEADERS)
+#        @touch $@
+
+clean:
+	/bin/rm -rf $(OBJDIR)
+depend:
+	$(CXX) -MM $(CXX.SRCS)

GPS/README

@@ -0,0 +1 @@
+Small utility for working with GPS module NEO-6M

GPS/cmdlnopts.c

@@ -0,0 +1,71 @@
+/*
+ * cmdlnopts.c - the only function that parce cmdln args and returns glob parameters
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#include "cmdlnopts.h"
+#include "usefull_macros.h"
+
+/*
+ * here are global parameters initialisation
+ */
+glob_pars G;  // internal global parameters structure
+int help = 0; // whether to show help string
+
+glob_pars Gdefault = {
+	.devpath        = "/dev/ttyUSB0",
+};
+
+/*
+ * Define command line options by filling structure:
+ *	name	has_arg	flag	val		type		argptr			help
+*/
+myoption cmdlnopts[] = {
+	/// "ÏÔÏÂÒÁÚÉÔØ ÜÔÏ ÓÏÏÂÝÅÎÉÅ"
+	{"help",	0,	NULL,	'h',	arg_int,	APTR(&help),		N_("show this help")},
+	/// "ÐÕÔØ Ë ÕÓÔÒÏÊÓÔ×Õ"
+	{"device",1,	NULL,	'd',	arg_string,	APTR(&G.devpath),	N_("device path")},
+	// ...
+	end_option
+};
+
+
+/**
+ * Parce command line options and return dynamically allocated structure
+ * 		to global parameters
+ * @param argc - copy of argc from main
+ * @param argv - copy of argv from main
+ * @return allocated structure with global parameters
+ */
+glob_pars *parce_args(int argc, char **argv){
+	int i;
+	memcpy(&G, &Gdefault, sizeof(G));
+	/// "éÓÐÏÌØÚÏ×ÁÎÉÅ: %s [ÁÒÇÕÍÅÎÔÙ]\n\n\tçÄÅ ÁÒÇÕÍÅÎÔÙ:\n"
+	change_helpstring(_("Usage: %s [args]\n\n\tWhere args are:\n"));
+	// parse arguments
+	parceargs(&argc, &argv, cmdlnopts);
+	if(help) showhelp(-1, cmdlnopts);
+	if(argc > 0){
+		/// "éÇÎÏÒÉÒÕÀ ÁÒÇÕÍÅÎÔ[Ù]:"
+		printf("\n%s\n", _("Ignore argument[s]:"));
+		for (i = 0; i < argc; i++)
+			printf("\t%s\n", argv[i]);
+	}
+	return &G;
+}
+

GPS/cmdlnopts.h

@@ -0,0 +1,38 @@
+/*
+ * cmdlnopts.h - comand line options for parceargs
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#pragma once
+#ifndef __CMDLNOPTS_H__
+#define __CMDLNOPTS_H__
+
+#include "parceargs.h"
+
+/*
+ * here are some typedef's for global data
+ */
+
+typedef struct{
+	char *devpath;         // device path
+}glob_pars;
+
+glob_pars *parce_args(int argc, char **argv);
+
+#endif // __CMDLNOPTS_H__

GPS/daemon.c

@@ -0,0 +1,140 @@
+/*
+ * daemon.c - functions for running in background like a daemon
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include "daemon.h"
+#include <stdio.h>		// printf, fopen, ...
+#include <unistd.h>		// getpid
+#include <stdio.h>		// perror
+#include <sys/types.h>	// opendir
+#include <dirent.h>		// opendir
+#include <sys/stat.h>	// stat
+#include <fcntl.h>		// fcntl
+#include <stdlib.h>		// exit
+#include <string.h>		// memset
+
+/**
+ * read process name from /proc/PID/cmdline
+ * @param pid - PID of interesting process
+ * @return filename or NULL if not found
+ * 		don't use this function twice for different names without copying
+ * 		its returning by strdup, because `name` contains in static array
+ */
+char *readname(pid_t pid){
+	static char name[256];
+	char *pp = name, byte, path[256];
+	FILE *file;
+	int cntr = 0;
+	size_t sz;
+	snprintf (path, 255, PROC_BASE "/%d/cmdline", pid);
+	file = fopen(path, "r");
+	if(!file) return NULL; // there's no such file
+	do{	// read basename
+		sz = fread(&byte, 1, 1, file);
+		if(sz != 1) break;
+		if(byte != '/') *pp++ = byte;
+		else{
+			pp = name;
+			cntr = 0;
+		}
+	}while(byte && cntr++ < 255);
+	name[cntr] = 0;
+	fclose(file);
+	return name;
+}
+
+void iffound_default(pid_t pid){
+	fprintf(stderr, "\nFound running process (pid=%d), exit.\n", pid);
+	exit(0);
+}
+
+/**
+ * check wether there is a same running process
+ * exit if there is a running process or error
+ * Checking have 3 steps:
+ * 		1) lock executable file
+ * 		2) check pidfile (if you run a copy?)
+ * 		3) check /proc for executables with the same name (no/wrong pidfile)
+ * @param argv - argument of main() or NULL for non-locking, call this function before getopt()
+ * @param pidfilename - name of pidfile or NULL if none
+ * @param iffound - action to run if file found or NULL for exit(0)
+ */
+void check4running(char **argv, char *pidfilename, void (*iffound)(pid_t pid)){
+	DIR *dir;
+	FILE *pidfile, *fself;
+	struct dirent *de;
+	struct stat s_buf;
+	pid_t pid = 0, self;
+	struct flock fl;
+	char *name, *myname;
+	if(!iffound) iffound = iffound_default;
+	if(argv){ // block self
+		fself = fopen(argv[0], "r"); // open self binary to lock
+		memset(&fl, 0, sizeof(struct flock));
+		fl.l_type = F_WRLCK;
+		if(fcntl(fileno(fself), F_GETLK, &fl) == -1){ // check locking
+			perror("fcntl");
+			exit(1);
+		}
+		if(fl.l_type != F_UNLCK){ // file is locking - exit
+			printf("Found locker, PID = %d!\n", fl.l_pid);
+			exit(1);
+		}
+		fl.l_type = F_RDLCK;
+		if(fcntl(fileno(fself), F_SETLKW, &fl) == -1){
+			perror("fcntl");
+			exit(1);
+		}
+	}
+	self = getpid(); // get self PID
+	if(!(dir = opendir(PROC_BASE))){ // open /proc directory
+		perror(PROC_BASE);
+		exit(1);
+	}
+	if(!(name = readname(self))){ // error reading self name
+		perror("Can't read self name");
+		exit(1);
+	}
+	myname = strdup(name);
+	if(pidfilename && stat(pidfilename, &s_buf) == 0){ // pidfile exists
+		pidfile = fopen(pidfilename, "r");
+		if(pidfile){
+			if(fscanf(pidfile, "%d", &pid) > 0){ // read PID of (possibly) running process
+				if((name = readname(pid)) && strncmp(name, myname, 255) == 0)
+					iffound(pid);
+			}
+			fclose(pidfile);
+		}
+	}
+	// There is no pidfile or it consists a wrong record
+	while((de = readdir(dir))){ // scan /proc
+		if(!(pid = (pid_t)atoi(de->d_name)) || pid == self) // pass non-PID files and self
+			continue;
+		if((name = readname(pid)) && strncmp(name, myname, 255) == 0)
+			iffound(pid);
+	}
+	closedir(dir);
+	if(pidfilename){
+		pidfile = fopen(pidfilename, "w");
+		fprintf(pidfile, "%d\n", self); // write self PID to pidfile
+		fclose(pidfile);
+	}
+	free(myname);
+}

GPS/daemon.h

@@ -0,0 +1,28 @@
+/*
+ * daemon.h
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#ifndef PROC_BASE
+#define PROC_BASE "/proc"
+#endif
+
+#include <unistd.h>  // pid_t
+
+void iffound_default(pid_t pid);
+void check4running(char **argv, char *pidfilename, void (*iffound)(pid_t pid));

GPS/main.c

@@ -0,0 +1,264 @@
+/*
+ * main.c
+ *
+ * Copyright 2015 Edward V. Emelianov <eddy@sao.ru, edward.emelianoff@gmail.com>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include "usefull_macros.h"
+#include "cmdlnopts.h"
+#include "daemon.h"
+
+#include <assert.h>
+#include <signal.h>
+
+#ifndef PIDFILE
+#define PIDFILE  "/tmp/GPStest.pid"
+#endif
+
+glob_pars *GP = NULL;
+
+static void signals(int sig){
+	DBG("Get signal %d, quit.\n", sig);
+	restore_tty();
+	exit(sig);
+}
+
+char *get_portdata(){
+	static char buf[1025];
+	char *ptr = buf;
+	size_t L = 0, rest = 1024;
+	while(rest && (L = read_tty(ptr, rest))){
+		rest -= L;
+		ptr += L;
+	}
+	if(ptr != buf){
+		*ptr = 0;
+		ptr = buf;
+	}else ptr = NULL;
+	return ptr;
+}
+
+/**
+ * Checksum: return 0 if fails
+ */
+int checksum(char *buf){
+	char *eol;
+	char chs[2];
+	unsigned char checksum = 0;
+	if(*buf != '$' || !(eol = strchr(buf, '*'))){
+		DBG("Wrong data: %s\n", buf);
+		return 0;
+	}
+	while(++buf != eol)
+		checksum ^= (unsigned char) (*buf);
+	snprintf(chs, 2, "%X", checksum);
+	if(!strncmp(chs, ++buf, 2)) return 0;
+	return 1;
+}
+
+void gsv(_U_ char *buf){
+	//DBG("gsv: %s\n", buf);
+}
+
+/*
+ * Recommended minimum specific GPS/Transit data
+ * $GPRMC,hhmmss.ss,A,llll.ll,a,yyyyy.yy,a,x.x,x.x,ddmmyy,x.x,a*hh
+ * 1    = UTC of position fix
+ * 2    = Data status (V=navigation receiver warning)
+ * 3    = Latitude of fix
+ * 4    = N or S
+ * 5    = Longitude of fix
+ * 6    = E or W
+ * 7    = Speed over ground in knots
+ * 8    = Track made good in degrees True
+ * 9    = UT date
+ * 10   = Magnetic variation degrees (Easterly var. subtracts from true course)
+ * 11   = E or W
+ * 12   = Checksum
+ * 213457.00,A,4340.59415,N,04127.47560,E,2.494,,290615,,,A*7B
+ */
+void rmc(char *buf){
+	int H, M, LO, LA, d, m, y;
+	float S;
+	float longitude, lattitude, speed, track, mag;
+	char varn = 'V', north = '0', east = '0', mageast = '0';
+	sscanf(buf, "%2d%2d%f", &H, &M, &S);
+	buf = strchr(buf, ',')+1;
+	if(*buf != ',') varn = *buf;
+	if(varn != 'A')
+		printf("(data could be wrong)");
+	else
+		printf("(data valid)");
+	printf(" time: %02d:%02d:%05.2f", H, M, S);
+	buf = strchr(buf, ',')+1;
+	sscanf(buf, "%2d%f", &LA, &lattitude);
+	buf = strchr(buf, ',')+1;
+	if(*buf != ','){
+		north = *buf;
+		lattitude = (float)LA + lattitude / 60.;
+		if(north == 'S') lattitude = -lattitude;
+		printf(" latt: %f", lattitude);
+	}
+	buf = strchr(buf, ',')+1;
+	sscanf(buf, "%3d%f", &LO, &longitude);
+	buf = strchr(buf, ',')+1;
+	if(*buf != ','){
+		east = *buf;
+		longitude = (float)LO + longitude / 60.;
+		if(east == 'W') longitude = -longitude;
+		printf(" long: %f", longitude);
+	}
+	buf = strchr(buf, ',')+1;
+	if(*buf != ','){
+		sscanf(buf, "%f", &speed);
+		printf(" speed: %fknots", speed);
+	}
+	buf = strchr(buf, ',')+1;
+	if(*buf != ','){
+		sscanf(buf, "%f", &track);
+		printf(" track: %fdeg,True", track);
+	}
+	buf = strchr(buf, ',')+1;
+	if(sscanf(buf, "%2d%2d%2d", &d, &m, &y) == 3)
+		printf(" date(dd/mm/yy): %02d/%02d/%02d", d, m, y);
+	buf = strchr(buf, ',')+1;
+	sscanf(buf, "%f,%c*", &mag, &mageast);
+	if(mageast == 'E' || mageast == 'W'){
+		if(mageast == 'W') mag = -mag;
+		printf(" magnetic var: %f", mag);
+	}
+	printf("\n");
+}
+
+// A,2,04,31,32,14,19,,,,,,,,2.77,2.58,1.00*05
+void gsa(_U_ char *buf){
+	//DBG("gsa: %s\n", buf);
+}
+
+// 213457.00,4340.59415,N,04127.47560,E,1,05,2.58,1275.8,M,17.0,M,,*60
+void gga(_U_ char *buf){
+	//DBG("gga: %s\n", buf);
+}
+
+//4340.59415,N,04127.47560,E,213457.00,A,A*60
+void gll(_U_ char *buf){
+	//DBG("gll: %s\n", buf);
+}
+
+// ,T,,M,2.494,N,4.618,K,A*23
+void vtg(_U_ char *buf){
+	//DBG("vtg: %s\n", buf);
+}
+
+
+void txt(_U_ char *buf){
+	//DBG("txt: %s\n", buf);
+}
+
+/**
+ * Parce content of buffer with GPS data
+ * WARNING! This function changes data content
+ */
+void parce_data(char *buf){
+	char *eol;
+	while(buf && (eol = strchr(buf, '\r'))){
+		*eol = 0;
+		// now make checksum checking:
+		if(!checksum(buf)) goto cont;
+		if(strncmp(buf, "$GP", 3)){
+			DBG("Bad string: %s\n", buf);
+			goto cont;
+		}
+		buf += 3;
+		// PARSE variants: GSV, RMC, GSA, GGA, GLL, VTG, TXT
+		// 1st letter, cold be one of G,R,V or T
+		switch(*buf){
+			case 'G': // GSV, GSA, GGA, GLL
+				++buf;
+				if(strncmp(buf, "SV", 2) == 0){
+					gsv(buf+3);
+				}else if(strncmp(buf, "SA", 2) == 0){
+					gsa(buf+3);
+				}else if(strncmp(buf, "GA", 2) == 0){
+					gga(buf+3);
+				}else if(strncmp(buf, "LL", 2) == 0){
+					gll(buf+3);
+				}else{
+					DBG("Unknown: $GPG%s", buf);
+					goto cont;
+				}
+			break;
+			case 'R': // RMC
+				++buf;
+				if(strncmp(buf, "MC", 2) == 0){
+					rmc(buf+3);
+				}else{
+					DBG("Unknown: $GPR%s", buf);
+					goto cont;
+				}
+			break;
+			case 'V': // VTG
+				++buf;
+				if(strncmp(buf, "TG", 2) == 0){
+					vtg(buf+3);
+				}else{
+					DBG("Unknown: $GPV%s", buf);
+					goto cont;
+				}
+			break;
+			case 'T': // TXT
+				++buf;
+				if(strncmp(buf, "XT", 2) == 0){
+					txt(buf+3);
+				}else{
+					DBG("Unknown: $GPT%s", buf);
+					goto cont;
+				}
+			break;
+			default:
+				DBG("Unknown: $GP%s", buf);
+				goto cont;
+		}
+	//	printf("GOT: %s\n", buf);
+	cont:
+		if(eol[1] != '\n') break;
+		buf = eol + 2;
+	}
+}
+
+int main(int argc, char **argv){
+	check4running(argv, PIDFILE, NULL);
+	initial_setup();
+	GP = parce_args(argc, argv);
+	assert(GP);
+	DBG("Device path: %s\n", GP->devpath);
+	tty_init(GP->devpath);
+	signal(SIGTERM, signals); // kill (-15) - quit
+	signal(SIGHUP, signals);  // hup - quit
+	signal(SIGINT, signals);  // ctrl+C - quit
+	signal(SIGQUIT, signals); // ctrl+\ - quit
+	signal(SIGTSTP, SIG_IGN); // ignore ctrl+Z
+	double T0 = dtime();
+	char *str = NULL;
+	while(dtime() - T0 < 10.){
+		if((str = get_portdata()))
+			parce_data(str);
+	}
+	signals(0);
+	return 0;
+}

GPS/parceargs.c

@@ -0,0 +1,296 @@
+/*
+ * parceargs.c - parcing command line arguments & print help
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include <stdio.h>	// DBG
+#include <getopt.h>	// getopt_long
+#include <stdlib.h>	// calloc, exit, strtoll
+#include <assert.h>	// assert
+#include <string.h> // strdup, strchr, strlen
+#include <limits.h> // INT_MAX & so on
+#include <libintl.h>// gettext
+#include <ctype.h>	// isalpha
+#include "parceargs.h"
+
+// macro to print help messages
+#ifndef PRNT
+	#define PRNT(x) gettext(x)
+#endif
+
+char *helpstring = "%s\n";
+
+/**
+ * Change standard help header
+ * MAY consist ONE "%s" for progname
+ * @param str (i) - new format
+ */
+void change_helpstring(char *s){
+	int pcount = 0, scount = 0;
+	char *str = s;
+	// check `helpstring` and set it to default in case of error
+	for(; pcount < 2; str += 2){
+		if(!(str = strchr(str, '%'))) break;
+		if(str[1] != '%') pcount++; // increment '%' counter if it isn't "%%"
+		else{
+			str += 2; // pass next '%'
+			continue;
+		}
+		if(str[1] == 's') scount++; // increment "%s" counter
+	};
+	if(pcount > 1 || pcount != scount){ // amount of pcount and/or scount wrong
+		fprintf(stderr, "Wrong helpstring!\n");
+		exit(-1);
+	}
+	helpstring = s;
+}
+
+/**
+ * Carefull atoll/atoi
+ * @param num (o) - returning value (or NULL if you wish only check number) - allocated by user
+ * @param str (i) - string with number must not be NULL
+ * @param t   (i) - T_INT for integer or T_LLONG for long long (if argtype would be wided, may add more)
+ * @return TRUE if conversion sone without errors, FALSE otherwise
+ */
+bool myatoll(void *num, char *str, argtype t){
+	long long tmp, *llptr;
+	int *iptr;
+	char *endptr;
+	assert(str);
+	assert(num);
+	tmp = strtoll(str, &endptr, 0);
+	if(endptr == str || *str == '\0' || *endptr != '\0')
+		return FALSE;
+	switch(t){
+		case arg_longlong:
+			llptr = (long long*) num;
+			*llptr = tmp;
+		break;
+		case arg_int:
+		default:
+			if(tmp < INT_MIN || tmp > INT_MAX){
+				fprintf(stderr, "Integer out of range\n");
+				return FALSE;
+			}
+			iptr = (int*)num;
+			*iptr = (int)tmp;
+	}
+	return TRUE;
+}
+
+// the same as myatoll but for double
+// There's no NAN & INF checking here (what if they would be needed?)
+bool myatod(void *num, const char *str, argtype t){
+	double tmp, *dptr;
+	float *fptr;
+	char *endptr;
+	assert(str);
+	tmp = strtod(str, &endptr);
+	if(endptr == str || *str == '\0' || *endptr != '\0')
+		return FALSE;
+	switch(t){
+		case arg_double:
+			dptr = (double *) num;
+			*dptr = tmp;
+		break;
+		case arg_float:
+		default:
+			fptr = (float *) num;
+			*fptr = (float)tmp;
+		break;
+	}
+	return TRUE;
+}
+
+/**
+ * Get index of current option in array options
+ * @param opt (i) - returning val of getopt_long
+ * @param options (i) - array of options
+ * @return index in array
+ */
+int get_optind(int opt, myoption *options){
+	int oind;
+	myoption *opts = options;
+	assert(opts);
+	for(oind = 0; opts->name && opts->val != opt; oind++, opts++);
+	if(!opts->name || opts->val != opt) // no such parameter
+	showhelp(-1, options);
+	return oind;
+}
+
+/**
+ * Parce command line arguments
+ * ! If arg is string, then value will be strdup'ed!
+ *
+ * @param argc (io) - address of argc of main(), return value of argc stay after `getopt`
+ * @param argv (io) - address of argv of main(), return pointer to argv stay after `getopt`
+ * BE CAREFUL! if you wanna use full argc & argv, save their original values before
+ * 		calling this function
+ * @param options (i) - array of `myoption` for arguments parcing
+ *
+ * @exit: in case of error this function show help & make `exit(-1)`
+  */
+void parceargs(int *argc, char ***argv, myoption *options){
+	char *short_options, *soptr;
+	struct option *long_options, *loptr;
+	size_t optsize, i;
+	myoption *opts = options;
+	// check whether there is at least one options
+	assert(opts);
+	assert(opts[0].name);
+	// first we count how much values are in opts
+	for(optsize = 0; opts->name; optsize++, opts++);
+	// now we can allocate memory
+	short_options = calloc(optsize * 3 + 1, 1); // multiply by three for '::' in case of args in opts
+	long_options = calloc(optsize + 1, sizeof(struct option));
+	opts = options; loptr = long_options; soptr = short_options;
+	// fill short/long parameters and make a simple checking
+	for(i = 0; i < optsize; i++, loptr++, opts++){
+		// check
+		assert(opts->name); // check name
+		if(opts->has_arg){
+			assert(opts->type != arg_none); // check error with arg type
+			assert(opts->argptr);  // check pointer
+		}
+		if(opts->type != arg_none) // if there is a flag without arg, check its pointer
+			assert(opts->argptr);
+		// fill long_options
+		// don't do memcmp: what if there would be different alignment?
+		loptr->name		= opts->name;
+		loptr->has_arg	= opts->has_arg;
+		loptr->flag		= opts->flag;
+		loptr->val		= opts->val;
+		// fill short options if they are:
+		if(!opts->flag){
+			*soptr++ = opts->val;
+			if(opts->has_arg) // add ':' if option has required argument
+				*soptr++ = ':';
+			if(opts->has_arg == 2) // add '::' if option has optional argument
+				*soptr++ = ':';
+		}
+	}
+	// now we have both long_options & short_options and can parse `getopt_long`
+	while(1){
+		int opt;
+		int oindex = 0, optind = 0; // oindex - number of option in argv, optind - number in options[]
+		if((opt = getopt_long(*argc, *argv, short_options, long_options, &oindex)) == -1) break;
+		if(opt == '?'){
+			opt = optopt;
+			optind = get_optind(opt, options);
+			if(options[optind].has_arg == 1) showhelp(optind, options); // need argument
+		}
+		else{
+			if(opt == 0 || oindex > 0) optind = oindex;
+			else optind = get_optind(opt, options);
+		}
+		opts = &options[optind];
+		if(opt == 0 && opts->has_arg == 0) continue; // only long option changing integer flag
+		// now check option
+		if(opts->has_arg == 1) assert(optarg);
+		bool result = TRUE;
+		// even if there is no argument, but argptr != NULL, think that optarg = "1"
+		if(!optarg) optarg = "1";
+		switch(opts->type){
+			default:
+			case arg_none:
+				if(opts->argptr) *((int*)opts->argptr) = 1; // set argptr to 1
+			break;
+			case arg_int:
+				result = myatoll(opts->argptr, optarg, arg_int);
+			break;
+			case arg_longlong:
+				result = myatoll(opts->argptr, optarg, arg_longlong);
+			break;
+			case arg_double:
+				result = myatod(opts->argptr, optarg, arg_double);
+			break;
+			case arg_float:
+				result = myatod(opts->argptr, optarg, arg_float);
+			break;
+			case arg_string:
+				result = (*((char **)opts->argptr) = strdup(optarg));
+			break;
+			case arg_function:
+				result = ((argfn)opts->argptr)(optarg, optind);
+			break;
+		}
+		if(!result){
+			showhelp(optind, options);
+		}
+	}
+	*argc -= optind;
+	*argv += optind;
+}
+
+/**
+ * Show help information based on myoption->help values
+ * @param oindex (i)  - if non-negative, show only help by myoption[oindex].help
+ * @param options (i) - array of `myoption`
+ *
+ * @exit:  run `exit(-1)` !!!
+ */
+void showhelp(int oindex, myoption *options){
+	// ATTENTION: string `help` prints through macro PRNT(), by default it is gettext,
+	// but you can redefine it before `#include "parceargs.h"`
+	int max_opt_len = 0; // max len of options substring - for right indentation
+	const int bufsz = 255;
+	char buf[bufsz+1];
+	myoption *opts = options;
+	assert(opts);
+	assert(opts[0].name); // check whether there is at least one options
+	if(oindex > -1){ // print only one message
+		opts = &options[oindex];
+		printf("  ");
+		if(!opts->flag && isalpha(opts->val)) printf("-%c, ", opts->val);
+		printf("--%s", opts->name);
+		if(opts->has_arg == 1) printf("=arg");
+		else if(opts->has_arg == 2) printf("[=arg]");
+		printf("  %s\n", PRNT(opts->help));
+		exit(-1);
+	}
+	// header, by default is just "progname\n"
+	printf("\n");
+	if(strstr(helpstring, "%s")) // print progname
+		printf(helpstring, __progname);
+	else // only text
+		printf("%s", helpstring);
+	printf("\n");
+	// count max_opt_len
+	do{
+		int L = strlen(opts->name);
+		if(max_opt_len < L) max_opt_len = L;
+	}while((++opts)->name);
+	max_opt_len += 14; // format: '-S , --long[=arg]' - get addition 13 symbols
+	opts = options;
+	// Now print all help
+	do{
+		int p = sprintf(buf, "  "); // a little indent
+		if(!opts->flag && isalpha(opts->val)) // .val is short argument
+			p += snprintf(buf+p, bufsz-p, "-%c, ", opts->val);
+		p += snprintf(buf+p, bufsz-p, "--%s", opts->name);
+		if(opts->has_arg == 1) // required argument
+			p += snprintf(buf+p, bufsz-p, "=arg");
+		else if(opts->has_arg == 2) // optional argument
+			p += snprintf(buf+p, bufsz-p, "[=arg]");
+		assert(p < max_opt_len); // there would be magic if p >= max_opt_len
+		printf("%-*s%s\n", max_opt_len+1, buf, PRNT(opts->help)); // write options & at least 2 spaces after
+	}while((++opts)->name);
+	printf("\n\n");
+	exit(-1);
+}

GPS/parceargs.h

@@ -0,0 +1,105 @@
+/*
+ * parceargs.h - headers for parcing command line arguments
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+#pragma once
+#ifndef __PARCEARGS_H__
+#define __PARCEARGS_H__
+
+#include <stdbool.h>// bool
+#include <stdlib.h>
+
+#ifndef TRUE
+	#define TRUE true
+#endif
+
+#ifndef FALSE
+	#define FALSE false
+#endif
+
+// macro for argptr
+#define APTR(x)   ((void*)x)
+
+// if argptr is a function:
+typedef  bool(*argfn)(void *arg, int N);
+
+/*
+ * type of getopt's argument
+ * WARNING!
+ * My function change value of flags by pointer, so if you want to use another type
+ * make a latter conversion, example:
+ * 		char charg;
+ * 		int iarg;
+ * 		myoption opts[] = {
+ * 		{"value", 1, NULL, 'v', arg_int, &iarg, "char val"}, ..., end_option};
+ * 		..(parce args)..
+ * 		charg = (char) iarg;
+ */
+typedef enum {
+	arg_none = 0,	// no arg
+	arg_int,		// integer
+	arg_longlong,	// long long
+	arg_double,		// double
+	arg_float,		// float
+	arg_string,		// char *
+	arg_function	// parce_args will run function `bool (*fn)(char *optarg, int N)`
+} argtype;
+
+/*
+ * Structure for getopt_long & help
+ * BE CAREFUL: .argptr is pointer to data or pointer to function,
+ * 		conversion depends on .type
+ *
+ * ATTENTION: string `help` prints through macro PRNT(), bu default it is gettext,
+ * but you can redefine it before `#include "parceargs.h"`
+ *
+ * if arg is string, then value wil be strdup'ed like that:
+ * 		char *str;
+ * 		myoption opts[] = {{"string", 1, NULL, 's', arg_string, &str, "string val"}, ..., end_option};
+ *		*(opts[1].str) = strdup(optarg);
+ * in other cases argptr should be address of some variable (or pointer to allocated memory)
+ *
+ * NON-NULL argptr should be written inside macro APTR(argptr) or directly: (void*)argptr
+ *
+ * !!!LAST VALUE OF ARRAY SHOULD BE `end_option` or ZEROS !!!
+ *
+ */
+typedef struct{
+	// these are from struct option:
+	const char *name;		// long option's name
+	int         has_arg;	// 0 - no args, 1 - nesessary arg, 2 - optionally arg
+	int        *flag;		// NULL to return val, pointer to int - to set its value of val (function returns 0)
+	int         val;		// short opt name (if flag == NULL) or flag's value
+	// and these are mine:
+	argtype     type;		// type of argument
+	void       *argptr;		// pointer to variable to assign optarg value or function `bool (*fn)(char *optarg, int N)`
+	char       *help;		// help string which would be shown in function `showhelp` or NULL
+} myoption;
+
+// last string of array (all zeros)
+#define end_option {0,0,0,0,0,0,0}
+
+
+extern const char *__progname;
+
+void showhelp(int oindex, myoption *options);
+void parceargs(int *argc, char ***argv, myoption *options);
+void change_helpstring(char *s);
+
+#endif // __PARCEARGS_H__

GPS/usefull_macros.c

@@ -0,0 +1,311 @@
+/*
+ * usefull_macros.h - a set of usefull functions: memory, color etc
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#include "usefull_macros.h"
+
+/**
+ * function for different purposes that need to know time intervals
+ * @return double value: time in seconds
+ */
+double dtime(){
+	double t;
+	struct timeval tv;
+	gettimeofday(&tv, NULL);
+	t = tv.tv_sec + ((double)tv.tv_usec)/1e6;
+	return t;
+}
+
+/******************************************************************************\
+ *                          Coloured terminal
+\******************************************************************************/
+int globErr = 0; // errno for WARN/ERR
+
+// pointers to coloured output printf
+int (*red)(const char *fmt, ...);
+int (*green)(const char *fmt, ...);
+int (*_WARN)(const char *fmt, ...);
+
+/*
+ * format red / green messages
+ * name: r_pr_, g_pr_
+ * @param fmt ... - printf-like format
+ * @return number of printed symbols
+ */
+int r_pr_(const char *fmt, ...){
+	va_list ar; int i;
+	printf(RED);
+	va_start(ar, fmt);
+	i = vprintf(fmt, ar);
+	va_end(ar);
+	printf(OLDCOLOR);
+	return i;
+}
+int g_pr_(const char *fmt, ...){
+	va_list ar; int i;
+	printf(GREEN);
+	va_start(ar, fmt);
+	i = vprintf(fmt, ar);
+	va_end(ar);
+	printf(OLDCOLOR);
+	return i;
+}
+/*
+ * print red error/warning messages (if output is a tty)
+ * @param fmt ... - printf-like format
+ * @return number of printed symbols
+ */
+int r_WARN(const char *fmt, ...){
+	va_list ar; int i = 1;
+	fprintf(stderr, RED);
+	va_start(ar, fmt);
+	if(globErr){
+		errno = globErr;
+		vwarn(fmt, ar);
+		errno = 0;
+		globErr = 0;
+	}else
+		i = vfprintf(stderr, fmt, ar);
+	va_end(ar);
+	i++;
+	fprintf(stderr, OLDCOLOR "\n");
+	return i;
+}
+
+static const char stars[] = "****************************************";
+/*
+ * notty variants of coloured printf
+ * name: s_WARN, r_pr_notty
+ * @param fmt ... - printf-like format
+ * @return number of printed symbols
+ */
+int s_WARN(const char *fmt, ...){
+	va_list ar; int i;
+	i = fprintf(stderr, "\n%s\n", stars);
+	va_start(ar, fmt);
+	if(globErr){
+		errno = globErr;
+		vwarn(fmt, ar);
+		errno = 0;
+		globErr = 0;
+	}else
+		i = +vfprintf(stderr, fmt, ar);
+	va_end(ar);
+	i += fprintf(stderr, "\n%s\n", stars);
+	i += fprintf(stderr, "\n");
+	return i;
+}
+int r_pr_notty(const char *fmt, ...){
+	va_list ar; int i;
+	i = printf("\n%s\n", stars);
+	va_start(ar, fmt);
+	i += vprintf(fmt, ar);
+	va_end(ar);
+	i += printf("\n%s\n", stars);
+	return i;
+}
+
+/**
+ * Run this function in the beginning of main() to setup locale & coloured output
+ */
+void initial_setup(){
+	// setup coloured output
+	if(isatty(STDOUT_FILENO)){ // make color output in tty
+		red = r_pr_; green = g_pr_;
+	}else{ // no colors in case of pipe
+		red = r_pr_notty; green = printf;
+	}
+	if(isatty(STDERR_FILENO)) _WARN = r_WARN;
+	else _WARN = s_WARN;
+	// Setup locale
+	setlocale(LC_ALL, "");
+	setlocale(LC_NUMERIC, "C");
+#if defined GETTEXT_PACKAGE && defined LOCALEDIR
+	bindtextdomain(GETTEXT_PACKAGE, LOCALEDIR);
+	textdomain(GETTEXT_PACKAGE);
+#endif
+}
+
+/******************************************************************************\
+ *                                  Memory
+\******************************************************************************/
+/*
+ * safe memory allocation for macro ALLOC
+ * @param N - number of elements to allocate
+ * @param S - size of single element (typically sizeof)
+ * @return pointer to allocated memory area
+ */
+void *my_alloc(size_t N, size_t S){
+	void *p = calloc(N, S);
+	if(!p) ERR("malloc");
+	//assert(p);
+	return p;
+}
+
+/**
+ * Mmap file to a memory area
+ *
+ * @param filename (i) - name of file to mmap
+ * @return stuct with mmap'ed file or die
+ */
+mmapbuf *My_mmap(char *filename){
+	int fd;
+	char *ptr;
+	size_t Mlen;
+	struct stat statbuf;
+	if(!filename) ERRX(_("No filename given!"));
+	if((fd = open(filename, O_RDONLY)) < 0)
+		ERR(_("Can't open %s for reading"), filename);
+	if(fstat (fd, &statbuf) < 0)
+		ERR(_("Can't stat %s"), filename);
+	Mlen = statbuf.st_size;
+	if((ptr = mmap (0, Mlen, PROT_READ, MAP_PRIVATE, fd, 0)) == MAP_FAILED)
+		ERR(_("Mmap error for input"));
+	if(close(fd)) ERR(_("Can't close mmap'ed file"));
+	mmapbuf *ret = MALLOC(mmapbuf, 1);
+	ret->data = ptr;
+	ret->len = Mlen;
+	return  ret;
+}
+
+void My_munmap(mmapbuf *b){
+	if(munmap(b->data, b->len))
+		ERR(_("Can't munmap"));
+	FREE(b);
+}
+
+
+/******************************************************************************\
+ *                          Terminal in no-echo mode
+\******************************************************************************/
+static struct termios oldt, newt; // terminal flags
+static int console_changed = 0;
+// run on exit:
+void restore_console(){
+	if(console_changed)
+		tcsetattr(STDIN_FILENO, TCSANOW, &oldt); // return terminal to previous state
+	console_changed = 0;
+}
+
+// initial setup:
+void setup_con(){
+	if(console_changed) return;
+	tcgetattr(STDIN_FILENO, &oldt);
+	newt = oldt;
+	newt.c_lflag &= ~(ICANON | ECHO);
+	if(tcsetattr(STDIN_FILENO, TCSANOW, &newt) < 0){
+		tcsetattr(STDIN_FILENO, TCSANOW, &oldt);
+		exit(-2); //quit?
+	}
+	console_changed = 1;
+}
+
+/**
+ * Read character from console without echo
+ * @return char readed
+ */
+int read_console(){
+	int rb;
+	struct timeval tv;
+	int retval;
+	fd_set rfds;
+	FD_ZERO(&rfds);
+	FD_SET(STDIN_FILENO, &rfds);
+	tv.tv_sec = 0; tv.tv_usec = 10000;
+	retval = select(1, &rfds, NULL, NULL, &tv);
+	if(!retval) rb = 0;
+	else {
+		if(FD_ISSET(STDIN_FILENO, &rfds)) rb = getchar();
+		else rb = 0;
+	}
+	return rb;
+}
+
+/**
+ * getchar() without echo
+ * wait until at least one character pressed
+ * @return character readed
+ */
+int mygetchar(){ // getchar() without need of pressing ENTER
+	int ret;
+	do ret = read_console();
+	while(ret == 0);
+	return ret;
+}
+
+
+/******************************************************************************\
+ *                              TTY with select()
+\******************************************************************************/
+static struct termio oldtty, tty; // TTY flags
+static int comfd = -1; // TTY fd
+
+// run on exit:
+void restore_tty(){
+	if(comfd == -1) return;
+	ioctl(comfd, TCSANOW, &oldtty ); // return TTY to previous state
+	close(comfd);
+	comfd = -1;
+}
+
+#ifndef BAUD_RATE
+#define BAUD_RATE B9600
+#endif
+// init:
+void tty_init(char *comdev){
+	printf("\nOpen port...\n");
+	if ((comfd = open(comdev,O_RDWR|O_NOCTTY|O_NONBLOCK)) < 0){
+		WARN("Can't use port %s\n",comdev);
+		ioctl(comfd, TCSANOW, &oldtty); // return TTY to previous state
+		close(comfd);
+		exit(1); // quit?
+	}
+	printf(" OK\nGet current settings... ");
+	if(ioctl(comfd,TCGETA,&oldtty) < 0) exit(-1); // Get settings
+	tty = oldtty;
+	tty.c_lflag     = 0; // ~(ICANON | ECHO | ECHOE | ISIG)
+	tty.c_oflag     = 0;
+	tty.c_cflag     = BAUD_RATE|CS8|CREAD|CLOCAL; // 9.6k, 8N1, RW, ignore line ctrl
+	tty.c_cc[VMIN]  = 0;  // non-canonical mode
+	tty.c_cc[VTIME] = 5;
+	if(ioctl(comfd,TCSETA,&tty) < 0) exit(-1); // set new mode
+	printf(" OK\n");
+}
+/**
+ * Read data from TTY
+ * @param buff (o) - buffer for data read
+ * @param length   - buffer len
+ * @return amount of readed bytes
+ */
+size_t read_tty(char *buff, size_t length){
+	ssize_t L = 0;
+	fd_set rfds;
+	struct timeval tv;
+	int retval;
+	FD_ZERO(&rfds);
+	FD_SET(comfd, &rfds);
+	tv.tv_sec = 0; tv.tv_usec = 50000; // wait for 50ms
+	retval = select(comfd + 1, &rfds, NULL, NULL, &tv);
+	if (!retval) return 0;
+	if(FD_ISSET(comfd, &rfds)){
+		if((L = read(comfd, buff, length)) < 1) return 0;
+	}
+	return (size_t)L;
+}

GPS/usefull_macros.h

@@ -0,0 +1,122 @@
+/*
+ * usefull_macros.h - a set of usefull macros: memory, color etc
+ *
+ * Copyright 2013 Edward V. Emelianoff <eddy@sao.ru>
+ *
+ * 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 2 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, write to the Free Software
+ * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+ * MA 02110-1301, USA.
+ */
+
+#pragma once
+#ifndef __USEFULL_MACROS_H__
+#define __USEFULL_MACROS_H__
+
+#include <sys/stat.h>
+#include <fcntl.h>
+#include <sys/mman.h>
+#include <unistd.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include <errno.h>
+#include <err.h>
+#include <locale.h>
+#if defined GETTEXT_PACKAGE && defined LOCALEDIR
+/*
+ * GETTEXT
+ */
+#include <libintl.h>
+#define _(String)				gettext(String)
+#define gettext_noop(String)	String
+#define N_(String)				gettext_noop(String)
+#else
+#define _(String)				(String)
+#define N_(String)				(String)
+#endif
+#include <stdlib.h>
+#include <termios.h>
+#include <termio.h>
+#include <sys/time.h>
+#include <sys/types.h>
+#include <stdint.h>
+
+
+// unused arguments with -Wall -Werror
+#define _U_    __attribute__((__unused__))
+
+/*
+ * Coloured messages output
+ */
+#define RED			"\033[1;31;40m"
+#define GREEN		"\033[1;32;40m"
+#define OLDCOLOR	"\033[0;0;0m"
+
+/*
+ * ERROR/WARNING messages
+ */
+extern int globErr;
+#define ERR(...) do{globErr=errno; _WARN(__VA_ARGS__); exit(-1);}while(0)
+#define ERRX(...) do{globErr=0; _WARN(__VA_ARGS__); exit(-1);}while(0)
+#define WARN(...) do{globErr=errno; _WARN(__VA_ARGS__);}while(0)
+#define WARNX(...) do{globErr=0; _WARN(__VA_ARGS__);}while(0)
+
+/*
+ * print function name, debug messages
+ * debug mode, -DEBUG
+ */
+#ifdef EBUG
+	#define FNAME() fprintf(stderr, "\n%s (%s, line %d)\n", __func__, __FILE__, __LINE__)
+	#define DBG(...) do{fprintf(stderr, "%s (%s, line %d): ", __func__, __FILE__, __LINE__); \
+					fprintf(stderr, __VA_ARGS__);			\
+					fprintf(stderr, "\n");} while(0)
+#else
+	#define FNAME()	 do{}while(0)
+	#define DBG(...) do{}while(0)
+#endif //EBUG
+
+/*
+ * Memory allocation
+ */
+#define ALLOC(type, var, size)  type * var = ((type *)my_alloc(size, sizeof(type)))
+#define MALLOC(type, size) ((type *)my_alloc(size, sizeof(type)))
+#define FREE(ptr)			do{free(ptr); ptr = NULL;}while(0)
+
+double dtime();
+
+// functions for color output in tty & no-color in pipes
+extern int (*red)(const char *fmt, ...);
+extern int (*_WARN)(const char *fmt, ...);
+extern int (*green)(const char *fmt, ...);
+void * my_alloc(size_t N, size_t S);
+void initial_setup();
+
+// mmap file
+typedef struct{
+	char *data;
+	size_t len;
+} mmapbuf;
+mmapbuf *My_mmap(char *filename);
+void My_munmap(mmapbuf *b);
+
+void restore_console();
+void setup_con();
+int read_console();
+int mygetchar();
+
+void restore_tty();
+void tty_init(char *comdev);
+size_t read_tty(char *buff, size_t length);
+
+#endif // __USEFULL_MACROS_H__