#6 first try with GPSD

pull/11/head
Geoffrey Merck 4 years ago
parent b22fb86cc0
commit 2e94745ca4

@ -0,0 +1,119 @@
/*
* Copyright (C) 2010,2011,2012,2018 by Jonathan Naylor G4KLX
* Copyright (C) 2021 by Geoffrey Merck F4FXL / KC3FRA
*
* 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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include <boost/algorithm/string.hpp>
#include "APRSEntry.h"
CAPRSEntry::CAPRSEntry(const std::string& callsign, const std::string& band, double frequency, double offset, double range, double latitude, double longitude, double agl) :
m_callsign(callsign),
m_band(band),
m_frequency(frequency),
m_offset(offset),
m_range(range),
m_latitude(latitude),
m_longitude(longitude),
m_agl(agl),
m_timer(1000U, 10U),
m_first(true),
m_collector(NULL)
{
boost::trim(m_callsign);
m_collector = new CAPRSCollector;
}
CAPRSEntry::~CAPRSEntry()
{
delete m_collector;
}
std::string CAPRSEntry::getCallsign() const
{
return m_callsign;
}
std::string CAPRSEntry::getBand() const
{
return m_band;
}
double CAPRSEntry::getFrequency() const
{
return m_frequency;
}
double CAPRSEntry::getOffset() const
{
return m_offset;
}
double CAPRSEntry::getRange() const
{
return m_range;
}
double CAPRSEntry::getLatitude() const
{
return m_latitude;
}
double CAPRSEntry::getLongitude() const
{
return m_longitude;
}
double CAPRSEntry::getAGL() const
{
return m_agl;
}
CAPRSCollector* CAPRSEntry::getCollector() const
{
return m_collector;
}
void CAPRSEntry::reset()
{
m_first = true;
m_timer.stop();
m_collector->reset();
}
void CAPRSEntry::clock(unsigned int ms)
{
m_timer.clock(ms);
}
bool CAPRSEntry::isOK()
{
if (m_first) {
m_first = false;
m_timer.start();
return true;
}
if (m_timer.hasExpired()) {
m_timer.start();
return true;
} else {
m_timer.start();
return false;
}
}

@ -0,0 +1,59 @@
/*
* Copyright (C) 2010,2011,2012,2018 by Jonathan Naylor G4KLX
* Copyright (C) 2021 by Geoffrey Merck F4FXL / KC3FRA
*
* 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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#pragma once
#include <string>
#include "APRSCollector.h"
#include "Timer.h"
class CAPRSEntry {
public:
CAPRSEntry(const std::string& callsign, const std::string& band, double frequency, double offset, double range, double latitude, double longitude, double agl);
~CAPRSEntry();
std::string getCallsign() const;
std::string getBand() const;
double getFrequency() const;
double getOffset() const;
double getRange() const;
double getLatitude() const;
double getLongitude() const;
double getAGL() const;
CAPRSCollector* getCollector() const;
// Transmission timer
void reset();
void clock(unsigned int ms);
bool isOK();
private:
std::string m_callsign;
std::string m_band;
double m_frequency;
double m_offset;
double m_range;
double m_latitude;
double m_longitude;
double m_agl;
CTimer m_timer;
bool m_first;
CAPRSCollector* m_collector;
};

@ -20,6 +20,7 @@
#include <cassert>
#include <boost/algorithm/string.hpp>
#include <cmath>
#include <cassert>
#include "StringUtils.h"
#include "Log.h"
@ -28,103 +29,6 @@
#include "Defs.h"
#include "Log.h"
CAPRSEntry::CAPRSEntry(const std::string& callsign, const std::string& band, double frequency, double offset, double range, double latitude, double longitude, double agl) :
m_callsign(callsign),
m_band(band),
m_frequency(frequency),
m_offset(offset),
m_range(range),
m_latitude(latitude),
m_longitude(longitude),
m_agl(agl),
m_timer(1000U, 10U),
m_first(true),
m_collector(NULL)
{
boost::trim(m_callsign);
m_collector = new CAPRSCollector;
}
CAPRSEntry::~CAPRSEntry()
{
delete m_collector;
}
std::string CAPRSEntry::getCallsign() const
{
return m_callsign;
}
std::string CAPRSEntry::getBand() const
{
return m_band;
}
double CAPRSEntry::getFrequency() const
{
return m_frequency;
}
double CAPRSEntry::getOffset() const
{
return m_offset;
}
double CAPRSEntry::getRange() const
{
return m_range;
}
double CAPRSEntry::getLatitude() const
{
return m_latitude;
}
double CAPRSEntry::getLongitude() const
{
return m_longitude;
}
double CAPRSEntry::getAGL() const
{
return m_agl;
}
CAPRSCollector* CAPRSEntry::getCollector() const
{
return m_collector;
}
void CAPRSEntry::reset()
{
m_first = true;
m_timer.stop();
m_collector->reset();
}
void CAPRSEntry::clock(unsigned int ms)
{
m_timer.clock(ms);
}
bool CAPRSEntry::isOK()
{
if (m_first) {
m_first = false;
m_timer.start();
return true;
}
if (m_timer.hasExpired()) {
m_timer.start();
return true;
} else {
m_timer.start();
return false;
}
}
CAPRSWriter::CAPRSWriter(const std::string& hostname, unsigned int port, const std::string& gateway, const std::string& password, const std::string& address) :
m_thread(NULL),
m_idTimer(1000U),
@ -133,6 +37,12 @@ m_address(),
m_port(0U),
m_socket(NULL),
m_array()
#ifdef USE_GPSD
, m_gpsdEnabled(false),
m_gpsdAddress(),
m_gpsdPort(),
m_gpsdData()
#endif
{
assert(!hostname.empty());
assert(port > 0U);
@ -164,24 +74,40 @@ void CAPRSWriter::setPortFixed(const std::string& callsign, const std::string& b
m_array[temp] = new CAPRSEntry(callsign, band, frequency, offset, range, latitude, longitude, agl);
}
void CAPRSWriter::setPortMobile(const std::string& callsign, const std::string& band, double frequency, double offset, double range, const std::string& address, unsigned int port)
#ifdef USE_GPSD
void CAPRSWriter::setPortGPSD(const std::string& callsign, const std::string& band, double frequency, double offset, double range, const std::string& address, const std::string& port)
{
assert(!address.empty());
assert(!port.empty());
std::string temp = callsign;
temp.resize(LONG_CALLSIGN_LENGTH - 1U, ' ');
temp += band;
temp.append(band);
m_array[temp] = new CAPRSEntry(callsign, band, frequency, offset, range, 0.0, 0.0, 0.0);
if (m_socket == NULL) {
m_address = CUDPReaderWriter::lookup(address);
m_port = port;
m_socket = new CUDPReaderWriter();
}
m_gpsdEnabled = true;
m_gpsdAddress = address;
m_gpsdPort = port;
}
#endif
bool CAPRSWriter::open()
{
#ifdef USE_GPSD
if (m_gpsdEnabled) {
int ret = ::gps_open(m_gpsdAddress.c_str(), m_gpsdPort.c_str(), &m_gpsdData);
if (ret != 0) {
CLog::logError("Error when opening access to gpsd - %d - %s", errno, ::gps_errstr(errno));
return false;
}
::gps_stream(&m_gpsdData, WATCH_ENABLE | WATCH_JSON, NULL);
CLog::logError("Connected to GPSD");
}
#endif
if (m_socket != NULL) {
bool ret = m_socket->open();
if (!ret) {
@ -293,19 +219,22 @@ void CAPRSWriter::clock(unsigned int ms)
m_thread->clock(ms);
if (m_socket != NULL) {
#ifdef USE_GPSD
if (m_gpsdEnabled) {
if (m_idTimer.hasExpired()) {
pollGPS();
sendIdFramesMobile();
m_idTimer.start();
}
sendIdFramesMobile();
} else {
#endif
if (m_idTimer.hasExpired()) {
sendIdFramesFixed();
m_idTimer.start();
}
#ifdef USE_GPSD
}
#endif
for (auto it = m_array.begin(); it != m_array.end(); ++it) {
if(it->second != NULL)
@ -320,6 +249,13 @@ bool CAPRSWriter::isConnected() const
void CAPRSWriter::close()
{
#ifdef USE_GPSD
if (m_gpsdEnabled) {
::gps_stream(&m_gpsdData, WATCH_DISABLE, NULL);
::gps_close(&m_gpsdData);
}
#endif
if (m_socket != NULL) {
m_socket->close();
delete m_socket;
@ -447,34 +383,48 @@ void CAPRSWriter::sendIdFramesFixed()
}
}
#ifdef USE_GPSD
void CAPRSWriter::sendIdFramesMobile()
{
// Grab GPS data if it's available
unsigned char buffer[200U];
in_addr address;
unsigned int port;
int ret = m_socket->read(buffer, 200U, address, port);
if (ret <= 0)
if (!m_gpsdEnabled)
return;
if (!m_thread->isConnected())
if (!::gps_waiting(&m_gpsdData, 0))
return;
#if GPSD_API_MAJOR_VERSION >= 7
if (::gps_read(&m_gpsdData, NULL, 0) <= 0)
return;
#else
if (::gps_read(&m_gpsdData) <= 0)
return;
#endif
buffer[ret] = '\0';
#if GPSD_API_MAJOR_VERSION >= 11 // F4FXL 2021-12-31 not sure if 11 is porper version, best guess as i could not find any change log
if(m_gpsdData.fix.mode < MODE_3D)
return;
#else
if (m_gpsdData.status != STATUS_FIX)
return;
#endif
// Parse the GPS data
char* pLatitude = ::strtok((char*)buffer, ",\n"); // Latitude
char* pLongitude = ::strtok(NULL, ",\n"); // Longitude
char* pAltitude = ::strtok(NULL, ",\n"); // Altitude (m)
char* pVelocity = ::strtok(NULL, ",\n"); // Velocity (kms/h)
char* pBearing = ::strtok(NULL, "\n"); // Bearing
bool latlonSet = (m_gpsdData.set & LATLON_SET) == LATLON_SET;
bool altitudeSet = (m_gpsdData.set & ALTITUDE_SET) == ALTITUDE_SET;
bool velocitySet = (m_gpsdData.set & SPEED_SET) == SPEED_SET;
bool bearingSet = (m_gpsdData.set & TRACK_SET) == TRACK_SET;
if (pLatitude == NULL || pLongitude == NULL || pAltitude == NULL)
if (!latlonSet)
return;
double rawLatitude = ::atof(pLatitude);
double rawLongitude = ::atof(pLongitude);
double rawAltitude = ::atof(pAltitude);
float rawLatitude = float(m_gpsdData.fix.latitude);
float rawLongitude = float(m_gpsdData.fix.longitude);
#if GPSD_API_MAJOR_VERSION >= 9
float rawAltitude = float(m_gpsdData.fix.altMSL);
#else
float rawAltitude = float(m_gpsdData.fix.altitude);
#endif
float rawVelocity = float(m_gpsdData.fix.speed);
float rawBearing = float(m_gpsdData.fix.track);
time_t now;
::time(&now);
@ -557,15 +507,11 @@ void CAPRSWriter::sendIdFramesMobile()
rawAltitude * 3.28);
std::string output2;
if (pBearing != NULL && pVelocity != NULL) {
double rawBearing = ::atof(pBearing);
double rawVelocity = ::atof(pVelocity);
if (bearingSet && velocitySet)
output2 = CStringUtils::string_format("%03.0lf/%03.0lf", rawBearing, rawVelocity * 0.539957F);
}
std::string output3;
output3 = CStringUtils::string_format("RNG%04.0lf %s %s", entry->getRange() * 0.6214, band.c_str(), desc.c_str());
output3 = CStringUtils::string_format("RNG%04.0lf %s %s\r\n", entry->getRange() * 0.6214, band.c_str(), desc.c_str());
char ascii[300U];
::memset(ascii, 0x00, 300U);
@ -577,14 +523,22 @@ void CAPRSWriter::sendIdFramesMobile()
for (unsigned int i = 0U; i < output3.length(); i++, n++)
ascii[n] = output3[i];
CLog::logDebug("APRS ==> %s%s%s", output1.c_str(), output2.c_str(), output3.c_str());
m_thread->write(ascii);
if (entry->getBand().length() == 1U) {
output1 = CStringUtils::string_format("%s-%s>APD5T2,TCPIP*,qAC,%s-%sS:!%s%cD%s%c&/A=%06.0lf",
entry->getCallsign().c_str(), entry->getBand().c_str(), entry->getCallsign().c_str(), entry->getBand().c_str(),
lat.c_str(), (rawLatitude < 0.0) ? 'S' : 'N',
lon.c_str(), (rawLongitude < 0.0) ? 'W' : 'E',
rawAltitude * 3.28);
if (altitudeSet)
output1 = CStringUtils::string_format("%s-%s>APD5T2,TCPIP*,qAC,%s-%sS:!%s%cD%s%c&/A=%06.0lf",
entry->getCallsign().c_str(), entry->getBand().c_str(), entry->getCallsign().c_str(), entry->getBand().c_str(),
lat.c_str(), (rawLatitude < 0.0) ? 'S' : 'N',
lon.c_str(), (rawLongitude < 0.0) ? 'W' : 'E',
rawAltitude * 3.28);
else
output1 = CStringUtils::string_format("%s-%s>APD5T2,TCPIP*,qAC,%s-%sS:!%s%cD%s%c&",
entry->getCallsign().c_str(), entry->getBand().c_str(), entry->getCallsign().c_str(), entry->getBand().c_str(),
lat.c_str(), (rawLatitude < 0.0) ? 'S' : 'N',
lon.c_str(), (rawLongitude < 0.0) ? 'W' : 'E');
::memset(ascii, 0x00, 300U);
unsigned int n = 0U;
@ -595,8 +549,10 @@ void CAPRSWriter::sendIdFramesMobile()
for (unsigned int i = 0U; i < output3.length(); i++, n++)
ascii[n] = output3[i];
CLog::logDebug("APRS ==> %s%s%s", output1.c_str(), output2.c_str(), output3.c_str());
m_thread->write(ascii);
}
}
}
#endif

@ -22,7 +22,11 @@
#include <unordered_map>
#include <string>
#ifdef USE_GPSD
#include <gps.h>
#endif
#include "APRSEntry.h"
#include "APRSWriterThread.h"
#include "UDPReaderWriter.h"
#include "APRSCollector.h"
@ -32,40 +36,6 @@
#include "Timer.h"
#include "Defs.h"
class CAPRSEntry {
public:
CAPRSEntry(const std::string& callsign, const std::string& band, double frequency, double offset, double range, double latitude, double longitude, double agl);
~CAPRSEntry();
std::string getCallsign() const;
std::string getBand() const;
double getFrequency() const;
double getOffset() const;
double getRange() const;
double getLatitude() const;
double getLongitude() const;
double getAGL() const;
CAPRSCollector* getCollector() const;
// Transmission timer
void reset();
void clock(unsigned int ms);
bool isOK();
private:
std::string m_callsign;
std::string m_band;
double m_frequency;
double m_offset;
double m_range;
double m_latitude;
double m_longitude;
double m_agl;
CTimer m_timer;
bool m_first;
CAPRSCollector* m_collector;
};
class CAPRSWriter {
public:
CAPRSWriter(const std::string& hostname, unsigned int port, const std::string& gateway, const std::string& password, const std::string& address);
@ -74,9 +44,9 @@ public:
bool open();
void setPortFixed(const std::string& callsign, const std::string& band, double frequency, double offset, double range, double latitude, double longitude, double agl);
void setPortMobile(const std::string& callsign, const std::string& band, double frequency, double offset, double range, const std::string& address, unsigned int port);
#ifdef USE_GPSD
void setPortGPSD(const std::string& callsign, const std::string& band, double frequency, double offset, double range, const std::string& address, const std::string& port);
#endif
void writeHeader(const std::string& callsign, const CHeaderData& header);
void writeData(const std::string& callsign, const CAMBEData& data);
@ -96,6 +66,13 @@ private:
CUDPReaderWriter* m_socket;
std::unordered_map<std::string,CAPRSEntry *> m_array;
#ifdef USE_GPSD
bool m_gpsdEnabled;
std::string m_gpsdAddress;
std::string m_gpsdPort;
struct gps_data_t m_gpsdData;
#endif
bool pollGPS();
void sendIdFramesFixed();
void sendIdFramesMobile();

@ -125,15 +125,14 @@ bool CDStarGatewayApp::createThread()
CAPRSWriter * aprsWriter = NULL;
if(aprsConfig.enabled && !aprsConfig.password.empty()) {
aprsWriter = new CAPRSWriter(aprsConfig.hostname, aprsConfig.port, gatewayConfig.callsign, aprsConfig.password, gatewayConfig.address);
if(aprsWriter->open()) {
m_thread->setAPRSWriter(aprsWriter);
}
else {
delete aprsWriter;
aprsWriter = NULL;
}
}
#ifdef USE_GPSD
// Setup GPSD
TGPSD gpsdConfig;
config.getGPSD(gpsdConfig);
#endif
// Setup the repeaters
if(config.getRepeaterCount() == 0U) {
CLog::logInfo("No repeater configured\n");
@ -165,13 +164,34 @@ bool CDStarGatewayApp::createThread()
rptrConfig.band1,
rptrConfig.band2,
rptrConfig.band3);
#ifdef USE_GPSD
if(aprsWriter != NULL) {
if(aprsConfig.m_positionSource == POSSRC_GPSD)
aprsWriter->setPortGPSD(rptrConfig.callsign, rptrConfig.band, rptrConfig.frequency, rptrConfig.offset, rptrConfig.range, gpsdConfig.m_address, gpsdConfig.m_port);
else
aprsWriter->setPortFixed(rptrConfig.callsign, rptrConfig.band, rptrConfig.frequency, rptrConfig.offset, rptrConfig.range, rptrConfig.latitude, rptrConfig.longitude, rptrConfig.agl);
}
#else
aprsWriter->setPortFixed(rptrConfig.callsign, rptrConfig.band, rptrConfig.frequency, rptrConfig.offset, rptrConfig.range, rptrConfig.latitude, rptrConfig.longitude, rptrConfig.agl);
#endif
if(aprsWriter != NULL) aprsWriter->setPortFixed(rptrConfig.callsign, rptrConfig.band, rptrConfig.frequency, rptrConfig.offset, rptrConfig.range, rptrConfig.latitude, rptrConfig.longitude, rptrConfig.agl);
if(!ddEnabled) ddEnabled = rptrConfig.band.length() > 1U;
}
m_thread->setDDModeEnabled(ddEnabled);
CLog::logInfo("DD Mode enabled: %d", int(ddEnabled));
// open APRS after setting the repeaters because of GPSD
if(aprsWriter != nullptr) {
if(aprsWriter->open()) {
m_thread->setAPRSWriter(aprsWriter);
}
else {
delete aprsWriter;
aprsWriter = NULL;
}
}
// Setup ircddb
std::vector<CIRCDDB *> clients;
for(unsigned int i=0; i < config.getIrcDDBCount(); i++) {

@ -52,6 +52,9 @@ bool CDStarGatewayConfig::load()
ret = loadDPlus(cfg) && ret;
ret = loadRemote(cfg) && ret;
ret = loadXLX(cfg) && ret;
#ifdef USE_GPSD
ret = loadGPSD(cfg) && ret;
#endif
}
if(ret) {
@ -118,6 +121,16 @@ bool CDStarGatewayConfig::loadAPRS(const CConfig & cfg)
ret = cfg.getValue("aprs", "port", m_aprs.port, 1U, 65535U, 14580U) && ret;
ret = cfg.getValue("aprs", "hostname", m_aprs.hostname, 0, 1024, "rotate.aprs2.net") && ret;
ret = cfg.getValue("aprs", "password", m_aprs.password, 0U, 30U, "") && ret;
#ifdef USE_GPSD
std::string positionSource;
ret = cfg.getValue("aprs", "positionSource", positionSource, "fixed", {"fixed", "gpsd"}) && ret;
if(ret) {
if(positionSource == "fixed") m_aprs.m_positionSource = POSSRC_FIXED;
else if(positionSource == "gpsd") m_aprs.m_positionSource = POSSRC_GPSD;
}
#else
m_aprs.m_positionSource = POSSRC_FIXED;
#endif
m_aprs.enabled = m_aprs.enabled && !m_aprs.password.empty();
@ -319,6 +332,16 @@ bool CDStarGatewayConfig::loadGateway(const CConfig & cfg)
return ret;
}
#ifdef USE_GPSD
bool CDStarGatewayConfig::loadGPSD(const CConfig & cfg)
{
bool ret = cfg.getValue("gpsd", "address", m_gpsd.m_address, 0U, 15U, "127.0.0.1");
ret = cfg.getValue("gpsd", "port", m_gpsd.m_port, 0U, 5U, "2947") && ret;
return ret;
}
#endif
bool CDStarGatewayConfig::open(CConfig & cfg)
{
try {
@ -408,3 +431,10 @@ void CDStarGatewayConfig::getXLX(TXLX & xlx) const
{
xlx = m_xlx;
}
#ifdef USE_GPSD
void CDStarGatewayConfig::getGPSD(TGPSD & gpsd) const
{
gpsd = m_gpsd;
}
#endif

@ -91,6 +91,7 @@ typedef struct {
std::string hostname;
unsigned int port;
std::string password;
POSITION_SOURCE m_positionSource;
} TAPRS;
typedef struct {
@ -120,6 +121,12 @@ typedef struct {
std::string password;
} TRemote;
#ifdef USE_GPSD
typedef struct {
std::string m_address;
std::string m_port;
} TGPSD;
#endif
class CDStarGatewayConfig {
public:
@ -140,6 +147,9 @@ public:
void getDCS(TDCS & dcs) const;
void getRemote(TRemote & remote) const;
void getXLX(TXLX & xlx) const;
#ifdef USE_GPSD
void getGPSD(TGPSD & gpsd) const;
#endif
private:
bool open(CConfig & cfg);
@ -154,6 +164,9 @@ private:
bool loadDCS(const CConfig & cfg);
bool loadRemote(const CConfig & cfg);
bool loadXLX(const CConfig & cfg);
#ifdef USE_GPSD
bool loadGPSD(const CConfig & cfg);
#endif
std::string m_fileName;
TGateway m_gateway;
@ -165,6 +178,9 @@ private:
TRemote m_remote;
TXLX m_xlx;
TLog m_log;
#ifdef USE_GPSD
TGPSD m_gpsd;
#endif
std::vector<TRepeater *> m_repeaters;
std::vector<TircDDB *> m_ircDDB;
};

@ -137,5 +137,10 @@ enum GATEWAY_TYPE {
GT_SMARTGROUP
};
enum POSITION_SOURCE {
POSSRC_FIXED,
POSSRC_GPSD
};
const unsigned int TIME_PER_TIC_MS = 5U;

@ -26,6 +26,13 @@ CPPFLAGS=-g -ggdb -W -Wall -std=c++17
# or, you can choose this for a much smaller executable without debugging help
#CPPFLAGS=-W -Wall -std=c++17
LDFLAGS:=-lcurl -pthread
ifeq ($(USE_GPSD), 1)
CPPFLAGS+= -DUSE_GPSD
LDFLAGS+= -lgps
endif
SRCS = $(wildcard *.cpp)
OBJS = $(SRCS:.cpp=.o)
DEPS = $(SRCS:.cpp=.d)
@ -34,7 +41,7 @@ DEPS = $(SRCS:.cpp=.d)
all: dstargateway
dstargateway : GitVersion.h $(OBJS)
g++ $(CPPFLAGS) -o dstargateway $(OBJS) -lcurl -pthread
g++ $(CPPFLAGS) -o dstargateway $(OBJS) $(LDFLAGS)
%.o : %.cpp
g++ $(CPPFLAGS) -MMD -MD -c $< -o $@

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