GPS: Refactor, do not use hotplug depend and move to finit

Also remove caching of GPS data in operational, gpsd now depend
on its GPS device <dev/gps0> instead of hotplug magic.

Author: mattiaswal

package/feature-gps/25-gpsd.rules

@@ -7,59 +7,61 @@ SUBSYSTEM!="tty", GOTO="gpsd_rules_end"
 
 # Prolific Technology, Inc. PL2303 Serial Port [linux module: pl2303]
 # !!! rule disabled in Debian as it matches too many other devices
-# ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+# ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", SYMLINK+="gps%n"
 # ATEN International Co., Ltd UC-232A Serial Port [linux module: pl2303]
-ATTRS{idVendor}=="0557", ATTRS{idProduct}=="2008", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="0557", ATTRS{idProduct}=="2008", SYMLINK+="gps%n"
 
 # PS-360 OEM (GPS sold with MS Street and Trips 2005) [linux module: pl2303]
-ATTRS{idVendor}=="067b", ATTRS{idProduct}=="aaa0", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="067b", ATTRS{idProduct}=="aaa0", SYMLINK+="gps%n"
 
 # FTDI 8U232AM / FT232 [linux module: ftdi_sio]
 # !!! rule disabled in Debian as it matches too many other devices
-# ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+# ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", SYMLINK+="gps%n"
 
 # Cypress M8/CY7C64013 (Delorme uses these) [linux module: cypress_m8]
-ATTRS{idVendor}=="1163", ATTRS{idProduct}=="0100", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="1163", ATTRS{idProduct}=="0100", SYMLINK+="gps%n"
 
 # Cypress M8/CY7C64013 (DeLorme LT-40)
-ATTRS{idVendor}=="1163", ATTRS{idProduct}=="0200", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="1163", ATTRS{idProduct}=="0200", SYMLINK+="gps%n"
 
 # Garmin International GPSmap, various models (tested with Garmin GPS 18 USB)  [linux module: garmin_gps]
-ATTRS{idVendor}=="091e", ATTRS{idProduct}=="0003", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="091e", ATTRS{idProduct}=="0003", SYMLINK+="gps%n"
 
 # Cygnal Integrated Products, Inc. CP210x Composite Device (Used by Holux m241 and Wintec grays2 wbt-201) [linux module: cp210x]
 # !!! rule disabled in Debian as it matches too many other devices
-#ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+#ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", SYMLINK+="gps%n"
 
 # Cygnal Integrated Products, Inc. [linux module: cp210x]
 # !!! rule disabled in Debian as it matches too many other devices
-#ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea71", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+#ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea71", SYMLINK+="gps%n"
 
 # u-blox AG, u-blox 5 (tested with Navilock NL-402U) [linux module: cdc_acm]
-ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a5", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a5", SYMLINK+="gps%n"
 
 # u-blox AG, u-blox 6 (tested with GNSS Evaluation Kit TCXO) [linux module: cdc_acm]
-ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a6", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a6", SYMLINK+="gps%n"
 
 # u-blox AG, u-blox 7 [linux module: cdc_acm]
-ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a7", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a7", SYMLINK+="gps%n"
 
 # u-blox AG, u-blox 8 (tested with GNSS Evaluation Kit EKV-M8N) [linux module: cdc_acm]
-ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a8", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a8", SYMLINK+="gps%n"
 
 # u-blox AG, u-blox 9 (tested with GNSS Evaluation Kit C099-F9P) [linux module: cdc_acm]
-ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a9", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="1546", ATTRS{idProduct}=="01a9", SYMLINK+="gps%n"
 
 # MediaTek (tested with HOLUX M-1200E) [linux module: cdc_acm]
-ATTRS{idVendor}=="0e8d", ATTRS{idProduct}=="3329", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+ATTRS{idVendor}=="0e8d", ATTRS{idProduct}=="3329", SYMLINK+="gps%n"
 
 # Telit wireless solutions (tested with HE910G) [linux module: cdc_acm]
-ATTRS{interface}=="Telit Wireless Module Port", ATTRS{bInterfaceNumber}=="06", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug"
+ATTRS{interface}=="Telit Wireless Module Port", ATTRS{bInterfaceNumber}=="06", SYMLINK+="gps%n"
 
-# u-blox AG, u-blox 8 (tested with u-blox8 GNSS Mouse Receiver / GR-801) [linux module: cdc_acm] 
+# u-blox AG, u-blox 8 (tested with u-blox8 GNSS Mouse Receiver / GR-801) [linux module: cdc_acm]
 # !!! rule disabled in Debian as it matches too many other devices
-#ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", SYMLINK+="gps%n", RUN+="/usr/lib/udev/gpsd.hotplug" 
-
-ACTION=="remove", RUN+="/usr/lib/udev/gpsd.hotplug"
+#ATTRS{idVendor}=="067b", ATTRS{idProduct}=="2303", SYMLINK+="gps%n"
 
 LABEL="gpsd_rules_end"
+
+# Virtio serial GPS ports (QEMU emulated GPS for testing)
+SUBSYSTEM=="virtio-ports", ATTR{name}=="gps0", SYMLINK+="gps0"
+SUBSYSTEM=="virtio-ports", ATTR{name}=="gps1", SYMLINK+="gps1"

package/feature-gps/Config.in

@@ -1,9 +1,6 @@
 config BR2_PACKAGE_FEATURE_GPS
 	bool "Feature GPS/GNSS"
 	select BR2_PACKAGE_GPSD
-	select BR2_PACKAGE_GPSD_MAX_CLIENT
-	select BR2_PACKAGE_GPSD_MAX_DEV
-	select BR2_PACKAGE_GPSD_SQUELCH
 	select BR2_PACKAGE_GPSD_ASHTECH
 	select BR2_PACKAGE_GPSD_EARTHMATE
 	select BR2_PACKAGE_GPSD_EVERMORE

package/feature-gps/feature-gps.mk

@@ -6,13 +6,20 @@
 
 FEATURE_GPS_PACKAGE_VERSION = 1.0
 FEATURE_GPS_PACKAGE_LICENSE = MIT
+FEATURE_GPS_DEPENDENCIES +=  gpsd
 
 define FEATURE_GPS_INSTALL_TARGET_CMDS
 	$(INSTALL) -D -m 0644 $(FEATURE_GPS_PKGDIR)/gpsd.default \
 		$(TARGET_DIR)/etc/default/gpsd
+endef
+
+# Install custom udev rules as a gpsd post-install hook to ensure
+# they are not overwritten by gpsd during parallel or incremental builds.
+define FEATURE_GPS_INSTALL_UDEV_RULES
 	$(INSTALL) -D -m 0644 $(FEATURE_GPS_PKGDIR)/25-gpsd.rules \
 		$(TARGET_DIR)/usr/lib/udev/rules.d/25-gpsd.rules
 endef
+GPSD_POST_INSTALL_TARGET_HOOKS += FEATURE_GPS_INSTALL_UDEV_RULES
 
 define FEATURE_GPS_LINUX_CONFIG_FIXUPS
 	$(call KCONFIG_SET_OPT,CONFIG_USB_ACM,m)

patches/gpsd/0001-Always-log-to-syslog.patch

@@ -0,0 +1,41 @@
+From 9ba3bc688c45a0c9e761c6c8bd0be83d6570c9dc Mon Sep 17 00:00:00 2001
+From: =?UTF-8?q?Mattias=20Walstr=C3=B6m?= <lazzer@gmail.com>
+Date: Fri, 27 Feb 2026 16:58:12 +0100
+Subject: [PATCH] Always log to syslog
+MIME-Version: 1.0
+Content-Type: text/plain; charset=UTF-8
+Content-Transfer-Encoding: 8bit
+Organization: Wires
+
+Signed-off-by: Mattias Walström <lazzer@gmail.com>
+---
+ gpsd/libgpsd_core.c | 13 ++-----------
+ 1 file changed, 2 insertions(+), 11 deletions(-)
+
+diff --git a/gpsd/libgpsd_core.c b/gpsd/libgpsd_core.c
+index 982f822b8..c53c64838 100644
+--- a/gpsd/libgpsd_core.c
++++ b/gpsd/libgpsd_core.c
+@@ -180,17 +180,8 @@ static void gpsd_vlog(const int errlevel,
+     // this was crazy expensive, just fix the bad log calls
+     // gps_visibilize(outbuf, outlen, buf, strlen(buf));
+ 
+-    if (getpid() == getsid(getpid())) {
+-        // I think this calls syslog() only when daemonized
+-        syslog(level, "%s",  outbuf);
+-    } else if (NULL != errout->report) {
+-        // we are a thread, use report()?
+-        // FIXME: is POSIX syslog() thread safe?
+-        errout->report(outbuf);
+-    } else {
+-        // foreground, use stderr?
+-        (void)fputs(outbuf, stderr);
+-    }
++    // always log to syslog, even with -N
++    syslog(level, "%s",  outbuf);
+     gpsd_release_reporting_lock();
+ #endif  // !SQUELCH_ENABLE
+ }
+-- 
+2.43.0
+

src/confd/src/hardware.c

@@ -17,6 +17,9 @@
 #define XPATH_BASE_              "/ietf-hardware:hardware"
 #define HOSTAPD_CONF             "/etc/hostapd-%s.conf"
 #define HOSTAPD_CONF_NEXT        HOSTAPD_CONF"+"
+#define GPSD_CONF                "/etc/finit.d/available/gpsd.conf"
+#define GPSD_CONF_NEXT           GPSD_CONF"+"
+#define GPSD_MAX_DEVICES         4
 
 static int dir_cb(const char *fpath, const struct stat *sb, int typeflag, struct FTW *ftwbuf)
 {
@@ -593,6 +596,7 @@ int hardware_change(sr_session_ctx_t *session, struct lyd_node *config, struct l
 {
 	struct lyd_node  *difs = NULL, *dif = NULL;
 	int rc = SR_ERR_OK;
+	int gps_changed = 0;
 
 	if (!lydx_find_xpathf(diff, XPATH_BASE_))
 		return SR_ERR_OK;
@@ -707,13 +711,76 @@ int hardware_change(sr_session_ctx_t *session, struct lyd_node *config, struct l
 				wifi_iface_count = 0;
 			}
 		} else if (!strcmp(class, "infix-hardware:gps")) {
-			if (event != SR_EV_DONE)
-				continue;
-
-			systemf("initctl -nbq touch statd");
+			gps_changed = 1;
 		}
 	}
 
+	if (gps_changed) {
+		const char *gps_names[GPSD_MAX_DEVICES] = { NULL };
+		struct lyd_node *cifs, *comp;
+		int num_gps = 0;
+
+		switch (event) {
+		case SR_EV_UPDATE:
+		case SR_EV_ENABLED:
+		case SR_EV_RPC:
+			break;
+
+		case SR_EV_ABORT:
+			unlink(GPSD_CONF_NEXT);
+			break;
+
+		case SR_EV_CHANGE:
+			cifs = lydx_get_descendant(config, "hardware", "component", NULL);
+			LYX_LIST_FOR_EACH(cifs, comp, "component") {
+				const char *cls = lydx_get_cattr(comp, "class");
+
+				if (strcmp(cls, "infix-hardware:gps"))
+					continue;
+				if (num_gps < GPSD_MAX_DEVICES)
+					gps_names[num_gps] = lydx_get_cattr(comp, "name");
+				else
+					return SR_ERR_INTERNAL;
+				num_gps++;
+			}
+			if (num_gps > 0) {
+				FILE *fp;
+
+				fp = fopen(GPSD_CONF_NEXT, "w");
+				if (!fp) {
+					ERROR("Could not open " GPSD_CONF_NEXT);
+					return SR_ERR_INTERNAL;
+				}
+				int i;
+
+				fprintf(fp, "# Generated by confd, do not edit.\n");
+				fprintf(fp, "service");
+				fprintf(fp, " <!");
+				for (i = 0; i < num_gps && i < GPSD_MAX_DEVICES; i++)
+					fprintf(fp, "%sdev/%s", i ? "," : "", gps_names[i]);
+				fprintf(fp, ">");
+				fprintf(fp, " pid:!/run/gpsd.pid");
+				fprintf(fp, " env:-/etc/default/gpsd \\\n");
+				fprintf(fp, "\t[2345] gpsd -n");
+				for (i = 0; i < num_gps && i < GPSD_MAX_DEVICES; i++)
+					fprintf(fp, " /dev/%s", gps_names[i]);
+				fprintf(fp, " -P /run/gpsd.pid -- GPS Daemon\n");
+				fclose(fp);
+			}
+			break;
+
+		case SR_EV_DONE:
+			if (fexist(GPSD_CONF_NEXT)) {
+				unlink(GPSD_CONF);
+				rename(GPSD_CONF_NEXT, GPSD_CONF);
+				systemf("initctl -nbq enable gpsd");
+			} else {
+				unlink(GPSD_CONF);
+				systemf("initctl -nbq disable gpsd");
+			}
+			break;
+		}
+	}
 err:
 
 	return rc;

src/statd/Makefile.am

@@ -2,7 +2,7 @@ DISTCLEANFILES      = *~ *.d
 ACLOCAL_AMFLAGS     = -I m4
 
 sbin_PROGRAMS       = statd
-statd_SOURCES       = statd.c shared.c shared.h journal.c journal_retention.c journal.h gpsd.c gpsd.h
+statd_SOURCES       = statd.c shared.c shared.h journal.c journal_retention.c journal.h
 statd_CPPFLAGS      = -D_DEFAULT_SOURCE -D_GNU_SOURCE
 statd_CFLAGS        = -W -Wall -Wextra
 statd_CFLAGS       += $(jansson_CFLAGS) $(libyang_CFLAGS) $(sysrepo_CFLAGS)