New upstream version 3.18.1

.travis.yml

@@ -6,9 +6,10 @@ language: generic
 # context, we disable the C++ builds in the clang case.
 
 env:
-    - TRAVIS_DEBIAN_DISTRIBUTION=unstable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis.build" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev libdbus-glib-1-dev makedev libbluetooth-dev libqt4-dev lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd"
-    - TRAVIS_DEBIAN_DISTRIBUTION=unstable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis.build libgpsmm=no qt=no" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev libdbus-glib-1-dev makedev libbluetooth-dev libqt4-dev lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd clang" TRAVIS_DEBIAN_BUILD_ENVIRONMENT="CC=clang CXX=clang++"
-    - TRAVIS_DEBIAN_DISTRIBUTION=stable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis.build" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev libdbus-glib-1-dev makedev libbluetooth-dev libqt4-dev lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd"
+    - TRAVIS_DEBIAN_DISTRIBUTION=unstable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis/build.sh" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev libdbus-glib-1-dev makedev libbluetooth-dev qtbase5-dev qt5-default lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd python-serial"
+    - TRAVIS_DEBIAN_DISTRIBUTION=unstable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis/build.sh" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev libdbus-glib-1-dev makedev libbluetooth-dev libqt4-dev lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd python-serial"
+    - TRAVIS_DEBIAN_DISTRIBUTION=unstable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis/build.sh libgpsmm=no qt=no" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev libdbus-glib-1-dev makedev libbluetooth-dev libqt4-dev lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd clang python-serial" TRAVIS_DEBIAN_BUILD_ENVIRONMENT="CC=clang CXX=clang++"
+    - TRAVIS_DEBIAN_DISTRIBUTION=stable TRAVIS_DEBIAN_BUILD_COMMAND="/bin/bash .travis/build.sh" TRAVIS_DEBIAN_BUILD_DEPENDENCIES="build-essential debhelper po-debconf python-all-dev python-all-dbg xsltproc docbook-xsl docbook-xml asciidoc libncurses-dev libusb-1.0-0-dev libdbus-1-dev libglib2.0-dev libdbus-glib-1-dev makedev libbluetooth-dev libqt4-dev lsb-release bc dpkg-dev scons chrpath dh-buildinfo pps-tools dh-systemd python-serial"
 
 services:
   - docker

.travis.build → .travis/build.sh

@@ -17,6 +17,12 @@ SCONSOPTS="${SCONSOPTS} libdir=/usr/lib/${DEB_HOST_MULTIARCH}"
 SCONSOPTS="${SCONSOPTS} gpsd_user=gpsd"
 SCONSOPTS="${SCONSOPTS} gpsd_group=dialout"
 SCONSOPTS="${SCONSOPTS} debug=yes"
+### SCONSOPTS="${SCONSOPTS} qt=yes"  # The default qt=yes must be overridable
+SCONSOPTS="${SCONSOPTS} xgps=no"  # Until we figure out the right Gtk3 packages
+
+if dpkg -s qtbase5-dev 1>/dev/null 2>&1; then
+    SCONSOPTS="${SCONSOPTS} qt_versioned=5"
+fi
 
 export SCONSOPTS
 

.vimrc

@@ -0,0 +1,3 @@
+# gpsd vim settings
+# Python 3 does not like tabs in files
+:set tabstop=4 shiftwidth=4 expandtab

INSTALL

@@ -1,6 +1,6 @@
 = GPSD Installation Instructions =
 :title: GPSD Installation Instructions
-:description: Here are the steps for installing GPSD and verifying its performance.
+:description: Steps for installing GPSD and verifying its performance.
 :keywords: GPSD, GPS, installation
 :author: Eric S. Raymond <esr@thyrsus.com>
 :robots:index,follow
@@ -96,6 +96,7 @@ various additional features have additional prerequisites:
 |Qt + qmake                   | libQgpsmm depends on this
 |python2.x(x>=6) or 3.y(y>=2) | required for various clients and utilities
 |python-GI bindings           | the test clients xgps and xgpsspeed, need this
+|pyserial                     | ubxtool and zerk need this
 |===============================================================================
 
 Some ncurses packages contain the terminfo library; some break it out
@@ -105,13 +106,13 @@ separately as libtinfo5 or libtinfo.
 
 === Install your distributions package(s) ===
 
-Up-to-date gpsd packages are generally available for Linux
-distributions including Debian and derivatives (including Ubuntu and
-Mint), Fedora and derivatives (including CentOS), openSUSE, PCLinuxOS,
-Mageia, and Slackware.  In the embedded space, CeroWRT carries
-GPSD. The GPSD package in the FreeBSD ports tree is also reliably up
-to date.  Even if your distribution is not on this list, it is quite
-likely GPSD has already been packaged for it.
+Up-to-date gpsd packages are generally available for Linux distributions
+including Debian and derivatives (including Ubuntu and Mint), Fedora and
+derivatives (including CentOS), openSUSE, PCLinuxOS, Mageia, Gentoo, and
+Slackware.  In the embedded space, CeroWRT and Yocto carry GPSD. The
+GPSD package in the FreeBSD ports tree is also reliably up to date.
+Even if your distribution is not on this list, it is quite likely GPSD
+has already been packaged for it.
 
 Whatever distribution you are running, the name of the core GPSD
 package containing the service daemon is almost certainly "gpsd".
@@ -141,8 +142,8 @@ watcher modes.  You should see lines beginning with '{' that are
 JSON objects representing reports from your GPS; these are reports
 in GPSD protocol.
 
-4. Start the xgps or cgps client.  Calling it with no arguments should
-do the right thing.  You should see a display panel with
+4. Start the xgps or cgps client.  Calling it with no arguments
+should do the right thing.  You should see a display panel with
 position/velocity-time information, and a satellite display.  The
 displays won't look very interesting until the GPS acquires satellite
 lock.
@@ -166,11 +167,11 @@ us information to add a new line to the table.  Directions are
 included on that page. We can also use updates of the latest version
 number known to work with hardware already supported.
 
-3. GPSD includes a PHP script that you can use to generate a PHP
-status page for your GPS if you wish. (It may not be in the core
-package.)  It should be manually copied to your HTTP document directory.
-The first time it's invoked, it will generate a file called
-'gpsd_config.inc' in that directory containing configuration
+3. GPSD includes gpsd.php, a PHP script, that you can use to generate
+a PHP status page for your GPS if you wish. (It may not be in the
+core package.)  It should be manually copied to your HTTP document
+directory.  The first time it's invoked, it will generate a file
+called 'gpsd_config.inc' in that directory containing configuration
 information; edit to taste.
 
 4. There are other non-essential scripts that may be useful; these
@@ -331,8 +332,6 @@ install, as noted in the file *build.txt* .
 
 === Other Raspberry Pi tips ===
 
-Note: this does not apply to the RasPi3.
-
 Any USB connected GPS that is known to work with gpsd will work fine on
 the RasPi.  No special instructions apply.
 
@@ -355,7 +354,7 @@ Reboot so those changes take effect.
 Run gpsd like this:
 
 --------------------------------------------------------------
-~ # gpsd -D 5 -N -n /dev/ttyAMA0/dev/pps0
+~ # gpsd -D 5 -N -n /dev/ttyAMA0 /dev/pps0
 --------------------------------------------------------------
 
 If you are on the RasPi with gpsd version 3.17, or above, /dev/pps0 can

NEWS

@@ -1,5 +1,30 @@
 			GPSD project news
 
+3.19: not released yet
+
+3.18.1: 2018-10-19 (Gary E. Miller <gem@rellim.com>)
+  Fix some installation issues.
+  A few minor updates to ubxtool and driver_ubx.
+  Add contrib/skyview2svg
+
+3.18: 2018-10-02 (Gary E. Miller <gem@rellim.com>)
+  Add ECEF support to ievermore, italk,Skytraq, SiRF, U-blox drivers.
+  Add ECEF support to JSON, cgps and xgps.
+  Add GREIS (Javad) driver from Virgin Orbit.
+  Add CLI tools zerk and ubxtool to manage JAVAD and u-blox GPS.
+  Add gnssid:svid to satellite_t, cgps and xgps.  PRN will die.
+  Add gnssid:svid to JSON, cgps and xgps.
+  Add stricter version checking (more to todo).
+  More and better regression tests.
+  Better Python dependency checking, at build time and runtime.
+  Fix several buffer issues.
+  New polar plots, and improved statistice, in gpsprof.
+  gpsd master/slave mode works, first time ever.
+  All isnan() changed to !isfinite(), fixing many bugs.
+  Client-side Python libraries may automatically reconnect
+  Too many other bug fixes and improvements to mention.
+  Over 1,000 commits from 46 different commiters.
+
 3.17: 2017-09-07 (Eric S. Raymond <esr@snark.thyrsus.com>)
   Repair support for non-NMEA devices requring active probing
   (e.g. Garmin USB GPSes). Apply OS X build fixes.  Fix a SiRF driver

TODO

@@ -8,6 +8,13 @@ the "Hacking Guide" on the project website.
 The list of bugs exposed by gpsd in other software has moved to
 the "Upstream Bugs" page on the project website.
 
+** Installation **
+
+Improve the uninstall target.  Remove library syminks.
+
+Make libdir conform to new Gentoo layout: 32bit in lib/ and 64bit in
+lib64/.  Doing that also makes the uninstall more complex.
+
 ** Documentation **
 
 We now have two different calibration procedures in the Time Service
@@ -20,14 +27,40 @@ the calibration process less annoying?
 
 ** Things to do when we can break compatibility **
 
-In gps_data_t make device subtype longer. 128 chars long sounds good.
+In gps_data_t add more string like subtype for HW version, SW version, etc.
 
 In gps_data_t, save PPS precision; this will require creating a pps struct.
+Where would PPS precision come from?
 
-In gps_fix_t, maybe change time away from float to timespec?
+Convert all the time_t (double) and timeval (usec) to timespec (nsec).
+That could be done one small step at a time.
 
 Add MMSI sequence number fields to AIS type 7.
 
+Make the Python JSON client as smart as the C JSON client.  Gonna be
+a big job.  The C client checks all the JSON classes for completeness
+and correctness.  For example, a missing JSON field will be replaced
+with a default value.  Also out of bounds values are fixed.  The Python
+client does no checks. it just mushes a JSON sentance into a big Python
+variable.  No validity checking, no missing fields fixed, etc.  The C
+client uses a generic validator function, fed with templates for each
+JSON message.  Initially harder than a simple procedural parser, Once
+running it is very robust and easy to tweak.
+
+Handle mutifrequency GNSS (B1, E1, L1, L2, B3, L3, L5, L2C, E5, E6,
+etc.)
+
+Handle raw measurements, like UBX-RXM-RAW.  With an uploader for
+postprocessing.
+
+add u-blox IMU (UBX-ESF-RAW) and qErr (UBX-TIM-TP) support.
+
+Adding a sample Go client (gpspipe -> pytogo -> Go ?).
+
+Add RTCM3, RINEX, and/or RAW message forwarders.
+
+Move  webgps.py out of contrib.  It needs a man page and light cleanup.
+
 ** Bugs in gpsd and its clients:
 
 *** Tracker bugs

Tachometer.c

@@ -7,7 +7,7 @@
  * Cleaned up and simplified by Eric S. Raymond, December 2004.
  *
  * This file is Copyright (c) 2010 by the GPSD project
- * BSD terms apply: see the file COPYING in the distribution root for details.
+ * SPDX-License-Identifier: BSD-2-clause
  */
 #include <X11/IntrinsicP.h>
 #include <X11/StringDefs.h>

Tachometer.h

@@ -1,6 +1,6 @@
 /*
  * This file is Copyright (c) 2010 by the GPSD project
- * BSD terms apply: see the file COPYING in the distribution root for details.
+ * SPDX-License-Identifier: BSD-2-clause
  */
 #ifndef _GPSD_TACHOMETER_H_
 #define _GPSD_TACHOMETER_H_

TachometerP.h

@@ -1,6 +1,6 @@
 /*
  * This file is Copyright (c) 2010 by the GPSD project
- * BSD terms apply: see the file COPYING in the distribution root for details.
+ * SPDX-License-Identifier: BSD-2-clause
  */
 #ifndef _GPSD_TACHOMETERP_H_
 #define _GPSD_TACHOMETERP_H_

ais_json.i

@@ -3,8 +3,6 @@
  */
  #define NITEMS(x) (int)(sizeof(x)/sizeof(x[0]))
 
-/*@ -fullinitblock */
-
 
     const struct json_attr_t json_ais1[] = {
 	AIS_HEADER
@@ -1212,7 +1210,6 @@
     };
 
 
-/*@ +fullinitblock */
 
 /* Generated code ends. */
 

bits.c

@@ -1,7 +1,7 @@
 /* bits.c - bitfield extraction code
  *
  * This file is Copyright (c)2010 by the GPSD project
- * BSD terms apply: see the file COPYING in the distribution root for details.
+ * SPDX-License-Identifier: BSD-2-clause
  *
  * Bitfield extraction functions.  In each, start is a bit index  - not
  * a byte index - and width is a bit width.  The width is bounded above by

bits.h

@@ -9,7 +9,7 @@
  * Both 32- and 64-bit systems with gcc are OK with this set.
  *
  * This file is Copyright (c)2010 by the GPSD project
- * BSD terms apply: see the file COPYING in the distribution root for details.
+ * SPDX-License-Identifier: BSD-2-clause
  */
 #ifndef _GPSD_BITS_H_
 #define _GPSD_BITS_H_

build.txt

@@ -13,7 +13,7 @@ You can download the lastest gpsd tarball from:
 http://download.savannah.gnu.org/releases/gpsd/
 
 Under Linux, assuming you have all your build prerequisites in place,
-these lines will do:
+these lines will do, and need to be run as root:
 
    tar -xzf gpsd-X.YY.tar.gz
    cd gpsd-X.YY
@@ -22,13 +22,22 @@ these lines will do:
 If you get any errors, you need to read the detailed instructions that follow.
 
 If 'scons' fails, it is possible that your target system has moved to
-Python 3 as its default 'python' interpreter, but you can work around
-it by saying "python2 /usr/bin/scons" or something similar.
+Python 3 and removed the program 'python'.  Python.org says that if
+you have an installed Python, there should be a program in your path
+called 'python'.  This is specified in PEP 394.  This rule is not always
+followed.  You can work around this by linking python3 to python like
+this
 
-Occasionally, builds may fail in completely bizarre ways due to a corrupted
-scons database.  This seems to relate to ^Cing the build at an inopportune
-moment.  If you suspect that, see "Reverting to a clean state" below and
-then try again.
+    ln -s /usr/bin/python3 /usr/bin/python
+
+Both 'scons' and 'gpsd' work fine on either Python 2 or Python 3.  Which
+python you have installed should be transparent to the user, if python
+is installed correctly.
+
+Occasionally, builds may fail in completely bizarre ways due to a
+corrupted scons database.  This seems to relate to ^Cing the build at
+an inopportune moment.  If you suspect that, see "Reverting to a clean
+state" below and then try again.
 
 == Supported platforms ==
 
@@ -41,9 +50,9 @@ installed:
 * FreeBSD, NetBSD, OpenBSD
 * Android, using the official Google toolchain from the NDK
 
-We consider failure to build and function on any of these platforms
-a serious bug; if you encounter it, please complain on the
-development list.
+We consider failure to build and function on any of these platforms a
+serious bug; if you encounter it, please complain on the development
+list <gpsd-dev@nongnu.org>.
 
 Port difficulty to any system conforming to POSIX-2001.1 should be minimal.
 
@@ -60,7 +69,7 @@ Necessary components for any build:
 |============================================================================
 |C compiler                    | gpsd and client library are written in C
 |scons                         | for executing the build recipe
-|Python 2.x(x>=6)              | for scons and some helper scripts
+|Python2.x(x>=6) or 3.y(y>=2)  | for scons and some helper scripts
 |============================================================================
 
 === C compiler ===
@@ -104,13 +113,21 @@ extensions.  Usually these are called "python" and "python-dev". You
 will know you are missing the latter if your compilation fails
 because of a missing Python.h.
 
-The xgps and xgpsspeed test clients require the following Python extensions:
+The xgps and xgpsspeed clients will only be installed if these Python
+extensions are installed:
 
 |============================================================================
 |python-gi          | Python bindings for gobject-introspection libraries
 |python-gi-cairo    | Python bindings for Cairo toolkit under GI
 |===========================================================================
 
+The ubxtool and zerk clients will only be installed if this Python
+extensions is installed:
+
+|============================================================================
+|pyserial           | Python Serial Port extension
+|===========================================================================
+
 === Scons ===
 
 You will need scons version 2.3.0 (from 2013-03-02) or later to build the code.
@@ -204,11 +221,11 @@ To build gpsd for your host platform from source, simply call 'scons'
 in a working-directory copy. (Cross-build is described in a later
 section.)
 
-To clean the built files, call 'scons -c' .  To clean scons' cache,
-call 'scons sconsclean'.  Doing both should return your working directory
-to a near pristine state as far as building is concerned.  Some user
-created files may remain, and source code changes will not have been
-reverted..
+To clean the built files, call 'scons -c' . To clean scons' cache, call
+'scons sconsclean'.  Run 'rm -f .sconsign.dblite' to clear the scons
+database.  Doing all three should return your working directory to a
+near pristine state as far as building is concerned.  Some user created
+files may remain, and source code changes will not have been reverted..
 
 You can specify the installation prefix, as for an autotools build, by
 running "scons prefix=<installation_root>". The default value is

cgps.1

@@ -1 +1,208 @@
-.so gps.1
+'\" t
+.\"     Title: gps
+.\"    Author: [see the "AUTHORS" section]
+.\" Generator: DocBook XSL Stylesheets v1.79.1 <http://docbook.sf.net/>
+.\"      Date: 9 Aug 2004
+.\"    Manual: GPSD Documentation
+.\"    Source: The GPSD Project
+.\"  Language: English
+.\"
+.TH "GPS" "1" "9 Aug 2004" "The GPSD Project" "GPSD Documentation"
+.\" -----------------------------------------------------------------
+.\" * Define some portability stuff
+.\" -----------------------------------------------------------------
+.\" ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+.\" http://bugs.debian.org/507673
+.\" http://lists.gnu.org/archive/html/groff/2009-02/msg00013.html
+.\" ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+.ie \n(.g .ds Aq \(aq
+.el       .ds Aq '
+.\" -----------------------------------------------------------------
+.\" * set default formatting
+.\" -----------------------------------------------------------------
+.\" disable hyphenation
+.nh
+.\" disable justification (adjust text to left margin only)
+.ad l
+.\" -----------------------------------------------------------------
+.\" * MAIN CONTENT STARTS HERE *
+.\" -----------------------------------------------------------------
+.SH "NAME"
+cgps, gegps, gps, lcdgps, xgps, xgpsspeed \- test clients for gpsd
+.SH "SYNOPSIS"
+.HP \w'\fBcgps\fR\ 'u
+\fBcgps\fR [\-D\ \fIdebug\-level\fR] [\-h] [\-l\ [[d]\ |\ [m]\ |\ [s]]] [\-m] [\-s] [\-u\ [[i]\ |\ [n]\ |\ [m]]] [\-V] [\fIserver\fR [\fI:port\fR [\fI:device\fR]]]
+.HP \w'\fBgegps\fR\ 'u
+\fBgegps\fR [\-d\ \fIdirectory\fR] [\-h] [\-i] [\-V]
+.HP \w'\fBlcdgps\fR\ 'u
+\fBlcdgps\fR [\-h] [\-j] [\-l\ [[d]\ |\ [m]\ |\ [s]]] [\-s] [\-u\ [[i]\ |\ [n]\ |\ [m]]] [\-V] [\fIserver\fR [\fI:port\fR [\fI:device\fR]]]
+.HP \w'\fBxgps\fR\ 'u
+\fBxgps\fR [\-?] [\-D\ \fIdebug\-level\fR] [\-h] [\-l\ [[d]\ |\ [m]\ |\ [s]]] [\-u\ [[i]\ |\ [n]\ |\ [m]]] [\-V] [\fIserver\fR [\fI:port\fR [\fI:device\fR]]]
+.HP \w'\fBxgpsspeed\fR\ 'u
+\fBxgpsspeed\fR [\-\-debug\ \fIdebug\-level\fR] [\-\-device\ \fIdevice\fR] [\-h] [\-\-host\ \fIhost\fR] [\-\-landspeed] [\-\-maxspeed\ \fImaxspeed\fR] [\-\-nautical] [\-\-port\ \fIport\fR] [\-\-speedunits\ {[mph]\ |\ [kph]\ |\ [knots]}] [\-V] [\fIserver\fR [\fI:port\fR [\fI:device\fR]]]
+.SH "DESCRIPTION"
+.PP
+These are the demonstration clients shipped with
+gpsd\&. They have some common options:
+.PP
+The
+\fB\-h\fR
+option causes each client to emit a summary of its options and then exit\&.
+.PP
+The
+\fB\-V\fR
+option causes each client to dump the package version and exit\&.
+.PP
+The
+\fB\-l\fR
+option, when present, sets the format of latitude and longitude reports\&. The value \*(Aqd\*(Aq produces decimal degrees and is the default\&. The value \*(Aqm\*(Aq produces degrees and decimal minutes\&. The value \*(Aqs\*(Aq produces degrees, minutes, and decimal seconds\&.
+.PP
+xgps,
+cgps, and
+lcdgps
+look at variables in the environment to figure out what units they should default to using for display \(em imperial, nautical, or metric\&. Here are the variables and values they check:
+.sp
+.if n \{\
+.RS 4
+.\}
+.nf
+    GPSD_UNITS one of:
+              imperial   = miles/feet
+              nautical   = knots/feet
+              metric     = km/meters
+    LC_MEASUREMENT
+	      en_US      = miles/feet
+              C          = miles/feet
+              POSIX      = miles/feet
+              [other]    = km/meters
+    LANG
+	      en_US      = miles/feet
+              C          = miles/feet
+              POSIX      = miles/feet
+              [other]    = km/meters
+.fi
+.if n \{\
+.RE
+.\}
+.PP
+These preferences may be overridden by the
+\fB\-u\fR
+option\&.
+.PP
+Where present, the
+\fB\-u\fR
+option can be used to set the system units for display; follow the keyword with \*(Aqi\*(Aq for \*(Aqimperial\*(Aq for American units (feet in altitude and error estimates, miles per hour in speeds), \*(Aqn\*(Aq for \*(Aqnautical\*(Aq (feet in altitude and error estimates, knots in speed) or \*(Aqm\*(Aq for \*(Aqmetric\*(Aq (meters in altitude and error estimates, kilometers per hour in speeds)\&.
+.PP
+The
+\fB\-D\fR
+option, when present, sets a debug level; it is primarily for use by GPSD developers\&. It enables various progress messages to standard error\&.
+.PP
+By default, clients collect data from all compatible devices on localhost, using the default GPSD port 2947\&. An optional argument to any client may specify a server to get data from\&. A colon\-separated suffix is taken as a port number\&. If there is a second colon\-separated suffix, that is taken as a specific device name to be watched\&. However, if the server specification contains square brackets, the part inside them is taken as an IPv6 address and port/device suffixes are only parsed after the trailing bracket\&. Possible cases look like this:
+.PP
+localhost:/dev/ttyS1
+.RS 4
+Look at the default port of localhost, trying both IPv4 and IPv6 and watching output from serial device 1\&.
+.RE
+.PP
+example\&.com:2317
+.RS 4
+Look at port 2317 on example\&.com, trying both IPv4 and IPv6\&.
+.RE
+.PP
+71\&.162\&.241\&.5:2317:/dev/ttyS3
+.RS 4
+Look at port 2317 at the specified IPv4 address, collecting data from attached serial device 3\&.
+.RE
+.PP
+[FEDC:BA98:7654:3210:FEDC:BA98:7654:3210]:2317:/dev/ttyS5
+.RS 4
+Look at port 2317 at the specified IPv6 address, collecting data from attached serial device 5\&.
+.RE
+.PP
+Not all clients shipped with GPSD are documented here\&. See also the separate manual pages for
+\fBgpspipe\fR(1)
+and
+\fBgpsmon\fR(1)
+and
+\fBgpxlogger\fR(1)
+\&.
+.SS "xgps"
+.PP
+xgps
+is a simple test client for
+gpsd
+with an X interface\&. It displays current GPS position/time/velocity information and (for GPSes that support the feature) the locations of accessible satellites\&.
+.PP
+In the sky view, satellites are color\-coded to indicate quality of signal; consult the data display to the left for exact figures in dB\&. Square icons indicate WAAS/EGNOS satellites, circles indicate ordinary GPS satellites\&. Filled icons were used in the last fix, outline icons were not\&.
+.SS "xgpsspeed"
+.PP
+xgpsspeed
+is a speedometer that uses position information from the GPS\&. It accepts an \-h option and optional argument as for
+gps, or a \-V option to dump the package version and exit\&.
+.PP
+The default display mode is a speed and track presentation modeled after a marine navigation display; for backward compatibility the \-\-nautical option forces this mode\&. The \-\-landspeed option produces a simple speedometer\&.
+.PP
+The \-speedunits option can be used to set the speed units for display; follow the keyword with knots for nautical miles per hour, kph for kilometres per hour, or mph for miles per hour\&. The default is miles per hour\&.
+.PP
+In the nautical mode only, \-\-maxspeed sets the maximum on the speedometer\&.
+.SS "cgps"
+.PP
+cgps
+is a client resembling
+xgps, but without the pictorial satellite display and able to run on a serial terminal or terminal emulator\&.
+.PP
+The
+\fB\-s\fR
+option prevents
+cgps
+from displaying the data coming from the daemon\&. This display can also be toggled with the s command\&.
+.PP
+The
+\fB\-m\fR
+option will display your magnetic heading (as opposed to your true heading)\&. This is a calculated value, not a measured value, and is subject to a potential error of up to two degrees in the areas for which the calculation is valid (currently Western Europe, Alaska, and Lower 48 in the USA)\&. The formulas used are those found in the Aviation Formulary v1\&.43\&.
+.PP
+cgps
+terminates when you send it a SIGHUP or SIGINT; given default terminal settings this will happen when you type Ctrl\-C at it\&. It will also terminate on \*(Aqq\*(Aq
+.SS "lcdgps"
+.PP
+A client that passes
+gpsd
+data to
+lcdproc, turning your car computer into a very expensive and nearly feature\-free GPS receiver\&. Currently assumes a 4x40 LCD and writes data formatted to fit that size screen\&. Also displays 4\- or 6\-character Maidenhead grid square output\&.
+.SS "gegps"
+.PP
+This program collects fixes from
+gpsd
+and feeds them to a running instance of Google Earth for live location tracking\&.
+.PP
+The
+\fB\-d\fR
+argument is the location of the Google Earth installation directory\&. If not specified, it defaults to the current directory\&.
+.PP
+If you have the free (non\-subscription) version, start by running with the
+\fB\-i\fR
+option to drop a clue in the Google Earth installation directory, as \*(AqOpen_in_Google_Earth_RT_GPS\&.kml\*(Aq, then open that file in Places (File > Open\&.\&.\&.)\&. Run
+gpsd
+in the normal way after that\&.
+.SH "SEE ALSO"
+.PP
+\fBgpsd\fR(8),
+\fBlibgps\fR(3),
+\fBlibgpsmm\fR(3),
+\fBgpsfake\fR(1),
+\fBgpsctl\fR(1),
+\fBgpscat\fR(1),
+\fBgpsprof\fR(1)\&.
+\fBgpspipe\fR(1)\&.
+\fBgpsmon\fR(1)\&.
+\fBgpxlogger\fR(1)\&.
+.SH "AUTHORS"
+.PP
+Remco Treffcorn, Derrick Brashear, Russ Nelson & Eric S\&. Raymond, Jeff Francis (cgps), Chen Wei
+<weichen302@aol\&.com>
+(gegps & xgpsspeed), Robin Wittler
+<real@the\-real\&.org>
+(xgpsspeed)\&.
+.PP
+This manual page by Eric S\&. Raymond
+<esr@thyrsus\&.com>

contrib/README

@@ -2,6 +2,13 @@ The following tools are not production-ready. They are included only as
 conveniences, examples or rudimetary starting points for other development
 efforts.
 
+skyview2svg reads the skyview from gpspipe, and creates an svg image
+of the skyview.
+
+gpssnmp a tool to return some SNMP values from the running local gpsd.
+ 
+clock_test is used to test the latency of the system call clock_getttime().
+
 binlog and binreplay are probably only useful for people developing
 drivers for new protocols, when gpsfake does not yet know what to do
 with a log file. These utilities are not particularly clever - they

contrib/SConstruct

@@ -6,12 +6,11 @@
 # Note that ../gpsd_config.h is required and is built separately
 
 
-strl = StaticObject("strl", "../strl.c")
-
-ashctl = Program("ashctl", ["ashctl.c", strl])
+ashctl = Program("ashctl", "ashctl.c")
 binlog = Program("binlog", "binlog.c")
 binreplay = Program("binreplay", "binreplay.c", parse_flags=['-lutil'])
+clock_test = Program("clock_test", "clock_test.c", parse_flags=['-lm'])
 lla2ecef = Program("lla2ecef", "lla2ecef.c", parse_flags=['-lm'])
-motosend = Program("motosend", ["motosend.c", strl])
+motosend = Program("motosend", "motosend.c")
 
-Default(ashctl, binlog, binreplay, lla2ecef, motosend)
+Default(ashctl, binlog, binreplay, clock_test, lla2ecef, motosend)

contrib/clock_test.c

@@ -0,0 +1,110 @@
+/*
+ * clock_test.  A simple program to test the latency of the clock_gettime() call
+ *
+ * Compile: gcc clock_test.c -lm -o clock_test
+ *
+ */
+
+#include <getopt.h>             /* for getopt() */
+#include <limits.h>             /* for LONG_MAX */
+#include <math.h>               /* for pow(), sqrt() */
+#include <stdio.h>              /* for printf() */
+#include <stdlib.h>             /* for qsort() */
+#include <time.h>               /* for time_t */
+
+#define NUM_TESTS 101           /* default samples, make it odd for a clean median */
+#define DELAY 10000000          /* default delay between samples in ns, 10 ms is good */
+
+int compare_long( const void *ap, const void *bp)
+{
+        long a = *((long *)ap);
+        long b = *((long *)bp);
+	if ( a < b ) return -1;
+	if ( a > b ) return 1;
+        return 0;
+}
+
+int main(int argc, char **argv)
+{
+    int i;
+    int opt;                   /* for getopts() */
+    int verbose = 0;
+    int samples = NUM_TESTS;
+    long delay = DELAY;
+    long *diffs = NULL;
+    long min = LONG_MAX, max = 0, sum = 0, mean = 0, median = 0;
+    double stddev = 0.0;
+    
+    while ((opt = getopt(argc, argv, "d:hvn:")) != -1) {
+        switch (opt) {
+        case 'd':
+	    delay = atol(optarg);
+	    break;
+        case 'n':
+	    samples = atoi(optarg);
+            /* make odd, for a good median */
+            if ( (samples & 1) == 0) {
+                samples += 1;
+            }
+	    break;
+        case 'v':
+	    verbose = 1;
+	    break;
+        case 'h':
+            /* fall through */
+        default: /* '?' */
+	    fprintf(stderr, "Usage: %s [-h] [-d nsec] [-n samples] [-v]\n\n", argv[0]);
+	    fprintf(stderr, "-d nsec     : nano seconde paus between samples\n");
+	    fprintf(stderr, "-h          : help\n");
+	    fprintf(stderr, "-n samples  : Number of samples, default %d\n", NUM_TESTS);
+	    fprintf(stderr, "-v          : verbose\n");
+	    exit(EXIT_FAILURE);
+        }
+    }
+
+    diffs = alloca( sizeof(long) * (samples + 2));  /* add 2 for off by one errors */
+
+    /* collect test data */
+    for ( i = 0 ; i < samples; i++ ) {
+	struct timespec now, now1, sleep, sleep1;
+
+	(void)clock_gettime(CLOCK_REALTIME, &now);
+	(void)clock_gettime(CLOCK_REALTIME, &now1);
+	diffs[i] = now1.tv_nsec - now.tv_nsec;
+        if ( now1.tv_sec != now.tv_sec ) {
+            /* clock roll over, fix it */
+            diffs[i] += 1000000000;  /* add one second */
+        }
+        /* instead of hammering, sleep between tests, let the cache get cold */
+        sleep.tv_sec = 0;
+        sleep.tv_nsec = delay;    /* sleep delay */
+        /* sleep1 unused, should not be returning early */
+        nanosleep(&sleep, &sleep1);
+    }
+
+    /* analyze test data */
+
+    /* print diffs, calculate min and max */
+    for ( i = 0 ; i < samples; i++ ) {
+        if ( verbose > 0 ) {
+	    printf("diff %ld\n", diffs[i]);
+        }
+        sum += diffs[i];
+        if ( diffs[i] < min ) min = diffs[i];
+        if ( diffs[i] > max ) max = diffs[i];
+    }
+    mean = sum / (samples - 1);
+
+    qsort( diffs, samples, sizeof(long), compare_long);
+    median = diffs[(samples / 2) + 1];
+
+
+    for ( i = 0 ; i < samples; i++ ) {
+        stddev += pow(diffs[i] - mean, 2);
+    }
+    stddev = sqrt(stddev/samples);
+
+    printf("samples %d, delay %ld ns\n", samples, delay);
+    printf("min %ld ns, max %ld ns, mean %ld ns, median %ld ns, StdDev %ld ns\n",
+           min, max, mean, median, (long)stddev);
+}

contrib/gps

@@ -1 +1 @@
-gpsd-3.17/../gps
+gpsd-3.18.1/../gps

contrib/gpsData.py

@@ -1,7 +1,7 @@
 #! /usr/bin/python
 # Written by Dan Mandle http://dan.mandle.me September 2012
 # http://www.danmandle.com/blog/getting-gpsd-to-work-with-python/
-# License: GPL 2.0 
+# License: GPL 2.0
 
 # This code runs compatibly under Python 2 and 3.x for x >= 2.
 # Preserve this property!
@@ -13,57 +13,64 @@ from time import *
 import time
 import threading
 
-gpsd = None #seting the global variable
+gpsd = None          # setting the global variable
+
+os.system('clear')   # clear the terminal (optional)
 
-os.system('clear') #clear the terminal (optional)
 
 class GpsPoller(threading.Thread):
-  def __init__(self):
-    threading.Thread.__init__(self)
-    global gpsd #bring it in scope
-    gpsd = gps(mode=WATCH_ENABLE) #starting the stream of info
-    self.current_value = None
-    self.running = True #setting the thread running to true
+    def __init__(self):
+        threading.Thread.__init__(self)
+        global gpsd                    # bring it in scope
+        gpsd = gps(mode=WATCH_ENABLE)  # starting the stream of info
+        self.current_value = None
+        self.running = True            # setting the thread running to true
+
+    def run(self):
+        global gpsd
+        while gpsp.running:
+            # this will continue to loop and grab EACH set of
+            # gpsd info to clear the buffer
+            next(gpsd)
 
-  def run(self):
-    global gpsd
-    while gpsp.running:
-      next(gpsd) #this will continue to loop and grab EACH set of gpsd info to clear the buffer
 
 if __name__ == '__main__':
-  gpsp = GpsPoller() # create the thread
-  try:
-    gpsp.start() # start it up
-    while True:
-      #It may take a second or two to get good data
-      #print gpsd.fix.latitude,', ',gpsd.fix.longitude,'  Time: ',gpsd.utc
+    gpsp = GpsPoller()   # create the thread
+    try:
+        gpsp.start()     # start it up
+        while True:
+            # It may take a second or two to get good data
+            # print(gpsd.fix.latitude,', ',gpsd.fix.longitude,'
+            #       Time: ',gpsd.utc
+
+            os.system('clear')
 
-      os.system('clear')
+            print()
+            print(' GPS reading')
+            print('----------------------------------------')
+            print('latitude    ', gpsd.fix.latitude)
+            print('longitude   ', gpsd.fix.longitude)
+            print('time utc    ', gpsd.utc, ' + ', gpsd.fix.time)
+            print('altitude (m)', gpsd.fix.altitude)
+            print('eps         ', gpsd.fix.eps)
+            print('epx         ', gpsd.fix.epx)
+            print('epv         ', gpsd.fix.epv)
+            print('ept         ', gpsd.fix.ept)
+            print('speed (m/s) ', gpsd.fix.speed)
+            print('climb       ', gpsd.fix.climb)
+            print('track       ', gpsd.fix.track)
+            print('mode        ', gpsd.fix.mode)
+            print()
+            print("%s satellites in view:" % len(gpsd.satellites))
+            for sat in gpsd.satellites:
+                print("    %r" % sat)
 
-      print()
-      print(' GPS reading')
-      print('----------------------------------------')
-      print('latitude    ' , gpsd.fix.latitude)
-      print('longitude   ' , gpsd.fix.longitude)
-      print('time utc    ' , gpsd.utc,' + ', gpsd.fix.time)
-      print('altitude (m)' , gpsd.fix.altitude)
-      print('eps         ' , gpsd.fix.eps)
-      print('epx         ' , gpsd.fix.epx)
-      print('epv         ' , gpsd.fix.epv)
-      print('ept         ' , gpsd.fix.ept)
-      print('speed (m/s) ' , gpsd.fix.speed)
-      print('climb       ' , gpsd.fix.climb)
-      print('track       ' , gpsd.fix.track)
-      print('mode        ' , gpsd.fix.mode)
-      print()
-      print("%s satellites in view:" % len(gpsd.satellites))
-      for sat in gpsd.satellites:
-          print("    %r" % sat)
+            time.sleep(5)     # set to whatever
 
-      time.sleep(5) #set to whatever
+    except (KeyboardInterrupt, SystemExit):
+        # when you press ctrl+c
+        print("\nKilling Thread...")
+        gpsp.running = False
+        gpsp.join()   # wait for the thread to finish what it's doing
 
-  except (KeyboardInterrupt, SystemExit): #when you press ctrl+c
-    print("\nKilling Thread...")
-    gpsp.running = False
-    gpsp.join() # wait for the thread to finish what it's doing
-  print("Done.\nExiting.")
+    print("Done.\nExiting.")

contrib/gpssnmp.c

@@ -0,0 +1,91 @@
+/* gpssnmp - poll local gpsd for SNMP variables
+ * 
+ * Copyright (c) 2016 David Taylor <gpsd@david.taylor.name>
+ *
+ * Copyright (c)2018 by the GPSD project
+ * SPDX-License-Identifier: BSD-2-clause
+ *
+ * To build this:
+ *     gcc -o gpssnmp gpssnmp.c -lgps
+ *
+ */
+
+#include <gps.h>
+#include <stdio.h>
+#include <string.h>
+
+static void usage() {
+    printf("\n"
+        "Usage:\n"
+        "\n"
+        "to get OID_VISIBLE\n"
+        "   $ gpssnmp -g .1.3.6.1.2.1.25.1.31\n"
+        "   .1.3.6.1.2.1.25.1.31\n"
+        "   gauge\n"
+        "   13\n"
+        "\n"
+        "to get OID_USED\n"
+        "   $ gpssnmp -g .1.3.6.1.2.1.25.1.32\n"
+        "   .1.3.6.1.2.1.25.1.32\n"
+        "   gauge\n"
+        "   4\n"
+        "\n"
+        "to get OID_SNR_AVG\n"
+        "   $ gpssnmp -g .1.3.6.1.2.1.25.1.33\n"
+        "   .1.3.6.1.2.1.25.1.33\n"
+        "   gauge\n"
+        "   22.250000\n"
+        "\n");
+}
+
+int main (int argc, char **argv) {
+  struct gps_data_t gpsdata;
+
+  #define OID_VISIBLE ".1.3.6.1.2.1.25.1.31"
+  #define OID_USED ".1.3.6.1.2.1.25.1.32"
+  #define OID_SNR_AVG ".1.3.6.1.2.1.25.1.33"
+
+  if ((argc > 2) && (strcmp ("-g", argv[1]) == 0)) {
+    int i;
+    double snr_total=0;
+    double snr_avg = 0.0;
+    int status, used, visible;
+
+    status = gps_open (GPSD_SHARED_MEMORY, DEFAULT_GPSD_PORT, &gpsdata);
+    status = gps_read (&gpsdata);
+    used  = gpsdata.satellites_used;
+    visible = gpsdata.satellites_visible;
+    for(i=0; i<=used; i++) {
+        if (gpsdata.skyview[i].used > 0 && gpsdata.skyview[i].ss > 1) {
+//          printf ("i: %d, P:%d, ss: %f\n", i, gpsdata.skyview[i].PRN,
+//                  gpsdata.skyview[i].ss);
+            snr_total+=gpsdata.skyview[i].ss;
+        }
+    }
+    gps_close (&gpsdata);
+    if (used > 0) {
+        snr_avg = snr_total / used;
+    }
+    if (strcmp (OID_VISIBLE, argv[2]) == 0) {
+	printf (OID_VISIBLE);
+	printf ("\n");
+	printf ("gauge\n");
+	printf ("%d\n", visible);
+    }
+    if (strcmp (OID_USED, argv[2]) == 0) {
+	printf (OID_USED);
+	printf ("\n");
+	printf ("gauge\n");
+	printf ("%d\n", used);
+    }
+    if (strcmp (OID_SNR_AVG, argv[2]) == 0) {
+	printf (OID_SNR_AVG);
+	printf ("\n");
+	printf ("gauge\n");
+	printf ("%lf\n", snr_avg);
+    }
+  } else {
+    usage();
+  }
+  return 0;
+}

contrib/ntpshmviz

@@ -1,25 +1,37 @@
 #!/usr/bin/env python
-# 
-# ntpshmviz - graph the drift of NTP servers
-# Written by Keane Wolter <daemoneye2@gmail.com>
+'''
+ntpshmviz - graph the drift of NTP servers
+Written by Keane Wolter <daemoneye2@gmail.com>
+'''
 #
 # To do:
 #
 # 1. Add exit button so the user does not need to do <Ctrl>-w
+# 2. Allow for a continuous stream of data to be graphed
 #
 
+from __future__ import absolute_import, print_function, division
+
 import sys
-# need numpy for float128, normal python floats are too small to hold a timespec
+# need numpy for float128, normal python floats are too small to
+# hold a timespec
 import numpy
 try:
     import matplotlib.pyplot as PLT
-    from matplotlib.figure import Figure
-except:
-    print("Please make sure matplotlib is installed properly:", sys.exc_info()[0])
+except ImportError:
+    print("Please make sure matplotlib is installed properly:",
+          sys.exc_info()[0])
     sys.exit(1)
 
-class ntpOffset:
+gps_version = '3.18.1'
+
+
+class ntpOffset(object):
+    "The master Class"
+
     def __init__(self, stream):
+        "Initialize class ntpOffset"
+
         # get the data
         self.read_data(stream)
 
@@ -27,10 +39,11 @@ class ntpOffset:
         self.display()
 
     def display(self):
-        # display the graphs
+        "display the graphs"
 
         # Alert the user that closing the graphs can be done with "Ctrl-w"
-        print ("Please note that the graph can be closed with the key combination of <Ctrl-w>")
+        print ("Please note that the graph can be closed with the "
+               "key combination of <Ctrl-w>")
 
         PLT.figure()
         subplot_value = 211
@@ -47,12 +60,16 @@ class ntpOffset:
             # increment the subplot by 1.
             # this allows for each data group to have it's own graph
             subplot_value += 1
-        # make sure there is no graph or data overlapping each other and display the graph
+
+        # make sure there is no graph or data overlapping each other and
+        # display the graph
         PLT.tight_layout()
         PLT.show()
 
     def read_data(self, stream):
-        # Reads data from a ntp log file.  Layout is:
+        "Read data from a ntp log file."
+
+        # Layout is:
         #
         #   - The keyword "sample"
         #   - The NTP unit from which it was collected.
@@ -62,11 +79,11 @@ class ntpOffset:
         #   - Leep-second notification status
         #   - Source precision (log(2) of source jitter)
 
-        self.ntp_data    = {} # data sets for each ntp unit
-        self.line_counts = {} # Count of total lines for each ntp unit
-        record           = [] # A single record in the file or data stream
-        offset           = 0  # offset value to add to the array 
-        self.lines       = 0  # width of graph
+        self.ntp_data = {}      # data sets for each ntp unit
+        self.line_counts = {}   # Count of total lines for each ntp unit
+        record = []             # A single record in the file or data stream
+        offset = 0              # offset value to add to the array
+        self.lines = 0          # width of graph
 
         for line in stream:
             if len(line.split(' ')) > 6:
@@ -74,9 +91,11 @@ class ntpOffset:
                     line = line.lstrip()
                     record = line.split(' ')
                     try:
-                        offset = numpy.float128(record[3]) - numpy.float128(record[4])
+                        offset = (numpy.float128(record[3]) -
+                                  numpy.float128(record[4]))
                     except:
-                        print ("Invalid data: ", sys.exc_info()[0], ". Data was: ", line)
+                        print ("Invalid data: ", sys.exc_info()[0],
+                               ". Data was: ", line)
                         continue
 
                     # If the NTP unit is in the dictionary
@@ -84,29 +103,34 @@ class ntpOffset:
                     # Otherwise, create a new list in the dictionary
                     # and add the offset.
                     if record[1] not in self.ntp_data:
-                        self.ntp_data[record[1]]  = []
+                        self.ntp_data[record[1]] = []
                         self.line_counts[record[1]] = 0
 
                     self.ntp_data[record[1]].append(offset)
                     self.line_counts[record[1]] += 1
         stream.close()
 
+
 if __name__ == "__main__":
-    if (len(sys.argv) == 2):
+    if len(sys.argv) >= 2:
         if (sys.argv[1] == "-V" or sys.argv[1] == "--version"):
-            print ("Version 2.0")
-            sys.exit()
+            sys.stderr.write("ntpshmviz: Version %s\n" % gps_version)
+            sys.exit(0)
 
         if (sys.argv[1] == "-h" or sys.argv[1] == "--help"):
-            print ("Usage: <input stream> | ntpshmviz")
-            print ("Example: cat SAMPLES | ntpshmviz")
-            print ("")
-            print ("Options:")
-            print ("\t-h: help message")
-            print ("\t-V: version information")
-            print ("")
-            print ("Report ntpshmviz bugs to Keane Wolter, daemoneye2@gmail.com")
-            print ("gpsd homepage: www.catb.org/gpsd/")
+            print("""
+Usage: <input stream> | ntpshmviz [-h|--help] [-V|--version]
+
+Example: ntpshmmon -n 100 | ntpshmviz
+
+Options:
+\t-h: help message
+\t-V: version information
+
+Report ntpshmviz bugs to Keane Wolter, daemoneye2@gmail.com
+                      or gpsd-users@nongnu.org
+gpsd homepage: www.catb.org/gpsd/
+""")
             sys.exit()
 
     ntpOffset(sys.stdin)

contrib/skyview2svg

@@ -0,0 +1,367 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+"""
+skyview2svg -- Create an SVG image of GPS satellites sky view.
+
+Read from file or stdin the JSON data produced by gpsd,
+example usage:
+
+    gpspipe -w | skyview2svg > skyview.svg
+
+For GPSD JSON format see: http://www.catb.org/gpsd/gpsd_json.html
+"""
+# SPDX-License-Identifier: BSD-2-clause
+# This code runs compatibly under Python 2 and 3.x for x >= 2.
+# Preserve this property!
+from __future__ import absolute_import, print_function, division
+
+import datetime
+import json
+import math
+import sys
+
+__author__ = "Niccolo Rigacci"
+__copyright__ = "Copyright 2018 Niccolo Rigacci <niccolo@rigacci.org>"
+__license__ = "BSD-2-clause"
+__email__ = "niccolo@rigacci.org"
+__version__ = "3.18.1"
+
+
+# ------------------------------------------------------------------------
+# ------------------------------------------------------------------------
+def polar2cart(azimuth, elevation, r_max):
+    """Convert polar coordinates in cartesian ones."""
+    radius = r_max * (1 - elevation / 90.0)
+    theta = math.radians(float(azimuth - 90))
+    return (
+        int(radius * math.cos(theta) + 0.5),
+        int(radius * math.sin(theta) + 0.5)
+    )
+
+
+# ------------------------------------------------------------------------
+# ------------------------------------------------------------------------
+def cutoff_err(err, err_min, err_max):
+    """Cut-off Estimated Error between min and max."""
+    if err is None or err >= err_max:
+        return err_max, '&gt;'
+    if err <= err_min:
+        return err_min, '&lt;'
+    else:
+        return err, ''
+
+
+# ------------------------------------------------------------------------
+# Read JSON data from file or stdin, search a {'class': 'SKY'} line.
+# ------------------------------------------------------------------------
+EXIT_CODE = 0
+SKY = None
+TPV = None
+try:
+    if len(sys.argv) > 1:
+        with open(sys.argv[1]) as f:
+            while True:
+                SENTENCE = json.loads(f.readline())
+                if 'class' in SENTENCE and SENTENCE['class'] == 'SKY':
+                    SKY = SENTENCE
+                if 'class' in SENTENCE and SENTENCE['class'] == 'TPV':
+                    TPV = SENTENCE
+                if SKY is not None and TPV is not None:
+                    break
+    else:
+        while True:
+            SENTENCE = json.loads(sys.stdin.readline())
+            if 'class' in SENTENCE and SENTENCE['class'] == 'SKY':
+                SKY = SENTENCE
+            if 'class' in SENTENCE and SENTENCE['class'] == 'TPV':
+                TPV = SENTENCE
+            if SKY is not None and TPV is not None:
+                sys.stdin.close()
+                break
+except (IOError, ValueError):
+    # Assume empty data and write msg to stderr.
+    EXIT_CODE = 100
+    sys.stderr.write("Error reading JSON data from file or stdin."
+                     " Creating an empty or partial skyview image.\n")
+
+if SKY is None:
+    SKY = {}
+if TPV is None:
+    TPV = {}
+
+# ------------------------------------------------------------------------
+# Colors for the SVG styles.
+# ------------------------------------------------------------------------
+# Background and label colors.
+BACKGROUND_COLOR = '#323232'
+LBL_FONT_COLOR = 'white'
+FONT_FAMILY = 'Verdana,Arial,Helvetica,sans-serif'
+# Compass dial.
+COMPASS_STROKE_COLOR = '#9d9d9d'
+DIAL_POINT_COLOR = COMPASS_STROKE_COLOR
+# Satellites constellation.
+SAT_USED_FILL_COLOR = '#00ff00'
+SAT_UNUSED_FILL_COLOR = '#d0d0d0'
+SAT_USED_STROKE_COLOR = '#0b400b'
+SAT_UNUSED_STROKE_COLOR = '#101010'
+SAT_USED_TEXT_COLOR = '#000000'
+SAT_UNUSED_TEXT_COLOR = '#000000'
+# Sat signal/noise ratio box and bars.
+BARS_AREA_FILL_COLOR = '#646464'
+BARS_AREA_STROKE_COLOR = COMPASS_STROKE_COLOR
+BAR_USED_FILL_COLOR = '#00ff00'
+BAR_UNUSED_FILL_COLOR = '#ffffff'
+BAR_USED_STROKE_COLOR = '#324832'
+BAR_UNUSED_STROKE_COLOR = BACKGROUND_COLOR
+
+# ------------------------------------------------------------------------
+# Size and position of elements.
+# ------------------------------------------------------------------------
+IMG_WIDTH = 528
+IMG_HEIGHT = 800
+STROKE_WIDTH = int(IMG_WIDTH * 0.007)
+
+# Scale graph bars to accomodate at least MIN_SAT values.
+MIN_SAT = 12
+NUM_SAT = MIN_SAT
+
+# Auto-scale: reasonable values for Signal/Noise Ratio and Error.
+SNR_MAX = 30.0  # Do not autoscale below this value.
+# Auto-scale horizontal and vertical error, in meters.
+ERR_MIN = 5.0
+ERR_MAX = 75.0
+
+# Create an empty list, if satellites list is missing.
+if 'satellites' not in SKY.keys():
+    SKY['satellites'] = []
+
+if len(SKY['satellites']) < MIN_SAT:
+    NUM_SAT = MIN_SAT
+else:
+    NUM_SAT = len(SKY['satellites'])
+
+# Make a sortable array and autoscale SNR.
+SATELLITES = {}
+for sat in SKY['satellites']:
+    SATELLITES[sat['PRN']] = sat
+    if float(sat['ss']) > SNR_MAX:
+        SNR_MAX = float(sat['ss'])
+
+# Compass dial and satellites placeholders.
+CIRCLE_X = int(IMG_WIDTH * 0.50)
+CIRCLE_Y = int(IMG_WIDTH * 0.49)
+CIRCLE_R = int(IMG_HEIGHT * 0.22)
+SAT_WIDTH = int(CIRCLE_R * 0.24)
+SAT_HEIGHT = int(CIRCLE_R * 0.14)
+
+# GPS position.
+POS_LBL_X = int(IMG_WIDTH * 0.50)
+POS_LBL_Y = int(IMG_HEIGHT * 0.62)
+
+# Sat signal/noise ratio box and bars.
+BARS_BOX_WIDTH = int(IMG_WIDTH * 0.82)
+BARS_BOX_HEIGHT = int(IMG_HEIGHT * 0.14)
+BARS_BOX_X = int((IMG_WIDTH - BARS_BOX_WIDTH) * 0.5)
+BARS_BOX_Y = int(IMG_HEIGHT * 0.78)
+BAR_HEIGHT_MAX = int(BARS_BOX_HEIGHT * 0.72)
+BAR_SPACE = int((BARS_BOX_WIDTH - STROKE_WIDTH) / NUM_SAT)
+BAR_WIDTH = int(BAR_SPACE * 0.70)
+BAR_RADIUS = int(BAR_WIDTH * 0.20)
+
+# Error box and bars.
+ERR_BOX_X = int(IMG_WIDTH * 0.65)
+ERR_BOX_Y = int(IMG_HEIGHT * 0.94)
+ERR_BOX_WIDTH = int((BARS_BOX_X + BARS_BOX_WIDTH) - ERR_BOX_X)
+ERR_BOX_HEIGHT = BAR_SPACE * 2
+ERR_BAR_HEIGHT_MAX = int(ERR_BOX_WIDTH - STROKE_WIDTH*2)
+
+# Timestamp
+TIMESTAMP_X = int(IMG_WIDTH * 0.50)
+TIMESTAMP_Y = int(IMG_HEIGHT * 0.98)
+
+# Text labels.
+LBL_FONT_SIZE = int(IMG_WIDTH * 0.036)
+LBL_COMPASS_POINTS_SIZE = int(CIRCLE_R * 0.12)
+LBL_SAT_SIZE = int(SAT_HEIGHT * 0.75)
+LBL_SAT_BAR_SIZE = int(BAR_WIDTH * 0.90)
+
+# Get timestamp from GPS or system.
+if 'time' in SKY:
+    UTC = datetime.datetime.strptime(SKY['time'], '%Y-%m-%dT%H:%M:%S.%fZ')
+elif 'time' in TPV:
+    UTC = datetime.datetime.strptime(TPV['time'], '%Y-%m-%dT%H:%M:%S.%fZ')
+else:
+    UTC = datetime.datetime.utcnow()
+TIME_STR = UTC.strftime('%Y-%m-%d %H:%M:%S UTC')
+
+# ------------------------------------------------------------------------
+# Output the SGV image.
+# ------------------------------------------------------------------------
+print('''<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
+          "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
+<svg
+   xmlns="http://www.w3.org/2000/svg"
+   width="%d"
+   height="%d">''' % (IMG_WIDTH, IMG_HEIGHT))
+
+# NOTICE: librsvg v.2.40 has a bug with "chain" multiple class selectors:
+# it does not handle a selector like text.label.title and a
+# tag class="label title".
+print('<style type="text/css">')
+# Labels.
+print('    text              '
+      '{ font-family: Verdana,Arial,Helvetica,sans-serif; font-weight: bold;}')
+print('    text.label        { fill: %s; font-size: %dpx; }' %
+      (LBL_FONT_COLOR, LBL_FONT_SIZE))
+print('    text.label-title  { font-size: %dpx; text-anchor: middle; }' %
+      (int(LBL_FONT_SIZE * 1.4),))
+print('    text.label-prn    { font-size: %dpx; text-anchor: end; }' %
+      (LBL_SAT_BAR_SIZE,))
+print('    text.label-center { text-anchor: middle; }')
+print('    text.label-snr    { text-anchor: start; }')
+print('    text.label-err    { text-anchor: end; }')
+# Compass dial.
+print('    circle.compass    '
+      '{ stroke: %s; stroke-width: %d; fill-opacity: 0; }' %
+      (COMPASS_STROKE_COLOR, STROKE_WIDTH,))
+print('    line.compass      { stroke: %s; stroke-width: %d; }' %
+      (COMPASS_STROKE_COLOR, STROKE_WIDTH))
+print('    text.compass      '
+      '{ fill: %s; font-size: %dpx; text-anchor: middle; }' %
+      (DIAL_POINT_COLOR, LBL_COMPASS_POINTS_SIZE))
+# Satellites constellation.
+print('    rect.sats         { stroke-width: %d; fill-opacity: 1.0; }' %
+      (STROKE_WIDTH,))
+print('    rect.sats-used    { stroke: %s; fill: %s; }' %
+      (SAT_USED_STROKE_COLOR, SAT_USED_FILL_COLOR))
+print('    rect.sats-unused  { stroke: %s; fill: %s; }' %
+      (SAT_UNUSED_STROKE_COLOR, SAT_UNUSED_FILL_COLOR))
+print('    text.sats         { font-size: %dpx; text-anchor: middle; }' %
+      (LBL_SAT_SIZE,))
+print('    text.sats-used    { fill: %s; }' % (SAT_USED_TEXT_COLOR,))
+print('    text.sats-unused  { fill: %s; }' % (SAT_UNUSED_TEXT_COLOR,))
+# Box containing bars graph.
+print('    rect.box          { fill: %s; stroke: %s; stroke-width: %d; }' %
+      (BARS_AREA_FILL_COLOR, BARS_AREA_STROKE_COLOR, STROKE_WIDTH))
+# Graph bars.
+print('    rect.bars         { stroke-width: %d; opacity: 1.0; }' %
+      (STROKE_WIDTH,))
+print('    rect.bars-used    { stroke: %s; fill: %s; }' %
+      (BAR_USED_STROKE_COLOR, BAR_USED_FILL_COLOR))
+print('    rect.bars-unused  { stroke: %s; fill: %s; }' %
+      (BAR_UNUSED_STROKE_COLOR, BAR_UNUSED_FILL_COLOR))
+print('</style>')
+# Background and title.
+print('<rect width="100%%" height="100%%" fill="%s" />' %
+      (BACKGROUND_COLOR,))
+print('<text class="label label-title" x="%d" y="%d">'
+      'Sky View of GPS Satellites</text>' %
+      (int(IMG_WIDTH * 0.5), int(LBL_FONT_SIZE * 1.5)))
+# Sky circle with cardinal points.
+print('<circle class="compass" cx="%d" cy="%d" r="%d" />' %
+      (CIRCLE_X, CIRCLE_Y, CIRCLE_R))
+print('<circle class="compass" cx="%d" cy="%d" r="%d" />' %
+      (CIRCLE_X, CIRCLE_Y, int(CIRCLE_R / 2)))
+print('<line class="compass" x1="%d" y1="%d" x2="%d" y2="%d" />' %
+      (CIRCLE_X, CIRCLE_Y - CIRCLE_R, CIRCLE_X, CIRCLE_Y + CIRCLE_R))
+print('<line class="compass" x1="%d" y1="%d" x2="%d" y2="%d" />' %
+      (CIRCLE_X - CIRCLE_R, CIRCLE_Y, CIRCLE_X + CIRCLE_R, CIRCLE_Y))
+print('<text x="%d" y="%d" class="compass">%s</text>' %
+      (CIRCLE_X, CIRCLE_Y - CIRCLE_R - LBL_COMPASS_POINTS_SIZE, 'N'))
+print('<text x="%d" y="%d" class="compass">%s</text>' %
+      (CIRCLE_X, CIRCLE_Y + CIRCLE_R + LBL_COMPASS_POINTS_SIZE, 'S'))
+print('<text x="%d" y="%d" class="compass">%s</text>' %
+      (CIRCLE_X - CIRCLE_R - LBL_COMPASS_POINTS_SIZE,
+       CIRCLE_Y + int(LBL_COMPASS_POINTS_SIZE*0.4), 'W'))
+print('<text x="%d" y="%d" class="compass">%s</text>' %
+      (CIRCLE_X + CIRCLE_R + LBL_COMPASS_POINTS_SIZE,
+       CIRCLE_Y + int(LBL_COMPASS_POINTS_SIZE*0.4), 'E'))
+# Lat/lon.
+POS_LAT = "%.5f" % (float(TPV['lat']),) if 'lat' in TPV else 'Unknown'
+POS_LON = "%.5f" % (float(TPV['lon']),) if 'lon' in TPV else 'Unknown'
+print('<text class="label label-center" x="%d" y="%d">Lat/Lon: %s %s</text>' %
+      (POS_LBL_X, POS_LBL_Y, POS_LAT, POS_LON))
+# Satellites signal/noise ratio box.
+print('<rect class="box" x="%d" y="%d" rx="%d" ry="%d" '
+      'width="%d" height="%d" />' %
+      (BARS_BOX_X, BARS_BOX_Y - BARS_BOX_HEIGHT, BAR_RADIUS,
+       BAR_RADIUS, BARS_BOX_WIDTH, BARS_BOX_HEIGHT))
+SS_LBL_X = int(BARS_BOX_X + STROKE_WIDTH * 1.5)
+SS_LBL_Y = int(BARS_BOX_Y - BARS_BOX_HEIGHT + LBL_FONT_SIZE +
+               STROKE_WIDTH * 1.5)
+print('<text class="label label-snr" x="%d" y="%d">'
+      'Satellites Signal/Noise Ratio</text>' % (SS_LBL_X, SS_LBL_Y))
+# Box for horizontal and vertical estimated error.
+if 'epx' in TPV and 'epy' in TPV:
+    EPX = float(TPV['epx'])
+    EPY = float(TPV['epy'])
+    EPH = math.sqrt(EPX**2 + EPY**2)
+elif 'eph' in TPV:
+    EPH = float(TPV['eph'])
+else:
+    EPH = ERR_MAX
+EPV = float(TPV['epv']) if 'epv' in TPV else ERR_MAX
+ERR_H, SIGN_H = cutoff_err(EPH, ERR_MIN, ERR_MAX)
+ERR_V, SIGN_V = cutoff_err(EPV, ERR_MIN, ERR_MAX)
+ERR_LBL_X = int(ERR_BOX_X - STROKE_WIDTH * 2.0)
+ERR_LBL_Y_OFFSET = STROKE_WIDTH + BAR_WIDTH * 0.6
+print('<rect class="box" x="%d" y="%d" rx="%d" ry="%d" '
+      'width="%d" height="%d" />' %
+      (ERR_BOX_X, ERR_BOX_Y - ERR_BOX_HEIGHT, BAR_RADIUS,
+       BAR_RADIUS, ERR_BOX_WIDTH, ERR_BOX_HEIGHT))
+# Horizontal error.
+POS_X = ERR_BOX_X + STROKE_WIDTH
+POS_Y = ERR_BOX_Y - ERR_BOX_HEIGHT + int((BAR_SPACE - BAR_WIDTH) * 0.5)
+ERR_H_BAR_HEIGHT = int(ERR_H / ERR_MAX * ERR_BAR_HEIGHT_MAX)
+print('<text class="label label-err" x="%d" y="%d">'
+      'Horizontal error %s%.1f m</text>' %
+      (ERR_LBL_X, ERR_LBL_Y_OFFSET + POS_Y, SIGN_H, ERR_H))
+print('<rect class="bars bars-used" x="%d" y="%d" rx="%d" '
+      ' ry="%d" width="%d" height="%d" />' %
+      (POS_X, POS_Y, BAR_RADIUS, BAR_RADIUS, ERR_H_BAR_HEIGHT, BAR_WIDTH))
+# Vertical error.
+POS_Y = POS_Y + BAR_SPACE
+ERR_V_BAR_HEIGHT = int(ERR_V / ERR_MAX * ERR_BAR_HEIGHT_MAX)
+print('<text class="label label-err" x="%d" y="%d">'
+      'Vertical error %s%.1f m</text>' %
+      (ERR_LBL_X, ERR_LBL_Y_OFFSET + POS_Y, SIGN_V, ERR_V))
+print('<rect class="bars bars-used" x="%d" y="%d" rx="%d" '
+      ' ry="%d" width="%d" height="%d" />' %
+      (POS_X, POS_Y, BAR_RADIUS, BAR_RADIUS, ERR_V_BAR_HEIGHT, BAR_WIDTH))
+# Satellites and Signal/Noise bars.
+i = 0
+for prn in sorted(SATELLITES):
+    sat = SATELLITES[prn]
+    BAR_HEIGHT = int(BAR_HEIGHT_MAX * (float(sat['ss']) / SNR_MAX))
+    (sat_x, sat_y) = polar2cart(float(sat['az']), float(sat['el']), CIRCLE_R)
+    sat_x = int(CIRCLE_X + sat_x)
+    sat_y = int(CIRCLE_Y + sat_y)
+    rect_radius = int(SAT_HEIGHT * 0.25)
+    sat_rect_x = int(sat_x - (SAT_WIDTH) / 2)
+    sat_rect_y = int(sat_y - (SAT_HEIGHT) / 2)
+    sat_class = 'used' if sat['used'] else 'unused'
+    print('<rect class="sats sats-%s" x="%d" y="%d" width="%d" '
+          ' height="%d" rx="%d" ry="%d" />' %
+          (sat_class, sat_rect_x, sat_rect_y, SAT_WIDTH, SAT_HEIGHT,
+           rect_radius, rect_radius))
+    print('<text class="sats %s" x="%d" y="%d">%s</text>' %
+          (sat_class, sat_x, sat_y + int(LBL_SAT_SIZE*0.4), sat['PRN']))
+    pos_x = (int(BARS_BOX_X + (STROKE_WIDTH * 0.5) +
+             (BAR_SPACE - BAR_WIDTH) * 0.5 + BAR_SPACE * i))
+    pos_y = int(BARS_BOX_Y - BAR_HEIGHT - (STROKE_WIDTH * 1.5))
+    print('<rect class="bars bars-%s" x="%d" y="%d" rx="%d" ry="%d" '
+          'width="%d" height="%d" />' %
+          (sat_class, pos_x, pos_y, BAR_RADIUS, BAR_RADIUS,
+           BAR_WIDTH, BAR_HEIGHT))
+    x = int(pos_x + BAR_WIDTH * 0.5)
+    y = int(BARS_BOX_Y + (STROKE_WIDTH * 1.5))
+    print('<text class="label label-prn" x="%d" y="%d" '
+          'transform="rotate(270, %d, %d)">%s</text>' %
+          (x, y, x, y, sat['PRN']))
+    i = i + 1
+print('<text class="label label-center" x="%d" y="%d">%s</text>' %
+      (TIMESTAMP_X, TIMESTAMP_Y, TIME_STR))
+print('</svg>')
+
+sys.exit(EXIT_CODE)

contrib/webgps.py

@@ -3,7 +3,8 @@
 
 """webgps.py
 
-This is a Python port of webgps.c from http://www.wireless.org.au/~jhecker/gpsd/
+This is a Python port of webgps.c
+from http://www.wireless.org.au/~jhecker/gpsd/
 by Beat Bolli <me+gps@drbeat.li>
 
 It creates a skyview of the currently visible GPS satellites and their tracks
@@ -38,17 +39,29 @@ restart webgps.py without losing accumulated satellite tracks.
 
 from __future__ import absolute_import, print_function, division
 
-import time, math, sys, os, pickle
+import math
+import os
+import pickle
+import sys
+import time
 
 from gps import *
 
+gps_version = '3.18.1'
+if gps.__version__ != gps_version:
+    sys.stderr.write("webgps.py: ERROR: need gps module version %s, got %s\n" %
+                     (gps_version, gps.__version__))
+    sys.exit(1)
+
+
 TRACKMAX = 1024
 STALECOUNT = 10
 
 DIAMETER = 200
 
+
 def polartocart(el, az):
-    radius = DIAMETER * (1 - el / 90.0) # * math.cos(Deg2Rad(float(el)))
+    radius = DIAMETER * (1 - el / 90.0)   # * math.cos(Deg2Rad(float(el)))
     theta = Deg2Rad(float(az - 90))
     return (
         # Changed this back to normal orientation - fw
@@ -77,7 +90,9 @@ class Track:
 
     def track(self):
         '''Return the track as canvas drawing operations.'''
-        return 'M(%d,%d); ' % self.posn[0] + ''.join(['L(%d,%d); ' % p for p in self.posn[1:]])
+        return('M(%d,%d); ' % self.posn[0] + ''.join(['L(%d,%d); ' %
+               p for p in self.posn[1:]]))
+
 
 class SatTracks(gps):
     '''gpsd client writing HTML5 and <canvas> output.'''
@@ -108,15 +123,17 @@ class SatTracks(gps):
 \t\t<tr>
 \t\t\t<td>
 \t\t\t\t<table border=0 class=num>
-\t\t\t\t\t<tr><th>PRN:</th><th>Elev:</th><th>Azim:</th><th>SNR:</th><th>Used:</th></tr>
+\t\t\t\t\t<tr><th>PRN:</th><th>Elev:</th><th>Azim:</th><th>SNR:</th>
+<th>Used:</th></tr>
 """ % jsfile)
 
         sats = self.satellites[:]
         sats.sort(key=lambda x: x.PRN)
         for s in sats:
-            fh.write("\t\t\t\t\t<tr><td>%d</td><td>%d</td><td>%d</td><td>%d</td><td>%s</td></tr>\n" % (
-                s.PRN, s.elevation, s.azimuth, s.ss, s.used and 'Y' or 'N'
-            ))
+            fh.write("\t\t\t\t\t<tr><td>%d</td><td>%d</td><td>%d</td>"
+                     "<td>%d</td><td>%s</td></tr>\n" %
+                     (s.PRN, s.elevation, s.azimuth, s.ss,
+                      s.used and 'Y' or 'N'))
 
         fh.write("\t\t\t\t</table>\n\t\t\t\t<table border=0>\n")
 
@@ -131,9 +148,12 @@ class SatTracks(gps):
         if self.fix.mode >= MODE_2D:
             row('Latitude', deg_to_str(self.fix.latitude, 'SN'))
             row('Longitude', deg_to_str(self.fix.longitude, 'WE'))
-            row('Altitude', self.fix.mode == MODE_3D and "%f m" % self.fix.altitude or 'N/A')
-            row('Speed', not isnan(self.fix.speed) and "%f m/s" % self.fix.speed or 'N/A')
-            row('Course', not isnan(self.fix.track) and "%f°" % self.fix.track or 'N/A')
+            row('Altitude', self.fix.mode == MODE_3D and "%f m" %
+                self.fix.altitude or 'N/A')
+            row('Speed', isfinite(self.fix.speed) and "%f m/s" %
+                self.fix.speed or 'N/A')
+            row('Course', isfinite(self.fix.track) and "%f°" %
+                self.fix.track or 'N/A')
         else:
             row('Latitude', 'N/A')
             row('Longitude', 'N/A')
@@ -141,34 +161,35 @@ class SatTracks(gps):
             row('Speed', 'N/A')
             row('Course', 'N/A')
 
-        row('EPX', not isnan(self.fix.epx) and "%f m" % self.fix.epx or 'N/A')
-        row('EPY', not isnan(self.fix.epy) and "%f m" % self.fix.epy or 'N/A')
-        row('EPV', not isnan(self.fix.epv) and "%f m" % self.fix.epv or 'N/A')
-        row('Climb', self.fix.mode == MODE_3D and not isnan(self.fix.climb) and
-            "%f m/s" % self.fix.climb or 'N/A'
-        )
+        row('EPX', isfinite(self.fix.epx) and "%f m" % self.fix.epx or 'N/A')
+        row('EPY', isfinite(self.fix.epy) and "%f m" % self.fix.epy or 'N/A')
+        row('EPV', isfinite(self.fix.epv) and "%f m" % self.fix.epv or 'N/A')
+        row('Climb', self.fix.mode == MODE_3D and isfinite(self.fix.climb) and
+            "%f m/s" % self.fix.climb or 'N/A')
 
+        state = "INIT"
         if not (self.valid & ONLINE_SET):
             newstate = 0
             state = "OFFLINE"
         else:
             newstate = self.fix.mode
             if newstate == MODE_2D:
-                state = self.status == STATUS_DGPS_FIX and "2D DIFF FIX" or "2D FIX"
+                state = "2D FIX"
             elif newstate == MODE_3D:
-                state = self.status == STATUS_DGPS_FIX and "3D DIFF FIX" or "3D FIX"
+                state = "3D FIX"
             else:
                 state = "NO FIX"
         if newstate != self.state:
             self.statetimer = time.time()
             self.state = newstate
-        row('State', state + " (%d secs)" % (time.time() - self.statetimer))
+        row('State', "%s (%d secs)" % (state, time.time() - self.statetimer))
 
         fh.write("""\t\t\t\t</table>
 \t\t\t</td>
 \t\t\t<td>
 \t\t\t\t<canvas id=satview width=425 height=425>
-\t\t\t\t\t<p>Your browser needs HTML5 &lt;canvas> support to display the satellite view correctly.</p>
+\t\t\t\t\t<p>Your browser needs HTML5 &lt;canvas> support to display
+ the satellite view correctly.</p>
 \t\t\t\t</canvas>
 \t\t\t\t<script type='text/javascript'>draw_satview();</script>
 \t\t\t</td>
@@ -227,14 +248,14 @@ function draw_satview() {
     // tracks
     ctx.lineWidth = 0.6;
     ctx.strokeStyle = 'red';
-""");
+""")
 
         # Draw the tracks
         for t in self.sattrack.values():
             if t.posn:
-                fh.write("    ctx.globalAlpha = %s; ctx.beginPath(); %sctx.stroke();\n" % (
-                    t.stale == 0 and '0.66' or '1', t.track()
-                ))
+                fh.write("    ctx.globalAlpha = %s; ctx.beginPath(); "
+                         "%sctx.stroke();\n" %
+                         (t.stale == 0 and '0.66' or '1', t.track()))
 
         fh.write("""
     // satellites
@@ -261,7 +282,9 @@ function draw_satview() {
                 fh.write("ctx.rect(%d, %d, 16, 16); " % (x - 8, y - 8))
             else:
                 fh.write("ctx.arc(%d, %d, 8, 0, circle, 0); " % (x, y))
-            fh.write("ctx.fill(); ctx.stroke(); ctx.strokeText('%s', %d, %d);\n" % (s.PRN, x - 6 + offset, y + 4))
+            fh.write("ctx.fill(); ctx.stroke(); "
+                     "ctx.strokeText('%s', %d, %d);\n" %
+                     (s.PRN, x - 6 + offset, y + 4))
 
         fh.write("""
     ctx.restore();
@@ -328,6 +351,7 @@ function draw_satview() {
             ):
                 break
 
+
 def main():
     argv = sys.argv[1:]
 
@@ -365,5 +389,6 @@ def main():
         pickle.dump(sat.sattrack, p)
         p.close()
 
+
 if __name__ == '__main__':
     main()

crc24q.c

@@ -24,7 +24,7 @@
  * requires this.
  *
  * This file is Copyright (c) 2008,2010 by the GPSD project
- * BSD terms apply: see the file COPYING in the distribution root for details.
+ * SPDX-License-Identifier: BSD-2-clause
  */
 #include <stdbool.h>
 #include <stdio.h>

crc24q.h

@@ -1,7 +1,7 @@
 /* Interface for CRC-24Q cyclic redundancy chercksum code
  *
  * This file is Copyright (c) 2010 by the GPSD project
- * BSD terms apply: see the file COPYING in the distribution root for details.
+ * SPDX-License-Identifier: BSD-2-clause
  */
 #ifndef _CRC24Q_H_
 #define _CRC24Q_H_

dbusexport.c

@@ -1,6 +1,6 @@
 /*
  * This file is Copyright (c) 2010 by the GPSD project
- * BSD terms apply: see the file COPYING in the distribution root for details.
+ * SPDX-License-Identifier: BSD-2-clause
  */
 #include "gpsd.h"
 #if defined(DBUS_EXPORT_ENABLE)

devtools/gps

@@ -1 +1 @@
-gpsd-3.17/../gps
+gpsd-3.18.1/../gps

devtools/identify_failing_build_options.py

@@ -135,6 +135,7 @@ def main(starting_number_of_options=0):
 
     return failed_configurations
 
+
 if __name__ == '__main__':
     failed = main(0)
     for row in failed:

devtools/tablegen.py

@@ -63,7 +63,9 @@
 # Preserve this property!
 from __future__ import absolute_import, print_function, division
 
-import sys, getopt
+import getopt
+import sys
+
 
 def correct_table(wfp):
     # Writes the corrected table.
@@ -74,6 +76,7 @@ def correct_table(wfp):
         else:
             print(t.rstrip(), file=wfp)
 
+
 def make_driver_code(wfp):
     # Writes calls to bit-extraction macros.
     # Requires UBITS, SBITS, UCHARS to act as they do in the AIVDM driver.
@@ -99,8 +102,8 @@ def make_driver_code(wfp):
             if not record:
                 continue
             if ftype == 'x':
-                print("\t/* skip %s bit%s */" % (width, ["", "s"][width>'1']),
-                      file=wfp)
+                print("\t/* skip %s bit%s */" % (width,
+                      ["", "s"][width > '1']), file=wfp)
                 continue
             if ftype[0] == 'a':
                 arrayname = name
@@ -110,39 +113,44 @@ def make_driver_code(wfp):
                 if explicit:
                     lengthfield = last
                     print(indent + "for (i = 0; i < %s; i++) {" % lengthfield,
-                          file=wfp) 
+                          file=wfp)
                 else:
                     lengthfield = "n" + arrayname
-                    print(indent + "for (i = 0; ARRAY_BASE + (ELEMENT_SIZE*i) < bitlen; i++) {", file=wfp) 
+                    print(indent + "for (i = 0; ARRAY_BASE + "
+                          "(ELEMENT_SIZE*i) < bitlen; i++) {", file=wfp)
                 indent += step
                 print(indent + "int a = ARRAY_BASE + (ELEMENT_SIZE*i);",
-                      file=wfp) 
+                      file=wfp)
                 continue
             offset = offsets[i].split('-')[0]
             if arrayname:
                 target = "%s.%s[i].%s" % (structnme, arrayname, name)
-                offset = "a + " + offset 
+                offset = "a + " + offset
             else:
                 target = "%s.%s" % (structname, name)
             if ftype[0].lower() in ('u', 'i', 'e'):
-                print(indent + "%s\t= %sBITS(%s, %s);" % \
-                      (target, {'u':'U', 'e':'U', 'i':'S'}[ftype[0].lower()], offset, width), file=wfp)
+                print(indent + "%s\t= %sBITS(%s, %s);" %
+                      (target,
+                       {'u': 'U', 'e': 'U', 'i': 'S'}[ftype[0].lower()],
+                       offset, width), file=wfp)
             elif ftype == 't':
                 print(indent + "UCHARS(%s, %s);" % (offset, target), file=wfp)
             elif ftype == 'b':
                 print(indent + "%s\t= (bool)UBITS(%s, 1);" % (target, offset),
                       file=wfp)
             else:
-                print(indent + "/* %s bits of type %s */" % (width,ftype),
-                      file=wfp)
+                print(indent + "/* %s bits of type %s */" %
+                      (width, ftype), file=wfp)
             last = name
     if arrayname:
         indent = base
         print(indent + "}", file=wfp)
         if not explicit:
-            print(indent + "%s.%s = ind;" % (structname, lengthfield), file=wfp)
-        print("#undef ARRAY_BASE", file=wfp) 
-        print("#undef ELEMENT_SIZE", file=wfp) 
+            print(indent + "%s.%s = ind;" %
+                  (structname, lengthfield), file=wfp)
+        print("#undef ARRAY_BASE", file=wfp)
+        print("#undef ELEMENT_SIZE", file=wfp)
+
 
 def make_structure(wfp):
     # Write a structure definition correponding to the table.
@@ -152,8 +160,10 @@ def make_structure(wfp):
     step = 4
     inwards = step
     arrayname = None
+
     def tabify(n):
-        return ('\t' * (n // 8)) + (" " * (n % 8)) 
+        return ('\t' * (n // 8)) + (" " * (n % 8))
+
     print(tabify(baseindent) + "struct {", file=wfp)
     for (i, t) in enumerate(table):
         if '|' in t:
@@ -177,14 +187,14 @@ def make_structure(wfp):
                     ftype = ftype[1:]
                 else:
                     lengthfield = "n%s" % arrayname
-                    print(tabify(baseindent + inwards)
-                          + "signed int %s;" % lengthfield, file=wfp)
+                    print(tabify(baseindent + inwards) +
+                          "signed int %s;" % lengthfield, file=wfp)
                 if arrayname.endswith("s"):
                     typename = arrayname[:-1]
                 else:
                     typename = arrayname
-                print(tabify(baseindent + inwards) + "struct %s_t {" % typename,
-                      file=wfp)
+                print(tabify(baseindent + inwards) + "struct %s_t {" %
+                      typename, file=wfp)
                 inwards += step
                 arraydim = ftype[1:]
                 continue
@@ -208,9 +218,10 @@ def make_structure(wfp):
     if "->" in structname:
         typename = structname.split("->")[1]
     if "." in typename:
-        structname = structname.split(".")[1]    
+        structname = structname.split(".")[1]
     print(tabify(baseindent) + "} %s;" % typename, file=wfp)
 
+
 def make_json_dumper(wfp):
     # Write the skeleton of a JSON dump corresponding to the table.
     # Also, if there are subtables, some initializers
@@ -223,13 +234,16 @@ def make_json_dumper(wfp):
                     value = value[:-10]
                 wfp.write('        "%s",\n' % value)
             wfp.write("    };\n")
-            wfp.write('#define DISPLAY_%s(n) (((n) < (unsigned int)NITEMS(%s_vocabulary)) ? %s_vocabulary[n] : "INVALID %s")\n' % (name.upper(), name, name, name.upper()))
+            wfp.write('#define DISPLAY_%s(n) (((n) < '
+                      '(unsigned int)NITEMS(%s_vocabulary)) ? '
+                      '%s_vocabulary[n] : "INVALID %s")\n' %
+                      (name.upper(), name, name, name.upper()))
         wfp.write("\n")
     record = after is None
     # Elements of each tuple type except 'a':
     #   1. variable name,
     #   2. unscaled printf format
-    #   3. wrapper for unscaled variable reference 
+    #   3. wrapper for unscaled variable reference
     #   4. scaled printf format
     #   5. wrapper for scaled variable reference
     # Elements of 'a' tuple:
@@ -306,30 +320,33 @@ def make_json_dumper(wfp):
                 sys.exit(1)
         last = name
     startspan = 0
+
     def scaled(i):
         return tuples[i][3] is not None
+
     def tslice(e, i):
         return [x[i] for x in tuples[startspan:e+1]]
+
     base = " " * 8
     step = " " * 4
     inarray = None
     header = "(void)snprintf(buf + strlen(buf), buflen - strlen(buf),"
     for (i, (var, uf, uv, sf, sv)) in enumerate(tuples):
-        if uf == None:
+        if uf is not None:
             print(base + "for (i = 0; i < %s.%s; i++) {" % (structname, sv),
                   file=wfp)
             inarray = var
             base = " " * 12
             startspan = i+1
-            continue        
+            continue
         # At end of tuples, or if scaled flag changes, or if next op is array,
         # flush out dump code for a span of fields.
         if i+1 == len(tuples):
             endit = '}",'
-        elif tuples[i+1][1] == None:
+        elif tuples[i+1][1] is not None:
             endit = r',\"%s\":[",' % tuples[i+1][0]
-        elif scaled(i) != scaled(i+1):
-            endit =  ',",'
+        elif scaled(i) != scaled(i + 1):
+            endit = ',",'
         else:
             endit = None
         if endit: