diff options
| -rwxr-xr-x | gps.py | 2 | ||||
| -rw-r--r-- | gpsd.spec.in | 3 | ||||
| -rw-r--r-- | gpsfake.xml | 3 | ||||
| -rwxr-xr-x | gpsprobe | 66 | ||||
| -rw-r--r-- | gpsprobe.xml | 14 | ||||
| -rwxr-xr-x | gpsprof | 146 | ||||
| -rw-r--r-- | gpsprof.xml | 9 |
7 files changed, 129 insertions, 114 deletions
@@ -293,6 +293,8 @@ class gps(gpsdata): def poll(self): "Wait for and read data being streamed from gpsd." data = self.sockfile.readline() + if not data: + return None if self.verbose: sys.stderr.write("GPS DATA %s\n" % repr(data)) if self.profiling: diff --git a/gpsd.spec.in b/gpsd.spec.in index d5e73e4d..6198610b 100644 --- a/gpsd.spec.in +++ b/gpsd.spec.in @@ -128,7 +128,8 @@ if [ -d /etc/udev/rules.d/ ]; then rm /etc/udev/rules.d/80-gpsd.rules; fi - Pass zero magnetic variation in generated NMEA from binary GPSes correctly. Use O_SYNC rather than timeouts to guarantee that baud-rate change strings get to the GPS before changing the line - parameters. Introduced I command. + parameters. Introduced I command. Spatial scattergram plotting + moved from gpsprobe to gpsprof. * Mon Feb 21 2005 Eric S. Raymond <esr@snark.thyrsus.com> - 2.13-1 - Correct a bug in binary-protocol dumping (applies to Zodiac and diff --git a/gpsfake.xml b/gpsfake.xml index 8e484f5e..aeb8f74e 100644 --- a/gpsfake.xml +++ b/gpsfake.xml @@ -33,6 +33,9 @@ thinks the slave side of the pty is its GPS device, and repeatedly feeds the contents of a test logfile through the master side to the GPS.</para> +<para>Because of the baud-rate hunting logic, the first sentence in +the file will not be the first presented to the sentence parser.</para> + </refsect1> <refsect1 id='options'><title>OPTIONS</title> @@ -132,12 +132,12 @@ if __name__ == '__main__': if fields[2] == 'T': register(GE301) else: - register("# GPVTG format indicates NMEA version < 3.01.\n") + register("GPVTG format indicates NMEA version < 3.01.\n") if leader == "GPRMC": if len(fields) > 12 and fields[12] in "ADEMSN": - register("# GPRMC format indicates NMEA version >= 2.3.\n") + register("GPRMC format indicates NMEA version >= 2.3.\n") else: - register("# GPRMC format indicates NMEA version < 2.3.\n") + register("GPRMC format indicates NMEA version < 2.3.\n") try: # Step one: Check that we have read permission on the device @@ -196,72 +196,26 @@ if __name__ == '__main__': if distribution[interval] > maxfreq: cycles[key] = interval maxfreq = distribution[interval] - print "# This is a gnuplot script generated by gpsprobe at %s\n" % time.asctime() - print "# First fix in %f seconds." % fixtime + print "First fix in %f seconds." % fixtime for key in cycles: if len(frequencies[key].values()) == 1: if cycles[key] == 1: - print "# %s: is emitted once a second." % key + print "%s: is emitted once a second." % key else: - print "# %s: is emitted once every %d seconds." % (key, cycles[key]) + print "%s: is emitted once every %d seconds." % (key, cycles[key]) else: if cycles[key] == 1: - print "# %s: is probably emitted once a second." % key + print "%s: is probably emitted once a second." % key else: - print "# %s: is probably emitted once every %d seconds." % (key, cycles[key]) + print "%s: is probably emitted once every %d seconds." % (key, cycles[key]) sendcycle = min(*cycles.values()) if sendcycle == 1: - print "# Send cycle is once per second." + print "Send cycle is once per second." else: - print "# Send cycle is once per %d seconds." % sendcycle + print "Send cycle is once per %d seconds." % sendcycle # Step four: print out registered traits sys.stdout.write("".join(notifications) + "\n") - # Step five: run an empirical check on uncertainty of position. - if len(fixes) == 0: - print "# No fixes collected, can't estimate accuracy." - else: - centroid = (sum(map(lambda x:x[0], fixes))/len(fixes), sum(map(lambda x:x[1], fixes))/len(fixes)) - # Sort fixes by distance from centroid - def d(a, b): return sqrt((a[0] - b[0])**2 + (a[1] - b[1])**2) - fixes.sort(lambda x, y: cmp(d(centroid, x), d(centroid, y))) - # Compute CEP(50%) - cep_meters = gps.EarthDistance(centroid, fixes[len(fixes)/2]) - # Convert fixes to offsets from centroid in meters - recentered = map(lambda fix: gps.MeterOffset(centroid, fix), fixes) - if centroid[0] < 0: - latstring = "%fS" % -centroid[0] - elif centroid[0] == 0: - latstring = "0" - else: - latstring = "%fN" % centroid[0] - if centroid[1] < 0: - lonstring = "%fW" % -centroid[1] - elif centroid[1] == 0: - lonstring = "0" - else: - lonstring = "%fE" % centroid[1] - sys.stdout.write("set autoscale\n") - sys.stdout.write('set key below\n') - sys.stdout.write('set key title "%s"\n' % time.asctime()) - sys.stdout.write('set size ratio -1\n') - sys.stdout.write('set style line 3 pt 2 # Looks good on X11\n') - sys.stdout.write('set xlabel "Meters east from %s"\n' % lonstring) - sys.stdout.write('set ylabel "Meters north from %s"\n' % latstring) - sys.stdout.write('cep=%f\n' % d((0,0), recentered[len(fixes)/2])) - sys.stdout.write('set parametric\n') - sys.stdout.write('set trange [0:2*pi]\n') - sys.stdout.write('cx(t, r) = sin(t)*r\n') - sys.stdout.write('cy(t, r) = cos(t)*r\n') - sys.stdout.write('chlen = cep/20\n') - sys.stdout.write("set arrow from -chlen,0 to chlen,0 nohead\n") - sys.stdout.write("set arrow from 0,-chlen to 0,chlen nohead\n") - sys.stdout.write('plot cx(t, cep),cy(t, cep) title "CEP (50%%) = %f meters", "-" using 1:2 with points ls 3 title "%d GPS fixes"\n' % (cep_meters, len(fixes))) - sys.stdout.write("#\n") - sys.stdout.write("# Lat Lon\n") - for (lat, lon) in recentered: - sys.stdout.write(" %f %f\n" % (lat, lon)) - sys.stdout.write("end\n") except KeyboardInterrupt: print "Aborted." diff --git a/gpsprobe.xml b/gpsprobe.xml index a1971f6b..3f998ac1 100644 --- a/gpsprobe.xml +++ b/gpsprobe.xml @@ -36,20 +36,6 @@ information, including:</para> <listitem><para>its send cycle (frequency of updates)</para></listitem> </itemizedlist> -<para>In addition, if the GPS is getting position fixes, -<application>gpsprobe</application> generates a scattergram from them -and plots a probable-error circle. This data is only meaningful if -the GPS is held stationary while <application>gpsprobe</application> -is running. Use it in combination with -<citerefentry><refentrytitle>gpsprof</refentrytitle><manvolnum>1</manvolnum></citerefentry> -to get a feel for the accuracy of your GPS.</para> - -<para>The report and scattergram is generated as a -<citerefentry><refentrytitle>gnuplot</refentrytitle><manvolnum>1</manvolnum></citerefentry> -script to standard output. View it with <command>gnuplot -persist -<foo></command> where <foo> should be replaced with -the name of the plot script.</para> - <para>Note: <application>gpsprobe</application> needs access to the raw GPS device. Therefore <application>gpsd</application> must not be running when you call <application>gpsprobe</application>. You will probably @@ -3,7 +3,7 @@ # Collect and plot latency-profiling data from a running gpsd. # Requires gnuplot. # -import sys, os, time, getopt, gps, tempfile, time, socket +import sys, os, time, getopt, gps, tempfile, time, socket, math class Baton: "Ship progress indication to stderr." @@ -35,13 +35,70 @@ class Baton: self.stream.write("...(%2.2f sec) %s.\n" % (time.time() - self.time, msg)) return -# -# Latency profiling. -# +class spaceplot: + "Total times without instrumentation." + name = "space" + def __init__(self, fp): + self.fixes = [] + self.fp = fp + def header(self, session): + self.fp.write("# Position uncertainty, %s, %s, %ds cycle\n" % \ + (title, session.gps_id, session.cycle)) + def formatter(self, session): + self.fixes.append((session.latitude, session.longitude)) + return True + def plot(self, file, title, session): + if len(self.fixes) == 0: + sys.stderr.write("No fixes collected, can't estimate accuracy.") + sys.exit(1) + else: + centroid = (sum(map(lambda x:x[0], self.fixes))/len(self.fixes), sum(map(lambda x:x[1], self.fixes))/len(self.fixes)) + # Sort fixes by distance from centroid + def d(a, b): return math.sqrt((a[0] - b[0])**2 + (a[1] - b[1])**2) + self.fixes.sort(lambda x, y: cmp(d(centroid, x), d(centroid, y))) + # Compute CEP(50%) + cep_meters = gps.EarthDistance(centroid, self.fixes[len(self.fixes)/2]) + # Convert fixes to offsets from centroid in meters + recentered = map(lambda fix: gps.MeterOffset(centroid, fix), self.fixes) + for (lat, lon) in recentered: + self.fp.write("%f %f\n" % (lat, lon)) + self.fp.flush() + if centroid[0] < 0: + latstring = "%fS" % -centroid[0] + elif centroid[0] == 0: + latstring = "0" + else: + latstring = "%fN" % centroid[0] + if centroid[1] < 0: + lonstring = "%fW" % -centroid[1] + elif centroid[1] == 0: + lonstring = "0" + else: + lonstring = "%fE" % centroid[1] + fmt = "" + fmt += "set autoscale\n" + fmt += 'set key below\n' + fmt += 'set key title "%s"\n' % time.asctime() + fmt += 'set size -1\n' + fmt += 'set style line 3 pt 2 # Looks good on X11\n' + fmt += 'set xlabel "Meters east from %s"\n' % lonstring + fmt += 'set ylabel "Meters north from %s"\n' % latstring + fmt += 'cep=%f\n' % d((0,0), recentered[len(self.fixes)/2]) + fmt += 'set parametric\n' + fmt += 'set trange [0:2*pi]\n' + fmt += 'cx(t, r) = sin(t)*r\n' + fmt += 'cy(t, r) = cos(t)*r\n' + fmt += 'chlen = cep/20\n' + fmt += "set arrow from -chlen,0 to chlen,0 nohead\n" + fmt += "set arrow from 0,-chlen to 0,chlen nohead\n" + fmt += 'plot cx(t, cep),cy(t, cep) title "CEP (50%%) = %f meters", "%s" using 1:2 with points ls 3 title "%d GPS fixes"\n' % (cep_meters, file, len(self.fixes)) + return fmt class uninstrumented: "Total times without instrumentation." name = "uninstrumented" + def __init__(self, fp): + self.fp = fp def header(self, session, fp): fp.write("# Uninstrumented total latency, %s, %s, %dN%d, cycle %ds\n" % \ (title, @@ -65,21 +122,23 @@ plot "%s" using 0:1 title "Total time" with impulses class rawplot: "All measurement, no deductions." name = "raw" - def header(self, session, fp): - fp.write("# Raw latency data, %s, %s, %dN%d, cycle %ds\n" % \ + def __init__(self, fp): + self.fp = fp + def header(self, session): + self.fp.write("# Raw latency data, %s, %s, %dN%d, cycle %ds\n" % \ (title, session.gps_id, session.baudrate, session.stopbits, session.cycle)) - fp.write("#\t") + self.fp.write("#\t") for hn in ("T1", "E1", "D1", "W", "E2", "T2", "D2"): - fp.write("%8s\t" % hn) - fp.write("tag\n#-\t") + self.fp.write("%8s\t" % hn) + self.fp.write("tag\n#-\t") for i in range(0, 7): - fp.write("--------\t") - fp.write("--------\n") + self.fp.write("--------\t") + self.fp.write("--------\n") - def formatter(self, session, fp): - fp.write("%2d %2.6f %2.6f %2.6f %2.6f %2.6f %2.6f %2.6f # %s\n" \ + def formatter(self, session): + self.fp.write("%2d %2.6f %2.6f %2.6f %2.6f %2.6f %2.6f %2.6f # %s\n" \ % (session.length, session.d_xmit_time, session.d_recv_time, @@ -113,30 +172,31 @@ class splitplot: "Discard base time, use color to indicate different tags." name = "split" sentences = ("GPGGA", "GPRMC", "GPGLL") - def __init__(self): + def __init__(self, fp): self.found = {} - def header(self, session, fp): - fp.write("# Split latency data, %s, %s, %dN%d, cycle %ds\n" % \ + self.fp = fp + def header(self, session): + self.fp.write("# Split latency data, %s, %s, %dN%d, cycle %ds\n" % \ (title, session.gps_id, session.baudrate, session.stopbits, session.cycle)) - fp.write("#") + self.fp.write("#") for s in splitplot.sentences: - fp.write("%8s\t" % s) + self.fp.write("%8s\t" % s) for hn in ("T1", "D1", "W", "E2", "T2", "D2", "length"): - fp.write("%8s\t" % hn) - fp.write("tag\n# ") + self.fp.write("%8s\t" % hn) + self.fp.write("tag\n# ") for s in splitplot.sentences + ("T1", "D1", "W", "E2", "T2", "D2", "length"): - fp.write("---------\t") - fp.write("--------\n") - def formatter(self, session, fp): + self.fp.write("---------\t") + self.fp.write("--------\n") + def formatter(self, session): for s in splitplot.sentences: if s == session.tag: - fp.write("%2.6f\t"% session.d_xmit_time) + self.fp.write("%2.6f\t"% session.d_xmit_time) self.found[s] = True else: - fp.write("- \t") - fp.write("%2.6f %2.6f %2.6f %2.6f %2.6f %2.6f %8d # %s\n" \ + self.fp.write("- \t") + self.fp.write("%2.6f %2.6f %2.6f %2.6f %2.6f %2.6f %8d # %s\n" \ % (session.d_recv_time, session.d_decode_time, session.poll_time, @@ -175,25 +235,24 @@ plot \\ (file, i+1, splitplot.sentences[i]) return fmt[:-4] + "\n" -formatters = (rawplot, splitplot, uninstrumented) +formatters = (spaceplot, rawplot, splitplot, uninstrumented) def timeplot(await, fname, file, speed, threshold, title): "Return a string containing a GNUplot script " + if file: + out = open(file, "w") + elif fname == None: + out = sys.stdout + else: + out = tempfile.NamedTemporaryFile() if fname: for formatter in formatters: if formatter.name == fname: - plotter = formatter() + plotter = formatter(out) break else: sys.stderr.write("gpsprof: no such formatter.\n") sys.exit(1) - if file: - out = open(file, "w") - elif formatter == None: - out = sys.stdout - else: - out = tempfile.NamedTemporaryFile() - try: session = gps.gps() except socket.error: @@ -205,26 +264,27 @@ def timeplot(await, fname, file, speed, threshold, title): if session.baudrate != speed: sys.stderr.write("gpsprof: baud rate change failed.\n") session.query("w+bci") - if formatter != uninstrumented: + if formatter not in (spaceplot, uninstrumented): session.query("z+") - #session.set_raw_hook(lambda x: sys.stdout.write(x)) - plotter.header(session, out) + #session.set_raw_hook(lambda x: sys.stderr.write(`x`+"\n")) + plotter.header(session) baton = Baton("gpsprof: looking for fix", "done") countdown = await while countdown > 0: - session.poll() + if session.poll() == None: + sys.stderr.write("gpsprof: gpsd has vanished.\n") + sys.exit(1) baton.twirl() - # If timestamp is no good, skip it. - if session.utc == "?": + if session.status == gps.STATUS_NO_FIX: continue - if session.status and countdown == await: + if countdown == await: sys.stderr.write("gathering samples...") # We can get some funky artifacts at start of session # apparently due to RS232 buffering effects. Ignore # them. if threshold and session.c_decode_time > session.cycle * threshold: continue - if plotter.formatter(session, out): + if plotter.formatter(session): countdown -= 1 baton.end() finally: diff --git a/gpsprof.xml b/gpsprof.xml index d41eba8c..a6f6536e 100644 --- a/gpsprof.xml +++ b/gpsprof.xml @@ -55,6 +55,15 @@ Currently the following plot types are defined:</para> <variablelist> <varlistentry> +<term>space</term> +<listitem> +<para>Generate a scattergram of fixes and plot a probable-error +circle. This data is only meaningful if the GPS is held stationary +while <application>gpsprof</application> is running.</para> +<para></para> +</listitem> +</varlistentry> +<varlistentry> <term>raw</term> <listitem> <para>Plot raw data.</para> |