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<code>gpsd</code> — a GPS service daemon
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<h1>About <code>gpsd</code></h1>
<p><code>gpsd</code> is a service daemon that monitors one or more
GPSes or AIS receivers attached to a host computer through serial or
USB ports, making all data on the location/course/velocity of the
sensors available to be queried on TCP port 2947 of the host computer.
With <code>gpsd</code>, multiple location-aware client applications (such as
navigational and wardriving software) can share access to receivers
without contention or loss of data. Also, <code>gpsd</code> responds
to queries with a format that is substantially easier to parse than
the NMEA 0183 emitted by most GPSes. The <code>gpsd</code>
distribution includes a linkable C service library, a C++ wrapper
class, and a Python module that developers of <code>gpsd</code>-aware
applications can use to encapsulate all communication with
<code>gpsd</code>. Third-party client bindings for Java and Perl
also exist.</p>
<p>Besides <code>gpsd</code> itself, the project provides auxiliary
tools for diagnostic monitoring and profiling of receivers and feeding
location-aware applications GPS/AIS logs for diagnostic purposes.</p>
<p>The goal of the <code>gpsd</code> project is to create a solid
layer of open-source infrastructure for programs running under Linux
and other open-source Unixes that want to be location-sensitive. We
aim for simple, robust interfaces, unfussy operation, and an easy
learning curve for application developers.</p>
<p>Applications that
presently use <code>gpsd</code> include
<a href="http://www.pygps.org">pyGPS</a>,
<a href="http://www.gpsdrive.de/">gpsdrive</a>,
<a href="http://www.kismetwireless.net/">Kismet</a>,
<a href="http://www.gpsdrive.de/">GPSdrive</a>,
<a href="http://qpegps.sourceforge.net/">gpeGPS</a>,
<a href="http://www.gnustep.it/enrico/position/">position</a>,
<a href="http://roadmap.sourceforge.net/">roadmap</a>,
<a href="http://roadnav.sourceforge.net/">roadnav</a>,
<a href="http://www.navit-project.org/">navit</a>,
<a href="http://viking.sf.net">viking</a>,
<a href="http://www.tangogps.org/">tangogps</a>,
<a href="http://www.foxtrotGPS.org/">foxtrot</a>,
<a href="http://sourceforge.net/projects/opencpn/">opencpn</a>,
<a href="http://icculus.org/obdgpslogger/">obdgpslogger</a>,
<a href="http://www.virtualroadside.com/geoHist/">geohist</a>,
<a href="http://wiki.openstreetmap.org/wiki/JOSM/Plugins/LiveGPS">LiveGPS</a>,
<a href="http://www.freedesktop.org/wiki/Software/GeoClue">geoclue</a>,
<a href="http://www.qlandkarte.org/">qlandkartegt</a>,
<a href="http://gpredict.oz9aec.net/">gpredict</a>,
<a href="http://opencpn.org/">OpenCPN</a>,
<a href="https://github.com/infinet/gpsd-navigator.git">gpsd-navigator</a>,
<a href="https://github.com/IvanSanchez/gpsd-ais-viewer">gpsd-ais-viewer</a>,
and <a
href="http://www.mozilla.com/en-US/firefox/">firefox/mozilla</a>.
In addition, the Android smartphone operating system (from version
4.0 onwards and possibly earlier; we don't know for sure when the
change happened) uses GPSD to monitor the phone's on-board GPS, so
every location-aware Android app is indirectly a GPSD client.</p>
<p>GPSD is also extremely widely deployed in mobile embedded systems:
it's a basic building block for navigation used by UAVs, robot
submarines, and driverless cars as well as more conventional
applications like marine navigation and military IFF systems.</p>
<p>Under Linux, <code>gpsd</code> normally runs with zero
configuration. Binary packages for this program install hotplug
scripts that do the right thing when a USB device goes active,
launching <code>gpsd</code> if needed and telling <code>gpsd</code>
which device to read data from. Then, <code>gpsd</code> deduces a
baud rate and GPS/AIS type by looking at the data stream.</p>
<p><code>gpsd</code> is high-quality, carefully-audited code; see
our <a href="reliability.html">notes on reliability engineering</a>. In
January 2010, the GPSD project <a
href="http://thedailywtf.com/Articles/Bad-Code-Offsets-Open-Web-Innovation.asp">won</a>
the first Good Code Grant from the Alliance for Code Excellence.</p>
<p>Statistics about the code volume, commit history, and contributors
associated with this project are <a
href="https://www.ohloh.net/p/3944">available at Ohloh</a></p>
<p>Our development platforms are open-source Unixes — Linux, and
the *BSD family. Presently Linux, OpenBSD and NetBSD are directly
supported. The code is also exttremely widely deployed on Android
phones. We'll support proprietary Unixes if it's not too much work
(and it usually isn't). Apple's OS X is currently <a
href="upstream-bugs.html#appleserial">unsupported due to serial-layer
issues</a>. Older drivers are buggy and prevent <code>gpsd</code>
from being able to read from USB-serial devices. No, we don't support
Windows — get a better operating system.</p>
<p>If you represent a GPS manufacturer interested in qualifying your
device for use with Linux and other open-source operating systems,
we are your contact point. We'll need (1) on-line access to interface
documentation, (2) a few (as in, no more than three) eval units, and (3)
an engineering contact at your firm. For more, see our page
<a href='for-vendors.html'>welcoming vendor cooperation</a>.</p>
<p>There are simple <a href="installation.html">installation
instructions</a> for people running distributions with binary package
systems. See the <a href='faq.html'>FAQ</a> for information on how to
report bugs.</p>
<p>If you appreciate GPSD, and especially if you make money from it,
please @TIPLINK@.</p>
<h1 id='news'>News</h1>
<p>This web page was last updated on @DATE@. You can browse the
project's <a href='NEWS'>news file</a> or <a href='TODO'>to-do
list</a> here. Note: because of the way this website is maintained,
these files may reflect the state of the repository tip (development
version) rather than the latest released stable version.</p>
<h1 id='downloads'>Repository, Downloads and Packages</h1>
<dl>
<dt><a href='@MAINPAGE@'>Project page</a></dt>
<dd>The main project page</dd>
<dt><a
href="@DOWNLOAD@">Releases</a></dt>
<dd>Where to get release tarballs</dd>
<dt><a href="@BROWSEREPO@">Browse Code</a></dt>
<dd>Developer access to master git repository</dd>
</dl>
<p>If you are using a Debian-based distribution (including Ubuntu) you
can probably install <code>gpsd</code> through your regular package
manager or by typing <code>"sudo apt-get install gpsd"</code> at the command
line.</p>
<h1 id='mailing-lists'>Mailing Lists</h1>
<p>There are four project mailing lists:</p>
<ul>
<li><a href="@MAILMAN@/gpsd-announce">gpsd-announce</a>
is for release announcements and project news.</li>
<li><a href="@MAILMAN@/gpsd-users">gpsd-users</a>
is for questions and technical support on <code>gpsd</code>, including support
for application builders using <code>gpsd</code> as a component.</li>
<li><a href="@MAILMAN@/gpsd-dev">gpsd-dev</a>
is for <code>gpsd</code> developers.</li>
<li><a href="@MAILMAN@/gpsd-commit-watch">gpsd-commit-watch</a>
sends automatic broadcast notifications of commits to the <code>gpsd</code>
repository.</li>
<li>There are searchable archives of the old GPSD mailing lists from
Berlios at <a href="http://marc.info">MARC</a>:
<a href="http://marc.info/?l=gpsd-users">gpsd-users</a>
<a href="http://marc.info/?l=gpsd-dev">gpsd-dev</a> and
<a href="http://marc.info/?l=gpsd-commit-watch">gpsd-commit-watch</a>.</li>
</ul>
<h1 id='documentation'>Documentation</h1>
<p>The following manual pages describe the code. Note: because of the
way this website is maintained, these files will describe the state and
features of the repository tip (development version) rather than the
latest stable version.</p>
<dl>
<dt><a href="gpsd.html">gpsd.8</a></dt>
<dd>The <code>gpsd</code> daemon.</dd>
<dt><a href="gps.html">gps.1</a></dt>
<dd>The <code>gpsd</code> test clients.</dd>
<dt><a href="libgps.html">libgps.3</a></dt>
<dd>An interface library that manages communication with the daemon.</dd>
<dt><a href="libgpsmm.html">libgpsmm.3</a></dt>
<dd>C++ class wrapper for the libgps C binding.</dd>
<dt><a href="libgpsd.html">libgpsd.3</a></dt>
<dd>The low-level library used by <code>gpsd</code> to talk to a GPS.</dd>
<dt><a href="gpsprof.html">gpsprof.1</a></dt>
<dd>The <code>gpsprof</code> program for plotting spatial scatter of fixes
and fix latency.</dd>
<dt><a href="gpsfake.html">gpsfake.1</a></dt>
<dd>The <code>gpsfake</code> test harness simulating a GPS.</dd>
<dt><a href="gpsctl.html">gpsctl.1</a></dt>
<dd>The <code>gpsctl</code> tool for tweaking GPS settings.</dd>
<dt><a href="gpscat.html">gpscat.1</a></dt>
<dd>The <code>gpscat</code> tool dumps output from a serial
device. Optionally, it can packetize the data.</dd>
<dt><a href="gpsmon.html">gpsmon.1</a></dt>
<dd>The <code>gpsmon</code> real-time packet monitor and diagnostic
tool. (This replaces the <code>sirfmon</code> tool in older versions.)</dd>
<dt><a href="gpspipe.html">gpspipe.1</a></dt> <dd>A simple client that
captures GPS output and/or <code>gpsd</code> reports and sends it to
standard output.</dd>
<dt><a href="gpsdecode.html">gpsdecode.1</a></dt>
<dd>The <code>gpsdecode</code> packet decoder.</dd>
<dt><a href="gpsd_json.html">gpsd.5</a></dt> <dd>The request/response
protocol of the <code>gpsd</code> daemon.</dd>
<dt><a href="gpsinit.html">gpsinit.8</a></dt>
<dd>Initialize kernel modules for use with <code>gpsd</code> daemon.</dd>
<dt><a href="gps2udp.html">gps2udp.1</a></dt>
<dd>Feed the take from <code>gpsd</code> to one or more aggregation
sites via UDP.</dd>
</dl>
<p>Also, see the <a href="faq.html">FAQ</a>.</p>
<p>We have a <a href='hardware.html'>list of compatible GPSses</a>
with some technical information. We also have <a href='NMEA.txt'>a
list of NMEA sentences</a>.</p>
<p>There is a <a href="hacking.html">Hacker's Guide</a> to the project
philosophy, design, and code internals. You should read this if you
want to contribute code.</p>
<p>We maintain a <a href="hall-of-shame.html">GPS Hall of Shame</a>
that describes particularly egregious vendor blunders.</p>
<h1 id='realtime'>Real Time</h1>
<p>Some of the developers hang out regularly on IRC at <a
href="irc://irc.freenode.net#gpsd">channel #gpsd at irc.freenode.net</a>.</p>
<h1 id='white_papers'>White Papers</h1>
<dl>
<dt><a href="http://www.aosabook.org/en/gpsd.html">GPSD</a></dt>
<dd>An in-depth essay on the architecture and practices of GPSD,
published in <cite>The Architecture of Open Source, Volume 2</cite>.</dd>
<dt><a href="client-howto.html">GPSD Client HOWTO</a></dt>
<dd>A programmer's guide to interfacing with <code>gpsd</code> from
client applications. Explains the theory, points at working example
source code, warns you what the edge cases and gotchas are.</dd>
<dt><a href="gps-hacking.html">ESR's Guide to Hacking With GPS</a></dt>
<dd>If you are new to GPS technology and don't quite understand what
<code>gpsd</code> is about, you might find this interesting.</dd>
<dt><a href="http://esr.ibiblio.org/?p=801">Why GPSes suck, and what
to do about it</a></dt>
<dd>The designer of <code>gpsd</code> 2.0 rants in an at least
semi-humorous way about everything that's wrong with GPS standards
and vendors.</dd>
<dt><a href="protocol-evolution.html">GPSD-NG: A Case Study in
Application Protocol Evolution</a></dt>
<dd>History and evolution of the GPSD-NG protocol, illuminating some
larger trends in application protocol design.</dd>
<dt><a href="protocol-transition.html">Moving to GPSD-NG: a Guide for Client Developers</a></dt>
<dd>A practical explanation of GPSD-NG, and how to move to it as painlessly as
possible.</dd>
<dt><a href="replacing-nmea.html">Towards A Better GPS Protocol</a></dt>
<dd>An analysis of what's wrong with NMEA 0183, and a simple way to fix
it.</dd>
<dt><a href="performance.html">Where's the Latency? Performance analysis of GPSes and GPSD</a></dt>
<dd>An analysis of latency in the GPS/GPSD system. Has implications for the
design of <code>gpsd</code> and vendor claims about binary protocols.</dd>
<dt><a href="writing-a-driver.html">Notes on Writing a GPSD Driver</a></dt>
<dd>A guide for the perplexed by the author of the Jupiter-T driver.</dd>
<dt><a href="internals.html">A Tour of the GPSD Internals</a></dt>
<dd>A walk through the code of GPSD. Written in 2007 and out of date
in spots, but still quite useful for anyone interested in modifying
the code.</dd>
<dt><a href="excellence.html">GPSD and Code Excellence</a></dt>
<dd>An essay written for the <a href="http://codeoffsets.com/">The
Alliance for Code Excellence</a> on how GPSD drives out bad code.</dd>
<dt><a href="http://esr.ibiblio.org/?p=1859">Scenes from the Life of a System Architect</a></dt>
<dd>The GPSD lead describes some work in progress on the core code of
GPSD. A slice of what doing software architecture is like in the
real world, where history can weigh nearly as much as today's
requirements list.</dd>
<dt><a href="http://esr.ibiblio.org/?p=3617">GPSD 3.0 finally ships. It's been a long epic.</a></dt>
<dd>What a long strange trip it's been. GPSD 3.0 ships, five years of
effort pays off, and I think out loud about protocol transitions and
ubiquity and what it's like to be an infrastructure gnome.</dd>
<dt><a href="gpsd-time-service-howto.html">GPSD Time Service HOWTO</a></dt>
<dd>Step-by-step instructions on setting up a Stratum 1 time server
using GPSD and either ntpd or chrony. Documents the black art of
tuning offsets for remote time servers.</dd>
</dl>
<h1 id='recipes'>Recipes and related resources</h1>
<p><code>gpsd</code> also works with some <a href="bt.html">bluetooth
GPS</a> receivers. Warning: there are serious problems with the
firmware in at least one family of Bluetooth implementations shipped
by Holux that may result in <code>gpsd</code> bricking your GPS. See this
<a href="upstream-bugs.html#bluetooth">bug warning</a> for a description
of the problem.</p>
<p>If you have an Android phone, it is possible to access its onboard
GPS by pairing it as a Bluetooth device. Directions from <a
href="http://bvargo.net/blog/2010/oct/17/bluetooth-blues-getting-linux-pc-use-gps-android-d/">Vargoville</a>. There
is also a <a
href="http://www.androidzoom.com/android_applications/tools/gps-tether_blgt.html">GPS
Tether</a> app designed to work with GPSD, but it eems to be in early
alpha.</p>
<p>The <a href="http://gpsdproxy.sourceforge.net/">gGPSDproxy
project</a> is a small program which reads GPS data from a running
gpsd process and forwards it to a remote server via an UDP
connection. GPSDproxy is intended to be run on GPS enabled mobile
devices.</p>
<p>You can read detailed instructions on <a
href="http://www.rjsystems.nl/en/2100-ntpd-garmin-gps-18-lvc-gpsd.php">
Synchronizing ntpd to a Garmin GPS 18 LVC via gpsd</a>. This may be a
useful tutorial even if your actual device isn't a Garmin 18; many
of the setup steps and caveats will be the same.</p>
<p>Diego Berge has written a prototype <a
href="http://code.google.com/p/qtgpsc/">Qt-based client</a>, basically
<code>xgps</code> with a Qt look and feel.</p>
<p>Egil Möller has written <a
href="http://redhog.github.com/agpsd">agpsd</a>,
a gpsd replication and logging daemon with support for KML.</p>
<p>You can find Debian-unstable packages
<a href='http://packages.debian.org/unstable/misc/gpsd'>here</a>.</p>
<p><code>gpsd</code> is carried in the OpenBSD ports tree.</p>
<p>There's a <a
href='http://gpsd.davisnetworks.com'>Wiki
page</a> devoted to gpsd helper applications.</p>
<p><a href="http://www.openstreetmap.org/">OpenStreetMap</a> is a wiki
aiming to build a freely available, world-wide streetmap.</p>
<p>Freedesktop.org is hosting a project called <a
href="http://www.freedesktop.org/wiki/Software/GeoClue">geoclue</a>
that aims to provide a location service layer for all D-Bus-using
applications. It can use <code>gpsd</code> as a source for location
info.</p>
<p>Notes on setting up reliable timekeeping using a Navisys GR-601W
USB GPS can be found <a
href="http://whatroute.net/timekeeping.html">here</a>.</p>
<h1 id='others'>Other GPSDs</h1>
<p>There used to be three Linux-based forks of <code>gpsd</code> in the
wild, but this GPSD project reabsorbed one and the other two are now
defunct for unrelated reasons. You can read a brief <a
href="history.html">history</a> of the <code>gpsd</code> project if
you are curious.</p>
<p>There is a project called <a
href='http://www.mgix.com/gps3d/'>gps3d</a> that ships a gpsd with
similar goals to ours, but which appears to be an independent
development. There haven't been any releases since early 2002.</p>
<p>There is a <a href='http://www.crs4.it:8000/gpsweb/14'>GPSd</a>
project that is a GPS daemon written in Java and apparently intended
to provide location information for browsers.</p>
<p>There is a <code>gpsd</code>-like hack hosted under <a
href='http://www2.musatcha.com/musatcha/computers/software/gpsd/'>Microsoft
Windows</a>. It provides gpsd service from data in netstumbler under
win32. This way programs such as <a
href='http://www.wigle.net'>JiGLE</a> can still get GPS data from
netstumbler. This program is not genetically related to
<code>gpsd</code>.</p>
<p><a
href='http://users.hol.gr/~dzach/gpsfeed/index.html'>gpsfeed+</a> is a
program that simulates the output of a GPS in motion, and can be used
for testing GPS-aware applications.</p>
<p>We aren't Green Parrot Software Development, nor are we the
Greenville Public School District nor the Greater Peoria Sanitary
District, nor even the Greater Portland Soccer District, nor the Green
Party of San Diego, nor do we have anything to do with the General
Product Safety Directive, the Guiding Principles of Sustainable
Design, nor the Glatt Plagiarism Self-Detection Program.</p>
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