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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>.</para>
<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. Applications that
presently use <code>gpsd</code> include <a
href="http://www.pygps.org">pyGPS</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.digitalomaha.net/index.html">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>,
and <a href="http://gaia.serezhkin.com/">gaia</a>.</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. It is
regularly checked with the standard mode of <a
href='http://www.splint.org'>splint</a>, audited with <a
href='http://valgrind.org/'>Valgrind</a>, and an extensive
regression-test suite is used to check correct behavior before each
release. This care has paid off in an exceptionally low defect rate;
our first <a href='http://coverity.com'>Coverity</a> scan, in March
2007, turned up only two errors in over 22,000 LLOC.</p>
<p>Statistics about the code volume, commit history, and contributors
associated with thias 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 and OpenBSD are directly supported.
We'll support proprietary Unixes if it's not too much work (and it
usually isn't). Apple's OS X is back in our good books, but it is
criticial that you have all your USB drivers updated. Older drivers
are buggy and prevent gpsd from being able to read from usb-serial
devices.</p>
<p>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>See the <a href='faq.html'>FAQ</a> for information on how to report
bugs.</p>
<p>All advertising revenue from this site (on the optimistic
assumption that we ever see any!) will go to the project's fund for
buying <a href="wishlist.html"> test hardware and standards</a>.</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'>Downloads and packages</h1>
<p>Look in the <a
href="http://developer.berlios.de/project/showfiles.php?group_id=2116">download</a>
directory for tarballs of all released versions. Access to the
bleeding-edge developer version is supported <a
href="http://developer.berlios.de/svn/?group_id=2116">via
Subversion</a>. The main project page is <a
href='http://developer.berlios.de/projects/gpsd/'>here on berlios.de</a>.</p>
<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 tying <code>"sudo apt-get 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="http://lists.berlios.de/mailman/listinfo/gpsd-announce">gpsd-announce</a>
is for release announcements and project news.</li>
<li><a
href="http://lists.berlios.de/mailman/listinfo/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="http://lists.berlios.de/mailman/listinfo/gpsd-dev">gpsd-dev</a>
is for <code>gpsd</code> developers.</li>
<li><a
href="https://lists.berlios.de/mailman/listinfo/gpsd-commit-watch">gpsd-commit-watch</a>
sends automatic broadcast notifications of commits to the <code>gpsd</code>
repository.</li>
<li>We also have searchable archives 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.1</a></dt>
<dd>The <code>gpsd</code> daemon.</dd>
<dt><a href="xgps.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="gpsflash.html">gpsflash(1)</a></dt>
<dd>The <code>src</code> GPS firmware uploader..</dd>
<dt><a href="rtcm-104.html">rtcm-104.5</a></dt>
<dd>The <code>gpsdecode</code> RTCM104 decoder dump format.</dd>
<dt><a href="srec.html">srec.5</a></dt>
<dd>The <code>src</code> Motorola S-record and file format.</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>
<p>Some GPSD data streams that you can look at are
<a href="http://gpsd.rellim.com">http://gpsd.rellim.com</a><!--/*The following two not available as of 2007-12-23*/,
<a href="http://gpsd.gritch.org">http://gpsd.gritch.org</a>,-->
and <a href="http://gpsd.mainframe.cx">http://gpsd.mainframe.cx</a>. You can
also point our test clients at these hostnames to see what the clients
do, even if you don't yet have a local GPS.</p>
<h1 id='white_papers'>White Papers</h1>
<dl>
<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>
</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>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>Diego Berge has written a prototype <a
href="http://www.navlost.eu/survey/gpsd/">Qt-based client</a>,
basically <code>xgps</code> with a more modern look and feel.
<p>We supply a Gentoo Linux ebuild script in the source distribution.</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>The penguin-with-satellites logo is a hacked version of one I found
<a
href='http://www.gfz-potsdam.de/pb1/staff/gbeyerle/opengps/'>here</a>.
This project seems to be defunct, or at least the maintainer is not
responding to email.</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>There is an interesting alpha-stage proposal called <a
href='http://www.gpster.net/locod.html'>locod</a> that aims to
integrate location information from GPSes and other sources.</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 the Guiding Principles of Sustainable
Design, nor the Glatt Plagiarism Self-Detection Program.</p>
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