| … | |
… | |
| 57 | |
57 | |
| 58 | =item port => $port |
58 | =item port => $port |
| 59 | |
59 | |
| 60 | The port to connect to, default is C<2947>. |
60 | The port to connect to, default is C<2947>. |
| 61 | |
61 | |
|
|
62 | =item min_speed => $speed_in_m_per_s |
|
|
63 | |
|
|
64 | Sets the mininum speed (default: 0) that is considered real for the |
|
|
65 | purposes of replay compression or estimate. Speeds below this value will |
|
|
66 | be considered 0. |
|
|
67 | |
| 62 | =item on_error => $cb->($gps) |
68 | =item on_error => $cb->($gps) |
| 63 | |
69 | |
| 64 | Called on every connection or protocol failure, reason is in C<$!> |
70 | Called on every connection or protocol failure, reason is in C<$!> |
| 65 | (protocl errors are signalled via EBADMSG). Can be used to bail out if you |
71 | (protocl errors are signalled via EBADMSG). Can be used to bail out if you |
| 66 | are not interested in retries. |
72 | are not interested in retries. |
| … | |
… | |
| 88 | |
94 | |
| 89 | C<snr> contains the signal strength in decibals (28+ is usually the |
95 | C<snr> contains the signal strength in decibals (28+ is usually the |
| 90 | minimum value for a good fix). |
96 | minimum value for a good fix). |
| 91 | |
97 | |
| 92 | C<fix> contains either C<1> to indicate that this satellite was used for |
98 | C<fix> contains either C<1> to indicate that this satellite was used for |
| 93 | the last position fix, C<0> otherwise. EGNOS/WAAS etc. satellites will |
99 | the last position fix, C<0> otherwise. EGNOS/WAAS etc. satellites will |
| 94 | always show as C<0>, even if their correction info was used. |
100 | always show as C<0>, even if their correction info was used. |
|
|
101 | |
|
|
102 | The passed hash references are read-only. |
| 95 | |
103 | |
| 96 | =item on_fix => $cb->({point}) |
104 | =item on_fix => $cb->({point}) |
| 97 | |
105 | |
| 98 | Called regularly (usually about once/second), even when there is no |
106 | Called regularly (usually about once/second), even when there is no |
| 99 | connection to the GPSD (so is useful to update your idea of the current |
107 | connection to the GPSD (so is useful to update your idea of the current |
| … | |
… | |
| 138 | $self->connect; |
146 | $self->connect; |
| 139 | |
147 | |
| 140 | $self |
148 | $self |
| 141 | } |
149 | } |
| 142 | |
150 | |
|
|
151 | sub DESTROY { |
|
|
152 | my ($self) = @_; |
|
|
153 | |
|
|
154 | $self->record_log; |
|
|
155 | } |
|
|
156 | |
| 143 | sub event { |
157 | sub event { |
| 144 | my $event = splice @_, 1, 1, (); |
158 | my $event = splice @_, 1, 1, (); |
| 145 | |
159 | |
| 146 | warn "event<$event,@_>\n";#d# |
160 | #warn "event<$event,@_>\n";#d# |
| 147 | if ($event = $_[0]{"on_$event"}) { |
161 | if ($event = $_[0]{"on_$event"}) { |
| 148 | &$event; |
162 | &$event; |
| 149 | } |
163 | } |
| 150 | } |
164 | } |
| 151 | |
165 | |
| 152 | sub retry { |
166 | sub retry { |
| 153 | my ($self) = @_; |
167 | my ($self) = @_; |
| 154 | |
168 | |
| 155 | delete $self->{fh}; |
169 | delete $self->{fh}; |
|
|
170 | delete $self->{command}; |
| 156 | |
171 | |
| 157 | Scalar::Util::weaken $self; |
172 | Scalar::Util::weaken $self; |
| 158 | $self->{retry_w} = AnyEvent->timer (after => 1, cb => sub { |
173 | $self->{retry_w} = AnyEvent->timer (after => 1, cb => sub { |
| 159 | delete $self->{retry_w}; |
174 | delete $self->{retry_w}; |
| 160 | $self->connect; |
175 | $self->connect; |
| … | |
… | |
| 204 | $self->retry; |
219 | $self->retry; |
| 205 | }, |
220 | }, |
| 206 | on_eof => sub { |
221 | on_eof => sub { |
| 207 | $! = &Errno::EPIPE; |
222 | $! = &Errno::EPIPE; |
| 208 | $self->event ("error"); |
223 | $self->event ("error"); |
|
|
224 | $self->log ("disconnect"); |
| 209 | $self->retry; |
225 | $self->retry; |
| 210 | }, |
226 | }, |
| 211 | on_read => sub { |
227 | on_read => sub { |
| 212 | $_[0]{rbuf} =~ s/^([^\015\012]*)\015\012// |
228 | $_[0]{rbuf} =~ s/^([^\015\012]*)\015\012// |
| 213 | or return; |
229 | or return; |
| 214 | |
230 | |
| 215 | $self->feed ($1); |
231 | $self->feed ($1) |
|
|
232 | unless $self->{replay_cb}; |
| 216 | }, |
233 | }, |
| 217 | ; |
234 | ; |
| 218 | |
235 | |
| 219 | $self->send ("w"); |
236 | $self->send ("w"); |
| 220 | $self->send ("o"); |
237 | $self->send ("o"); |
| 221 | $self->send ("y"); |
238 | $self->send ("y"); |
| 222 | $self->send ("c"); |
239 | $self->send ("c"); |
| 223 | |
240 | |
| 224 | $self->event ("connect"); |
241 | $self->event ("connect"); |
|
|
242 | $self->log ("connect"); |
| 225 | } else { |
243 | } else { |
| 226 | $self->event ("error"); |
244 | $self->event ("error"); |
| 227 | } |
245 | } |
| 228 | }; |
246 | }; |
| 229 | |
247 | |
| … | |
… | |
| 249 | sub feed { |
267 | sub feed { |
| 250 | my ($self, $line) = @_; |
268 | my ($self, $line) = @_; |
| 251 | |
269 | |
| 252 | $self->{now} = AnyEvent->now; |
270 | $self->{now} = AnyEvent->now; |
| 253 | |
271 | |
|
|
272 | $self->log (raw => $line) |
|
|
273 | if $self->{logfh}; |
|
|
274 | |
| 254 | unless ($line =~ /^GPSD,(.)=(.*)$/) { |
275 | unless ($line =~ /^GPSD,(.)=(.*)$/) { |
| 255 | $! = &Errno::EBADMSG; |
276 | $! = &Errno::EBADMSG; |
| 256 | $self->event ("error"); |
277 | $self->event ("error"); |
| 257 | return $self->retry; |
278 | return $self->retry; |
| 258 | } |
279 | } |
| 259 | |
280 | |
| 260 | my ($type, $data) = ($1, $2); |
281 | my ($type, $data) = ($1, $2); |
|
|
282 | |
|
|
283 | #warn "$type=$data\n";#d# |
| 261 | |
284 | |
| 262 | $self->{state}{$type} = [$data => $self->{now}]; |
285 | $self->{state}{$type} = [$data => $self->{now}]; |
| 263 | |
286 | |
| 264 | if ($type eq "O") { |
287 | if ($type eq "O") { |
| 265 | my @data = split /\s+/, $data; |
288 | my @data = split /\s+/, $data; |
| … | |
… | |
| 271 | if (@data > 3) { |
294 | if (@data > 3) { |
| 272 | # the gpsd time is virtually useless as it is truncated :/ |
295 | # the gpsd time is virtually useless as it is truncated :/ |
| 273 | for (qw(tag _time _terr lat lon alt herr verr bearing speed vspeed berr serr vserr mode)) { |
296 | for (qw(tag _time _terr lat lon alt herr verr bearing speed vspeed berr serr vserr mode)) { |
| 274 | $type = shift @data; |
297 | $type = shift @data; |
| 275 | $fix->{$_} = $type eq "?" ? undef : $type; |
298 | $fix->{$_} = $type eq "?" ? undef : $type; |
|
|
299 | } |
|
|
300 | |
|
|
301 | if (my $s = $self->{stretch}) { |
|
|
302 | $s = 1 / $s; |
|
|
303 | |
|
|
304 | $fix->{herr} *= $s; # ? |
|
|
305 | $fix->{verr} *= $s; # ? |
|
|
306 | $fix->{berr} *= $s; # ? |
|
|
307 | $fix->{serr} *= $s; # ? |
|
|
308 | $fix->{vserr} *= $s; # ? |
|
|
309 | |
|
|
310 | $fix->{speed} *= $s; |
|
|
311 | $fix->{vspeed} *= $s; |
| 276 | } |
312 | } |
| 277 | |
313 | |
| 278 | $fix->{mode} = 2 if $fix->{mode} eq "?"; # arbitrary choice |
314 | $fix->{mode} = 2 if $fix->{mode} eq "?"; # arbitrary choice |
| 279 | } else { |
315 | } else { |
| 280 | $fix->{mode} = 1; |
316 | $fix->{mode} = 1; |
| … | |
… | |
| 312 | } |
348 | } |
| 313 | |
349 | |
| 314 | =item ($lat, $lon) = $gps->estimate ([$max_seconds]) |
350 | =item ($lat, $lon) = $gps->estimate ([$max_seconds]) |
| 315 | |
351 | |
| 316 | This returns an estimate of the current position based on the last fix and |
352 | This returns an estimate of the current position based on the last fix and |
| 317 | the time passed since then. Useful for interactive applications where you |
353 | the time passed since then. |
| 318 | want more frequent updates, but not very useful to store, as the next fix |
|
|
| 319 | might well be totally off. |
|
|
| 320 | |
354 | |
|
|
355 | Useful for interactive applications where you want more frequent updates, |
|
|
356 | but not very useful to store, as the next fix might well be totally |
|
|
357 | off. For example, when displaying a real-time map, you could simply call |
|
|
358 | C<estimate> ten times a second and update the cursor or map position, but |
|
|
359 | you should use C<on_fix> to actually gather data to plot the course itself. |
|
|
360 | |
| 321 | If the fix is older then C<$max_seconds> (default: C<1.9>) or if no fix is |
361 | If the fix is older then C<$max_seconds> (default: C<1.9> times the update |
| 322 | available, returns the empty list. |
362 | interval, i.e. usually C<1.9> seconds) or if no fix is available, returns |
|
|
363 | the empty list. |
| 323 | |
364 | |
| 324 | =cut |
365 | =cut |
| 325 | |
366 | |
| 326 | sub estimate { |
367 | sub estimate { |
| 327 | my ($self, $max) = @_; |
368 | my ($self, $max) = @_; |
| 328 | |
369 | |
| 329 | $max ||= 1.9 unless defined $max; |
370 | $max ||= 1.9 * $self->{interval} unless defined $max; |
| 330 | |
371 | |
| 331 | my $geo = $self->{geo_forward} ||= new Geo::Forward; |
372 | my $geo = $self->{geo_forward} ||= new Geo::Forward; |
| 332 | |
373 | |
| 333 | my $fix = $self->{fix} or return; |
374 | my $fix = $self->{fix} or return; |
| 334 | $fix->{mode} >= 2 or return; |
375 | $fix->{mode} >= 2 or return; |
| 335 | |
376 | |
| 336 | my $diff = AnyEvent->time - $fix->{time}; |
377 | my $diff = AnyEvent->time - $fix->{time}; |
| 337 | |
378 | |
| 338 | $diff <= $max or return; |
379 | $diff <= $max or return; |
| 339 | |
380 | |
| 340 | if ($fix->{speed} > $fix->{serr}) { |
381 | if ($fix->{speed} >= $self->{min_speed}) { |
| 341 | my ($lat, $lon) = $geo->forward ($fix->{lat}, $fix->{lon}, $fix->{bearing}, $fix->{speed} * $diff); |
382 | my ($lat, $lon) = $geo->forward ($fix->{lat}, $fix->{lon}, $fix->{bearing}, $fix->{speed} * $diff); |
| 342 | ($lat, $lon) |
383 | ($lat, $lon) |
| 343 | |
384 | |
| 344 | } else { |
385 | } else { |
| 345 | # if we likely have zero speed, return the point itself |
386 | # if we likely have zero speed, return the point itself |
| 346 | ($fix->{lat}, $fix->{lon}) |
387 | ($fix->{lat}, $fix->{lon}) |
| 347 | } |
388 | } |
| 348 | } |
389 | } |
| 349 | |
390 | |
|
|
391 | sub log { |
|
|
392 | my ($self, @arg) = @_; |
|
|
393 | |
|
|
394 | syswrite $self->{logfh}, JSON::encode_json ([AnyEvent->time, @arg]) . "\n" |
|
|
395 | if $self->{logfh}; |
|
|
396 | } |
|
|
397 | |
|
|
398 | =item $gps->record_log ($path) |
|
|
399 | |
|
|
400 | If C<$path> is defined, then that file will be created or truncated and a |
|
|
401 | log of all (raw) packets received will be written to it. This log file can |
|
|
402 | later be replayed by calling C<< $gps->replay_log ($path) >>. |
|
|
403 | |
|
|
404 | If C<$path> is undefined then the log will be closed. |
|
|
405 | |
|
|
406 | =cut |
|
|
407 | |
|
|
408 | sub record_log { |
|
|
409 | my ($self, $path) = @_; |
|
|
410 | |
|
|
411 | if (defined $path) { |
|
|
412 | $self->record_log; |
|
|
413 | |
|
|
414 | require JSON; |
|
|
415 | |
|
|
416 | open $self->{logfh}, ">:perlio", $path |
|
|
417 | or Carp::croak "$path: $!"; |
|
|
418 | |
|
|
419 | $self->log (start => $VERSION, 0, 0, { interval => $self->{interval} }); |
|
|
420 | } elsif ($self->{logfh}) { |
|
|
421 | $self->log ("stop"); |
|
|
422 | delete $self->{logfh}; |
|
|
423 | } |
|
|
424 | } |
|
|
425 | |
|
|
426 | =item $gps->replay_log ($path, %options) |
|
|
427 | |
|
|
428 | Replays a log file written using C<record_log> (or stops replaying when |
|
|
429 | C<$path> is undefined). While the log file replays, real GPS events will |
|
|
430 | be ignored. This comes in handy when testing. |
|
|
431 | |
|
|
432 | Please note that replaying a log will change configuration options that |
|
|
433 | will not be restored, so it's best not to reuse a gpsd object after a |
|
|
434 | replay. |
|
|
435 | |
|
|
436 | The C<AnyEvent::GPSD> distribution comes with an example log |
|
|
437 | (F<eg/example.aegps>) that you can replay for testing or enjoyment |
|
|
438 | purposes. |
|
|
439 | |
|
|
440 | The options include: |
|
|
441 | |
|
|
442 | =over 4 |
|
|
443 | |
|
|
444 | =item compress => 1 |
|
|
445 | |
|
|
446 | If set to a true value (default: false), then passages without fix will be |
|
|
447 | replayed much faster than passages with fix. The same happens for passages |
|
|
448 | without much movement. |
|
|
449 | |
|
|
450 | =item stretch => $factor |
|
|
451 | |
|
|
452 | Multiplies all times by the given factor. Values < 1 make the log replay |
|
|
453 | faster, values > 1 slower. Note that the frequency of fixes will not be |
|
|
454 | increased, o stretch factors > 1 do not work well. |
|
|
455 | |
|
|
456 | A stretch factor of zero is not allowed, but if you want to replay a log |
|
|
457 | instantly you may speicfy a very low value (e.g. 1e-10). |
|
|
458 | |
|
|
459 | =back |
|
|
460 | |
|
|
461 | =cut |
|
|
462 | |
|
|
463 | sub replay_log { |
|
|
464 | my ($self, $path, %option) = @_; |
|
|
465 | |
|
|
466 | if (defined $path) { |
|
|
467 | $self->replay_log; |
|
|
468 | |
|
|
469 | require JSON; |
|
|
470 | |
|
|
471 | open my $fh, "<:perlio", $path |
|
|
472 | or Carp::croak "$path: $!"; |
|
|
473 | |
|
|
474 | $self->{stretch} = $option{stretch} || 1; |
|
|
475 | $self->{compress} = $option{compress}; |
|
|
476 | |
|
|
477 | $self->{imterval} /= $self->{stretch}; |
|
|
478 | |
|
|
479 | Scalar::Util::weaken $self; |
|
|
480 | |
|
|
481 | $self->{replay_cb} = sub { |
|
|
482 | my $line = <$fh>; |
|
|
483 | |
|
|
484 | if (2 > length $line) { |
|
|
485 | $self->replay_log; |
|
|
486 | } else { |
|
|
487 | my ($time, $type, @data) = @{ JSON::decode_json ($line) }; |
|
|
488 | |
|
|
489 | $time *= $self->{stretch}; |
|
|
490 | |
|
|
491 | if ($type eq "start") { |
|
|
492 | my ($module_version, $major_version, $minor_version, $args) = @data; |
|
|
493 | |
|
|
494 | $self->{interval} = ($args->{interval} || 1) / $self->{stretch}; |
|
|
495 | } |
|
|
496 | |
|
|
497 | if ( |
|
|
498 | $type eq "start" |
|
|
499 | or ($self->{compress} |
|
|
500 | and $self->{fix} && ($self->{fix}{mode} < 2 || $self->{fix}{speed} < $self->{min_speed})) |
|
|
501 | ) { |
|
|
502 | $self->{replay_now} = $time; |
|
|
503 | } |
|
|
504 | |
|
|
505 | $self->{replay_timer} = AnyEvent->timer (after => $time - $self->{replay_now}, cb => sub { |
|
|
506 | $self->{replay_now} = $time; |
|
|
507 | $self->{command} = []; # no can do |
|
|
508 | $self->feed ($data[0]) if $type eq "raw"; |
|
|
509 | $self->{replay_cb}(); |
|
|
510 | }); |
|
|
511 | } |
|
|
512 | }; |
|
|
513 | |
|
|
514 | $self->{replay_cb}(); |
|
|
515 | |
|
|
516 | } else { |
|
|
517 | delete $self->{stretch}; |
|
|
518 | delete $self->{compress}; |
|
|
519 | delete $self->{replay_timer}; |
|
|
520 | delete $self->{replay_cb}; |
|
|
521 | } |
|
|
522 | } |
|
|
523 | |
| 350 | =back |
524 | =back |
| 351 | |
525 | |
| 352 | =head1 SEE ALSO |
526 | =head1 SEE ALSO |
| 353 | |
527 | |
| 354 | L<AnyEvent>. |
528 | L<AnyEvent>. |
