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1
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package Net::GPSD3;
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2
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18
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18
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279772
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use strict;
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18
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41
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18
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537
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3
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17
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17
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2919
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use warnings;
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17
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32
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17
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508
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4
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15
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15
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83
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use base qw{Net::GPSD3::Base};
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15
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27
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15
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9030
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5
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15
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15
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11989
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use JSON::XS qw{};
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15
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112172
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15
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332
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6
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15
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15
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10549
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use IO::Socket::INET6 qw{};
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15
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436308
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15
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338
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7
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15
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15
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7019
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use Net::GPSD3::Return::Unknown;
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15
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34
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15
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350
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8
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15
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15
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5467
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use Net::GPSD3::Cache;
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15
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29
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15
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316
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9
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15
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15
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15717
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use DateTime;
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15
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2086912
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15
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18994
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10
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11
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our $VERSION='0.19';
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12
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our $PACKAGE=__PACKAGE__;
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13
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14
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=head1 NAME
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15
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16
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Net::GPSD3 - Interface to the gpsd server daemon protocol versions 3 (JSON).
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17
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18
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=head1 SYNOPSIS
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19
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20
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=head2 Watch Interface
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21
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22
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use Net::GPSD3;
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23
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my $gpsd=Net::GPSD3->new;
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24
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$gpsd->watch;
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25
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26
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One Liner
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27
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28
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perl -MNet::GPSD3 -e 'Net::GPSD3->new->watch'
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29
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30
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=head2 Poll Interface
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31
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32
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use Net::GPSD3;
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33
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use Data::Dumper qw{Dumper};
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34
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my $gpsd=Net::GPSD3->new;
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35
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my $poll=$gpsd->poll;
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36
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print Dumper($poll);
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37
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38
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One Liner
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39
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40
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perl -MNet::GPSD3 -e 'printf "Protocol: %s\n", Net::GPSD3->new->poll->parent->cache->VERSION->protocol;'
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41
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42
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Protocol: 3.4
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43
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44
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=head2 POE Interface
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45
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46
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See L
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47
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48
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=head1 DESCRIPTION
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49
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50
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Net::GPSD3 provides an object client interface to the gpsd server daemon utilizing the version 3 protocol. gpsd is an open source GPS daemon from http://www.catb.org/gpsd/ Support for Version 3 of the protocol (JSON) was added to the daemon in version 2.90. If your daemon is before 2.90 (protocol 2.X), please use the L package.
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51
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52
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=head1 CONSTRUCTOR
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53
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54
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=head2 new
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55
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56
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Returns a new Net::GPSD3 object.
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57
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58
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my $gpsd=Net::GPSD3->new;
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59
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my $gpsd=Net::GPSD3->new(host=>"127.0.0.1", port=>2947); #defaults
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60
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61
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=head1 METHODS
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62
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63
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=head2 host
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64
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65
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Sets or returns the current gpsd host.
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66
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67
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my $host=$obj->host;
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68
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69
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=cut
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70
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71
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sub host {
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72
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3
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3
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1
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91
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my $self=shift;
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73
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3
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0
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7
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if (@_) {
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74
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3
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32
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$self->{'host'}=shift;
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75
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3
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15
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undef($self->{'socket'});
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76
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}
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77
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3
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0
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5
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$self->{'host'}="127.0.0.1" unless defined $self->{'host'};
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78
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3
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29
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return $self->{'host'};
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79
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}
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80
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81
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=head2 port
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82
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83
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Sets or returns the current gpsd TCP port.
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84
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85
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my $port=$obj->port;
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86
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87
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=cut
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88
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89
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sub port {
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90
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3
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3
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1
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15
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my $self=shift;
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91
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3
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0
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5
|
if (@_) {
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92
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3
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30
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$self->{'port'}=shift;
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93
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3
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14
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undef($self->{'socket'});
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94
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}
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95
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3
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0
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7
|
$self->{'port'}='2947' unless defined $self->{'port'};
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96
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3
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31
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return $self->{'port'};
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97
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}
|
98
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99
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=head2 poll
|
100
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101
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Sends a Poll request to the gpsd server and returns a L object. The method also populates the cache object with the L and L objects.
|
102
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103
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my $poll=$gpsd->poll; #isa Net::GPSD3::Return::POLL object
|
104
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105
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Note: In order to use the poll method consistently you should run the GPSD daemon as a service. You may also need to run the daemon with the "-n" option.
|
106
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107
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=cut
|
108
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|
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109
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sub poll {
|
110
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0
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3
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1
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0
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my $self=shift;
|
111
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0
|
0
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0
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$self->socket->send(qq(?DEVICES;\n)) unless $self->cache->DEVICES;
|
112
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0
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|
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|
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0
|
$self->socket->send(qq(?POLL;\n));
|
113
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0
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|
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0
|
my $object;
|
114
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0
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|
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|
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0
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do { #Reads and caches VERSION and DEVICES
|
115
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0
|
|
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|
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0
|
local $/="\r\n";
|
116
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0
|
|
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|
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0
|
my $line=$self->socket->getline;
|
117
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0
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|
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|
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0
|
chomp $line;
|
118
|
0
|
|
|
|
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0
|
$object=$self->constructor($self->decode($line), string=>$line);
|
119
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0
|
0
|
|
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0
|
$self->cache->add($object) unless $object->class eq "POLL";
|
120
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|
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|
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|
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} until $object->class eq "POLL"; #this needs more logic
|
121
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0
|
|
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|
|
0
|
return $object;
|
122
|
|
|
|
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|
|
}
|
123
|
|
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|
124
|
|
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|
=head2 watch
|
125
|
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|
126
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Calls all handlers that are registered in the handler method.
|
127
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|
|
128
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$gpsd->watch; #will not return unless something goes wrong.
|
129
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|
130
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=cut
|
131
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|
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|
|
132
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sub watch {
|
133
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0
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3
|
1
|
0
|
my $self=shift;
|
134
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0
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|
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0
|
my @handler=$self->handlers;
|
135
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0
|
0
|
|
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|
0
|
push @handler, \&default_handler unless scalar(@handler);
|
136
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#$self->socket->send(qq(?DEVICES;\n)); #appears this is now done in the daemon
|
137
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0
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|
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|
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0
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$self->socket->send($self->_watch_string_on. "\n");
|
138
|
0
|
|
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0
|
my $object;
|
139
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|
#man 8 gpsd - Each request returns a line of response text ended by a CR/LF.
|
140
|
0
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|
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|
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0
|
local $/="\r\n";
|
141
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0
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|
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0
|
my $line;
|
142
|
0
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|
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|
0
|
while (defined($line=$self->socket->getline)) { #Reads VERSION and DEVICES object too.
|
143
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|
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|
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#print "$line\n";
|
144
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0
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|
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0
|
chomp $line;
|
145
|
0
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|
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0
|
my $object=$self->constructor($self->decode($line), string=>$line);
|
146
|
0
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|
|
|
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0
|
$_->($object) foreach @handler;
|
147
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0
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|
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|
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0
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$self->cache($object); #cache after handler so that the last point is available to the handler.
|
148
|
|
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}
|
149
|
0
|
|
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|
|
0
|
return $self;
|
150
|
|
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}
|
151
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|
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|
152
|
|
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|
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sub _watch_string_on {
|
153
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0
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|
|
0
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|
0
|
return q(?WATCH={"enable":true,"json":true};);
|
154
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}
|
155
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|
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|
|
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|
|
156
|
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|
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sub _watch_string_off {
|
157
|
0
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|
|
0
|
|
0
|
return q(?WATCH={"enable":false,"json":true};);
|
158
|
|
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|
|
}
|
159
|
|
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|
|
|
|
|
160
|
|
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|
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=head2 addHandler
|
161
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|
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|
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|
|
162
|
|
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|
Adds handlers to the handler list.
|
163
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|
164
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|
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|
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|
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$gpsd->addHandler(\&myHandler);
|
165
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|
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|
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|
|
$gpsd->addHandler(\&myHandler1, \&myHandler2);
|
166
|
|
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|
|
|
|
|
167
|
|
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|
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A handler is a sub reference where the first argument is a Net::GPSD3::Return::* object.
|
168
|
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|
169
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|
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|
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|
|
=cut
|
170
|
|
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|
|
|
|
|
171
|
|
|
|
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|
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sub addHandler {
|
172
|
0
|
|
|
0
|
1
|
0
|
my $self=shift;
|
173
|
0
|
|
|
|
|
0
|
my $array=$self->handlers;
|
174
|
0
|
0
|
|
|
|
0
|
push @$array, @_ if @_;
|
175
|
0
|
|
|
|
|
0
|
return $self;
|
176
|
|
|
|
|
|
|
}
|
177
|
|
|
|
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|
|
|
178
|
|
|
|
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|
|
=head2 handlers
|
179
|
|
|
|
|
|
|
|
180
|
|
|
|
|
|
|
List of handlers that are called in order to process objects from the gpsd wathcer stream.
|
181
|
|
|
|
|
|
|
|
182
|
|
|
|
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|
|
my @handler=$gpsd->handlers; #()
|
183
|
|
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|
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|
|
my $handler=$gpsd->handlers; #[]
|
184
|
|
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|
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|
|
185
|
|
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|
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|
|
=cut
|
186
|
|
|
|
|
|
|
|
187
|
|
|
|
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|
|
sub handlers {
|
188
|
0
|
|
|
0
|
1
|
0
|
my $self=shift;
|
189
|
0
|
0
|
|
|
|
0
|
$self->{'handler'}=[] unless ref($self->{'handler'});
|
190
|
0
|
0
|
|
|
|
0
|
return wantarray ? @{$self->{'handler'}} : $self->{'handler'};
|
|
0
|
|
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|
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0
|
|
191
|
|
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|
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|
|
}
|
192
|
|
|
|
|
|
|
|
193
|
|
|
|
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|
|
=head2 cache
|
194
|
|
|
|
|
|
|
|
195
|
|
|
|
|
|
|
Returns the L caching object.
|
196
|
|
|
|
|
|
|
|
197
|
|
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|
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|
|
=cut
|
198
|
|
|
|
|
|
|
|
199
|
|
|
|
|
|
|
sub cache {
|
200
|
0
|
|
|
0
|
1
|
0
|
my $self=shift;
|
201
|
0
|
0
|
|
|
|
0
|
$self->{"cache"}=Net::GPSD3::Cache->new(parent=>$self)
|
202
|
|
|
|
|
|
|
unless defined $self->{"cache"};
|
203
|
0
|
|
|
|
|
0
|
return $self->{"cache"};
|
204
|
|
|
|
|
|
|
}
|
205
|
|
|
|
|
|
|
|
206
|
|
|
|
|
|
|
=head1 METHODS Internal
|
207
|
|
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|
|
|
|
|
208
|
|
|
|
|
|
|
=head2 default_handler
|
209
|
|
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|
|
|
|
|
210
|
|
|
|
|
|
|
=cut
|
211
|
|
|
|
|
|
|
|
212
|
|
|
|
|
|
|
sub default_handler {
|
213
|
0
|
|
|
0
|
1
|
0
|
my $object=shift;
|
214
|
|
|
|
|
|
|
#use Data::Dumper qw{Dumper};
|
215
|
|
|
|
|
|
|
#print Dumper($object);
|
216
|
0
|
0
|
|
|
|
0
|
if ($object->class eq "TPV") {
|
|
|
0
|
|
|
|
|
|
|
|
0
|
|
|
|
|
|
|
|
0
|
|
|
|
|
|
|
|
0
|
|
|
|
|
|
|
|
0
|
|
|
|
|
|
|
|
0
|
|
|
|
|
|
|
|
0
|
|
|
|
|
|
217
|
0
|
|
|
|
|
0
|
printf "%s: %s, Time: %s, Lat: %s, Lon: %s, Speed: %s, Heading: %s\n",
|
218
|
|
|
|
|
|
|
DateTime->now,
|
219
|
|
|
|
|
|
|
$object->class,
|
220
|
|
|
|
|
|
|
$object->timestamp,
|
221
|
|
|
|
|
|
|
$object->lat,
|
222
|
|
|
|
|
|
|
$object->lon,
|
223
|
|
|
|
|
|
|
$object->speed,
|
224
|
|
|
|
|
|
|
$object->track;
|
225
|
|
|
|
|
|
|
} elsif ($object->class eq "SKY") {
|
226
|
0
|
|
|
|
|
0
|
printf "%s: %s, Satellites: %s, Used: %s, PRNs: %s\n",
|
227
|
|
|
|
|
|
|
DateTime->now,
|
228
|
|
|
|
|
|
|
$object->class,
|
229
|
|
|
|
|
|
|
$object->reported,
|
230
|
|
|
|
|
|
|
$object->used,
|
231
|
0
|
|
|
|
|
0
|
join(",", map {$_->prn} grep {$_->used} $object->Satellites),
|
|
0
|
|
|
|
|
0
|
|
232
|
|
|
|
|
|
|
} elsif ($object->class eq "SUBFRAME") {
|
233
|
0
|
|
|
|
|
0
|
printf qq{%s: %s, Device: %s\n},
|
234
|
|
|
|
|
|
|
DateTime->now,
|
235
|
|
|
|
|
|
|
$object->class,
|
236
|
|
|
|
|
|
|
$object->device;
|
237
|
|
|
|
|
|
|
} elsif ($object->class eq "VERSION") {
|
238
|
0
|
|
|
|
|
0
|
printf "%s: %s, GPSD: %s (%s), %s: %s\n",
|
239
|
|
|
|
|
|
|
DateTime->now,
|
240
|
|
|
|
|
|
|
$object->class,
|
241
|
|
|
|
|
|
|
$object->release,
|
242
|
|
|
|
|
|
|
$object->revision,
|
243
|
|
|
|
|
|
|
ref($object->parent),
|
244
|
|
|
|
|
|
|
$object->parent->VERSION;
|
245
|
|
|
|
|
|
|
} elsif ($object->class eq "WATCH") {
|
246
|
0
|
|
|
|
|
0
|
printf "%s: %s, Enabled: %s\n",
|
247
|
|
|
|
|
|
|
DateTime->now,
|
248
|
|
|
|
|
|
|
$object->class,
|
249
|
|
|
|
|
|
|
$object->enabled;
|
250
|
|
|
|
|
|
|
} elsif ($object->class eq "DEVICES") {
|
251
|
0
|
|
|
|
|
0
|
my @device=$object->Devices;
|
252
|
0
|
|
|
|
|
0
|
foreach my $device (@device) {
|
253
|
0
|
0
|
|
|
|
0
|
if ($device->activated) {
|
254
|
0
|
|
|
|
|
0
|
$device=sprintf("%s (%s bps %s-%s)", $device->path, $device->bps, $device->driver, $device->subtype);
|
255
|
|
|
|
|
|
|
} else {
|
256
|
0
|
|
|
|
|
0
|
$device=$device->path;
|
257
|
|
|
|
|
|
|
}
|
258
|
|
|
|
|
|
|
}
|
259
|
0
|
|
|
|
|
0
|
printf "%s: %s, Devices: %s\n",
|
260
|
|
|
|
|
|
|
DateTime->now,
|
261
|
|
|
|
|
|
|
$object->class,
|
262
|
|
|
|
|
|
|
join(", ", @device);
|
263
|
|
|
|
|
|
|
} elsif ($object->class eq "DEVICE") {
|
264
|
0
|
|
|
|
|
0
|
printf qq{%s: %s, Device: %s (%s bps %s-%s)\n},
|
265
|
|
|
|
|
|
|
DateTime->now,
|
266
|
|
|
|
|
|
|
$object->class,
|
267
|
|
|
|
|
|
|
$object->path,
|
268
|
|
|
|
|
|
|
$object->bps,
|
269
|
|
|
|
|
|
|
$object->driver,
|
270
|
|
|
|
|
|
|
$object->subtype;
|
271
|
|
|
|
|
|
|
} elsif ($object->class eq "ERROR") {
|
272
|
0
|
|
|
|
|
0
|
printf qq{%s: %s, Message: "%s"\n},
|
273
|
|
|
|
|
|
|
DateTime->now,
|
274
|
|
|
|
|
|
|
$object->class,
|
275
|
|
|
|
|
|
|
$object->message;
|
276
|
|
|
|
|
|
|
} else {
|
277
|
0
|
|
|
|
|
0
|
warn(sprintf(qq{Warning: Unknown class "%s" for object "%s".}, $object->class, ref($object)));
|
278
|
|
|
|
|
|
|
#print Dumper($object);
|
279
|
|
|
|
|
|
|
}
|
280
|
|
|
|
|
|
|
#print Dumper($object);
|
281
|
|
|
|
|
|
|
}
|
282
|
|
|
|
|
|
|
|
283
|
|
|
|
|
|
|
=head2 socket
|
284
|
|
|
|
|
|
|
|
285
|
|
|
|
|
|
|
Returns the cached L object
|
286
|
|
|
|
|
|
|
|
287
|
|
|
|
|
|
|
my $socket=$gpsd->socket; #try to reconnect on failure
|
288
|
|
|
|
|
|
|
|
289
|
|
|
|
|
|
|
=cut
|
290
|
|
|
|
|
|
|
|
291
|
|
|
|
|
|
|
sub socket {
|
292
|
0
|
|
|
0
|
1
|
0
|
my $self=shift;
|
293
|
0
|
0
|
0
|
|
|
0
|
unless (defined($self->{'socket'}) and
|
294
|
|
|
|
|
|
|
defined($self->{'socket'}->connected)) {
|
295
|
0
|
|
|
|
|
0
|
$self->{"socket"}=IO::Socket::INET6->new(
|
296
|
|
|
|
|
|
|
PeerAddr => $self->host,
|
297
|
|
|
|
|
|
|
PeerPort => $self->port,
|
298
|
|
|
|
|
|
|
);
|
299
|
0
|
0
|
|
|
|
0
|
die(sprintf("Error: Cannot connect to gpsd://%s:%s/.\n",
|
300
|
|
|
|
|
|
|
$self->host, $self->port)) unless defined($self->{"socket"});
|
301
|
|
|
|
|
|
|
}
|
302
|
0
|
|
|
|
|
0
|
return $self->{'socket'};
|
303
|
|
|
|
|
|
|
}
|
304
|
|
|
|
|
|
|
|
305
|
|
|
|
|
|
|
=head2 json
|
306
|
|
|
|
|
|
|
|
307
|
|
|
|
|
|
|
Returns the cached L object
|
308
|
|
|
|
|
|
|
|
309
|
|
|
|
|
|
|
=cut
|
310
|
|
|
|
|
|
|
|
311
|
|
|
|
|
|
|
sub json {
|
312
|
52
|
|
|
52
|
1
|
58
|
my $self=shift;
|
313
|
|
|
|
|
|
|
#Do I need to support JSON::PP?
|
314
|
52
|
100
|
|
|
|
551
|
$self->{"json"}=JSON::XS->new unless ref($self->{"json"}) eq "JSON::XS";
|
315
|
52
|
|
|
|
|
1072
|
return $self->{"json"};
|
316
|
|
|
|
|
|
|
}
|
317
|
|
|
|
|
|
|
|
318
|
|
|
|
|
|
|
=head2 decode
|
319
|
|
|
|
|
|
|
|
320
|
|
|
|
|
|
|
Returns a perl data structure given a JSON formated string.
|
321
|
|
|
|
|
|
|
|
322
|
|
|
|
|
|
|
my %data=$gpsd->decode($string); #()
|
323
|
|
|
|
|
|
|
my $data=$gpsd->decode($string); #{}
|
324
|
|
|
|
|
|
|
|
325
|
|
|
|
|
|
|
=cut
|
326
|
|
|
|
|
|
|
|
327
|
|
|
|
|
|
|
sub decode {
|
328
|
11
|
|
|
11
|
1
|
8212
|
my $self=shift;
|
329
|
11
|
|
|
|
|
25
|
my $string=shift;
|
330
|
11
|
|
|
|
|
34
|
my $data=eval {$self->json->decode($string)};
|
|
11
|
|
|
|
|
49
|
|
331
|
11
|
50
|
|
|
|
79
|
if ($@) {
|
332
|
0
|
|
|
|
|
0
|
$data={class=>"ERROR", message=>"Invalid JSON"};
|
333
|
|
|
|
|
|
|
}
|
334
|
11
|
50
|
|
|
|
179
|
return wantarray ? %$data : $data;
|
335
|
|
|
|
|
|
|
}
|
336
|
|
|
|
|
|
|
|
337
|
|
|
|
|
|
|
=head2 encode
|
338
|
|
|
|
|
|
|
|
339
|
|
|
|
|
|
|
Returns a JSON string from a perl data structure
|
340
|
|
|
|
|
|
|
|
341
|
|
|
|
|
|
|
=cut
|
342
|
|
|
|
|
|
|
|
343
|
|
|
|
|
|
|
sub encode {
|
344
|
41
|
|
|
41
|
1
|
49
|
my $self=shift;
|
345
|
41
|
|
|
|
|
44
|
my $data=shift;
|
346
|
41
|
|
|
|
|
89
|
my $string=$self->json->encode($data);
|
347
|
41
|
|
|
|
|
156
|
return $string;
|
348
|
|
|
|
|
|
|
}
|
349
|
|
|
|
|
|
|
|
350
|
|
|
|
|
|
|
=head2 constructor
|
351
|
|
|
|
|
|
|
|
352
|
|
|
|
|
|
|
Constructs a class object by lazy loading the classes.
|
353
|
|
|
|
|
|
|
|
354
|
|
|
|
|
|
|
my $obj=$gpsd->constructor(%$data);
|
355
|
|
|
|
|
|
|
my $obj=$gpsd->constructor(class=>"DEVICE",
|
356
|
|
|
|
|
|
|
string=>'{...}',
|
357
|
|
|
|
|
|
|
...);
|
358
|
|
|
|
|
|
|
|
359
|
|
|
|
|
|
|
Returns and object in the Net::GPSD3::Return::* namespace.
|
360
|
|
|
|
|
|
|
|
361
|
|
|
|
|
|
|
=cut
|
362
|
|
|
|
|
|
|
|
363
|
|
|
|
|
|
|
sub constructor {
|
364
|
52
|
|
|
52
|
1
|
82
|
my $self=shift;
|
365
|
52
|
|
|
|
|
2410
|
my %data=@_;
|
366
|
52
|
|
50
|
|
|
189
|
$data{"class"}||="undef";
|
367
|
52
|
|
|
|
|
136
|
my $class=join("::", $PACKAGE, "Return", $data{"class"});
|
368
|
52
|
|
|
|
|
54
|
my $object;
|
369
|
52
|
|
|
11
|
|
3535
|
eval("use $class");
|
|
11
|
|
|
|
|
8089
|
|
|
11
|
|
|
|
|
26
|
|
|
11
|
|
|
|
|
199
|
|
370
|
52
|
50
|
|
|
|
155
|
if ($@) { #Failed to load class
|
371
|
0
|
|
|
|
|
0
|
$object=Net::GPSD3::Return::Unknown->new(parent=>$self, %data);
|
372
|
|
|
|
|
|
|
} else {
|
373
|
52
|
|
|
|
|
399
|
$object=$class->new(parent=>$self, %data);
|
374
|
|
|
|
|
|
|
}
|
375
|
52
|
|
|
|
|
306
|
return $object;
|
376
|
|
|
|
|
|
|
}
|
377
|
|
|
|
|
|
|
|
378
|
|
|
|
|
|
|
=head1 BUGS
|
379
|
|
|
|
|
|
|
|
380
|
|
|
|
|
|
|
Log on RT and Send to gpsd-dev email list
|
381
|
|
|
|
|
|
|
|
382
|
|
|
|
|
|
|
There are no two GPS devices that are alike. Each GPS device has a different GPSD signature as well. If your GPS device does not work out of the box with this package, please send me a log of your devices JSON sentences.
|
383
|
|
|
|
|
|
|
|
384
|
|
|
|
|
|
|
echo '?POLL;' | nc 127.0.0.1 2947
|
385
|
|
|
|
|
|
|
|
386
|
|
|
|
|
|
|
echo '?WATCH={"enable":true,"json":true};' | socat -t10 stdin stdout | nc 127.0.0.1 2947
|
387
|
|
|
|
|
|
|
|
388
|
|
|
|
|
|
|
=head1 SUPPORT
|
389
|
|
|
|
|
|
|
|
390
|
|
|
|
|
|
|
DavisNetworks.com supports all Perl applications including this package.
|
391
|
|
|
|
|
|
|
|
392
|
|
|
|
|
|
|
Try gpsd-dev email list
|
393
|
|
|
|
|
|
|
|
394
|
|
|
|
|
|
|
=head1 AUTHOR
|
395
|
|
|
|
|
|
|
|
396
|
|
|
|
|
|
|
Michael R. Davis
|
397
|
|
|
|
|
|
|
CPAN ID: MRDVT
|
398
|
|
|
|
|
|
|
STOP, LLC
|
399
|
|
|
|
|
|
|
domain=>michaelrdavis,tld=>com,account=>perl
|
400
|
|
|
|
|
|
|
http://www.stopllc.com/
|
401
|
|
|
|
|
|
|
|
402
|
|
|
|
|
|
|
=head1 COPYRIGHT
|
403
|
|
|
|
|
|
|
|
404
|
|
|
|
|
|
|
This program is free software licensed under the...
|
405
|
|
|
|
|
|
|
|
406
|
|
|
|
|
|
|
The BSD License
|
407
|
|
|
|
|
|
|
|
408
|
|
|
|
|
|
|
The full text of the license can be found in the LICENSE file included with this module.
|
409
|
|
|
|
|
|
|
|
410
|
|
|
|
|
|
|
=head1 SEE ALSO
|
411
|
|
|
|
|
|
|
|
412
|
|
|
|
|
|
|
L, L, L, L, L, L
|
413
|
|
|
|
|
|
|
|
414
|
|
|
|
|
|
|
=cut
|
415
|
|
|
|
|
|
|
|
416
|
|
|
|
|
|
|
1;
|