Provided by: libgps-dev_2.39-5_i386
libgps - C service library for communicating with the GPS daemon
struct gps_data_t *gps_open(char *server, char * port);
int gps_query(struct gps_data_t *gpsdata, char *fmt...);
void gps_set_raw_hook(struct gps_data_t *gpsdata,
void (*hook)(struct gps_data_t *, char *buf));
int gps_poll(struct gps_data_t *gpsdata);
void gps_close(struct gps_data_t *gpsdata);
void gps_del_callback(struct gps_data_t *gpsdata, pthread *handler);
void rtcm2_unpack(struct rtcm_t *rtcmp, char *buf);
session = gps.gps(host="127.0.0.1", port="2947")
libgps is a service library which supports querying GPS devices; link
it with the linker option -lgps. There are two interfaces supported in
it; one high-level interface that goes through gpsd(1) and is intended
for concurrent use by several applications, and one low-level interface
that speaks directly with the serial or USB device to which the GPS is
attached. This page describes the high-level interface that is safe for
multiple applications to use simultaneously; it is probably the one you
want. The low-level interface is documented at libgpsd(3).
The API described below may change incompatibly at API version 4.
Take care to conditionalize your code on the major and minor API
version symbols in gps.h; ideally, force a compilation failure if
the header is not exporting a version you recognize. See the GPSD
project website for more information on the protocol and API
Calling gps_open() initializes a GPS-data structure to hold the data
collected by the GPS, and returns a socket attached to gpsd(1).
gps_open() returns NULL on errors. errno is set depending on the error
returned from the the socket layer; see gps.h for values and
gps_close() ends the session. NB: ending the session does not destroy
any threads created to handle callbacks. You must delete all callbacks
prior to calling gps_close(). Failure to do so results in undefined
behavior. Currently it will leak a thread, and in the future might
result in aborting the program.
gps_poll() accepts a response, or sequence of responses, from the
daemon and interprets it as though it were a query response (the return
value is as for a query). gps_poll() returns the validity mask of the
received structure. This function does a blocking read waiting for data
from the daemon; it returns 0 for success, or -1 on a Unix-level read
gps_query() writes a command to the daemon, accepts a one-line
response, and updates parts of the GPS-data structure that correspond
to data changed since the last call. The second argument must be a
format string containing letters from the command set documented at
gpsd(1). It may have % elements as for sprintf(3), which will be filled
in from any following arguments. This function returns a 0 on success,
or a -1 if there was a Unix-level read error.
gps_set_raw_hook() takes a function you specify and run it
(synchronously) on the raw data pulled by a gps_query() or gps_poll()
call. The arguments passed to this hook will be a pointer to a
structure containing parsed data, and a buffer containining the raw
gps_set_callback() takes a function you specify and runs it
asynchronously each time new data arrives from gpsd, using POSIX
threads. For example, you can call gps_set_callback(gpsdata,
my_function, handler) once in your program, and from there on your
gpsdata structure will be parsed by your my_function() each time new
data are available. my_function() could change some global variables
in your program based on received data; it is your responsibility to
ensure that your program uses mutexes or other mechanisms to avoid race
conditions. NB: gps_set_callback() will create a new thread, and
contrary to what you might expect gps_close() will not destroy that
thread. You must therefore explicitly remove the callback with
gps_del_callback() before calling gps_close().
gps_del_callback() deregisters the callback function previously set
with gps_set_callback(). After the invocation of this function no
operation will be done when new data arrives.
Consult gps.h to learn more about the data members and associated
timestamps. Note that information will accumulate in the session
structure over time, and the ´valid´ field is not automatically zeroed
by each poll. It is up to the client to zero that field when
appropriate and to keep an eye on the fix and sentence timestamps.
The rtcm_unpack() will be useful when you are connected to an RTCM-104
source in raw mode. Use it as part of a raw hook, calling it with the
address of the struct rtcm_t element of your session structure buffer
as first argument and the buffer as the second. It will unpack a line
of RTCM data into the structure. This function returns 0 when it has
read the last line of an RTCM-104 message, a positive int when it
expects more dump lines, and a negative int on parse failure. You must
zero out the struct rtcm_t each time before this function is called on
a new header (H) line, as it relies on the message type field being
initially zero and uses it to track what kind of following line is
The Python implementation supports the same facilities as the C
library. gps_open() is replaced by the initialization of a gps session
object; the other calls are methods of that object, and have the same
names as the corresponding C functions. Resources within the session
object will be properly released when it is garbage-collected.
The following is an excerpted and simplified version of the libgps
interface code from xgps(1). The function handle_input() is a trivial
piece of code that calls gps_poll(gpsdata).
gpsdata = gps_open(server, port);
(XtPointer)XtInputReadMask, handle_input, NULL);
gpsd(8), cgps(1), libgps(3). libgpsmm(3).
Eric S. Raymond <firstname.lastname@example.org>, Thread-callback methods in the C
binding added by Alfredo Pironti <email@example.com>.