/usr/bin/gpsprof is in python-gps 3.11-3.
This file is owned by root:root, with mode 0o755.
The actual contents of the file can be viewed below.
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#
# This file is Copyright (c) 2010 by the GPSD project
# BSD terms apply: see the file COPYING in the distribution root for details.
#
# Collect and plot latency-profiling data from a running gpsd.
# Requires gnuplot.
#
import sys, os, time, getopt, socket, math, copy, signal
import gps
class Baton:
"Ship progress indication to stderr."
def __init__(self, prompt, endmsg=None):
self.stream = sys.stderr
self.stream.write(prompt + "...")
if os.isatty(self.stream.fileno()):
self.stream.write(" \b")
self.stream.flush()
self.count = 0
self.endmsg = endmsg
self.time = time.time()
return
def twirl(self, ch=None):
if self.stream is None:
return
if ch:
self.stream.write(ch)
elif os.isatty(self.stream.fileno()):
self.stream.write("-/|\\"[self.count % 4])
self.stream.write("\b")
self.count = self.count + 1
self.stream.flush()
return
def end(self, msg=None):
if msg == None:
msg = self.endmsg
if self.stream:
self.stream.write("...(%2.2f sec) %s.\n" % (time.time() - self.time, msg))
return
class plotter:
"Generic class for gatherling and plotting sensor statistics."
def __init__(self):
self.fixes = []
self.start_time = int(time.time())
self.watch = {"TPV"}
def whatami(self):
"How do we identify this plotting run?"
return "%s, %s, %d %dN%d, cycle %ds" % \
(gps.misc.isotime(self.start_time),
self.device.get('driver', "unknown"), self.device['bps'],
9 - self.device['stopbits'],
self.device['stopbits'], self.device['cycle'])
def collect(self, verbose, logfp=None):
"Collect data from the GPS."
try:
self.session = gps.gps(host=host, port=port, verbose=verbose)
except socket.error:
sys.stderr.write("gpsprof: gpsd unreachable.\n")
sys.exit(1)
# Initialize
self.session.read()
if self.session.version == None:
sys.stderr.write("gpsprof: requires gpsd to speak new protocol.\n")
sys.exit(1)
# Set parameters
flags = gps.WATCH_ENABLE | gps.WATCH_JSON
if self.requires_time:
flags |= gps.WATCH_TIMING
if device:
flags |= gps.WATCH_DEVICE
try:
signal.signal(signal.SIGUSR1, lambda empty, unused: sys.stderr.write("%d of %d (%d%%)..." % (await-countdown, await, ((await-countdown)*100.0/await))))
signal.siginterrupt(signal.SIGUSR1, False)
self.session.stream(flags, device)
baton = Baton("gpsprof: %d looking for fix" % os.getpid(), "done")
countdown = await
basetime = time.time()
while countdown > 0:
if self.session.read() == -1:
sys.stderr.write("gpsprof: gpsd has vanished.\n")
sys.exit(1)
baton.twirl()
if self.session.data["class"] == "ERROR":
sys.stderr.write(" ERROR: %s.\n" % self.session.data["message"])
sys.exit(1)
if self.session.data["class"] == "DEVICES":
if len(self.session.data["devices"]) !=1 and not device:
sys.stderr.write(" ERROR: multiple devices connected, you must explicitly specify the device.\n")
sys.exit(1)
for i in range(len(self.session.data["devices"])):
self.device = copy.copy(self.session.data["devices"][i])
if self.device['path'] == device:
break
if self.session.data["class"] == "WATCH":
if "timing" in options and not self.session.data.get("timing"):
sys.stderr.write("timing is not enabled.\n")
sys.exit(1)
# Log before filtering - might be good for post-analysis.
if logfp:
logfp.write(self.session.response)
# Ignore everything but what we're told to
if self.session.data["class"] not in self.watch:
continue
# We can get some funky artifacts at start of self.session
# apparently due to RS232 buffering effects. Ignore
# them.
if threshold and time.time()-basetime < self.session.cycle * threshold:
continue
if self.session.fix.mode <= gps.MODE_NO_FIX:
continue
if countdown == await:
sys.stderr.write("first fix in %.2fsec, gathering %d samples..." % (time.time()-basetime,await))
if self.sample():
countdown -= 1
baton.end()
finally:
self.session.stream(gps.WATCH_DISABLE | gps.WATCH_TIMING)
signal.signal(signal.SIGUSR1, signal.SIG_DFL)
def replot(self, infp):
"Replot from a JSON log file."
baton = Baton("gpsprof: replotting", "done")
self.session = gps.gps(host=None)
for line in infp:
baton.twirl()
self.session.unpack(line)
if self.session.data["class"] == "DEVICES":
self.device = copy.copy(self.session.data["devices"][0])
elif self.session.data["class"] not in self.watch:
continue
self.sample()
baton.end()
def dump(self):
"Dump the raw data for post-analysis."
return self.header() + self.data()
class spaceplot(plotter):
"Spatial scattergram of fixes."
name = "space"
requires_time = False
def __init__(self):
plotter.__init__(self)
self.recentered = []
def d(self, a, b):
return math.sqrt((a[0] - b[0])**2 + (a[1] - b[1])**2)
def sample(self):
# Watch out for the NaN value from gps.py.
self.fixes.append((self.session.fix.latitude, self.session.fix.longitude, self.session.fix.altitude))
return True
def header(self):
return "# Position uncertainty, %s\n" % self.whatami()
def postprocess(self):
if not self.recentered:
# centroid is just arithmetic avg of lat,lon
self.centroid = (sum(map(lambda x:x[0], self.fixes))/len(self.fixes), sum(map(lambda x:x[1], self.fixes))/len(self.fixes))
# Sort fixes by distance from centroid
self.fixes.sort(lambda x, y: cmp(self.d(self.centroid, x), self.d(self.centroid, y)))
# Convert fixes to offsets from centroid in meters
self.recentered = map(lambda fix: gps.MeterOffset(self.centroid, fix[:2]), self.fixes)
def data(self):
res = ""
for i in range(len(self.recentered)):
(lat, lon) = self.recentered[i][:2]
(raw1, raw2, alt) = self.fixes[i]
res += "%f\t%f\t%f\t%f\t%f\n" % (lat, lon, raw1, raw2, alt)
return res
def plot(self):
# Compute CEP(50%)
cep_meters = gps.EarthDistance(self.centroid[:2], self.fixes[int(len(self.fixes)*0.50)][:2])
cep95_meters = gps.EarthDistance(self.centroid[:2], self.fixes[int(len(self.fixes)*0.95)][:2])
cep99_meters = gps.EarthDistance(self.centroid[:2], self.fixes[int(len(self.fixes)*0.99)][:2])
alt_sum = 0
alt_num = 0
alt_fixes = []
lon_max = -9999
for i in range(len(self.recentered)):
(_lat, lon) = self.recentered[i][:2]
(_raw1, _raw2, alt) = self.fixes[i]
if not gps.isnan(alt):
alt_sum += alt
alt_fixes.append( alt)
alt_num += 1
if lon > lon_max :
lon_max = lon
if alt_num == 0:
alt_avg = gps.NaN
alt_ep = gps.NaN
else:
alt_avg = alt_sum / alt_num
# Sort fixes by distance from average altitude
alt_fixes.sort(lambda x, y: cmp(abs(alt_avg - x), abs(alt_avg - y)))
alt_ep = abs( alt_fixes[ len(alt_fixes)/2 ] - alt_avg)
if self.centroid[0] < 0:
latstring = "%fS" % -self.centroid[0]
elif self.centroid[0] == 0:
latstring = "0"
else:
latstring = "%fN" % self.centroid[0]
if self.centroid[1] < 0:
lonstring = "%fW" % -self.centroid[1]
elif self.centroid[1] == 0:
lonstring = "0"
else:
lonstring = "%fE" % self.centroid[1]
fmt = "set autoscale\n"
fmt += 'set key below\n'
fmt += 'set key title "%s"\n' % gps.misc.isotime(int(time.time()))
fmt += 'set size ratio -1\n'
fmt += 'set style line 2 pt 1\n'
fmt += 'set style line 3 pt 2\n'
fmt += 'set xlabel "Meters east from %s"\n' % lonstring
fmt += 'set ylabel "Meters north from %s"\n' % latstring
fmt += 'set border 15\n'
if not gps.isnan(alt_avg):
fmt += 'set y2label "Meters Altitude from %f"\n' % alt_avg
fmt += 'set ytics nomirror\n'
fmt += 'set y2tics\n'
fmt += 'cep=%f\n' % self.d((0,0), self.recentered[len(self.fixes)/2])
fmt += 'cep95=%f\n' % self.d((0,0), self.recentered[int(len(self.fixes)*0.95)])
fmt += 'cep99=%f\n' % self.d((0,0), self.recentered[int(len(self.fixes)*0.99)])
fmt += 'set parametric\n'
fmt += 'set trange [0:2*pi]\n'
fmt += 'cx(t, r) = sin(t)*r\n'
fmt += 'cy(t, r) = cos(t)*r\n'
fmt += 'chlen = cep/20\n'
fmt += "set arrow from -chlen,0 to chlen,0 nohead\n"
fmt += "set arrow from 0,-chlen to 0,chlen nohead\n"
if len(self.fixes) > 1000: plot_style = 'dots'
else: plot_style = 'points'
fmt += 'plot "-" using 1:2 with ' + plot_style + ' ls 3 title "%d GPS fixes" ' % (len(self.fixes))
if not gps.isnan(alt_avg):
fmt += ', "-" using ( %f ):($5 < 100000 ? $5 - %f : 1/0) axes x1y2 with %s ls 2 title " %d Altitude fixes, Average = %f, EP (50%%) = %f"' % (lon_max +1, alt_avg, plot_style, alt_num, alt_avg, alt_ep)
fmt += ', cx(t, cep),cy(t, cep) ls 1 title "CEP (50%%) = %f meters"' % (cep_meters)
fmt += ', cx(t, cep95),cy(t, cep95) title "CEP (95%%) = %f meters"' % (cep95_meters)
fmt += ', cx(t, cep99),cy(t, cep99) title "CEP (99%%) = %f meters"' % (cep99_meters)
fmt += "\n"
fmt += self.header()
fmt += self.data()
if not gps.isnan(alt_avg):
fmt += "e\n" + self.data()
return fmt
class timeplot(plotter):
"Time drift against PPS."
name = "time"
requires_time = True
def __init__(self):
plotter.__init__(self)
self.watch = {"PPS"}
def sample(self):
if self.session.data["class"] == "PPS":
self.fixes.append((self.session.data['real_sec'],
self.session.data['real_nsec'],
self.session.data['clock_sec'],
self.session.data['clock_nsec']))
return True
def header(self):
return "# Time drift against PPS, %s\n" % self.whatami()
def postprocess(self):
pass
def data(self):
res = ""
for (real_sec, real_nsec, clock_sec, clock_nsec) in self.fixes:
res += "%d\t%d\t%d\t%d\n" % (real_sec, real_nsec, clock_sec, clock_nsec)
return res
def plot(self):
fmt = '''\
set autoscale
set key below
set key title "System clock delta from GPS time"
plot "-" using 0:((column(1)-column(3))*1e9 + (column(2)-column(4))) title "Delta" with impulses
'''
return fmt + self.header() + self.data()
class uninstrumented(plotter):
"Total times without instrumentation."
name = "uninstrumented"
requires_time = False
def __init__(self):
plotter.__init__(self)
def sample(self):
if self.session.fix.time:
seconds = time.time() - gps.misc.isotime(self.session.data.time)
self.fixes.append(seconds)
return True
else:
return False
def header(self):
return "# Uninstrumented total latency, " + self.whatami() + "\n"
def postprocess(self):
pass
def data(self):
res = ""
for seconds in self.fixes:
res += "%2.6lf\n" % seconds
return res
def plot(self):
fmt = '''\
set autoscale
set key below
set key title "Uninstrumented total latency"
plot "-" using 0:1 title "Total time" with impulses
'''
return fmt + self.header() + self.data()
class instrumented(plotter):
"Latency as analyzed by instrumentation."
name = "instrumented"
requires_time = True
def __init__(self):
plotter.__init__(self)
def sample(self):
if 'rtime' in self.session.data:
self.fixes.append((self.session.data['tag'],
gps.misc.isotime(self.session.data['time']),
self.session.data["chars"],
self.session.data['sats'],
self.session.data['sor'],
self.session.data['rtime'],
time.time()))
return True
else:
return False
def header(self):
res = "# Analyzed latency, " + self.whatami() + "\n"
res += "# Tag -- Fix time -- - Chars - -- Latency - RS232- Analysis - Recv -\n"
return res
def postprocess(self):
pass
def data(self):
res = ""
for (tag, time, chars, sats, start, xmit, recv) in self.fixes:
rs232_time = (chars * 10.0) / self.device['bps']
res += "%-6s %.3f %9u %2u %.6f %.6f %.6f %.6f\n" % (tag, time, chars, sats, start-time, (start-time)+rs232_time, xmit-time, recv-time)
return res
def plot(self):
legends = (
"Reception delta",
"Analysis time",
"RS232 time",
"Fix latency",
)
fmt = '''\
set autoscale
set key title "Analyzed latency"
set key below
plot \\\n'''
for (i, legend) in enumerate(legends):
j = len(legends) - i + 4
fmt += ' "-" using 0:%d title "%s" with impulses, \\\n' % (j, legend)
fmt = fmt[:-4] + "\n"
return fmt + self.header() + (self.data() + "e\n") * len(legends)
formatters = (spaceplot, timeplot, uninstrumented, instrumented)
if __name__ == '__main__':
try:
(options, arguments) = getopt.getopt(sys.argv[1:], "d:f:hl:m:n:rs:t:T:D:")
plotmode = "space"
raw = False
title = None
threshold = 0
await = 100
verbose = 0
terminal = None
dumpfile = None
logfp = None
redo = False
for (switch, val) in options:
if (switch == '-f'):
plotmode = val
elif (switch == '-m'):
threshold = int(val)
elif (switch == '-n'):
if val[-1] == 'h':
await = int(val[:-1]) * 360
else:
await = int(val)
elif (switch == '-t'):
title = val
elif (switch == '-T'):
terminal = val
elif (switch == '-d'):
dumpfile = val
elif (switch == '-l'):
logfp = open(val, "w")
elif (switch == '-r'):
redo = True
elif (switch == '-D'):
verbose = int(val)
elif (switch == '-h'):
sys.stderr.write(\
"usage: gpsprof [-h] [-D debuglevel] [-m threshold] [-n samplecount] [-d]\n"
+ "\t[-f {" + "|".join(map(lambda x: x.name, formatters)) + "}] [-s speed] [-t title] [-T terminal] [server[:port[:device]]]\n")
sys.exit(0)
(host, port, device) = ("localhost", "2947", None)
if len(arguments):
args = arguments[0].split(":")
if len(args) >= 1:
host = args[0]
if len(args) >= 2:
port = args[1]
if len(args) >= 3:
device = args[2]
# Select the plotting mode
if plotmode:
for formatter in formatters:
if formatter.name == plotmode:
plot = formatter()
break
else:
sys.stderr.write("gpsprof: no such formatter.\n")
sys.exit(1)
# Get fix data from the GPS
if redo:
plot.replot(sys.stdin)
else:
plot.collect(verbose, logfp)
plot.postprocess()
# Save the timing data (only) for post-analysis if required.
if dumpfile:
with open(dumpfile, "w") as fp:
fp.write(plot.dump())
if logfp:
logfp.close()
# Ship the plot to standard output
if not title:
title = plot.whatami()
if terminal:
sys.stdout.write("set terminal %s\n" % terminal)
sys.stdout.write("set title \"%s\"\n" % title)
sys.stdout.write(plot.plot())
except KeyboardInterrupt:
pass
# The following sets edit modes for GNU EMACS
# Local Variables:
# mode:python
# End:
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