Getting positions from gpsd in a Qt quick program

问题

I have a computer with a GPS connected to a serial port that is running gpsd with a pretty basic configuration. Here is the contents of /etc/default/gpsd:

START_DAEMON="true"
USBAUTO="false"
DEVICES="/dev/ttyS0"
GPSD_OPTIONS="-n -G"
GPSD_SOCKET="/var/run/gpsd.sock"

With this config, gpsd runs fine and all gpsd client utilities, e.g. cgps, gpspipe, gpsmon, can get data from the GPS.

I am trying to access GPS data from a Qt QML program using the PositionSource element with the following syntax but lat and long show as NaN so it doesn't work:

    PositionSource {
        id: gpsPos
        updateInterval: 500
        active: true
        nmeaSource: "socket://localhost:2947"

        onPositionChanged: {
            myMap.update( gpsPos.position )
        }
     }

I tried piping the NMEA data from the GPS to another port using gpspipe -r | nc -l 6000 and specifying nmeaSource: "socket://localhost:6000 and everything works fine!

How do I make Qt talk to gpsd directly?

回答1:

After tinkering (i.e. compiling from source, installing, configuring, testing, etc.) with gps-share, Gypsy, geoclue2, serialnmea and other ways to access data from a GPS connected to a serial port (thanks to Pa_ for all the suggestions), but all with no results while gpsd was working perfectly for other apps, I decided to make Qt support gpsd by making a very crude change to the QDeclarativePositionSource class to implement support for a gpsd scheme in the URL for the nmeaSource property. With this change, a gpsd source can now be defined as nmeaSource: "gpsd://hostname:2947" (2947 is the standard gpsd port).

The changed code is shown below. I would suggest this should be added to Qt at some point but in the meantime, I guess I need to derive this class to implement my change in a new QML component but, being new to QML, I have no idea how that is done. I suppose it would also probably be a good idea to stop and start the NMEA stream from gpsd based on the active property of the PositionSource item... I will get to it at some point but would appreciate pointers on how to do this in a more elegant way.

void QDeclarativePositionSource::setNmeaSource(const QUrl &nmeaSource)
{
    if ((nmeaSource.scheme() == QLatin1String("socket") ) 
           || (nmeaSource.scheme() == QLatin1String("gpsd"))) {
        if (m_nmeaSocket
                && nmeaSource.host() == m_nmeaSocket->peerName()
                && nmeaSource.port() == m_nmeaSocket->peerPort()) {
            return;
        }

        delete m_nmeaSocket;
        m_nmeaSocket = new QTcpSocket();

        connect(m_nmeaSocket, static_cast<void (QTcpSocket::*)(QAbstractSocket::SocketError)> (&QAbstractSocket::error),
                this, &QDeclarativePositionSource::socketError);
        connect(m_nmeaSocket, &QTcpSocket::connected,
                this, &QDeclarativePositionSource::socketConnected);

        // If scheme is gpsd, NMEA stream must be initiated by writing a command
        // on the socket (gpsd WATCH_ENABLE | WATCH_NMEA flags)
        // (ref.: gps_sock_stream function in gpsd source file libgps_sock.c)
        if( nmeaSource.scheme() == QLatin1String("gpsd")) {
            m_nmeaSocket->connectToHost(nmeaSource.host(), 
                nmeaSource.port(), 
                QTcpSocket::ReadWrite);
            char const *gpsdInit = "?WATCH={\"enable\":true,\"nmea\":true}";
            m_nmeaSocket->write( gpsdInit, strlen(gpsdInit);
        } else {
            m_nmeaSocket->connectToHost(nmeaSource.host(), nmeaSource.port(), QTcpSocket::ReadOnly);
        }
    } else {
...

来源：https://stackoverflow.com/questions/59482703/getting-positions-from-gpsd-in-a-qt-quick-program

标签

gpsd

qtlocation