Moved QtGPS here

gps_tool/MainWindow.py

@@ -0,0 +1,184 @@
+# -*- coding: utf-8 -*-
+
+################################################################################
+## Form generated from reading UI file 'mainwindow.ui'
+##
+## Created by: Qt User Interface Compiler version 5.15.2
+##
+## WARNING! All changes made in this file will be lost when recompiling UI file!
+################################################################################
+
+from PySide2.QtCore import *
+from PySide2.QtGui import *
+from PySide2.QtWidgets import *
+
+
+class Ui_MainWindow(object):
+    def setupUi(self, MainWindow):
+        if not MainWindow.objectName():
+            MainWindow.setObjectName(u"MainWindow")
+        MainWindow.resize(737, 359)
+        self.centralwidget = QWidget(MainWindow)
+        self.centralwidget.setObjectName(u"centralwidget")
+        self.label_2 = QLabel(self.centralwidget)
+        self.label_2.setObjectName(u"label_2")
+        self.label_2.setGeometry(QRect(10, 100, 61, 16))
+        self.label = QLabel(self.centralwidget)
+        self.label.setObjectName(u"label")
+        self.label.setGeometry(QRect(10, 80, 61, 16))
+        self.label_3 = QLabel(self.centralwidget)
+        self.label_3.setObjectName(u"label_3")
+        self.label_3.setGeometry(QRect(10, 160, 51, 16))
+        self.txtLongitude = QLabel(self.centralwidget)
+        self.txtLongitude.setObjectName(u"txtLongitude")
+        self.txtLongitude.setGeometry(QRect(70, 100, 81, 18))
+        self.txtLongitude.setFrameShape(QFrame.Panel)
+        self.txtLongitude.setFrameShadow(QFrame.Sunken)
+        self.txtSpeed = QLabel(self.centralwidget)
+        self.txtSpeed.setObjectName(u"txtSpeed")
+        self.txtSpeed.setGeometry(QRect(70, 160, 61, 18))
+        self.txtSpeed.setFrameShape(QFrame.Panel)
+        self.txtSpeed.setFrameShadow(QFrame.Sunken)
+        self.txtLatitude = QLabel(self.centralwidget)
+        self.txtLatitude.setObjectName(u"txtLatitude")
+        self.txtLatitude.setGeometry(QRect(70, 80, 81, 18))
+        self.txtLatitude.setFrameShape(QFrame.Panel)
+        self.txtLatitude.setFrameShadow(QFrame.Sunken)
+        self.label_4 = QLabel(self.centralwidget)
+        self.label_4.setObjectName(u"label_4")
+        self.label_4.setGeometry(QRect(10, 140, 61, 16))
+        self.exitButton = QPushButton(self.centralwidget)
+        self.exitButton.setObjectName(u"exitButton")
+        self.exitButton.setGeometry(QRect(640, 300, 84, 32))
+        self.txtHeading = QLabel(self.centralwidget)
+        self.txtHeading.setObjectName(u"txtHeading")
+        self.txtHeading.setGeometry(QRect(70, 140, 61, 18))
+        self.txtHeading.setFrameShape(QFrame.Panel)
+        self.txtHeading.setFrameShadow(QFrame.Sunken)
+        self.txtTime = QLabel(self.centralwidget)
+        self.txtTime.setObjectName(u"txtTime")
+        self.txtTime.setGeometry(QRect(70, 60, 151, 20))
+        self.txtTime.setFrameShape(QFrame.Panel)
+        self.txtTime.setFrameShadow(QFrame.Sunken)
+        self.label_7 = QLabel(self.centralwidget)
+        self.label_7.setObjectName(u"label_7")
+        self.label_7.setGeometry(QRect(10, 60, 51, 16))
+        self.label_5 = QLabel(self.centralwidget)
+        self.label_5.setObjectName(u"label_5")
+        self.label_5.setGeometry(QRect(10, 120, 61, 16))
+        self.label_8 = QLabel(self.centralwidget)
+        self.label_8.setObjectName(u"label_8")
+        self.label_8.setGeometry(QRect(10, 40, 51, 16))
+        self.txtStatus = QLabel(self.centralwidget)
+        self.txtStatus.setObjectName(u"txtStatus")
+        self.txtStatus.setGeometry(QRect(70, 40, 61, 16))
+        self.txtStatus.setFrameShape(QFrame.Panel)
+        self.txtStatus.setFrameShadow(QFrame.Sunken)
+        self.label_10 = QLabel(self.centralwidget)
+        self.label_10.setObjectName(u"label_10")
+        self.label_10.setGeometry(QRect(10, 180, 49, 20))
+        self.label_11 = QLabel(self.centralwidget)
+        self.label_11.setObjectName(u"label_11")
+        self.label_11.setGeometry(QRect(10, 200, 49, 16))
+        self.txtHDOP = QLabel(self.centralwidget)
+        self.txtHDOP.setObjectName(u"txtHDOP")
+        self.txtHDOP.setGeometry(QRect(70, 180, 61, 16))
+        self.txtHDOP.setFrameShape(QFrame.Panel)
+        self.txtHDOP.setFrameShadow(QFrame.Sunken)
+        self.txtVDOP = QLabel(self.centralwidget)
+        self.txtVDOP.setObjectName(u"txtVDOP")
+        self.txtVDOP.setGeometry(QRect(70, 200, 61, 16))
+        self.txtVDOP.setFrameShape(QFrame.Panel)
+        self.txtVDOP.setFrameShadow(QFrame.Sunken)
+        self.txtAltitude = QLabel(self.centralwidget)
+        self.txtAltitude.setObjectName(u"txtAltitude")
+        self.txtAltitude.setGeometry(QRect(70, 120, 61, 16))
+        self.txtAltitude.setFrameShape(QFrame.Panel)
+        self.txtAltitude.setFrameShadow(QFrame.Sunken)
+        self.label_9 = QLabel(self.centralwidget)
+        self.label_9.setObjectName(u"label_9")
+        self.label_9.setGeometry(QRect(140, 120, 49, 16))
+        self.label_13 = QLabel(self.centralwidget)
+        self.label_13.setObjectName(u"label_13")
+        self.label_13.setGeometry(QRect(140, 160, 49, 16))
+        self.txtMode = QLabel(self.centralwidget)
+        self.txtMode.setObjectName(u"txtMode")
+        self.txtMode.setGeometry(QRect(130, 40, 49, 16))
+        self.txtMode.setFrameShape(QFrame.Panel)
+        self.txtMode.setFrameShadow(QFrame.Sunken)
+        self.label_6 = QLabel(self.centralwidget)
+        self.label_6.setObjectName(u"label_6")
+        self.label_6.setGeometry(QRect(10, 220, 49, 16))
+        self.txtGrid = QLabel(self.centralwidget)
+        self.txtGrid.setObjectName(u"txtGrid")
+        self.txtGrid.setGeometry(QRect(70, 220, 61, 16))
+        self.txtGrid.setFrameShape(QFrame.Panel)
+        self.txtGrid.setFrameShadow(QFrame.Sunken)
+        self.txtSatellites = QTextEdit(self.centralwidget)
+        self.txtSatellites.setObjectName(u"txtSatellites")
+        self.txtSatellites.setGeometry(QRect(230, 10, 220, 280))
+        font = QFont()
+        font.setFamily(u"Courier")
+        self.txtSatellites.setFont(font)
+        self.toggleLogging = QPushButton(self.centralwidget)
+        self.toggleLogging.setObjectName(u"toggleLogging")
+        self.toggleLogging.setGeometry(QRect(130, 250, 84, 32))
+        self.label_12 = QLabel(self.centralwidget)
+        self.label_12.setObjectName(u"label_12")
+        self.label_12.setGeometry(QRect(10, 250, 111, 20))
+        self.viewSatellites = QGraphicsView(self.centralwidget)
+        self.viewSatellites.setObjectName(u"viewSatellites")
+        self.viewSatellites.setGeometry(QRect(450, 10, 280, 280))
+        self.label_14 = QLabel(self.centralwidget)
+        self.label_14.setObjectName(u"label_14")
+        self.label_14.setGeometry(QRect(10, 10, 221, 16))
+        font1 = QFont()
+        font1.setPointSize(10)
+        font1.setBold(True)
+        font1.setWeight(75)
+        self.label_14.setFont(font1)
+        MainWindow.setCentralWidget(self.centralwidget)
+        self.menubar = QMenuBar(MainWindow)
+        self.menubar.setObjectName(u"menubar")
+        self.menubar.setGeometry(QRect(0, 0, 737, 28))
+        MainWindow.setMenuBar(self.menubar)
+        self.statusbar = QStatusBar(MainWindow)
+        self.statusbar.setObjectName(u"statusbar")
+        MainWindow.setStatusBar(self.statusbar)
+
+        self.retranslateUi(MainWindow)
+
+        QMetaObject.connectSlotsByName(MainWindow)
+    # setupUi
+
+    def retranslateUi(self, MainWindow):
+        MainWindow.setWindowTitle(QCoreApplication.translate("MainWindow", u"QtGPS", None))
+        self.label_2.setText(QCoreApplication.translate("MainWindow", u"Longitude:", None))
+        self.label.setText(QCoreApplication.translate("MainWindow", u"Latitude:", None))
+        self.label_3.setText(QCoreApplication.translate("MainWindow", u"Speed:", None))
+        self.txtLongitude.setText(QCoreApplication.translate("MainWindow", u"0", None))
+        self.txtSpeed.setText(QCoreApplication.translate("MainWindow", u"0", None))
+        self.txtLatitude.setText(QCoreApplication.translate("MainWindow", u"0", None))
+        self.label_4.setText(QCoreApplication.translate("MainWindow", u"Heading:", None))
+        self.exitButton.setText(QCoreApplication.translate("MainWindow", u"Exit", None))
+        self.txtHeading.setText(QCoreApplication.translate("MainWindow", u"0", None))
+        self.txtTime.setText("")
+        self.label_7.setText(QCoreApplication.translate("MainWindow", u"Time:", None))
+        self.label_5.setText(QCoreApplication.translate("MainWindow", u"Altitude:", None))
+        self.label_8.setText(QCoreApplication.translate("MainWindow", u"Fix:", None))
+        self.txtStatus.setText(QCoreApplication.translate("MainWindow", u"0", None))
+        self.label_10.setText(QCoreApplication.translate("MainWindow", u"HDOP:", None))
+        self.label_11.setText(QCoreApplication.translate("MainWindow", u"VDOP:", None))
+        self.txtHDOP.setText(QCoreApplication.translate("MainWindow", u"0", None))
+        self.txtVDOP.setText(QCoreApplication.translate("MainWindow", u"0", None))
+        self.txtAltitude.setText(QCoreApplication.translate("MainWindow", u"0", None))
+        self.label_9.setText(QCoreApplication.translate("MainWindow", u"meters", None))
+        self.label_13.setText(QCoreApplication.translate("MainWindow", u"m/sec", None))
+        self.txtMode.setText(QCoreApplication.translate("MainWindow", u"0", None))
+        self.label_6.setText(QCoreApplication.translate("MainWindow", u"Grid:", None))
+        self.txtGrid.setText("")
+        self.toggleLogging.setText(QCoreApplication.translate("MainWindow", u"Start", None))
+        self.label_12.setText(QCoreApplication.translate("MainWindow", u"GPX Data Logging:", None))
+        self.label_14.setText(QCoreApplication.translate("MainWindow", u"GPS Tool (gpsd client)", None))
+    # retranslateUi
+

gps_tool/Makefile

@@ -0,0 +1,3 @@
+
+MainWindow.py : mainwindow.ui
+	pyside2-uic $< -o $@

gps_tool/README.md

@@ -0,0 +1,2 @@
+# QtGPS
+Qt5 Version of xgps (from gpsd clients)

gps_tool/gps_tool.py

@@ -0,0 +1,303 @@
+#! /usr/bin/python3
+
+import os
+import sys
+import yaml
+
+from math import radians
+from datetime import datetime
+from time import strftime, time
+
+from gps import *
+import gpxpy
+
+
+from PySide2.QtGui import *
+from PySide2.QtWidgets import QApplication, QMainWindow, QGraphicsEllipseItem, QFileDialog, QGraphicsScene, QGraphicsProxyWidget
+from PySide2.QtCore import QObject, Slot, Signal, QThread, QDir, QRect
+
+import matplotlib as mp
+import matplotlib.pyplot as plot
+from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
+from matplotlib.figure import Figure
+from matplotlib.backends.qt_compat import QtCore, QtWidgets
+from matplotlib import cm
+
+from MainWindow import Ui_MainWindow
+
+import maidenhead as mh
+
+##############################################################################
+# log
+##############################################################################
+
+#if not os.path.isdir("logs"):
+#  os.mkdir("logs")
+
+fix_status = [
+  'Normal', 'DGPS', 'RTK FixPt', 'RTK Float', 'DR Fix', 'GNSSDR', 'Surveyed', 'Simulated', 'P(Y) Fix'
+  ];
+
+fix_mode = [
+  '0=None', '1=No', '2=2D', '3=3D'
+  ];
+
+gpsd_host="127.0.0.1"
+gpsd_report = ()
+
+##############################################################################
+# thread
+##############################################################################
+
+class DataSignal(QObject):
+  sig = Signal(int)
+
+class DataThread(QThread):
+  def __init__(self, parent=None):
+    super(DataThread, self).__init__(parent)
+    self.new_data = DataSignal()
+  
+  def run(self):
+    global gpsd_host, gpsd_report
+    gpsd = gps(host=gpsd_host, mode=WATCH_ENABLE|WATCH_NEWSTYLE) 
+
+    while not self.isInterruptionRequested():
+      gpsd_report = gpsd.next()  # wait for next packet
+      self.new_data.sig.emit(1)
+  
+  def stop(self):
+    self.requestInterruption()
+    self.wait()
+
+##############################################################################
+# plot
+##############################################################################
+  
+##############################################################################
+# main
+##############################################################################
+
+class MainWindow(QMainWindow, Ui_MainWindow):
+  def __init__(self, *args, obj=None, **kwargs):
+    super(MainWindow, self).__init__(*args, **kwargs)
+    self.setupUi(self)
+
+class QtGPSWindow(MainWindow):
+  def __init__(self, *args, obj=None, **kwargs):
+    super(QtGPSWindow, self).__init__(*args, **kwargs)
+
+    self.exitButton.clicked.connect(self.exit_button)
+    self.toggleLogging.clicked.connect(self.toggle_logging)
+
+    # GPS log
+    self.gpx = gpxpy.gpx.GPX()
+    # Create first track in our GPX:
+    self.gpx_track = gpxpy.gpx.GPXTrack()
+    self.gpx.tracks.append(self.gpx_track)
+    # Create first segment in our GPX track:
+    self.gpx_segment = gpxpy.gpx.GPXTrackSegment()
+    self.gpx_track.segments.append(self.gpx_segment)
+
+    self.log_enabled = 0
+    self.dirname = ""
+    self.num_points = 0
+
+    self.my_thread = DataThread()
+
+    self.txtSatellites.setReadOnly(True)
+    self.black = QColor(0,0,0)
+    self.gray = QColor(128,128,128)
+    self.red = QColor(255,0,0)
+    self.orange = QColor(255,80,0)
+    self.yellow = QColor(255,211,0)
+    self.green = QColor(0,255,0)
+    self.green = QColor(0,0,255)
+        
+    self.scene = QtWidgets.QGraphicsScene()
+    self.viewSatellites.setScene(self.scene)
+    self.viewSatellites.scale(0.65, 0.65)
+
+  @Slot(list)
+  def update_data(self, x):
+    global gpsd_report
+    report = gpsd_report
+    
+    if report['class'] == 'TPV': 
+      status = getattr(report, 'status', 0)
+      mode = getattr(report, 'mode', 0)
+      time = getattr(report, 'time', 0)
+      lat = getattr(report, 'lat', 0.0)
+      lon = getattr(report, 'lon', 0.0)
+      elev = getattr(report, 'altHAE', 0.0)   # meters
+      heading = getattr(report, 'track', 0.0)
+      speed = getattr(report, 'speed', 0.0)   # m/sec
+      
+      self.txtStatus.setText(fix_status[status])
+      self.txtMode.setText(fix_mode[mode])
+      self.txtTime.setText(time)
+      self.txtLatitude.setText("%10.7f" %(lat))
+      self.txtLongitude.setText("%10.7f" % (lon))
+      self.txtAltitude.setText("%7.2f" % (elev))
+      self.txtHeading.setText("%7.2f" % (heading))
+      self.txtSpeed.setText("%7.2f" % (speed))
+
+      self.txtGrid.setText(mh.to_maiden(lat, lon))
+
+      if self.log_enabled:
+        point = gpxpy.gpx.GPXTrackPoint(lat, lon, elevation=elev)
+        point.time = datetime.now()
+        self.gpx_segment.points.append(point)
+        self.num_points += 1
+        
+    elif report['class'] == 'SKY':
+      self.txtHDOP.setText(str(getattr(report, 'hdop', 0.0)))
+      self.txtVDOP.setText(str(getattr(report, 'vdop', 0.0)))
+      satellites = getattr(report, 'satellites')
+
+      txt = "%4s %4s %4s %3s %1s" % ('PRN', 'Azim', 'Elev', 'SNR', 'Used')
+      self.txtSatellites.setTextColor(self.black)
+      self.txtSatellites.setFontWeight(QFont.Bold)
+      self.txtSatellites.setText(txt)
+      
+      prns = []
+      radius = []
+      theta = []
+      colors = []
+      markers = []
+      
+      for (i, satellite) in enumerate(satellites):
+        prn = satellite['PRN']
+        azim = satellite['az']
+        elev = satellite['el']
+        snr = satellite['ss']
+        used = satellite['used']
+#        health = satellite['health']
+
+        # don't show if not visible
+        if azim >= 360 or elev < -10 or elev > 90:
+          continue;
+        
+        cname = 'black'
+        color = self.black
+        if snr < 12:
+          cname = 'gray'
+          color = self.gray
+        elif snr < 30:
+          cname = 'red'
+          color = self.red
+        elif snr < 36:
+          cname = 'yellow'
+          color = self.yellow
+        elif snr < 42:
+          color = 'green'
+          color = self.green
+        else:
+          color = 'blue'
+          color = self.blue
+        
+        txt = "%4u %4u %4u %3u %1u" % (prn, azim, elev, snr, used)
+        self.txtSatellites.setTextColor(color)
+        if used:
+          self.txtSatellites.setFontWeight(QFont.Bold)
+        else:
+          self.txtSatellites.setFontWeight(QFont.Normal)          
+        self.txtSatellites.append(txt)
+        
+        prns.append(prn)
+        theta.append(radians(float(azim)))
+        radius.append(float(elev))
+        colors.append(cname)
+        if used:
+          markers.append(ord('P'))
+        else:
+          markers.append(ord('+'))
+      
+      area = 100
+      figure = Figure()
+      polar = figure.add_subplot(111, projection='polar')
+      polar.scatter(theta, radius, c=colors, s=area, cmap=None, alpha=0.75)
+      polar.set_rorigin(90.0)
+      polar.set_yticklabels([])
+      for i, prn in enumerate(prns):
+        polar.annotate(str(prn), (theta[i], radius[i]))
+    
+      polar.set_theta_direction(-1)
+      polar.set_theta_zero_location('N', offset=0)
+
+      canvas = FigureCanvas(figure)
+      self.scene.addWidget(canvas)
+      h = float(self.scene.height()) / 2.0
+      w = float(self.scene.width()) / 2.0
+      self.viewSatellites.centerOn(w,h)
+      self.viewSatellites.show()
+      
+    self.show()
+    
+
+  def toggle_logging(self):
+    if self.log_enabled:
+      self.log_enabled = 0
+      self.dir_dialog()
+      self.save_log()
+      self.toggleLogging.setText("Start")
+    else:
+      self.log_enabled = 1
+      self.toggleLogging.setText("Stop")
+      
+  def dir_dialog(self):
+    dirdialog = QFileDialog(self)
+    dirdialog.setDirectory(QDir.currentPath())
+    dirdialog.setDefaultSuffix("gpx")
+    dirdialog.setFileMode(QFileDialog.Directory)
+    dirdialog.setOption(QFileDialog.ShowDirsOnly, True)
+    selected = dirdialog.exec()
+    if selected:
+      dirname = dirdialog.selectedFiles()[0]
+#      self.outputDir.setText(dirname)
+      self.dirname = dirname
+    
+  def save_log(self):
+    if self.num_points:
+      self.num_points = 0
+      log = open(strftime(self.dirname + "/track-%Y%m%d-%H%M.gpx"), 'w')
+      log.write(self.gpx.to_xml())
+      log.close()
+      self.gpx_segment = gpxpy.gpx.GPXTrackSegment()
+
+  def start_thread(self):
+    if not self.my_thread.isRunning():
+      self.my_thread.new_data.sig.connect(self.update_data)
+      self.my_thread.start()
+      self.my_thread.setTerminationEnabled(True)
+      
+  def stop_thread(self):
+    self.my_thread.stop()
+    self.my_thread.wait(3)
+    self.save_log()
+    
+  def closeEvent(self, event):
+    self.stop_thread()
+    event.accept()
+    sys.exit(0)
+  
+  def exit_button(self):
+    self.stop_thread()
+    if self.log_enabled:
+      self.toggle_logging()
+      self.log_enabled = 0
+    sys.exit(0)
+
+if os.path.isfile('config.yaml'):
+  with open('config.yaml') as f:
+    config = yaml.load(f, Loader=yaml.FullLoader)
+    if 'host' in config:
+      gpsd_host = config['host']
+
+if __name__ == '__main__':
+  app = QApplication(sys.argv)
+
+  window = QtGPSWindow()
+  window.show()
+  window.start_thread()
+  ret = app.exec_()
+  sys.exit(ret)

gps_tool/mainwindow.ui

@@ -0,0 +1,481 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>MainWindow</class>
+ <widget class="QMainWindow" name="MainWindow">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>737</width>
+    <height>359</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>QtGPS</string>
+  </property>
+  <widget class="QWidget" name="centralwidget">
+   <widget class="QLabel" name="label_2">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>100</y>
+      <width>61</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Longitude:</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>80</y>
+      <width>61</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Latitude:</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_3">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>160</y>
+      <width>51</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Speed:</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="txtLongitude">
+    <property name="geometry">
+     <rect>
+      <x>70</x>
+      <y>100</y>
+      <width>81</width>
+      <height>18</height>
+     </rect>
+    </property>
+    <property name="frameShape">
+     <enum>QFrame::Panel</enum>
+    </property>
+    <property name="frameShadow">
+     <enum>QFrame::Sunken</enum>
+    </property>
+    <property name="text">
+     <string>0</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="txtSpeed">
+    <property name="geometry">
+     <rect>
+      <x>70</x>
+      <y>160</y>
+      <width>61</width>
+      <height>18</height>
+     </rect>
+    </property>
+    <property name="frameShape">
+     <enum>QFrame::Panel</enum>
+    </property>
+    <property name="frameShadow">
+     <enum>QFrame::Sunken</enum>
+    </property>
+    <property name="text">
+     <string>0</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="txtLatitude">
+    <property name="geometry">
+     <rect>
+      <x>70</x>
+      <y>80</y>
+      <width>81</width>
+      <height>18</height>
+     </rect>
+    </property>
+    <property name="frameShape">
+     <enum>QFrame::Panel</enum>
+    </property>
+    <property name="frameShadow">
+     <enum>QFrame::Sunken</enum>
+    </property>
+    <property name="text">
+     <string>0</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_4">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>140</y>
+      <width>61</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Heading:</string>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="exitButton">
+    <property name="geometry">
+     <rect>
+      <x>640</x>
+      <y>300</y>
+      <width>84</width>
+      <height>32</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Exit</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="txtHeading">
+    <property name="geometry">
+     <rect>
+      <x>70</x>
+      <y>140</y>
+      <width>61</width>
+      <height>18</height>
+     </rect>
+    </property>
+    <property name="frameShape">
+     <enum>QFrame::Panel</enum>
+    </property>
+    <property name="frameShadow">
+     <enum>QFrame::Sunken</enum>
+    </property>
+    <property name="text">
+     <string>0</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="txtTime">
+    <property name="geometry">
+     <rect>
+      <x>70</x>
+      <y>60</y>
+      <width>151</width>
+      <height>20</height>
+     </rect>
+    </property>
+    <property name="frameShape">
+     <enum>QFrame::Panel</enum>
+    </property>
+    <property name="frameShadow">
+     <enum>QFrame::Sunken</enum>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_7">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>60</y>
+      <width>51</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Time:</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_5">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>120</y>
+      <width>61</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Altitude:</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_8">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>40</y>
+      <width>51</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Fix:</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="txtStatus">
+    <property name="geometry">
+     <rect>
+      <x>70</x>
+      <y>40</y>
+      <width>61</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="frameShape">
+     <enum>QFrame::Panel</enum>
+    </property>
+    <property name="frameShadow">
+     <enum>QFrame::Sunken</enum>
+    </property>
+    <property name="text">
+     <string>0</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_10">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>180</y>
+      <width>49</width>
+      <height>20</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>HDOP:</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_11">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>200</y>
+      <width>49</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>VDOP:</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="txtHDOP">
+    <property name="geometry">
+     <rect>
+      <x>70</x>
+      <y>180</y>
+      <width>61</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="frameShape">
+     <enum>QFrame::Panel</enum>
+    </property>
+    <property name="frameShadow">
+     <enum>QFrame::Sunken</enum>
+    </property>
+    <property name="text">
+     <string>0</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="txtVDOP">
+    <property name="geometry">
+     <rect>
+      <x>70</x>
+      <y>200</y>
+      <width>61</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="frameShape">
+     <enum>QFrame::Panel</enum>
+    </property>
+    <property name="frameShadow">
+     <enum>QFrame::Sunken</enum>
+    </property>
+    <property name="text">
+     <string>0</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="txtAltitude">
+    <property name="geometry">
+     <rect>
+      <x>70</x>
+      <y>120</y>
+      <width>61</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="frameShape">
+     <enum>QFrame::Panel</enum>
+    </property>
+    <property name="frameShadow">
+     <enum>QFrame::Sunken</enum>
+    </property>
+    <property name="text">
+     <string>0</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_9">
+    <property name="geometry">
+     <rect>
+      <x>140</x>
+      <y>120</y>
+      <width>49</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>meters</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_13">
+    <property name="geometry">
+     <rect>
+      <x>140</x>
+      <y>160</y>
+      <width>49</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>m/sec</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="txtMode">
+    <property name="geometry">
+     <rect>
+      <x>130</x>
+      <y>40</y>
+      <width>49</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="frameShape">
+     <enum>QFrame::Panel</enum>
+    </property>
+    <property name="frameShadow">
+     <enum>QFrame::Sunken</enum>
+    </property>
+    <property name="text">
+     <string>0</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_6">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>220</y>
+      <width>49</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Grid:</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="txtGrid">
+    <property name="geometry">
+     <rect>
+      <x>70</x>
+      <y>220</y>
+      <width>61</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="frameShape">
+     <enum>QFrame::Panel</enum>
+    </property>
+    <property name="frameShadow">
+     <enum>QFrame::Sunken</enum>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+   </widget>
+   <widget class="QTextEdit" name="txtSatellites">
+    <property name="geometry">
+     <rect>
+      <x>230</x>
+      <y>10</y>
+      <width>220</width>
+      <height>280</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <family>Courier</family>
+     </font>
+    </property>
+   </widget>
+   <widget class="QPushButton" name="toggleLogging">
+    <property name="geometry">
+     <rect>
+      <x>130</x>
+      <y>250</y>
+      <width>84</width>
+      <height>32</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Start</string>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_12">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>250</y>
+      <width>111</width>
+      <height>20</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>GPX Data Logging:</string>
+    </property>
+   </widget>
+   <widget class="QGraphicsView" name="viewSatellites">
+    <property name="geometry">
+     <rect>
+      <x>450</x>
+      <y>10</y>
+      <width>280</width>
+      <height>280</height>
+     </rect>
+    </property>
+   </widget>
+   <widget class="QLabel" name="label_14">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>10</y>
+      <width>221</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="font">
+     <font>
+      <pointsize>10</pointsize>
+      <weight>75</weight>
+      <bold>true</bold>
+     </font>
+    </property>
+    <property name="text">
+     <string>GPS Tool (gpsd client)</string>
+    </property>
+   </widget>
+  </widget>
+  <widget class="QMenuBar" name="menubar">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>737</width>
+     <height>28</height>
+    </rect>
+   </property>
+  </widget>
+  <widget class="QStatusBar" name="statusbar"/>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

gps_tool/setup.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+# Python 3
+echo "Python 3 packages:"
+sudo apt-get -y --ignore-missing install python3-all python3-dev python3-tk idle3 python3-pip python3-pyqt5 python3-serial python3-can python3-protobuf python3-numpy python3-pil.imagetk python3-gi spyder3 python3-pyside2.*
+
+# Python addons
+sudo -H pip install --upgrade pip
+sudo -H pip install configparser pyside2
+sudo -H pip install --upgrade pyserial numpy scipy scapy gps gpxpy maidenhead virtualenv virtualenvwrapper