gpsd/xgpsspeed

#!/usr/bin/env python
#
# by
# Robin Wittler <real@the-real.org> (speedometer mode)
# and
# Chen Wei <weichen302@gmx.com> (nautical mode)
#
# SPDX-License-Identifier: BSD-2-clause

# This code runs compatibly under Python 2 and 3.x for x >= 2.
# Preserve this property!
from __future__ import absolute_import, print_function, division

import argparse
import cairo
from math import pi
from math import cos
from math import sin
from math import sqrt
from math import radians
import os
from socket import error as SocketError
import sys


# Gtk3 imports.  Gtk3 requires the require_version(), which then causes
# pylint to complain about the subsequent "non-top" imports.
import gi
try:
    gi.require_version('Gtk', '3.0')
except ValueError:
    # Gtk2 may be installed, has no require_version()
    sys.stderr.write("xgps: ERROR Unsupported Gtk version\n")
    exit(1)

from gi.repository import Gtk      # pylint: disable=wrong-import-position
from gi.repository import Gdk      # pylint: disable=wrong-import-position
from gi.repository import GLib  # pylint: disable=wrong-import-position


# pylint wants local modules last
try:
    import gps
except ImportError as e:
    sys.stderr.write(
        "xgpsspeed: can't load Python gps libraries -- check PYTHONPATH.\n")
    sys.stderr.write("%s\n" % e)
    sys.exit(1)

gps_version = '3.19.1~dev'
if gps.__version__ != gps_version:
    sys.stderr.write("xgpsspeed: ERROR: need gps module version %s, got %s\n" %
                     (gps_version, gps.__version__))
    sys.exit(1)


class Speedometer(Gtk.DrawingArea):
    "Speedometer class"

    def __init__(self, speed_unit=None):
        "Init Speedometer class"
        Gtk.DrawingArea.__init__(self)
        self.MPH_UNIT_LABEL = 'mph'
        self.KPH_UNIT_LABEL = 'kmh'
        self.KNOTS_UNIT_LABEL = 'knots'
        self.conversions = {
            self.MPH_UNIT_LABEL: gps.MPS_TO_MPH,
            self.KPH_UNIT_LABEL: gps.MPS_TO_KPH,
            self.KNOTS_UNIT_LABEL: gps.MPS_TO_KNOTS
        }
        self.speed_unit = speed_unit or self.MPH_UNIT_LABEL
        if self.speed_unit not in self.conversions:
            raise TypeError(
                '%s is not a valid speed unit'
                % (repr(speed_unit))
            )


class LandSpeedometer(Speedometer):
    "LandSpeedometer class"

    def __init__(self, speed_unit=None):
        "Init LandSpeedometer class"
        Speedometer.__init__(self, speed_unit)
        self.connect('size-allocate', self.on_size_allocate)
        self.width = self.height = 0
        self.connect('draw', self.draw_s)
        self.long_ticks = (2, 1, 0, -1, -2, -3, -4, -5, -6, -7, -8)
        self.short_ticks = (0.1, 0.2, 0.3, 0.4, 0.6, 0.7, 0.8, 0.9)
        self.long_inset = lambda x: 0.1 * x
        self.middle_inset = lambda x: self.long_inset(x) / 1.5
        self.short_inset = lambda x: self.long_inset(x) / 3
        self.res_div = 10.0
        self.res_div_mul = 1
        self.last_speed = 0
        self.nums = {
            -8: 0,
            -7: 10,
            -6: 20,
            -5: 30,
            -4: 40,
            -3: 50,
            -2: 60,
            -1: 70,
            0: 80,
            1: 90,
            2: 100
        }

    def on_size_allocate(self, _unused, allocation):
        self.width = allocation.width
        self.height = allocation.height

    def draw_s(self, widget, _event, _empty=None):
        "Top level draw"

        window = widget.get_window()
        region = window.get_clip_region()
        context = window.begin_draw_frame(region)
        self.cr = context.get_cairo_context()

        self.cr.rectangle(0, 0, self.width, self.height)
        self.cr.clip()
        x, y = self.get_x_y()
        width, height = self.get_window().get_geometry()[2:4]
        radius = self.get_radius(width, height)
        self.cr.set_line_width(radius / 100)
        self.draw_arc_and_ticks(width, height, radius, x, y)
        self.draw_needle(self.last_speed, radius, x, y)
        self.draw_speed_text(self.last_speed, radius, x, y)
        self.cr = None
        window.end_draw_frame(context)

    def draw_arc_and_ticks(self, width, height, radius, x, y):
        self.cr.set_source_rgb(1.0, 1.0, 1.0)
        self.cr.rectangle(0, 0, width, height)
        self.cr.fill()
        self.cr.set_source_rgb(0.0, 0.0, 0.0)

        # draw the speedometer arc
        self.cr.arc_negative(x, y, radius, radians(60), radians(120))
        self.cr.stroke()
        long_inset = self.long_inset(radius)
        middle_inset = self.middle_inset(radius)
        short_inset = self.short_inset(radius)

        # draw the ticks
        for i in self.long_ticks:
            self.cr.move_to(
                x + (radius - long_inset) * cos(i * pi / 6.0),
                y + (radius - long_inset) * sin(i * pi / 6.0)
            )
            self.cr.line_to(
                (x + (radius + (self.cr.get_line_width() / 2)) *
                 cos(i * pi / 6.0)),
                (y + (radius + (self.cr.get_line_width() / 2)) *
                 sin(i * pi / 6.0))
            )
            self.cr.select_font_face(
                'Georgia',
                cairo.FONT_SLANT_NORMAL,
            )
            self.cr.set_font_size(radius / 10)
            self.cr.save()
            _num = str(self.nums.get(i) * self.res_div_mul)
            (
                _x_bearing,
                _y_bearing,
                t_width,
                t_height,
                _x_advance,
                _y_advance
            ) = self.cr.text_extents(_num)

            if i in (-8, -7, -6, -5, -4):
                self.cr.move_to(
                    (x + (radius - long_inset - (t_width / 2)) *
                     cos(i * pi / 6.0)),
                    (y + (radius - long_inset - (t_height * 2)) *
                     sin(i * pi / 6.0))
                )
            elif i in (-2, -1, 0, 2, 1):
                self.cr.move_to(
                    (x + (radius - long_inset - (t_width * 1.5)) *
                     cos(i * pi / 6.0)),
                    (y + (radius - long_inset - (t_height * 2)) *
                     sin(i * pi / 6.0))
                )
            elif i in (-3,):
                self.cr.move_to(
                    (x - t_width / 2),
                    (y - radius + self.long_inset(radius) * 2 + t_height)
                )
            self.cr.show_text(_num)
            self.cr.restore()

            if i != self.long_ticks[0]:
                self.cr.move_to(
                    x + (radius - middle_inset) * cos((i + 0.5) * pi / 6.0),
                    y + (radius - middle_inset) * sin((i + 0.5) * pi / 6.0)
                )
                self.cr.line_to(
                    x + (radius + (self.cr.get_line_width() / 2)) *
                    cos((i + 0.5) * pi / 6.0),
                    y + (radius + (self.cr.get_line_width() / 2)) *
                    sin((i + 0.5) * pi / 6.0)
                )

            for z in self.short_ticks:
                w_half = self.cr.get_line_width() / 2
                if i < 0:
                    self.cr.move_to(
                        x + (radius - short_inset) * cos((i + z) * pi / 6.0),
                        y + (radius - short_inset) * sin((i + z) * pi / 6.0)
                    )
                    self.cr.line_to(
                        x + (radius + w_half) * cos((i + z) * pi / 6.0),
                        y + (radius + w_half) * sin((i + z) * pi / 6.0)
                    )
                else:
                    self.cr.move_to(
                        x + (radius - short_inset) * cos((i - z) * pi / 6.0),
                        y + (radius - short_inset) * sin((i - z) * pi / 6.0)
                    )
                    self.cr.line_to(
                        x + (radius + w_half) * cos((i - z) * pi / 6.0),
                        y + (radius + w_half) * sin((i - z) * pi / 6.0)
                    )
            self.cr.stroke()

    def draw_needle(self, speed, radius, x, y):
        self.cr.save()
        inset = self.long_inset(radius)
        speed = speed * self.conversions.get(self.speed_unit)
        speed = speed / (self.res_div * self.res_div_mul)
        actual = self.long_ticks[-1] + speed
        if actual > self.long_ticks[0]:
            self.res_div_mul += 1
            speed = speed / (self.res_div * self.res_div_mul)
            actual = self.long_ticks[-1] + speed
        self.cr.move_to(x, y)
        self.cr.line_to(
            x + (radius - (2 * inset)) * cos(actual * pi / 6.0),
            y + (radius - (2 * inset)) * sin(actual * pi / 6.0)
        )
        self.cr.stroke()
        self.cr.restore()

    def draw_speed_text(self, speed, radius, x, y):
        self.cr.save()
        speed = '%.2f %s' % (
                speed * self.conversions.get(self.speed_unit),
                self.speed_unit
        )
        self.cr.select_font_face(
            'Georgia',
            cairo.FONT_SLANT_NORMAL,
            # cairo.FONT_WEIGHT_BOLD
        )
        self.cr.set_font_size(radius / 10)
        _x_bearing, _y_bearing, t_width, _t_height = \
            self.cr.text_extents(speed)[:4]
        self.cr.move_to((x - t_width / 2),
                        (y + radius) - self.long_inset(radius))
        self.cr.show_text(speed)
        self.cr.restore()

    def get_x_y(self):
        rect = self.get_allocation()
        x = (rect.x + rect.width / 2.0)
        y = (rect.y + rect.height / 2.0) - 20
        return x, y

    def get_radius(self, width, height):
        return min(width / 2.0, height / 2.0) - 20


class NauticalSpeedometer(Speedometer):
    "NauticalSpeedometer class"
    HEADING_SAT_GAP = 0.8
    SAT_SIZE = 10  # radius of the satellite circle in skyview

    def __init__(self, speed_unit=None, maxspeed=100, rotate=0.0):
        Speedometer.__init__(self, speed_unit)
        self.connect('size-allocate', self.on_size_allocate)
        self.width = self.height = 0
        self.connect('draw', self.draw_s)
        self.long_inset = lambda x: 0.05 * x
        self.mid_inset = lambda x: self.long_inset(x) / 1.5
        self.short_inset = lambda x: self.long_inset(x) / 3
        self.last_speed = 0
        self.satellites = []
        self.last_heading = 0
        self.maxspeed = int(maxspeed)
        self.rotate = radians(rotate)
        self.cr = None

    def polar2xy(self, radius, angle, polex, poley):
        '''convert Polar coordinate to Cartesian coordinate system
        the y axis in pygtk points downward
        Args:
           radius:
           angle: azimuth from from Polar coordinate system, in radian
           polex and poley are the Cartesian coordinate of the pole
        return a tuple contains (x, y)'''
        return (polex + cos(angle) * radius, poley - sin(angle) * radius)

    def polar2xyr(self, radius, angle, polex, poley):
        '''Version of polar2xy that includes rotation'''
        angle = (angle + self.rotate) % (pi * 2)  # Note reversed sense
        return self.polar2xy(radius, angle, polex, poley)

    def on_size_allocate(self, _unused, allocation):
        self.width = allocation.width
        self.height = allocation.height

    def draw_s(self, widget, _event, _empty=None):
        "Top level draw"

        window = widget.get_window()
        region = window.get_clip_region()
        context = window.begin_draw_frame(region)
        self.cr = context.get_cairo_context()

        self.cr.rectangle(0, 0, self.width, self.height)
        self.cr.clip()
        x, y = self.get_x_y()
        width, height = self.get_window().get_geometry()[2:4]
        radius = self.get_radius(width, height)
        self.cr.set_line_width(radius / 100)
        self.draw_arc_and_ticks(width, height, radius, x, y)
        self.draw_heading(20, self.last_heading, radius, x, y)
        for sat in self.satellites:
            self.draw_sat(sat, radius * NauticalSpeedometer.HEADING_SAT_GAP,
                          x, y)
        self.draw_speed(radius, x, y)
        self.cr = None
        window.end_draw_frame(context)

    def draw_text(self, x, y, text, fontsize=10):
        '''draw text at given location
        Args:
            x, y is the center of textbox'''
        txt = str(text)
        self.cr.new_sub_path()
        self.cr.set_source_rgba(0, 0, 0)
        self.cr.select_font_face('Sans',
                                 cairo.FONT_SLANT_NORMAL,
                                 cairo.FONT_WEIGHT_BOLD)
        self.cr.set_font_size(fontsize)
        (_x_bearing, _y_bearing,
         t_width, t_height) = self.cr.text_extents(txt)[:4]
        # set the center of textbox
        self.cr.move_to(x - t_width / 2, y + t_height / 2)
        self.cr.show_text(txt)

    def draw_arc_and_ticks(self, width, height, radius, x, y):
        '''Draw a serial of circle, with ticks in outmost circle'''

        self.cr.set_source_rgb(1.0, 1.0, 1.0)
        self.cr.rectangle(0, 0, width, height)
        self.cr.fill()
        self.cr.set_source_rgba(0, 0, 0)

        # draw the speedmeter arc
        rspeed = radius + 50
        self.cr.arc(x, y, rspeed, 2 * pi / 3, 7 * pi / 3)
        self.cr.set_source_rgba(0, 0, 0, 1.0)
        self.cr.stroke()
        s_long = self.long_inset(rspeed)
        s_middle = self.mid_inset(radius)
        s_short = self.short_inset(radius)
        for i in range(11):
            # draw the large ticks
            alpha = (8 - i) * pi / 6
            self.cr.move_to(*self.polar2xy(rspeed, alpha, x, y))
            self.cr.set_line_width(radius / 100)
            self.cr.line_to(*self.polar2xy(rspeed - s_long, alpha, x, y))
            self.cr.stroke()
            self.cr.set_line_width(radius / 200)
            xf, yf = self.polar2xy(rspeed + 10, alpha, x, y)
            stxt = (self.maxspeed // 10) * i
            self.draw_text(xf, yf, stxt, fontsize=radius / 15)

        for i in range(1, 11):
            # middle tick
            alpha = (8 - i) * pi / 6
            beta = (17 - 2 * i) * pi / 12
            self.cr.move_to(*self.polar2xy(rspeed, beta, x, y))
            self.cr.line_to(*self.polar2xy(rspeed - s_middle, beta, x, y))

            #  short tick
            for n in range(10):
                gamma = alpha + n * pi / 60
                self.cr.move_to(*self.polar2xy(rspeed, gamma, x, y))
                self.cr.line_to(*self.polar2xy(rspeed - s_short, gamma, x, y))

        # draw the heading arc
        self.cr.new_sub_path()
        self.cr.arc(x, y, radius, 0, 2 * pi)
        self.cr.stroke()
        self.cr.arc(x, y, radius - 20, 0, 2 * pi)
        self.cr.set_source_rgba(0, 0, 0, 0.20)
        self.cr.fill()
        self.cr.set_source_rgba(0, 0, 0)

        # heading label 90/180/270
        for n in range(0, 4):
            label = str(n * 90)
            # self.cr.set_source_rgba(0, 1, 0)
            # radius * (1 + NauticalSpeedometer.HEADING_SAT_GAP),
            tbox_x, tbox_y = self.polar2xyr(
                radius * 0.88,
                (1 - n) * pi / 2,
                x, y)
            self.draw_text(tbox_x, tbox_y,
                           label, fontsize=radius / 20)

        # draw the satellite arcs
        skyradius = radius * NauticalSpeedometer.HEADING_SAT_GAP
        self.cr.set_line_width(radius / 200)
        self.cr.set_source_rgba(0, 0, 0)
        self.cr.arc(x, y, skyradius, 0, 2 * pi)
        self.cr.set_source_rgba(1, 1, 1)
        self.cr.fill()
        self.cr.set_source_rgba(0, 0, 0)

        self.cr.arc(x, y, skyradius * 2 / 3, 0, 2 * pi)
        self.cr.move_to(x + skyradius / 3, y)  # Avoid line connecting circles
        self.cr.arc(x, y, skyradius / 3, 0, 2 * pi)

        # draw the cross hair
        self.cr.move_to(*self.polar2xyr(skyradius, 1.5 * pi, x, y))
        self.cr.line_to(*self.polar2xyr(skyradius, 0.5 * pi, x, y))
        self.cr.move_to(*self.polar2xyr(skyradius, 0.0, x, y))
        self.cr.line_to(*self.polar2xyr(skyradius, pi, x, y))
        self.cr.set_line_width(radius / 200)
        self.cr.stroke()

        long_inset = self.long_inset(radius)
        mid_inset = self.mid_inset(radius)
        short_inset = self.short_inset(radius)

        # draw the large ticks
        for i in range(12):
            agllong = i * pi / 6
            self.cr.move_to(*self.polar2xy(radius - long_inset, agllong, x, y))
            self.cr.line_to(*self.polar2xy(radius, agllong, x, y))
            self.cr.set_line_width(radius / 100)
            self.cr.stroke()
            self.cr.set_line_width(radius / 200)

            # middle tick
            aglmid = (i + 0.5) * pi / 6
            self.cr.move_to(*self.polar2xy(radius - mid_inset, aglmid, x, y))
            self.cr.line_to(*self.polar2xy(radius, aglmid, x, y))

            #  short tick
            for n in range(1, 10):
                aglshrt = agllong + n * pi / 60
                self.cr.move_to(*self.polar2xy(radius - short_inset,
                                aglshrt, x, y))
                self.cr.line_to(*self.polar2xy(radius, aglshrt, x, y))
            self.cr.stroke()

    def draw_heading(self, trig_height, heading, radius, x, y):
        hypo = trig_height * 2 / sqrt(3)
        h = (pi / 2 - radians(heading) + self.rotate) % (pi * 2)  # to xyz
        self.cr.set_line_width(2)
        self.cr.set_source_rgba(0, 0.3, 0.2, 0.8)

        # the triangle pointer
        x0 = x + radius * cos(h)
        y0 = y - radius * sin(h)

        x1 = x0 + hypo * cos(7 * pi / 6 + h)
        y1 = y0 - hypo * sin(7 * pi / 6 + h)

        x2 = x0 + hypo * cos(5 * pi / 6 + h)
        y2 = y0 - hypo * sin(5 * pi / 6 + h)

        self.cr.move_to(x0, y0)
        self.cr.line_to(x1, y1)
        self.cr.line_to(x2, y2)
        self.cr.line_to(x0, y0)
        self.cr.close_path()
        self.cr.fill()
        self.cr.stroke()

        # heading text
        (tbox_x, tbox_y) = self.polar2xy(radius * 1.1, h, x, y)
        self.draw_text(tbox_x, tbox_y, int(heading), fontsize=radius / 15)

        # the ship shape, based on test and try
        shiplen = radius * NauticalSpeedometer.HEADING_SAT_GAP / 4
        xh, yh = self.polar2xy(shiplen * 2.3, h, x, y)
        xa, ya = self.polar2xy(shiplen * 2.2, h + pi - 0.3, x, y)
        xb, yb = self.polar2xy(shiplen * 2.2, h + pi + 0.3, x, y)
        xc, yc = self.polar2xy(shiplen * 1.4, h - pi / 5, x, y)
        xd, yd = self.polar2xy(shiplen * 1.4, h + pi / 5, x, y)

        self.cr.set_source_rgba(0, 0.3, 0.2, 0.5)
        self.cr.move_to(xa, ya)
        self.cr.line_to(xb, yb)
        self.cr.line_to(xc, yc)
        self.cr.line_to(xh, yh)
        self.cr.line_to(xd, yd)
        self.cr.close_path()
        self.cr.fill()
        # self.cr.stroke()

    def set_color(self, spec):
        '''Set foreground color for drawing.'''

        color = Gdk.RGBA()
        color.parse(spec)
        Gdk.cairo_set_source_rgba(self.cr, color)

    def draw_sat(self, satsoup, radius, x, y):
        """Given a sat's elevation, azimuth, SNR, draw it on the skyview
        Arg:
        satsoup: a dictionary {'el': xx, 'az': xx, 'ss': xx}
        """
        el, az = satsoup['el'], satsoup['az']
        if el == 0 and az == 0:
            return  # Skip satellites with unknown position
        h = pi / 2 - radians(az)  # to xy
        self.cr.set_line_width(2)
        self.cr.set_source_rgb(0, 0, 0)

        x0, y0 = self.polar2xyr(radius * (90 - el) // 90, h, x, y)

        self.cr.new_sub_path()
        if gps.is_sbas(satsoup['PRN']):
            self.cr.rectangle(x0 - NauticalSpeedometer.SAT_SIZE,
                              y0 - NauticalSpeedometer.SAT_SIZE,
                              NauticalSpeedometer.SAT_SIZE * 2,
                              NauticalSpeedometer.SAT_SIZE * 2)
        else:
            self.cr.arc(x0, y0, NauticalSpeedometer.SAT_SIZE, 0, pi * 2.0)

        if satsoup['ss'] < 10:
            self.set_color('Gray')
        elif satsoup['ss'] < 30:
            self.set_color('Red')
        elif satsoup['ss'] < 35:
            self.set_color('Yellow')
        elif satsoup['ss'] < 40:
            self.set_color('Green3')
        else:
            self.set_color('Green1')

        if satsoup['used']:
            self.cr.fill()
        else:
            self.cr.stroke()
        self.draw_text(x0, y0, satsoup['PRN'], fontsize=15)

    def draw_speed(self, radius, x, y):
        self.cr.new_sub_path()
        self.cr.set_line_width(20)
        self.cr.set_source_rgba(0, 0, 0, 0.5)
        speed = self.last_speed * self.conversions.get(self.speed_unit)
        # cariol arc angle start at polar 0, going clockwise
        alpha = 4 * pi / 3
        beta = 2 * pi - alpha
        theta = 5 * pi * speed / (self.maxspeed * 3)

        self.cr.arc(x, y, radius + 40, beta, beta + theta)
        self.cr.stroke()
        # self.cr.close_path()
        # self.cr.fill()
        label = '%.2f %s' % (speed, self.speed_unit)
        self.draw_text(x, y + radius + 40, label, fontsize=20)

    def get_x_y(self):
        rect = self.get_allocation()
        x = (rect.x + rect.width / 2.0)
        y = (rect.y + rect.height / 2.0) - 20
        return x, y

    def get_radius(self, width, height):
        return min(width / 2.0, height / 2.0) - 70


class Main(object):
    "Main"

    def __init__(self, host='localhost', port=gps.GPSD_PORT, device=None,
                 debug=0, speed_unit=None, maxspeed=0, nautical=False,
                 rotate=0.0, target=""):
        self.host = host
        self.port = port
        self.device = device
        self.debug = debug
        self.speed_unit = speed_unit
        self.maxspeed = maxspeed
        self.nautical = nautical
        self.rotate = rotate
        self.window = Gtk.Window(type=Gtk.WindowType.TOPLEVEL)
        if not self.window.get_display():
            raise Exception("Can't open display")
        if target:
            target = " " + target
        self.window.set_title('xgpsspeed' + target)
        self.window.connect("delete-event", self.delete_event)

        vbox = Gtk.VBox(homogeneous=False, spacing=0)
        self.window.add(vbox)

        # menubar
        menubar = Gtk.MenuBar()
        vbox.pack_start(menubar, False, False, 0)
        agr = Gtk.AccelGroup()
        self.window.add_accel_group(agr)

        # need the widget before the menu as the menu building
        # calls the widget
        self.window.set_size_request(400, 450)
        if self.nautical:
            self.widget = NauticalSpeedometer(
                speed_unit=self.speed_unit,
                maxspeed=self.maxspeed,
                rotate=self.rotate)
        else:
            self.widget = LandSpeedometer(speed_unit=self.speed_unit)

        self.speedframe = Gtk.Frame()
        self.speedframe.add(self.widget)
        vbox.add(self.speedframe)

        self.window.connect('delete-event', self.delete_event)
        self.window.connect('destroy', self.destroy)
        self.window.present()

        # File
        topmenu = Gtk.MenuItem(label="File")
        menubar.append(topmenu)
        submenu = Gtk.Menu()
        topmenu.set_submenu(submenu)
        menui = Gtk.MenuItem(label="Quit")
        key, mod = Gtk.accelerator_parse("<Control>Q")
        menui.add_accelerator("activate", agr, key, mod,
                              Gtk.AccelFlags.VISIBLE)
        menui.connect("activate", Gtk.main_quit)
        submenu.append(menui)

        # View
        topmenu = Gtk.MenuItem(label="View")
        menubar.append(topmenu)
        submenu = Gtk.Menu()
        topmenu.set_submenu(submenu)

        views = [["Nautical", False, "0", "Nautical"],
                 ["Land", False, "1", "Land"],
                 ]

        if self.nautical:
            views[0][1] = True
        else:
            views[1][1] = True

        menui = None
        for name, active, acc, handle in views:
            menui = Gtk.RadioMenuItem(group=menui, label=name)
            menui.set_active(active)
            menui.connect("activate", self.view_toggle, handle)
            if acc:
                key, mod = Gtk.accelerator_parse(acc)
                menui.add_accelerator("activate", agr, key, mod,
                                      Gtk.AccelFlags.VISIBLE)
            submenu.append(menui)

        # Units
        topmenu = Gtk.MenuItem(label="Units")
        menubar.append(topmenu)
        submenu = Gtk.Menu()
        topmenu.set_submenu(submenu)

        units = [["Imperial", True, "i", 'mph'],
                 ["Nautical", False, "n", 'knots'],
                 ["Metric", False, "m", 'kmh'],
                 ]

        menui = None
        for name, active, acc, handle in units:
            menui = Gtk.RadioMenuItem(group=menui, label=name)
            menui.set_active(active)
            menui.connect("activate", self.set_units, handle)
            if acc:
                key, mod = Gtk.accelerator_parse(acc)
                menui.add_accelerator("activate", agr, key, mod,
                                      Gtk.AccelFlags.VISIBLE)
            submenu.append(menui)

        # Help
        topmenu = Gtk.MenuItem(label="Help")
        menubar.append(topmenu)
        submenu = Gtk.Menu()
        topmenu.set_submenu(submenu)

        menui = Gtk.MenuItem(label="About")
        menui.connect("activate", self.about)
        submenu.append(menui)

        # vbox.pack_start(menubar, False, False, 0)
        # vbox.add(self.speedframe)
        self.window.show_all()

    def about(self, _unused):
        "Show about dialog"

        about = Gtk.AboutDialog()
        about.set_program_name("xgpsspeed")
        about.set_version("Versions:\n"
                          "xgpspeed %s\n"
                          "PyGObject Version %d.%d.%d" %
                          (gps_version,  gi.version_info[0],
                           gi.version_info[1], gi.version_info[2]))
        about.set_copyright("Copyright 2004-2019 by The GPSD Project")
        about.set_website("https://www.gpsd.io")
        about.set_website_label("https://www.gpsd.io")
        about.set_license("BSD-2-clause")

        about.run()
        about.destroy()

    def delete_event(self, _widget, _event, _data=None):
        "Say goodbye nicely"
        Gtk.main_quit()
        return False

    def set_units(self, _unused, handle):
        "Change the display units."

        # print("set_units:", handle, self)
        self.widget.speed_unit = handle

    def watch(self, daemon, device):
        self.daemon = daemon
        self.device = device
        GLib.io_add_watch(daemon.sock, GLib.PRIORITY_DEFAULT,
                          GLib.IO_IN, self.handle_response)
        GLib.io_add_watch(daemon.sock, GLib.PRIORITY_DEFAULT,
                          GLib.IO_ERR, self.handle_hangup)
        GLib.io_add_watch(daemon.sock, GLib.PRIORITY_DEFAULT,
                          GLib.IO_HUP, self.handle_hangup)
        return True

    def view_toggle(self, action, name):
        "Toggle widget view"

        if not action.get_active() or not name:
            # nothing to do
            return

        parent = self.widget.get_parent()

        if 'Nautical' == name:
            self.nautical = True
            widget = NauticalSpeedometer(
                speed_unit=self.speed_unit,
                maxspeed=self.maxspeed,
                rotate=self.rotate)
        else:
            self.nautical = False
            widget = LandSpeedometer(speed_unit=self.speed_unit)

        parent.remove(self.widget)
        parent.add(widget)
        self.widget = widget
        self.widget.show()

    def handle_response(self, source, condition):
        if self.daemon.read() == -1:
            self.handle_hangup(source, condition)
        if self.daemon.data['class'] == 'VERSION':
            self.update_version(self.daemon.version)
        elif self.daemon.data['class'] == 'TPV':
            self.update_speed(self.daemon.data)
        elif self.nautical and self.daemon.data['class'] == 'SKY':
            self.update_skyview(self.daemon.data)

        return True

    def handle_hangup(self, _dummy, _unused):
        w = Gtk.MessageDialog(
            parent=self.window,
            message_type=Gtk.MessageType.ERROR,
            destroy_with_parent=True,
            buttons=Gtk.ButtonsType.OK
        )
        w.connect("destroy", lambda unused: Gtk.main_quit())
        w.set_title('gpsd error')
        w.set_markup("gpsd has stopped sending data.")
        w.run()
        Gtk.main_quit()
        return True

    def update_speed(self, data):
        if hasattr(data, 'speed'):
            self.widget.last_speed = data.speed
            self.widget.queue_draw()
        if self.nautical and hasattr(data, 'track'):
            self.widget.last_heading = data.track
            self.widget.queue_draw()

    # Used for NauticalSpeedometer only
    def update_skyview(self, data):
        "Update the satellite list and skyview."
        if hasattr(data, 'satellites'):
            self.widget.satellites = data.satellites
            self.widget.queue_draw()

    def update_version(self, ver):
        "Update the Version"

        if ver.release != gps_version:
            sys.stderr.write("%s: WARNING gpsd version %s different than "
                             "expected %s\n" %
                             (sys.argv[0], ver.release, gps_version))

        if ((ver.proto_major != gps.api_major_version or
             ver.proto_minor != gps.api_minor_version)):
            sys.stderr.write("%s: WARNING API version %s.%s different than "
                             "expected %s.%s\n" %
                             (sys.argv[0], ver.proto_major, ver.proto_minor,
                              gps.api_major_version, gps.api_minor_version))

    def destroy(self, _unused, _empty=None):
        Gtk.main_quit()

    def run(self):
        try:
            daemon = gps.gps(
                host=self.host,
                port=self.port,
                mode=gps.WATCH_ENABLE | gps.WATCH_JSON | gps.WATCH_SCALED,
                verbose=self.debug
            )
            self.watch(daemon, self.device)
            Gtk.main()
        except SocketError:
            w = Gtk.MessageDialog(
                parent=self.window,
                message_type=Gtk.MessageType.ERROR,
                destroy_with_parent=True,
                buttons=Gtk.ButtonsType.OK
            )
            w.set_title('socket error')
            w.set_markup(
                "could not connect to gpsd socket. make sure gpsd is running."
            )
            w.run()
            w.destroy()
        except KeyboardInterrupt:
            pass


if __name__ == '__main__':

    usage = '%(prog)s [OPTIONS] [host[:port[:device]]]'
    epilog = ('BSD terms apply: see the file COPYING in the distribution root'
              ' for details.')

    parser = argparse.ArgumentParser(usage=usage, epilog=epilog)
    parser.add_argument(
        '-D',
        '--debug',
        dest='debug',
        default=0,
        type=int,
        help='Set level of debug. Must be integer. [Default %(default)s)]'
    )
    parser.add_argument(
        '--device',
        dest='device',
        default='',
        help='The device to connect. [Default %(default)s)]'
    )
    parser.add_argument(
        '--host',
        dest='host',
        default='localhost',
        help='The host to connect. [Default %(default)s)]'
    )
    parser.add_argument(
        '--landspeed',
        dest='nautical',
        default=True,
        action='store_false',
        help='Enable dashboard-style speedometer.'
    )
    parser.add_argument(
        '--maxspeed',
        dest='maxspeed',
        default='50',
        help='Max speed of the speedmeter [Default %(default)s]'
    )
    parser.add_argument(
        '--nautical',
        dest='nautical',
        default=True,
        action='store_true',
        help='Enable nautical-style speed and track display.'
    )
    parser.add_argument(
        '--port',
        dest='port',
        default=gps.GPSD_PORT,
        help='The port to connect. [Default %(default)s)]'
    )
    parser.add_argument(
        '-r',
        '--rotate',
        dest='rotate',
        default=0,
        type=float,
        help='Rotation of skyview ("up" direction) in degrees. '
             ' [Default %(default)s)]'
    )
    parser.add_argument(
        '--speedunits',
        dest='speedunits',
        default='mph',
        choices=['mph', 'kmh', 'knots'],
        help='The unit of speed. [Default %(default)s)]'
    )
    parser.add_argument(
        '-V', '--version',
        action='version',
        version="%(prog)s: Version " + gps_version + "\n",
        help='Output version to stderr, then exit'
    )
    parser.add_argument(
        'target',
        nargs='?',
        help='[host[:port[:device]]]'
    )
    options = parser.parse_args()

    # the options host, port, device are set by the defaults
    if options.target:
        # override with target
        arg = options.target.split(':')
        len_arg = len(arg)
        if len_arg == 1:
            (options.host,) = arg
        elif len_arg == 2:
            (options.host, options.port) = arg
        elif len_arg == 3:
            (options.host, options.port, options.device) = arg
        else:
            parser.print_help()
            sys.exit(0)
        target = ':'.join(options.target[0:])

    ltarget = [options.host, options.port, options.device]
    target = ':'.join(ltarget)

    if 'DISPLAY' not in os.environ:
        sys.stderr.write("xgps: ERROR: DISPLAY not set\n")
        exit(1)

    Main(
        host=options.host,
        port=options.port,
        device=options.device,
        speed_unit=options.speedunits,
        maxspeed=options.maxspeed,
        nautical=options.nautical,
        debug=options.debug,
        rotate=options.rotate,
        target=target,
    ).run()