async def monitor_positions(self, sender):
"""Starts the GPS position monitor loop"""
# Initialize GPSD objects
if(self._use_alternate_gpslib):
from gps_alternate import AltGPSDSocket
gps_socket = AltGPSDSocket()
else:
gps_socket = gps3.GPSDSocket()
data = gps3.DataStream()
# Start fetching data
gps_socket.connect()
gps_socket.watch()
# Position monitor loop
# for gps_data in gps_socket:
while True:
gps_data = gps_socket.next()
if gps_data: # We have data
# Load the JSON into the mapping class dictionary
data.unpack(gps_data)
if self._gps_data_logging:
self._logger.debug("GPS Data: " + gps_data)
#pylint: disable=E1101
# (no, data.TPV doesn't exist in the code. yes, we can still call it)
if self._ok(data.TPV['lat']): # We have position data
gpos = data.TPV
pos = self.parsePosition(gpos)
if pos.time != self._last_position_time:
sender.send_position(pos)
self._last_position_time = pos.time
await asyncio.sleep(0.1)
def __init__(self):
# Call the threading super-class constructor (inheritance)
threading.Thread.__init__(self)
self.gps_socket = None
self.data_stream = None
self.running = False
self.speed = 0
self.latitude = 0
self.longitude = 0
self.altitude = 0
# Try to connect to GPSD socket (if gpsd is not installed, this will error)
try:
# TODO something happens here on OSX i guess?
self.gps_socket = gps3.GPSDSocket()
self.data_stream = gps3.DataStream()
except:
raise Exception(
"Could not create gpsd-socket or data stream object.")
# TODO testing
if (self.gps_socket is not None):
self.gps_socket.connect()
def show_nmea():
"""NMEA"""
args = add_args()
gps_connection = gps3.GPSDSocket(args.host, args.port, args.gpsd_protocol, args.devicepath)
screen = curses.initscr()
# curses.KEY_RESIZE
curses.cbreak()
screen.clear()
screen.scrollok(True)
data_window = curses.newwin(23, 79, 1, 1)
try:
for new_data in gps_connection:
if new_data:
data_window.border(0)
data_window.addstr(0, 2, 'GPS3 Python {}.{}.{} GPSD Interface Showing NMEA protocol'.format(*sys.version_info), curses.A_BOLD)
data_window.addstr(2, 2, '{}'.format(gps_connection.response))
data_window.refresh()
sleep(.4)
except KeyboardInterrupt:
shut_down(gps_connection)
def __init__(self):
self.sock = gps3.GPSDSocket()
self.stream = gps3.DataStream()
# GPS3 throws no exceptions and returns no status,
# so we have to capture stdout and do string matching, sigh
f = io.StringIO()
with redirect_stderr(f):
self.sock.connect()
if "Connection refused" in f.getvalue():
log.warn(
"Could not connect to GPSD socket, continuing with GPS_BOX")
self.sock = None
else:
log.info("Connected to GPSD socket")
self.sock.watch()
# we will use the GPS_BOX setting to determine if
# queries will return locations within a specified range
if len(GPS_BOX) == 4:
self.gps_box = box(GPS_BOX[0], GPS_BOX[1], GPS_BOX[2], GPS_BOX[3])
log.info("Created GPS box")
else:
log.warn("Invalid GPS_BOX size, using GPS_DEFAULT")
def _gps_thread(self):
""" """
first_gps_time_received = False
first_gps_pos_received = False
#
try:
gps_socket = gps3.GPSDSocket()
data_stream = gps3.DataStream()
gps_socket.connect()
gps_socket.watch(True)
#
while self._active:
new_data = gps_socket.next(
timeout=5) # Timeout for thread termination.
if new_data:
data_stream.unpack(new_data)
#
gps_time = data_stream.TPV['time']
gps_latitude = data_stream.TPV['lat']
gps_longitude = data_stream.TPV['lon']
#
if gps_time and (gps_time != 'n/a'):
if first_gps_time_received:
self.gps_time = data_stream.TPV['time']
else:
if self.is_time_valid(gps_time):
self.gps_time = data_stream.TPV['time']
first_gps_time_received = True
self._logger.info(
'GPS reader: First GPS time received: ' +
self.get_time_local_string())
# Set Raspberry Pi time.
if self._set_rpi_time_from_gps:
datetime_gps = dateutil.parser.parse(
gps_time).astimezone(self._timezone)
datetime_now = datetime.datetime.now(
datetime_gps.tzinfo)
if datetime_gps > datetime_now:
self._logger.info(
'GPS reader: Raspberry Pi date/time is set.'
)
os.system('sudo date --set "' +
str(self.gps_time) + '"')
else:
self._logger.info(
'GPS reader: Raspberry Pi date/time is NOT set.'
)
else:
# Don't use the old fetched time.
self.gps_time = None
if gps_latitude and (gps_latitude != 'n/a'):
if gps_longitude and (gps_longitude != 'n/a'):
# Always use last known position.
self.gps_latitude = gps_latitude
self.gps_longitude = gps_longitude
#
if not first_gps_pos_received:
first_gps_pos_received = True
self._logger.info(
'GPS reader: First GPS position received: '
+ self.get_latlong_string())
#
if self._debug:
if self.gps_time: print(str(self.gps_time))
if self.gps_latitude: print(str(self.gps_latitude))
if self.gps_longitude: print(str(self.gps_longitude))
else:
# Don't use the old fetched time.
self.gps_time = None
#
finally:
gps_socket.watch(False)
def __init__(self):
threading.Thread.__init__(self)
self.daemon = True
self.gps_socket = gps3.GPSDSocket()
self.data_stream = gps3.DataStream()
from gps3 import gps3
import time
gpsdsock = gps3.GPSDSocket()
data = gps3.DataStream()
gpsdsock.connect()
gpsdsock.watch()
for newdata in gpsdsock:
if newdata:
data.unpack(newdata)
print data.TPV['lat'], data.TPV['lon']
def setup(self):
self.gps_socket = gps3.GPSDSocket()
self.gps_stream = gps3.DataStream()
self.gps_socket.connect()
self.gps_socket.watch()
def collectData(self):
self.tf = datetime.time.second
gps_socket = gps3.GPSDSocket()
data_stream = gps3.DataStream()
gps_socket.connect()
gps_socket.watch()
sense = SenseHat()
sense.set_imu_config(True, True, True)
self.createFile()
while self.ON:
'''Collect Sense Hat Data'''
timestamp = datetime.datetime.now() #Date + timestamp
self.timestr = timestamp.strftime('%H:%M:%S.%f') #pretty format timestamp
self.gpstimestr = timestamp.strftime('%H:%M:%S') #pretty format for GPS
self.tf = time.time()
self.dt = self.tf - self.ti
self.ti = self.tf
orientation = sense.get_orientation_degrees()
gyroS = ('{pitch},{roll},{yaw}').format(**orientation)
if (orientation['pitch'] == 'n/a'):
self.pitch = 'n/a'
else:
self.pitch = '{0:.6f}'.format(float(orientation['pitch']))
if (orientation['roll'] == 'n/a'):
self.roll = 'n/a'
else:
self.roll = '{0:.6f}'.format(float(orientation['roll']))
if (orientation['yaw'] == 'n/a'):
self.yaw = 'n/a'
else:
self.yaw = '{0:.6f}'.format(float(orientation['yaw']))
self.rollrate = (float(self.roll) - float(self.oldroll)) / self.dt
self.yawrate = (float(self.yaw) - float(self.oldyaw)) / self.dt
self.pitchrate = (float(self.pitch) - float(self.oldpitch)) / self.dt
self.oldroll = self.roll
self.oldpitch = self.pitch
self.oldyaw = self.yaw
self.temp = '{0:.6f}'.format(sense.temp)
self.humi = '{0:.6f}'.format(sense.humidity)
self.pres = '{0:.6f}'.format(sense.pressure)
#collect GPS Data
for new_data in gps_socket:
if new_data:
#print colored(new_data,"green")
data_stream.unpack(new_data)
if (data_stream.TPV['alt'] == 'n/a'):
self.alt = ''
else:
self.alt = '{0:.6f}'.format(float(data_stream.TPV['alt']))
if (data_stream.TPV['lat'] == 'n/a'):
self.lat = ''
else:
self.lat = '{0:.6f}'.format(float(data_stream.TPV['lat']))
if (data_stream.TPV['lon'] == 'n/a'):
self.lon = ''
else:
self.lon = '{0:.6f}'.format(float(data_stream.TPV['lon']))
else:
print colored("No gps data", 'red')
break
if (self.supressOutput != True):
print("Time Stamp: " + str(self.timestr))
print(colored(('Roll: ' + str(self.roll)), 'magenta'))
print(colored(('Pitch: ' + str(self.pitch)), 'magenta'))
print(colored(('Yaw: ' + str(self.yaw)), 'magenta'))
print(colored(('Roll Rate: ' + str(self.rollrate)), 'cyan'))
print(colored(('Pitch Rate: ' + str(self.pitchrate)), 'cyan'))
print(colored(('YawRate: ' + str(self.yawrate)), 'cyan'))
print("Temperature: " + self.temp + " C")
print("Humidity: " + self.humi + " rh")
print("Pressure: " + self.pres + " Mb")
print(colored(('Altitude: ', self.alt), 'yellow'))
print(colored(('Latitude: ', self.lat), 'yellow'))
print(colored(('Longitude: ',self.lon), 'yellow'))
self.write2File()
print self.timestr
time.sleep(1/self.RATE) #currently set to 10 Hz
self.f2.close()
print self.datacsv + " closed."
f_s = open(schema_path)
schema = avro.schema.parse(f_s.read())
f_s.close()
except IOError:
print('cannot open schema file')
sys.exit()
try:
f_id = open(isoblue_id_path)
isoblue_id = f_id.read().strip('\n')
f_id.close()
except IOError:
print('cannot open isoblue_id file')
sys.exit()
s = gps3.GPSDSocket()
s.connect(host='127.0.0.1', port=2947)
s.watch()
timestamp = None
last_tpv_timestamp = None
try:
for data in s:
if data:
new_data = json.loads(data)
object_name = new_data.pop('class', 'ERROR')
# convert 'n/a' to None for proper
for key, value in new_data.iteritems():
if value == 'n/a':
#!/usr/bin/python3
# coding=utf-8
# Concept from Jaroslaw Zachwieja <grok!warwick.ac.uk> & TJ <linux!tjworld.net>
# from their work in gegpsd.py included in gpsd project (http://catb.org/gpsd)
"""creates Google Earth kml file (/tmp/gps3_live.kml) for realtime (4 second GE default) updates of gps coordinates"""
import time
from gps3 import gps3
__author__ = 'Moe'
__copyright__ = 'Copyright 2014-2016 Moe'
__license__ = 'MIT'
__version__ = '0.20'
the_connection = gps3.GPSDSocket(host='192.168.0.4') # TODO: needs work for commandline host selection
the_fix = gps3.Fix()
the_link = '/tmp/gps3_live.kml' # AFAIK, 'Links' call href on time events or entry/exit Multiple href may be possible.
the_file = '/tmp/gps3_static.kml'
the_history = []
live_link = ('<?xml version=\'1.0\' encoding=\'UTF-8\'?>\n'
'<kml xmlns=\'http://www.opengis.net/kml/2.2\' xmlns:gx=\'http://www.google.com/kml/ext/2.2\' xmlns:kml=\'http://www.opengis.net/kml/2.2\' xmlns:atom=\'http://www.w3.org/2005/Atom\'>\n'
'<NetworkLink>\n'
' <name>GPS3 Live</name>\n'
' <Link>\n'
' <href>{0}</href>\n'
' <refreshMode>onInterval</refreshMode>\n'
' </Link>\n'
'</NetworkLink>\n'
'</kml>').format(the_file) # inserts 'the file' into a refresh mode default 4 second
f = open(the_link, 'w')
import rospy
from std_msgs.msg import String
import serial
import time
from gps3 import gps3
from math import radians, cos, sin, asin, sqrt
from geopy import distance
import pyproj
import socket
import sys
import threading,os
latitude=longitude=heading=0
gps_obtained=imu_obtained=False
###############################Initialization#####################################################
g = pyproj.Geod(ellps='WGS84')
gps_socket = gps3.GPSDSocket()
data_stream = gps3.DataStream()
gps_socket.connect()
gps_socket.watch()
ser = serial.Serial(port='/dev/ttyTHS2',baudrate = 38400)
def pos_update():
while True:
for new_data in gps_socket:
if new_data:
data_stream.unpack(new_data)
global latitude,longitude
latitude = data_stream.TPV['lat']
longitude = data_stream.TPV['lon']
if type(longitude) is type('sdas') or type(latitude) is type('sdas'):
continue
#print(latitude,longitude)
def show_human():
"""Curses terminal with standard outputs """
args = add_args()
gps_connection = gps3.GPSDSocket(args.host, args.port, args.gpsd_protocol, args.devicepath)
gps_fix = gps3.Fix()
form = 'RAW'
units = 'raw'
# units = 'metric'
screen = curses.initscr()
screen.clear()
screen.scrollok(True)
curses.noecho()
curses.curs_set(0)
curses.cbreak()
data_window = curses.newwin(19, 39, 1, 1)
sat_window = curses.newwin(19, 39, 1, 40)
device_window = curses.newwin(6, 39, 14, 40)
packet_window = curses.newwin(20, 78, 20, 1)
try:
for new_data in gps_connection:
if new_data:
gps_fix.refresh(new_data)
screen.nodelay(1)
event = screen.getch()
if event == ord('q'):
shut_down(gps_connection)
elif event == ord('0'): # raw
form = 'RAW'
units = 'raw'
data_window.clear()
elif event == ord("1"): # DDD
form = 'DDD'
data_window.clear()
elif event == ord('2'): # DMM
form = 'DMM'
data_window.clear()
elif event == ord("3"): # DMS
form = 'DMS'
data_window.clear()
elif event == ord("m"): # Metric
units = 'metric'
data_window.clear()
elif event == ord("i"): # Imperial
units = 'imperial'
data_window.clear()
elif event == ord("n"): # Nautical
units = 'nautical'
data_window.clear()
data_window.box()
data_window.addstr(0, 2, 'GPS3 Python {}.{}.{} GPSD Interface'.format(*sys.version_info), curses.A_BOLD)
data_window.addstr(1, 2, 'Time: {time} '.format(**gps_fix.TPV))
data_window.addstr(2, 2, 'Latitude: {} '.format(sexagesimal(gps_fix.TPV['lat'], 'lat', form)))
data_window.addstr(3, 2, 'Longitude: {} '.format(sexagesimal(gps_fix.TPV['lon'], 'lon', form)))
data_window.addstr(4, 2, 'Altitude: {} {}'.format(*unit_conversion(gps_fix.TPV['alt'], units, length=True)))
data_window.addstr(5, 2, 'Speed: {} {}'.format(*unit_conversion(gps_fix.TPV['speed'], units)))
data_window.addstr(6, 2, 'Heading: {track}° True'.format(**gps_fix.TPV))
data_window.addstr(7, 2, 'Climb: {} {}/s'.format(*unit_conversion(gps_fix.TPV['climb'], units, length=True)))
data_window.addstr(8, 2, 'Status: {mode:<}D '.format(**gps_fix.TPV))
data_window.addstr(9, 2, 'Latitude Err: +/-{} {} '.format(*unit_conversion(gps_fix.TPV['epx'], units, length=True)))
data_window.addstr(10, 2, 'Longitude Err: +/-{} {}'.format(*unit_conversion(gps_fix.TPV['epy'], units, length=True)))
data_window.addstr(11, 2, 'Altitude Err: +/-{} {} '.format(*unit_conversion(gps_fix.TPV['epv'], units, length=True)))
data_window.addstr(12, 2, 'Course Err: +/-{epc} '.format(**gps_fix.TPV), curses.A_DIM)
data_window.addstr(13, 2, 'Speed Err: +/-{} {} '.format(*unit_conversion(gps_fix.TPV['eps'], units)), curses.A_DIM)
data_window.addstr(14, 2, 'Time Offset: +/-{ept} '.format(**gps_fix.TPV), curses.A_DIM)
data_window.addstr(15, 2, 'gdop:{gdop} pdop:{pdop} tdop:{tdop}'.format(**gps_fix.SKY))
data_window.addstr(16, 2, 'ydop:{ydop} xdop:{xdop} '.format(**gps_fix.SKY))
data_window.addstr(17, 2, 'vdop:{vdop} hdop:{hdop} '.format(**gps_fix.SKY))
sat_window.clear()
sat_window.box()
sat_window.addstr(0, 2, 'Using {0[1]}/{0[0]} satellites (truncated)'.format(satellites_used(gps_fix.SKY['satellites'])))
sat_window.addstr(1, 2, 'PRN Elev Azimuth SNR Used')
line = 2
if isinstance(gps_fix.SKY['satellites'], list): # Nested lists of dictionaries are strings before data is present
for sats in gps_fix.SKY['satellites'][0:10]:
sat_window.addstr(line, 2, '{PRN:>2} {el:>6} {az:>5} {ss:>5} {used:}'.format(**sats))
line += 1
# device_window.clear()
device_window.box()
if not isinstance(gps_fix.DEVICES['devices'], list):
gps_connection.send('?DEVICES;') # Local machines need a 'device' kick start to have valid data I don't know why.
if isinstance(gps_fix.DEVICES['devices'], list): # Nested lists of dictionaries are strings before data is present (REALLY?)
for gizmo in gps_fix.DEVICES['devices']:
start_time, _uicroseconds = gizmo['activated'].split('.') # Remove '.000Z'
elapsed = elapsed_time_from(start_time)
device_window.addstr(1, 2, 'Activated: {}'.format(gizmo['activated']))
device_window.addstr(2, 2, 'Host:{0.host}:{0.port} {1}'.format(args, gizmo['path']))
device_window.addstr(3, 2, 'Driver:{driver} BPS:{bps}'.format(**gizmo))
device_window.addstr(4, 2, 'Cycle:{0} Hz {1!s:>14} Elapsed'.format(gizmo['cycle'], elapsed))
# packet_window.clear()
# packet_window.border(0)
packet_window.scrollok(True)
packet_window.addstr(0, 0, '{}'.format(new_data))
sleep(.4)
data_window.refresh()
sat_window.refresh()
device_window.refresh()
packet_window.refresh()
except KeyboardInterrupt:
shut_down(gps_connection)
# Author: Matteo Corradini
#
# This Python script logs data from GPSD daemon through gps3 library.
# IMPORT #######################################################################
import time
import sys
import os
from gps3 import gps3
from Utilities import FILE_NAME
# MAIN #########################################################################
gps_socket = gps3.GPSDSocket() # Initialize socket with default setting
ds = gps3.DataStream() # Initialize data stream
gps_socket.connect() # Connect socket
gps_socket.watch()
# Initialize log file
FOLDER = os.environ['TEST_FOLDER']
f = open(FOLDER + FILE_NAME, 'w')
f.writelines('Time,Altitude,Latitude,Longitude,Speed,Climb\n')
# Initilize time settings
zero_time = time.time()
delta_time = zero_time
interval = float(sys.argv[1])
for new_ds in gps_socket:
if new_ds:
def poll_gpsd():
gpsd_socket = gps3.GPSDSocket()
gpsd_socket.connect()
gpsd_socket.watch(gpsd_protocol='nmea')
time_now = None
json_msg = {'hostname': hostname, 'mode': 0}
error_count = 0
while True:
if error_count > 100:
logging.warning('too many errors, reconnecting to gpsd...')
break
new_data = gpsd_socket.next(timeout=1.0)
if new_data is None or new_data == '':
error_count += 1
sleep(.05)
continue
for x in new_data:
result = my_gps.update(x)
if result is None or result == '':
continue
elif not my_gps.valid:
continue
if int(my_gps.fix_time) != time_now:
if len(json_msg) > 0:
if json_msg['mode'] < 3:
json_msg['alt'] = None
json_msg['vdop'] = None
json_msg['pdop'] = None
redis_connection.publish('gps', json.dumps(json_msg))
json_msg = {'hostname': hostname, 'mode': 0}
time_now = int(my_gps.fix_time)
if result == 'GPGGA':
"""Parse Global Positioning System Fix Data (GGA) Sentence.
Updates UTC timestamp, latitude, longitude, fix status,
satellites in use, Horizontal Dilution of Precision (HDOP),
altitude, geoid height and fix status"""
json_msg.update({
'alt': my_gps.altitude,
'geo_sep': my_gps.geoid_height,
'utc': round(my_gps.fix_time, 2),
'hdop': my_gps.hdop,
'num_sats': my_gps.satellites_in_use,
'gps_status': my_gps.fix_stat
})
convert_lat_lon(json_msg, my_gps)
error_count = 0
elif result == 'GPGSA':
"""Parse GNSS DOP and Active Satellites (GSA) sentence. Updates
GPS fix type, list of satellites used in fix calculation,
Position Dilution of Precision (PDOP), Horizontal Dilution of
Precision (HDOP), Vertical Dilution of Precision, and fix status
"""
json_msg.update({
'hdop': my_gps.hdop,
'vdop': my_gps.vdop,
'pdop': my_gps.pdop,
'mode': my_gps.fix_type,
'gps_status': my_gps.fix_stat
})
error_count = 0
elif result == 'GPRMC':
"""Parse Recommended Minimum Specific GPS/Transit data
(RMC)Sentence. Updates UTC timestamp, latitude, longitude,
Course, Speed, Date, and fix status """
json_msg.update({
'utc': round(my_gps.fix_time, 2),
'track': my_gps.course,
'gps_status': my_gps.fix_stat,
'speed': round(my_gps.speed[0] * knt_to_mps, 2)
})
convert_lat_lon(json_msg, my_gps)
error_count = 0
#!/usr/bin/python3.5
from gps3 import gps3
import properties
from db import db
from sensor import sensor
from socket_gps import sio
gps_db = db.MetaDatabase(path=properties.GPS_DB)
gps_table = db.MetaTable(name="gps_table",
schema="date text, lat float, lon float")
gps_db.create_table(gps_table)
print(gps_db.list_tables())
gps_sensor = sensor.Sensor(socket=gps3.GPSDSocket(), stream=gps3.DataStream())
gps_sensor.connect()
for new_data in gps_sensor.socket:
if new_data:
gps_sensor.stream.unpack(new_data)
time, lat, lon = gps_sensor.stream.TPV["time"], gps_sensor.stream.TPV[
"lat"], gps_sensor.stream.TPV["lon"]
if sensor.check_data(lat, lon):
print("lat = {lat} - lon = {lon}".format(lat=lat, lon=lon))
sio.emit("dbs", gps_sensor.stream.TPV)
def __init__(self, interface):
Thread.__init__(self)
self.isRunning = True
self.gui = interface
self.socket = gps3.GPSDSocket()
self.stream = gps3.DataStream()
def get_gps_location():
""" Attempt to get a location from gpsd. Return all as None on fail.
:returns: accuracy, latlong, timestamp, altitude, velocity, course, satelittes
:rtype: float, list, float, float, float, float, float
"""
from socket import error as socketerror
from datetime import datetime
gpsd_tries = 1
gpsd_tries_max = 10
latlong = (None, None)
acc = None
tst = None
alt = None
cog = None
vel = None
sat = 0
from gps3 import gps3
gpsd_socket = gps3.GPSDSocket()
data_stream = gps3.DataStream()
try:
gpsd_socket.connect()
gpsd_socket.watch()
for new_data in gpsd_socket:
if new_data:
data_stream.unpack(new_data)
print('Reading gps data (%s/%s), epx %s' %
(gpsd_tries, gpsd_tries_max, data_stream.TPV['epx']))
if 'n/a' == data_stream.TPV['lat']: # No data
gpsd_tries += 1
if gpsd_tries_max <= gpsd_tries:
if cfg.verbose:
print('No valid gps data!')
return acc, latlong, tst, alt, vel, cog, sat
else:
# TODO: optimize?
gpstime = time.mktime(
time.strptime(data_stream.TPV['time'],
'%Y-%m-%dT%H:%M:%S.000Z'))
offset = datetime.fromtimestamp(
gpstime) - datetime.utcfromtimestamp(gpstime)
tst = gpstime + offset.seconds
if 'n/a' != data_stream.TPV['epx']:
acc = (int(data_stream.TPV['epx'] +
data_stream.TPV['epy'])) / 2
try:
latlong = (data_stream.TPV['lat'],
data_stream.TPV['lon'])
alt = round(data_stream.TPV['alt'], 0)
cog = round(data_stream.TPV['track'], 0)
vel = round(data_stream.TPV['speed'], 0)
if data_stream.SKY['satellites'] not in ['n/a', 'n']:
# [{u'ss': 27, u'el': 0, u'PRN': 4, u'az': 0, u'used': False},
for satelitte in data_stream.SKY['satellites']:
if satelitte['used']:
sat += 1
except TypeError, err:
print("Error: %s" % err)
pass
if cfg.verbose:
print(acc, latlong[0],
latlong[1]) # ie. 25, (50.1234567,-1.234567)
break
time.sleep(0.1) # Don't grind CPU when gpsd doesn't work
except socketerror, err:
print(
"Error: Unable to connect to gpsd. Is it installed and enabled? (%s)"
% err)
def run(self):
logging.info("[%s]: Starting collector thread with %s sec interval." %
(self.file_name, self.gpslogging_interval))
while True:
# Should we exit thread?
if self.exit_flag:
logging.info("[%s]: Exiting collector thread." %
self.file_name)
return
logging.info("[%s]: Connect to gpsd." % self.file_name)
try:
gps_socket = gps3.GPSDSocket()
data_stream = gps3.DataStream()
gps_socket.connect()
gps_socket.watch()
except:
logging.exception("[%s]: Failed to establish connection " %
self.file_name + "to gpsd.")
time.sleep(1)
continue
failed_ctr = 0
for new_data in gps_socket:
# Should we exit thread?
if self.exit_flag:
logging.info("[%s]: Exiting collector thread." %
self.file_name)
return
if failed_ctr > self.max_failed_gps_pos:
logging.error(
"[%s]: Failed %d times to collect gps data. " %
(self.file_name, failed_ctr) +
"Resetting connection to gpsd.")
gps_socket.close()
break
# Check if we received data.
if new_data:
try:
data_stream.unpack(new_data)
except:
logging.warning("[%s]: Unpacking gps data failed." %
self.file_name)
continue
# Reset failed counter.
failed_ctr = 0
# Check if received data is valid.
is_valid = True
is_valid &= (type(data_stream.TPV["lat"]) == float)
is_valid &= (type(data_stream.TPV["lon"]) == float)
is_valid &= (type(data_stream.TPV["alt"]) == float)
is_valid &= (type(data_stream.TPV["speed"]) == float)
is_valid &= (type(data_stream.TPV["time"]) == str)
if is_valid:
# When time string has following form:
# 2018-02-01T20:01:18.500Z
# we have to remove the ".500Z"
time_str = data_stream.TPV["time"]
if time_str.find(".") != -1:
time_str = time_str[0:time_str.find(".")]
# Convert time string to utc timestamp.
dt_obj = datetime.datetime.strptime(
time_str, "%Y-%m-%dT%H:%M:%S")
utc_time = calendar.timegm(dt_obj.timetuple())
# Check if the interval in which we would like
# to collect gps data is reached.
if ((utc_time - self.last_utc_time) <
self.gpslogging_interval):
continue
# Get difference of current gps data to the last data.
diff_lat = self.last_lat - data_stream.TPV["lat"]
diff_lon = self.last_lon - data_stream.TPV["lon"]
diff_alt = self.last_alt - data_stream.TPV["alt"]
# Check if we recognize the gps data as changed
# position.
no_change = True
no_change &= self.lat_change * (-1) <= diff_lat
no_change &= diff_lat <= self.lat_change
no_change &= self.lon_change * (-1) <= diff_lon
no_change &= diff_lon <= self.lon_change
no_change &= self.alt_change * (-1) <= diff_alt
no_change &= diff_alt <= self.alt_change
if no_change:
logging.debug("[%s]: Position has not changed." %
self.file_name)
continue
# Allow only a precision of 14 characters for the
# gps data (usual precision is 12 characters).
lat = str(data_stream.TPV["lat"])[:14]
lon = str(data_stream.TPV["lon"])[:14]
alt = str(data_stream.TPV["alt"])[:14]
speed = str(data_stream.TPV["speed"])[:14]
logging.debug("[%s]: Lat: %s Lon: %s " %
(self.file_name, lat, lon) +
"Alt: %s Speed: %s Time: %s" %
(alt, speed, time_str))
element = {
"lat": lat,
"lon": lon,
"alt": alt,
"speed": speed,
"utctime": utc_time
}
# Append new gps position to gps data.
logging.debug("[%s]: Acquire lock." % self.file_name)
self.gps_lock.acquire()
self.gps_data.append(element)
# Wirte data to storage.
try:
with open(self.tempfile, 'w') as fp:
fp.write(json.dumps(self.gps_data))
# Sync filesystem to force writing on storage
if self.sync_always:
self.libc.sync()
except:
logging.exception("[%s]: Can not write into " %
self.file_name +
"tempfile (%s)." % self.tempfile)
logging.debug("[%s]: Release lock." % self.file_name)
self.gps_lock.release()
# Set current gps data as last position we
# collected.
self.last_utc_time = utc_time
self.last_lat = data_stream.TPV["lat"]
self.last_lon = data_stream.TPV["lon"]
self.last_alt = data_stream.TPV["alt"]
# We got no data from gpsd.
else:
failed_ctr += 1
# Sleep to give gpsd time to give us the next position.
time.sleep(self.gps_collect_sleep_time)
#print(newHeading_Kart)
#Optimization of angles for smaller angle
if newHeading_Kart > 180:
newHeadingAdjusted_Kart = newHeading_Kart - 360
elif newHeading_Kart < -180:
newHeadingAdjusted_Kart = newHeading_Kart + 360
else:
newHeadingAdjusted_Kart = newHeading_Kart
return newHeadingAdjusted_Kart
#- Main code -#
#Interface with the GPS
gps_connection = gps3.GPSDSocket(host='127.0.0.1')
gps_fix = gps3.Fix()
#Interface with the Compass
hmc5883l = i2c_hmc5883l.i2c_hmc5883l(1)
hmc5883l.setContinuousMode()
hmc5883l.setDeclination(7, 52)
#Get the heading updates from the Arduino
#arduino=serial.Serial('/dev/ttyACM0',baudrate=9600, timeout = 3.0)
#arduino.isOpen()
compassHeading = None
while True:
time.sleep(0.1)
#compassHeading = arduino.readline().decode('UTF-8')
#compassHeading = compassHeading.rstrip()
def __init__(self, do_upload=False, img_orig_fp="", sentence_count=7, seed_ix=0, ebook_title="", ascii_img_path="", manual=False, looper=False, folderpath=""):
self.first_pass = True
# GPS STUFF
self.gps_socket = gps3.GPSDSocket()
self.data_stream = gps3.DataStream()
self.gps_socket.connect()
self.gps_socket.watch()
# END OF GPS STUFF
# FOURSQUARE STUFF
# Construct the client object
# TODO: MOVE TO ENV VARIABLES
self.client = foursquare.Foursquare(
client_id=fs_api_keys.client_id,
client_secret=fs_api_keys.client_secret,
redirect_uri=fs_api_keys.redirect_uri
)
# Build the authorization url for your app
self.auth_uri = self.client.oauth.auth_url()
# END OF FOURSQUARE
self.do_upload = do_upload
self.img_orig_fp = img_orig_fp
self.manual = manual
# ebook of results?
# self.ebook = ebook
self.ebook_title = ebook_title
self.folderpath = folderpath
# ascii img path
self.ascii_img_path = ascii_img_path
# Connect to RabbitMQ
self.connection = pika.BlockingConnection(
pika.ConnectionParameters(host='localhost')
)
self.channel = self.connection.channel()
self.camera_ip = '10.0.0.2'
self.camera_nums = [5,6,7,8]
self.cur_cam = -1
self.cur_hash = ""
self.cur_exp = None
possible_pre_seeds = [
"The dreams of men who would regard the scene,\nThe sorrows of the morn, whose waters wave,\n",
"~~~The arm of a person or thing and a frequency of a similar process within a postulated printed contest with the weapons of the post office.\n~|~",
"The door opened and the old man turned in his armchair to see whether he had been to the river bank.\n"
]
self.pre_seed = possible_pre_seeds[seed_ix]
# Serial to Arduino button
# self.ser = serial.Serial('/dev/ttyACM0')
# Queue names
queue_names = [
'ImgPaths',
'Captions',
'CaptionToExpand',
'Expansions'
]
# Declare and Purge Queues
for qn in queue_names:
self.channel.queue_declare(queue=qn)
self.channel.queue_purge(queue=qn)
# HashIds
self.hashids = Hashids()
# Unused captions (changes every image)
self.unused_captions = list()
self.unused_captions_per_graf = 0
# Class Variables
self.sentence_count = sentence_count
self.sentences = defaultdict(list)
self.img_dest = '/home/rg/projects/wc3/img'
self.template_path = '/home/rg/projects/wc3/template.html'
self.ebook_template_path = '/home/rg/projects/wc3/ebook_template.html'
self.thr1 = threading.Thread(target=self.consume)
self.thr1.start()
self.looper = looper
self.gogogo = True
if self.looper:
if self.img_orig_fp:
self.process_fp()
else:
self.thr2 = threading.Thread(target=self.loop)
self.thr2.start()
for i in range(len(self.camera_nums)):
thr = threading.Thread(target=self.loop_generator(i))
thr.start()