def get_lat_lon_time_from_nmea(nmea_file, local_time=True):
'''
Read location and time stamps from a track in a NMEA file.
Returns a list of tuples (time, lat, lon).
GPX stores time in UTC, by default we assume your camera used the local time
and convert accordingly.
'''
with open(nmea_file, "r") as f:
lines = f.readlines()
lines = [l.rstrip("\n\r") for l in lines]
points = []
for l in lines:
if "GPRMC" in l:
data = pynmea2.parse(l)
date = data.datetime.date()
if "$GPGGA" in l:
data = pynmea2.parse(l)
timestamp = datetime.datetime.combine(date, data.timestamp)
lat, lon, alt = data.latitude, data.longitude, data.altitude
points.append((timestamp, lat, lon, alt))
points.sort()
return points
def test_proprietary_with_comma():
# class with no extra comma
class TNLDG(pynmea2.tnl.TNL):
fields = ()
# raise Exception(TNL.sentence_types)
# raise Exception(pynmea2.ProprietarySentence.sentence_types)
data = "$PTNLDG,44.0,33.0,287.0,100,0,4,1,0,,,*3E"
msg = pynmea2.parse(data)
assert isinstance(msg, TNLDG)
assert msg.data == ['DG', '44.0', '33.0', '287.0', '100', '0', '4', '1', '0', '', '', '']
assert str(msg) == data
# type with extra comma
data = '$PTNL,PJT,NAD83(Conus),CaliforniaZone 4 0404*51'
msg = pynmea2.parse(data)
assert type(msg) == pynmea2.tnl.TNLPJT
assert msg.manufacturer == 'TNL'
assert msg.sentence_type == 'PJT'
assert msg.coord_name == 'NAD83(Conus)'
assert msg.project_name == 'CaliforniaZone 4 0404'
assert str(msg) == data
def test_srf():
# implemented sentence
data = '$PSRF100,0,1200,8,1,1'
msg = pynmea2.parse(data)
assert type(msg) == pynmea2.srf.SRF100
# unimplemented sentence
data = '$PSRF999,0,1200,8,1,1'
msg = pynmea2.parse(data)
assert type(msg) == pynmea2.srf.SRF
def parse_data(self, datastring):
self.log_gps(datastring)
try:
data = pynmea2.parse(datastring)
except AttributeError as er:
log(er.message)
return
except pynmea2.SentenceTypeError as er:
log(er.message)
return
except pynmea2.ParseError as er:
log(er.message)
return
except pynmea2.ChecksumError as er:
log(er.message)
return
mappings = {"RMC": self.extract_rmc,
"GGA": self.extract_gga,
"GSV": self.extract_gsv,
"VTG": self.extract_vtg,
"GSA": self.extract_gsa}
try:
mappings[data.sentence_type](data)
self.gpsStateChanged(self.info)
except KeyError:
return
except AttributeError:
return
def parse_sentence(self):
""" parse GPS nmea0183 sentences, one shot,
currently only support RMC,"""
sentence_type = ""
while sentence_type is not "RMC":
sentence = SC16IS750.read_sentence(self)
try:
parsed_sentence = pynmea2.parse(sentence)
except:
continue
try:
sentence_type = parsed_sentence.sentence_type
except AttributeError: # "sentence not supported"
# print "#attribute error"
continue
latitude = parsed_sentence.latitude
longitude = parsed_sentence.longitude
lat_dir = parsed_sentence.lat_dir
lon_dir = parsed_sentence.lon_dir
timestamp = parsed_sentence.timestamp
datestamp = parsed_sentence.datestamp
spd_over_grnd = parsed_sentence.spd_over_grnd
true_course = parsed_sentence.true_course
fix = parsed_sentence.is_valid
# print fix
return({"latitude": latitude,
"longitude": longitude,
"lat_dir": lat_dir,
"lon_dir": lon_dir,
"datetime": datestamp.strftime("%Y-%m-%d ") + timestamp.strftime("%H:%M:%S"),
"spd_over_grnd": spd_over_grnd,
"true_course": true_course,
"fix": fix})
def test_query():
data = 'CCGPQ,GGA'
msg = pynmea2.parse(data)
assert isinstance(msg, pynmea2.QuerySentence)
assert msg.talker == 'CC'
assert msg.listener == 'GP'
assert msg.sentence_type == 'GGA'
def test_unknown_sentence():
data = 'PZZZABC,1,2,3'
msg = pynmea2.parse(data)
assert type(msg) == pynmea2.ProprietarySentence
assert msg.manufacturer == 'ZZZ'
assert msg.data == ['ABC', '1', '2', '3']
assert msg.render(checksum=False, dollar=False) == data
def test_srf():
# implemented sentence
data = '$PSRF100,0,1200,8,1,1'
msg = pynmea2.parse(data)
assert type(msg) == pynmea2.srf.SRF100
assert msg.sentence_type == 'SRF100'
assert msg.protocol == '0'
assert msg.baud == '1200'
assert msg.databits == '8'
assert msg.stopbits == '1'
assert msg.parity == '1'
# unimplemented sentence
data = '$PSRF999,0,1200,8,1,1'
msg = pynmea2.parse(data)
assert type(msg) == pynmea2.srf.SRF
def test_extra_comma():
# extra comma after name
data = "$PTNL,AVR,212604.30,+52.1800,Yaw,,,-0.0807,Roll,12.579,3,1.4,16*21"
msg = pynmea2.parse(data)
assert msg.manufacturer == 'TNL'
assert msg.data == ['', 'AVR','212604.30','+52.1800','Yaw','','','-0.0807','Roll','12.579','3','1.4','16']
assert msg.render() == data
def test_GGA():
data = "$GPGGA,184353.07,1929.045,S,02410.506,E,1,04,2.6,100.00,M,-33.9,M,,0000*6D"
msg = pynmea2.parse(data)
assert msg.talker == 'GP'
assert msg.type == 'GGA'
# Timestamp
assert msg.timestamp == datetime.time(18, 43, 53)
# Latitude
assert msg.lat == '1929.045'
# Latitude Direction
assert msg.lat_dir == 'S'
# Longitude
assert msg.lon == '02410.506'
# Longitude Direction
assert msg.lon_dir == 'E'
# GPS Quality Indicator
assert msg.gps_qual == '1'
# Number of Satellites in use
assert msg.num_sats == '04'
# Horizontal Dilution of Precision
assert msg.horizontal_dil == '2.6'
# Antenna Alt above sea level (mean)
assert msg.altitude == 100.0
# Units of altitude (meters)
assert msg.altitude_units == 'M'
# Geoidal Separation
assert msg.geo_sep == '-33.9'
# Units of Geoidal Separation (meters)
assert msg.geo_sep_units == 'M'
# Age of Differential GPS Data (secs)
assert msg.age_gps_data == ''
# Differential Reference Station ID
assert msg.ref_station_id == '0000'
def get_location(gps):
gps_data = ""
print ("reading in location")
gps.setblocking(True)
while True:
try:
d = gps.recv(8096)
gps.setblocking(False)
except IOError:
break
gps_data += d
print d
if not d:
break
gps_data = "\n".join(gps_data.split("\n")[1:-1]) # :(
nmea_stream_reader = pynmea2.NMEAStreamReader()
gps_loc_msg = None
for msg in gps_data.split("\n"):
if len(str(msg)) > 50 and "GPGGA" in msg:
gps_loc_msg = pynmea2.parse(msg[:-1])
if gps_loc_msg == None:
return (0, 0, 0)
return (gps_loc_msg.latitude, gps_loc_msg.longitude, gps_loc_msg.horizontal_dil)
def test_proprietary_implemented():
# Ensure a proprietary sentence that is explicitly implemented isn't
# returned as a generic proprietary sentence.
data = "$PGRME,15.0,M,45.0,M,25.0,M*1C"
msg = pynmea2.parse(data)
assert repr(msg) == "<RME(hpe='15.0', hpe_unit='M', vpe='45.0', vpe_unit='M', osepe='25.0', osepe_unit='M')>"
def test_XDR():
data = "$YXXDR,A,-64.437,M,N,A,054.454,D,E,C,17.09,C,T-N1052*46"
msg = pynmea2.parse(data)
assert isinstance(msg, pynmea2.XDR)
assert msg.talker == 'YX'
assert msg.type == 'A'
assert msg.value == '-64.437'
assert msg.units == 'M'
assert msg.id == 'N'
assert msg.num_transducers == 3
t0 = msg.get_transducer(0)
assert t0.type == 'A'
assert t0.value == '-64.437'
assert t0.units == 'M'
assert t0.id == 'N'
t1 = msg.get_transducer(1)
assert t1.type == 'A'
assert t1.value == '054.454'
assert t1.units == 'D'
assert t1.id == 'E'
t2 = msg.get_transducer(2)
assert t2.type == 'C'
assert t2.value == '17.09'
assert t2.units == 'C'
assert t2.id == 'T-N1052'
def main():
time_string = datetime.utcnow().strftime('%Y%m%d%H%M%S%f')
filename = '/media/sdcard/gps{0}.csv'.format(time_string)
raw_filename = '/media/sdcard/rawgps{0}.csv'.format(time_string)
print 'logging to the following files'
print filename
print raw_filename
ser = serial.Serial('/dev/ttyMFD1', 9600)
while(True):
s = ser.readline()
if(s.startswith("$GP")):
append_to_file(raw_filename, s)
try:
msg = pynmea2.parse(s)
except pynmea2.nmea.ParseError:
continue
if msg.sentence_type == 'RMC':
s = '{0},{1},{2}\n'.format(
msg.datetime,
msg.latitude,
msg.longitude)
append_to_file(filename, s)
def push_latlon_NMEA_data(self,stream, deque):
"""
"""
while True:
time.sleep(0.1)
while(len(deque) > 0):
data = deque.pop()
#print data
# Interprete the data
try:
data_nmea = pynmea2.parse(data['nmea'])
data_time = data['time']
# Merge the date of the unix time sent and the
# HHMMSS of the GPGGA string together
ts = time.gmtime(data_time)
tstr = time.strftime("%Y%m%d",ts)
#
if(data_nmea.identifier().rfind('GPGGA')>=0):
#print('lat/lon!')
nmea_time = data_nmea.timestamp.strftime("%H%M%S")
tstr_unix = tstr + nmea_time
#print('unix time',tstr_unix)
tfloat_unix = calendar.timegm(time.strptime(tstr_unix,"%Y%m%d%H%M%S"))
lat = data_nmea.latitude
lon = data_nmea.longitude
#print(nmea_time)
#print(tfloat_unix,time.gmtime(tfloat_unix))
#print(data_nmea.latitude)
#print(data_nmea.longitude)
stream.pub_data([[nmea_time,tfloat_unix,lon,lat],])
except Exception as e:
print(str(e) + ' Bad data ')
def test_tnl():
data = '$PTNL,BPQ,224445.06,021207,3723.09383914,N,12200.32620132,W,EHT-5.923,M,5*60'
msg = pynmea2.parse(data)
assert type(msg) == pynmea2.tnl.TNLBPQ
assert msg.datestamp == datetime.date(2007,12,2)
assert msg.latitude == 37.384897319
assert msg.longitude == -122.00543668866666
def run(self): print "Reading GPS data..." while(True): line = ser.readline() try: msg = pynmea2.parse(line) # print type(msg) if isinstance(msg, pynmea2.types.GGA): if not hasattr(msg, 'latitude') or not hasattr(msg, 'longitude'): print "no satellite signal..." time.sleep(5) continue gps.horizontal_dil = msg.horizontal_dil gps.lat = msg.latitude gps.lng = msg.longitude # print "horizontal_dil:", gps.horizontal_dil # print "lat: ", gps.lat , "\nlng: ", gps.lng if isinstance(msg, pynmea2.types.GSA): gps.num_sv_in_use = gps.count_sv(msg) # print "num_sv_in_use: ", gps.num_sv_in_use if isinstance(msg, pynmea2.types.GSV): gps.num_sv_in_view = msg.num_sv_in_view # print "num_sv_in_view: ", gps.num_sv_in_view except ValueError: pass
def test_ubx00():
data = '$PUBX,00,074440.00,4703.74203,N,00736.82976,E,576.991,D3,2.0,2.0,0.091,0.00,-0.032,,0.76,1.05,0.65,14,0,0*70'
msg = pynmea2.parse(data)
assert type(msg) == pynmea2.ubx.UBX00
assert msg.timestamp == datetime.time(7, 44, 40)
assert msg.latitude == 47.06236716666667
assert msg.lat_dir == 'N'
def test_ubx04():
data = '$PUBX,04,073824.00,131014,113903.99,1814,16,495176,342.504,21*18'
msg = pynmea2.parse(data)
assert type(msg) == pynmea2.ubx.UBX04
assert msg.date == datetime.date(2014, 10, 13)
assert msg.time == datetime.time(7, 38, 24)
assert msg.clk_bias == 495176
def run(self):
while (self.connected):
c = self.socket.recv(1)
if (c=='$' or c=='!'): # beginning
self.sentence = c
else:
self.sentence += c
if c=='\n': # end of sentence
# should check checksum...
if (self.sentence[0]=='$'):
self.logger.debug("Received sentence: %s" % self.sentence)
sentence_header, comma, sentence_body = self.sentence.partition(',')
sentence_header = sentence_header.lstrip('$')
self.sentences[sentence_header] = self.sentence
try:
msg = pynmea2.parse(self.sentence)
self.logger.debug("Sentence type: %s" % msg.sentence_types)
if not NmeaDataSource.lock.acquire(False):
self.logger.error("Lock failed writing watchField")
else:
try:
for watchField in self.watch_fields:
watchField.update_value_from_message(msg)
finally:
NmeaDataSource.lock.release()
except ValueError as e:
self.logger.debug("Unknown message type received")
except:
self.logger.error("Something shitty has happened. Offender is:")
self.logger.error(self.sentence)
raise
self.socket.close()
def convert_nmea_to_json(nmea_str, filename, GMT_OFFSET=0):
json_list = []
filename = filename.strip('.LOG').strip('N')
year = 2000 + int(filename[0:2])
month = int(filename[2:4])
day = int(filename[4:6])
print(year, month, day)
for line in nmea_str.split('\n'):
line = line.strip()
if '@' in line or 'GPRMC' in line or len(line) == 0:
continue
record = pynmea2.parse(line)
dt = record.timestamp
dt = datetime(year, month, day, dt.hour, dt.minute, dt.second)
# Gather values
posix = int(dt.strftime("%s"))
posix += (60 * 60 * GMT_OFFSET)
lat = float(record.latitude)
lon = float(record.longitude)
json_list.append({
'time': posix,
'lat': lat,
'lon': lon,
})
return json.dumps({ "track": json_list })
def parseGPS(self, str):
if str.find('GGA') > 0:
msg = pynmea2.parse(str)
if len(msg.lat) > 2:
if self.environment != None:
self.environment.gpsConnected = True
self.gpsPos = (msg.lat + msg.lat_dir, msg.lon + msg.lon_dir)
self.convertToDecimalDegrees()
# Set time according to GPS time
if not self.timeSet:
print 'Setting system time to GPS time...'
gpsTime = "%s:%s:%s" % (msg.timestamp.hour, msg.timestamp.minute, msg.timestamp.second)
if gpsTime != None:
os.system('sudo date -u --set="%s"' % gpsTime)
self.timeSet = True
print 'System time set.'
else:
self.gpsPos = (None, None)
if self.environment != None:
self.environment.gpsConnected = False
if self.environment != None:
self.environment.gpsPos = self.gpsPos
def test_proprietary_3():
# A sample proprietary sentence from a Magellan device
# (via <http://www.gpsinformation.org/dale/nmea.htm#proprietary>).
data = "$PMGNST,02.12,3,T,534,05.0,+03327,00*40"
msg = pynmea2.parse(data)
assert msg.manufacturer == 'MGN'
assert msg.data == ['ST','02.12','3','T','534','05.0','+03327','00']
assert msg.render() == data
def test_mixin():
msg = pynmea2.parse(data)
assert msg.latitude == -19.484083333333334
assert msg.longitude == 24.175100000000000
assert msg.latitude_minutes == 29.045000000000073
assert msg.longitude_minutes == 10.506000000000085
assert msg.latitude_seconds == 2.6999999999970896
assert msg.longitude_seconds == 30.360000000000582
def test_ashrltn():
data = '$PASHR,LTN,3*3D'
msg = pynmea2.parse(data)
assert type(msg) == pynmea2.ash.ASHRLTN
assert msg.manufacturer == 'ASH'
assert msg.subtype == 'LTN'
assert msg.latency == 3
assert msg.render() == data
def test_proprietary_1():
# A sample proprietary sentence from a LCJ Capteurs
# anemometer.
data = "$PLCJ,5F01,66FC,AA,9390,6373"
msg = pynmea2.parse(data)
assert msg.manufacturer == "LCJ"
assert msg.data == ['','5F01','66FC','AA','9390','6373']
assert msg.render(checksum=False) == data
def handle(self):
global gpsData
# self.request is the TCP socket connected to the client
self.data = self.request.recv(1024).strip()
rawdata = self.data
# uncomment following lines to debug
# print self.data
# print "{} wrote:".format(self.client_address[0])
if "GET /gps.json HTTP/1.1" in rawdata:
response_proto = "HTTP/1.1"
response_status = "200"
response_status_text = "OK"
response_headers = {
"Access-Control-Allow-Origin": "*",
"Content-Length": len(json.dumps(gpsData)),
"Content-Type": "text/html; encoding=utf8",
"Connection": "close",
}
response_headers_raw = "".join("%s: %s\n" % (k, v) for k, v in response_headers.iteritems())
self.request.send("%s %s %s" % (response_proto, response_status, response_status_text))
self.request.send("\n")
self.request.send(response_headers_raw)
self.request.send("\n") # to separate headers from body
self.request.send(json.dumps(gpsData))
elif "HTTP/1." in rawdata:
response_proto = "HTTP/1.1"
response_status = "404"
response_status_text = "Not Found"
self.request.send("%s %s %s" % (response_proto, response_status, response_status_text))
else:
for line in rawdata.splitlines():
# cradelpoint devices append the device ID to the front of the NEMA sentence
gpsId = line.split(",")[0]
# store the rest of the sentence as the valid NEMA sentence
rawNema = line.split(",", 1)[-1]
# parse the message using pynema2
parsedNema = pynmea2.parse(rawNema)
if isinstance(parsedNema, pynmea2.types.talker.GGA):
# GGA sentence detected, collect position data
updateTime = datetime.datetime.combine(datetime.datetime.utcnow().date(), parsedNema.timestamp)
ggaData = {
"info": gpsId,
"lat": parsedNema.latitude,
"lng": parsedNema.longitude,
"updt": updateTime.isoformat(),
}
gpsData.setdefault(gpsId, ggaData)
gpsData[gpsId].update(ggaData)
elif isinstance(parsedNema, pynmea2.types.talker.VTG):
# VTG sentence detected, collect speed data
vtgData = {"info": gpsId, "spd": parsedNema.spd_over_grnd_kmph}
gpsData.setdefault(gpsId, vtgData)
gpsData[gpsId].update(vtgData)
def test_r00():
data = "$GPR00,A,B,C*29"
msg = pynmea2.parse(data)
assert msg.talker == 'GP'
assert msg.sentence_type == 'R00'
assert msg.waypoint_list == ['A','B','C']
msg.waypoint_list = ['ABC','DEF']
assert str(msg) == "$GPR00,ABC,DEF*42"
def streamFromSerial(self):
while not self.stopped():
if self.openSerialConnection():
data = self.serial_reference.readline()
if data[0:6] == '$GPGGA':
msg = pynmea2.parse(data)
print (msg)
self.newGPSPoint(msg.latitude, msg.longitude, msg.altitude)
eventlet.sleep()
def test_corrupt_message():
# data is corrupt starting here ------------------------------v
data = '$GPRMC,172142.00,A,4805.30256324,N,11629.09084774,W,0.D'
# fails with strict parsing
with pytest.raises(pynmea2.ChecksumError):
msg = pynmea2.parse(data, check=True)
# lazy parsing succeeds
msg = pynmea2.parse(data, check=False)
assert isinstance(msg, pynmea2.types.RMC)
# corrupt data
assert msg.spd_over_grnd == '0.D'
# missing data
assert msg.true_course == None
# renders unchanged
assert msg.render(checksum=False) == data
def shodan_search_worker(fk,
query,
search_type,
category,
country=None,
coordinates=None,
all_results=False):
results = True
page = 1
SHODAN_API_KEY = keys['keys']['shodan']
pages = 0
screenshot = ""
print(query)
while results:
if pages == page:
results = False
break
# Shodan sometimes fails with no reason, sleeping when it happens and it prevents rate limitation
search = Search.objects.get(id=fk)
api = Shodan(SHODAN_API_KEY)
fail = 0
try:
time.sleep(5)
if coordinates:
results = api.search("geo:" + coordinates + ",20 " + query,
page)
if country:
results = api.search("country:" + country + " " + query, page)
except:
fail = 1
print('fail1, sleeping...')
if fail == 1:
try:
time.sleep(10)
if coordinates:
results = api.search("geo:" + coordinates + ",20 " + query,
page)
if country:
results = api.search("country:" + country + " " + query,
page)
except Exception as e:
print(e)
if fail == 1:
try:
time.sleep(10)
if coordinates:
results = api.search("geo:" + coordinates + ",20 " + query,
page)
if country:
results = api.search("country:" + country + " " + query,
page)
except Exception as e:
print(e)
if fail == 1:
try:
time.sleep(10)
if coordinates:
results = api.search("geo:" + coordinates + ",20 " + query,
page)
if country:
results = api.search("country:" + country + " " + query,
page)
except Exception as e:
results = False
print(e)
try:
total = results['total']
if total == 0:
print("no results")
break
except Exception as e:
print(e)
break
pages = math.ceil(total / 100) + 1
print(pages)
for counter, result in enumerate(results['matches']):
lat = str(result['location']['latitude'])
lon = str(result['location']['longitude'])
city = ""
indicator = []
# print(counter)
# time.sleep(20)
try:
product = result['product']
except:
product = ""
if 'vulns' in result:
vulns = [*result['vulns']]
else:
vulns = ""
if result['location']['city'] != None:
city = result['location']['city']
hostnames = ""
try:
if 'hostnames' in result:
hostnames = result['hostnames'][0]
except:
pass
try:
if 'SAILOR' in result['http']['title']:
html = result['http']['html']
soup = BeautifulSoup(html)
for gps in soup.find_all("span", {"id": "gnss_position"}):
coordinates = gps.contents[0]
space = coordinates.split(' ')
if "W" in space:
lon = "-" + space[2][:-1]
else:
lon = space[2][:-1]
lat = space[0][:-1]
except Exception as e:
pass
if 'opts' in result:
try:
screenshot = result['opts']['screenshot']['data']
with open(
"app_kamerka/static/images/screens/" +
result['ip_str'] + ".jpg", "wb") as fh:
fh.write(base64.b64decode(screenshot))
fh.close()
for i in result['opts']['screenshot']['labels']:
indicator.append(i)
except Exception as e:
pass
if query == "Niagara Web Server":
try:
soup = BeautifulSoup(result['http']['html'],
features="html.parser")
nws = soup.find("div", {"class": "top"})
indicator.append(nws.contents[0])
except:
pass
# get indicator from niagara fox
if result['port'] == 1911 or result['port'] == 4911:
try:
fox_data_splitted = result['data'].split("\n")
for i in fox_data_splitted:
if "station.name" in i:
splitted = i.split(":")
indicator.append(splitted[1])
except:
pass
# get indicator from tank
if result['port'] == 10001:
try:
tank_info = result['data'].split("\r\n\r\n")
indicator.append(tank_info[1])
except:
pass
if result['port'] == 2000:
try:
ta_data = result['data'].split("\\n")
indicator.append(ta_data[1][:-3])
except Exception as e:
pass
if result['port'] == 502:
try:
sch_el = result['data'].split('\n')
if sch_el[4].startswith("-- Project"):
indicator.append(sch_el[4].split(": ")[1])
except:
pass
if "GPGGA" in result['data']:
try:
splitted_data = result['data'].split('\n')
for i in splitted_data:
if "GPGGA" in i:
msg = pynmea2.parse(i)
lat = msg.latitude
lon = msg.longitude
break
except Exception as e:
print(e)
if result['port'] == 102:
try:
s7_data = result['data'].split("\n")
for i in s7_data:
if i.startswith("Plant"):
indicator.append(i.split(":")[1])
if i.startswith("PLC"):
indicator.append(i.split(":")[1])
if i.startswith("Module name"):
indicator.append(i.split(":")[1])
except:
pass
# get indicator from bacnet
if result['port'] == 47808:
try:
bacnet_data_splitted = result['data'].split("\n")
for i in bacnet_data_splitted:
if "Description" in i:
splitted1 = i.split(":")
indicator.append(splitted1[1])
if "Object Name" in i:
splitted2 = i.split(":")
indicator.append(splitted2[1])
if "Location" in i:
splitted3 = i.split(":")
indicator.append(splitted3[1])
except:
pass
device = Device(search=search,
ip=result['ip_str'],
product=product,
org=result['org'],
data=result['data'],
port=str(result['port']),
type=search_type,
city=city,
lat=lat,
lon=lon,
country_code=result['location']['country_code'],
query=search_type,
category=category,
vulns=vulns,
indicator=indicator,
hostnames=hostnames,
screenshot=screenshot)
device.save()
page = page + 1
if not all_results:
results = False
def test_BOD():
data = "XXBOD,045.,T,023.,M,DEST,START"
msg = pynmea2.parse(data)
assert isinstance(msg, pynmea2.BOD)
assert msg.talker == 'XX'
import serial
import pynmea2
import time
port = "/dev/ttyACM1"
serialPort = serial.Serial(port, baudrate=9600, timeout=0.01)
# port2 = "/dev/ttyACM1"
# serialPort2 = serial.Serial(port2, baudrate = 9600, timeout = 0.01)
while True:
gps_data = serialPort.readline()
gps_str = gps_data.decode("utf-8")
# print(gps_str)
if gps_str.find('GGA') > 0:
# print('test1')
msg = pynmea2.parse(gps_str)
#__________
# print(msg)
# print(msg.lon)
# print("Timestamp: %s -- Lat: %s %s -- Lon: %s %s -- Altitude: %s %s -- Satellites: %s" % (msg.timestamp,msg.lat,msg.lat_dir,msg.lon,msg.lon_dir,msg.altitude,msg.altitude_units,msg.num_sats))
#___________
lat_string = msg.lat
lon_string = msg.lon
if (lat_string.find(".") > 0 and lon_string.find(".") > 0):
lat_DD = int(float(lat_string) / 100)
lon_DD = int(float(lon_string) / 100)
lat_SS = float(lat_string) - lat_DD * 100
lon_SS = float(lon_string) - lon_DD * 100
lat = lat_DD + lat_SS / 60
lon = lon_DD + lon_SS / 60
if (msg.lat_dir == "S"):
parser = argparse.ArgumentParser()
parser.add_argument('--input-path',
type=str,
help='Enter the NMEA.txt directory.')
parser.add_argument('--output-path',
type=str,
help='Enter the PATH.kml directory.')
args = parser.parse_args()
print("parse args complete")
return args
if __name__ == '__main__':
my_args = parseArgs()
# read nmea file and save the coordinates
output_list = []
nmea_file = open(my_args.input_path, 'r')
for nmea_line in nmea_file:
if nmea_line.startswith(
'$GNGGA'): # this line contains the information we need
record = NmeaHandle.parse(nmea_line)
s = str(record.longitude) + ',' + str(
record.latitude) + ',' + '1' + '\n'
output_list.append(s)
nmea_file.close()
# write all the coordinates into the .kml
kml_file = open(my_args.output_path, 'w')
kml_file.writelines(output_list)
kml_file.close()
print('finished all.')
# an error occurs
while True:
# Establish connection with client.
c, addr = s.accept()
print('Got connection from', addr)
#now=datetime.utcnow()
#ora = '%02d-%02d-%02d %02d:%02d:%02d'%(now.year, now.month, now.day, now.hour, now.minute, now.second)
data = c.recv(1024)
#dati=data.split()
#print(dati)
#latitude(deg) longitude(deg) height(m) Q ns sdn(m) sde(m) sdu(m) sdne(m) sdeu(m) sdun(m) age(s) ratio
# print('Data:{}'.format(dati[0].decode('utf-8')))
try:
dati=data.split()
#print(dati
msg=pynmea2.parse(dati[0].decode('utf-8'))
now=datetime.utcnow()
ora = '%02d-%02d-%02d %02d:%02d:%02d'%(now.year, now.month, now.day, now.hour, now.minute, now.second)
print('ora UTC {}'.format(ora))
print('latitudine {}'.format(msg.latitude))
print('longitudine {}'.format(msg.longitude))
print('altitude {}'.format(msg.altitude))
print('qualita fissaggio {}'.format(msg.gps_qual))
except:
print('messaggio da ref station')
#print(type(dati[0].decode('utf-8')))
#print('Ora:{}'.format(dati[1].decode('utf-8')))
#print('Lat:{}'.format(float(dati[2])))
#print('Lon:{}'.format(float(dati[3])))
def gps_imu_2020(netCDFfiles):
ncOut = Dataset("gps.nc", 'w', format='NETCDF4')
ncOut.instrument = "CSIRO ; GPS/IMU Logger"
ncOut.instrument_model = "SOFS-7.5"
ncOut.instrument_serial_number = "2018"
compress = False # uncompressed day 608MB, 667MB compressed, RAW data is 178 MB, uncompressed is smaller than compressed
# add time
tDim = ncOut.createDimension("TIME")
ncTimesOut = ncOut.createVariable("TIME", "d", ("TIME", ), zlib=compress)
ncTimesOut.long_name = "time"
ncTimesOut.units = "days since 1950-01-01 00:00:00 UTC"
ncTimesOut.calendar = "gregorian"
ncTimesOut.axis = "T"
ncOut.createDimension("VECTOR", 3)
# add variables
accel_out_var = ncOut.createVariable("ACCEL",
"f4", ("TIME", "VECTOR"),
fill_value=np.nan,
zlib=compress)
gyro_out_var = ncOut.createVariable("GYRO",
"f4", ("TIME", "VECTOR"),
fill_value=np.nan,
zlib=compress)
compass_out_var = ncOut.createVariable("COMPASS",
"f4", ("TIME", "VECTOR"),
fill_value=np.nan,
zlib=compress)
typeCount = [0, 0, 0, 0, 0, 0, 0, 0, 0]
imu_timedelta = timedelta(seconds=1 / 40.033)
imu_ts = None
ts_start = None
gps_gga_ts = None
gps_gga_timedelta = timedelta(seconds=0.2)
print("file to process", len(netCDFfiles[1:]))
imu_n = 0
imu_total = 0
last_ts = None
parser = core.Parser([ACK_CLS, NAV_CLS, RXM])
for fn in netCDFfiles[1:]:
print(fn)
with open(fn, "rb") as f:
errorCount = 0
while True:
byte = f.read(7)
if not byte:
break
(magic, type, N, seq) = struct.unpack("<HBHH", byte)
print('magic 0x%04x type %d N %d seq %d' %
(magic, type, N, seq))
pos = f.tell()
if magic != 0xAA55:
f.seek(-6, 1)
print('skipping', pos)
continue
if (type < 10) & (N < 2048):
print("type ", types[type])
pkt = f.read(N)
check = f.read(1)
if not check:
break
checkB = ord(check)
s = 0
for b in pkt:
s = s + b
s = s & 0xff
if (checkB == s):
typeCount[type] = typeCount[type] + 1
try:
if type == 4:
# print("pkt " , ord(pkt[0]), ord(pkt[1]), ord(pkt[2]), ord(pkt[3]), ord(pkt[4]), ord(pkt[5]), ord(pkt[6]), ord(pkt[7]))
time = struct.unpack("<BBBBBBH", pkt)
ts = datetime(time[6], time[5], time[4],
time[2], time[1], time[0])
if last_ts:
time_d = ts - last_ts
print("imu sample/sec",
imu_n / time_d.total_seconds())
last_ts = ts
print(
"time %4d-%02d-%02d %02d:%02d:%02d : %s imu samples %d"
% (time[6], time[5], time[4], time[2],
time[1], time[0], ts, imu_n))
imu_ts = ts
if not ts_start:
ts_start = ts
imu_n = 0
elif type == 8:
nmea = pkt.decode('utf-8')
print("%d pos NMEA %s" % (pos, nmea[:-2]))
try:
msg = pynmea2.parse(nmea[:-2])
if msg.sentence_type == 'RMC':
print(msg.timestamp, msg.latitude,
msg.longitude, msg.datestamp)
gps_gga_ts = datetime.combine(
msg.datestamp, msg.timestamp)
else:
print(gps_gga_ts, msg.timestamp,
msg.latitude, msg.longitude,
msg.altitude)
if gps_gga_ts:
gps_gga_ts = gps_gga_ts + gps_gga_timedelta
except pynmea2.nmea.ParseError:
pass
elif type == 1:
ubx = struct.unpack("<BBBBH", pkt[0:6])
print("ubx ", ubx)
if (ubx[0] == 181) & (ubx[1] == 98):
cls_name, msg_name, payload = parser.receive_from(
io.BytesIO(pkt))
print(cls_name, msg_name) #, payload)
elif type == 7:
text = pkt.decode('utf-8')
text = text[:-1]
print("text : %s" % text)
elif type == 5:
# print("pkt " , ord(pkt[0]), ord(pkt[1]), ord(pkt[2]), ord(pkt[3]))
adc = struct.unpack("<i", pkt)
#print "adc ", adc[0]
elif type == 6:
# print("pkt " , ord(pkt[0]), ord(pkt[1]), ord(pkt[2]), ord(pkt[3]))
print("len ", len(pkt))
count = struct.unpack("<HHHHHHHHH", pkt)
print("count ", count)
print("found ", typeCount)
elif type == 3:
# there are 2440 of these in 1 min, or 40.67 / sec
imu = struct.unpack("<hhhhhhhhhhlllll", pkt)
#print ("imu " , imu)
print(
"%s : imu %d : compass %f %f %f, gyro %f %f %f, accel %f %f %f"
%
(imu_ts, imu_n, imu[0] * 4915.0 / 32768,
imu[1] * 4915.0 / 32768, imu[2] * 4915.0 /
32768, imu[3] * 2000.0 / 32768, imu[4] *
2000.0 / 32768, imu[5] * 2000.0 / 32768,
imu[6] * 4.0 / 32768, imu[7] * 4.0 /
32768, imu[8] * 4.0 / 32768))
imu_n += 1
if imu_ts:
#print("imu ts", imu_ts)
ncTimesOut[imu_total] = date2num(
imu_ts,
calendar=ncTimesOut.calendar,
units=ncTimesOut.units)
accel_out_var[imu_total] = [
imu[6] * 4.0 / 32768,
imu[7] * 4.0 / 32768,
imu[8] * 4.0 / 32768
]
gyro_out_var[imu_total] = [
imu[3] * 2000.0 / 32768,
imu[4] * 2000.0 / 32768,
imu[5] * 2000.0 / 32768
]
compass_out_var[imu_total] = [
imu[0] * 4915.0 / 32768,
imu[1] * 4915.0 / 32768,
imu[2] * 4915.0 / 32768
]
imu_ts += imu_timedelta
imu_total += 1
elif type == 2:
imu = struct.unpack("<hhhhhhhhhhlllll", pkt)
print("imu", imu_n, imu)
imu_n += 1
#print imu[0], imu[1], imu[2], imu[3], imu[4], imu[5], imu[6], imu[7], imu[8]
else:
print("Unknown type ", type)
except (UnicodeDecodeError):
print(pos, " Error : ", pkt, "type ", type)
errorCount = errorCount + 1
else:
print(pos, " sum error ", checkB, s)
f.seek(pos)
print("error count", errorCount)
# add some summary metadata
ncTimeFormat = "%Y-%m-%dT%H:%M:%SZ"
ncOut.setncattr("time_coverage_start", ts_start.strftime(ncTimeFormat))
ncOut.setncattr("time_coverage_end", imu_ts.strftime(ncTimeFormat))
# add creating and history entry
ncOut.setncattr("date_created", datetime.utcnow().strftime(ncTimeFormat))
ncOut.setncattr(
"history",
datetime.utcnow().strftime("%Y-%m-%d") + " created from file " +
netCDFfiles[1])
ncOut.close()
def main():
global iotHubClient, serialStream, averageCounter, currentCounter, averageCounterMoving, averageLat, averageLon, averageAlt, speedAvgCycles, s
speedAvg = 0.0
# in theory, we get a new trip name every time we boot
tripName = 'Trip' + datetime.now().strftime('%Y-%m-%d_%H:%M:%S')
speed = 0.0
sequence = 1
try:
print('starting main.py')
iotHubClient = iothub_client_init()
while True:
sentence = serialStream.readline()
if sentence.find('VTG') > 0:
# we are working with accelerometer data
speed = sentence.split(',')
if len(speed[7]) > 0:
speed = float(speed[7]) * .62137
speedAvg = ((speedAvg * speedAvgCycles) + round(speed, 0)) / (speedAvgCycles + 1)
else:
print('No Acceleeromoter data')
if sentence.find('GGA') > 0:
validData = True
# we are working with lat long data
try:
data = pynmea2.parse(sentence)
except:
print('Exception in pynmea2.parse(' + sentence + ')')
validData = False
if (validData and (len(data.num_sats) > 0) and (data.num_sats > 4)):
averageLat = ((averageLat * currentCounter) + float(data.latitude)) / (currentCounter + 1)
averageLon = ((averageLon * currentCounter) + float(data.longitude)) / (currentCounter + 1)
averageAlt = ((averageAlt * currentCounter) + float(data.altitude)) / (currentCounter + 1)
latlong = {'lat':averageLat, 'long':averageLon, 'speed':round(speed, 0)}
s.sendto(json.dumps(latlong), ('192.168.1.255', 2000))
currentCounter = currentCounter + 1
if averageCounter/(1+speed*.05) < currentCounter:
cDateTime = str(datetime.now())
gpsmessage = {'event': 'gpsMessage', 'sequence':sequence, 'speedMPH': round(speed, 0), 'tripName': tripName, 'latitude': round(averageLat, 6), 'longitude': round(averageLon, 6), 'altitude': round(averageAlt, 1), 'satelliteCount': data.num_sats, 'averageCount': averageCounter, 'submissionTime': cDateTime}
sequence = sequence + 1
# first we write to a local file, in case we can't write to IoT Hub
file = open('/opt/gps/gps.json','a')
file.write(json.dumps(gpsmessage) + '\r')
print(json.dumps(gpsmessage))
try:
iotHubClient = iothub_client_init()
sendMessage(json.dumps(gpsmessage))
except:
print ("exception")
currentCounter = 0
else:
print('Not enough satellites')
except IoTHubError as e:
print("Unexpected error %s from IoTHub" % e)
except KeyboardInterrupt:
print("IoTHubClient stopped")
except:
print("Unknown Error")
print_last_message_time(iotHubClient)
def test_ubx03():
data = '$PUBX,03,20,3,e,281,72,36,062,5,e,034,10,23,000,8,U,328,11,44,064,9,-,323,-2,,000,13,-,341,01,,000,16,U,307,45,49,064,18,e,144,18,,000,21,U,150,74,35,037,25,e,134,06,,000,27,U,271,20,52,064,29,U,074,36,36,063,31,U,209,26,37,040,120,e,210,31,,000,126,-,157,33,,000,66,U,036,19,34,015,67,e,090,20,22,000,68,-,136,00,,000,73,e,273,60,47,064,74,U,330,24,44,064,80,U,193,36,36,023*33'
msg = pynmea2.parse(data)
assert type(msg) == pynmea2.ubx.UBX03
assert msg.num_sv == 20
def test_TXT():
data = '$GNTXT,01,01,02,ROM BASE 2.01 (75331) Oct 29 2013 13:28:17*44'
msg = pynmea2.parse(data)
assert type(msg) == pynmea2.talker.TXT
assert msg.text == 'ROM BASE 2.01 (75331) Oct 29 2013 13:28:17'
import pynmea2
import RPi.GPIO as gpio
gpio.setmode(gpio.BCM)
port = "/dev/ttyAMA0"
ser = serial.Serial(port, baudrate=9600, timeout=0.5)
try:
while 1:
try:
data = ser.readline()
except:
print("Loading")
if data[0:6] == '$GPGGA':
msg = pynmea2.parse(data)
latval = msg.lat
concatlat = "Lat: " + str(latval)
print(concatlat)
longval = msg.lon
concatlong = "Long: " + str(longval)
print(concatlong)
time.sleep(5)
except KeyboardInterrupt:
time.sleep(2)
# gps connection:
# VCC-> 5v/3.3v GND->GND
PORT = "/dev/ttyUSB1"
ser = serial.Serial(PORT, baudrate=9600, timeout=1)
time.sleep(0.5)
##Firebase DB setup
fdb = FirebaseDB()
model = fdb.new_model("NMEA")
reply = ser.read(ser.inWaiting())
reply = reply.decode(errors='replace').split("\n")
gp = ""
for line in reply:
if "$GPGGA" in line:
gp = line
# print("GP:", gp)
if gp:
nmeaobj = pynmea2.parse(gp)
data = {
nmeaobj.fields[i][0]: nmeaobj.data[i]
for i in range(len(nmeaobj.fields))
}
data = json.dumps(data)
fdb.push_new(model, data)
print(data)
else:
print("No data recevied")
ser.close()
def to_kafka_png():
# 儲存原始gps訊號資料
gps = open("gps"+name+".nmea","ab")
# 累計型資料初始化
distance = 0
avg_pace = 0
count = 0
# 繪製紀錄圖座標初始化
pace_list = []
time_list = []
distance_list = []
while True:
# 本次資料傳輸時間
t = datetime.datetime.now()
line = ser.readline()
gps.write(line)
# 將二位元資料轉為字串並用套件解析
record = pynmea2.parse(str(line)[2:-5])
# 取得緯度、精度及海拔
if str(line)[5:8] == "GGA":
Latitude = record.latitude
Longitude = record.longitude
Altitude = record.altitude
# 製作傳送到kafka資料
if Latitude != "" or Longitude != "" or Altitude != "":
payload1 = {"records": [{"value": {"device_id": id, "timestamp": t, "Latitude": Latitude,
"Longitude": Longitude, "Altitude": Altitude}}]}
# 傳送資料到kafka
r1 = requests.post(gps1, data=json.dumps(payload1), headers=headers)
if r1.status_code != 200:
print(r1.text)
# 取得有關速度、距離資料
elif str(line)[5:8] == "VTG":
# 計算運動總時間、總距離
now = datetime.datetime.now()
diff = (now - start).seconds
h = diff // 3600
m = (diff % 3600) // 60
s = diff % 60
time_total = "{0:02d}:{1:02d}:{2:02d}".format(h, m, s)
speed = float(str(line).split(",")[7])
pace = round(60 / float(speed), 1)
distance += round(speed * diff / 3600, 1)
if speed != "":
payload2 = {"records": [
{"value": {"device_id": id, "timestamp": t, "start": start.strftime("%Y-%m-%d %H:%M:%S"),
"pace": pace, "time_total": time_total, "diff": diff, "distance": distance}}]}
r2 = requests.post(gps2, data=json.dumps(payload2), headers=headers)
if r2.status_code != 200:
print(r2.text)
count += 1
avg_pace = (pace + avg_pace) / count
# 繪製運動紀錄圖
pace_list.append(pace)
distance_list.append(distance)
time_list.append(diff * 10)
plt.subplot(2, 1, 1)
plt.plot(time_list, pace_list)
plt.ylabel("Pace")
plt.subplot(2, 1, 2)
plt.plot(time_list, distance_list)
plt.ylabel("Distance")
plt.xlabel("Time")
plt.savefig('runarea' + name + '.png')
print(time_list)
params = {}
params['device_number'] = dev_num
gps_data = gps_ser.readline()
# print gps_data
# while gps_data[0:6] != '$GPGGA' :
# gps_data = gps_ser.readline()
for i in range(0, 7):
gps_data = gps_ser.readline()
if gps_data[0:6] == '$GPGGA':
break
if gps_data[0:6] == '$GPGGA':
msg = pynmea2.parse(gps_data)
if msg.lat == "":
msg.lat = "0.0"
b = eval(msg.lat) / 100
a = str(b).split(".")
clat = a[0] + "." + str(eval(a[1]) / 60)
if msg.lon == "":
msg.lon = "0.0"
z = eval(msg.lon) / 100
x = str(z).split(".")
clon = x[0] + "." + str(eval(x[1]) / 60)
params['tra_lat'] = str(clat)
params['tra_lon'] = str(clon)
if params['tra_lat'] == "0.0":
params['tra_lat'] = "*****"
if params['tra_lon'] == "0.0":
print('compressed: ' + str(messageSize) + ' uncompressed: ' +
str(len(''.join(str(e) for e in messageToSend))))
addVehicleInfo()
# send the message!
sendMessage(str(messageToSend))
messageToSend = []
sentence = serialStream.readline()
if sentence.find('VTG') > 0:
speed = sentence.split(',')
if len(speed[7]) > 0:
speed = float(speed[7]) * .62137
if sentence.find('GGA') > 0:
gpsdata = pynmea2.parse(sentence)
#print(gpsdata)
if (gpsdata.num_sats > 4):
currentTime = str(datetime.now())
message = {
'type': 'location',
'lat': float(gpsdata.latitude),
'lon': float(gpsdata.longitude),
'alt': float(gpsdata.altitude),
'sats': int(gpsdata.num_sats),
'speed': int(speed),
'currentTime': currentTime,
'bootTime': bootTime,
'sequence': sequence
}
#print(message)
print ('\nPress Ctrl + C to quit collecting information\n')
try:
with serial.Serial(USBPORT, BAUD_RATE) as ser:
count = 0
while(True):
gpsStartTime = timeit.default_timer()
# Throw out old GPS data
ser.read(ser.inWaiting())
# Read new GPS data.
gpsString = ser.readline()
# If the string is a GPS message, capture data.
if(gpsString[0:6] == '$GPGGA'):
count += 1
completeStartTime = timeit.default_timer()
# Parse the GPS message.
msg = pynmea2.parse(gpsString, BAUD_RATE)
print str(msg.timestamp)
print "latitude: " + str(msg.latitude) + " " + msg.lat_dir \
+ ", longitude: " + str(msg.longitude) + ", " + msg.lon_dir \
+ ", HAE: " + str(msg.altitude) + ", " + msg.altitude_units.lower() \
+ ", # sats: " + msg.num_sats
gpsStopTime = timeit.default_timer() - gpsStartTime
print 'GPS time: ' + str(gpsStopTime) + ' s'
# TODO: Check that the number of sats is > 4.
# If not, sound an error beep?
# Get the system date as YYYY-MM-DD
sysDate = datetime.datetime.now().strftime('%Y-%m-%d')
# Get the GPS time as HH-MM-SS and append to the system date
sysTime = sysDate + " " + msg.timestamp.strftime('%H-%M-%S-%f')
def parseGPS(mystr):
if mystr.find('GGA') > 0:
msg = pynmea2.parse(mystr)
return msg
else :
return None
ggaList = [None] * int(numLines / 3)
rmcList = [None] * int(numLines / 3)
ppsList = np.zeros(int(numLines / 3))
serList = np.zeros(int(numLines / 3))
numSats = np.zeros(int(numLines / 3))
fix = np.zeros(int(numLines / 3))
file = open("../../results/" + fileList[num], 'r')
# Extract data from file. Format is $GPGGA...\n$GPRMC...\nt<SERIAL MILLIS><PPS MILLIS>\n
print("Extracting data...")
for i, line in enumerate(file):
j = math.floor(i / 3)
if line.startswith("$GPGGA"):
ggaList[j] = pynmea2.parse(line)
numSats[j] = ggaList[j].num_sats
fix[j] = ggaList[j].gps_qual
elif line.startswith("$GPRMC"):
rmcList[j] = pynmea2.parse(line)
elif line.startswith("t"):
lineTemp = line[1:]
lineTemp = lineTemp.split(",")
serList[j] = float(lineTemp[0])
ppsList[j] = float(lineTemp[1])
print("Data extracted.")
print("Processing data...")
#ggaList = ggaList[:1000]
#serList = serList[:1000]
ssl._create_default_https_context = ssl._create_unverified_context
cj=cookielib.CookieJar()
opener=urllib2.build_opener(urllib2.HTTPCookieProcessor(cj))
r=opener.open('https://192.168.179.116/login.cgi')
login_data=urllib.urlencode({'username':user, 'password':pswd,'action':'login'})
r=opener.open('https://192.168.179.116/login.cgi',login_data)
data=dict()
print "login success"
while(1):
a=1
while a:
rcv = port.readline()
# print rcv[0:6]
if rcv[0:6] == '$GPGGA':
msg=pynmea2.parse(rcv)
lat=msg.lat
print lat
lon=msg.lon
print lon
a=0
GPIO.output(17,GPIO.LOW)
GPIO.output(27,GPIO.LOW)
print "next set"
status_page=opener.open('https://192.168.179.116/status.cgi')
status=status_page.read()
json_status=json.loads(status)
signal=json_status['wireless']['signal']
noise=json_status['wireless']['noisef']
ccq=json_status['wireless']['ccq']
distance=json_status['wireless']['distance']
def GNSS(self):
#self.text_log_feld.insert('end','GNSS is Running 1 !!!\n')
print('GNSS: hat die ProzessID ')
print(os.getpid())
self.text_log_feld.insert('end', '\nStart GNSS-Procces \n')
i = 1
serialPort = serial.Serial(port, baudrate=9600, timeout=0.5)
print("warm up GPS")
while True:
try:
str = serialPort.readline()
str = str.decode("utf-8")
if str.find('GGA') > 0:
msg = pynmea2.parse(str)
print(i, msg)
values = str.split(",")
gps_time_utc = float(values[1])
y = values[2].replace(".", "")
x = values[4].replace(".", "")
print('test')
altitude = float(values[9])
satellites = int(msg.num_sats)
deg_lat = float(y[0:2])
min_lat = float(y[2:]) / 10E4
deg_lon = float(x[1:3])
min_lon = float(x[3:]) / 10E4
lat = round(deg_lat + min_lat / 60, 5)
lon = round(deg_lon + min_lon / 60, 5)
if i >= 5:
self.gps["lat"].append(lat)
self.gps["lon"].append(lon)
self.gps["satellites"].append(satellites)
self.gps["altitude"].append(altitude)
if i == 15:
self.mean_gps = {
"lat": round(np.mean(self.gps["lat"]), 6),
"lon": round(np.mean(self.gps["lon"]), 6),
"altitude": round(np.mean(self.gps["altitude"]),
1),
"satellites":
round(np.mean(self.gps["satellites"]), 1)
}
print(self.gps)
sql = '''INSERT INTO public.gps (lat, lon, altitude, satellite) VALUES (%s, %s, %s, %s);'''
vals = [
self.mean_gps['lat'], self.mean_gps['lon'],
self.mean_gps['altitude'],
self.mean_gps['satellites']
]
db.execute((sql, vals))
print('in db geschreieben')
self.text_log_feld.insert(
'end',
'Average measurements saved to database! \n')
print(os.getpid())
return True
i += 1
except Exception as e:
print(e)
print("no gpsinfo")
self.text_log_feld.insert('end',
'No Gps data could be received! \n')
return False
def test_ash():
data = '$PASHR,LTN,3*3D'
msg = pynmea2.parse(data)
assert type(msg) == pynmea2.ash.ASHRLTN
assert msg.sentence_type == 'LTN'
assert msg.latency == 3
import time
import serial
import pynmea2
import string
ser = serial.Serial('./dev/ttyTHS1', 115200, timeout=0.2)
while True:
line = ser.readline()
line = str(line, encoding='utf-8')
if line.startswith('$GPRMC'):
rmc = pynmea2.parse(line)
print('Latitude:', rmc.latitude)
print('Longitude:', rmc.longitude)
print('Speed:', rmc.spd_over_grnd * 1.85)
if line.startswith('$GPGGA'):
rmc2 = pynmea2.parse(line)
print('Sats:', rmc2.num_sats)
with open('getGps.txt', "a+") as file:
file.write(line.strip())
file.write("\n")
file.close()
import pandas as pd
# Try loop that allows for a graceful exit if needed
try:
while True:
# Sets the address of the NEO 6M GPS Sensor and delcares
# variables for simplification later on
port="/dev/ttyAMA0"
ser=serial.Serial(port, baudrate=9600, timeout=0.5)
dataout = pynmea2.NMEAStreamReader()
newdata=ser.readline()
if newdata[0:6] == "$GPRMC":
newmsg=pynmea2.parse(newdata) # Reads the sensor data
lat = newmsg.latitude # Reads the data, assigns the Latitude to a variable
long = newmsg.longitude # Reads the data, assigns the Longitude to a variable
time = newmsg.timestamp # Reads the data, assigns the timestamp to a variable
gps = "Latitude= " + str(lat) + " and Longitude= " + str(long) # Sets this string as a variable, gps
print(gps) # Prints out the above string
# Writes said string to a .csv file
csvfile = "raw_gps_data.csv"
with open(csvfile, "a") as fp:
wr = csv.writer(fp, delimiter=',', quotechar='"', quoting=csv.QUOTE_MINIMAL)
wr.writerow([lat, long, time])
# Formats the .csv file it just wrote to, adds column names, saves as new .csv
df = pd.read_csv('raw_gps_data.csv', header=None)
df.rename(columns={0: 'Latitude', 1: 'Longitude', 2: 'Timestamp'}, inplace=True)
df.to_csv('gps_mapping_data.csv', index=False)
import serial
import pynmea2
import pdb
import string
ser = serial.Serial('/dev/ttyUSB0', 4800, timeout=1)
line = ser.readline()
while True:
line = ser.readline()
try:
msg = pynmea2.parse(line)
if msg.sentence_type == 'MWD':
print("True Wind (knots): " + str(msg).split(",")[5] +
" True Wind (m/s): " + str(msg).split(",")[7])
if msg.sentence_type == 'MWV':
print("Wind Speed: " + msg.wind_speed)
#if msg.sentence_type == 'GGA':
# print "lat: " + str(msg.latitude) + " long: " + str(msg.longitude)
''' if msg.sentence_type == 'XDR' and msg.type == 'A':
print str(msg).split(",")[6]'''
except:
"Error!"
def serial_def():
ser = serial.Serial()
ser.port = "/dev/ttyUSB2"
ser.baudrate = 115200
ser.bytesize = serial.EIGHTBITS #number of bits per bytes
ser.parity = serial.PARITY_NONE #set parity check: no parity
ser.stopbits = serial.STOPBITS_ONE #number of stop bits
ser.timeout = 2 #timeout block read
ser.xonxoff = False #disable software flow control
ser.rtscts = False #disable hardware (RTS/CTS) flow control
ser.dsrdtr = False #disable hardware (DSR/DTR) flow control
ser.writeTimeout = 2
ser.open()
if ser.isOpen():
print(ser.name + ' is open...')
ser.write("AT+CGPSINFO=0" + "\r\n")
ser.write("ATE1" + "\r\n")
ser.write("ATI" + "\r\n")
ser.write("AT+CGPS=1,1" + "\r\n")
ser.write("AT+CGPSOUT=8" + "\r\n")
ser.write("AT+CGPSINFO=5" + "\r\n")
time.sleep(1)
out = ''
while True:
out += ser.read(1)
out2 = ser.readline()
#print("out1: " + out)
if re.match(r"CGPSINFO:", out2):
print("out2: " + out2)
print(out2.split(","))
out3 = ((out2.split(",")[0].split(": ")[1:] +
out2.split(",")[1:-1] +
out2.split(",")[-1].split("\r")[0:]))[0:-1]
msg = pynmea2.GGA('GP', 'GSV', out3)
lat = int(str(float(out3[0].strip()[:-1]) / 100).split(".")[0])
lng = int(str(float(out3[2].strip()[:-1]) / 100).split(".")[0])
latdec = float("." + str(float(out3[0].strip()[:-1]) /
100).split(".")[1]) * 60
lngdec = float("." + str(float(out3[2].strip()[:-1]) /
100).split(".")[1]) * 60
latmin = int(str(latdec).split(".")[0])
lngmin = int(str(lngdec).split(".")[0])
latsec = float("." + str(latdec).split(".")[1]) * 60
lngsec = float("." + str(lngdec).split(".")[1]) * 60
print(pynmea2.parse(str(msg)))
print("Latitude: " + str(lat) + " Degrees " + str(latmin) +
" Minutes " + str(latsec) + " Seconds ") #str(msg.lat))
print("Longitude: " + str(lng) + " Degrees " + str(lngmin) +
" Minutes " + str(lngsec) + " Seconds ") #str(msg.lon))
print("Alt: " + str(msg.altitude) + " Meters")
#print(pynmea2.parse(out))
ser.close()
def parseGPS(str):
if str.find('GGA') > 0:
msg = pynmea2.parse(str)
print "Timestamp: %s -- Lat: %s %s -- Lon: %s %s -- Altitude: %s %s" % (
msg.timestamp, msg.lat, msg.lat_dir, msg.lon, msg.lon_dir,
msg.altitude, msg.altitude_units)
# find GGA lines and sort into arrays for GGA lines and times
linesGGA = []
timeD = [] # Delta time (length of GPS second)
for i in range(len(lines)):
if (len(lines[i]) > (6 + 14)): # check whether line is long enough
if (lines[i][:6] == "$GPGGA"): # check that the format is GPGGA
contents = lines[
i] # want to remove the additional time to get into GGA
commaLoc = -1 # store location of commas (want to find last entry)
while (','
in contents[max(0, commaLoc) +
1:]): # check whether there is another comma
commaLoc = contents.index(',', max(0, commaLoc) + 1)
linesGGA.append(pynmea2.parse(contents[:commaLoc]))
timeD.append(int(contents[commaLoc + 1:]))
timeAvg = sum(timeD) / len(timeD)
print(timeAvg)
timeV = [0 for i in range(len(linesGGA))
] # Variation in absolute time (since start) according to GPS
# uses avg. GPS second as time unit
qCon = [0 for i in range(len(linesGGA))] # quality of connection
for i in range(len(linesGGA)): # get information for timeV and qCon
qCon[i] = linesGGA[i].gps_qual
if (i > 0):
timeV[i] = timeD[i] + timeV[i - 1] - timeAvg
else:
def readdzg(fi, frmt, spu, traces, verbose=False):
'''
a parser to extract gps data from DZG file format
DZG contains raw NMEA sentences, which should include RMC and GGA
fi = file containing gps information
frmt = format ('dzg' = DZG file containing gps sentence strings (see below); 'csv' = comma separated file with)
spu = samples per unit (second or meter)
traces = the number of traces in the file
Reading DZG
We need to relate gpstime to scan number then interpolate for each scan
between gps measurements.
NMEA GGA sentence string format:
$GPGGA,UTC hhmmss.s,lat DDmm.sss,lon DDDmm.sss,fix qual,numsats,hdop,mamsl,wgs84 geoid ht,fix age,dgps sta.,checksum *xx
if we want the date, we have to read RMC sentences as well:
$GPRMC,UTC hhmmss,status,lat DDmm.sss,lon DDDmm.sss,SOG,COG,date ddmmyy,checksum *xx
RMC strings may also be useful for SOG and COG,
...but let's keep it simple for now.
'''
trace = 0 # the elapsed number of traces iterated through
tracenum = 0 # the sequential increase in trace number
rownp = 0 # array row number
rowrmc = 0 # rmc record iterated through (gps file)
rowgga = 0 # gga record
timestamp = False
prevtime = False
td = False
prevtrace = False
rmc = False
antname = False
lathem = 'north'
lonhem = 'east'
x0, x1, y0, y1, z0, z1 = False, False, False, False, False, False # coordinates
with open(fi, 'r') as gf:
if frmt == 'dzg': # if we're working with DZG format
for ln in gf: # loop through the first few sentences, check for RMC
if ln.startswith(
'$GPRMC'
): # check to see if RMC sentence (should occur before GGA)
rmc = True
if rowrmc == 10: # we'll assume that 10 samples is a safe distance into the file to measure frequency
msg = pynmea2.parse(ln.rstrip(
)) # convert gps sentence to pynmea2 named tuple
ts0 = datetime.combine(
msg.datestamp, msg.timestamp) # row 0's timestamp
if rowrmc == 11:
msg = pynmea2.parse(ln.rstrip())
ts1 = datetime.combine(
msg.datestamp, msg.timestamp) # row 1's timestamp
td = ts1 - ts0 # timedelta = datetime1 - datetime0
rowrmc += 1
if ln.startswith('$GPGGA'):
if rowgga == 10:
msg = pynmea2.parse(ln.rstrip(
)) # convert gps sentence to pynmea2 named tuple
ts0 = datetime.combine(
datetime(1980, 1, 1),
msg.timestamp) # row 0's timestamp (not ideal)
if rowgga == 11:
msg = pynmea2.parse(ln.rstrip())
ts1 = datetime.combine(
datetime(1980, 1, 1),
msg.timestamp) # row 1's timestamp (not ideal)
td = ts1 - ts0 # timedelta = datetime1 - datetime0
rowgga += 1
if rowgga != rowrmc:
print(
"WARNING: GGA and RMC sentences are not recorded at the same rate! This could cause unforseen problems!"
)
print('rmc records: %i' % rowrmc)
print('gga records: %i' % rowgga)
gpssps = 1 / td.total_seconds() # GPS samples per second
if verbose:
print('found %i GPS epochs at rate of %.1f Hz' %
(rowrmc, gpssps))
dt = [('tracenum', 'float32'), ('lat', 'float32'),
('lon', 'float32'), ('altitude', 'float32'),
('geoid_ht', 'float32'), ('qual', 'uint8'),
('num_sats', 'uint8'), ('hdop', 'float32'),
('gps_sec', 'float32'),
('timestamp', 'datetime64[us]')] # array columns
arr = np.zeros(
(int(traces) + 1000), dt
) # numpy array with num rows = num gpr traces, and columns defined above
if verbose:
print('creating array of %i interpolated gps locations...' %
(traces))
gf.seek(0) # back to beginning of file
for ln in gf: # loop over file line by line
if rmc == True: # if there is RMC, we can use the full datestamp
if ln.startswith('$GPRMC'):
msg = pynmea2.parse(ln.rstrip())
timestamp = TZ.localize(
datetime.combine(
msg.datestamp,
msg.timestamp)) # set t1 for this loop
else: # if no RMC, we best hope there is no UTC 0:00:00 in the file.........
if ln.startswith('$GPGGA'):
msg = pynmea2.parse(ln.rstrip())
timestamp = TZ.localize(
msg.timestamp) # set t1 for this loop
if ln.startswith('$GPGGA'):
sec1 = float(ln.split(',')[1])
msg = pynmea2.parse(ln.rstrip())
x1, y1, z1, gh, q, sats, dil = float(msg.lon), float(
msg.lat), float(msg.altitude), float(msg.geo_sep), int(
msg.gps_qual), int(msg.num_sats), float(
msg.horizontal_dil)
if msg.lon_dir in 'W':
lonhem = 'west'
x1 = -x1
if msg.lat_dir in 'S':
lathem = 'south'
y1 = -y1
if prevtime: # if this is our second or more GPS epoch, calculate delta trace and current trace
elapsedelta = timestamp - prevtime # t1 - t0 in timedelta format
elapsed = float(
(elapsedelta).total_seconds()) # seconds elapsed
if elapsed > 3600.0:
print(
"WARNING: Time jumps by more than an hour in this GPS dataset and there are no RMC sentences to anchor the datestamp!"
)
print(
"This dataset may cross over the UTC midnight dateline!\nprevious timestamp: %s\ncurrent timestamp: %s"
% (prevtime, timestamp))
print("trace number: %s" % trace)
tracenum = round(
elapsed * spu, 8
) # calculate the increase in trace number, rounded to 5 decimals to eliminate machine error
trace += tracenum # increment to reflect current trace
resamp = np.arange(
math.ceil(prevtrace), math.ceil(trace), 1
) # make an array of integer values between t0 and t1
for t in resamp:
x = (x1 - x0) / (elapsed) * (
t - prevtrace) + x0 # interpolate latitude
y = (y1 - y0) / (elapsed) * (
t - prevtrace) + y0 # interpolate longitude
z = (z1 - z0) / (elapsed) * (
t - prevtrace) + z0 # interpolate altitude
sec = (sec1 - sec0) / (elapsed) * (
t -
prevtrace) + sec0 # interpolate gps seconds
tracetime = prevtime + timedelta(
seconds=elapsedelta.total_seconds() *
(t - prevtrace))
tup = (t, x, y, z, gh, q, sats, dil, sec,
tracetime)
arr[rownp] = tup
rownp += 1
else: # we're on the very first row
if verbose:
print('using %s and %s hemispheres' %
(lonhem, lathem))
x0, y0, z0, sec0 = x1, y1, z1, sec1 # set xyzs0 for next loop
prevtime = timestamp # set t0 for next loop
prevtrace = trace
if verbose:
print('processed %i gps locations' % rownp)
diff = rownp - traces
shift, endshift = 0, 0
if diff > 0:
shift = diff / 2
if diff / 2 == diff / 2.:
endshift = shift
else:
endshift = shift - 1
arrend = traces + endshift
arr = arr[shift:arrend:1]
if verbose:
print(
'cut %i rows from beginning and %s from end of gps array, new size %s'
% (shift, endshift, arr.shape[0]))
# if there's no need to use pandas, we shouldn't (library load speed mostly, also this line is old):
#array = pd.DataFrame({ 'ts' : arr['ts'], 'lat' : arr['lat'], 'lon' : arr['lon'] }, index=arr['tracenum'])
elif frmt == 'csv':
arr = ''
return arr
def getGPSData(self):
if self.newdata[0:6] == "$GPGGA":
newmsg = pynmea2.parse(self.newdata)
return newmsg
#https://sparklers-the-makers.github.io/blog/robotics/use-neo-6m-module-with-raspberry-pi/
#https://github.com/mikechan0731/GY-91_and_PiCamera_RaspberryPi
#Chequear en internet para printear también la Velocidad y la Altitud.
import serial
import time
import string
import pynmea2
while True:
port = "/dev/ttyAMA0"
ser = serial.Serial(port, baudrate=9600, timeout=0.5)
dataout = pynmea2.NMEAStreamReader()
newdata = ser.readline()
if newdata[0:6] == "$GPRMC":
newmsg = pynmea2.parse(newdata)
lat = newmsg.latitude
long = newmsg.longitude
gps = "Lat: " + str(lat) + " Long: " + str(long)
print(gps)
#Output:
#Lat: XX.XXXXXXX Long: XX.XXXXXXX
#Lat: XX.XXXXXXX Long: XX.XXXXXXX
'''
GY-213 HDC1080
- Humedad
- Temperatura
'''
#Configurar desde Rasp | Posibles enlaces con info:
# This code is written to parse the NMEA messages
# and store Lat/Long/Alt data to a csv file
#*************
USBPORT = 'COM4' # go to Device Manager to check for comm port number
BAUD_RATE = 4800
#FILENAME_INPUT = raw_input('Enter the file name: ')
#FILENAME = FILENAME_INPUT + '.csv'
FILENAME = 'GPStest.csv'
print ("Press Ctrl + C to quit collecting information\n")
with open(FILENAME, 'wb') as fp:
a = csv.writer(fp, delimiter=',')
try:
while(1):
with serial.Serial(USBPORT, BAUD_RATE) as ser:
s0 = ser.read()
#print s0
if(s0 == '$'):
s1 = ser.readline()
#print s1
msg = pynmea2.parse(s1, BAUD_RATE)
#print msg
if (s1[0:5] == 'GPGGA'):
cols = [str(msg.timestamp), msg.latitude, msg.lat_dir,
msg.longitude, msg.lon_dir, str(msg.altitude),
msg.altitude_units, str(msg.num_sats)]
a.writerow(cols)
print cols
except KeyboardInterrupt:
pass