class trackGps:
def __init__(self, iface):
# Save reference to the QGIS interface
self.globalpath = os.path.dirname(os.path.abspath(__file__))
self.iface = iface
self.guiStarted = False # signal to destructor that this isn't actually been displayed yet
self.read = ReadGpsd(self.iface)
# create dock widget from ui file
print os.path.join(self.globalpath,"DockWidget.ui")
self.dock = uic.loadUi(os.path.join(self.globalpath,"DockWidget.ui"))
self.canvas = self.iface.mapCanvas()
# Default options
self.GPSSettings = QSettings()
# indication that this is the first time for the plugin
self.firstTime = self.GPSSettings.value("trackGpsGPSSettings/firstTime", True, type=bool)
# index of marker for GPS position (this is the arrow)
self.markerNumber = self.GPSSettings.value("trackGpsGPSSettings/markerNumber", 0, type=int)
# default is black for marker fill color
self.markerFillColor = QColor(self.GPSSettings.value("trackGpsGPSSettings/markerFillColor", QColor(0,0,0)))
# default is yellow for marker outline color
self.markerOutlineColor = QColor(self.GPSSettings.value("trackGpsGPSSettings/markerOutlineColor", QColor(255,255,0)))
# width of tracking line
self.trackLineWidth = self.GPSSettings.value("trackGpsGPSSettings/trackLineWidth", 3, type=int)
# color of tracking line (default is red)
self.lineColor = QColor(self.GPSSettings.value("trackGpsGPSSettings/lineColor", QColor(255,0,0)))
self.saveInSHAPEFile = self.GPSSettings.value("trackGpsGPSSettings/saveInSHAPEFile", False, type=bool)
# now recover/set the values for the serial port connection
self.searchAllConnectionsSpeeds = self.GPSSettings.value("trackGpsGPSSettings/searchAllConnectionsSpeeds",
True, type=bool)
self.serialPortNumber = self.GPSSettings.value("trackGpsGPSSettings/serialPortNumber", 0, type=int)
self.serialPortSpeed = self.GPSSettings.value("trackGpsGPSSettings/serialPortSpeed", 0, type=int)
# set GPS connection values if they were recovered from a previous session
if not self.searchAllConnectionsSpeeds:
self.read.setConnectionValues(self.serialPortNumber, self.serialPortSpeed)
# initialize the graphic elements for the GPS position
self.positionMarker = PositionMarker(self.canvas, self.markerNumber, self.markerFillColor, self.markerOutlineColor)
self.rubberBand = QgsRubberBand(self.canvas)
self.rubberBand.setColor(self.lineColor)
self.rubberBand.setWidth(self.trackLineWidth)
self.rubberBandS = []
self.GPSPositions = [] # array of positions in current track
self.GPSTracks = [] # array of all tracks
def __del__(self):
if self.guiStarted:
# time to save plugin options as settings
GPSSettings = QSettings()
# indication that this is the first time for the plugin
GPSSettings.setValue("trackGpsGPSSettings/firstTime", self.firstTime)
GPSSettings.setValue("trackGpsGPSSettings/searchAllConnectionsSpeeds",
bool(self.searchAllConnectionsSpeeds))
GPSSettings.setValue("trackGpsGPSSettings/markerNumber", self.markerNumber)
GPSSettings.setValue("trackGpsGPSSettings/markerFillColor", self.markerFillColor)
GPSSettings.setValue("trackGpsGPSSettings/markerOutlineColor", self.markerOutlineColor)
GPSSettings.setValue("trackGpsGPSSettings/trackLineWidth", self.trackLineWidth)
GPSSettings.setValue("trackGpsGPSSettings/lineColor", self.lineColor)
GPSSettings.setValue("trackGpsGPSSettings/saveInSHAPEFile", self.saveInSHAPEFile)
GPSSettings.setValue("trackGpsGPSSettings/serialPortNumber", self.serialPortNumber)
GPSSettings.setValue("trackGpsGPSSettings/serialPortSpeed", self.serialPortSpeed)
GPSSettings.synch()
QMessageBox.information(self.iface.mainWindow(),"Class trackGPS Ending","trackGPS is being destroyed!")
def initGui(self):
self.guiStarted = True # signal that the GPS dialog was displayed
if self.firstTime:
self.firstTime = False
QMessageBox.information(self.iface.mainWindow(),"Track GPS location","Since this is the first time"+\
" that you have used the 'Track GPS location' plugin please consult the help "+\
"in the plugin menu")
# Create actions for plugin
self.actionStart = QAction(QIcon(":/plugins/trackgps/Satellite-22.png"), "Start GPS Tracking", self.iface.mainWindow())
self.actionStart.setWhatsThis("Open GPS Connection and Start Tracking")
self.actionStop = QAction(QIcon(":/plugins/trackgps/Satellite-22.png"), "Stop GPS Tracking", self.iface.mainWindow())
self.actionStop.setWhatsThis("Close the GPS Connection and Stop Tracking")
self.actionOptions = QAction(QIcon(":/plugins/trackgps/options.png"),"Set GPS Tracking Options", self.iface.mainWindow())
self.actionOptions.setWhatsThis("Set the various GPS Connection/Tracking Options")
# add help menu item
self.helpAction = QAction(QIcon(":/plugins/trackgps/images/help-browser.png"), "GPS Tracking Help", self.iface.mainWindow())
# New Track actions set up here
self.dock.btnStartNewTrack.setDisabled(True) # Starting New Tracks is disabled at start
QObject.connect(self.dock.btnStartNewTrack, SIGNAL("clicked()"), self.startNewTrack)
# Connect the actions to its methods
QObject.connect(self.actionStart, SIGNAL("activated()"), self.toogleGather)
QObject.connect(self.actionStop, SIGNAL("activated()"), self.toogleGather)
QObject.connect(self.actionOptions, SIGNAL("activated()"), self.showGPSMenuOptions)
QObject.connect(self.dock.btnStart, SIGNAL("clicked()"), self.toogleGather)
QObject.connect(self.read, SIGNAL("readCoords(PyQt_PyObject)"), self.setCoords)
QObject.connect(self.read, SIGNAL("connectionFailed(PyQt_PyObject)"), self.connectionFailed)
QObject.connect(self.read, SIGNAL("connectionMade()"), self.connectionMade)
QObject.connect(self.helpAction, SIGNAL("activated()"), self.helpWindow)
# Add menu items for action
self.iface.addPluginToMenu("beeGPS", self.actionOptions)
self.iface.addPluginToMenu("beeGPS", self.actionStart)
self.iface.addPluginToMenu("beeGPS", self.helpAction)
myPluginMenu = self.iface.pluginMenu()
QObject.connect(myPluginMenu, SIGNAL("aboutToShow()"), self.updateTrackGPSMenu)
self.iface.addDockWidget(Qt.LeftDockWidgetArea, self.dock)
def helpWindow(self):
window = HelpForm("TheQGISGPSTrackerPlugin.html",self.iface.mainWindow())
window.show()
def updateTrackGPSMenu(self):
if self.read.running:
self.iface.addPluginToMenu("beeGPS", self.actionStop)
self.iface.removePluginMenu("beeGPS", self.actionStart)
else:
self.iface.addPluginToMenu("beeGPS", self.actionStart)
self.iface.removePluginMenu("beeGPS", self.actionStop)
def startNewTrack(self):
self.read.stop() # close serial port
self.rubberBandS.append(self.rubberBand)
self.showGPSMenuOptions() # give user opportunity to change display options
#if len(self.GPSPositions) > 0: # temporary section to display positional information
# QMessageBox.information(self.iface.mainWindow(),"trackGPS","There are: " + str(len(self.GPSPositions)) + " GPS Positions in the current track")
# for i in range(len(self.GPSPositions)):
# QMessageBox.information(self.iface.mainWindow(),"trackGPS","Position #" + str(i) + ": Latitude=" + str(self.GPSPositions[i].latitude))
self.rubberBand=QgsRubberBand(self.canvas) # start new rubber band
if len(self.GPSPositions) > 0 and self.saveInSHAPEFile:
self.GPSTracks.append(self.GPSPositions) # save GPSPositions to GPSTracks
self.GPSPositions = [] #reset of array contenent the current position
self.startGather() # open serial port and record new track
def unload(self):
# Remove the plugin menu item
self.iface.removePluginMenu("beeGPS", self.actionStart)
self.iface.removePluginMenu("beeGPS", self.actionStop)
self.iface.removePluginMenu("beeGPS", self.actionOptions)
def startGather(self):
#update all of the GPS display options
self.positionMarker.markerNumber = self.markerNumber
self.positionMarker.fillColor = self.markerFillColor
self.positionMarker.outlineColor = self.markerOutlineColor
self.rubberBand.setColor(self.lineColor)
self.rubberBand.setWidth(self.trackLineWidth)
self.positionMarker.show()
# get destination crs of the canvas
dest_crs = self.canvas.mapRenderer().destinationCrs()
#print "destination crs:",dest_crs.description()
# create transform object from WGS84 (GPS) to canvas CRS
self.transform = QgsCoordinateTransform(QgsCoordinateReferenceSystem(self.read.session.datumEPSG,\
QgsCoordinateReferenceSystem.EpsgCrsId ),dest_crs)
self.read.start()
self.read.exec_()
def setCoords(self, aGPSPosition):
boolDistance = True
boolTime = True
#Controllo se è la prima acquisizione valutando la dimensione di GPSPosition[] a 0, in caso positivo acquisisco.
if len(self.GPSPositions) == 0:
self.GPSPositions.append(aGPSPosition)
else:
#Metodo tresholdAcquisition() per l'acquisizione dei punti "live" in base alla soglia di distanza che ritorna
#TRUE in caso la soglia sia stata superata, altrimenti FALSE
boolDistance = self.tresholdAcquisition(aGPSPosition)
#Controllo che tresholdAcquisition() abbia ritornato TRUE altrimenti passo al punto successivo
if boolDistance == False:
return
#Metodo timeIntervals() per l'acquisizione dei punti "live" in base alla soglia di tempo che ritorna TRUE in caso
#la soglia sia stata superata e acquisita, altrimenti FALSE
boolTime = self.timeIntervals(aGPSPosition)
#Controllo che timeIntervals() abbia ritornato TRUE altrimenti passo al punto successivo
if boolTime == False:
return
else:
self.GPSPositions.append(aGPSPosition)
# display raw values
self.dock.date.setText(aGPSPosition.theDateTime)
self.dock.lat.setText(str(aGPSPosition.latitude) + ' ' + aGPSPosition.latitudeNS)
self.dock.lon.setText(str(aGPSPosition.longitude) + ' ' + aGPSPosition.longitudeEW)
self.dock.lineBearing.setText("%5.1i"%aGPSPosition.bearing)
self.dock.lineSpeed.setText("%5.1i"%aGPSPosition.speed)
self.dock.lineHDOP.setText(str(aGPSPosition.hdop))
if aGPSPosition.fixQuality == 0:
self.dock.lineQuality.setText("Fix not available")
elif aGPSPosition.fixQuality == 1:
self.dock.lineQuality.setText("GPS fix")
else:
self.dock.lineQuality.setText("Differential GPS fix")
# display arrow on the map
latitude = aGPSPosition.latitude if aGPSPosition.latitudeNS == 'N' else aGPSPosition.latitude * -1.0
longitude = aGPSPosition.longitude if aGPSPosition.longitudeEW == 'E' else aGPSPosition.longitude * -1.0
p=self.transform.transform(QgsPoint(longitude, latitude))
self.rubberBand.addPoint(p)
self.positionMarker.setHasPosition(True)
self.positionMarker.newCoords(p,aGPSPosition.bearing)
doRefresh = False
if doRefresh:
# move map to keep marker at center
curext = self.canvas.extent()
p1 = QgsPoint(p.x() - curext.width()/2, p.y() - curext.height()/2)
p2 = QgsPoint(p.x() + curext.width()/2, p.y() + curext.height()/2)
self.canvas.setExtent(QgsRectangle (p1,p2))
self.canvas.refresh()
def stopGather(self):
self.read.stop()
self.positionMarker.hide()
if len(self.GPSPositions) > 0: # and self.saveInSHAPEFile:
self.GPSTracks.append(self.GPSPositions) # save GPSPositions to GPSTracks
# if len(self.GPSTracks) > 0 and self.saveInSHAPEFile:
if self.saveInSHAPEFile: # this is temporary
# option to save SHAPE file is on, prompt for filename and write the tracks to the file
self.makeShapeFiles()
if len(self.GPSTracks) > 0:
answer = QMessageBox.question(self.iface.mainWindow(),"Erase Tracks?","Erase the currently displayed tracks?",\
QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
if answer == QMessageBox.Yes:
for band in self.rubberBandS:
band.reset()
self.rubberBand.reset()
self.canvas.refresh()
self.rubberBandS = []
self.GPSPositions = []
self.GPSTracks = []
def toogleGather(self):
if self.read.running:
QMessageBox.information(self.iface.mainWindow(),"GPS Tracker","Stopping GPS Tracking",QMessageBox.Ok)
self.stopGather()
self.dock.btnStart.setText("Start")
self.dock.gpsInformation.setText("Gets GPS Receiver Information")
self.dock.btnStartNewTrack.setDisabled(True)
else:
self.dock.btnStart.setText("Connecting, please be patient....")
self.startGather()
if self.read.session.connected:
self.dock.btnStart.setText("Stop")
def connectionMade(self):
# QMessageBox.information(self.iface.mainWindow(),"trackGps","GPS Receiver Connected on port: %s at %i baud\n"%\
# (self.read.session.portName,self.read.session.baudRate),QMessageBox.Ok,0)
self.dock.gpsInformation.setText("GPS Connected on port: %s at %i baud"%(self.read.session.portName,\
self.read.session.baudRate))
self.dock.btnStart.setText("Stop")
self.dock.btnStartNewTrack.setDisabled(False)
# save connection values in session parameters
self.serialPortNumber = self.read.session.port
self.serialPortSpeed = self.read.session.baudRates.index(self.read.session.baudRate)
self.searchAllConnectionsSpeeds = False
def connectionFailed(self, msg):
QMessageBox.warning(self.iface.mainWindow(),"beeGPS", "Connection to GPSConnection failed\n%s"%(msg),QMessageBox.Ok,0)
if self.read.session.connected:
self.read.stop()
self.dock.btnStart.setText("Start")
self.dock.btnStartNewTrack.setDisabled(True) # Starting New Tracks is disabled at start
def showGPSMenuOptions(self):
myGPSOptionsDlg = GPSTrackerOptions(self)
isOK = myGPSOptionsDlg.exec_()
if isOK:
if myGPSOptionsDlg.cbxMarkerType.currentIndex() != self.markerNumber:
self.markerNumber = myGPSOptionsDlg.cbxMarkerType.currentIndex()
if myGPSOptionsDlg.lineColor != self.lineColor:
self.lineColor = myGPSOptionsDlg.lineColor
if myGPSOptionsDlg.markerFillColor != self.markerFillColor:
self.markerFillColor = myGPSOptionsDlg.markerFillColor
if myGPSOptionsDlg.markerOutlineColor != self.markerOutlineColor:
self.markerOutlineColor = myGPSOptionsDlg.markerOutlineColor
if myGPSOptionsDlg.sbxTrackWidth.value() != self.trackLineWidth:
self.trackLineWidth = myGPSOptionsDlg.sbxTrackWidth.value()
if myGPSOptionsDlg.cbxSaveGPSTrack.isChecked() != self.saveInSHAPEFile:
self.saveInSHAPEFile = myGPSOptionsDlg.cbxSaveGPSTrack.isChecked()
def makeShapeFiles(self):
myFileName = QgsProject.instance().fileName()
myFileName = str(myFileName)
# if this is a windows OS then the filename needs to have '/' converted to '\'
if myFileName.find('windows') != 0 or myFileName.find('Windows') != 0:
myFileName = os.path.normpath(myFileName)
myFilePath = os.path.dirname(myFileName)
myShapeFileNamesDlg = ShapeFileNames(myFilePath)
isOK = myShapeFileNamesDlg.exec_()
CRS = QgsCoordinateReferenceSystem()
crsIsOk = CRS.createFromOgcWmsCrs("EPSG:%d" % self.GPSTracks[0][0].datumEPSG)
if not crsIsOk:
QMessageBox.warning(self.iface.mainWindow(),"trackGPS - makeShapeFiles","Error creating CRS from"+\
" EPSG ID:" + str(self.GPSTracks[0][0].datumEPSG))
if isOK and crsIsOk:
if len(myShapeFileNamesDlg.lnePointsFileName.text()) > 0:
# set up the fields for the Points SHAPE file
box = QgsFields()
box.append(QgsField("LATITUDE", QVariant.Double , "Real", 9, 6))
box.append(QgsField("LONGITUDE", QVariant.Double, "Real", 10, 6))
box.append(QgsField("NUMOFSATS", QVariant.Int, "Integer", 2, 0))
box.append(QgsField("HDOP", QVariant.Double, "Real", 4, 2))
box.append(QgsField("DATETIME", QVariant.String, "String", 19, 0))
box.append(QgsField("FIXTYPE", QVariant.String, "String", 1, 0))
box.append(QgsField("BEARING", QVariant.Double, "Real", 6, 2))
box.append(QgsField("SPEED-KPH", QVariant.Double, "Real", 5, 1))
box.append(QgsField("TRACKNUM", QVariant.Int, "Integer", 2, 0))
# set up the CRS
# open the points SHAPE file
pointsFile, fileOK = self.createSHAPEfile(myShapeFileNamesDlg.lnePointsFileName.text(),box,QGis.WKBPoint,CRS)
if fileOK:
for j in range(len(self.GPSTracks)):
for i in range(len(self.GPSTracks[j])):
theFeature = QgsFeature()
latitude = self.GPSTracks[j][i].latitude
if self.GPSTracks[j][i].latitudeNS == 'S':
latitude = -latitude
longitude = self.GPSTracks[j][i].longitude
if self.GPSTracks[j][i].longitudeEW == 'W':
longitude = -longitude
theFeature.setGeometry(QgsGeometry.fromPoint(QgsPoint(longitude,latitude)))
theFeature.setAttributes([0, latitude])
theFeature.setAttributes([1, longitude])
theFeature.setAttributes([2, self.GPSTracks[j][i].numSatellites])
theFeature.setAttributes([3, self.GPSTracks[j][i].hdop])
theFeature.setAttributes([4, self.GPSTracks[j][i].theDateTime])
theFeature.setAttributes([5, self.GPSTracks[j][i].fixQuality])
theFeature.setAttributes([6, self.GPSTracks[j][i].bearing])
theFeature.setAttributes([7, self.GPSTracks[j][i].speed])
theFeature.setAttributes([8, j+1])
pointsFile.addFeature(theFeature)
del pointsFile # del file object to force a flush and close
if len(myShapeFileNamesDlg.lneLinesFileName.text()) > 0:
# set up the fields for the Lines SHAPE file
lines_box = QgsFields()
lines_box.append(QgsField("SDATETIME", QVariant.String, "String", 19, 0))
lines_box.append(QgsField("EDATETIME", QVariant.String, "String", 19, 0))
lines_box.append(QgsField("TRACKNUM", QVariant.Int, "Integer", 2, 0))
linesFile, fileOK = self.createSHAPEfile(myShapeFileNamesDlg.lneLinesFileName.text(),lines_box,QGis.WKBLineString,CRS)
if fileOK:
for j in range(len(self.GPSTracks)):
theFeature = QgsFeature()
pointsList = []
for i in range(len(self.GPSTracks[j])):
latitude = self.GPSTracks[j][i].latitude
if self.GPSTracks[j][i].latitudeNS == 'S':
latitude = -latitude
longitude = self.GPSTracks[j][i].longitude
if self.GPSTracks[j][i].longitudeEW == 'W':
longitude = -longitude
pointsList.append(QgsPoint(longitude,latitude))
theFeature.setGeometry(QgsGeometry.fromPolyline(pointsList))
theFeature.setAttributes([0, self.GPSTracks[j][0].theDateTime])
theFeature.setAttributes([1, self.GPSTracks[j][len(self.GPSTracks[j])-1].theDateTime])
theFeature.setAttributes([2, j+1])
linesFile.addFeature(theFeature)
del linesFile # del file object to force a flush and close
def createSHAPEfile(self,fileName, fileFields, fileType, crs):
'''
this function creates a new, empty shape file for use in writing points or lines
Returns: SHAPEfile, status
if status == True then SHAPEfile is OK to use, if False then an error occured and cannot use SHAPEFile
Input Parameters:
fileName = full name of the SHAPE file to be created
fileFields = map of QgsFields to use for the attributes of the SHAPE file
fileType = QGis.WKBPoint for points file <or> QGis.WKBLine for lines file
crs = the QgsCoordinateReferenceSystem to use for the file
'''
status = True # default is no error
SHAPEfile = QgsVectorFileWriter(fileName,"CP1250",fileFields,fileType,crs)
typeName = 'Points' if fileType == QGis.WKBPoint else 'Lines'
if SHAPEfile.hasError() != QgsVectorFileWriter.NoError:
status = False # report an error
if SHAPEfile.hasError() == QgsVectorFileWriter.ErrDriverNotFound:
QMessageBox.warning(self.iface.mainWindow(),"trackGPS - makeShapeFiles","Error creating " + typeName + " SHAPE file" +\
" ERROR=\'ErrDriverNotFound\' - saving " + typeName + " is aborted")
elif SHAPEfile.hasError() == QgsVectorFileWriter.ErrCreateDataSource:
QMessageBox.warning(self.iface.mainWindow(),"trackGPS - makeShapeFiles","Error creating " + typeName + " SHAPE file" +\
" ERROR=\'ErrCreateDataSource\' - saving " + typeName + " is aborted")
elif SHAPEfile.hasError() == QgsVectorFileWriter.ErrCreateLayer:
QMessageBox.warning(self.iface.mainWindow(),"trackGPS - makeShapeFiles","Error creating " + typeName + " SHAPE file" +\
" ERROR=\'ErrCreateLayer\' - saving " + typeName + " is aborted")
elif SHAPEfile.hasError() == QgsVectorFileWriter.ErrAttributeTypeUnsupported:
QMessageBox.warning(self.iface.mainWindow(),"trackGPS - makeShapeFiles","Error creating " + typeName + " SHAPE file" +\
" ERROR=\'ErrAttributeTypeUnsupported\' - saving " + typeName + " is aborted")
else:
QMessageBox.warning(self.iface.mainWindow(),"trackGPS - makeShapeFiles","Error creating " + typeName + " SHAPE file" +\
" ERROR=\'UNKOWN ERROR\' saving " + typeName + " is aborted")
return SHAPEfile,status
#Metodo per l'acquisizione tramite soglia di distanza
def tresholdAcquisition(self, aGPSPosition):
#Costanti per il calcolo della distanza
R_Terra = 6372.795477598
acquisito = False
#Acquisisco la soglia di distanza, da input e la converto in float
soglia = self.dock.lineTreshold.text()
if not soglia.isnumeric():
self.read.stop()
self.positionMarker.hide()
self.dock.btnStart.setText("Start")
self.dock.gpsInformation.setText("Gets GPS Receiver Information")
QMessageBox.warning(self.iface.mainWindow(),"ATENZIONE","Inserire solo valori numerici nella soglia di distanza.")
else:
soglia = float(soglia)
soglia = soglia / 1000
#Conversione dei gradi in radianti
lat_alfa = math.radians(aGPSPosition.latitude)
lat_beta = math.radians(self.GPSPositions[-1].latitude)
lon_alfa = math.radians(aGPSPosition.longitude)
lon_beta = math.radians(self.GPSPositions[-1].longitude)
#Calcolo la differenza di lat e lon
dLat = lat_alfa - lat_beta
dLon = lon_alfa - lon_beta
a = math.sin(dLat/2)*math.sin(dLat/2)+math.sin(dLon/2)*math.sin(dLon/2)* math.cos(lat_alfa) * math.cos(lat_beta)
#Calcolo il terzo lato del triangolo sferico
c = 2*math.atan2(math.sqrt(a),math.sqrt(1-a))
distanza = c * R_Terra
#Controllo con la soglia di distanza e eventualmente acquisisco
if distanza > soglia:
acquisito = True
return acquisito
#Metodo timeIntervals() per il controllo della soglia temporale
def timeIntervals(self, aGPSPosition):
#Variabile booleana di ritorno
acquisito = False
#Stringa per il formato della data
formato = '%Y-%m-%d %H:%M:%S'
#Metto le due date, quella dell'ultima acquisizione e quella da valutare in due stringhe
dataA = aGPSPosition.theDateTime
dataB = self.GPSPositions[-1].theDateTime
#Tramite il metodo time.strptime() realizziamo due strutte tempo per le due date
struct_A = time.strptime(dataA,formato)
struct_B = time.strptime(dataB,formato)
#Otteniamo i valori di confronto
confrontoA = datetime.datetime.fromtimestamp(time.mktime(struct_A))
confrontoB = datetime.datetime.fromtimestamp(time.mktime(struct_B))
#Otteniamo la differenza
differenza = (confrontoA - confrontoB).seconds
#Acquisisco la soglia di distanza temporale e gestisco eventualmente l'inserimento di valori non numerici
intervalli = self.dock.lineTimeIntervals.text()
if not intervalli.isnumeric():
self.read.stop()
self.positionMarker.hide()
self.dock.btnStart.setText("Start")
self.dock.gpsInformation.setText("Gets GPS Receiver Information")
QMessageBox.warning(self.iface.mainWindow(),"ATENZIONE","Inserire solo valori numerici nella soglia temporale.")
else:
intervalli = float(intervalli)
#Controllo se la differenza e maggiore della soglia
if differenza > intervalli:
acquisito = True
return acquisito
class trackGps:
def __init__(self, iface):
# Save reference to the QGIS interface
self.globalpath = os.path.dirname(os.path.abspath(__file__))
self.iface = iface
self.guiStarted = False # signal to destructor that this isn't actually been displayed yet
self.read = ReadGpsd(self.iface)
# create dock widget from ui file
print os.path.join(self.globalpath,"DockWidget.ui")
self.dock = uic.loadUi(os.path.join(self.globalpath,"DockWidget.ui"))
self.canvas = self.iface.mapCanvas()
# Default options
self.GPSSettings = QSettings()
# indication that this is the first time for the plugin
self.firstTime = self.GPSSettings.value("trackGpsGPSSettings/firstTime",QVariant(bool(True))).toBool()
# index of marker for GPS position (this is the arrow)
self.markerNumber, isOK = self.GPSSettings.value("trackGpsGPSSettings/markerNumber",QVariant(int(0))).toInt()
# default is black for marker fill color
self.markerFillColor = QColor(self.GPSSettings.value("trackGpsGPSSettings/markerFillColor",QVariant(QColor(0,0,0))))
# default is yellow for marker outline color
self.markerOutlineColor = QColor(self.GPSSettings.value("trackGpsGPSSettings/markerOutlineColor",QVariant(QColor(255,255,0))))
# width of tracking line
self.trackLineWidth, isOK = self.GPSSettings.value("trackGpsGPSSettings/trackLineWidth",QVariant(int(3))).toInt()
# color of tracking line (default is red)
self.lineColor = QColor(self.GPSSettings.value("trackGpsGPSSettings/lineColor",QVariant(QColor(255,0,0))))
self.saveInSHAPEFile = self.GPSSettings.value("trackGpsGPSSettings/saveInSHAPEFile",QVariant(bool(False))).toBool()
# now recover/set the values for the serial port connection
self.searchAllConnectionsSpeeds = self.GPSSettings.value("trackGpsGPSSettings/searchAllConnectionsSpeeds",
QVariant(bool(True))).toBool()
self.serialPortNumber, isOK = self.GPSSettings.value("trackGpsGPSSettings/serialPortNumber",QVariant(int(0))).toInt()
self.serialPortSpeed, isOK = self.GPSSettings.value("trackGpsGPSSettings/serialPortSpeed",QVariant(int(0))).toInt()
# set GPS connection values if they were recovered from a previous session
if not self.searchAllConnectionsSpeeds: self.read.setConnectionValues(self.serialPortNumber,self.serialPortSpeed)
# initialize the graphic elements for the GPS position
self.positionMarker=PositionMarker(self.canvas, self.markerNumber, self.markerFillColor, self.markerOutlineColor)
self.rubberBand=QgsRubberBand(self.canvas)
self.rubberBand.setColor(self.lineColor)
self.rubberBand.setWidth(self.trackLineWidth)
self.rubberBandS = []
self.GPSPositions = [] # array of positions in current track
self.GPSTracks = [] # array of all tracks
def __del__(self):
"""This method is used to save the settings for use the next time this plugin is used"""
if self.guiStarted:
# time to save plugin options as settings
GPSSettings = QSettings()
# indication that this is the first time for the plugin
GPSSettings.setValue("trackGpsGPSSettings/firstTime",QVariant(self.firstTime))
GPSSettings.setValue("trackGpsGPSSettings/searchAllConnectionsSpeeds",
QVariant(bool(self.searchAllConnectionsSpeeds)))
GPSSettings.setValue("trackGpsGPSSettings/markerNumber",QVariant(self.markerNumber))
GPSSettings.setValue("trackGpsGPSSettings/markerFillColor",QVariant(self.markerFillColor))
GPSSettings.setValue("trackGpsGPSSettings/markerOutlineColor",QVariant(self.markerOutlineColor))
GPSSettings.setValue("trackGpsGPSSettings/trackLineWidth",QVariant(self.trackLineWidth))
GPSSettings.setValue("trackGpsGPSSettings/lineColor",QVariant(self.lineColor))
GPSSettings.setValue("trackGpsGPSSettings/saveInSHAPEFile",QVariant(self.saveInSHAPEFile))
GPSSettings.setValue("trackGpsGPSSettings/serialPortNumber",QVariant(self.serialPortNumber))
GPSSettings.setValue("trackGpsGPSSettings/serialPortSpeed",QVariant(self.serialPortSpeed))
GPSSettings.synch()
QMessageBox.information(self.iface.mainWindow(),"Class trackGPS Ending","trackGPS is being destroyed!")
def initGui(self):
self.guiStarted = True # signal that the GPS dialog was displayed
if self.firstTime:
self.firstTime = False
QMessageBox.information(self.iface.mainWindow(),"Track GPS location","Since this is the first time"+\
" that you have used the 'Track GPS location' plugin please consult the help "+\
"in the plugin menu")
# Create actions for plugin
self.actionStart = QAction(QIcon(":/plugins/trackgps/Satellite-22.png"), "Start GPS Tracking", self.iface.mainWindow())
self.actionStart.setWhatsThis("Open GPS Connection and Start Tracking")
self.actionStop = QAction(QIcon(":/plugins/trackgps/Satellite-22.png"), "Stop GPS Tracking", self.iface.mainWindow())
self.actionStop.setWhatsThis("Close the GPS Connection and Stop Tracking")
self.actionOptions = QAction(QIcon(":/plugins/trackgps/options.png"),"Set GPS Tracking Options", self.iface.mainWindow())
self.actionOptions.setWhatsThis("Set the various GPS Connection/Tracking Options")
# add help menu item
self.helpAction = QAction(QIcon(":/plugins/trackgps/images/help-browser.png"), "GPS Tracking Help", self.iface.mainWindow())
# New Track actions set up here
self.dock.btnStartNewTrack.setDisabled(True) # Starting New Tracks is disabled at start
QObject.connect(self.dock.btnStartNewTrack, SIGNAL("clicked()"), self.startNewTrack)
# Connect the actions to its methods
QObject.connect(self.actionStart, SIGNAL("activated()"), self.toogleGather)
QObject.connect(self.actionStop, SIGNAL("activated()"), self.toogleGather)
QObject.connect(self.actionOptions, SIGNAL("activated()"), self.showGPSMenuOptions)
QObject.connect(self.dock.btnStart, SIGNAL("clicked()"), self.toogleGather)
QObject.connect(self.read, SIGNAL("readCoords(PyQt_PyObject)"), self.setCoords)
QObject.connect(self.read, SIGNAL("connectionFailed(PyQt_PyObject)"), self.connectionFailed)
QObject.connect(self.read, SIGNAL("connectionMade()"), self.connectionMade)
QObject.connect(self.helpAction, SIGNAL("activated()"), self.helpWindow)
# Add menu items for action
self.iface.addPluginToMenu("Track GPS location", self.actionOptions)
self.iface.addPluginToMenu("Track GPS location", self.actionStart)
self.iface.addPluginToMenu("Track GPS location", self.helpAction)
myPluginMenu = self.iface.pluginMenu()
QObject.connect(myPluginMenu, SIGNAL("aboutToShow()"), self.updateTrackGPSMenu)
self.iface.addDockWidget(Qt.LeftDockWidgetArea, self.dock)
def helpWindow(self):
window = HelpForm("TheQGISGPSTrackerPlugin.html",self.iface.mainWindow())
window.show()
def updateTrackGPSMenu(self):
if self.read.running:
self.iface.addPluginToMenu("Track GPS location", self.actionStop)
self.iface.removePluginMenu("Track GPS location", self.actionStart)
else:
self.iface.addPluginToMenu("Track GPS location", self.actionStart)
self.iface.removePluginMenu("Track GPS location", self.actionStop)
def startNewTrack(self):
self.read.stop() # close serial port
self.rubberBandS.append(self.rubberBand)
self.showGPSMenuOptions() # give user opportunity to change display options
#if len(self.GPSPositions) > 0: # temporary section to display positional information
# QMessageBox.information(self.iface.mainWindow(),"trackGPS","There are: " + str(len(self.GPSPositions)) + " GPS Positions in the current track")
# for i in range(len(self.GPSPositions)):
# QMessageBox.information(self.iface.mainWindow(),"trackGPS","Position #" + str(i) + ": Latitude=" + str(self.GPSPositions[i].latitude))
self.rubberBand=QgsRubberBand(self.canvas) # start new rubber band
if len(self.GPSPositions) > 0 and self.saveInSHAPEFile:
self.GPSTracks.append(self.GPSPositions) # save GPSPositions to GPSTracks
self.GPSPositions = []
self.startGather() # open serial port and record new track
def unload(self):
# Remove the plugin menu item
self.iface.removePluginMenu("Track GPS location", self.actionStart)
self.iface.removePluginMenu("Track GPS location", self.actionStop)
self.iface.removePluginMenu("Track GPS location", self.actionOptions)
def startGather(self):
#update all of the GPS display options
self.positionMarker.markerNumber = self.markerNumber
self.positionMarker.fillColor = self.markerFillColor
self.positionMarker.outlineColor = self.markerOutlineColor
self.rubberBand.setColor(self.lineColor)
self.rubberBand.setWidth(self.trackLineWidth)
self.positionMarker.show()
# get destination crs of the canvas
dest_crs = self.canvas.mapRenderer().destinationSrs()
print "destination crs:",dest_crs.description()
# create transform object from WGS84 (GPS) to canvas CRS
self.transform = QgsCoordinateTransform(QgsCoordinateReferenceSystem(self.read.session.datumEPSG,\
QgsCoordinateReferenceSystem.EpsgCrsId ),dest_crs)
self.read.start()
self.read.exec_()
def setCoords (self,aGPSPosition):
"""SLOT: show read coordinates"""
# display raw values
self.GPSPositions.append(aGPSPosition)
self.dock.date.setText(aGPSPosition.theDateTime)
self.dock.lat.setText(str(aGPSPosition.latitude) + ' ' + aGPSPosition.latitudeNS)
self.dock.lon.setText(str(aGPSPosition.longitude) + ' ' + aGPSPosition.longitudeEW)
self.dock.lineBearing.setText("%5.1i"%aGPSPosition.bearing)
self.dock.lineSpeed.setText("%5.1i"%aGPSPosition.speed)
# display arrow on the map
latitude = aGPSPosition.latitude if aGPSPosition.latitudeNS == 'N' else aGPSPosition.latitude * -1.0
longitude = aGPSPosition.longitude if aGPSPosition.longitudeEW == 'E' else aGPSPosition.longitude * -1.0
p=self.transform.transform(QgsPoint(longitude, latitude))
self.rubberBand.addPoint(p)
self.positionMarker.setHasPosition(True)
self.positionMarker.newCoords(p,aGPSPosition.bearing)
# move map to keep marker at center
curext = self.canvas.extent()
p1 = QgsPoint(p.x()-curext.width()/2,p.y()-curext.height()/2)
p2 = QgsPoint(p.x()+curext.width()/2,p.y()+curext.height()/2)
self.canvas.setExtent(QgsRectangle (p1,p2))
self.canvas.refresh()
def stopGather(self):
self.read.stop()
self.positionMarker.hide()
if len(self.GPSPositions) > 0: # and self.saveInSHAPEFile:
self.GPSTracks.append(self.GPSPositions) # save GPSPositions to GPSTracks
# if len(self.GPSTracks) > 0 and self.saveInSHAPEFile:
if self.saveInSHAPEFile: # this is temporary
# option to save SHAPE file is on, prompt for filename and write the tracks to the file
# QMessageBox.information(self.iface.mainWindow(),"trackGPS","There are: " + str(len(self.GPSTracks)) + " GPS tracks in the current track")
# for j in range(len(self.GPSTracks)):
# QMessageBox.information(self.iface.mainWindow(),"trackGPS","In track #" + str(j) + " There are: " + str(len(self.GPSTracks[j])) + " GPS Positions")
# for i in range(len(self.GPSTracks[j])):
# QMessageBox.information(self.iface.mainWindow(),"trackGPS","Position #" + str(i) + ": Latitude=" + str(self.GPSTracks[j][i].latitude))
self.makeShapeFiles()
if len(self.GPSTracks) > 0:
answer = QMessageBox.question(self.iface.mainWindow(),"Erase Tracks?","Erase the currently displayed tracks?",\
QMessageBox.Yes | QMessageBox.No, QMessageBox.No)
if answer == QMessageBox.Yes:
for band in self.rubberBandS:
band.reset()
self.rubberBand.reset()
self.canvas.refresh()
self.rubberBandS = []
self.GPSPositions = []
self.GPSTracks = []
def toogleGather(self):
if self.read.running:
QMessageBox.information(self.iface.mainWindow(),"GPS Tracker","Stopping GPS Tracking",QMessageBox.Ok)
self.stopGather()
self.dock.btnStart.setText("Start")
self.dock.gpsInformation.setText("Gets GPS Receiver Information")
self.dock.btnStartNewTrack.setDisabled(True)
else:
self.dock.btnStart.setText("Connecting, please be patient....")
self.startGather()
if self.read.session.connected: self.dock.btnStart.setText("Stop")
def connectionMade(self):
# QMessageBox.information(self.iface.mainWindow(),"trackGps","GPS Receiver Connected on port: %s at %i baud\n"%\
# (self.read.session.portName,self.read.session.baudRate),QMessageBox.Ok,0)
self.dock.gpsInformation.setText("GPS Connected on port: %s at %i baud"%(self.read.session.portName,\
self.read.session.baudRate))
self.dock.btnStart.setText("Stop")
self.dock.btnStartNewTrack.setDisabled(False)
# save connection values in session parameters
self.serialPortNumber = self.read.session.port
self.serialPortSpeed = self.read.session.baudRates.index(self.read.session.baudRate)
self.searchAllConnectionsSpeeds = False
def connectionFailed(self,msg):
QMessageBox.warning(self.iface.mainWindow(),"trackGps","Connection to GPSConnection failed\n%s"%(msg),QMessageBox.Ok,0)
if self.read.session.connected: self.read.stop()
self.dock.btnStart.setText("Start")
self.dock.btnStartNewTrack.setDisabled(True) # Starting New Tracks is disabled at start
def showGPSMenuOptions(self):
"""
Function to handle all GPS Tracking Options
"""
#
myGPSOptionsDlg = GPSTrackerOptions(self)
isOK = myGPSOptionsDlg.exec_()
if isOK:
if myGPSOptionsDlg.cbxMarkerType.currentIndex() != self.markerNumber: self.markerNumber = \
myGPSOptionsDlg.cbxMarkerType.currentIndex()
if myGPSOptionsDlg.lineColor != self.lineColor: self.lineColor = myGPSOptionsDlg.lineColor
if myGPSOptionsDlg.markerFillColor != self.markerFillColor: self.markerFillColor = \
myGPSOptionsDlg.markerFillColor
if myGPSOptionsDlg.markerOutlineColor != self.markerOutlineColor: self.markerOutlineColor = \
myGPSOptionsDlg.markerOutlineColor
if myGPSOptionsDlg.sbxTrackWidth.value() != self.trackLineWidth: self.trackLineWidth = \
myGPSOptionsDlg.sbxTrackWidth.value()
if myGPSOptionsDlg.cbxSaveGPSTrack.isChecked() != self.saveInSHAPEFile: self.saveInSHAPEFile =\
myGPSOptionsDlg.cbxSaveGPSTrack.isChecked()
def makeShapeFiles(self):
"""
Function to save data to SHAPE files
"""
myFileName = QgsProject.instance().fileName()
myFileName = str(myFileName)
# if this is a windows OS then the filename needs to have '/' converted to '\'
if myFileName.find('windows') != 0 or myFileName.find('Windows') != 0: myFileName = os.path.normpath(myFileName)
myFilePath = os.path.dirname(myFileName)
#mymessage = 'QGIS Project Pathname=\'' + myFilePath + '\''
#QMessageBox.information(self.iface.mainWindow(),"trackGps",mymessage,QMessageBox.Ok)
myShapeFileNamesDlg = ShapeFileNames(myFilePath)
isOK = myShapeFileNamesDlg.exec_()
CRS = QgsCoordinateReferenceSystem()
crsIsOk = CRS.createFromEpsg(self.GPSTracks[0][0].datumEPSG)
if not crsIsOk: QMessageBox.warning(self.iface.mainWindow(),"trackGPS - makeShapeFiles","Error creating CRS from"+\
" EPSG ID:" + str(self.GPSTracks[0][0].datumEPSG))
if isOK and crsIsOk:
if len(myShapeFileNamesDlg.lnePointsFileName.text()) > 0:
# set up the fields for the Points SHAPE file
latf = QgsField ("LATITUDE", QVariant.Double, "Real", 9, 6)
lonf = QgsField ("LONGITUDE", QVariant.Double, "Real", 10, 6)
nums = QgsField ("NUMOFSATS", QVariant.Int, "Integer", 2, 0)
hdop = QgsField ("HDOP", QVariant.Double, "Real", 4, 2)
theDateTime = QgsField ("DATETIME", QVariant.String, "String", 19, 0)
fixType = QgsField ("FIXTYPE", QVariant.String, "String", 1, 0)
#fixType = QgsField ("FIXTYPE", QVariant.String)
#fixType.setLength(1)
bearing = QgsField ("BEARING", QVariant.Double, "Real", 6, 2)
speed = QgsField ("SPEED-KPH", QVariant.Double, "Real", 5, 1)
trackNumber = QgsField ("TRACKNUM", QVariant.Int, "Integer", 2, 0)
qFields = {}
qFields[0] = latf
qFields[1] = lonf
qFields[2] = nums
qFields[3] = hdop
qFields[4] = theDateTime
qFields[5] = fixType
qFields[6] = bearing
qFields[7] = speed
qFields[8] = trackNumber
# set up the CRS
# open the points SHAPE file
# pointsFile = QgsVectorFileWriter(myShapeFileNamesDlg.lnePointsFileName.text(),"System",qFields,QGis.WKBPoint,CRS)
pointsFile, fileOK = self.createSHAPEfile(myShapeFileNamesDlg.lnePointsFileName.text(),qFields,QGis.WKBPoint,CRS)
if fileOK:
for j in range(len(self.GPSTracks)):
for i in range(len(self.GPSTracks[j])):
theFeature = QgsFeature()
latitude = self.GPSTracks[j][i].latitude
if self.GPSTracks[j][i].latitudeNS == 'S': latitude = -latitude
longitude = self.GPSTracks[j][i].longitude
if self.GPSTracks[j][i].longitudeEW == 'W': longitude = -longitude
theFeature.setGeometry(QgsGeometry.fromPoint(QgsPoint(longitude,latitude)))
theFeature.addAttribute(0, QVariant(latitude))
theFeature.addAttribute(1, QVariant(longitude))
theFeature.addAttribute(2, QVariant(self.GPSTracks[j][i].numSatellites))
theFeature.addAttribute(3, QVariant(self.GPSTracks[j][i].hdop))
theFeature.addAttribute(4, QVariant(self.GPSTracks[j][i].theDateTime))
theFeature.addAttribute(5, QVariant(self.GPSTracks[j][i].fixQuality))
theFeature.addAttribute(6, QVariant(self.GPSTracks[j][i].bearing))
theFeature.addAttribute(7, QVariant(self.GPSTracks[j][i].speed))
theFeature.addAttribute(8, QVariant(j+1))
pointsFile.addFeature(theFeature)
del pointsFile # del file object to force a flush and close
if len(myShapeFileNamesDlg.lneLinesFileName.text()) > 0:
# set up the fields for the Lines SHAPE file
startDateTime = QgsField ("SDATETIME", QVariant.String, "String", 19, 0)
endDateTime = QgsField ("EDATETIME", QVariant.String, "String", 19, 0)
trackNumber = QgsField ("TRACKNUM", QVariant.Int, "Integer", 2, 0)
qFields = {}
qFields[0] = startDateTime
qFields[1] = endDateTime
qFields[2] = trackNumber
linesFile, fileOK = self.createSHAPEfile(myShapeFileNamesDlg.lneLinesFileName.text(),qFields,QGis.WKBLineString,CRS)
if fileOK:
for j in range(len(self.GPSTracks)):
theFeature = QgsFeature()
pointsList = []
for i in range(len(self.GPSTracks[j])):
latitude = self.GPSTracks[j][i].latitude
if self.GPSTracks[j][i].latitudeNS == 'S': latitude = -latitude
longitude = self.GPSTracks[j][i].longitude
if self.GPSTracks[j][i].longitudeEW == 'W': longitude = -longitude
pointsList.append(QgsPoint(longitude,latitude))
theFeature.setGeometry(QgsGeometry.fromPolyline(pointsList))
theFeature.addAttribute(0, QVariant(self.GPSTracks[j][0].theDateTime))
theFeature.addAttribute(1, QVariant(self.GPSTracks[j][len(self.GPSTracks[j])-1].theDateTime))
theFeature.addAttribute(2, QVariant(j+1))
linesFile.addFeature(theFeature)
del linesFile # del file object to force a flush and close
def createSHAPEfile(self,fileName,fileFields,fileType,crs):
'''
this function creates a new, empty shape file for use in writing points or lines
Returns: SHAPEfile, status
if status == True then SHAPEfile is OK to use, if False then an error occured and cannot use SHAPEFile
Input Parameters:
fileName = full name of the SHAPE file to be created
fileFields = map of QgsFields to use for the attributes of the SHAPE file
fileType = QGis.WKBPoint for points file <or> QGis.WKBLine for lines file
crs = the QgsCoordinateReferenceSystem to use for the file
'''
status = True # default is no error
SHAPEfile = QgsVectorFileWriter(fileName,"CP1250",fileFields,fileType,crs)
typeName = 'Points' if fileType == QGis.WKBPoint else 'Lines'
if SHAPEfile.hasError() != QgsVectorFileWriter.NoError:
status = False # report an error
if SHAPEfile.hasError() == QgsVectorFileWriter.ErrDriverNotFound:
QMessageBox.warning(self.iface.mainWindow(),"trackGPS - makeShapeFiles","Error creating " + typeName + " SHAPE file" +\
" ERROR=\'ErrDriverNotFound\' - saving " + typeName + " is aborted")
elif SHAPEfile.hasError() == QgsVectorFileWriter.ErrCreateDataSource:
QMessageBox.warning(self.iface.mainWindow(),"trackGPS - makeShapeFiles","Error creating " + typeName + " SHAPE file" +\
" ERROR=\'ErrCreateDataSource\' - saving " + typeName + " is aborted")
elif SHAPEfile.hasError() == QgsVectorFileWriter.ErrCreateLayer:
QMessageBox.warning(self.iface.mainWindow(),"trackGPS - makeShapeFiles","Error creating " + typeName + " SHAPE file" +\
" ERROR=\'ErrCreateLayer\' - saving " + typeName + " is aborted")
elif SHAPEfile.hasError() == QgsVectorFileWriter.ErrAttributeTypeUnsupported:
QMessageBox.warning(self.iface.mainWindow(),"trackGPS - makeShapeFiles","Error creating " + typeName + " SHAPE file" +\
" ERROR=\'ErrAttributeTypeUnsupported\' - saving " + typeName + " is aborted")
else:
QMessageBox.warning(self.iface.mainWindow(),"trackGPS - makeShapeFiles","Error creating " + typeName + " SHAPE file" +\
" ERROR=\'UNKOWN ERROR\' saving " + typeName + " is aborted")
return SHAPEfile,status