def test_read_data_str_raw(self):
data = """$GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E,A*2B
$GPGGA,184333.07,1929.439,S,02410.387,E,1,04,2.8,100.00,M,-33.9,M,,0000*65
$GPRMC,184444.08,A,1928.041,S,02410.809,E,74.00,16.78,210410,0.0,E,A*25
$GPGGA,184445.08,1928.021,S,02410.814,E,1,04,2.7,100.00,M,-33.9,M,,0000*6E
$GPGLL,1928.001,S,02410.820,E,184446.08,A,A*79
$GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36
$GPRMC,184448.08,A,1927.962,S,02410.832,E,74.00,16.78,210410,0.0,E,A*26
$GPGGA,184449.08,1927.942,S,02410.838,E,1,04,1.7,100.00,M,-33.9,M,,0000*6C
$GPGLL,1927.922,S,02410.844,E,184450.08,A,A*7B
$GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36
"""
streamer = NMEAStream()
nmea_objects = streamer.get_strings(data=data)
nmea_objects += streamer.get_strings(data='')
expected_result = [
'GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E,A*2B',
'GPGGA,184333.07,1929.439,S,02410.387,E,1,04,2.8,100.00,M,-33.9,M,,0000*65',
'GPRMC,184444.08,A,1928.041,S,02410.809,E,74.00,16.78,210410,0.0,E,A*25',
'GPGGA,184445.08,1928.021,S,02410.814,E,1,04,2.7,100.00,M,-33.9,M,,0000*6E',
'GPGLL,1928.001,S,02410.820,E,184446.08,A,A*79',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36',
'GPRMC,184448.08,A,1927.962,S,02410.832,E,74.00,16.78,210410,0.0,E,A*26',
'GPGGA,184449.08,1927.942,S,02410.838,E,1,04,1.7,100.00,M,-33.9,M,,0000*6C',
'GPGLL,1927.922,S,02410.844,E,184450.08,A,A*7B',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36'
]
self.assertEqual(expected_result, nmea_objects)
def nmea_parse(infile):
''' nmea_parse() - Read a GIS waypoint file and write lat-lon values
Parameters
----------
infile : str
waypoint file name
Returns
-------
nothing
'''
from pynmea.streamer import NMEAStream
nmea_file = open(infile)
nmea_stream = NMEAStream(stream_obj=nmea_file)
next_data = nmea_stream.get_objects()
nmea_objects = []
while next_data:
nmea_objects += next_data
next_data = nmea_stream.get_objects()
for nmea_obj in nmea_objects:
if hasattr(nmea_obj, 'lat'):
print(f' Lat/Lon: ({nmea_obj.lat}, {nmea_obj.lon})')
return
def test__read_data(self):
expected_result = [
'GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E,A*2B',
'GPGGA,184333.07,1929.439,S,02410.387,E,1,04,2.8,100.00,M,-33.9,M,,0000*65',
'GPRMC,184444.08,A,1928.041,S,02410.809,E,74.00,16.78,210410,0.0,E,A*25',
'GPGGA,184445.08,1928.021,S,02410.814,E,1,04,2.7,100.00,M,-33.9,M,,0000*6E',
'GPGLL,1928.001,S,02410.820,E,184446.08,A,A*79',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36',
'GPRMC,184448.08,A,1927.962,S,02410.832,E,74.00,16.78,210410,0.0,E,A*26',
'GPGGA,184449.08,1927.942,S,02410.838,E,1,04,1.7,100.00,M,-33.9,M,,0000*6C',
'GPGLL,1927.922,S,02410.844,E,184450.08,A,A*7B',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36'
]
input_data = """$GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E,A*2B
$GPGGA,184333.07,1929.439,S,02410.387,E,1,04,2.8,100.00,M,-33.9,M,,0000*65
$GPRMC,184444.08,A,1928.041,S,02410.809,E,74.00,16.78,210410,0.0,E,A*25
$GPGGA,184445.08,1928.021,S,02410.814,E,1,04,2.7,100.00,M,-33.9,M,,0000*6E
$GPGLL,1928.001,S,02410.820,E,184446.08,A,A*79
$GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36
$GPRMC,184448.08,A,1927.962,S,02410.832,E,74.00,16.78,210410,0.0,E,A*26
$GPGGA,184449.08,1927.942,S,02410.838,E,1,04,1.7,100.00,M,-33.9,M,,0000*6C
$GPGLL,1927.922,S,02410.844,E,184450.08,A,A*7B
$GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36
"""
streamer = NMEAStream()
data = streamer._read(data=input_data)
data += streamer._read(data='')
self.assertEqual(data, expected_result)
def test__read(self):
test_file = os.path.join(os.path.dirname(__file__), 'test_data',
'test_data_small.gps')
expected_result = [
'GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E,A*2B',
'GPGGA,184333.07,1929.439,S,02410.387,E,1,04,2.8,100.00,M,-33.9,M,,0000*65',
'GPRMC,184444.08,A,1928.041,S,02410.809,E,74.00,16.78,210410,0.0,E,A*25',
'GPGGA,184445.08,1928.021,S,02410.814,E,1,04,2.7,100.00,M,-33.9,M,,0000*6E',
'GPGLL,1928.001,S,02410.820,E,184446.08,A,A*79',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36',
'GPRMC,184448.08,A,1927.962,S,02410.832,E,74.00,16.78,210410,0.0,E,A*26',
'GPGGA,184449.08,1927.942,S,02410.838,E,1,04,1.7,100.00,M,-33.9,M,,0000*6C',
'GPGLL,1927.922,S,02410.844,E,184450.08,A,A*7B',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36'
]
with open(test_file, 'r') as test_file_fd:
streamer = NMEAStream(stream_obj=test_file_fd)
next_data = streamer._read()
data = []
while next_data:
data += next_data
next_data = streamer._read()
pass
self.assertEqual(data, expected_result)
def start_server(self):
gps_parser = NMEAStream()
while True:
try:
if not (self.src_data is None):
gps_info = source_port.readline()
else:
print "Loading static nav data"
gps_info = self.nav_data.split('\n')
for line in gps_info:
gps_sentence = gps_parser._get_type(line)()
gps_sentence.parse(gps_feed)
if gps_sentence.sen_type == 'GPRMC' or gps_sentence.sen_type == 'GPGGA':
time = datetime.strptime('%s' % gps_sentence.timestamp,
'%H%M%S.%f')
time += datetime.timedelta(microseconds=1000)
#GPGGA
print line
dest_port.writeline(line)
time.sleep(1)
except Exception as e:
pass
dest_port.close()
def test_read_data_obj(self):
test_file = os.path.join(os.path.dirname(__file__), 'test_data',
'test_data_small.gps')
with open(test_file, 'r') as test_file_fd:
streamer = NMEAStream(stream_obj=test_file_fd)
next_data = streamer.get_objects()
nmea_objects = []
while next_data:
nmea_objects += next_data
next_data = streamer.get_objects()
expected_object_types = [
'GPRMC', 'GPGGA', 'GPRMC', 'GPGGA', 'GPGLL', 'GPVTG', 'GPRMC',
'GPGGA', 'GPGLL', 'GPVTG'
]
self.assertEqual(expected_object_types[0], nmea_objects[0].sen_type)
self.assertEqual(expected_object_types[1], nmea_objects[1].sen_type)
self.assertEqual(expected_object_types[2], nmea_objects[2].sen_type)
self.assertEqual(expected_object_types[3], nmea_objects[3].sen_type)
self.assertEqual(expected_object_types[4], nmea_objects[4].sen_type)
self.assertEqual(expected_object_types[5], nmea_objects[5].sen_type)
self.assertEqual(expected_object_types[6], nmea_objects[6].sen_type)
self.assertEqual(expected_object_types[7], nmea_objects[7].sen_type)
self.assertEqual(expected_object_types[8], nmea_objects[8].sen_type)
self.assertEqual(expected_object_types[9], nmea_objects[9].sen_type)
def test_read_data_obj_raw(self):
data = """$GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E,A*2B
$GPGGA,184333.07,1929.439,S,02410.387,E,1,04,2.8,100.00,M,-33.9,M,,0000*65
$GPRMC,184444.08,A,1928.041,S,02410.809,E,74.00,16.78,210410,0.0,E,A*25
$GPGGA,184445.08,1928.021,S,02410.814,E,1,04,2.7,100.00,M,-33.9,M,,0000*6E
$GPGLL,1928.001,S,02410.820,E,184446.08,A,A*79
$GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36
$GPRMC,184448.08,A,1927.962,S,02410.832,E,74.00,16.78,210410,0.0,E,A*26
$GPGGA,184449.08,1927.942,S,02410.838,E,1,04,1.7,100.00,M,-33.9,M,,0000*6C
$GPGLL,1927.922,S,02410.844,E,184450.08,A,A*7B
$GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36
"""
streamer = NMEAStream()
nmea_objects = streamer.get_objects(data=data)
nmea_objects += streamer.get_objects(data='')
expected_object_types = [
'GPRMC', 'GPGGA', 'GPRMC', 'GPGGA', 'GPGLL', 'GPVTG', 'GPRMC',
'GPGGA', 'GPGLL', 'GPVTG'
]
self.assertEqual(expected_object_types[0], nmea_objects[0].sen_type)
self.assertEqual(expected_object_types[1], nmea_objects[1].sen_type)
self.assertEqual(expected_object_types[2], nmea_objects[2].sen_type)
self.assertEqual(expected_object_types[3], nmea_objects[3].sen_type)
self.assertEqual(expected_object_types[4], nmea_objects[4].sen_type)
self.assertEqual(expected_object_types[5], nmea_objects[5].sen_type)
self.assertEqual(expected_object_types[6], nmea_objects[6].sen_type)
self.assertEqual(expected_object_types[7], nmea_objects[7].sen_type)
self.assertEqual(expected_object_types[8], nmea_objects[8].sen_type)
self.assertEqual(expected_object_types[9], nmea_objects[9].sen_type)
def extract_gps_data(filepath, these_sentences=(
'GPRMC',
'GPGGA',
)):
"""Use the pynmea library to read data out of an nmea log file."""
with open(filepath, 'r') as data_file:
streamer = NMEAStream(data_file)
next_data = streamer.get_objects()
data = []
while next_data:
for nd in next_data:
if nd.sen_type in these_sentences:
data.append(nd)
next_data = streamer.get_objects()
return data
def cmd_GPS(args):
'''set GPS device'''
state = mpstate.GPS_state
if len(args) != 1:
print("Usage: GPS <device>")
return
state.device = args[0]
state.port = serial.Serial(state.device,
38400,
timeout=0,
dsrdtr=False,
rtscts=False,
xonxoff=False)
state.port.write("AT*E2GPSCTL=1,5,1\r\n")
time.sleep(2)
state.port.write("AT*E2GPSNPD\r\n")
time.sleep(2)
state.nmea = NMEAStream(stream_obj=state.port)
def __init__(self):
self.MR['rpc_connect'] = {}
self.MR['rpc_disconnect'] = {}
self.MR['rpc_nmeainput'] = {'line': [str, "NMEA raw data"]}
self.MR['rpc_getNMEADeltaLog'] = {
'oldest': [float, "Begin of data collection."],
'newest': [float, "End of data collection. (0 = now)", 0]
}
self.MR['rpc_getNMEATimeLog'] = {
'eventtime': [float, "Begin of data collection."],
'maxdeviation': [float, "Maximum time deviation in seconds.", 10]
}
super(NMEABaseSensor, self).__init__()
self.Configuration.update(
{'SerialPort': 'cape.Communication.SerialPort.SerialPort_15'})
self.nmeaLog = {}
self.streamer = NMEAStream()
def load_data_file(self, file_name, type='gps'):
from pynmea.streamer import NMEAStream
from uuts.craton.cli import navigation
# Start analyze recording file Vs. gps simulator file
with open(file_name, 'r') as data_file_fd:
if type == 'gps':
nmea_stream = NMEAStream(stream_obj=data_file_fd)
elif type == 'navfix':
nmea_stream = navigation.NavigationDataAnalyzer(
stream_obj=data_file_fd)
else:
raise globals.Error("GPS information type is mismatch")
next_data = nmea_stream.get_objects()
nmea_objects = []
while next_data:
nmea_objects += next_data
next_data = nmea_stream.get_objects()
data_file_fd.close()
return nmea_objects
from pynmea.streamer import NMEAStream
data_file = '../tests/test_data/test_data.gps'
with open(data_file, 'r') as data_file_fd:
nmea_stream = NMEAStream(stream_obj=data_file_fd)
next_data = nmea_stream.get_objects()
nmea_objects = []
while next_data:
nmea_objects += next_data
next_data = nmea_stream.get_objects()
# All nmea objects are now in variable nmea_objects
for nmea_ob in nmea_objects:
print nmea_ob.sen_type
d = line.split(',')
print d[7]
f.write(d[7] + "\n")
#f.write(d[2] + "," + d[4] + "\n")
#print line
except:
pass
print gga
print lines
f.close()
quit()
time.sleep(5)
with open('gpslog291112.txt', 'r') as data_file:
streamer = NMEAStream(data_file)
next_data = streamer.get_objects()
data = []
i = 0
samples = 0
while next_data:
try:
datapack = []
data += next_data
next_data = streamer.get_objects()
#print type(next_data)
try:
#print data[i].latitude
#print data[i].lat_direction
#print data[i].longitude
"""Parse NMEA GPS strings"""
from pynmea.streamer import NMEAStream
nmeaFile = open("nmea.txt")
nmea_stream = NMEAStream(stream_obj=nmeaFile)
next_data = nmea_stream.get_objects()
nmea_objects = []
while next_data:
nmea_objects += next_data
next_data = nmea_stream.get_objects()
# The NMEA stream is parsed!
# Let's loop through the
# Python object types:
for nmea_ob in nmea_objects:
if hasattr(nmea_ob, "lat"):
print "Lat/Lon: (%s, %s)" % (nmea_ob.lat, nmea_ob.lon)
def test_splits_data_4(self):
test_data = '$foo,bar,baz*77NOTHING$Meep,wibble,123,321NOTHING'
streamer = NMEAStream()
result = streamer._split(test_data, separator='NOTHING')
self.assertEqual(result, ['foo,bar,baz*77', 'Meep,wibble,123,321'])
def start_gps_reader(self):
# serial_port = self.start_serial_connection()
#sock = socket.socket( socket.AF_INET, socket.SOCK_DGRAM )
#sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
#sock.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
#sock.setblocking(0)
#sock.bind( ('', UDP_SERVER_PORT) )
context = zmq.Context()
sock = context.socket(zmq.SUB)
sock.setsockopt(zmq.SUBSCRIBE, '')
sock.connect('tcp://localhost:%d' % UDP_SERVER_PORT)
gps_parser = NMEAStream()
sat_lock = 0
print "Starting reading from port"
if sock:
while True:
try:
#gps_feed = serial_port.readline()
gps_feed = sock.recv()
if gps_feed[0] != '$':
print "JUNK feed : " + gps_feed
continue
# print "gps_feed : " + gps_feed
gps_sentence = gps_parser._get_type(gps_feed)()
gps_sentence.parse(gps_feed)
if gps_sentence.sen_type == 'GPGSA':
if (int(gps_sentence.mode_fix_type) > 1) and (sat_lock
< 3):
# Set last lock state
sat_lock = int(gps_sentence.mode_fix_type)
print "Sat is locked with value of {}".format(
sat_lock)
# Set computer clock
if gps_sentence.sen_type == 'GPRMC':
# print "date " + gps_sentence.datestamp + " time : " + gps_sentence.timestamp
#date 240413 time : 201917.00
a = '%s %s' % (gps_sentence.datestamp,
gps_sentence.timestamp)
time_obj = time.strptime('%s' % a, '%d%m%y %H%M%S.%f')
if ((datetime.datetime.strptime(
'%s' % a,
'%d%m%y %H%M%S.%f').microsecond) == 0):
new_time = [
time_obj.tm_year, time_obj.tm_mon,
time_obj.tm_wday, time_obj.tm_mday,
time_obj.tm_hour, time_obj.tm_min,
time_obj.tm_sec, 0
]
# new_time = [ time_obj.year, time_obj.month, time_obj.tm_wday, time_obj.tm_mday, time_obj.tm_hour, time_obj.tm_min, time_obj.tm_sec, 0]
print "Updating clock to: date " + gps_sentence.datestamp + " time : " + gps_sentence.timestamp
win32api.SetSystemTime(*new_time)
except Exception, e:
pass
def test_splits_data_1(self):
test_data = '$foo,bar,baz*77\n$Meep,wibble,123,321\n'
streamer = NMEAStream()
result = streamer._split(test_data)
self.assertEqual(result, ['foo,bar,baz*77', 'Meep,wibble,123,321'])
def test__get_type(self):
streamer = NMEAStream()
sentence = '$GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E,A*2B'
sen_type = streamer._get_type(sentence)
self.assertTrue(isinstance(sen_type(), GPRMC))
