def main():
target_file = open("target_positions_gps.txt")
# Recieve GPS target position
line = target_file.readline()
if line != "":
t, lat, long = line.split(",")
target_loc = GPSCoord.from_nmea(lat.strip(), long.strip())
while True:
time.sleep(1)
# Recieve GPS target position
line = target_file.readline()
if line != "":
t, lat, long = line.split(",")
else:
target_file.close
break
prev_target_loc = target_loc
target_loc = GPSCoord.from_nmea(lat.strip(), long.strip())
dest = swarming_checks(drones, target_loc, prev_target_loc)
if dest != None:
print("target lat:{} long:{} dest lat:{} long:{}".format(
target_loc.lat, target_loc.long, dest.lat, dest.long))
def read_coordinate(self):
""" Reads the coordinates from the next line of the given file, and returns
it as a GPSCoord. Each line of the file contains time, latitude and
longitude in NMEA format.
"""
time, latitude, longitude = self.target_pos_file.readline().split(",")
return GPSCoord.from_nmea(latitude.strip(), longitude.strip())
def main():
target_file = open("target_positions_gps.txt")
while True:
time.sleep(1)
# Recieve GPS target position
line = target_file.readline()
if line != "":
t, lat, long = line.split(",")
else:
target_file.close
break
# Output desired position
target_loc = GPSCoord.from_nmea(lat.strip(), long.strip())
desired_loc = swarming_logic.update_loc(target_loc, drone_num)
print("Target Loc: {} Desired Loc: {}".format(target_loc, desired_loc))
def main():
# Socket to send readings to the client.
socket = init_socket()
ser = serial.Serial('../../../../../../../dev/tty.usbserial',
4800,
timeout=5)
line = ser.readline(
) # Read remaining junk line so that next line is clean
while True:
# Change this to readings from the GPS module.
# time_sample = "Sat Aug 3 14:21:15 2019"
# latitude = "4331.23049S"
# longitude = "17234.98533E"
line = ser.readline().decode('utf-8')
splitline = line.split(",")
if splitline[0] == GPGGA:
date = time.localtime(time.time())
gps_time = "{}:{}:{}".format(splitline[1][:2], splitline[1][2:4],
splitline[1][4:-4])
time_sample = "{} {} {} {} {}".format(WEEKDAYS[date.tm_wday],
MONTHS[date.tm_mon - 1],
date.tm_mday, gps_time,
date.tm_year)
latitude_nmea = splitline[2] + splitline[3]
longitude_nmea = splitline[4] + splitline[5]
coord = GPSCoord.from_nmea(latitude_nmea, longitude_nmea)
print_message = "{},{:.5f},{:.5f}".format(time_sample, coord.lat,
coord.long)
message = "{},{:.5f},{:.5f}".format(time_sample, coord.lat,
coord.long)
storage = open("gps_storage.txt", "w")
storage.write(message + '\n')
print("Sending: {}".format(print_message))
# Send new gps data to NUC
socket.send(message.encode('utf-8'))