Example #1
0
	def __init__(self,accelfile,gpsfile,measstate,fulllog,plog):
		self.GPS = {0: 'Latitude', 1: 'Longtitude', 2: 'Velocity'}
		self.IMU = {0: 'Acceleration X', 1: 'Acceleration Y', 2: 'Acceleration Z', 3: 'Gyroscope X', 4: 'Gyroscope Y', 5: 'GyroscopeZ', 6: 'MagnetometerX', 7: 'MagnetometerY', 8: 'MagnetometerZ', 9: 'Temperature'}
		self.MsgID = {0: self.GPS, 1: self.IMU}
		self.DevID = {0: 'GPS', 1: 'IMU'}
		self.accelburst = [0,0,0,0,0,0,0]
		self.accellog = accelfile
		self.fulllog = fulllog
		self.plog = plog
	#	self.accelwriter = csv.writer(self.accellog)
		self.prevtime = 0
		self.excount = 0
		#self.accelburst = 0
		self.gpspacket = 0
		self.measureddata = measstate
		self.n_rec = 0
		
		self.gpsdata = [0,0,0,0,0,0,0,0]
		#Time of fix, Latitude, Longitude, Speed over ground, Course Made Good True, Date of Fix, Magnetic Variation, local timestamp
		self.gpslog = gpsfile
	#	self.writer = csv.writer(self.accellog)
		#self.gpswriter = csv.writer(self.gpslog)
		#print "Stdsqewarted!"
		self.state = numpy.zeros((9,2))
		self.mergedata = False
		
		self.centerlat = 57.02175678643284*pi/180
		self.centerlon = 9.97691237031843*pi/180;
		self.rot = gpsfunctions.get_rot_matrix(self.centerlat,self.centerlon)
		
		self.gpsinvalid = 0
		self.accconst = 0.003333333333333
		self.gyroconst = 0.05*pi/180
		
		pass
Example #2
0
    def __init__(self, accelfile, gpsfile, gpsstate, measstate, fulllog, plog):
        # def __init__(self,accelfile,gpsfile,fulllog,plog):
        self.GPS = {0: "Latitude", 1: "Longtitude", 2: "Velocity"}
        self.IMU = {
            0: "AccelerationX",
            1: "AccelerationY",
            2: "AccelerationZ",
            3: "GyroscopeX",
            4: "GyroscopeY",
            5: "GyroscopeZ",
            6: "MagnetometerX",
            7: "MagnetometerY",
            8: "MagnetometerZ",
            9: "Temperature",
        }
        self.MsgID = {0: self.GPS, 1: self.IMU}
        self.DevID = {0: "GPS", 1: "IMU"}
        self.accelburst = [0, 0, 0, 0, 0, 0, 0]
        self.accellog = accelfile
        self.fulllog = fulllog
        self.plog = plog
        self.prevtime = 0
        self.excount = 0
        # self.accelburst = 0
        self.gpspacket = 0
        self.gps = gpsstate
        self.measureddata = measstate
        self.n_rec = 0

        self.gpsdata = [0, 0, 0, 0, 0, 0, 0, 0]
        # Time of fix, Latitude, Longitude, Speed over ground, Course Made Good True, Date of Fix, Magnetic Variation, local timestamp
        self.gpslog = gpsfile

        self.state = numpy.zeros((12, 2))
        self.mergedata = False

        self.centerlat = 57.02175678643284 * pi / 180
        self.centerlon = 9.97691237031843 * pi / 180
        self.rot = gpsfunctions.get_rot_matrix(self.centerlat, self.centerlon)

        self.gpsinvalid = 0
        self.accconst = 0.003333333333333
        self.gyroconst = 0.05 * pi / 180

        self.pub_bm = rospy.Publisher("bm", BatteryMonitor, queue_size=1)
        self.pub_gps = rospy.Publisher("gps1", GPS, queue_size=1)

        self.gpsmsg = GPS()

        self.bank1 = [0.0, 0.0, 0.0, 0.0]
        self.bank2 = [0.0, 0.0, 0.0, 0.0]
        pass
Example #3
0
    def __init__(self,accelfile,gpsfile,gpsstate,measstate,fulllog,plog):
    #def __init__(self,accelfile,gpsfile,fulllog,plog):
        self.GPS = {0: 'Latitude',
                    1: 'Longtitude',
                    2: 'Velocity'}
        self.IMU = {0: 'AccelerationX',
                    1: 'AccelerationY',
                    2: 'AccelerationZ',
                    3: 'GyroscopeX',
                    4: 'GyroscopeY',
                    5: 'GyroscopeZ',
                    6: 'MagnetometerX',
                    7: 'MagnetometerY',
                    8: 'MagnetometerZ',
                    9: 'Temperature'}
        self.MsgID = {0: self.GPS, 1: self.IMU}
        self.DevID = {0: 'GPS', 1: 'IMU'}
        self.accelburst = [0,0,0,0,0,0,0]
        self.accellog = accelfile
        self.fulllog = fulllog
        self.plog = plog
        self.prevtime = 0
        self.excount = 0
        #self.accelburst = 0
        self.gpspacket = 0
        self.gps = gpsstate
        self.measureddata = measstate
        self.n_rec = 0
        
        self.gpsdata = [0,0,0,0,0,0,0,0]
        #Time of fix, Latitude, Longitude, Speed over ground, Course Made Good True, Date of Fix, Magnetic Variation, local timestamp
        self.gpslog = gpsfile

        self.state = numpy.zeros((12,2))
        self.mergedata = False
        
        self.centerlat = 57.02175678643284*pi/180
        self.centerlon = 9.97691237031843*pi/180;
        self.rot = gpsfunctions.get_rot_matrix(self.centerlat,self.centerlon)
        
        self.gpsinvalid = 0
        self.accconst = 0.003333333333333
        self.gyroconst = 0.05*pi/180

        self.pub_bm = rospy.Publisher('bm', BatteryMonitor, queue_size=1)
        self.pub_gps = rospy.Publisher('gps1', GPS, queue_size=1)

        self.gpsmsg = GPS()
        
        self.bank1 = [0.0, 0.0, 0.0, 0.0]
        self.bank2 = [0.0, 0.0, 0.0, 0.0]
        pass
Example #4
0
    def parse(self, packet):
        # print packet
        try:
            if ord(packet["DevID"]) == 0:  # LLI data
                if ord(packet["MsgID"]) == 13:  # Battery monitor sample
                    print ("BANK1:\t")
                    self.bank1[0] = (ord(packet["Data"][0]) << 8 | ord(packet["Data"][1])) * (0.25 * 3.0 / 1.43)
                    self.bank1[1] = (ord(packet["Data"][2]) << 8 | ord(packet["Data"][3])) * (0.25 * 3.0 / 1.43)
                    self.bank1[2] = (ord(packet["Data"][4]) << 8 | ord(packet["Data"][5])) * (0.25 * 3.0 / 1.43)
                    self.bank1[3] = (ord(packet["Data"][6]) << 8 | ord(packet["Data"][7])) * (0.25 * 3.0 / 1.43)
                    print (self.bank1)

                    print ("BANK2:\t")
                    self.bank2[0] = (ord(packet["Data"][8]) << 8 | ord(packet["Data"][9])) * (0.25 * 3.0 / 1.43)
                    self.bank2[1] = (ord(packet["Data"][10]) << 8 | ord(packet["Data"][11])) * (0.25 * 3.0 / 1.43)
                    self.bank2[2] = (ord(packet["Data"][12]) << 8 | ord(packet["Data"][13])) * (0.25 * 3.0 / 1.43)
                    self.bank2[3] = (ord(packet["Data"][14]) << 8 | ord(packet["Data"][15])) * (0.25 * 3.0 / 1.43)
                    print (self.bank2)

                    # Measured offsets
                    self.bank1[0] = self.bank1[0] + 97.33
                    self.bank1[1] = self.bank1[1] + 143.67
                    self.bank1[2] = self.bank1[2] + 138.67
                    self.bank1[3] = self.bank1[3] + 124.33

                    self.bank2[0] = self.bank2[0] + 111.33
                    self.bank2[1] = self.bank2[1] + 130.67
                    self.bank2[2] = self.bank2[2] + 143.67
                    self.bank2[3] = self.bank2[3] + 111.33

                    """
                    if min(self.bank1) < 3600.0:
                        self.bank1 = [3600.0, 3600.0, 3600.0, 3600.0]

                    if min(self.bank2) < 3600.0:
                        self.bank2 = [3600.0, 3600.0, 3600.0, 3600.0]

                    if max(self.bank1) > 4200.0:
                        self.bank1 = [4200.0, 4200.0, 4200.0, 4200.0]

                    if max(self.bank2) > 4200.0:
                        self.bank2 = [4200.0, 4200.0, 4200.0, 4200.0]
                    """
                    if not rospy.is_shutdown():
                        self.pub_bm.publish(self.bank1, self.bank2)

            if ord(packet["DevID"]) == 20:  # IMU data
                if ord(packet["MsgID"]) == 14:  # Burst read reduced
                    # self.accelburst = self.accelburst + 1
                    # print "IMU: " + str(self.accelburst)

                    # print "IMU"
                    meas = numpy.zeros((9, 2))
                    accelnr = 0
                    order = [7, 1, 4, 6, 6]
                    if self.mergedata:
                        pass
                    self.mergedata = False
                    # print "IMU!"
                    try:
                        # print "IMU"
                        """The structure of the packet is 
                        Zgyro
                        X acc
                        Y acc
                        X Mag
                        Y Mag
                        ADC
                        """
                        # types = ['ADC','Ymag', 'Xmag', 'Yacc', 'Xacc', 'Zgyro']
                        # self.accellog.write("".join(packet['Data']) + "\r\n")
                        measurements = []
                        for i in range(len(packet["Data"])):
                            if (i & 1) == 1:
                                tempval = packet["Data"][i - 1 : i + 1]
                                tempval.reverse()
                                val = 0
                                try:
                                    val = struct.unpack("h", "".join(tempval))
                                except:
                                    pass
                                self.accellog.write(str(val[0]) + ", ")
                                self.fulllog.write(str(val[0]) + ", ")
                                measurements.append(val[0])
                                # print val[0]
                        # print measurements[5]
                        # print measurements
                        self.accellog.write(str(time.time()) + "\r\n")
                        self.fulllog.write(str(time.time()) + "\r\n")
                        if abs(measurements[5]) < 10:  # Check that the grounded ADC doesn't return a high value
                            # Calculate heading from magnetometer:

                            heading = 0
                            if -measurements[3] > 0:
                                heading = (
                                    (90 - atan(float(-measurements[4]) / float(-measurements[3])) * 180 / pi) * pi / 180
                                )
                            elif -measurements[3] < 0:
                                heading = (
                                    (270 - atan(float(-measurements[4]) / float(-measurements[3])) * 180 / pi)
                                    * pi
                                    / 180
                                )
                            else:
                                if -measurements[4] < 0:
                                    heading = pi
                                else:
                                    heading = 0

                            # heading = -(2*pi-heading-pi/2)
                            heading = -heading
                            # print chr(27) + "[2J"
                            # print "[" + str(measurements[4]) + ", " + str(measurements[3]) + "]\t Theta: " + str(heading) + "\t Time:" + str(time.time())

                            accx = -measurements[2] * self.accconst
                            accy = -measurements[1] * self.accconst
                            gyroz = -measurements[0] * self.gyroconst

                            self.state[2] = [accx, 1]
                            self.state[5] = [accy, 1]
                            self.state[6] = [heading, 1]
                            self.state[7] = [gyroz, 1]
                            # print self.state
                            for i in range(numpy.size(self.state, 0)):
                                for j in range(numpy.size(self.state, 1)):
                                    self.measureddata[i, j] = self.state[i, j]
                            # measstate = self.state

                            # print chr(27) + "[2J"
                            # print self.measureddata
                            self.state[:, 1] = 0

                    except Exception as e:
                        print e
                    print "exception"

                    # print "IMU BURST!"
                    pass
                elif ord(packet["MsgID"]) == 13:  # Burst read
                    #                    print "Burst read"
                    measurements = []
                    for i in range(len(packet["Data"])):
                        if (i & 1) == 1:
                            tempval = packet["Data"][i - 1 : i + 1]
                            tempval.reverse()
                            val = 0
                            try:
                                val = struct.unpack("h", "".join(tempval))
                            except:
                                pass
                            self.accellog.write(str(val[0]) + ", ")
                            self.fulllog.write(str(val[0]) + ", ")
                            measurements.append(val[0])

                    self.accellog.write(str(time.time()) + "\r\n")
                    self.fulllog.write(str(time.time()) + "\r\n")

                    self.state[0] = [measurements[0], 1]  # supply
                    self.state[1] = [measurements[1], 1]  # xacc
                    self.state[2] = [measurements[2], 1]  # yacc
                    self.state[3] = [measurements[3], 1]  # zacc
                    self.state[4] = [measurements[4], 1]  # xgyro
                    self.state[5] = [measurements[5], 1]  # ygyro
                    self.state[6] = [measurements[6], 1]  # zgyro
                    self.state[7] = [measurements[7], 1]  # xmag
                    self.state[8] = [measurements[8], 1]  # ymag
                    self.state[9] = [measurements[9], 1]  # zmag
                    self.state[10] = [measurements[10], 1]  # temp
                    self.state[11] = [measurements[11], 1]  # adc

                    # Writing to our "output" object measureddata
                    for i in range(numpy.size(self.state, 0)):
                        for j in range(numpy.size(self.state, 1)):
                            self.measureddata[i, j] = self.state[i, j]

                    self.state = numpy.zeros((12, 2))

                elif ord(packet["MsgID"]) == 15:  # Reduced ADIS data, RF test
                    self.n_rec += 1
                    msgnr = ord(packet["Data"][0])
                    # print msgnr
                    self.plog.write(str(self.n_rec) + ", ")
                    self.plog.write(str(msgnr))
                    self.plog.write(", 0\n")

            elif ord(packet["DevID"]) == 30:  # GPS1 data
                # print "GPS!"
                # time.sleep(1)
                if ord(packet["MsgID"]) == 6:  # This is what the LII sends for the moment
                    # ['$GPGGA', '133635.000', '5700.8791', 'N', '00959.1707', 'E', '1', '7', '1.23', '42.0', 'M', '42.5', 'M', '', '*6E\r\n']
                    # ['$GPRMC', '133635.000', 'A', '5700.8791', 'N', '00959.1707', 'E', '0.20', '263.57', '040914', '', '', 'A*61\r\n']

                    # We expect to get both GPGGA and GPRMC at every GPS sample. This is in two messages.
                    # The GPRMC message is the plast one, so we publish our hybrid GPS message in that if.

                    # print str("".join(packet['Data']))
                    content = "".join(packet["Data"]).split(",")
                    print (content)

                    if content[0] == "$GPGGA":
                        # The GPGGA packet contain the following information:
                        # [0] Message type ($GPGGA)
                        # [1] Time
                        # [2] Latitude
                        # [3] N or S (N)
                        # [4] Longitude
                        # [5] E or W (E)
                        # [6] Fix quality (expect 1 = GPS fix single)
                        # [7] Number of satellites being tracked
                        # [8] HDOP
                        # [9] Altitude, above mean sea level
                        # [10] Unit for altitude M = meters
                        # [11] Height of geoid (mean sea level) above WGS84 ellipsoid
                        # [12] Unit of heigt M = meters
                        # [13] DGPS stuff, ignore
                        # [14] DGPS stuff, ignore
                        # [15] Checksum
                        print ("GGA")
                        if content[11] == "":
                            print ("GGA parsing, no fix")
                        else:
                            self.gpsmsg.fix = int(content[6])
                            self.gpsmsg.sats = int(content[7])
                            self.gpsmsg.HDOP = float(content[8])
                            self.gpsmsg.altitude = float(content[9])
                            self.gpsmsg.height = float(content[11])

                    if content[0] == "$GPRMC" and content[2] == "A":
                        # print ",".join("".join(packet['Data']).split(',')[1:8])
                        print ("RMC")
                        # The GPRMC packet contain the following information:
                        # [0] Message type ($GPRMC)
                        # [1] Timestamp
                        # [2] A for valid, V for invalid (only valid packets gets send)
                        # [3] Latitude
                        # [4] N or S (N)
                        # [5] Longitude
                        # [6] E or W (E)
                        # [7] Speed over ground
                        # [8] Track angle
                        # [9] Date
                        # [10] Magnetic variation value [not existant on this cheap GPS]
                        # [11] Magnetic variation direction [not existant on this cheap GPS]

                        if content[2] == "A":
                            print ("Wee, we have a valid $GPRMC fix")
                            self.gpslog.write(",".join(content) + ", " + str(time.time()) + "\r\n")
                            self.fulllog.write(",".join(content) + ", " + str(time.time()) + "\r\n")
                            # print content
                            speed = float(content[7]) * 0.514444444  # * 0 + 100
                            # print str(speed) + " m/s"

                            # Caculate decimal degrees
                            [latdec, londec] = gpsfunctions.nmea2decimal(
                                float(content[3]), content[4], float(content[5]), content[6]
                            )
                            print (latdec, londec)
                            latdec = latdec * pi / 180
                            londec = londec * pi / 180

                            # Old code for rotating the position into the local NED frame
                            if self.centerlat == 0 and self.centerlon == 0:
                                self.rot = gpsfunctions.get_rot_matrix(float(latdec), float(londec))
                                self.centerlat = float(latdec)
                                self.centerlon = float(londec)
                            pos = self.rot * (
                                gpsfunctions.wgs842ecef(float(latdec), float(londec))
                                - gpsfunctions.wgs842ecef(float(self.centerlat), float(self.centerlon))
                            )
                            # print pos

                            # Legacy stuff
                            self.state[0] = [float(pos[0, 0]), 1]
                            # self.state[0] = [10,1]
                            self.state[1] = [speed, 1]
                            self.state[3] = [float(pos[1, 0]), 1]
                            # self.state[3] = [5,1]

                            # With [0:6] we ignore ".000" in the NMEA string.
                            # It is always zero for GPS1 anyways.
                            self.gpsmsg.time = int(content[1][0:6])
                            self.gpsmsg.latitude = latdec
                            self.gpsmsg.longitude = londec
                            self.gpsmsg.track_angle = float(content[8])
                            self.gpsmsg.date = int(content[9])
                            self.gpsmsg.SOG = speed

                            self.pub_gps.publish(self.gpsmsg)

                elif ord(packet["MsgID"]) == 31:
                    self.n_rec += 1
                    msgnr = ord(packet["Data"][0])
                    self.plog.write(str(self.n_rec) + ", ")
                    self.plog.write("0, ")
                    self.plog.write(str(msgnr))
                    self.plog.write("\n")

            else:
                # print packet
                print "gfoo"
        except Exception as e:
            self.excount += 1
            print " " + str(self.excount)
            print e
Example #5
0
	def parse(self,packet):
		#print packet
		try:
			if(ord(packet['DevID']) == 20):
				
				if(ord(packet['MsgID']) == 14):
					#self.accelburst = self.accelburst + 1
					#print "IMU: " + str(self.accelburst)
					
					
					#print "IMU"
					meas = numpy.zeros((9,2))
					accelnr = 0
					order = [7,1,4,6,6]
					if self.mergedata:
						pass
					self.mergedata = False
					#print "IMU!"
					try:
						#print "IMU"
						'''The structure of the packet is 
						Zgyro
						X acc
						Y acc
						X Mag
						Y Mag
						ADC
						'''
						#types = ['ADC','Ymag', 'Xmag', 'Yacc', 'Xacc', 'Zgyro']
						#self.accellog.write("".join(packet['Data']) + "\r\n")
						measurements = []
						for i in range(len(packet['Data'])):
							if ((i & 1) == 1):
								tempval = packet['Data'][i-1:i+1]
								tempval.reverse()
								val = 0
								try:
									val = struct.unpack('h', "".join(tempval))
								except:
									pass
								self.accellog.write(str(val[0]) + ", ")
								self.fulllog.write(str(val[0]) + ", ")
								measurements.append(val[0])
								#print val[0]
						#print measurements[5]
						#print measurements
						self.accellog.write(str(time.time()) + "\r\n")
						self.fulllog.write(str(time.time()) + "\r\n")
						if abs(measurements[5]) < 10: #Check that the grounded ADC doesn't return a high value
							#Calculate heading from magnetometer:
							
							heading = 0
							if -measurements[3] > 0:
								heading = (90 - atan(float(-measurements[4])/float(-measurements[3]))*180/pi)*pi/180
							elif -measurements[3] < 0:
								heading = (270 - atan(float(-measurements[4])/float(-measurements[3]))*180/pi)*pi/180
							else:
								if -measurements[4] < 0:
									heading = pi
								else:
									heading = 0
									
							#heading = -(2*pi-heading-pi/2)
							heading = -heading
							#print chr(27) + "[2J"
							#print "[" + str(measurements[4]) + ", " + str(measurements[3]) + "]\t Theta: " + str(heading) + "\t Time:" + str(time.time())
							
							accx = -measurements[2] * self.accconst
							accy = -measurements[1] * self.accconst
							gyroz = -measurements[0] * self.gyroconst
							
							
							self.state[2] = [accx,		1]
							self.state[5] = [accy,		1]
							self.state[6] = [heading,	1]
							self.state[7] = [gyroz,		1]
							#print self.state
							for i in range(numpy.size(self.state,0)):
								for j in range(numpy.size(self.state,1)):
									self.measureddata[i,j] = self.state[i,j]
							#measstate = self.state
							
							#print chr(27) + "[2J"
							#print self.measureddata
							self.state[:,1] = 0
							
						'''
					
						for i in range(len(packet['Data'])):
							#print packet['Data'][i] +"\t (" + str(ord(packet['Data'][i])) + ")\t [" + hex(ord(packet['Data'][i])) + "]"
		
							#print str(packet['Data'][i-1:i+1])
							if ((i & 1) == 1): #Take every other value (Where the lower bit is 1)
								tempval = packet['Data'][i-1:i+1] #Combine 2 of the numbers in to 1 value
								tempval.reverse() #reverse them, to have the endian right.
								#print str("".join(tempval))
								
								val = 0
								try:
									val = struct.unpack('h', "".join(tempval))
								except:
									pass
								#val = struct.unpack('h', "".join(packet['Data'][i-1:i+1]))
								''#The structure of the packet is 
								#Zgyro
								#X acc
								#Y acc
								#X Mag
								#Y Mag
								#ADC
							''
								self.accelburst[accelnr] = val[0]
								try:
									meas[order[accelnr]][0] = val[0]
									meas[order[accelnr]][1] = 1
								except IndexError:
									pass
								accelnr = accelnr + 1
								#print str(val[0])
						self.accelburst[accelnr] = packet['Time']
						if(abs(self.accelburst[accelnr-1]) > 100):
							print packet
							print self.accelburst
						#print self.accelburst
						else:
							self.q.put(meas)
							self.writer.writerow(self.accelburst)
					except Exception as e:
						print e
					'''
					except Exception as e:
						print e
					
					#print "IMU BURST!"
					pass
				elif(ord(packet['MsgID']) == 13):
					tmeasurements = []
					measurements = []
					for i in range(len(packet['Data'])):
						if ((i & 1) == 1):
							tempval = packet['Data'][i-1:i+1]
							tempval.reverse()
							val = 0
							try:
								val = struct.unpack('h', "".join(tempval))
							except:
								pass
							self.accellog.write(str(val[0]) + ", ")
							self.fulllog.write(str(val[0]) + ", ")
							tmeasurements.append(val[0])
							#print val[0]
					#print measurements[5]
					'''
					[0] Supply
					[1] X Gyro
					[2] Y Gyro
					[3] Z Gyro
					[4] X
					[5] Y
					[6] Z Acc
					[7] X
					[8] Y
					[9] Z  Mag
					[10] Temp
					[11] ADC
					
					What we want:
					
					Zgyro
					X acc
					Y acc
					X Mag
					Y Mag
					ADC
					
					'''
					
					#print 
					#print "READY"
					measurements.append(tmeasurements[3])
					measurements.append(tmeasurements[4])
					measurements.append(tmeasurements[5])
					measurements.append(tmeasurements[7])
					measurements.append(tmeasurements[8])
					measurements.append(tmeasurements[11])
					print measurements
					self.accellog.write(str(time.time()) + "\r\n")
					self.fulllog.write(str(time.time()) + "\r\n")
					if abs(measurements[5]) < 10: #Check that the grounded ADC doesn't return a high value
						#Calculate heading from magnetometer:
						
						heading = 0
						if -measurements[3] > 0:
							heading = (90 - atan(float(-measurements[4])/float(-measurements[3]))*180/pi)*pi/180
						elif -measurements[3] < 0:
							heading = (270 - atan(float(-measurements[4])/float(-measurements[3]))*180/pi)*pi/180
						else:
							if -measurements[4] < 0:
								heading = pi
							else:
								heading = 0
								
						#heading = -(2*pi-heading-pi/2)
						heading = -heading
						#print chr(27) + "[2J"
						#print "[" + str(measurements[4]) + ", " + str(measurements[3]) + "]\t Theta: " + str(heading) + "\t Time:" + str(time.time())
						
						accx = -measurements[2] * self.accconst
						accy = -measurements[1] * self.accconst
						gyroz = measurements[0] * self.gyroconst
						
						
						
						self.state[2] = [accx,		1]
						self.state[5] = [accy,		1]
						self.state[6] = [heading,	1]
						self.state[7] = [gyroz,		1]
						#print self.state
						for i in range(numpy.size(self.state,0)):
							for j in range(numpy.size(self.state,1)):
								self.measureddata[i,j] = self.state[i,j]
						#measstate = self.state
						
						#print chr(27) + "[2J"
						#print self.measureddata
						self.state = numpy.zeros((9,2))
							
				elif(ord(packet['MsgID']) == 15):
					self.n_rec += 1
					msgnr = ord(packet['Data'][0])
					#print msgnr
					self.plog.write(str(self.n_rec) + ", ")
					self.plog.write(str(msgnr))
					self.plog.write(", 0\n")
						
						
			elif (ord(packet['DevID']) == 30):
				#print "GPS!"
				#time.sleep(1)
				if(ord(packet['MsgID']) == 6):
					#print str("".join(packet['Data']))
					content = "".join(packet['Data']).split(',')
					if content[0] == "$GPRMC" and content[2] == 'A':
					
						#print ",".join("".join(packet['Data']).split(',')[1:8])
						content = content[1:8]
					# The GPRMC packet contain the following information:
					# [0] Timestamp
					# [1] A for valid, V for invalid (only valid packets gets send)
					# [2] Latitude
					# [3] N or S (N)
					# [4] Longitude
					# [5] E or W (E)
					# [6] Speed over ground
					#print content[6]
					'''
					if content[1] == 'A' :
						self.gpsinvalid += 1
					
					if 42 <= self.gpsinvalid <= 67:
						content[1] = 'V'
						print "Gps invalid!"
					'''
					if content[1] == 'A' :
					
						self.gpslog.write(",".join(content) + ", " + str(time.time()) + "\r\n")
						self.fulllog.write(",".join(content) + ", " + str(time.time()) + "\r\n")
						#print content
						speed = float(content[6]) * 0.514444444 #* 0 + 100
						#print str(speed) + " m/s"
						[latdec, londec] = (gpsfunctions.nmea2decimal(float(content[2]),content[3],float(content[4]),content[5]))
						latdec = latdec*pi/180
						londec = londec*pi/180
						if self.centerlat == 0 and self.centerlon == 0:
							self.rot=gpsfunctions.get_rot_matrix(float(latdec),float(londec))
							self.centerlat = float(latdec)
							self.centerlon = float(londec)
						
						
						pos = self.rot * (gpsfunctions.wgs842ecef(float(latdec),float(londec))-gpsfunctions.wgs842ecef(float(self.centerlat),float(self.centerlon)))
						#print pos
						#print pos
						
						
						self.state[0] = [float(pos[0,0]),		1]
						#self.state[0] = [10,1]
						self.state[1] = [speed, 1]
						self.state[3] = [float(pos[1,0]), 	1]
						#self.state[3] = [5,1]
						
				elif(ord(packet['MsgID']) == 31):
					self.n_rec += 1
					msgnr = ord(packet['Data'][0])
					self.plog.write(str(self.n_rec) + ", ")
					self.plog.write("0, ")
					self.plog.write(str(msgnr))
					self.plog.write("\n")
					
					
				'''	
					
					
					
					
				
					self.mergedata = True
					self.gpspacket += 1
					#print "GPS: " + str(self.gpspacket)
					#print "".join(packet['Data']),
					self.gpslog.write("".join(packet['Data']))
					#self.gpswriter.writerow("".join(packet['Data']))
					#print "Logged"
					if("".join(packet['Data'][1:6]) == "GPGGA"):
						gpgga = nmea.GPGGA()
						tempstr = "".join(packet['Data'])
						gpgga.parse(tempstr)
						#print "Timestamp:" + gpgga.timestamp
						''try:
							deltat = int(float(gpgga.timestamp))-self.prevtime
							print deltat
							self.prevtime = int(float(gpgga.timestamp))
						except Exception as e:
							print e''
						gpsd = [gpgga.timestamp, gpgga.latitude, gpgga.longitude, packet['Time']]
						#self.gpswriter.writerow(gpsd)
					
					elif("".join(packet['Data'][1:6]) == "GPRMC"):
						
						gprmc = nmea.GPRMC()
						tempstr = "".join(packet['Data'])
						gprmc.parse(tempstr)
						
						self.gpsdata[0] = gprmc.timestamp
						self.gpsdata[1] = gprmc.lat
						self.gpsdata[2] = gprmc.lon
						self.gpsdata[3] = gprmc.spd_over_grnd
						#self.gpsdata[4] = gprmc.true_course
						#self.gpsdata[5] = gprmc.datestamp
						#self.gpsdata[6] = gprmc.mag_variation
						self.gpsdata[7] = packet['Time']
					#	print self.gpsdata
						#print self.gpsdata
				
						#self.gpswriter.writerow(self.gpsdata)
				'''
			else:
				print packet
		except Exception as e:
			self.excount += 1
			print " "+ str(self.excount)
			print e,
Example #6
0
    def parse(self,packet):
        #print packet
        try:
            if(ord(packet['DevID']) == 0): # LLI data
                if(ord(packet['MsgID']) == 13): # Battery monitor sample
                    print("BANK1:\t")
                    self.bank1[0] = (ord(packet['Data'][0]) << 8 | ord(packet['Data'][1]))*(0.25*3.0/1.43)
                    self.bank1[1] = (ord(packet['Data'][2]) << 8 | ord(packet['Data'][3]))*(0.25*3.0/1.43)
                    self.bank1[2] = (ord(packet['Data'][4]) << 8 | ord(packet['Data'][5]))*(0.25*3.0/1.43)
                    self.bank1[3] = (ord(packet['Data'][6]) << 8 | ord(packet['Data'][7]))*(0.25*3.0/1.43)
                    print(self.bank1)

                    print("BANK2:\t")
                    self.bank2[0] = (ord(packet['Data'][8]) << 8 | ord(packet['Data'][9]))*(0.25*3.0/1.43)
                    self.bank2[1] = (ord(packet['Data'][10]) << 8 | ord(packet['Data'][11]))*(0.25*3.0/1.43)
                    self.bank2[2] = (ord(packet['Data'][12]) << 8 | ord(packet['Data'][13]))*(0.25*3.0/1.43)
                    self.bank2[3] = (ord(packet['Data'][14]) << 8 | ord(packet['Data'][15]))*(0.25*3.0/1.43)
                    print(self.bank2)


                    # Measured offsets
                    self.bank1[0] = self.bank1[0]+97.33
                    self.bank1[1] = self.bank1[1]+143.67
                    self.bank1[2] = self.bank1[2]+138.67
                    self.bank1[3] = self.bank1[3]+124.33

                    self.bank2[0] = self.bank2[0]+111.33
                    self.bank2[1] = self.bank2[1]+130.67
                    self.bank2[2] = self.bank2[2]+143.67
                    self.bank2[3] = self.bank2[3]+111.33



                    '''
                    if min(self.bank1) < 3600.0:
                        self.bank1 = [3600.0, 3600.0, 3600.0, 3600.0]

                    if min(self.bank2) < 3600.0:
                        self.bank2 = [3600.0, 3600.0, 3600.0, 3600.0]

                    if max(self.bank1) > 4200.0:
                        self.bank1 = [4200.0, 4200.0, 4200.0, 4200.0]

                    if max(self.bank2) > 4200.0:
                        self.bank2 = [4200.0, 4200.0, 4200.0, 4200.0]
                    '''
                    if not rospy.is_shutdown():
                        self.pub_bm.publish(self.bank1,self.bank2)


            if(ord(packet['DevID']) == 20): # IMU data
                if(ord(packet['MsgID']) == 14): # Burst read reduced
                    #self.accelburst = self.accelburst + 1
                    #print "IMU: " + str(self.accelburst)
                    
                    
                    #print "IMU"
                    meas = numpy.zeros((9,2))
                    accelnr = 0
                    order = [7,1,4,6,6]
                    if self.mergedata:
                        pass
                    self.mergedata = False
                    #print "IMU!"
                    try:
                        #print "IMU"
                        '''The structure of the packet is 
                        Zgyro
                        X acc
                        Y acc
                        X Mag
                        Y Mag
                        ADC
                        '''
                        #types = ['ADC','Ymag', 'Xmag', 'Yacc', 'Xacc', 'Zgyro']
                        #self.accellog.write("".join(packet['Data']) + "\r\n")
                        measurements = []
                        for i in range(len(packet['Data'])):
                            if ((i & 1) == 1):
                                tempval = packet['Data'][i-1:i+1]
                                tempval.reverse()
                                val = 0
                                try:
                                    val = struct.unpack('h', "".join(tempval))
                                except:
                                    pass
                                self.accellog.write(str(val[0]) + ", ")
                                self.fulllog.write(str(val[0]) + ", ")
                                measurements.append(val[0])
                                #print val[0]
                        #print measurements[5]
                        #print measurements
                        self.accellog.write(str(time.time()) + "\r\n")
                        self.fulllog.write(str(time.time()) + "\r\n")
                        if abs(measurements[5]) < 10: #Check that the grounded ADC doesn't return a high value
                            #Calculate heading from magnetometer:
                            
                            heading = 0
                            if -measurements[3] > 0:
                                heading = (90 - atan(float(-measurements[4])/float(-measurements[3]))*180/pi)*pi/180
                            elif -measurements[3] < 0:
                                heading = (270 - atan(float(-measurements[4])/float(-measurements[3]))*180/pi)*pi/180
                            else:
                                if -measurements[4] < 0:
                                    heading = pi
                                else:
                                    heading = 0
                                    
                            #heading = -(2*pi-heading-pi/2)
                            heading = -heading
                            #print chr(27) + "[2J"
                            #print "[" + str(measurements[4]) + ", " + str(measurements[3]) + "]\t Theta: " + str(heading) + "\t Time:" + str(time.time())
                            
                            accx = -measurements[2] * self.accconst
                            accy = -measurements[1] * self.accconst
                            gyroz = -measurements[0] * self.gyroconst
                            
                            self.state[2] = [accx,        1]
                            self.state[5] = [accy,        1]
                            self.state[6] = [heading,    1]
                            self.state[7] = [gyroz,        1]
                            #print self.state
                            for i in range(numpy.size(self.state,0)):
                                for j in range(numpy.size(self.state,1)):
                                    self.measureddata[i,j] = self.state[i,j]
                            #measstate = self.state
                            
                            #print chr(27) + "[2J"
                            #print self.measureddata
                            self.state[:,1] = 0
                            
                    except Exception as e:
                        print e
                    print "exception"
                    
                    #print "IMU BURST!"
                    pass
                elif(ord(packet['MsgID']) == 13): # Burst read
#                    print "Burst read"
                    measurements = []
                    for i in range(len(packet['Data'])):
                        if ((i & 1) == 1):
                            tempval = packet['Data'][i-1:i+1]
                            tempval.reverse()
                            val = 0
                            try:
                                val = struct.unpack('h', "".join(tempval))
                            except:
                                pass
                            self.accellog.write(str(val[0]) + ", ")
                            self.fulllog.write(str(val[0]) + ", ")
                            measurements.append(val[0])

                    self.accellog.write(str(time.time()) + "\r\n")
                    self.fulllog.write(str(time.time()) + "\r\n")

                    self.state[0] = [measurements[0], 1] #supply
                    self.state[1] = [measurements[1], 1] #xacc
                    self.state[2] = [measurements[2], 1] #yacc
                    self.state[3] = [measurements[3], 1] #zacc
                    self.state[4] = [measurements[4], 1] #xgyro
                    self.state[5] = [measurements[5], 1] #ygyro
                    self.state[6] = [measurements[6], 1] #zgyro
                    self.state[7] = [measurements[7], 1] #xmag
                    self.state[8] = [measurements[8], 1] #ymag
                    self.state[9] = [measurements[9], 1] #zmag
                    self.state[10] = [measurements[10], 1] #temp
                    self.state[11] = [measurements[11], 1] #adc

                    # Writing to our "output" object measureddata
                    for i in range(numpy.size(self.state,0)):
                        for j in range(numpy.size(self.state,1)):
                            self.measureddata[i,j] = self.state[i,j]

                    self.state = numpy.zeros((12,2))
                            
                elif(ord(packet['MsgID']) == 15): # Reduced ADIS data, RF test
                    self.n_rec += 1
                    msgnr = ord(packet['Data'][0])
                    #print msgnr
                    self.plog.write(str(self.n_rec) + ", ")
                    self.plog.write(str(msgnr))
                    self.plog.write(", 0\n")
                        
                        
            elif (ord(packet['DevID']) == 30): # GPS1 data
                #print "GPS!"
                #time.sleep(1)
                if(ord(packet['MsgID']) == 6): # This is what the LII sends for the moment
                    #['$GPGGA', '133635.000', '5700.8791', 'N', '00959.1707', 'E', '1', '7', '1.23', '42.0', 'M', '42.5', 'M', '', '*6E\r\n']
                    #['$GPRMC', '133635.000', 'A', '5700.8791', 'N', '00959.1707', 'E', '0.20', '263.57', '040914', '', '', 'A*61\r\n']

                    # We expect to get both GPGGA and GPRMC at every GPS sample. This is in two messages.
                    # The GPRMC message is the plast one, so we publish our hybrid GPS message in that if.

                    #print str("".join(packet['Data']))
                    content = "".join(packet['Data']).split(',')
                    print(content)

                    if content[0] == "$GPGGA":
                        # The GPGGA packet contain the following information:
                        # [0] Message type ($GPGGA)
                        # [1] Time
                        # [2] Latitude
                        # [3] N or S (N)
                        # [4] Longitude
                        # [5] E or W (E)
                        # [6] Fix quality (expect 1 = GPS fix single)
                        # [7] Number of satellites being tracked
                        # [8] HDOP
                        # [9] Altitude, above mean sea level
                        # [10] Unit for altitude M = meters
                        # [11] Height of geoid (mean sea level) above WGS84 ellipsoid
                        # [12] Unit of heigt M = meters
                        # [13] DGPS stuff, ignore
                        # [14] DGPS stuff, ignore
                        # [15] Checksum
                        print("GGA")
                        if content[11] == '':
                            print('GGA parsing, no fix')
                        else:
                            self.gpsmsg.fix = int(content[6])
                            self.gpsmsg.sats = int(content[7])
                            self.gpsmsg.HDOP = float(content[8])
                            self.gpsmsg.altitude = float(content[9])
                            self.gpsmsg.height = float(content[11])


                    if content[0] == "$GPRMC" and content[2] == 'A':
                        #print ",".join("".join(packet['Data']).split(',')[1:8])
                        print("RMC")
                        # The GPRMC packet contain the following information:
                        # [0] Message type ($GPRMC)
                        # [1] Timestamp
                        # [2] A for valid, V for invalid (only valid packets gets send)
                        # [3] Latitude
                        # [4] N or S (N)
                        # [5] Longitude
                        # [6] E or W (E)
                        # [7] Speed over ground
                        # [8] Track angle
                        # [9] Date
                        # [10] Magnetic variation value [not existant on this cheap GPS]
                        # [11] Magnetic variation direction [not existant on this cheap GPS]

                        if content[2] == 'A' :
                            print("Wee, we have a valid $GPRMC fix")
                            self.gpslog.write(",".join(content) + ", " + str(time.time()) + "\r\n")
                            self.fulllog.write(",".join(content) + ", " + str(time.time()) + "\r\n")
                            #print content
                            speed = float(content[7]) * 0.514444444 #* 0 + 100
                            #print str(speed) + " m/s"
                            
                            # Caculate decimal degrees
                            [latdec, londec] = (gpsfunctions.nmea2decimal(float(content[3]),content[4],float(content[5]),content[6]))
                            print(latdec,londec)
                            latdec = latdec*pi/180
                            londec = londec*pi/180

                            # Old code for rotating the position into the local NED frame
                            if self.centerlat == 0 and self.centerlon == 0:
                                self.rot=gpsfunctions.get_rot_matrix(float(latdec),float(londec))
                                self.centerlat = float(latdec)
                                self.centerlon = float(londec)
                            pos = self.rot * (gpsfunctions.wgs842ecef(float(latdec),float(londec))-gpsfunctions.wgs842ecef(float(self.centerlat),float(self.centerlon)))
                            #print pos
                            
                            # Legacy stuff
                            self.state[0] = [float(pos[0,0]), 1]
                            #self.state[0] = [10,1]
                            self.state[1] = [speed, 1]
                            self.state[3] = [float(pos[1,0]), 1]
                            #self.state[3] = [5,1]

                            # With [0:6] we ignore ".000" in the NMEA string.
                            # It is always zero for GPS1 anyways.
                            self.gpsmsg.time = int(content[1][0:6]) 
                            self.gpsmsg.latitude = latdec
                            self.gpsmsg.longitude = londec
                            self.gpsmsg.track_angle = float(content[8])
                            self.gpsmsg.date = int(content[9])
                            self.gpsmsg.SOG = speed

                            self.pub_gps.publish(self.gpsmsg)
                            
                        
                elif(ord(packet['MsgID']) == 31):
                    self.n_rec += 1
                    msgnr = ord(packet['Data'][0])
                    self.plog.write(str(self.n_rec) + ", ")
                    self.plog.write("0, ")
                    self.plog.write(str(msgnr))
                    self.plog.write("\n")

            else:
                #print packet
                print "gfoo"
        except Exception as e:
            self.excount += 1
            print " "+ str(self.excount)
            print e
Example #7
0
    def parse(self,packet):
        #print packet
        try:
            if(ord(packet['DevID']) == 20):
                if(ord(packet['MsgID']) == 14):
                    #self.accelburst = self.accelburst + 1
                    #print "IMU: " + str(self.accelburst)
                    
                    
                    #print "IMU"
                    meas = numpy.zeros((9,2))
                    accelnr = 0
                    order = [7,1,4,6,6]
                    if self.mergedata:
                        pass
                    self.mergedata = False
                    #print "IMU!"
                    try:
                        #print "IMU"
                        '''The structure of the packet is 
                        Zgyro
                        X acc
                        Y acc
                        X Mag
                        Y Mag
                        ADC
                        '''
                        #types = ['ADC','Ymag', 'Xmag', 'Yacc', 'Xacc', 'Zgyro']
                        #self.accellog.write("".join(packet['Data']) + "\r\n")
                        measurements = []
                        for i in range(len(packet['Data'])):
                            if ((i & 1) == 1):
                                tempval = packet['Data'][i-1:i+1]
                                tempval.reverse()
                                val = 0
                                try:
                                    val = struct.unpack('h', "".join(tempval))
                                except:
                                    pass
                                self.accellog.write(str(val[0]) + ", ")
                                self.fulllog.write(str(val[0]) + ", ")
                                measurements.append(val[0])
                                #print val[0]
                        #print measurements[5]
                        #print measurements
                        self.accellog.write(str(time.time()) + "\r\n")
                        self.fulllog.write(str(time.time()) + "\r\n")
                        if abs(measurements[5]) < 10: #Check that the grounded ADC doesn't return a high value
                            #Calculate heading from magnetometer:
                            
                            heading = 0
                            if -measurements[3] > 0:
                                heading = (90 - atan(float(-measurements[4])/float(-measurements[3]))*180/pi)*pi/180
                            elif -measurements[3] < 0:
                                heading = (270 - atan(float(-measurements[4])/float(-measurements[3]))*180/pi)*pi/180
                            else:
                                if -measurements[4] < 0:
                                    heading = pi
                                else:
                                    heading = 0
                                    
                            #heading = -(2*pi-heading-pi/2)
                            heading = -heading
                            #print chr(27) + "[2J"
                            #print "[" + str(measurements[4]) + ", " + str(measurements[3]) + "]\t Theta: " + str(heading) + "\t Time:" + str(time.time())
                            
                            accx = -measurements[2] * self.accconst
                            accy = -measurements[1] * self.accconst
                            gyroz = -measurements[0] * self.gyroconst
                            
                            self.state[2] = [accx,        1]
                            self.state[5] = [accy,        1]
                            self.state[6] = [heading,    1]
                            self.state[7] = [gyroz,        1]
                            #print self.state
                            for i in range(numpy.size(self.state,0)):
                                for j in range(numpy.size(self.state,1)):
                                    self.measureddata[i,j] = self.state[i,j]
                            #measstate = self.state
                            
                            #print chr(27) + "[2J"
                            #print self.measureddata
                            self.state[:,1] = 0
                            
                    except Exception as e:
                        print e
                    print "exception"
                    
                    #print "IMU BURST!"
                    pass
                elif(ord(packet['MsgID']) == 13):
                    tmeasurements = []
                    measurements = []
                    for i in range(len(packet['Data'])):
                        if ((i & 1) == 1):
                            tempval = packet['Data'][i-1:i+1]
                            tempval.reverse()
                            val = 0
                            try:
                                val = struct.unpack('h', "".join(tempval))
                            except:
                                pass
                            self.accellog.write(str(val[0]) + ", ")
                            self.fulllog.write(str(val[0]) + ", ")
                            tmeasurements.append(val[0])
                            #print val[0]
                    #print measurements[5]

                    '''
                    [0] Supply
                    [1] X Gyro
                    [2] Y Gyro
                    [3] Z Gyro
                    [4] X
                    [5] Y
                    [6] Z Acc
                    [7] X
                    [8] Y
                    [9] Z Mag
                    [10] Temp
                    [11] ADC
                    
                    What we want:
                    
                    Zgyro
                    X acc
                    Y acc
                    X Mag
                    Y Mag
                    ADC
                    
                    '''
                    
                    #print 
                    #print "READY"
                    measurements.append(tmeasurements[3])
                    measurements.append(tmeasurements[4])
                    measurements.append(tmeasurements[5])
                    measurements.append(tmeasurements[7])
                    measurements.append(tmeasurements[8])
                    measurements.append(tmeasurements[11])
                    print measurements
                    self.accellog.write(str(time.time()) + "\r\n")
                    self.fulllog.write(str(time.time()) + "\r\n")
                    if abs(measurements[5]) < 10: #Check that the grounded ADC doesn't return a high value
                        #Calculate heading from magnetometer:
                        
                        heading = 0
                        if -measurements[3] > 0:
                            heading = (90 - atan(float(-measurements[4])/float(-measurements[3]))*180/pi)*pi/180
                        elif -measurements[3] < 0:
                            heading = (270 - atan(float(-measurements[4])/float(-measurements[3]))*180/pi)*pi/180
                        else:
                            if -measurements[4] < 0:
                                heading = pi
                            else:
                                heading = 0
                                
                        #heading = -(2*pi-heading-pi/2)
                        heading = -heading
                        #print chr(27) + "[2J"
                        #print "[" + str(measurements[4]) + ", " + str(measurements[3]) + "]\t Theta: " + str(heading) + "\t Time:" + str(time.time())
                        
                        accx = -measurements[2] * self.accconst
                        accy = -measurements[1] * self.accconst
                        gyroz = measurements[0] * self.gyroconst
                        
                        
                        
                        self.state[2] = [accx,        1]
                        self.state[5] = [accy,        1]
                        self.state[6] = [heading,    1]
                        self.state[7] = [gyroz,        1]
                        #print self.state
                        for i in range(numpy.size(self.state,0)):
                            for j in range(numpy.size(self.state,1)):
                                self.measureddata[i,j] = self.state[i,j]
                        #measstate = self.state
                        
                        #print chr(27) + "[2J"
                        #print self.measureddata
                        self.state = numpy.zeros((9,2))
                            
                elif(ord(packet['MsgID']) == 15): # Reduced ADIS data
                    self.n_rec += 1
                    msgnr = ord(packet['Data'][0])
                    #print msgnr
                    self.plog.write(str(self.n_rec) + ", ")
                    self.plog.write(str(msgnr))
                    self.plog.write(", 0\n")
                        
                        
            elif (ord(packet['DevID']) == 30): # GPS data
                #print "GPS!"
                #time.sleep(1)
                if(ord(packet['MsgID']) == 6):
                    #print str("".join(packet['Data']))
                    content = "".join(packet['Data']).split(',')
                    if content[0] == "$GPRMC" and content[2] == 'A':
                    
                        #print ",".join("".join(packet['Data']).split(',')[1:8])
                        content = content[1:8]
                    # The GPRMC packet contain the following information:
                    # [0] Timestamp
                    # [1] A for valid, V for invalid (only valid packets gets send)
                    # [2] Latitude
                    # [3] N or S (N)
                    # [4] Longitude
                    # [5] E or W (E)
                    # [6] Speed over ground
                    #print content[6]
                    '''
                    if content[1] == 'A' :
                        self.gpsinvalid += 1
                    
                    if 42 <= self.gpsinvalid <= 67:
                        content[1] = 'V'
                        print "Gps invalid!"
                    '''
                    if content[1] == 'A' :
                    
                        self.gpslog.write(",".join(content) + ", " + str(time.time()) + "\r\n")
                        self.fulllog.write(",".join(content) + ", " + str(time.time()) + "\r\n")
                        #print content
                        speed = float(content[6]) * 0.514444444 #* 0 + 100
                        #print str(speed) + " m/s"
                        [latdec, londec] = (gpsfunctions.nmea2decimal(float(content[2]),content[3],float(content[4]),content[5]))
                        latdec = latdec*pi/180
                        londec = londec*pi/180
                        if self.centerlat == 0 and self.centerlon == 0:
                            self.rot=gpsfunctions.get_rot_matrix(float(latdec),float(londec))
                            self.centerlat = float(latdec)
                            self.centerlon = float(londec)
                        
                        
                        pos = self.rot * (gpsfunctions.wgs842ecef(float(latdec),float(londec))-gpsfunctions.wgs842ecef(float(self.centerlat),float(self.centerlon)))
                        #print pos
                        #print pos
                        
                        
                        self.state[0] = [float(pos[0,0]),        1]
                        #self.state[0] = [10,1]
                        self.state[1] = [speed, 1]
                        self.state[3] = [float(pos[1,0]),     1]
                        #self.state[3] = [5,1]
                        
                elif(ord(packet['MsgID']) == 31):
                    self.n_rec += 1
                    msgnr = ord(packet['Data'][0])
                    self.plog.write(str(self.n_rec) + ", ")
                    self.plog.write("0, ")
                    self.plog.write(str(msgnr))
                    self.plog.write("\n")


            elif (ord(packet['DevID']) == 0): # LLI data
                print "LLI IS COMMING TO TOWN**************************"
            else:
                #print packet
                print "gfoo"
        except Exception as e:
            self.excount += 1
            print " "+ str(self.excount)
            print e,