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 = ['RMC', 'GGA', 'RMC', 'GGA', 'GLL',
'VTG', 'RMC', 'GGA', 'GLL', 'VTG']
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_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
$GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36
"""
streamer = NMEAStream()
nmea_objects = streamer.get_strings(data=data)
nmea_objects += streamer.get_strings(data='')
expected_result = [
'GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E,A*2B',
'GPGGA,184333.07,1929.439,S,02410.387,E,1,04,2.8,100.00,M,-33.9,M,,0000*65',
'GPRMC,184444.08,A,1928.041,S,02410.809,E,74.00,16.78,210410,0.0,E,A*25',
'GPGGA,184445.08,1928.021,S,02410.814,E,1,04,2.7,100.00,M,-33.9,M,,0000*6E',
'GPGLL,1928.001,S,02410.820,E,184446.08,A,A*79',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36',
'GPRMC,184448.08,A,1927.962,S,02410.832,E,74.00,16.78,210410,0.0,E,A*26',
'GPGGA,184449.08,1927.942,S,02410.838,E,1,04,1.7,100.00,M,-33.9,M,,0000*6C',
'GPGLL,1927.922,S,02410.844,E,184450.08,A,A*7B',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36'
]
self.assertEqual(expected_result, nmea_objects)
def test__read_data(self):
expected_result = ['GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E*46',
'GPGGA,184333.07,1929.439,S,02410.387,E,1,04,2.8,100.00,M,-33.9,M,,0000*65',
'GPRMC,184444.08,A,1928.041,S,02410.809,E,74.00,16.78,210410,0.0,E*48',
'GPGGA,184445.08,1928.021,S,02410.814,E,1,04,2.7,100.00,M,-33.9,M,,0000*6E',
'GPGLL,1928.001,S,02410.820,E,184446.08,A,A*79',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36',
'GPRMC,184448.08,A,1927.962,S,02410.832,E,74.00,16.78,210410,0.0,E*4B',
'GPGGA,184449.08,1927.942,S,02410.838,E,1,04,1.7,100.00,M,-33.9,M,,0000*6C',
'GPGLL,1927.922,S,02410.844,E,184450.08,A,A*7B',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36']
input_data = """$GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E*46
$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*48
$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*4B
$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
$GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36
"""
streamer = NMEAStream()
data = streamer._read(data=input_data)
data += streamer._read(data='')
self.assertEqual(data, expected_result)
def test_read_data_obj(self):
test_file = os.path.join(os.path.dirname(__file__), 'test_data',
'test_data_small.gps')
with open(test_file, 'r') as test_file_fd:
streamer = NMEAStream(stream_obj=test_file_fd)
next_data = streamer.get_objects()
nmea_objects = []
while next_data:
nmea_objects += next_data
next_data = streamer.get_objects()
expected_object_types = [
'GPRMC', 'GPGGA', 'GPRMC', 'GPGGA', 'GPGLL', 'GPVTG', 'GPRMC',
'GPGGA', 'GPGLL', 'GPVTG'
]
self.assertEqual(expected_object_types[0], nmea_objects[0].sen_type)
self.assertEqual(expected_object_types[1], nmea_objects[1].sen_type)
self.assertEqual(expected_object_types[2], nmea_objects[2].sen_type)
self.assertEqual(expected_object_types[3], nmea_objects[3].sen_type)
self.assertEqual(expected_object_types[4], nmea_objects[4].sen_type)
self.assertEqual(expected_object_types[5], nmea_objects[5].sen_type)
self.assertEqual(expected_object_types[6], nmea_objects[6].sen_type)
self.assertEqual(expected_object_types[7], nmea_objects[7].sen_type)
self.assertEqual(expected_object_types[8], nmea_objects[8].sen_type)
self.assertEqual(expected_object_types[9], nmea_objects[9].sen_type)
def nmea_parse(infile):
''' nmea_parse() - Read a GIS waypoint file and write lat-lon values
Parameters
----------
infile : str
waypoint file name
Returns
-------
nothing
'''
from pynmea.streamer import NMEAStream
nmea_file = open(infile)
nmea_stream = NMEAStream(stream_obj=nmea_file)
next_data = nmea_stream.get_objects()
nmea_objects = []
while next_data:
nmea_objects += next_data
next_data = nmea_stream.get_objects()
for nmea_obj in nmea_objects:
if hasattr(nmea_obj, 'lat'):
print(f' Lat/Lon: ({nmea_obj.lat}, {nmea_obj.lon})')
return
def test_read_data_str_raw(self):
data = """$GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E*46
$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*48
$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*4B
$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
$GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36
"""
streamer = NMEAStream()
nmea_objects = streamer.get_strings(data=data)
nmea_objects += streamer.get_strings(data='')
expected_result = ['GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E*46',
'GPGGA,184333.07,1929.439,S,02410.387,E,1,04,2.8,100.00,M,-33.9,M,,0000*65',
'GPRMC,184444.08,A,1928.041,S,02410.809,E,74.00,16.78,210410,0.0,E*48',
'GPGGA,184445.08,1928.021,S,02410.814,E,1,04,2.7,100.00,M,-33.9,M,,0000*6E',
'GPGLL,1928.001,S,02410.820,E,184446.08,A,A*79',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36',
'GPRMC,184448.08,A,1927.962,S,02410.832,E,74.00,16.78,210410,0.0,E*4B',
'GPGGA,184449.08,1927.942,S,02410.838,E,1,04,1.7,100.00,M,-33.9,M,,0000*6C',
'GPGLL,1927.922,S,02410.844,E,184450.08,A,A*7B',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36']
self.assertEqual(expected_result, nmea_objects)
def test_read_data_obj_raw(self):
data = """$GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E*46
$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*48
$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*4B
$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
$GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36
"""
streamer = NMEAStream()
nmea_objects = streamer.get_objects(data=data)
nmea_objects += streamer.get_objects(data='')
expected_object_types = ['RMC', 'GGA', 'RMC', 'GGA', 'GLL',
'VTG', 'RMC', 'GGA', 'GLL', 'VTG']
self.assertEqual(expected_object_types[0], nmea_objects[0].sen_type)
self.assertEqual(expected_object_types[1], nmea_objects[1].sen_type)
self.assertEqual(expected_object_types[2], nmea_objects[2].sen_type)
self.assertEqual(expected_object_types[3], nmea_objects[3].sen_type)
self.assertEqual(expected_object_types[4], nmea_objects[4].sen_type)
self.assertEqual(expected_object_types[5], nmea_objects[5].sen_type)
self.assertEqual(expected_object_types[6], nmea_objects[6].sen_type)
self.assertEqual(expected_object_types[7], nmea_objects[7].sen_type)
self.assertEqual(expected_object_types[8], nmea_objects[8].sen_type)
self.assertEqual(expected_object_types[9], nmea_objects[9].sen_type)
def test__read_data(self):
expected_result = [
'GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E,A*2B',
'GPGGA,184333.07,1929.439,S,02410.387,E,1,04,2.8,100.00,M,-33.9,M,,0000*65',
'GPRMC,184444.08,A,1928.041,S,02410.809,E,74.00,16.78,210410,0.0,E,A*25',
'GPGGA,184445.08,1928.021,S,02410.814,E,1,04,2.7,100.00,M,-33.9,M,,0000*6E',
'GPGLL,1928.001,S,02410.820,E,184446.08,A,A*79',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36',
'GPRMC,184448.08,A,1927.962,S,02410.832,E,74.00,16.78,210410,0.0,E,A*26',
'GPGGA,184449.08,1927.942,S,02410.838,E,1,04,1.7,100.00,M,-33.9,M,,0000*6C',
'GPGLL,1927.922,S,02410.844,E,184450.08,A,A*7B',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36'
]
input_data = """$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
$GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36
"""
streamer = NMEAStream()
data = streamer._read(data=input_data)
data += streamer._read(data='')
self.assertEqual(data, expected_result)
def test__read(self):
test_file = os.path.join(os.path.dirname(__file__), 'test_data',
'test_data_small.gps')
expected_result = [
'GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E,A*2B',
'GPGGA,184333.07,1929.439,S,02410.387,E,1,04,2.8,100.00,M,-33.9,M,,0000*65',
'GPRMC,184444.08,A,1928.041,S,02410.809,E,74.00,16.78,210410,0.0,E,A*25',
'GPGGA,184445.08,1928.021,S,02410.814,E,1,04,2.7,100.00,M,-33.9,M,,0000*6E',
'GPGLL,1928.001,S,02410.820,E,184446.08,A,A*79',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36',
'GPRMC,184448.08,A,1927.962,S,02410.832,E,74.00,16.78,210410,0.0,E,A*26',
'GPGGA,184449.08,1927.942,S,02410.838,E,1,04,1.7,100.00,M,-33.9,M,,0000*6C',
'GPGLL,1927.922,S,02410.844,E,184450.08,A,A*7B',
'GPVTG,16.78,T,,M,74.00,N,137.05,K,A*36'
]
with open(test_file, 'r') as test_file_fd:
streamer = NMEAStream(stream_obj=test_file_fd)
next_data = streamer._read()
data = []
while next_data:
data += next_data
next_data = streamer._read()
pass
self.assertEqual(data, expected_result)
def start_server(self):
gps_parser = NMEAStream()
while True:
try:
if not (self.src_data is None):
gps_info = source_port.readline()
else:
print "Loading static nav data"
gps_info = self.nav_data.split('\n')
for line in gps_info:
gps_sentence = gps_parser._get_type(line)()
gps_sentence.parse(gps_feed)
if gps_sentence.sen_type == 'GPRMC' or gps_sentence.sen_type == 'GPGGA':
time = datetime.strptime('%s' % gps_sentence.timestamp,
'%H%M%S.%f')
time += datetime.timedelta(microseconds=1000)
#GPGGA
print line
dest_port.writeline(line)
time.sleep(1)
except Exception as e:
pass
dest_port.close()
def test_read_data_obj_raw(self):
data = """$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 create_nmea_objects(self,data): self.store_data_in_file(data) nmea_txt = 'receiver.txt' with open(nmea_txt, 'r') as data_file: nmea_stream=NMEAStream(stream_obj=data_file) nmea_data=nmea_stream.get_objects() nmea_objects=[] while nmea_data: nmea_objects+=nmea_data nmea_data=nmea_stream.get_objects() return nmea_objects
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 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 __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
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*46',
'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*48',
'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*4B',
'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 __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 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 test_splits_data_4(self):
test_data = '$foo,bar,baz*77NOTHING$Meep,wibble,123,321NOTHING'
streamer = NMEAStream()
result = streamer._split(test_data, separator='NOTHING')
self.assertEqual(result, ['foo,bar,baz*77', 'Meep,wibble,123,321'])
print "Type,Time,R1 Age, R2 Age, Age Matchs,R1 Q, R2 Q, Q Matches,R1 Cont,R2 Cont,R1 Total,R2 Total"
#create an INET, STREAMing socket
s1 = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
# - the normal http port
s1.connect(("192.168.128.31", 28001))
s1.setblocking(0)
s2 = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
s2.connect(("192.168.128.35", 28002))
s2.setblocking(0)
#s2.settimeout(2)
streamer1 = NMEAStream()
streamer2 = NMEAStream()
data_obs =[]
run_main_loop = True
s1_time=None
s1_age=None
s1_quaility=None
s1_radio=0
s1_total_radio=0
s2_time=None
s2_age=None
s2_quaility=None
s2_radio=0
s2_total_radio=0
def test_splits_data_1(self):
test_data = '$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))
class NMEABaseSensor(RPCComponent):
"""
Basic NMEA capable sensor component
Inherited components have an understanding of nmea data and can handle
an attached SerialPort component's ouutgoing NMEA traffic.
"""
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 main_prepare(self):
self.loginfo("Subscribing to configured SerialPort")
request = Message(sender=self.name, recipient=self.Configuration['SerialPort'], func="subscribe",
arg={'function': 'nmeainput', 'name': self.name})
self.send(request, "outbox")
def rpc_nmeainput(self, line):
"""
Called when a publisher sends a new nmea sentence to this sensor.
The nmea data is parsed and further handling can happen.
"""
sen_time = time() # TODO: This is late due to message traversal etc.
for sentence in self.streamer.get_objects(line):
self.nmeaLog[sen_time] = {'raw': line,
'type': sentence.sen_type,
'obj': sentence}
for recipient, func in self.subscribers.items():
msg = Message(sender=self.name, recipient=recipient, func=func,
arg={'args': (sentence.sen_type, sentence)})
self.send(msg, "outbox")
def rpc_getNMEATimeLog(self, eventtime, maxdeviation=10):
if eventtime < 0:
eventtime = time() - eventtime
minimum, maximum = eventtime - maxdeviation, eventtime + maxdeviation
#print((minimum, maximum))
reqdict = {}
for key in self.nmeaLog.keys():
#print(key)
if minimum < key < maximum:
reqdict[key] = self.nmeaLog[key]
return True, reqdict
def rpc_getNMEADeltaLog(self, oldest, newest=0):
if newest == 0:
newest = time()
if oldest < 0:
oldest += newest
reqdict = {}
reqkeys = self.nmeaLog.keys()
self.loginfo("Looking for nmea data in time '%f'-'%f'." % (oldest, newest))
for key in reqkeys:
if oldest < key < newest:
reqdict[key] = self.nmeaLog[key]
return True, reqdict
def rpc_connect(self):
"""
Tries to connect to the serial device.
You have to set parameters before calling connect.
"""
self.loginfo("RPC Connect called.")
pass
def rpc_disconnect(self):
"""
Disconnects the serial device.
"""
self.loginfo("RPC Disconnect called.")
pass
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
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
def test_splits_data_4(self):
test_data = '$foo,bar,baz*77NOTHING$Meep,wibble,123,321NOTHING'
streamer = NMEAStream()
result = streamer._split(test_data, separator='NOTHING')
self.assertEqual(result, ['foo,bar,baz*77', 'Meep,wibble,123,321'])
def test_splits_data_3(self):
test_data = '$foo,bar,baz*77\r\n$Meep,wibble,123,321'
streamer = NMEAStream()
result = streamer._split(test_data)
self.assertEqual(result, ['foo,bar,baz*77', 'Meep,wibble,123,321'])
def readUbx(data_file):
data_file = filterChar(data_file)
with open(data_file, 'r') as data_file_fd:
nmea_stream = NMEAStream(stream_obj=data_file_fd)
#allstrs = nmea_stream.get_strings(size=2048)
next_data = nmea_stream.get_objects()
#print allstrs
#exit()
nmea_objects = []
while next_data:
nmea_objects += next_data
next_data = nmea_stream.get_objects()
# All nmea objects are now in variable nmea_objects
ubloxgps = {'ts':[], 'lat':[],'lon':[], 'bear':[], 'alt':[], 'hdop':[], }
ubloxgpslist = []
lastts = None
currentpt = {}
for nmea_ob in nmea_objects:
#print nmea_ob.sen_type, nmea_ob
#if nmea_ob.sen_type == 'GPGGA':
# print nmea_ob.timestamp, nmea_ob.latitude
if nmea_ob.sen_type == 'GPRMC':
lastts = nmea_ob.timestamp
dt = getDateTime(nmea_ob.datestamp, nmea_ob.timestamp)
ts = long(unix_time_millis(dt))
latlon = convertLatLon(nmea_ob.lat, nmea_ob.lat_dir, nmea_ob.lon, nmea_ob.lon_dir)
tc = nmea_ob.true_course
if tc != '':
tc = float(tc)
else:
tc = 0.0
if latlon != None:
ubloxgps['lat'].append(latlon[0])
ubloxgps['lon'].append(latlon[1])
ubloxgps['bear'].append(tc)
ubloxgps['ts'].append(ts)
currentpt['lat'] = (latlon[0])
currentpt['lon'] = (latlon[1])
currentpt['bear'] = (tc)
currentpt['ts'] = (ts)
if nmea_ob.spd_over_grnd != '':
currentpt['spd'] = float(nmea_ob.spd_over_grnd)
else:
currentpt['spd'] = 0.0
#ubloxgpslist.append({})
if nmea_ob.sen_type == 'GPGGA':
if nmea_ob.timestamp == lastts and nmea_ob.latitude != '' and nmea_ob.longitude != '':
if nmea_ob.antenna_altitude != '':
currentpt['alt'] = float(nmea_ob.antenna_altitude)
else:
currentpt['alt'] = 0.0
currentpt['hdop'] = float(nmea_ob.horizontal_dil)
if currentpt != {}:
ubloxgpslist.append(currentpt)
currentpt = {}
return ubloxgps, ubloxgpslist
def __init__(self):
super(NMEAParser, self).__init__()
self.streamer = NMEAStream()
class NMEAParser(component):
"""Parses raw data (e.g. from a serialport) for NMEA data and
sends single sentences out.
"""
Inboxes = { "inbox" : "Items",
"control" : "Shutdown signalling",
}
Outboxes = { "outbox" : "Items tagged with a sequence number, in the form (seqnum, item)",
"signal" : "Shutdown signalling",
}
def __init__(self):
super(NMEAParser, self).__init__()
self.streamer = NMEAStream()
#self.streamer.get_objects("\n")
def finished(self):
while self.dataReady("control"):
msg = self.recv("control")
if type(msg) in (producerFinished, shutdownMicroprocess):
self.send(msg, "signal")
return True
return False
def _parse(self, data):
"""
Called when a publisher sends a new nmea sentence to this sensor.
The nmea data is parsed and returned as NMEASentence object
"""
sentences = []
sen_time = time.time() # TODO: This is late due to message traversal etc.
# TODO: Something here is fishy, as in the first received packet
# gets lost in the NMEAStream object. WTF.
for sentence in self.streamer.get_objects(data, size=len(data)+1):
nmeadata = sentence.__dict__
del(nmeadata['parse_map'])
del(nmeadata['nmea_sentence'])
nmeadata['time'] = sen_time
nmeadata['type'] = sentence.sen_type
#sentences.append(nmeadata)
self.send(nmeadata, "outbox")
#return sentences
def main(self):
"""Main loop."""
while not self.finished():
while not self.anyReady():
self.pause()
yield 1
while self.dataReady("inbox"):
data = self.recv("inbox")
if len(data) > 0:
if data[-1] != "\n":
data += "\n"
self._parse(data)
#
# if result:
# for sentence in result:
# self.send(sentence, "outbox")
yield 1
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__get_type(self):
streamer = NMEAStream()
sentence = '$GPRMC,184332.07,A,1929.459,S,02410.381,E,74.00,16.78,210410,0.0,E*46'
sen_type = streamer._get_type(sentence)
self.assertTrue(isinstance(sen_type(), RMC))
"""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)
class NMEABaseSensor(RPCComponent):
"""
Basic NMEA capable sensor component
Inherited components have an understanding of nmea data and can handle
an attached SerialPort component's ouutgoing NMEA traffic.
"""
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 main_prepare(self):
self.loginfo("Subscribing to configured SerialPort")
request = Message(sender=self.name,
recipient=self.Configuration['SerialPort'],
func="subscribe",
arg={
'function': 'nmeainput',
'name': self.name
})
self.send(request, "outbox")
def rpc_nmeainput(self, line):
"""
Called when a publisher sends a new nmea sentence to this sensor.
The nmea data is parsed and further handling can happen.
"""
sen_time = time() # TODO: This is late due to message traversal etc.
for sentence in self.streamer.get_objects(line):
self.nmeaLog[sen_time] = {
'raw': line,
'type': sentence.sen_type,
'obj': sentence
}
for recipient, func in self.subscribers.items():
msg = Message(sender=self.name,
recipient=recipient,
func=func,
arg={'args': (sentence.sen_type, sentence)})
self.send(msg, "outbox")
def rpc_getNMEATimeLog(self, eventtime, maxdeviation=10):
if eventtime < 0:
eventtime = time() - eventtime
minimum, maximum = eventtime - maxdeviation, eventtime + maxdeviation
#print((minimum, maximum))
reqdict = {}
for key in self.nmeaLog.keys():
#print(key)
if minimum < key < maximum:
reqdict[key] = self.nmeaLog[key]
return True, reqdict
def rpc_getNMEADeltaLog(self, oldest, newest=0):
if newest == 0:
newest = time()
if oldest < 0:
oldest += newest
reqdict = {}
reqkeys = self.nmeaLog.keys()
self.loginfo("Looking for nmea data in time '%f'-'%f'." %
(oldest, newest))
for key in reqkeys:
if oldest < key < newest:
reqdict[key] = self.nmeaLog[key]
return True, reqdict
def rpc_connect(self):
"""
Tries to connect to the serial device.
You have to set parameters before calling connect.
"""
self.loginfo("RPC Connect called.")
pass
def rpc_disconnect(self):
"""
Disconnects the serial device.
"""
self.loginfo("RPC Disconnect called.")
pass