def gpsLoop(inParams):
#log path
savePath, printLive = inParams
#setup gps device
#wait for gps attach?
gps = GPS()
gps.openPhidget()
gps.waitForAttach(10000)
print "GPS attached"
#set up logging:
gpsLog = open(savePath+'/Gps.log','w')
#change handler
def gpsChangeHandler1(e):
gps_time = gps.getTime().toString()
gps_lat = gps.getLatitude()
gps_lon = gps.getLongitude()
gps_alt = gps.getAltitude()
gps_heading = gps.getHeading()
gps_vel = gps.getVelocity()
time1 = str(datetime.datetime.now())
dataElems = [time1, gps_time, gps_lat, gps_lon,gps_alt,gps_heading,gps_vel]
dataElems = [str(x) for x in dataElems]
return ','.join(dataElems)+'\n', (gps_lat, gps_lon, gps_alt)
#(','.join(dataElems)+'\n')
#gpsLog.flush()
#gps.setOnPositionChangeHandler(gpsChangeHandler1)
data, xyzPos = gpsChangeHandler1(1)
gpsLog.write(data)
while True:
time.sleep(0.1)
newData, newXyz = gpsChangeHandler1(1)
if xyzPos == newXyz:
pass
else:
#log new data
print "position changed", newXyz
xyzPos = newXyz
gpsLog.write(newData)
gpsLog.flush()
def gpsLoop(inParams):
#log path
savePath, printLive = inParams
#setup gps device
#wait for gps attach?
gps = GPS()
gps.openPhidget()
gps.waitForAttach(10000)
print "GPS attached"
#set up logging:
gpsLog = open(savePath+'/Gps.log','w')
#change handler
def gpsChangeHandler1(e):
gps_time = gps.getTime().toString()
gps_date = gps.getDate().toString()
gps_lat = gps.getLatitude()
gps_lon = gps.getLongitude()
gps_alt = gps.getAltitude()
gps_heading = gps.getHeading()
gps_vel = gps.getVelocity()
time1 = str(datetime.datetime.now())
dataElems = [time1, gps_time, gps_date, gps_lat, gps_lon,gps_alt,gps_heading,gps_vel]
dataElems = [str(x) for x in dataElems]
return ','.join(dataElems)+'\n', (gps_lat, gps_lon, gps_alt)
#(','.join(dataElems)+'\n')
#gpsLog.flush()
#gps.setOnPositionChangeHandler(gpsChangeHandler1)
data, xyzPos = gpsChangeHandler1(1)
gpsLog.write("sysTime, gpsTime, gpsDate, Lat, Lon, Alt, Heading, Velocity\n")
gpsLog.write(data)
logCounter = 0
while True:
logCounter = logCounter+1
#tune sleep timer to image capture rate...
time.sleep(0.18)
data, xyzPos = gpsChangeHandler1(1)
gpsLog.write(data)
if logCounter%10==0:
gpsLog.flush()
def activate(self):
"""Phidget GPS Must be attached via USB cable and powered before calling, sets is_ready() to True when done"""
try:
self.phidget = GPS()
self.phidget.openPhidget()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
try:
self.phidget.waitForAttach(10000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
self.phidget.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
self.ready = True
"""
__author__ = "Adam Stelmack"
__version__ = "2.1.8"
__date__ = "14-Jan-2011 3:01:06 PM"
#Basic imports
import sys
#Phidget specific imports
from Phidgets.PhidgetException import PhidgetException
from Phidgets.Devices.GPS import GPS
from Phidgets.Phidget import PhidgetLogLevel
#Create an accelerometer object
try:
gps = GPS()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
#Information Display Function
def displayDeviceInfo():
print(
"|------------|----------------------------------|--------------|------------|"
)
print(
"|- Attached -|- Type -|- Serial No. -|- Version -|"
)
print(
print("Closing...")
try:
gps.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Done.")
exit(0)
atexit.register(clean_up)
gps = None
try:
gps = GPS()
gps.openPhidget()
gps.waitForAttach(10000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
exit(1)
print("Date,Time,Lat,Long,Altitude,Velocity,Heading")
while True:
try:
print("{0},{1},{2},{3},{4},{5},{6}".format(
gps.getDate().toString(),
gps.getTime().toString(),
gps.getLatitude(),
gps.getLongitude(),
from numpy import mean, median
from upoints import point
from drivers.servo import MaestroServoController
from drivers.cmps03_compass import CMPS03
from Phidgets.PhidgetException import PhidgetException
from Phidgets.Devices.GPS import GPS
WAYPOINTS = [
(39.720382,-104.706065),
]
curr_waypoint = 0
#### GPS SETUP
gps = None
try:
gps = GPS()
gps.openPhidget()
gps.waitForAttach(10000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
exit(1)
### SERVO SETUP
servo = MaestroServoController(port="COM3")
servo.reset_all()
THROTTLE_MAX = 1600
THROTTLE_MIN = 1585
STEERING_FULL_RIGHT = 1654
STEERING_FULL_LEFT = 1454
STEERING_CENTER = 1554
STEERING_GAIN = 1.04
def AttachGPS(databasepath, serialNumber):
def onAttachHandler(event):
logString = "GPS Attached " + str(event.device.getSerialNum())
#print(logString)
DisplayAttachedDeviceInfo(event.device)
def onDetachHandler(event):
logString = "GPS Detached " + str(event.device.getSerialNum())
#print(logString)
DisplayDetachedDeviceInfo(event.device)
event.device.closePhidget()
def onErrorHandler(event):
logString = "GPS Error " + str(event.device.getSerialNum()) + ", Error: " + event.description
print(logString)
DisplayErrorDeviceInfo(event.device)
def onServerConnectHandler(event):
logString = "GPS Server Connect " + str(event.device.getSerialNum())
#print(logString)
def onServerDisconnectHandler(event):
logString = "GPS Server Disconnect " + str(event.device.getSerialNum())
#print(logString)
def positionChangeHandler(event):
logString = "GPS Position Changed"
#print(logString)
try:
conn = sqlite3.connect(databasepath)
conn.execute("INSERT INTO GPS_POSITIONCHANGE VALUES(NULL, DateTime('now'), ?, ?, ?)",
(event.device.getSerialNum(), event.index, event.position))
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
def positionFixStatusChangeHandler(event):
logString = "GPS Position Fix Status Changed"
#print(logString)
try:
conn = sqlite3.connect(databasepath)
conn.execute("INSERT INTO GPS_POSITIONFIXSTATUSCHANGE VALUES(NULL, DateTime('now'), ?, ?, ?)",
(event.device.getSerialNum(), event.index, event.position))
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
try:
p = GPS()
p.setOnAttachHandler(onAttachHandler)
p.setOnDetachHandler(onDetachHandler)
p.setOnErrorhandler(onErrorHandler)
p.setOnServerConnectHandler(onServerConnectHandler)
p.setOnServerDisconnectHandler(onServerDisconnectHandler)
p.setOnPositionChangeHandler(positionChangeHandler)
p.setOnPositionFixStatusChangeHandler(positionFixStatusChangeHandler)
p.openPhidget(serialNumber)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting...")
exit(1)
"""
__author__ = "Adam Stelmack"
__version__ = "2.1.8"
__date__ = "14-Jan-2011 3:01:06 PM"
# Basic imports
import sys
# Phidget specific imports
from Phidgets.PhidgetException import PhidgetException
from Phidgets.Devices.GPS import GPS
# Create an accelerometer object
try:
gps = GPS()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
# Information Display Function
def displayDeviceInfo():
print("|------------|----------------------------------|--------------|------------|")
print("|- Attached -|- Type -|- Serial No. -|- Version -|")
print("|------------|----------------------------------|--------------|------------|")
print(
"|- %8s -|- %30s -|- %10d -|- %8d -|"
% (gps.isAttached(), gps.getDeviceName(), gps.getSerialNum(), gps.getDeviceVersion())
)
print("|------------|----------------------------------|--------------|------------|")
#Basic imports
from ctypes import *
import sys
import random
from datetime import datetime
#Phidget specific imports
from Phidgets.PhidgetException import PhidgetErrorCodes, PhidgetException
from Phidgets.Events.Events import AttachEventArgs, DetachEventArgs, ErrorEventArgs, InputChangeEventArgs, OutputChangeEventArgs, SensorChangeEventArgs
from Phidgets.Devices.InterfaceKit import InterfaceKit
from Phidgets.Devices.GPS import GPS
#Create an interfacekit object
try:
interfaceKit = InterfaceKit()
gps = GPS()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
#Information Display Function
def displayDeviceInfo():
print("|------------|----------------------------------|--------------|------------|")
print("|- Attached -|- Type -|- Serial No. -|- Version -|")
print("|------------|----------------------------------|--------------|------------|")
print("|- %8s -|- %30s -|- %10d -|- %8d -|" % (interfaceKit.isAttached(), interfaceKit.getDeviceName(), interfaceKit.getSerialNum(), interfaceKit.getDeviceVersion()))
print("|------------|----------------------------------|--------------|------------|")
print("Number of Digital Inputs: %i" % (interfaceKit.getInputCount()))
print("Number of Digital Outputs: %i" % (interfaceKit.getOutputCount()))
print("Number of Sensor Inputs: %i" % (interfaceKit.getSensorCount()))
"""Prints one pull of GPS Data"""
from geopy import distance
from numpy import mean, median
from upoints import point
from Phidgets.PhidgetException import PhidgetException
from Phidgets.Devices.GPS import GPS
#### GPS SETUP
gps = None
try:
gps = GPS()
gps.openPhidget()
gps.waitForAttach(10000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
exit(1)
while 1:
try:
latitude = float(gps.getLatitude())
longitude = float(gps.getLongitude())
heading = float(gps.getHeading())
fix = gps.getPositionFixStatus()
print ('lat:{0} long:{1} heading:{2} fix:{3}'.format(latitude, longitude, heading, fix))
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
import cv, time, datetime, sys
from Phidgets.Devices.GPS import GPS
saveDir = '/data/tmpImg'
logFile = open('/data/tmpImg/runLog.txt', 'w')
gps = GPS()
gps.openPhidget()
gps.waitForAttach(10000)
gps_time = gps.getTime().toString()
capture = cv.CaptureFromCAM(0)
cv.SetCaptureProperty(capture, 3, 1280)
cv.SetCaptureProperty(capture, 4, 720)
header = 'imgName,curTime,elpTime,gps_time,gps_vel, gps_heading, gps_lon,gps_lat,gps_alt\n'
logFile.write(header)
for i in range(2000):
#print 1
curTime = str(datetime.datetime.now())
imgName = 'testImg' + str(i).zfill(5) + '.jpg'
img = cv.QueryFrame(capture)
#print 2
#cv.ShowImage("camera", img)
cv.SaveImage(saveDir + '/' + imgName, img)
#print 3
#gps stuff...
gps_time = gps.getTime().toString()
gps_lat = gps.getLatitude()
def AttachGPS(databasepath, serialNumber):
def onAttachHandler(event):
logString = "GPS Attached " + str(event.device.getSerialNum())
#print(logString)
DisplayAttachedDeviceInfo(event.device)
def onDetachHandler(event):
logString = "GPS Detached " + str(event.device.getSerialNum())
#print(logString)
DisplayDetachedDeviceInfo(event.device)
event.device.closePhidget()
def onErrorHandler(event):
logString = "GPS Error " + str(
event.device.getSerialNum()) + ", Error: " + event.description
print(logString)
DisplayErrorDeviceInfo(event.device)
def onServerConnectHandler(event):
logString = "GPS Server Connect " + str(event.device.getSerialNum())
#print(logString)
def onServerDisconnectHandler(event):
logString = "GPS Server Disconnect " + str(event.device.getSerialNum())
#print(logString)
def positionChangeHandler(event):
logString = "GPS Position Changed"
#print(logString)
try:
conn = sqlite3.connect(databasepath)
conn.execute(
"INSERT INTO GPS_POSITIONCHANGE VALUES(NULL, DateTime('now'), ?, ?, ?)",
(event.device.getSerialNum(), event.index, event.position))
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
def positionFixStatusChangeHandler(event):
logString = "GPS Position Fix Status Changed"
#print(logString)
try:
conn = sqlite3.connect(databasepath)
conn.execute(
"INSERT INTO GPS_POSITIONFIXSTATUSCHANGE VALUES(NULL, DateTime('now'), ?, ?, ?)",
(event.device.getSerialNum(), event.index, event.position))
conn.commit()
conn.close()
except sqlite3.Error as e:
print "An error occurred:", e.args[0]
try:
p = GPS()
p.setOnAttachHandler(onAttachHandler)
p.setOnDetachHandler(onDetachHandler)
p.setOnErrorhandler(onErrorHandler)
p.setOnServerConnectHandler(onServerConnectHandler)
p.setOnServerDisconnectHandler(onServerDisconnectHandler)
p.setOnPositionChangeHandler(positionChangeHandler)
p.setOnPositionFixStatusChangeHandler(positionFixStatusChangeHandler)
p.openPhidget(serialNumber)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting...")
exit(1)
"""
simple gps test
"""
print "starting up!"
from Phidgets.Devices.GPS import GPS
import datetime, sys
gps = GPS()
gps.openPhidget()
print "waiting for attach"
gps.waitForAttach(10000)
print "attached!"
gps_time = gps.getTime().toString()
def gpsChangeHandler1(e):
gps_time = gps.getTime().toString()
gps_lat = gps.getLatitude()
gps_lon = gps.getLongitude()
gps_alt = gps.getAltitude()
gps_heading = gps.getHeading()
gps_vel = gps.getVelocity()
time1 = str(datetime.datetime.now())
dataElems = [time1, gps_time, gps_lat, gps_lon]
dataElems = [str(x) for x in dataElems]
print ','.join(dataElems)
print "testing function"
gpsChangeHandler1(1)
#find last log entry, start numbering with most recent, else start over
try:
inLog = open(outLogPath,'r').readlines()
#image name first in list
lastFrame = inLog[-1].split(',')[0]
print "last frame captured:", lastFrame
lastFrameCount = int(lastFrame[7:-4])
curFrame = lastFrameCount+1
except:
curFrame = 1
#raise('oops')
logFile = open(outLogPath,'w')
gps = GPS()
gps.openPhidget()
gps.waitForAttach(10000)
gps_time = gps.getTime().toString()
#eventually add logic for gps fix here...
captureA = cv.CaptureFromCAM(0)
cv.SetCaptureProperty(captureA, 3, 1280)
cv.SetCaptureProperty(captureA, 4, 720)
captureB = cv.CaptureFromCAM(1)
cv.SetCaptureProperty(captureB, 3, 1280)
cv.SetCaptureProperty(captureB, 4, 720)
class GPSPhidgets(GPSDevice):
"""
This class implements the GPS facade for the Phidgets GPS.
"""
phidget = None # Holds reference to Phidget device, populated from activate
def get_current_latitude(self):
try:
self.latitude = self.phidget.getLatitude()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
return self.latitude
def get_current_longitude(self):
try:
self.longitude = self.phidget.getLongitude()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
return self.longitude
def get_current_velocity(self):
"""Returns the current GPS-derived speed in miles per hour"""
try:
self.velocity = self.phidget.getVelocity()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
return self.velocity
def get_current_altitude(self):
"""Returns the current altitude in decimal feet"""
try:
self.altitude = self.phidget.getAltitude()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
return self.altitude
def get_current_heading(self):
"""Returns the current GPS-derived heading in degrees"""
try:
self.heading = self.phidget.getHeading()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
return self.heading
def get_time(self):
"""Returns a datetime.time object with the current time from the GPS"""
try:
phidget_time = self.phidget.getTime()
self.time = datetime.time(phidget_time.tm_hour, phidget_time.tm_min, phidget_time.tm_sec, phidget_time.tm_ms)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
return self.time
def get_date(self):
"""Returns a datetime.date object with the current date from the GPS"""
try:
phidget_date = self.phidget.getDate()
self.date = datetime.date(phidget_date.tm_year, phidget_date.tm_mon, phidget_date.tm_mday)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
return self.date
def get_datetime(self):
"""Returns a datetime.datetime object with the current date and time from the GPS"""
try:
self.date_time = datetime.datetime.combine(self.get_date(), self.get_time())
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
return self.date_time
def is_ready(self):
"""Returns True if the GPS is ready to return data (on, booted, sat lock, etc.)"""
fix_status = self.phidget.getPositionFixStatus()
if not fix_status:
self.ready = False
return self.ready
def activate(self):
"""Phidget GPS Must be attached via USB cable and powered before calling, sets is_ready() to True when done"""
try:
self.phidget = GPS()
self.phidget.openPhidget()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
try:
self.phidget.waitForAttach(10000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
self.phidget.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
self.ready = True
def deactivate(self):
"""Tells the GPS to shut down, sets is_ready() to False when done"""
self.phidget.closePhidget()
self.ready = False
from Phidgets.Phidget import Phidget
from Phidgets.PhidgetException import PhidgetErrorCodes, PhidgetException
from Phidgets.Events.Events import SpatialDataEventArgs, AttachEventArgs, DetachEventArgs, ErrorEventArgs
from Phidgets.Devices.Spatial import Spatial, SpatialEventData, TimeSpan
from Phidgets.Devices.GPS import GPS
import urllib, httplib2
springxd_url = 'http://phidgets.mikepwright.dyndns.ws:8080'
h = httplib2.Http(".cache") # WAT?
h.add_credentials("user", "******", "http://192.168.0.108:9020")
#Create an accelerometer object
try:
spatial = Spatial()
gps = GPS()
except RuntimeError as e:
print("Runtime Exception: %s" % e.details)
print("Exiting....")
exit(1)
#Information Display Function
def DisplayDeviceInfo():
print(
"|------------|----------------------------------|--------------|------------|"
)
print(
"|- Attached -|- Type -|- Serial No. -|- Version -|"
)
print(
