def test_init(self):
# make sure it returns the correct type
n = nmea.NMEA(
'$GPGGA,123519,4807.038,N,01131.000,E,1,08,0.9,545.4,M,46.9,M,,*47'
)
self.assertIsInstance(n, nmea.NMEA)
# make sure it won't try to parse something that isn't a string
self.assertRaises(TypeError, lambda: nmea.NMEA(12))
def test_GLL(self):
# make sure a valid sentence gets parsed correctly
n = nmea.NMEA('$GPGLL,4916.45,N,12311.12,W,225444,A,*1D')
self.assertEqual(n.utc.hour, 22)
self.assertEqual(n.utc.minute, 54)
self.assertEqual(n.utc.second, 44)
self.assertTrue(n.status)
self.assertAlmostEqual(n.latitude, 49.27417, 5)
self.assertAlmostEqual(n.longitude, -123.1853, 4)
# make sure an invalid sentence has False status
n = nmea.NMEA('$GPGLL,4916.45,N,12311.12,W,225444,V,*1D')
self.assertFalse(n.status)
def readGPS(self):
# use the NMEA parser
self.gps_serial_port.open()
self.gps_serial_port.reset_input_buffer()
for _ in range(5):
try:
line = self.gps_serial_port.readline().decode('utf-8')
except:
line = ''
nmea_data = nmea.NMEA(line)
if nmea_data.status:
self.fix = True
self.latitude = nmea_data.latitude
self.longitude = nmea_data.longitude
print("got lat {}, long {}".format(self.latitude, self.longitude))
new_position = coord.Vector(self.coordinate_system,
self.latitude, self.longitude)
cur_time = time.time()
if self.prev_time is None:
self.position = new_position
self.prev_time = cur_time
else:
self.velocity = new_position.vectorSubtract(self.position)
self.velocity.scale(1.0 / (cur_time - self.prev_time))
self.position = new_position
self.prev_time = cur_time
self.gps_serial_port.close()
def test_GGA(self):
# make sure a valid sentence gets parsed correctly
n = nmea.NMEA(
'$GPGGA,123519,4807.038,S,01131.000,W,1,08,0.9,545.4,M,46.9,M,,*47'
)
self.assertEqual(n.utc.hour, 12)
self.assertEqual(n.utc.minute, 35)
self.assertEqual(n.utc.second, 19)
self.assertTrue(n.status)
self.assertAlmostEqual(n.latitude, -48.1173, 4)
self.assertAlmostEqual(n.longitude, -11.51667, 5)
# make sure an invalid sentence has False status
n = nmea.NMEA(
'$GPGGA,123519,4807.038,S,01131.000,W,0,08,0.9,545.4,M,46.9,M,,*47'
)
self.assertFalse(n.status)
def test_RMC(self):
# make sure a valid sentence gets parsed correctly
n = nmea.NMEA(
'$GPRMC,123519,A,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A'
)
self.assertEqual(n.utc.hour, 12)
self.assertEqual(n.utc.minute, 35)
self.assertEqual(n.utc.second, 19)
self.assertTrue(n.status)
self.assertAlmostEqual(n.latitude, 48.1173, 4)
self.assertAlmostEqual(n.longitude, 11.51667, 5)
# make sure an invalid sentence has False status
n = nmea.NMEA(
'$GPRMC,123519,V,4807.038,N,01131.000,E,022.4,084.4,230394,003.1,W*6A'
)
self.assertFalse(n.status)
def test_GSV(self):
# make sure status is false
n = nmea.NMEA(
'$GPGSV,2,1,08,01,40,083,46,02,17,308,41,12,07,344,39,14,22,228,45*75'
)
self.assertFalse(n.status)
def test_GSA(self):
# make sure status is false
n = nmea.NMEA('$GPGSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39')
self.assertFalse(n.status)
def test_VTG(self):
# make sure status is false
n = nmea.NMEA('$GPVTG,054.7,T,034.4,M,005.5,N,010.2,K*48')
self.assertFalse(n.status)