reference_position.distanceXY(rx3_pos),
reference_position.distanceXY(rx2_pos)))
errlog.flush()
def handle_device3(msg):
global rx3_pos
'''handle message from uncorrected rover GPS'''
if msg.name() == "NAV_POSECEF":
msg.unpack()
pos = util.PosVector(msg.ecefX*0.01, msg.ecefY*0.01, msg.ecefZ*0.01)
rx3_pos = pos
def send_rtcm(msg):
dev2.write(msg)
RTCMv3_decode.run_RTCM_converter(opts.ntrip_server, opts.ntrip_user, opts.ntrip_password, opts.ntrip_mount, rtcm_callback=send_rtcm)
while True:
# get a message from the reference GPS
msg = dev2.receive_message_noerror()
if msg is not None:
handle_device2(msg)
last_msg2_time = time.time()
if dev3 is not None:
msg = dev3.receive_message_noerror()
if msg is not None:
handle_device3(msg)
last_msg3_time = time.time()
if opts.reopen and time.time() > last_msg2_time + 5:
# get a message from the reference GPS
msg = dev.receive_message_noerror()
if msg is not None:
handle_device(msg, num)
last_msg_time = time.time()
sys.stdout.flush()
except:
pass
def run_receiver_thread(dev, num):
import threading
t = threading.Thread(target=receiver_thread, args=(dev, num))
t.start()
dev1 = setup_port(opts.port1, opts.log1)
#RTCMv3_decode.run_RTCM_converter(opts.ntrip_server, opts.ntrip_port, opts.ntrip_user, opts.ntrip_password, opts.ntrip_mount, rtcm_callback=send_rtcm)
RTCMv3_decode.run_RTCM_converter('rtk2go.com',
2101,
'',
'',
'TSUKUBA-RTCM3',
rtcm_callback=send_rtcm)
#RTCMv3_decode.run_RTCM_converter('160.16.134.72', 2101, 'guest', 'guest', 'CQ-RTCM3', rtcm_callback=send_rtcm)
run_receiver_thread(dev1, 1)
#run_receiver_thread(dev2, 2)
parser.add_option("--udp-port", type='int', default=13320)
parser.add_option("--udp-addr", default="127.0.0.1")
(opts, args) = parser.parse_args()
packet_count = 0
def send_rtcm(msg):
global packet_count
packet_count += 1
msg = msg[:-2] # Trim off \r\n that the RTCM encoder puts there
port.sendto(msg, (opts.udp_addr, opts.udp_port))
print(len(msg), msg)
RTCMv3_decode.run_RTCM_converter(opts.ntrip_server,
opts.ntrip_port,
opts.ntrip_user,
opts.ntrip_password,
opts.ntrip_mount,
rtcm_callback=send_rtcm)
port = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
# port.setsockopt...
while True:
print(packet_count)
time.sleep(10)
nonVisible
def receiver_thread(dev, num=1):
while True:
# get a message from the reference GPS
msg = dev.receive_message_noerror()
#print("hello world")
if msg is not None:
handle_device(msg, num)
last_msg_time = time.time()
sys.stdout.flush()
def run_receiver_thread(dev, num):
import threading
t = threading.Thread(target=receiver_thread, args=(dev, num))
t.start()
dev1, dev2 = setup_port(opts.port1, opts.port2, opts.log1, opts.log2)
#RTCMv3_decode.run_RTCM_converter(opts.ntrip_server, opts.ntrip_port, opts.ntrip_user, opts.ntrip_password, opts.ntrip_mount, rtcm_callback=send_rtcm)
RTCMv3_decode.run_RTCM_converter('RTK2go.com', 2101, '', '', 'yumo', rtcm_callback=send_rtcm)
run_receiver_thread(dev1, 1)
run_receiver_thread(dev2, 2)