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 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()
#gps.enableLogging(PhidgetLogLevel.PHIDGET_LOG_VERBOSE, "phidgetlog.log")
gps.setOnAttachHandler(GPSAttached)
gps.setOnDetachHandler(GPSDetached)
gps.setOnErrorhandler(GPSError)
gps.setOnPositionChangeHandler(GPSPositionChanged)
gps.setOnPositionFixStatusChangeHandler(GPSPositionFixStatusChanged)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Opening phidget object....")
try:
gps.openPhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
print("Exiting....")
exit(1)
print("Waiting for attach....")
try:
gps.waitForAttach(10000)
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
try:
gps.closePhidget()
except PhidgetException as e:
print("Phidget Exception %i: %s" % (e.code, e.details))
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(),
gps.getAltitude(),
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)
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)
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
