def _process_NAV_POSLLH(self, data: UBXMessage):
'''
Process NAV-LLH sentence - Latitude, Longitude, Height.
'''
try:
self.utc = UBXMessage.itow2utc(data.iTOW)
self.lat = data.lat / 10**7
self.lon = data.lon / 10**7
self.alt = data.hMSL / 1000
self.hacc = data.hAcc / 1000
self.vacc = data.vAcc / 1000
self.__app.frm_banner.update_banner(time=self.utc,
lat=self.lat,
lon=self.lon,
alt=self.alt,
hacc=self.hacc,
vacc=self.vacc)
if self.__app.frm_settings.get_settings()['webmap']:
self.__app.frm_mapview.update_map(lat=self.lat,
lon=self.lon,
hacc=self.hacc,
vacc=self.vacc,
fix='3D',
static=False)
else:
self.__app.frm_mapview.update_map(lat=self.lat,
lon=self.lon,
hacc=self.hacc,
vacc=self.vacc,
fix='3D',
static=True)
except ValueError:
# self.__app.set_status(ube.UBXMessageError(err), "red")
pass
def _process_NAV_PVT(self, data: UBXMessage):
'''
Process NAV-PVT sentence - Navigation position velocity time solution
'''
try:
self.utc = UBXMessage.itow2utc(data.iTOW)
self.lat = data.lat / 10**7
self.lon = data.lon / 10**7
self.alt = data.hMSL / 1000
self.hacc = data.hAcc / 1000
self.vacc = data.vAcc / 1000
self.pdop = data.pDOP / 100
self.sip = data.numSV
self.speed = data.gSpeed / 1000 # m/s
self.track = data.headMot / 10**5
fix = UBXMessage.gpsfix2str(data.fixType)
self.__app.frm_banner.update_banner(time=self.utc,
lat=self.lat,
lon=self.lon,
alt=self.alt,
hacc=self.hacc,
vacc=self.vacc,
dop=self.pdop,
sip=self.sip,
speed=self.speed,
fix=fix,
track=self.track)
if self.__app.frm_settings.get_settings()['webmap']:
self.__app.frm_mapview.update_map(lat=self.lat,
lon=self.lon,
hacc=self.hacc,
vacc=self.vacc,
fix='3D',
static=False)
else:
self.__app.frm_mapview.update_map(lat=self.lat,
lon=self.lon,
hacc=self.hacc,
vacc=self.vacc,
fix='3D',
static=True)
if self.__app.frm_settings.get_settings()['recordtrack'] \
and self.lat != '' and self.lon != '':
time = datetime(data.year, data.month, data.day, data.hour,
data.min, data.second).isoformat() + 'Z'
if fix == '3D':
fix = '3d'
elif fix == '2D':
fix = '2d'
else:
fix = 'none'
self.__app.file_handler.add_trackpoint(self.lat,
self.lon,
ele=self.alt,
time=time,
fix=fix,
sat=self.sip,
pdop=self.pdop)
except ValueError:
# self.__app.set_status(ube.UBXMessageError(err), "red")
pass
def testitow2utc(self):
res = str(UBXMessage.itow2utc(387092000))
self.assertEqual(res, '11:31:16')