def receive(devices, fields=None, set_clock_minutes=60):
gps = micropyGPS.MicropyGPS(0, 'dd')
for device in devices.split(','):
if os.path.exists(device):
gpsdev = device
break
print('No gps device: %s' % device)
with open(gpsdev, 'r') as f:
while True:
try:
line = f.readline()
if len(line) == 0:
continue
if line[0] != '$':
continue
for c in line:
stat = gps.update(c)
if stat is None:
continue
if fields is None:
output(gps)
continue
if gps.valid is False:
fields[GPS] = 0.0
continue
else:
fields[LATITUDE] = gps.latitude[0]
fields[LONGITUDE] = gps.longitude[0]
fields[ALTITUDE] = gps.altitude
fields[SPEED] = gps.speed[0]
fields[COURSE] = gps.course
fields[HDOP] = gps.hdop
fields[VDOP] = gps.vdop
fields[GPS] = 1.0
if gps.date[2] != 0:
set_clock(gps, set_clock_minutes)
continue
except KeyboardInterrupt:
sys.exit(1)
import serial
import micropyGPS
import threading
import time
import motor
gps = micropyGPS.MicropyGPS(9, 'dd') # MicroGPSオブジェクトを生成する。
# 引数はタイムゾーンの時差と出力フォーマット
motor = motor.Motor(18, 25, 24, 13, 17, 27)
def rungps(): # GPSモジュールを読み、GPSオブジェクトを更新する
s = serial.Serial('/dev/serial0', 9600, timeout=10)
s.readline() # 最初の1行は中途半端なデーターが読めることがあるので、捨てる
while True:
sentence = s.readline().decode('utf-8') # GPSデーターを読み、文字列に変換する
if sentence[0] != '$': # 先頭が'$'でなければ捨てる
continue
for x in sentence: # 読んだ文字列を解析してGPSオブジェクトにデーターを追加、更新する
gps.update(x)
def get_gps():
if gps.clean_sentences > 20:
return (gps.latitude[0], gps.longitude[0])
else:
return None
def init():
gpsthread = threading.Thread(target=rungps, args=()) # 上の関数を実行するスレッドを生成
from machine import UART
import micropyGPS
import utime, gc, _thread
from m5stack import lcd
gps_s = UART(2, tx=17, rx=16, baudrate=9600, timeout=200, buffer_size=256, lineend='\r\n')
gps = micropyGPS.MicropyGPS(9, 'dd')
def GPSparse():
n = 0
tm_last = 0
while True:
utime.sleep_ms(100)
len = gps_s.any()
if len>0:
b = gps_s.read(len)
for x in b:
if 10 <= x <= 126:
stat = gps.update(chr(x))
if stat:
tm = gps.timestamp
tm_now = (tm[0] * 3600) + (tm[1] * 60) + int(tm[2])
if (tm_now - tm_last) >= 10:
n += 1
tm_last = tm_now
lcd.clear()
lcd.print("Lat: %.8f %s" % (gps.latitude[0], gps.latitude[1]), 10, 40)
lcd.print("Lng: %.8f %s" % (gps.longitude[0], gps.longitude[1]), 10, 80)
if (n % 10) == 0:
print("Mem free:", gc.mem_free())
gc.collect()
def __init__(self):
self.mgps = micropyGPS.MicropyGPS(9,'dd')
self.Time = 0
self.Lat = 0
self.Lon = 0
import dc_motor
import bno055 as bno
import micropyGPS
import pyproj
import csv
import serial
import threading
import time
import numpy as np
#目標の緯度，経度
goal_la = 34.72542167 #latitude
goal_lo = 137.71619667 #longitude
#インスタンス宣言
gps = micropyGPS.MicropyGPS(9, 'dd') #micropyGPSのインスタンス
grs80 = pyproj.Geod(ellps='GRS80') #GRS80楕円体 pyprojのインスタンス
#モーター制御初期化
dc_motor.setup()
#swichPULLUP->fall なんかの割り込み
#GPIO.setmode(GPIO.BCM)
#GPIO.setup(18,GPIO.IN,pull_up_down=GPIO.PUD_UP)
#GPIO.wait_for_edge(18, GPIO.FALLING)
#print('OK')
#画像でコーン検知する関数は終わりでTrueを無いときFalse
#PID
def PID(Kp,Ki,Kd,error,pre_error,sum_error):#最後逆転してるの注意な
u=error*Kp+sum_error*Ki+(error-pre_error)*Kd #操作量u,順にpid
pre_error=error#前回偏差
import serial
import micropyGPS
import threading
import time
time_zone = 9
O_format = 'dd'
gps = micropyGPS.MicropyGPS(time_zone, O_format)
def rungps():
s = serial.Serial('/dev/serial0', 9600, timeout=10)
s.readline()
while True:
sentence = s.readline().decode('utf-8')
if sentence[0] != '$':
continue
for x in sentence:
gps.update(x)
gpsthread = threading.Thread(target=rungps, daemon=True)
gpsthread.start()
while True:
if gps.clean_sentences > 20:
h = gps.timestamp[0] if gps.timestamp[0] < 24 else gps.timestamp[0] - 24
print('%2d:%02d:%04.1f' % (h, gps.timestamp[1], gps.timestamp[2]))
print('緯度経度: %2.8f, %2.8f\n' % (gps.latitude[0], gps.longitude[0]))
time.sleep(3.0)
def __init__(self, time_zone=9, O_format='dd'):
self.gps = micropyGPS.MicropyGPS(time_zone, O_format)
# Convert NMEA 0183 powered by micropyGPS
# Convert .l16 log files exported from SeaPath by H.Otsuka
# 19 Oct 2020
import sys
import micropyGPS
import pandas as pd
import pgeotools as pg
#gps = micropyGPS.MicropyGPS(9, 'dd') # JST
gps = micropyGPS.MicropyGPS(0, 'dd') # UTC
l16 = pd.DataFrame(columns=['year','month','day','hour','minute','seconds','lat','lon'], index=[0,1,2,3,4,5])
sec_cache = 0
def nmearead(sentence):
for x in sentence: # 読んだ文字列を解析してGPSオブジェクトにデーターを追加、更新する
gps.update(x)
h = gps.timestamp[0] if gps.timestamp[0] < 24 else gps.timestamp[0] - 24
year, month, day = gps.date[2], gps.date[1], gps.date[0]
hour, minute, seconds = h, gps.timestamp[1], gps.timestamp[2]
lon_now, lat_now = gps.longitude[0], gps.latitude[0]
return year, month, day, hour, minute, seconds, lat_now, lon_now
def l16read(sentence, l16):
year, month, day, hour, minute, seconds, lat_now, lon_now = 0,0,0,0,0,0,0,0
londms = [0]*3
import os
import threading
import time
import serial
import micropyGPS
from output_csv import write_position
gps = micropyGPS.MicropyGPS()
# 出力のフォーマットは度数とする
gps.coord_format = 'dd'
def run_gps():
"""
GPSモジュールを読み、GPSオブジェクトを更新する
:return: None
"""
s = serial.Serial('/dev/serial0', 9600, timeout=10)
# 最初の1行は中途半端なデーターが読めることがあるので、捨てる
s.readline()
while True:
# GPSデーターを読み、文字列に変換する
sentence = s.readline().decode('utf-8')
# 先頭が'$'でなければ捨てる
if sentence[0] != '$':
import time
import csv
import datetime as dt
import os
import serial
import threading
import micropyGPS as mpG
PATH = ['/home','/pi','/GPS_DATAs','/GPS_DATA_',[],'.csv']
#path_day = 0
day = 0
gps = mpG.MicropyGPS(9,'dd')
def rungps():
s = serial.Serial('/dev/serial0',9600,timeout=10)
s.readline()
while(1):
sentence = s.readline().decode('utf-8')
if sentence[0] != '$':
continue
for x in sentence:
gps.update(x)
gpsthread = threading.Thread(target=rungps,args=())
gpsthread.daemon = True
gpsthread.start()
def create_path(PATH):
path = ''
import picamera.array
import cv2 as cv
##----------------------------------------------------------------初期設定
TargetPosition = [0, 0, 0] #お客さんの位置（緯度,経度、海抜（多分使わん））
GPStimeout = 10 #gpsのタイムアウトの時間の設定（秒
step = "gps" #"gps"でgps制御、"face"で顔位置制御から始まる
SETresolution = [512, 512] #解像度
delaytime = 0.1 #周波数=10Hz
stopsize = 500 #十分近づいたと判断する顔の対角線の長さ
kp = 0.05
kd = 0.05
##------------------------------------------------------------処理のために格納する変数の宣言
faceposition = [0, 0, 0]
position = [0, 0, 0]
##-----------------------------------------------------------------------GPS
gps = micropyGPS.MicropyGPS(9, 'dd') #timezone:9 , timeformat:dd
def rungps():
s = serial.Serial('/dev/serial0', 9600, timeout=10)
s.readline()
while True:
sentence = s.readline().decode('utf-8') #シリアルで撮ったバイトがたのデータを文字列に変換
if sentence != "": #データが格納されてないことによるインデックスエラを防ぐ、空でないことを確認
if sentence[0] != '$': #開始の表示を捨てる
continue
for x in sentence:
gps.update(x)
gpsthread = threading.Thread(target=rungps, args=())
def main():
point = []
speed = []
gps = micropyGPS.MicropyGPS(9, 'dd')
assert gps.start_logging('test.txt', mode="new")
# assert gps.write_log('micropyGPS test log\n')
# f = open('FILE210312-223327-000860-N.NMEA', 'r')
f = open(sys.argv[1], 'r')
print(sys.argv[1])
while True:
data = f.readline()
# EofCheck
if not data:
break
if data.startswith('<EOF/>') == True:
break
#print (data)
#if data.startswith('$GPGSV') == True:
for y in data:
#$ print(y)
gps.update(y)
# print('UTC Timestamp:', gps.timestamp)
# print( gps.fix_time)
# print(gps.latitude_string(), gps.longitude_string())
# print( "[%2.8f, %2.8f]" % (gps.latitude [0], gps.longitude[0]))
if gps.latitude[0] != 0 or gps.longitude[0] != 0:
point.append([gps.latitude[0], gps.longitude[0]])
speed.append(gps.speed)
# print(gps.speed_string('kph'))
f.close()
assert gps.stop_logging()
map = StaticMap(512, 512)
# print(point)
# print( "map = [%2.8f, %2.8f]" % (point[0][0],point[0][1]))
for ii in range(len(point) - 1):
hh = speed[ii][2] / max_speed
sv = 0.0
if (hh > 1.0):
sv = (hh - 1.0)
hh = np.clip(hh, 0.0, 1.0)
sv = np.clip(sv, 0.0, 1.0)
sv = 1.0 - sv
hh2 = (2.0 / 3.0) * (1 - hh)
print(speed[ii], hh2)
color_hsv = (hh2, sv, sv)
color_rgb = mcolors.hsv_to_rgb(color_hsv)
map.add_line(
Line(((point[ii][1], point[ii][0]),
(point[ii + 1][1], point[ii + 1][0])),
mcolors.to_hex(color_rgb), 3))
p2 = np.mean(point, axis=0)
marker_outline = CircleMarker((point[0][1], point[0][0]), 'white', 18)
marker = CircleMarker((point[0][1], point[0][0]), '#FF3600', 12)
map.add_marker(marker_outline)
map.add_marker(marker)
end_num = len(point) - 1
marker_outline = CircleMarker((point[end_num][1], point[end_num][0]),
'white', 18)
marker = CircleMarker((point[end_num][1], point[end_num][0]), '#0036FF',
12)
map.add_marker(marker_outline)
map.add_marker(marker)
# map level
p_min = np.min(point, axis=0)
p_max = np.max(point, axis=0)
# 2点間から距離を取得
rho = cal_rho(p_min[1], p_min[0], p_max[1], p_max[0])
print(rho)
print(p2)
p_sub = p_max - p_min
print(p_sub)
lev_sum = rho
print(lev_sum)
# 最大1分間に5km(時速300km)で計算
lev = int(((5.0 - lev_sum) * (7.5 / 5.0)) + 9)
print(lev)
image = map.render(zoom=lev, center=[p2[1], p2[0]])
image.save(sys.argv[1] + '_map.png')
