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#!/usr/bin/env python
# encoding: utf-8
# webgps.py
#
# This is a Python port of webgps.c from http://www.wireless.org.au/~jhecker/gpsd/
# by Beat Bolli <me+gps@drbeat.li>
#
import time, calendar, math, socket, sys, os, select, pickle
from gps import *
TRACKMAX = 1024
STALECOUNT = 10
DIAMETER = 200
XYOFFSET = 10
def polartocart(el, az):
radius = DIAMETER * (1 - el / 90.0) # * math.cos(Deg2Rad(float(el)))
theta = Deg2Rad(float(az - 90))
return (
int(radius * math.cos(theta) + 0.5) + DIAMETER + XYOFFSET,
int(radius * math.sin(theta) + 0.5) + DIAMETER + XYOFFSET
)
class Track:
'''Store the track of one satellite.'''
def __init__(self, prn):
self.prn = prn
self.stale = 0
self.posn = [] # list of (x, y) tuples
def add(self, x, y):
pos = (x, y)
self.stale = STALECOUNT
if not self.posn or self.posn[-1] != pos:
self.posn.append(pos)
if len(self.posn) > TRACKMAX:
self.posn = self.posn[-TRACKMAX:]
#print self.prn, self.posn
return 1
return 0
class SatTracks(gps):
'''gpsd client writing HTML and SVG output.'''
def __init__(self):
gps.__init__(self)
self.sattrack = {} # maps PRNs to Tracks
self.state = None
self.statetimer = time.time()
self.needsupdate = 0
def html(self, svgfile):
self.fh.write("""<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML Transitional 1.0//EN"
\t"http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
\t<meta http-equiv="Refresh" content="300" />
\t<title>GPSD Satellite Positions and Readings</title>
\t<style type="text/css"><!--
\t\t.num td { text-align: right; }
\t\tth { text-align: left; }
\t--></style>
</head>
<body>
\t<table border="1">
\t\t<tr>
\t\t\t<td>
\t\t\t\t<table border="0" class="num">
\t\t\t\t\t<tr><th>PRN:</th><th>Elev:</th><th>Azim:</th><th>SNR:</th><th>Used:</th></tr>
""")
sats = self.satellites[:]
sats.sort(lambda a, b: a.PRN - b.PRN)
for s in sats:
self.fh.write("\t\t\t\t\t<tr><td>%d</td><td>%d</td><td>%d</td><td>%d</td><td>%s</td></tr>\n" % (
s.PRN, s.elevation, s.azimuth, s.ss, s.used and 'Y' or 'N'
))
self.fh.write("\t\t\t\t</table>\n\t\t\t\t<table border=\"0\">\n")
def row(l, v):
self.fh.write("\t\t\t\t\t<tr><th>%s:</th><td>%s</td></tr>\n" % (l, v))
def deg_to_str(a, hemi):
return '%.6f %c' % (abs(a), hemi[a < 0])
row('Time', self.utc or 'N/A')
if self.fix.mode >= MODE_2D:
row('Latitude', deg_to_str(self.fix.latitude, 'SN'))
row('Longitude', deg_to_str(self.fix.longitude, 'WE'))
row('Altitude', self.fix.mode == MODE_3D and "%f m" % self.fix.altitude or 'N/A')
row('Speed', not isnan(self.fix.speed) and "%f m/s" % self.fix.speed or 'N/A')
row('Course', not isnan(self.fix.track) and "%f°" % self.fix.track or 'N/A')
else:
row('Latitude', 'N/A')
row('Longitude', 'N/A')
row('Altitude', 'N/A')
row('Speed', 'N/A')
row('Course', 'N/A')
row('EPX', not isnan(self.fix.epx) and "%f m" % self.fix.epx or 'N/A')
row('EPY', not isnan(self.fix.epy) and "%f m" % self.fix.epy or 'N/A')
row('EPV', not isnan(self.fix.epv) and "%f m" % self.fix.epv or 'N/A')
row('Climb', self.fix.mode == MODE_3D and not isnan(self.fix.climb) and
"%f m/s" % self.fix.climb or 'N/A'
)
if not (self.valid & ONLINE_SET):
newstate = 0
state = "OFFLINE"
else:
newstate = self.fix.mode
if newstate == MODE_2D:
state = self.status == STATUS_DGPS_FIX and "2D DIFF FIX" or "2D FIX"
elif newstate == MODE_3D:
state = self.status == STATUS_DGPS_FIX and "3D DIFF FIX" or "3D FIX"
else:
state = "NO FIX"
if newstate != self.state:
self.statetimer = time.time()
self.state = newstate
row('State', state + " (%d secs)" % (time.time() - self.statetimer))
self.fh.write("\t\t\t\t</table>\n\t\t\t</td>\n")
# SVG stuff
self.fh.write("\t\t\t<td>\n\t\t\t\t<object data=\"%s\" \
width=\"425\" height=\"425\" type=\"image/svg+xml\" />\n\
\t\t\t</td>\n\t\t</tr>\n" % svgfile)
self.fh.write("\t</table>\n</body>\n</html>\n")
def svg(self):
self.fh.write("""<?xml version="1.0" standalone="no"?>
<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
"http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
<svg width="100%" height="100%" version="1.1" xmlns="http://www.w3.org/2000/svg">
\t<g transform="translate(0,0)">
\t\t<circle cx="210" cy="210" r="200" stroke="black" stroke-width="1" fill="white"/>
\t\t<circle cx="210" cy="210" r="100" stroke="grey" stroke-width="1" fill="white"/>
\t\t<circle cx="210" cy="210" r="2" stroke="grey" stroke-width="1" fill="white"/>
\t\t<line x1="210" y1="10" x2="210" y2="410" stroke="lightgrey"/>
\t\t<line x1="10" y1="210" x2="410" y2="210" stroke="lightgrey"/>
\t\t<line x1="68.578644" y1="68.578644" x2="351.42136" y2="351.42136" stroke="lightgrey"/>
\t\t<line x1="68.578644" y1="351.42136" x2="351.42136" y2="68.578644" stroke="lightgrey"/>
\t\t<g font-size="10" stroke="black" stroke-width="0.5">
\t\t\t<text x="206" y="8">N</text>
\t\t\t<text x="0" y="214">W</text>
\t\t\t<text x="412" y="214">E</text>
\t\t\t<text x="206" y="420">S</text>
\t\t</g>
"""
)
# Draw the tracks
self.fh.write('\t\t<g stroke-width="0.6" stroke="red" fill="none">\n')
for t in self.sattrack.values():
if t.posn:
self.fh.write('\t\t\t<polyline points="%s"%s/>\n' % (
' '.join(['%d,%d' % p for p in t.posn]), t.stale == 0 and ' opacity=".33"' or ''
))
self.fh.write('\t\t</g>\n')
# Draw the satellites
self.fh.write('\t\t<g stroke-width="1" stroke="black" fill="black" font-size="10">\n')
for s in self.satellites:
x, y = polartocart(s.elevation, s.azimuth)
fill = s.ss < 30 and 'red' or s.ss < 35 and 'yellow' or s.ss < 40 and 'green' or 'lime'
opaque = not s.used and ' opacity=".33"' or ''
# Center PRNs in the marker
offset = s.PRN < 10 and 3 or s.PRN >= 100 and -3 or 0
if s.PRN > 32: # draw a diamond for SBAS satellites
self.fh.write(
'\t\t\t<path d="M%d %d l-8 -8 -8 8 8 8 8 -8" fill="%s"%s/>\n' %
(x + 8, y, fill, opaque)
)
else:
self.fh.write(
'\t\t\t<circle cx="%d" cy="%d" r="8" fill="%s"%s/>\n' %
(x, y, fill, opaque)
)
self.fh.write('\t\t\t<text x="%d" y="%d">%d</text>\n' % (x - 6 + offset, y + 4, s.PRN))
self.fh.write('\t\t</g>\n\t</g>\n</svg>\n')
def make_stale(self):
for t in self.sattrack.values():
if t.stale:
t.stale -= 1
def delete_stale(self):
for prn in self.sattrack.keys():
if self.sattrack[prn].stale == 0:
del self.sattrack[prn]
self.needsupdate = 1
def insert_sat(self, prn, x, y):
try:
t = self.sattrack[prn]
except KeyError:
self.sattrack[prn] = t = Track(prn)
self.needsupdate += t.add(x, y)
def update_tracks(self):
self.make_stale()
for s in self.satellites:
x, y = polartocart(s.elevation, s.azimuth)
if self.insert_sat(s.PRN, x, y):
self.needsupdate = 1
self.delete_stale()
def generate_html(self, htmlfile, svgfile):
self.fh = open(htmlfile, 'w')
self.html(svgfile)
self.fh.close()
def generate_svg(self, svgfile):
self.fh = open(svgfile, 'w')
self.svg()
self.fh.close()
def run(self, period):
end = time.time() + period
self.stream(WATCH_ENABLE | WATCH_NEWSTYLE)
for report in self:
if report['class'] not in ('TPV', 'SKY'):
continue
self.needsupdate = 0
self.update_tracks()
self.generate_html('gpsd.html', 'gpsd.svg')
if self.needsupdate:
self.generate_svg('gpsd.svg')
if period <= 0 and not isnan(self.fix.time):
break
if period > 0 and time.time() > end:
break
def main():
argv = sys.argv[1:]
period = argv and argv[0] or '0'
if period[-1:] in 'smhd':
period = int(period[:-1]) * {'s': 1, 'm': 60, 'h': 60*60, 'd': 24*60*60}[period[-1]]
else:
period = int(period)
sat = SatTracks()
# restore the tracks
pfile = 'tracks.p'
if os.path.isfile(pfile):
p = open(pfile)
sat.sattrack = pickle.load(p)
p.close()
try:
sat.run(period)
except KeyboardInterrupt:
# save the tracks
p = open(pfile, 'w')
pickle.dump(sat.sattrack, p)
p.close()
if __name__ == '__main__':
main()
|
