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#!/usr/bin/env python
# -*- coding: utf-8 -*-
'''gps.py -- Python interface to GPSD.
This interface has a lot of historical cruft in it related to old
protocol, and was modeled on the C interface. It won't be thrown
away, but it's likely to be deprecated in favor of something more
Pythonic.
The JSON parts of this (which will be reused by any new interface)
now live in a different module.
'''
#
# This file is Copyright (c) 2010 by the GPSD project
# BSD terms apply: see the file COPYING in the distribution root for details.
#
# This code runs compatibly under Python 2 and 3.x for x >= 2.
# Preserve this property!
from __future__ import absolute_import, print_function, division
from .client import *
from .watch_options import *
NaN = float('nan')
def isfinite(f):
"Check if f is finite"
# Python 2 does not think +Inf or -Inf are NaN
# Python 2 has no easier way to test for Inf
return float('-inf') < float(f) < float('inf')
# Don't hand-hack this list, it's generated.
ONLINE_SET = (1 << 1)
TIME_SET = (1 << 2)
TIMERR_SET = (1 << 3)
LATLON_SET = (1 << 4)
ALTITUDE_SET = (1 << 5)
SPEED_SET = (1 << 6)
TRACK_SET = (1 << 7)
CLIMB_SET = (1 << 8)
STATUS_SET = (1 << 9)
MODE_SET = (1 << 10)
DOP_SET = (1 << 11)
HERR_SET = (1 << 12)
VERR_SET = (1 << 13)
ATTITUDE_SET = (1 << 14)
SATELLITE_SET = (1 << 15)
SPEEDERR_SET = (1 << 16)
TRACKERR_SET = (1 << 17)
CLIMBERR_SET = (1 << 18)
DEVICE_SET = (1 << 19)
DEVICELIST_SET = (1 << 20)
DEVICEID_SET = (1 << 21)
RTCM2_SET = (1 << 22)
RTCM3_SET = (1 << 23)
AIS_SET = (1 << 24)
PACKET_SET = (1 << 25)
SUBFRAME_SET = (1 << 26)
GST_SET = (1 << 27)
VERSION_SET = (1 << 28)
POLICY_SET = (1 << 29)
LOGMESSAGE_SET = (1 << 30)
ERROR_SET = (1 << 31)
TIMEDRIFT_SET = (1 << 32)
EOF_SET = (1 << 33)
SET_HIGH_BIT = 34
UNION_SET = (RTCM2_SET | RTCM3_SET | SUBFRAME_SET | AIS_SET | VERSION_SET |
DEVICELIST_SET | ERROR_SET | GST_SET)
STATUS_NO_FIX = 0
STATUS_FIX = 1
STATUS_DGPS_FIX = 2
MODE_NO_FIX = 1
MODE_2D = 2
MODE_3D = 3
MAXCHANNELS = 72 # Copied from gps.h, but not required to match
SIGNAL_STRENGTH_UNKNOWN = NaN
class gpsfix(object):
"Class to hold one GPS fix"
def __init__(self):
"Init class gpsfix"
self.altitude = NaN # Meters
self.climb = NaN # Meters per second
self.epc = NaN
self.epd = NaN
self.eps = NaN
self.ept = NaN
self.epv = NaN
self.epx = NaN
self.epy = NaN
self.latitude = self.longitude = 0.0
self.mode = MODE_NO_FIX
self.speed = NaN # Knots
self.status = STATUS_NO_FIX
self.time = NaN
self.track = NaN # Degrees from true north
class gpsdata(object):
"Position, track, velocity and status information returned by a GPS."
class satellite(object):
"Class to hold satellite data"
def __init__(self, PRN, elevation, azimuth, ss, used=None):
self.PRN = PRN
self.elevation = elevation
self.azimuth = azimuth
self.ss = ss
self.used = used
def __repr__(self):
return "PRN: %3d E: %3d Az: %3d Ss: %3d Used: %s" % (
self.PRN, self.elevation, self.azimuth, self.ss,
"ny"[self.used])
def __init__(self):
# Initialize all data members
self.online = 0 # NZ if GPS on, zero if not
self.valid = 0
self.fix = gpsfix()
self.status = STATUS_NO_FIX
self.utc = ""
self.satellites_used = 0 # Satellites used in last fix
self.xdop = self.ydop = self.vdop = self.tdop = 0
self.pdop = self.hdop = self.gdop = 0.0
self.epe = 0.0
self.satellites = [] # satellite objects in view
self.gps_id = None
self.driver_mode = 0
self.baudrate = 0
self.stopbits = 0
self.cycle = 0
self.mincycle = 0
self.device = None
self.devices = []
self.version = None
def __repr__(self):
st = "Time: %s (%s)\n" % (self.utc, self.fix.time)
st += "Lat/Lon: %f %f\n" % (self.fix.latitude, self.fix.longitude)
if not isfinite(self.fix.altitude):
st += "Altitude: ?\n"
else:
st += "Altitude: %f\n" % (self.fix.altitude)
if not isfinite(self.fix.speed):
st += "Speed: ?\n"
else:
st += "Speed: %f\n" % (self.fix.speed)
if not isfinite(self.fix.track):
st += "Track: ?\n"
else:
st += "Track: %f\n" % (self.fix.track)
st += "Status: STATUS_%s\n" \
% ("NO_FIX", "FIX", "DGPS_FIX")[self.status]
st += "Mode: MODE_%s\n" \
% ("ZERO", "NO_FIX", "2D", "3D")[self.fix.mode]
st += "Quality: %d p=%2.2f h=%2.2f v=%2.2f t=%2.2f g=%2.2f\n" % \
(self.satellites_used, self.pdop, self.hdop, self.vdop,
self.tdop, self.gdop)
st += "Y: %s satellites in view:\n" % len(self.satellites)
for sat in self.satellites:
st += " %r\n" % sat
return st
class gps(gpscommon, gpsdata, gpsjson):
"Client interface to a running gpsd instance."
# module version, would be nice to automate the version
__version__ = "3.19-dev"
def __init__(self, host="127.0.0.1", port=GPSD_PORT, verbose=0, mode=0,
reconnect=False):
self.activated = None
self.clock_sec = NaN
self.clock_nsec = NaN
self.path = ''
self.precision = 0
self.real_sec = NaN
self.real_nsec = NaN
self.serialmode = "8N1"
gpscommon.__init__(self, host, port, verbose, reconnect)
gpsdata.__init__(self)
gpsjson.__init__(self)
if mode:
self.stream(mode)
def __oldstyle_shim(self):
# The rest is backwards compatibility for the old interface
def default(k, dflt, vbit=0):
"Return default for key"
if k not in self.data.keys():
return dflt
self.valid |= vbit
return self.data[k]
if self.data.get("class") == "VERSION":
self.version = self.data
elif self.data.get("class") == "DEVICE":
self.valid = ONLINE_SET | DEVICE_SET
self.path = self.data["path"]
self.activated = default("activated", None)
driver = default("driver", None, DEVICEID_SET)
subtype = default("subtype", None, DEVICEID_SET)
self.gps_id = driver
if subtype:
self.gps_id += " " + subtype
self.baudrate = default("bps", 0)
self.cycle = default("cycle", NaN)
self.driver_mode = default("native", 0)
self.mincycle = default("mincycle", NaN)
self.serialmode = default("serialmode", "8N1")
elif self.data.get("class") == "TPV":
self.device = default("device", "missing")
self.utc = default("time", None, TIME_SET)
self.valid = ONLINE_SET
if self.utc is not None:
# self.utc is always iso 8601 string
# just copy to fix.time
self.fix.time = self.utc
self.fix.altitude = default("alt", NaN, ALTITUDE_SET)
self.fix.climb = default("climb", NaN, CLIMB_SET)
self.fix.epc = default("epc", NaN, CLIMBERR_SET)
self.fix.epd = default("epd", NaN)
self.fix.eps = default("eps", NaN, SPEEDERR_SET)
self.fix.ept = default("ept", NaN, TIMERR_SET)
self.fix.epv = default("epv", NaN, VERR_SET)
self.fix.epx = default("epx", NaN, HERR_SET)
self.fix.epy = default("epy", NaN, HERR_SET)
self.fix.latitude = default("lat", NaN, LATLON_SET)
self.fix.longitude = default("lon", NaN)
self.fix.mode = default("mode", 0, MODE_SET)
self.fix.speed = default("speed", NaN, SPEED_SET)
self.fix.status = default("status", 1)
self.fix.track = default("track", NaN, TRACK_SET)
elif self.data.get("class") == "SKY":
self.device = default("device", "missing")
for attrp in ("g", "h", "p", "t", "v", "x", "y"):
n = attrp + "dop"
setattr(self, n, default(n, NaN, DOP_SET))
if "satellites" in self.data.keys():
self.satellites = []
for sat in self.data['satellites']:
self.satellites.append(gps.satellite(PRN=sat['PRN'],
elevation=sat['el'],
azimuth=sat['az'], ss=sat['ss'],
used=sat['used']))
self.satellites_used = 0
for sat in self.satellites:
if sat.used:
self.satellites_used += 1
self.valid = ONLINE_SET | SATELLITE_SET
elif self.data.get("class") == "PPS":
self.device = default("device", "missing")
self.real_sec = default("real_sec", NaN)
self.real_nsec = default("real_nsec", NaN)
self.clock_sec = default("clock_sec", NaN)
self.clock_nsec = default("clock_nsec", NaN)
self.precision = default("precision", 0)
# elif self.data.get("class") == "DEVICES":
# TODO: handle class DEVICES # pylint: disable=fixme
def read(self):
"Read and interpret data from the daemon."
status = gpscommon.read(self)
if status <= 0:
return status
if self.response.startswith("{") and self.response.endswith("}\r\n"):
self.unpack(self.response)
self.__oldstyle_shim()
self.valid |= PACKET_SET
return 0
def __next__(self):
"Python 3 version of next()."
if self.read() == -1:
raise StopIteration
if hasattr(self, "data"):
return self.data
return self.response
def next(self):
"Python 2 backward compatibility."
return self.__next__()
def stream(self, flags=0, devpath=None):
"Ask gpsd to stream reports at your client."
gpsjson.stream(self, flags, devpath)
def is_sbas(prn):
"Is this the NMEA ID of an SBAS satellite?"
return prn >= 120 and prn <= 158
if __name__ == '__main__':
import getopt
import sys
(options, arguments) = getopt.getopt(sys.argv[1:], "v")
streaming = False
verbose = False
for (switch, val) in options:
if switch == '-v':
verbose = True
if len(arguments) > 2:
print('Usage: gps.py [-v] [host [port]]')
sys.exit(1)
opts = {"verbose": verbose}
if arguments:
opts["host"] = arguments[0]
if arguments:
opts["port"] = arguments[1]
session = gps(**opts)
session.stream(WATCH_ENABLE)
try:
for report in session:
print(report)
except KeyboardInterrupt:
# Avoid garble on ^C
print("")
# gps.py ends here
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