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|
#!/usr/bin/env python
# -*- coding: utf-8 -*-
#
# This file is Copyright (c) 2010 by the GPSD project
# BSD terms apply: see the file COPYING in the distribution root for details.
#
# 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.
#
from client import *
from misc import isotime
NaN = float('nan')
def isnan(x): return str(x) == 'nan'
# 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)
ERROR_SET = (1<<30)
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 = 20
SIGNAL_STRENGTH_UNKNOWN = NaN
WATCH_NEWSTYLE = 0x010000 # force JSON streaming
WATCH_OLDSTYLE = 0x020000 # force old-style streaming
class gpsfix:
def __init__(self):
self.mode = MODE_NO_FIX
self.time = NaN
self.ept = NaN
self.latitude = self.longitude = 0.0
self.epx = NaN
self.epy = NaN
self.altitude = NaN # Meters
self.epv = NaN
self.track = NaN # Degrees from true north
self.speed = NaN # Knots
self.climb = NaN # Meters per second
self.epd = NaN
self.eps = NaN
self.epc = NaN
class gpsdata:
"Position, track, velocity and status information returned by a GPS."
class satellite:
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 isnan(self.fix.altitude):
st += "Altitude: ?\n"
else:
st += "Altitude: %f\n" % (self.fix.altitude)
if isnan(self.fix.speed):
st += "Speed: ?\n"
else:
st += "Speed: %f\n" % (self.fix.speed)
if isnan(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(gpsdata, gpsjson):
"Client interface to a running gpsd instance."
def __init__(self, host="127.0.0.1", port=GPSD_PORT, verbose=0, mode=0):
gpscommon.__init__(self, host, port, verbose)
gpsdata.__init__(self)
self.newstyle = False
if mode:
self.stream(mode)
def __oldstyle_unpack(self, buf):
# unpack a daemon response into the gps instance members
self.fix.time = 0.0
fields = buf.strip().split(",")
if fields[0] == "GPSD":
for field in fields[1:]:
if not field or field[1] != '=':
continue
cmd = field[0].upper()
data = field[2:]
if data[0] == "?":
continue
if cmd == 'F':
self.device = data
elif cmd == 'I':
self.gps_id = data
elif cmd == 'O':
fields = data.split()
if fields[0] == '?':
self.fix.mode = MODE_NO_FIX
else:
def default(i, vbit=0, cnv=float):
if fields[i] == '?':
return NaN
else:
try:
value = cnv(fields[i])
except ValueError:
return NaN
self.valid |= vbit
return value
# clear all valid bits that might be set again below
self.valid &= ~(
TIME_SET | TIMERR_SET | LATLON_SET | ALTITUDE_SET |
HERR_SET | VERR_SET | TRACK_SET | SPEED_SET |
CLIMB_SET | SPEEDERR_SET | CLIMBERR_SET | MODE_SET
)
self.utc = fields[1]
self.fix.time = default(1, TIME_SET)
if not isnan(self.fix.time):
self.utc = isotime(self.fix.time)
self.fix.ept = default(2, TIMERR_SET)
self.fix.latitude = default(3, LATLON_SET)
self.fix.longitude = default(4)
self.fix.altitude = default(5, ALTITUDE_SET)
self.fix.epx = self.epy = default(6, HERR_SET)
self.fix.epv = default(7, VERR_SET)
self.fix.track = default(8, TRACK_SET)
self.fix.speed = default(9, SPEED_SET)
self.fix.climb = default(10, CLIMB_SET)
self.fix.epd = default(11)
self.fix.eps = default(12, SPEEDERR_SET)
self.fix.epc = default(13, CLIMBERR_SET)
if len(fields) > 14:
self.fix.mode = default(14, MODE_SET, int)
else:
if self.valid & ALTITUDE_SET:
self.fix.mode = MODE_2D
else:
self.fix.mode = MODE_3D
self.valid |= MODE_SET
elif cmd == 'X':
self.online = float(data)
self.valid |= ONLINE_SET
elif cmd == 'Y':
satellites = data.split(":")
prefix = satellites.pop(0).split()
d1 = int(prefix.pop())
newsats = []
for i in range(d1):
newsats.append(gps.satellite(*map(int, satellites[i].split())))
self.satellites = newsats
self.valid |= SATELLITE_SET
def __oldstyle_shim(self):
# The rest is backwards compatibility for the old interface
def default(k, dflt, vbit=0):
if k not in self.data.keys():
return dflt
else:
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.driver_mode = default("native", 0)
self.baudrate = default("bps", 0)
self.serialmode = default("serialmode", "8N1")
self.cycle = default("cycle", NaN)
self.mincycle = default("mincycle", NaN)
elif self.data.get("class") == "TPV":
self.valid = ONLINE_SET
self.utc = default("time", None, TIME_SET)
if self.utc is not None:
# Time can be either Unix time as a float or an ISO8601 string
if type(self.fix.time) == type(0.0):
self.fix.time = self.utc
else:
self.fix.time = isotime(self.utc.encode("ascii"))
self.fix.ept = default("ept", NaN, TIMERR_SET)
self.fix.latitude = default("lat", NaN, LATLON_SET)
self.fix.longitude = default("lon", NaN)
self.fix.altitude = default("alt", NaN, ALTITUDE_SET)
self.fix.epx = default("epx", NaN, HERR_SET)
self.fix.epy = default("epy", NaN, HERR_SET)
self.fix.epv = default("epv", NaN, VERR_SET)
self.fix.track = default("track", NaN, TRACK_SET)
self.fix.speed = default("speed", NaN, SPEED_SET)
self.fix.climb = default("climb", NaN, CLIMB_SET)
self.fix.epd = default("epd", NaN)
self.fix.eps = default("eps", NaN, SPEEDERR_SET)
self.fix.epc = default("epc", NaN, CLIMBERR_SET)
self.fix.mode = default("mode", 0, MODE_SET)
elif self.data.get("class") == "SKY":
for attrp in ("x", "y", "v", "h", "p", "g"):
setattr(self, attrp+"dop", default(attrp+"dop", 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
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.newstyle = True
self.valid |= PACKET_SET
elif self.response.startswith("GPSD"):
self.__oldstyle_unpack(self.response)
self.valid |= PACKET_SET
return 0
def next(self):
if self.read() == -1:
raise StopIteration
if hasattr(self, "data"):
return self.data
else:
return self.response
def stream(self, flags=0, devpath=None):
"Ask gpsd to stream reports at your client."
if (flags & (WATCH_JSON|WATCH_OLDSTYLE|WATCH_NMEA|WATCH_RAW)) == 0:
flags |= WATCH_JSON
if flags & WATCH_DISABLE:
if flags & WATCH_OLDSTYLE:
arg = "w-"
if flags & WATCH_NMEA:
arg += 'r-'
return self.send(arg)
else:
gpsjson.stream(self, ~flags, devpath)
else: # flags & WATCH_ENABLE:
if flags & WATCH_OLDSTYLE:
arg = 'w+'
if (flags & WATCH_NMEA):
arg += 'r+'
return self.send(arg)
else:
gpsjson.stream(self, flags, devpath)
if __name__ == '__main__':
import getopt, 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 len(arguments) > 0:
opts["host"] = arguments[0]
if len(arguments) > 1:
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
|
