NavigationSystem/GpsData.py at master · UT-solarboatproject/NavigationSystem · GitHub

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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
#
# GpsData.py
#
# Solar-boat Project 2019
#   created on: 2019/07/29
#   Author: Xu Guanglei
#

import copy
import threading
import time

from micropyGPS import MicropyGPS
from serial import Serial


class GpsData:
    def __init__(self):
        self.timestamp = [0, 0, 0.0]
        self.timestamp_string = ""
        self.latitude = 0.0
        self.longitude = 0.0
        self.altitude = 0.0
        self.speed = []
        self.course = 0.0
        self.satellites_used = []
        self.satellite_data = {}
        try:
            self.serial = Serial("/dev/ttyACM0", 9600, timeout=10)
        except:
            self.serial = Serial("/dev/ttyACM0", 9600, timeout=10)
            print(
                "Exception occurred in receiving GPS data. Switching to another serial port."
            )
        self.gps = MicropyGPS(9, "dd")
        self.gpsthread = threading.Thread(target=self.run_gps, args=())
        self.gpsthread.daemon = True
        self.gpsthread.start()

    def run_gps(self):
        s = self.serial
        s.reset_input_buffer()
        s.readline()
        while True:
            try:
                sentence = s.readline().decode("utf-8")
            except UnicodeDecodeError:
                s.reset_input_buffer()
                continue
            try:
                if sentence[0] != "$":
                    continue
            except IndexError as e:
                print(
                    "No data incoming. Check raspi-config and disable Linux serial console: https://www.raspberrypi.org/documentation/configuration/uart.md#:~:text=Disable%20Linux%20serial%20console&text=This%20can%20be%20done%20by,Select%20option%20P6%20%2D%20Serial%20Port."
                )
                raise e
            else:
                for x in sentence:
                    self.gps.update(x)

    def read(self):
        try:
            if self.gps.clean_sentences > 20:
                h = (
                    self.gps.timestamp[0]
                    if self.gps.timestamp[0] < 24
                    else self.gps.timestamp[0] - 24
                )
                self.timestamp[0] = h
                self.timestamp[1] = self.gps.timestamp[1]
                self.timestamp[2] = self.gps.timestamp[2]
                t = self.timestamp
                self.timestamp_string = f"{t[0]:2d}:{t[1]:02d}:{t[2]:04.1f}"
                self.latitude = self.gps.latitude[0]
                self.longitude = self.gps.longitude[0]
                self.altitude = self.gps.altitude
                self.course = self.gps.course
                self.speed = copy.deepcopy(self.gps.speed)
                self.satellites_used = copy.deepcopy(self.gps.satellites_used)
                self.satellite_data = copy.deepcopy(self.gps.satellite_data)
                return True
            else:
                return False
        except:
            print("Error during reading from GPS")

    def print_log(self):
        t = self.timestamp
        lat = self.latitude
        lon = self.longitude
        alt = self.altitude
        print(f"time:  {t[0]:02}:{t[1]:02}:{t[2]:.1f}")
        print(f"latitude: {lat:.5f}, longitude: {lon:.5f}")
        print(f"altitude: {alt:f}")
        print(f"course: {self.course:f}")
        print(f"speed: {self.speed}")
        print(f"Satellites Used: {self.satellites_used}")
        for k, v in self.satellite_data.items():
            print(f"{k:02}: {v}")
        print("")
        return


if __name__ == "__main__":
    gps_data = GpsData()
    while True:
        time.sleep(1.0)
        if gps_data.read():
            gps_data.print_log()