/usr/lib/python2.7/dist-packages/framework/subsystems/ogpsd/nmea.py is in fso-frameworkd 0.10.1-3.
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# -*- coding: UTF-8 -*-
"""
Open GPS Daemon - Abstract parser class
NMEA parser taken from pygps written by Russell Nelson
Copyright, 2001, 2002, Russell Nelson <pygps@russnelson.com>
Copyright permissions given by the GPL Version 2. http://www.fsf.org/
(C) 2008 Rod Whitby <rod@whitby.id.au>
(C) 2008 Daniel Willmann <daniel@totalueberwachung.de>
(C) 2008 Openmoko, Inc.
GPLv2
"""
__version__ = "0.0.0"
import math
import string
import time
from gpsdevice import GPSDevice
import logging
logger = logging.getLogger('ogpsd')
class NMEADevice( GPSDevice ):
def __init__( self, bus, channel ):
super( NMEADevice, self ).__init__( bus, channel )
self.buffer = ""
self.channel.setCallback( self.parse )
self.prn = range(12)
self.elevation = range(12)
self.azimuth = range(12)
self.ss = range(12)
self.used = range(12)
self.date = '000000'
self.time = '000000'
self.timestamp = 0
self.mode = 0
self.lat = 0.0
self.lon = 0.0
self.altitude = 0.0
self.track = 0.0
self.speed = 0.0
self.in_view = 0
def parse( self, data ):
self.buffer += data
while True:
try:
line, self.buffer = self.buffer.split( "\r\n", 1 )
except:
break
else:
result = self.handle_line( line.strip() )
if result:
logger.debug( result )
def checksum(self,sentence, cksum):
csum = 0
for c in sentence:
csum = csum ^ ord(c)
return "%02X" % csum == cksum
#$GPGGA,000032.997,0000.0000,N,00000.0000,E,0,00,50.0,0.0,M,,.j...«.æ.ÆV.æ.ÆV.æ.|.VÖL²4jj.h..00032.997,V,0000.0000,N,00000.0006
#Lat: 0.000000 Lon: 0.000000 Alt: 0.000000 Sat: 0 Mod: 1 Time: 11/26/2000 00:00:31
#$GPGGA,000033.997,0000.0000,N,00000.0000,E,0,00,50.0,0.0,M,,,,0000*3C
def do_lat_lon(self, words):
if not words[0]:
return
if words[0][-1] == 'N':
words[0] = words[0][:-1]
words[1] = 'N'
if words[0][-1] == 'S':
words[0] = words[0][:-1]
words[1] = 'S'
if words[2][-1] == 'E':
words[2] = words[2][:-1]
words[3] = 'E'
if words[2][-1] == 'W':
words[2] = words[2][:-1]
words[3] = 'W'
if len(words[0]):
lat = string.atof(words[0])
frac, intpart = math.modf(lat / 100.0)
lat = intpart + frac * 100.0 / 60.0
if words[1] == 'S':
lat = -lat
self.lat = lat
if len(words[2]):
lon = string.atof(words[2])
frac, intpart = math.modf(lon / 100.0)
lon = intpart + frac * 100.0 / 60.0
if words[3] == 'W':
lon = -lon
self.lon = lon
#$GPRMC,024932.992,V,4443.7944,N,07456.7103,W,,,270402,,*05
#$GPRMC,024933.992,V,4443.7944,N,07456.7103,W,,,270402,,*04
# RMC - Recommended minimum specific GPS/Transit data
# RMC,225446,A,4916.45,N,12311.12,W,000.5,054.7,191194,020.3,E*68
# 225446 Time of fix 22:54:46 UTC
# A Navigation receiver warning A = OK, V = warning
# 4916.45,N Latitude 49 deg. 16.45 min North
# 12311.12,W Longitude 123 deg. 11.12 min West
# 000.5 Speed over ground, Knots
# 054.7 Course Made Good, True
# 191194 Date of fix 19 November 1994
# 020.3,E Magnetic variation 20.3 deg East
# *68 mandatory checksum
def processGPRMC(self, words):
self.do_lat_lon(words[2:])
self.date = words[8]
day = string.atoi(self.date[0:2])
month = string.atoi(self.date[2:4])
year = 2000 + string.atoi(self.date[4:6])
self.time = words[0][0:6]
hours = string.atoi(self.time[0:2])
minutes = string.atoi(self.time[2:4])
seconds = string.atoi(self.time[4:6])
self.timestamp = int(time.mktime((year,month,day,hours,minutes,seconds,-1,-1,-1)))
self._updateTime( self.timestamp )
if words[1] == 'V' or words[1] == "A":
if words[6]: self.speed = string.atof(words[6])
if words[7]: self.track = string.atof(words[7])
self._updateCourse( 3, self.speed, self.track, 0 )
#$GPGGA,024933.992,4443.7944,N,07456.7103,W,0,00,50.0,192.5,M,,,,0000*27
#$GPGGA,024934.991,4443.7944,N,07456.7103,W,0,00,50.0,192.5,M,,,,0000*23
# GGA - Global Positioning System Fix Data
# GGA,123519,4807.038,N,01131.324,E,1,08,0.9,545.4,M,46.9,M, , *42
# 123519 Fix taken at 12:35:19 UTC
# 4807.038,N Latitude 48 deg 07.038' N
# 01131.324,E Longitude 11 deg 31.324' E
# 1 Fix quality: 0 = invalid
# 1 = GPS fix
# 2 = DGPS fix
# 08 Number of satellites being tracked
# 0.9 Horizontal dilution of position
# 545.4,M Altitude, Metres, above mean sea level
# 46.9,M Height of geoid (mean sea level) above WGS84
# ellipsoid
# (empty field) time in seconds since last DGPS update
# (empty field) DGPS station ID number
def processGPGGA(self,words):
day = string.atoi(self.date[0:2])
month = string.atoi(self.date[2:4])
year = 2000 + string.atoi(self.date[4:6])
self.time = words[0][0:6]
hours = string.atoi(self.time[0:2])
minutes = string.atoi(self.time[2:4])
seconds = string.atoi(self.time[4:6])
self.timestamp = int(time.mktime((year,month,day,hours,minutes,seconds,-1,-1,-1)))
self._updateTime( self.timestamp )
self.status = string.atoi(words[5])
self.satellites = string.atoi(words[6])
if self.status > 0:
self.do_lat_lon(words[1:])
self.altitude = string.atof(words[8])
# FIXME: Mode
self._updatePosition( 7, self.lat, self.lon, self.altitude )
#$GPGSA,A,1,,,,,,,,,,,,,50.0,50.0,50.0*05
#$GPGSA,A,1,,,,,,,,,,,,,50.0,50.0,50.0*05
# GSA - GPS DOP and active satellites
# GSA,A,3,04,05,,09,12,,,24,,,,,2.5,1.3,2.1*39
# A Auto selection of 2D or 3D fix (M = manual)
# 3 3D fix
# 04,05... PRNs of satellites used for fix (space for 12)
# 2.5 PDOP (dilution of precision)
# 1.3 Horizontal dilution of precision (HDOP)
# 2.1 Vertical dilution of precision (VDOP)
# DOP is an indication of the effect of satellite geometry on
# the accuracy of the fix.
def processGPGSA(self,words):
self.mode = string.atof(words[1])
for n in range(12):
if words[n+2]:
self.used[n] = 1
else:
self.used[n] = 0
pdop = string.atof(words[14])
hdop = string.atof(words[15])
vdop = string.atof(words[16])
# FIXME: Mode...
self._updateAccuracy( 7, pdop, hdop, vdop )
self._updateSatellites(
(self.prn[n],self.used[n],self.elevation[n],self.azimuth[n],self.ss[n]) for n in range(12)
)
self._updateFixStatus( int(self.mode) )
#$GPGSV,3,1,09,14,77,023,,21,67,178,,29,64,307,,30,42,095,*7E
#$GPGSV,3,2,09,05,29,057,,11,15,292,,18,08,150,,23,08,143,*7A
#$GPGSV,3,3,09,09,05,052,*4B
# GSV - Satellites in view
# GSV,2,1,08,01,40,083,46,02,17,308,41,12,07,344,39,14,22,228,45*75
# 2 Number of sentences for full data
# 1 sentence 1 of 2
# 08 Number of satellites in view
# 01 Satellite PRN number
# 40 Elevation, degrees
# 083 Azimuth, degrees
# 46 Signal strength - higher is better
# <repeat for up to 4 satellites per sentence>
# There my be up to three GSV sentences in a data packet
def processGPGSV(self,words):
num_sentences = string.atoi(words[0])
current_sentence = string.atoi(words[1])
self.in_view = string.atoi(words[2])
f = 3
n = (current_sentence - 1) * 4
# FIXME: Need to clear the rest of the entries up to 12
while n < self.in_view and f < len(words):
if words[f+0]:
self.prn[n] = string.atoi(words[f+0])
if words[f+1]:
self.elevation[n] = string.atoi(words[f+1])
if words[f+2]:
self.azimuth[n] = string.atoi(words[f+2])
if words[f+3]:
self.ss[n] = string.atoi(words[f+3])
f = f + 4
n = n + 1
def processPGLOR(self,words):
# FIXME: Do we do anything with this sentence?
pass
def handle_line(self, line):
if line[0] == '$':
line = string.split(line[1:-1], '*')
if len(line) != 2: return
# if not self.checksum(line[0], line[1]):
# return "Bad checksum"
words = string.split(line[0], ',')
methodname = "process"+words[0]
try:
method = getattr( self, methodname )
except AttributeError:
logger.error( "Line: %s" % line)
return "Unknown sentence"
else:
try:
method( words[1:] )
except Exception, e:
logger.error( "Line: %s" % line)
logger.error( "Error in %s method: %s" % ( methodname, e ) )
else:
return "Not NMEA"
#vim: expandtab
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