98 lines
3.4 KiB
Python
98 lines
3.4 KiB
Python
import serial
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from functions.helper_functions import calculate_distance, parse_lat_lon
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def read_gps_data(
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port: str = "/dev/ttyACM0", baudrate: int = 9600, timeout: int = 5
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) -> dict:
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"""
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Reads GPS data from a u-blox 7 GPS/GLONASS device and returns it as a dictionary.
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Args:
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port (str): The serial port the GPS device is connected to. Default is '/dev/ttyACM0'.
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baudrate (int): Baud rate for serial communication. Default is 9600.
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timeout (int): Timeout in seconds for the serial port. Default is 5 seconds.
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Returns:
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dict: A dictionary containing parsed GPS data.
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"""
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gps_data = {}
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attempts = 0
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try:
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with serial.Serial(port, baudrate=baudrate, timeout=timeout) as ser:
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while True:
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# Read a line from the GPS device
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line = ser.readline().decode("ascii", errors="ignore").strip()
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# Filter for GGA or RMC sentences for relevant data
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if line.startswith("$GPGGA"): # Global Positioning System Fix Data
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parts = line.split(",")
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gps_data["utc_time"] = parts[1]
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gps_data["latitude"] = parse_lat_lon(parts[2], parts[3])
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gps_data["longitude"] = parse_lat_lon(parts[4], parts[5])
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gps_data["altitude"] = float(parts[9]) if parts[9] else None
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# Count number of times GPGGA has been queried
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attempts = attempts + 1
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# Stop after collecting sufficient data
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if (
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gps_data.get("utc_time")
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and gps_data.get("latitude")
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and gps_data.get("longitude")
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):
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break
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elif attempts >= 3:
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gps_data = {}
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break
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except serial.SerialException:
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pass
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except Exception as e:
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print(f"Error: {e}")
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return gps_data
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def set_base_location(base_location={}):
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try:
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gps_data = read_gps_data()
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base_location["latitude"] = gps_data["latitude"]
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base_location["longitude"] = gps_data["longitude"]
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if gps_data.get("altitude"):
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base_location["altitude"] = gps_data["altitude"]
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print("Base location found")
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except KeyError:
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print("Base location could not be found")
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except Exception as e:
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print(f"Error finding location: {e}")
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return base_location
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def get_current_location(dictionary={}, base_location={}):
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try:
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gps_data = read_gps_data()
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dictionary["latitude"] = gps_data["latitude"]
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dictionary["longitude"] = gps_data["longitude"]
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if gps_data.get("altitude"):
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dictionary["altitude"] = gps_data["altitude"]
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if base_location and "latitude" in base_location:
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dictionary["baseLatitude"] = base_location["latitude"]
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dictionary["baseLongitude"] = base_location["longitude"]
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if base_location.get("altitude"):
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dictionary["baseAltitude"] = base_location["altitude"]
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dictionary["distance"] = calculate_distance(base_location, gps_data)
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except KeyError:
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print("Location could not be found")
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dictionary["distance"] = "Unknown"
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except Exception as e:
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print(f"Error finding location: {e}")
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dictionary["distance"] = "Error"
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return dictionary
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