2 # -*- coding: utf-8 -*-
4 # This file is Copyright (c) 2010 by the GPSD project
5 # BSD terms apply: see the file COPYING in the distribution root for details.
7 # gps.py -- Python interface to GPSD.
9 # This interface has a lot of historical cruft in it related to old
10 # protocol, and was modeled on the C interface. It won't be thrown
11 # away, but it's likely to be deprecated in favor of something more
14 # The JSON parts of this (which will be reused by any new interface)
15 # now live in a different module.
21 def isnan(x): return str(x) == 'nan'
23 # Don't hand-hack this list, it's generated.
24 ONLINE_SET = 0x00000001
26 TIMERR_SET = 0x00000004
27 LATLON_SET = 0x00000008
28 ALTITUDE_SET = 0x00000010
29 SPEED_SET = 0x00000020
30 TRACK_SET = 0x00000040
31 CLIMB_SET = 0x00000080
32 STATUS_SET = 0x00000100
35 VERSION_SET = 0x00000800
38 ATTITUDE_SET = 0x00004000
39 POLICY_SET = 0x00008000
40 SATELLITE_SET = 0x00010000
43 SPEEDERR_SET = 0x00080000
44 TRACKERR_SET = 0x00100000
45 CLIMBERR_SET = 0x00200000
46 DEVICE_SET = 0x00400000
47 DEVICELIST_SET = 0x00800000
48 DEVICEID_SET = 0x01000000
49 ERROR_SET = 0x02000000
50 RTCM2_SET = 0x04000000
51 RTCM3_SET = 0x08000000
53 PACKET_SET = 0x20000000
54 AUXDATA_SET = 0x80000000
55 UNION_SET = (RTCM2_SET|RTCM3_SET|AIS_SET|VERSION_SET|DEVICELIST_SET|ERROR_SET)
64 SIGNAL_STRENGTH_UNKNOWN = NaN
66 WATCH_NEWSTYLE = 0x00080
67 WATCH_OLDSTYLE = 0x10000
71 self.mode = MODE_NO_FIX
74 self.latitude = self.longitude = 0.0
77 self.altitude = NaN # Meters
79 self.track = NaN # Degrees from true north
80 self.speed = NaN # Knots
81 self.climb = NaN # Meters per second
87 "Position, track, velocity and status information returned by a GPS."
90 def __init__(self, PRN, elevation, azimuth, ss, used=None):
92 self.elevation = elevation
93 self.azimuth = azimuth
97 return "PRN: %3d E: %3d Az: %3d Ss: %3d Used: %s" % (
98 self.PRN, self.elevation, self.azimuth, self.ss, "ny"[self.used]
102 # Initialize all data members
103 self.online = 0 # NZ if GPS on, zero if not
108 self.status = STATUS_NO_FIX
111 self.satellites_used = 0 # Satellites used in last fix
112 self.xdop = self.ydop = self.vdop = self.tdop = 0
113 self.pdop = self.hdop = self.gdop = 0.0
117 self.satellites = [] # satellite objects in view
132 st = "Time: %s (%s)\n" % (self.utc, self.fix.time)
133 st += "Lat/Lon: %f %f\n" % (self.fix.latitude, self.fix.longitude)
134 if isnan(self.fix.altitude):
135 st += "Altitude: ?\n"
137 st += "Altitude: %f\n" % (self.fix.altitude)
138 if isnan(self.fix.speed):
141 st += "Speed: %f\n" % (self.fix.speed)
142 if isnan(self.fix.track):
145 st += "Track: %f\n" % (self.fix.track)
146 st += "Status: STATUS_%s\n" % ("NO_FIX", "FIX", "DGPS_FIX")[self.status]
147 st += "Mode: MODE_%s\n" % ("ZERO", "NO_FIX", "2D", "3D")[self.fix.mode]
148 st += "Quality: %d p=%2.2f h=%2.2f v=%2.2f t=%2.2f g=%2.2f\n" % \
149 (self.satellites_used, self.pdop, self.hdop, self.vdop, self.tdop, self.gdop)
150 st += "Y: %s satellites in view:\n" % len(self.satellites)
151 for sat in self.satellites:
155 class gps(gpsdata, gpsjson):
156 "Client interface to a running gpsd instance."
157 def __init__(self, host="127.0.0.1", port=GPSD_PORT, verbose=0, mode=0):
158 gpscommon.__init__(self, host, port, verbose)
159 gpsdata.__init__(self)
161 self.newstyle = False
165 def set_raw_hook(self, hook):
168 def __oldstyle_unpack(self, buf):
169 # unpack a daemon response into the gps instance members
171 fields = buf.strip().split(",")
172 if fields[0] == "GPSD":
173 for field in fields[1:]:
174 if not field or field[1] != '=':
176 cmd = field[0].upper()
185 fields = data.split()
187 self.fix.mode = MODE_NO_FIX
189 def default(i, vbit=0, cnv=float):
194 value = cnv(fields[i])
199 # clear all valid bits that might be set again below
201 TIME_SET | TIMERR_SET | LATLON_SET | ALTITUDE_SET |
202 HERR_SET | VERR_SET | TRACK_SET | SPEED_SET |
203 CLIMB_SET | SPEEDERR_SET | CLIMBERR_SET | MODE_SET
206 self.fix.time = default(1, TIME_SET)
207 if not isnan(self.fix.time):
208 self.utc = isotime(self.fix.time)
209 self.fix.ept = default(2, TIMERR_SET)
210 self.fix.latitude = default(3, LATLON_SET)
211 self.fix.longitude = default(4)
212 self.fix.altitude = default(5, ALTITUDE_SET)
213 self.fix.epx = self.epy = default(6, HERR_SET)
214 self.fix.epv = default(7, VERR_SET)
215 self.fix.track = default(8, TRACK_SET)
216 self.fix.speed = default(9, SPEED_SET)
217 self.fix.climb = default(10, CLIMB_SET)
218 self.fix.epd = default(11)
219 self.fix.eps = default(12, SPEEDERR_SET)
220 self.fix.epc = default(13, CLIMBERR_SET)
222 self.fix.mode = default(14, MODE_SET, int)
224 if self.valid & ALTITUDE_SET:
225 self.fix.mode = MODE_2D
227 self.fix.mode = MODE_3D
228 self.valid |= MODE_SET
230 self.online = float(data)
231 self.valid |= ONLINE_SET
233 satellites = data.split(":")
234 prefix = satellites.pop(0).split()
235 d1 = int(prefix.pop())
238 newsats.append(gps.satellite(*map(int, satellites[i].split())))
239 self.satellites = newsats
240 self.valid |= SATELLITE_SET
242 def __oldstyle_shim(self):
243 # The rest is backwards compatibility for the old interface
244 def default(k, dflt, vbit=0):
245 if k not in self.data.keys():
250 if self.data.get("class") == "VERSION":
251 self.version = self.data
252 elif self.data.get("class") == "DEVICE":
253 self.valid = ONLINE_SET | DEVICE_SET
254 self.path = self.data["path"]
255 self.activated = default("activated", None)
256 driver = default("driver", None, DEVICEID_SET)
257 subtype = default("subtype", None, DEVICEID_SET)
260 self.gps_id += " " + subtype
261 self.driver_mode = default("native", 0)
262 self.baudrate = default("bps", 0)
263 self.serialmode = default("serialmode", "8N1")
264 self.cycle = default("cycle", NaN)
265 self.mincycle = default("mincycle", NaN)
266 elif self.data.get("class") == "TPV":
267 self.valid = ONLINE_SET
268 self.fix.time = default("time", NaN, TIME_SET)
269 self.fix.ept = default("ept", NaN, TIMERR_SET)
270 self.fix.latitude = default("lat", NaN, LATLON_SET)
271 self.fix.longitude = default("lon", NaN)
272 self.fix.altitude = default("alt", NaN, ALTITUDE_SET)
273 self.fix.epx = default("epx", NaN, HERR_SET)
274 self.fix.epy = default("epy", NaN, HERR_SET)
275 self.fix.epv = default("epv", NaN, VERR_SET)
276 self.fix.track = default("track", NaN, TRACK_SET)
277 self.fix.speed = default("speed", NaN, SPEED_SET)
278 self.fix.climb = default("climb", NaN, CLIMB_SET)
279 self.fix.epd = default("epd", NaN)
280 self.fix.eps = default("eps", NaN, SPEEDERR_SET)
281 self.fix.epc = default("epc", NaN, CLIMBERR_SET)
282 self.fix.mode = default("mode", 0, MODE_SET)
283 elif self.data.get("class") == "SKY":
284 for attrp in "xyvhpg":
285 setattr(self, attrp+"dop", default(attrp+"dop", NaN, DOP_SET))
286 if "satellites" in self.data.keys():
288 for sat in self.data['satellites']:
289 self.satellites.append(gps.satellite(PRN=sat['PRN'], elevation=sat['el'], azimuth=sat['az'], ss=sat['ss'], used=sat['used']))
290 self.satellites_used = 0
291 for sat in self.satellites:
293 self.satellites_used += 1
294 self.valid = ONLINE_SET | SATELLITE_SET
295 elif self.data.get("class") == "TIMING":
296 self.data["c_recv"] = self.received
297 self.data["c_decode"] = time.time()
298 self.timings = self.data
301 "Read and interpret data from the daemon."
302 status = gpscommon.read(self)
306 self.raw_hook(self.response);
307 if self.response.startswith("{") and self.response.endswith("}\r\n"):
308 self.json_unpack(self.response)
309 self.__oldstyle_shim()
311 self.valid |= PACKET_SET
312 elif self.response.startswith("GPSD"):
313 self.__oldstyle_unpack(self.response)
314 self.valid |= PACKET_SET
318 if self.poll() == -1:
320 if hasattr(self, "data"):
325 def stream(self, flags=0, outfile=None):
326 "Ask gpsd to stream reports at your client."
327 if (flags & (WATCH_JSON|WATCH_OLDSTYLE|WATCH_NMEA|WATCH_RAW)) == 0:
328 # If we're looking at a daemon that speaks JSON, this
329 # should have been set when we saw the initial VERSION
330 # response. Note, however, that this requires at
331 # least one poll() before stream() is called
332 if self.newstyle or flags & WATCH_NEWSTYLE:
335 flags |= WATCH_OLDSTYLE
336 if flags & WATCH_OLDSTYLE:
337 if flags & WATCH_DISABLE:
339 if flags & WATCH_NMEA:
341 return self.send(arg)
342 else: # flags & WATCH_ENABLE:
344 if self.raw_hook or (flags & WATCH_NMEA):
346 return self.send(arg)
347 else: # flags & WATCH_NEWSTYLE:
348 gpsjson.stream(self, flags)
350 if __name__ == '__main__':
351 import readline, getopt, sys
352 (options, arguments) = getopt.getopt(sys.argv[1:], "v")
355 for (switch, val) in options:
358 if len(arguments) > 2:
359 print 'Usage: gps.py [-v] [host [port]]'
362 opts = { "verbose" : verbose }
363 if len(arguments) > 0:
364 opts["host"] = arguments[0]
365 if len(arguments) > 1:
366 opts["port"] = arguments[1]
368 session = gps(**opts)
369 session.set_raw_hook(lambda s: sys.stdout.write(s.strip() + "\n"))
370 session.stream(WATCH_ENABLE|WATCH_NEWSTYLE)
371 for report in session: