--- /dev/null
+# Copyright (c) Quectel Wireless Solution, Co., Ltd.All Rights Reserved.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import ure
+import net
+import math
+import utime
+import osTimer
+import _thread
+import wifiScan
+import cellLocator
+
+from queue import Queue
+from machine import UART, Pin
+
+try:
+ from wifilocator import wifilocator
+except:
+ wifilocator = None
+
+from log import getLogger
+
+try:
+ import quecgnss
+except ImportError:
+ quecgnss = None
+
+log = getLogger(__name__)
+
+_gps_read_lock = _thread.allocate_lock()
+_gps_data_set_lock = _thread.allocate_lock()
+
+EE = 0.00669342162296594323
+EARTH_RADIUS = 6378.137 # Approximate Earth Radius(km)
+M_PI = math.pi
+
+
+class _loc_method(object):
+ gps = 0x1
+ cell = 0x2
+ wifi = 0x4
+
+
+class _gps_mode(object):
+ none = 0x0
+ internal = 0x1
+ external = 0x2
+
+
+def transformLat(x, y):
+ ret = -100.0 + 2.0 * x + 3.0 * y + 0.2 * y * y + 0.1 * x * y + 0.2 * math.sqrt(math.fabs(x))
+ ret += (20.0 * math.sin(6.0 * x * M_PI) + 20.0 * math.sin(2.0 * x * M_PI)) * 2.0 / 3.0
+ ret += (20.0 * math.sin(y * M_PI) + 40.0 * math.sin(y / 3.0 * M_PI)) * 2.0 / 3.0
+ ret += (160.0 * math.sin(y / 12.0 * M_PI) + 320 * math.sin(y * M_PI / 30.0)) * 2.0 / 3.0
+ return ret
+
+
+def transformLon(x, y):
+ ret = 300.0 + x + 2.0 * y + 0.1 * x * x + 0.1 * x * y + 0.1 * math.sqrt(math.fabs(x))
+ ret += (20.0 * math.sin(6.0 * x * M_PI) + 20.0 * math.sin(2.0 * x * M_PI)) * 2.0 / 3.0
+ ret += (20.0 * math.sin(x * M_PI) + 40.0 * math.sin(x / 3.0 * M_PI)) * 2.0 / 3.0
+ ret += (150.0 * math.sin(x / 12.0 * M_PI) + 300.0 * math.sin(x / 30.0 * M_PI)) * 2.0 / 3.0
+ return ret
+
+
+def WGS84ToGCJ02(lon, lat):
+ dLat = transformLat(lon - 105.0, lat - 35.0)
+ dLon = transformLon(lon - 105.0, lat - 35.0)
+ radLat = lat / 180.0 * M_PI
+ magic = math.sin(radLat)
+ magic = 1 - magic * magic * EE
+ sqrtMagic = math.sqrt(magic)
+
+ dLat = (dLat * 180.0) / ((EARTH_RADIUS * 1000 * (1 - EE)) / (magic * sqrtMagic) * M_PI)
+ dLon = (dLon * 180.0) / (EARTH_RADIUS * 1000 / sqrtMagic * math.cos(radLat) * M_PI)
+ lon02 = lon + dLon
+ lat02 = lat + dLat
+
+ return lon02, lat02
+
+
+class GPSMatch(object):
+ """This class is match gps NEMA 0183"""
+
+ def GxRMC(self, gps_data):
+ """Match Recommended Minimum Specific GPS/TRANSIT Data（RMC）
+
+ Args:
+ gps_data(str): GPS NMEA string.
+
+ Returns:
+ str: RMC NMEA string.
+ """
+ if gps_data:
+ rmc_re = ure.search(
+ r"\$G[NP]RMC,\d*\.*\d*,*[AV],*\d*\.*\d*,*[NS],*\d*\.*\d*,*[EW],*\d*\.*\d*,*\d*\.*\d*,*\d*,*\d*\.*\d*,*[EW]*,*[ADEN]*,*[SCUV]*\**(\d|\w)*",
+ gps_data)
+ if rmc_re:
+ return rmc_re.group(0)
+ return ""
+
+ def GxGGA(self, gps_data):
+ """Match Global Positioning System Fix Data（GGA）
+
+ Args:
+ gps_data(str): GPS NMEA string.
+
+ Returns:
+ str: GGA NMEA string.
+ """
+ if gps_data:
+ gga_re = ure.search(
+ r"\$G[BLPN]GGA,\d*\.*\d*,*\d*\.*\d*,*[NS],*\d*\.*\d*,*[EW],*[0126],*\d*,*\d*\.*\d*,*-*\d*\.*\d*,*M,*-*\d*\.*\d*,*M,*\d*,*\**(\d|\w)*",
+ gps_data)
+ if gga_re:
+ return gga_re.group(0)
+ return ""
+
+ def GxVTG(self, gps_data):
+ """Match Track Made Good and Ground Speed（VTG）
+
+ Args:
+ gps_data(str): GPS NMEA string.
+
+ Returns:
+ str: VTG NMEA string.
+ """
+ if gps_data:
+ vtg_re = ure.search(r"\$G[NP]VTG,\d*\.*\d*,*T,*\d*\.*\d*,*M,*\d*\.*\d*,*N,*\d*\.*\d*,*K,*[ADEN]*\*(\d|\w)*",
+ gps_data)
+ if vtg_re:
+ return vtg_re.group(0)
+ return ""
+
+ def GxGSV(self, gps_data):
+ """Mactch GPS Satellites in View（GSV）
+
+ Args:
+ gps_data(str): GPS NMEA string.
+
+ Returns:
+ str: GSV NMEA string.
+ """
+ if gps_data:
+ gsv_re = ure.search(
+ r"\$G[NP]GSV,\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*\**(\d|\w)*",
+ gps_data)
+ if gsv_re:
+ return gsv_re.group(0)
+ return ""
+
+ def GxGLL(self, gps_data):
+ """Geographic Position
+
+ Args:
+ gps_data(str): GPS NMEA string.
+
+ Returns:
+ str: GLL NMEA string.
+ """
+ if gps_data:
+ gll_re = ure.search(r"\$G[NP]GLL,\d*\.*\d*,*[NS]*,*\d*\.*\d*,*[EW]*,*\d*\.*\d*,*[AV]*,*[ADEN]*\**(\d|\w)*",
+ gps_data)
+ if gll_re:
+ return gll_re.group(0)
+
+ def GxGSA(self, gps_data):
+ """GNSS DOP and Active Satellites
+
+ Args:
+ gps_data(str): GPS NMEA string.
+
+ Returns:
+ str: GSA NMEA string.
+ """
+ if gps_data:
+ gsa_re = ure.search(
+ r"\$G[NP]GSA,[MA]*,*[123]*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*,*\d*\.*\d*,*\d*\.*\d*,*\d*\.*\d*,*(\d|\w)*\**(\d|\w)*",
+ gps_data)
+ if gsa_re:
+ return gsa_re.group(0)
+
+
+class GPSParse(object):
+ """Parse details from gps data"""
+
+ def GxGGA_satellite_num(self, gga_data):
+ """Parse satellite num from GGA"""
+ if gga_data:
+ satellite_num_re = ure.search(r",[EW],[0126],\d+,", gga_data)
+ if satellite_num_re:
+ return satellite_num_re.group(0).split(",")[-2]
+ return ""
+
+ def GxGGA_latitude(self, gga_data):
+ """Parse latitude from GGA"""
+ if gga_data:
+ latitude_re = ure.search(r",[0-9]+\.[0-9]+,[NS],", gga_data)
+ if latitude_re:
+ latitude = latitude_re.group(0)[1:-3]
+ return str(float(latitude[:2]) + float(latitude[2:]) / 60)
+ return ""
+
+ def GxGGA_longitude(self, gga_data):
+ """Parse longitude from GGA"""
+ if gga_data:
+ longitude_re = ure.search(r",[0-9]+\.[0-9]+,[EW],", gga_data)
+ if longitude_re:
+ longitude = longitude_re.group(0)[1:-3]
+ return str(float(longitude[:3]) + float(longitude[3:]) / 60)
+ return ""
+
+ def GxGGA_altitude(self, gga_data):
+ """Parse altitude from GGA"""
+ if gga_data:
+ altitude_re = ure.search(r",-*[0-9]+\.[0-9]+,M,", gga_data)
+ if altitude_re:
+ return altitude_re.group(0)[1:-3]
+ return ""
+
+ def GxVTG_speed(self, vtg_data):
+ """Parse speed from VTG"""
+ if vtg_data:
+ speed_re = ure.search(r",N,\d+\.\d+,K,", vtg_data)
+ if speed_re:
+ return speed_re.group(0)[3:-3]
+ return ""
+
+ def GxGSV_satellite_num(self, gsv_data):
+ """Parse satellite num from GSV"""
+ if gsv_data:
+ satellite_num_re = ure.search(r"\$G[NP]GSV,\d+,\d+,\d+,", gsv_data)
+ if satellite_num_re:
+ return satellite_num_re.group(0).split(",")[-2]
+ return ""
+
+ def GxRMC_loc_status(self, rmc_data):
+ if rmc_data:
+ loc_status_re = ure.search(r"\$G[NP]RMC,\d*\.*\d*,[AV],", rmc_data)
+ if loc_status_re:
+ loc_status = loc_status_re.group(0).split(",")[-2]
+ return True if loc_status == "A" else False
+ return False
+
+ def __nmea_parse(self, nmea):
+ return tuple(nmea[1:].split("*")[0].split(",")) if nmea else ()
+
+ def GxRMC(self, rmc_data):
+ return self.__nmea_parse(rmc_data)
+
+ def GxGGA(self, gga_data):
+ return self.__nmea_parse(gga_data)
+
+ def GxGSV(self, gsv_data):
+ return self.__nmea_parse(gsv_data)
+
+ def GxGSA(self, gsa_data):
+ return self.__nmea_parse(gsa_data)
+
+ def GxVTG(self, vtg_data):
+ return self.__nmea_parse(vtg_data)
+
+ def GxGLL(self, gll_data):
+ return self.__nmea_parse(gll_data)
+
+
+class GPS(object):
+ """This class if for reading gps data.
+
+ Now support external gps and internal gps.
+
+ Sleep power consumption:
+ power off < backup < standby
+ """
+
+ __RMC = 0
+ __GGA = 1
+ __GSV = 2
+ __GSA = 3
+ __VTG = 4
+ __GLL = 5
+ __NMEA = 0b010111
+
+ def __init__(self, UARTn, buadrate, databits, parity, stopbits, flowctl, PowerPin, StandbyPin, BackupPin, gps_mode):
+ """Init GPS module
+
+ [description]
+
+ Args:
+ UARTn(int): UART No.
+ buadrate(int): baud rate
+ databits(int): data bits (5 ~ 8)
+ parity(int): parity (0 – NONE，1 – EVEN，2 - ODD)
+ stopbits(int): stop bit
+ flowctl(int): hardware control flow (0 – FC_NONE， 1 – FC_HW)
+ PowerPin(int): Power GIPO Pin
+ StandbyPin(int): Standby GPIO Pin
+ BackupPin(int): Back GPIO Pin
+ gps_mode(int): GPS mode
+ 0 - None
+ 1 - internal GPS
+ 2 - external GPS
+ """
+ self.__UARTn = UARTn
+ self.__buadrate = buadrate
+ self.__databits = databits
+ self.__parity = parity
+ self.__stopbits = stopbits
+ self.__flowctl = flowctl
+ self.__PowerPin = PowerPin
+ self.__StandbyPin = StandbyPin
+ self.__BackupPin = BackupPin
+ self.__gps_mode = gps_mode
+
+ self.__external_obj = None
+ self.__internal_obj = quecgnss
+ self.__gps_match = GPSMatch()
+ self.__gps_parse = GPSParse()
+ self.__gps_power_gpio = None
+ self.__gps_standby_gpio = None
+ self.__gps_backup_gpio = None
+
+ self.__external_retrieve_queue = None
+ self.__queue_size = 2
+ self.__first_break = 0
+ self.__break = 0
+ self.__gps_data = ""
+ self.__rmc_data = ""
+ self.__gga_data = ""
+ self.__vtg_data = ""
+ self.__gsv_data = ""
+ self.__gps_timer = osTimer()
+ self.__gps_data_check_timer = osTimer()
+
+ if self.__gps_mode & _gps_mode.external:
+ self.__external_init()
+ elif self.__gps_mode & _gps_mode.internal:
+ self.__internal_init()
+ #print("GPS:__init__%d",self.__gps_mode)
+ def __gps_power_control(self, GPIOn, onoff, method):
+ if method == "power_switch":
+ if self.__gps_power_gpio is None:
+ self.__gps_power_gpio = Pin(GPIOn, Pin.OUT, Pin.PULL_DISABLE, onoff)
+ gpio_obj = self.__gps_power_gpio
+ elif method == "standby":
+ if self.__gps_standby_gpio is None:
+ self.__gps_standby_gpio = Pin(GPIOn, Pin.OUT, Pin.PULL_DISABLE, onoff)
+ gpio_obj = self.__gps_standby_gpio
+ elif method == "backup":
+ if self.__gps_backup_gpio is None:
+ self.__gps_backup_gpio = Pin(GPIOn, Pin.OUT, Pin.PULL_DISABLE, onoff)
+ gpio_obj = self.__gps_backup_gpio
+ else:
+ raise TypeError("Param method %s is not compare." % method)
+
+ if gpio_obj.read() != onoff:
+ gpio_obj.write(onoff)
+ if gpio_obj.read() != onoff:
+ return False
+ return True
+
+ def __reverse_gps_data(self, this_gps_data):
+ """Reverse GPS data for regular match get the latest data"""
+ log.debug("this_gps_data: \n%s" % this_gps_data)
+ delimiter = "\r\n"
+ if this_gps_data:
+ _gps_data = self.__get_gps_data()
+ if _gps_data:
+ _gps_data = delimiter.join(_gps_data.split(delimiter)[::-1])
+ _gps_data += this_gps_data.strip().replace("\r", "").replace("\n", "").replace("$", delimiter + "$")
+ _gps_data = delimiter.join(_gps_data.split(delimiter)[::-1])
+ self.__set_gps_data(_gps_data)
+
+ def __read_latitude(self, gps_data):
+ """Read latitude from gps data"""
+ return self.__gps_parse.GxGGA_latitude(self.__gps_match.GxGGA(gps_data))
+
+ def __read_longitude(self, gps_data):
+ """Read longitude from gps data"""
+ return self.__gps_parse.GxGGA_longitude(self.__gps_match.GxGGA(gps_data))
+
+ def __read_altitude(self, gps_data):
+ """Read altitude from gps data"""
+ return self.__gps_parse.GxGGA_altitude(self.__gps_match.GxGGA(gps_data))
+
+ def __set_gps_data(self, gps_data):
+ self.__gps_data = gps_data
+
+ def __get_gps_data(self):
+ return self.__gps_data
+
+ def __gps_timer_callback(self, args):
+ """GPS read timer callback
+ When over time to get uart data, break queue wait
+ """
+ self.__break = 1
+ if self.__external_retrieve_queue is not None:
+ self.__external_retrieve_queue.put(False)
+
+ def __gps_data_check_callback(self, args):
+ """GPS read old data clean timer callback
+ When GPS read over time, clean old gps data, wait to read new gps data.
+ """
+ clean = False
+ if "" in (self.__rmc_data, self.__gga_data, self.__gsv_data):
+ clean = True
+ else:
+ if self.__nmea_statement_exist(self.__GSA) and not self.__gsa_data:
+ clean = True
+ elif self.__nmea_statement_exist(self.__VTG) and not self.__vtg_data:
+ clean = True
+ elif self.__nmea_statement_exist(self.__GLL) and not self.__gll_data:
+ clean = True
+
+ if clean:
+ self.__gps_nmea_data_clean()
+
+ def __external_init(self):
+ """External GPS init"""
+ self.__external_retrieve_queue = Queue(maxsize=self.__queue_size)
+
+ def __external_open(self):
+ """External GPS start, UART init"""
+ self.power_switch(1)
+ self.__external_obj = UART(
+ self.__UARTn,
+ self.__buadrate,
+ self.__databits,
+ self.__parity,
+ self.__stopbits,
+ self.__flowctl
+ )
+ self.__external_obj.set_callback(self.__external_retrieve_cb)
+
+ def __external_close(self):
+ """External GPS close, UART close, NOT GPS stop"""
+ self.__external_obj.close()
+
+ def __external_retrieve_cb(self, args):
+ """
+ GPS data retrieve callback from UART
+ When data comes, send a message to queue of data length
+ """
+ # log.debug("GPS __external_retrieve_cb args: %s" % str(args))
+ if self.__external_retrieve_queue.size() >= self.__queue_size:
+ self.__external_retrieve_queue.get()
+ self.__external_retrieve_queue.put(True)
+
+ def __internal_init(self):
+ """Internal GPS init"""
+ if self.__internal_obj:
+ if self.__internal_obj.init() != 0:
+ self.__internal_open()
+ log.error("GNSS INIT Failed.")
+ else:
+ log.debug("GNSS INIT Success.")
+ else:
+ log.error("Module quecgnss Import Error.")
+
+ def __internal_open(self):
+ """Internal GPS enable"""
+ if self.__internal_obj.get_state() == 0:
+ return True if self.__internal_obj.gnssEnable(1) == 0 else False
+ else:
+ return True
+
+ def __internal_close(self):
+ """Internal GPS close"""
+ return True if self.__internal_obj.gnssEnable(0) == 0 else False
+
+ def __nmea_statement_exist(self, nmea_item):
+ return (self.__NMEA & (0b1 << nmea_item)) >> nmea_item
+
+ def __gps_nmea_data_clean(self):
+ self.__set_gps_data("")
+ self.__rmc_data = ""
+ self.__gga_data = ""
+ self.__gsv_data = ""
+ self.__gsa_data = ""
+ self.__vtg_data = ""
+ self.__gll_data = ""
+
+ def __check_gps_valid(self, gps_data):
+ self.__reverse_gps_data(gps_data)
+
+ if not self.__rmc_data:
+ self.__rmc_data = self.__gps_match.GxRMC(self.__get_gps_data())
+ loc_status = self.__gps_parse.GxRMC_loc_status(self.__rmc_data)
+
+ if self.__rmc_data and loc_status:
+ if self.__nmea_statement_exist(self.__GGA) and not self.__gga_data:
+ self.__gga_data = self.__gps_match.GxGGA(self.__get_gps_data())
+ if self.__nmea_statement_exist(self.__GSV) and not self.__gsv_data:
+ self.__gsv_data = self.__gps_match.GxGSV(self.__get_gps_data())
+ if self.__nmea_statement_exist(self.__GSA) and not self.__gsa_data:
+ self.__gsa_data = self.__gps_match.GxGSA(self.__get_gps_data())
+ if self.__nmea_statement_exist(self.__VTG) and not self.__vtg_data:
+ self.__vtg_data = self.__gps_match.GxVTG(self.__get_gps_data())
+ if self.__nmea_statement_exist(self.__GLL) and not self.__gll_data:
+ self.__gll_data = self.__gps_match.GxGLL(self.__get_gps_data())
+
+ if self.__nmea_statement_exist(self.__GGA) and not self.__gga_data:
+ return False
+ if self.__nmea_statement_exist(self.__GSV) and not self.__gsv_data:
+ return False
+ if self.__nmea_statement_exist(self.__GSA) and not self.__gsa_data:
+ return False
+ if self.__nmea_statement_exist(self.__VTG) and not self.__vtg_data:
+ return False
+ if self.__nmea_statement_exist(self.__GLL) and not self.__gll_data:
+ return False
+ return True
+
+ return False
+
+ def __external_read(self):
+ """Read external GPS data
+
+ Return:
+ $GPTXT,01,01,02,ANTSTATUS=OPEN*2B
+ $GNRMC,073144.000,A,3149.330773,N,11706.946971,E,0.00,337.47,150422,,,D,V*07
+ $GNVTG,337.47,T,,M,0.00,N,0.00,K,D*22
+ $GNGGA,073144.000,3149.330773,N,11706.946971,E,2,19,0.66,85.161,M,-0.335,M,,*56
+ $GNGSA,A,3,01,195,06,03,21,194,19,17,30,14,,,0.94,0.66,0.66,1*02
+ $GNGSA,A,3,13,26,07,10,24,25,08,03,22,,,,0.94,0.66,0.66,4*03
+ $GPGSV,3,1,12,14,84,210,31,195,67,057,46,17,52,328,28,50,51,161,33,1*54
+ $GPGSV,3,2,12,194,49,157,33,03,48,090,37,19,36,305,32,06,34,242,32,1*58
+ $GPGSV,3,3,12,01,32,041,35,30,17,204,22,21,07,051,13,07,03,183,,1*6B
+ $BDGSV,5,1,18,07,86,063,30,10,75,322,30,08,60,211,34,03,52,192,33,1*71
+ $BDGSV,5,2,18,24,44,276,33,13,43,215,33,01,43,135,30,26,40,208,37,1*71
+ $BDGSV,5,3,18,02,38,230,,04,32,119,,22,26,135,30,19,25,076,,1*70
+ $BDGSV,5,4,18,05,17,251,,25,06,322,27,09,02,211,22,21,02,179,,1*78
+ $BDGSV,5,5,18,29,02,075,,20,01,035,,1*72
+ $GNGLL,3149.330773,N,11706.946971,E,073144.000,A,D*4E
+ """
+ self.__external_open()
+ log.debug("__external_read start")
+
+ while self.__break == 0:
+ self.__gps_timer.start(50, 0, self.__gps_timer_callback)
+ signal = self.__external_retrieve_queue.get()
+ log.debug("[first] signal: %s" % signal)
+ if signal:
+ to_read = self.__external_obj.any()
+ log.debug("[first] to_read: %s" % to_read)
+ if to_read > 0:
+ self.__set_gps_data(self.__external_obj.read(to_read).decode())
+ self.__gps_timer.stop()
+ self.__break = 0
+
+ self.__gps_nmea_data_clean()
+ self.__gps_data_check_timer.start(2000, 1, self.__gps_data_check_callback)
+ cycle = 0
+ while self.__break == 0:
+ self.__gps_timer.start(1500, 0, self.__gps_timer_callback)
+ signal = self.__external_retrieve_queue.get()
+ log.debug("[second] signal: %s" % signal)
+ if signal:
+ to_read = self.__external_obj.any()
+ log.debug("[second] to_read: %s" % to_read)
+ if to_read > 0:
+ if self.__check_gps_valid(self.__external_obj.read(to_read).decode()):
+ self.__break = 1
+
+ self.__gps_timer.stop()
+ cycle += 1
+ if cycle >= self.__retry:
+ self.__break = 1
+ if self.__break != 1:
+ utime.sleep(1)
+ self.__gps_data_check_timer.stop()
+ self.__break = 0
+
+ # To check GPS data is usable or not.
+ self.__gps_data_check_callback(None)
+ self.__external_close()
+ log.debug("__external_read data: %s" % self.__get_gps_data())
+ return self.__get_gps_data()
+
+ def __internal_read(self):
+ from ext import EventMesh
+ log.debug("__internal_read start.")
+ """Read internal GPS data
+
+ Return:
+ $GPTXT,01,01,02,ANTSTATUS=OPEN*2B
+ $GNRMC,073144.000,A,3149.330773,N,11706.946971,E,0.00,337.47,150422,,,D,V*07
+ $GNVTG,337.47,T,,M,0.00,N,0.00,K,D*22
+ $GNGGA,073144.000,3149.330773,N,11706.946971,E,2,19,0.66,85.161,M,-0.335,M,,*56
+ $GNGSA,A,3,01,195,06,03,21,194,19,17,30,14,,,0.94,0.66,0.66,1*02
+ $GNGSA,A,3,13,26,07,10,24,25,08,03,22,,,,0.94,0.66,0.66,4*03
+ $GPGSV,3,1,12,14,84,210,31,195,67,057,46,17,52,328,28,50,51,161,33,1*54
+ $GPGSV,3,2,12,194,49,157,33,03,48,090,37,19,36,305,32,06,34,242,32,1*58
+ $GPGSV,3,3,12,01,32,041,35,30,17,204,22,21,07,051,13,07,03,183,,1*6B
+ $BDGSV,5,1,18,07,86,063,30,10,75,322,30,08,60,211,34,03,52,192,33,1*71
+ $BDGSV,5,2,18,24,44,276,33,13,43,215,33,01,43,135,30,26,40,208,37,1*71
+ $BDGSV,5,3,18,02,38,230,,04,32,119,,22,26,135,30,19,25,076,,1*70
+ $BDGSV,5,4,18,05,17,251,,25,06,322,27,09,02,211,22,21,02,179,,1*78
+ $BDGSV,5,5,18,29,02,075,,20,01,035,,1*72
+ $GNGLL,3149.330773,N,11706.946971,E,073144.000,A,D*4E
+ """
+
+ #self.__gps_nmea_data_clean()
+
+ cycle = 0
+ #while self.__break == 0:
+ gnss_data = quecgnss.read(1024*3)
+ #print("__internal_read")
+ #print(gnss_data)
+ if gnss_data and gnss_data[1]:
+ this_gps_data = gnss_data[1].decode() if len(gnss_data) > 1 and gnss_data[1] else ""
+ _gps_valid = self.__check_gps_valid(this_gps_data)
+ log.debug("_gps_valid: %s" % _gps_valid)
+
+ #print("_gps_valid:",_gps_valid)
+ #print(str(_gps_valid),self.__get_gps_data())
+ if _gps_valid == True :
+ #EventMesh.publish("time", [self.__get_gps_data(),"0",str(_gps_valid),"0"])
+ return self.__get_gps_data()
+ else :
+ EventMesh.publish("time", [self.__get_gps_data(),"0",str(_gps_valid),"0"])
+ return ""
+
+ def read(self, retry=30):
+ """For user to read gps data
+
+ Return: (res_code, gps_data)
+ res_code:
+ - 0: Success
+ - -1: Failed
+ gps_data:
+ $GPTXT,01,01,02,ANTSTATUS=OPEN*2B
+ $GNRMC,073144.000,A,3149.330773,N,11706.946971,E,0.00,337.47,150422,,,D,V*07
+ $GNVTG,337.47,T,,M,0.00,N,0.00,K,D*22
+ $GNGGA,073144.000,3149.330773,N,11706.946971,E,2,19,0.66,85.161,M,-0.335,M,,*56
+ $GNGSA,A,3,01,195,06,03,21,194,19,17,30,14,,,0.94,0.66,0.66,1*02
+ $GNGSA,A,3,13,26,07,10,24,25,08,03,22,,,,0.94,0.66,0.66,4*03
+ $GPGSV,3,1,12,14,84,210,31,195,67,057,46,17,52,328,28,50,51,161,33,1*54
+ $GPGSV,3,2,12,194,49,157,33,03,48,090,37,19,36,305,32,06,34,242,32,1*58
+ $GPGSV,3,3,12,01,32,041,35,30,17,204,22,21,07,051,13,07,03,183,,1*6B
+ $BDGSV,5,1,18,07,86,063,30,10,75,322,30,08,60,211,34,03,52,192,33,1*71
+ $BDGSV,5,2,18,24,44,276,33,13,43,215,33,01,43,135,30,26,40,208,37,1*71
+ $BDGSV,5,3,18,02,38,230,,04,32,119,,22,26,135,30,19,25,076,,1*70
+ $BDGSV,5,4,18,05,17,251,,25,06,322,27,09,02,211,22,21,02,179,,1*78
+ $BDGSV,5,5,18,29,02,075,,20,01,035,,1*72
+ $GNGLL,3149.330773,N,11706.946971,E,073144.000,A,D*4E
+ """
+ self.__retry = retry
+ gps_data = ""
+ if self.__gps_mode & _gps_mode.external:
+ gps_data = self.__external_read()
+ elif self.__gps_mode & _gps_mode.internal:
+ gps_data = self.__internal_read()
+
+ res = 0 if gps_data else -1
+ return (res, gps_data)
+
+ def read_coordinates(self, gps_data):
+ """Read positioning coordinates.
+
+ Params:
+ gps_data: read gps data.
+ map_coordinate_system: `WGS84` or GCJ02
+
+ Return:
+ (longitude, latitude, altitude)
+ """
+ latitude = self.__read_latitude(gps_data)
+ latitude = float(latitude) if latitude else latitude
+ longitude = self.__read_longitude(gps_data)
+ longitude = float(longitude) if longitude else longitude
+ altitude = self.__read_altitude(gps_data)
+ altitude = float(altitude) if altitude else altitude
+ return (longitude, latitude, altitude)
+
+ def power_switch(self, onoff):
+ """GPS module power switch
+
+ Params:
+ onoff: 0 -- off, 1 -- on
+ """
+ if self.__gps_mode & _gps_mode.external:
+ if self.__PowerPin is not None:
+ return self.__gps_power_control(self.__PowerPin, onoff, "power_switch")
+ else:
+ return False
+ elif self.__gps_mode & _gps_mode.internal:
+ # TODO: Interal GNSS power down will not be used this api.
+ if onoff == 0:
+ return self.__internal_close()
+ else:
+ return self.__internal_open()
+
+ def backup(self, onoff):
+ """GPS module low enery mode backup
+
+ Params:
+ onoff: 0 -- off, 1 -- on
+ """
+ if self.__BackupPin is not None:
+ return self.__gps_power_control(self.__BackupPin, onoff, "backup")
+ else:
+ return False
+
+ def standby(self, onoff):
+ """GPS module low enery mode standby
+
+ Params:
+ onoff: 0 -- off, 1 -- on
+ """
+ if self.__StandbyPin is not None:
+ return self.__gps_power_control(self.__StandbyPin, onoff, "standby")
+ else:
+ return False
+
+ def set_nmea_statement(self, nmea_statement):
+ """Set NMEA statement to check gps info valid
+
+ RMC, GGA, GSV must be required.
+
+ Args:
+ nmea_statement(int):
+ RMC - 0b1 << 0 (bit0), 0 - off, 1 - on
+ GGA - 0b1 << 1 (bit1), 0 - off, 1 - on
+ GSV - 0b1 << 2 (bit2), 0 - off, 1 - on
+ GSA - 0b1 << 3 (bit3), 0 - off, 1 - on
+ VTG - 0b1 << 4 (bit4), 0 - off, 1 - on
+ GLL - 0b1 << 5 (bit5), 0 - off, 1 - on
+
+ Returns:
+ bool: True - success, False - falied.
+ """
+ if nmea_statement >= 0b111:
+ self.__NMEA = nmea_statement
+ return True
+ return False
+
+
+class CellLocator(object):
+ """This class is for reading cell location data"""
+
+ def __init__(self, serverAddr, port, token, timeout, profileIdx):
+ self.__serverAddr = serverAddr
+ self.__port = port
+ self.__token = token
+ self.__timeout = timeout
+ self.__profileIdx = profileIdx
+
+ def read(self):
+ read_loc_res = self.__read_loc()
+ read_cell_res = self.__read_cell()
+ res = 0 if read_loc_res[0] == 0 or read_cell_res[0] == 0 else -1
+ return (res, read_loc_res[1], read_cell_res[1])
+
+ def __read_loc(self):
+ """Read cell location data.
+
+ Return: (res_code, loc_data)
+ res_code:
+ - 0: Success
+ - -1: Initialization failed
+ - -2: The server address is too long (more than 255 bytes)
+ - -3: Wrong key length, must be 16 bytes
+ - -4: The timeout period is out of range, the supported range is (1 ~ 300) s
+ - -5: The specified PDP network is not connected, please confirm whether the PDP is correct
+ - -6: Error getting coordinates
+ loc_data:
+ (117.1138, 31.82279, 550)
+ """
+ res = -1
+ loc_data = cellLocator.getLocation(
+ self.__serverAddr,
+ self.__port,
+ self.__token,
+ self.__timeout,
+ self.__profileIdx
+ )
+ if isinstance(loc_data, tuple) and len(loc_data) == 3:
+ res = 0
+ else:
+ res = loc_data
+ loc_data = ()
+
+ return (res, loc_data)
+
+ def __read_cell(self):
+ res = -1
+ near_cell = []
+ server_cell = []
+
+ near_cells = net.getCi()
+ if near_cells != -1 and isinstance(near_cells, list):
+ near_cell = list(map(str, near_cells))
+
+ server_cells = net.getCellInfo()
+ if server_cells != -1 and isinstance(server_cells, tuple):
+ server_cell = server_cells
+
+ res = 0 if near_cell or server_cell else -1
+ return (res, {"near_cell": near_cell, "server_cell": server_cell})
+
+
+class WiFiLocator(object):
+ """This class is for reading wifi location data"""
+
+ def __init__(self, token):
+ self.__wifilocator_obj = wifilocator(token)
+
+ def read(self):
+ read_loc_res = self.__read_loc()
+ read_mac_res = self.__read_mac()
+ res = 0 if read_loc_res[0] == 0 or read_mac_res[0] == 0 else -1
+ return (res, read_loc_res[1], read_mac_res[1])
+
+ def __read_loc(self):
+ """Read wifi location data.
+
+ Return: (res_code, loc_data)
+ res_code:
+ - 0: Success
+ - -1: The current network is abnormal, please confirm whether the dial-up is normal
+ - -2: Wrong key length, must be 16 bytes
+ - -3: Error getting coordinates
+ loc_data:
+ (117.1138, 31.82279, 550)
+ """
+ res = -1
+ loc_data = self.__wifilocator_obj.getwifilocator()
+ if isinstance(loc_data, tuple) and len(loc_data) == 3:
+ res = 0
+ else:
+ res = loc_data
+ loc_data = ()
+
+ return (res, loc_data)
+
+ def __read_mac(self):
+ res = -1
+ macs = []
+ if wifiScan.support():
+ if wifiScan.control(1) == 0:
+ if wifiScan.getState():
+ wifisacn_start = wifiScan.start()
+ if wifisacn_start != -1 and wifisacn_start[0] > 0:
+ macs = [i[0] for i in wifisacn_start[1]]
+ res = 0
+ wifiScan.control(0)
+ return (res, macs)
+
+
+class Location(object):
+ """This class is for reading location data from gps, cell, wifi"""
+ gps = None
+ cellLoc = None
+ wifiLoc = None
+
+ def __init__(self, loc_method, locator_init_params):
+ """Init Location module
+
+ 1. If loc_method include gps then init gps module;
+ 2. If loc_method inculde cell then init cell module;
+ 3. If loc_method Include wifi then init wifi module;
+
+ Args:
+ loc_method(int):
+ 1 - gps
+ 2 - cell
+ 3 - cell & gps
+ 4 - wifi
+ 5 - wifi & gps
+ 6 - wifi & cell
+ 7 - wifi & cell & gps
+ locator_init_params(dict):
+ gps_cfg(dict):GPS module init args
+ cell_cfg(dict):CELL module init args
+ wifi_cfg(dict):WIFI module init args
+ """
+ self.__loc_method = loc_method
+ self.__locator_init_params = locator_init_params
+ self.__locater_init()
+
+ def __locater_init(self):
+ """Init gps, cell, wifi by loc_method"""
+
+ if self.__loc_method & _loc_method.gps:
+ if self.gps is None:
+ _gps_cfg = self.__locator_init_params.get("gps_cfg", {})
+ if _gps_cfg:
+ self.gps = GPS(**_gps_cfg)
+ if _gps_cfg.get("nmea_cfg") is not None:
+ self.gps.set_nmea_statement(_gps_cfg.get("nmea_cfg"))
+ else:
+ raise ValueError("Invalid gps init parameters.")
+ else:
+ self.gps = None
+
+ if self.__loc_method & _loc_method.cell:
+ if self.cellLoc is None:
+ _cell_cfg = self.__locator_init_params.get("cell_cfg")
+ if _cell_cfg:
+ self.cellLoc = CellLocator(**_cell_cfg)
+ else:
+ raise ValueError("Invalid cell-locator init parameters.")
+ else:
+ self.cellLoc = None
+
+ if self.__loc_method & _loc_method.wifi:
+ if self.wifiLoc is None:
+ _wifi_cfg = self.__locator_init_params.get("wifi_cfg")
+ if _wifi_cfg:
+ self.wifiLoc = WiFiLocator(**_wifi_cfg)
+ else:
+ raise ValueError("Invalid wifi-locator init parameters.")
+ else:
+ self.wifiLoc = None
+
+ def __read_gps(self, retry):
+ """Read loction data from gps module
+
+ Return:
+ $GPTXT,01,01,02,ANTSTATUS=OPEN*2B
+ $GNRMC,073144.000,A,3149.330773,N,11706.946971,E,0.00,337.47,150422,,,D,V*07
+ $GNVTG,337.47,T,,M,0.00,N,0.00,K,D*22
+ $GNGGA,073144.000,3149.330773,N,11706.946971,E,2,19,0.66,85.161,M,-0.335,M,,*56
+ $GNGSA,A,3,01,195,06,03,21,194,19,17,30,14,,,0.94,0.66,0.66,1*02
+ $GNGSA,A,3,13,26,07,10,24,25,08,03,22,,,,0.94,0.66,0.66,4*03
+ $GPGSV,3,1,12,14,84,210,31,195,67,057,46,17,52,328,28,50,51,161,33,1*54
+ $GPGSV,3,2,12,194,49,157,33,03,48,090,37,19,36,305,32,06,34,242,32,1*58
+ $GPGSV,3,3,12,01,32,041,35,30,17,204,22,21,07,051,13,07,03,183,,1*6B
+ $BDGSV,5,1,18,07,86,063,30,10,75,322,30,08,60,211,34,03,52,192,33,1*71
+ $BDGSV,5,2,18,24,44,276,33,13,43,215,33,01,43,135,30,26,40,208,37,1*71
+ $BDGSV,5,3,18,02,38,230,,04,32,119,,22,26,135,30,19,25,076,,1*70
+ $BDGSV,5,4,18,05,17,251,,25,06,322,27,09,02,211,22,21,02,179,,1*78
+ $BDGSV,5,5,18,29,02,075,,20,01,035,,1*72
+ $GNGLL,3149.330773,N,11706.946971,E,073144.000,A,D*4E
+ """
+ if self.gps:
+ return self.gps.read(retry)[1]
+ return ""
+
+ def __read_cell(self):
+ """Read loction data from cell module
+
+ Return:
+ (117.1138, 31.82279, 550) or ()
+ """
+ if self.cellLoc:
+ cell_loc_data = self.cellLoc.read()
+ return (cell_loc_data[1], cell_loc_data[2])
+ return ()
+
+ def __read_wifi(self):
+ """Read loction data from wifi module
+
+ Return:
+ (117.1138, 31.82279, 550) or ()
+ """
+ if self.wifiLoc:
+ wifi_loc_data = self.wifiLoc.read()
+ return (wifi_loc_data[1], wifi_loc_data[2])
+ return ()
+
+ def read(self, retry=30):
+ """Read location data
+
+ args:
+ retry(int): gps read uart data retry count.
+
+ Returns:
+ dict:
+ key:
+ 1 - GPS data
+ 2 - CELL data
+ 4 - WIFI data
+ .e.g:
+ {
+ 1: "$GPGGA,XXX",
+ 2: (0.00, 0.00, 0.00),
+ 4: (0.00, 0.00, 0.00),
+ }
+ """
+ loc_data = {}
+
+ if self.__loc_method & _loc_method.gps:
+ loc_data[_loc_method.gps] = self.__read_gps(retry)
+
+ if self.__loc_method & _loc_method.cell:
+ loc_data[_loc_method.cell] = self.__read_cell()
+
+ if self.__loc_method & _loc_method.wifi:
+ loc_data[_loc_method.wifi] = self.__read_wifi()
+
+ return loc_data
+
+ def wgs84togcj02(self, Longitude, Latitude):
+ return WGS84ToGCJ02(Longitude, Latitude)
+
+
+if __name__ == '__main__':
+ _gps_cfg = {
+ "UARTn": UART.UART1,
+ "buadrate": 115200,
+ "databits": 8,
+ "parity": 0,
+ "stopbits": 1,
+ "flowctl": 0,
+ "PowerPin": Pin.GPIO2,
+ "StandbyPin": Pin.GPIO3,
+ "BackupPin": None,
+ "gps_mode": 0x01,
+ }
+ gps = GPS(**_gps_cfg)
+ print("read {}".format(gps.read(300)))
projects / mirrors / ASR1603_G5.git / commitdiff
