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113 lines
4.2 KiB
Python
113 lines
4.2 KiB
Python
# This plugin allows using GPSd as a location
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# telemetry provider on Linux systems.
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# This plugin requires the "gpsdclient" pip
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# package to be installed on your system.
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# Install it with: pip install gpsdclient
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import RNS
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import time
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import threading
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from gpsdclient import GPSDClient
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class GpsdLocationPlugin(SidebandTelemetryPlugin):
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plugin_name = "gpsd_location"
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def __init__(self, sideband_core):
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self.connect_timeout = 5.0
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self.client = None
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self.client_connected = False
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self.should_run = False
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self.latitude = None
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self.longitude = None
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self.altitude = None
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self.speed = None
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self.bearing = None
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self.accuracy = None
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self.last_update = None
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super().__init__(sideband_core)
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def start(self):
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RNS.log("Starting Linux GPSd Location provider plugin...")
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self.should_run = True
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update_thread = threading.Thread(target=self.update_job, daemon=True)
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update_thread.start()
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super().start()
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def stop(self):
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self.should_run = False
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super().stop()
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def update_job(self):
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while self.should_run:
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RNS.log("Connecting to local GPSd...", RNS.LOG_DEBUG)
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self.client_connected = False
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try:
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self.client = GPSDClient(timeout=self.connect_timeout)
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for result in self.client.dict_stream(convert_datetime=True, filter=["TPV"]):
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if not self.client_connected:
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RNS.log("Connected, streaming GPSd data", RNS.LOG_DEBUG)
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self.client_connected = True
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gpsd_latitude = result.get("lat", None)
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gpsd_longitude = result.get("lon", None)
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gpsd_altitude = result.get("altHAE", None)
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gpsd_speed = result.get("speed", None)
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gpsd_bearing = result.get("track", None)
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gpsd_required = [gpsd_latitude, gpsd_longitude, gpsd_altitude, gpsd_speed, gpsd_bearing]
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if not None in gpsd_required:
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self.last_update = time.time()
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self.latitude = gpsd_latitude
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self.longitude = gpsd_longitude
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self.altitude = gpsd_altitude
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self.speed = gpsd_speed
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self.bearing = gpsd_bearing
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epx = result.get("epx", None); epy = result.get("epy", None)
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epv = result.get("epv", None)
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if epx != None and epy != None and epv != None:
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self.accuracy = max(epx, epy, epv)
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else:
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self.accuracy = None
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except Exception as e:
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RNS.log("Could not connect to local GPSd, retrying later", RNS.LOG_ERROR)
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time.sleep(5)
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def has_location(self):
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lat = self.latitude != None; lon = self.longitude != None
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alt = self.altitude != None; spd = self.speed != None
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brg = self.bearing != None; acc = self.accuracy != None
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return lat and lon and alt and spd and brg and acc
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def update_telemetry(self, telemeter):
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if self.is_running() and telemeter != None:
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if self.has_location():
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RNS.log("Updating location from gpsd", RNS.LOG_DEBUG)
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if not "location" in telemeter.sensors:
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telemeter.synthesize("location")
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telemeter.sensors["location"].latitude = self.latitude
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telemeter.sensors["location"].longitude = self.longitude
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telemeter.sensors["location"].altitude = self.altitude
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telemeter.sensors["location"].speed = self.speed
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telemeter.sensors["location"].bearing = self.bearing
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telemeter.sensors["location"].accuracy = self.accuracy
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telemeter.sensors["location"].stale_time = 5
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telemeter.sensors["location"].set_update_time(self.last_update)
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else:
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RNS.log("No location from GPSd yet", RNS.LOG_DEBUG)
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# Finally, tell Sideband what class in this
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# file is the actual plugin class.
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plugin_class = GpsdLocationPlugin |