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Thu, Jul 31, 15:19

boat
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#!/usr/bin/env python3
import sys, datetime
sys.path.append ('../lib')
from nmeaTransceiver import *
from geoCalc import *
from nmea0183 import RMB, RMC, HDT
class TestBoat:
"Test boat that receives RMBs and sends RMCs"
__NT = None
__RMB = None
__RMC = None
__HDT = None
__GC = None
__nbOfLegs = None
# Starting position
__lat = '4301.000'
__latNS = 'N'
__lon = '00617.000'
__lonEW = 'E'
# Current destination information
bearing = 0
__RMB_lat = None
__RMB_latNS = None
__RMB_lon = None
__RMB_lonEW = None
__RMB_text = None
__RMB_iteration = None
__RMB_waypoints = None
def __RMB_reader(self, nmeaSentence):
print("RMB received from EC talker: %s" % nmeaSentence)
rmbData = self.__RMB.decode(nmeaSentence)
# move boat to the next Waypoint
rmb_text = rmbData['DestinationWaypointLatitude']+rmbData['DestinationWaypointLatitudeNS']+rmbData['DestinationWaypointLongitude']+rmbData['DestinationWaypointLongitudeEW']
if rmb_text != self.__RMB_text:
print("New destination detected!")
# New destination
self.__RMB_text = rmb_text
self.__RMB_lat = rmbData['DestinationWaypointLatitude']
self.__RMB_latNS = rmbData['DestinationWaypointLatitudeNS']
self.__RMB_lon = rmbData['DestinationWaypointLongitude']
self.__RMB_lonEW = rmbData['DestinationWaypointLongitudeEW']
self.__RMB_iteration = 0
# Compute intermediate waypoints
currentPosition = NmeaGeoPoint(self.__lat, self.__latNS, self.__lon, self.__lonEW)
destinationPosition = NmeaGeoPoint( rmbData['DestinationWaypointLatitude'],
rmbData['DestinationWaypointLatitudeNS'],
rmbData['DestinationWaypointLongitude'],
rmbData['DestinationWaypointLongitudeEW'])
self.__RMB_waypoints = self.__GC.getIntermediateWaypoints(currentPosition, destinationPosition, self.__nbOfLegs)['waypoints']
def __RMC_sender(self):
# Move to the next intermediate waypoint
self.bearing = 0
if self.__RMB_iteration != None:
n = self.__RMB_iteration
if n < self.__nbOfLegs:
print("Moving to waypoint: #",n+1,"/",len(self.__RMB_waypoints))
targetPoint = GeoPoint(self.__RMB_waypoints[n]['latitude'], self.__RMB_waypoints[n]['longitude'])
print(str(targetPoint))
self.bearing = self.__RMB_waypoints[n]['bearing']
self.__lat, self.__latNS, self.__lon, self.__lonEW = targetPoint.toNMEA()
self.__RMB_iteration += 1
else:
self.__RMB_iteration = None
now = datetime.datetime.now()
return self.__RMC.encodeDict( { 'UtcOfPositionFix': now.strftime('%H%M%S'),
'Status': 'A',
'Latitude': self.__lat,
'LatitudeNS': self.__latNS,
'Longitude': self.__lon,
'LongitudeEW': self.__lonEW,
'SpeedOverGround': '4.6',
'CourseOverGround': str(self.bearing),
'Date': now.strftime('%d%m%y'),
'MagneticVariation': '0.0',
'ModeIndicator': 'E'
} )
def __HDT_sender(self):
nmea = self.__HDT.encodeDict( { 'Heading': str(self.bearing) } )
print (nmea)
return nmea
def __init__(self, nbOfLegs = 1):
# Set default parameters
if nbOfLegs < 1:
self.__nbOfLegs = 1
else:
self.__nbOfLegs = nbOfLegs
# Create NMEA messages handlers
self.__RMB = RMB(RMB.nmeaAttributes)
self.__RMC = RMC(RMC.nmeaAttributes, 'GP')
self.__HDT = HDT(HDT.nmeaAttributes, 'GP')
# Create transceiver
self.__NT = NmeaTransceiver(sys.argv)
# Create GeoCal
self.__GC = GeoCalc()
# Add a read callback, called when a RMB is received (only from EC talker)
self.__NT.addNmeaFilteringReader(self.__RMB_reader, 'RMB', 'EC')
# Call RMC sender ASAP (when transceiver is started) and repeat every 3 seconds
self.__NT.callSoon(self.__RMC_sender, 1)
self.__NT.callSoon(self.__HDT_sender, 1)
def start(self):
self.__NT.startTransceiver()
#
# Main
#
TB = TestBoat(60)
TB.start()
# EOF

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