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yocto_gps.py
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yocto_gps.py
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#*********************************************************************
#*
#* $Id: yocto_gps.py 23243 2016-02-23 14:13:12Z seb $
#*
#* Implements yFindGps(), the high-level API for Gps functions
#*
#* - - - - - - - - - License information: - - - - - - - - -
#*
#* Copyright (C) 2011 and beyond by Yoctopuce Sarl, Switzerland.
#*
#* Yoctopuce Sarl (hereafter Licensor) grants to you a perpetual
#* non-exclusive license to use, modify, copy and integrate this
#* file into your software for the sole purpose of interfacing
#* with Yoctopuce products.
#*
#* You may reproduce and distribute copies of this file in
#* source or object form, as long as the sole purpose of this
#* code is to interface with Yoctopuce products. You must retain
#* this notice in the distributed source file.
#*
#* You should refer to Yoctopuce General Terms and Conditions
#* for additional information regarding your rights and
#* obligations.
#*
#* THE SOFTWARE AND DOCUMENTATION ARE PROVIDED 'AS IS' WITHOUT
#* WARRANTY OF ANY KIND, EITHER EXPRESS OR IMPLIED, INCLUDING
#* WITHOUT LIMITATION, ANY WARRANTY OF MERCHANTABILITY, FITNESS
#* FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO
#* EVENT SHALL LICENSOR BE LIABLE FOR ANY INCIDENTAL, SPECIAL,
#* INDIRECT OR CONSEQUENTIAL DAMAGES, LOST PROFITS OR LOST DATA,
#* COST OF PROCUREMENT OF SUBSTITUTE GOODS, TECHNOLOGY OR
#* SERVICES, ANY CLAIMS BY THIRD PARTIES (INCLUDING BUT NOT
#* LIMITED TO ANY DEFENSE THEREOF), ANY CLAIMS FOR INDEMNITY OR
#* CONTRIBUTION, OR OTHER SIMILAR COSTS, WHETHER ASSERTED ON THE
#* BASIS OF CONTRACT, TORT (INCLUDING NEGLIGENCE), BREACH OF
#* WARRANTY, OR OTHERWISE.
#*
#*********************************************************************/
__docformat__ = 'restructuredtext en'
from yocto_api import *
#--- (YGps class start)
#noinspection PyProtectedMember
class YGps(YFunction):
"""
The Gps function allows you to extract positionning
data from the GPS device. This class can provides
complete positionning information: However, if you
whish to define callbacks on position changes, you
should use the YLatitude et YLongitude classes.
"""
#--- (end of YGps class start)
#--- (YGps return codes)
#--- (end of YGps return codes)
#--- (YGps dlldef)
#--- (end of YGps dlldef)
#--- (YGps definitions)
SATCOUNT_INVALID = YAPI.INVALID_LONG
LATITUDE_INVALID = YAPI.INVALID_STRING
LONGITUDE_INVALID = YAPI.INVALID_STRING
DILUTION_INVALID = YAPI.INVALID_DOUBLE
ALTITUDE_INVALID = YAPI.INVALID_DOUBLE
GROUNDSPEED_INVALID = YAPI.INVALID_DOUBLE
DIRECTION_INVALID = YAPI.INVALID_DOUBLE
UNIXTIME_INVALID = YAPI.INVALID_LONG
DATETIME_INVALID = YAPI.INVALID_STRING
UTCOFFSET_INVALID = YAPI.INVALID_INT
COMMAND_INVALID = YAPI.INVALID_STRING
ISFIXED_FALSE = 0
ISFIXED_TRUE = 1
ISFIXED_INVALID = -1
COORDSYSTEM_GPS_DMS = 0
COORDSYSTEM_GPS_DM = 1
COORDSYSTEM_GPS_D = 2
COORDSYSTEM_INVALID = -1
#--- (end of YGps definitions)
def __init__(self, func):
super(YGps, self).__init__(func)
self._className = 'Gps'
#--- (YGps attributes)
self._callback = None
self._isFixed = YGps.ISFIXED_INVALID
self._satCount = YGps.SATCOUNT_INVALID
self._coordSystem = YGps.COORDSYSTEM_INVALID
self._latitude = YGps.LATITUDE_INVALID
self._longitude = YGps.LONGITUDE_INVALID
self._dilution = YGps.DILUTION_INVALID
self._altitude = YGps.ALTITUDE_INVALID
self._groundSpeed = YGps.GROUNDSPEED_INVALID
self._direction = YGps.DIRECTION_INVALID
self._unixTime = YGps.UNIXTIME_INVALID
self._dateTime = YGps.DATETIME_INVALID
self._utcOffset = YGps.UTCOFFSET_INVALID
self._command = YGps.COMMAND_INVALID
#--- (end of YGps attributes)
#--- (YGps implementation)
def _parseAttr(self, member):
if member.name == "isFixed":
self._isFixed = member.ivalue
return 1
if member.name == "satCount":
self._satCount = member.ivalue
return 1
if member.name == "coordSystem":
self._coordSystem = member.ivalue
return 1
if member.name == "latitude":
self._latitude = member.svalue
return 1
if member.name == "longitude":
self._longitude = member.svalue
return 1
if member.name == "dilution":
self._dilution = round(member.ivalue * 1000.0 / 65536.0) / 1000.0
return 1
if member.name == "altitude":
self._altitude = round(member.ivalue * 1000.0 / 65536.0) / 1000.0
return 1
if member.name == "groundSpeed":
self._groundSpeed = round(member.ivalue * 1000.0 / 65536.0) / 1000.0
return 1
if member.name == "direction":
self._direction = round(member.ivalue * 1000.0 / 65536.0) / 1000.0
return 1
if member.name == "unixTime":
self._unixTime = member.ivalue
return 1
if member.name == "dateTime":
self._dateTime = member.svalue
return 1
if member.name == "utcOffset":
self._utcOffset = member.ivalue
return 1
if member.name == "command":
self._command = member.svalue
return 1
super(YGps, self)._parseAttr(member)
def get_isFixed(self):
"""
Returns TRUE if the receiver has found enough satellites to work.
@return either YGps.ISFIXED_FALSE or YGps.ISFIXED_TRUE, according to TRUE if the receiver has found
enough satellites to work
On failure, throws an exception or returns YGps.ISFIXED_INVALID.
"""
if self._cacheExpiration <= YAPI.GetTickCount():
if self.load(YAPI.DefaultCacheValidity) != YAPI.SUCCESS:
return YGps.ISFIXED_INVALID
return self._isFixed
def get_satCount(self):
"""
Returns the count of visible satellites.
@return an integer corresponding to the count of visible satellites
On failure, throws an exception or returns YGps.SATCOUNT_INVALID.
"""
if self._cacheExpiration <= YAPI.GetTickCount():
if self.load(YAPI.DefaultCacheValidity) != YAPI.SUCCESS:
return YGps.SATCOUNT_INVALID
return self._satCount
def get_coordSystem(self):
"""
Returns the representation system used for positioning data.
@return a value among YGps.COORDSYSTEM_GPS_DMS, YGps.COORDSYSTEM_GPS_DM and YGps.COORDSYSTEM_GPS_D
corresponding to the representation system used for positioning data
On failure, throws an exception or returns YGps.COORDSYSTEM_INVALID.
"""
if self._cacheExpiration <= YAPI.GetTickCount():
if self.load(YAPI.DefaultCacheValidity) != YAPI.SUCCESS:
return YGps.COORDSYSTEM_INVALID
return self._coordSystem
def set_coordSystem(self, newval):
"""
Changes the representation system used for positioning data.
@param newval : a value among YGps.COORDSYSTEM_GPS_DMS, YGps.COORDSYSTEM_GPS_DM and
YGps.COORDSYSTEM_GPS_D corresponding to the representation system used for positioning data
@return YAPI.SUCCESS if the call succeeds.
On failure, throws an exception or returns a negative error code.
"""
rest_val = str(newval)
return self._setAttr("coordSystem", rest_val)
def get_latitude(self):
"""
Returns the current latitude.
@return a string corresponding to the current latitude
On failure, throws an exception or returns YGps.LATITUDE_INVALID.
"""
if self._cacheExpiration <= YAPI.GetTickCount():
if self.load(YAPI.DefaultCacheValidity) != YAPI.SUCCESS:
return YGps.LATITUDE_INVALID
return self._latitude
def get_longitude(self):
"""
Returns the current longitude.
@return a string corresponding to the current longitude
On failure, throws an exception or returns YGps.LONGITUDE_INVALID.
"""
if self._cacheExpiration <= YAPI.GetTickCount():
if self.load(YAPI.DefaultCacheValidity) != YAPI.SUCCESS:
return YGps.LONGITUDE_INVALID
return self._longitude
def get_dilution(self):
"""
Returns the current horizontal dilution of precision,
the smaller that number is, the better .
@return a floating point number corresponding to the current horizontal dilution of precision,
the smaller that number is, the better
On failure, throws an exception or returns YGps.DILUTION_INVALID.
"""
if self._cacheExpiration <= YAPI.GetTickCount():
if self.load(YAPI.DefaultCacheValidity) != YAPI.SUCCESS:
return YGps.DILUTION_INVALID
return self._dilution
def get_altitude(self):
"""
Returns the current altitude. Beware: GPS technology
is very inaccurate regarding altitude.
@return a floating point number corresponding to the current altitude
On failure, throws an exception or returns YGps.ALTITUDE_INVALID.
"""
if self._cacheExpiration <= YAPI.GetTickCount():
if self.load(YAPI.DefaultCacheValidity) != YAPI.SUCCESS:
return YGps.ALTITUDE_INVALID
return self._altitude
def get_groundSpeed(self):
"""
Returns the current ground speed in Km/h.
@return a floating point number corresponding to the current ground speed in Km/h
On failure, throws an exception or returns YGps.GROUNDSPEED_INVALID.
"""
if self._cacheExpiration <= YAPI.GetTickCount():
if self.load(YAPI.DefaultCacheValidity) != YAPI.SUCCESS:
return YGps.GROUNDSPEED_INVALID
return self._groundSpeed
def get_direction(self):
"""
Returns the current move bearing in degrees, zero
is the true (geographic) north.
@return a floating point number corresponding to the current move bearing in degrees, zero
is the true (geographic) north
On failure, throws an exception or returns YGps.DIRECTION_INVALID.
"""
if self._cacheExpiration <= YAPI.GetTickCount():
if self.load(YAPI.DefaultCacheValidity) != YAPI.SUCCESS:
return YGps.DIRECTION_INVALID
return self._direction
def get_unixTime(self):
"""
Returns the current time in Unix format (number of
seconds elapsed since Jan 1st, 1970).
@return an integer corresponding to the current time in Unix format (number of
seconds elapsed since Jan 1st, 1970)
On failure, throws an exception or returns YGps.UNIXTIME_INVALID.
"""
if self._cacheExpiration <= YAPI.GetTickCount():
if self.load(YAPI.DefaultCacheValidity) != YAPI.SUCCESS:
return YGps.UNIXTIME_INVALID
return self._unixTime
def get_dateTime(self):
"""
Returns the current time in the form "YYYY/MM/DD hh:mm:ss".
@return a string corresponding to the current time in the form "YYYY/MM/DD hh:mm:ss"
On failure, throws an exception or returns YGps.DATETIME_INVALID.
"""
if self._cacheExpiration <= YAPI.GetTickCount():
if self.load(YAPI.DefaultCacheValidity) != YAPI.SUCCESS:
return YGps.DATETIME_INVALID
return self._dateTime
def get_utcOffset(self):
"""
Returns the number of seconds between current time and UTC time (time zone).
@return an integer corresponding to the number of seconds between current time and UTC time (time zone)
On failure, throws an exception or returns YGps.UTCOFFSET_INVALID.
"""
if self._cacheExpiration <= YAPI.GetTickCount():
if self.load(YAPI.DefaultCacheValidity) != YAPI.SUCCESS:
return YGps.UTCOFFSET_INVALID
return self._utcOffset
def set_utcOffset(self, newval):
"""
Changes the number of seconds between current time and UTC time (time zone).
The timezone is automatically rounded to the nearest multiple of 15 minutes.
If current UTC time is known, the current time is automatically be updated according to the selected time zone.
@param newval : an integer corresponding to the number of seconds between current time and UTC time (time zone)
@return YAPI.SUCCESS if the call succeeds.
On failure, throws an exception or returns a negative error code.
"""
rest_val = str(newval)
return self._setAttr("utcOffset", rest_val)
def get_command(self):
if self._cacheExpiration <= YAPI.GetTickCount():
if self.load(YAPI.DefaultCacheValidity) != YAPI.SUCCESS:
return YGps.COMMAND_INVALID
return self._command
def set_command(self, newval):
rest_val = newval
return self._setAttr("command", rest_val)
@staticmethod
def FindGps(func):
"""
Retrieves a GPS for a given identifier.
The identifier can be specified using several formats:
<ul>
<li>FunctionLogicalName</li>
<li>ModuleSerialNumber.FunctionIdentifier</li>
<li>ModuleSerialNumber.FunctionLogicalName</li>
<li>ModuleLogicalName.FunctionIdentifier</li>
<li>ModuleLogicalName.FunctionLogicalName</li>
</ul>
This function does not require that the GPS is online at the time
it is invoked. The returned object is nevertheless valid.
Use the method YGps.isOnline() to test if the GPS is
indeed online at a given time. In case of ambiguity when looking for
a GPS by logical name, no error is notified: the first instance
found is returned. The search is performed first by hardware name,
then by logical name.
@param func : a string that uniquely characterizes the GPS
@return a YGps object allowing you to drive the GPS.
"""
# obj
obj = YFunction._FindFromCache("Gps", func)
if obj is None:
obj = YGps(func)
YFunction._AddToCache("Gps", func, obj)
return obj
def nextGps(self):
"""
Continues the enumeration of GPS started using yFirstGps().
@return a pointer to a YGps object, corresponding to
a GPS currently online, or a None pointer
if there are no more GPS to enumerate.
"""
hwidRef = YRefParam()
if YAPI.YISERR(self._nextFunction(hwidRef)):
return None
if hwidRef.value == "":
return None
return YGps.FindGps(hwidRef.value)
#--- (end of YGps implementation)
#--- (Gps functions)
@staticmethod
def FirstGps():
"""
Starts the enumeration of GPS currently accessible.
Use the method YGps.nextGps() to iterate on
next GPS.
@return a pointer to a YGps object, corresponding to
the first GPS currently online, or a None pointer
if there are none.
"""
devRef = YRefParam()
neededsizeRef = YRefParam()
serialRef = YRefParam()
funcIdRef = YRefParam()
funcNameRef = YRefParam()
funcValRef = YRefParam()
errmsgRef = YRefParam()
size = YAPI.C_INTSIZE
#noinspection PyTypeChecker,PyCallingNonCallable
p = (ctypes.c_int * 1)()
err = YAPI.apiGetFunctionsByClass("Gps", 0, p, size, neededsizeRef, errmsgRef)
if YAPI.YISERR(err) or not neededsizeRef.value:
return None
if YAPI.YISERR(
YAPI.yapiGetFunctionInfo(p[0], devRef, serialRef, funcIdRef, funcNameRef, funcValRef, errmsgRef)):
return None
return YGps.FindGps(serialRef.value + "." + funcIdRef.value)
#--- (end of Gps functions)

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