zavai/gps.py

   1 # gps - gps resource for zavai
   2 #
   3 # Copyright (C) 2009  Enrico Zini <enrico@enricozini.org>
   4 #
   5 # This program is free software; you can redistribute it and/or modify
   6 # it under the terms of the GNU General Public License as published by
   7 # the Free Software Foundation; either version 2 of the License, or
   8 # (at your option) any later version.
   9 #
  10 # This program is distributed in the hope that it will be useful,
  11 # but WITHOUT ANY WARRANTY; without even the implied warranty of
  12 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  13 # GNU General Public License for more details.
  14 #
  15 # You should have received a copy of the GNU General Public License
  16 # along with this program; if not, write to the Free Software
  17 # Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  18
  19 #import sys
  20 import os
  21 import os.path
  22 import time
  23 import dbus
  24 import zavai
  25
  26 class GPSMonitor():
  27     def __init__(self, gps):
  28         self.gps = gps
  29         self.gps_ubx = gps.gps_ubx
  30
  31         # This piece of machinery is taken from Zhone
  32         self.debug_busy = None
  33         self.debug_want = set( ["NAV-STATUS", "NAV-SVINFO"] )
  34         self.debug_have = set()
  35         self.debug_error = set()
  36
  37         self.callbacks = set()
  38
  39     def debug_update(self):
  40         if self.debug_busy is None:
  41             pending = self.debug_want - self.debug_have - self.debug_error
  42             if pending:
  43                 self.debug_busy = pending.pop()
  44                 self.gps_ubx.SetDebugFilter(
  45                     self.debug_busy,
  46                     True,
  47                     reply_handler=self.on_debug_reply,
  48                     error_handler=self.on_debug_error,
  49                 )
  50
  51     def debug_request(self):
  52         self.debug_have = set()
  53         self.debug_update()
  54
  55     def on_debug_reply(self):
  56         self.debug_have.add(self.debug_busy)
  57         self.debug_busy = None
  58         self.debug_update()
  59
  60     def on_debug_error(self, e):
  61         zavai.info(e, "error while requesting debug packet %s" % self.debug_busy)
  62         self.debug_error.add(self.debug_busy)
  63         self.debug_busy = None
  64         self.debug_update()
  65
  66     def on_satellites_changed(self, satellites):
  67         zavai.info("gps monitor: satellites changed")
  68         self.debug_request()
  69
  70     def on_ubxdebug_packet(self, clid, length, data):
  71         zavai.info("gps monitor: UBX debug packet")
  72         for c in self.callbacks:
  73             c(clid, length, data)
  74
  75     def _start_listening(self):
  76         self.gps.request(self)
  77         # TODO: find out how come sometimes these events are not sent
  78         self.gps.bus.add_signal_receiver(
  79             self.on_satellites_changed, 'SatellitesChanged', 'org.freedesktop.Gypsy.Satellite',
  80             'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
  81         self.gps.bus.add_signal_receiver(
  82             self.on_ubxdebug_packet, 'DebugPacket', 'org.freesmartphone.GPS.UBX',
  83             'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
  84         self.debug_request()
  85
  86     def _stop_listening(self):
  87         self.gps.bus.remove_signal_receiver(
  88             self.on_satellites_changed, 'SatellitesChanged', 'org.freedesktop.Gypsy.Satellite',
  89             'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
  90         self.gps.bus.remove_signal_receiver(
  91             self.on_ubxdebug_packet, 'DebugPacket', 'org.freesmartphone.GPS.UBX',
  92             'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
  93         self.gps.release(self)
  94
  95     def connect(self, callback):
  96         "Send UBX debug packets to the given callback"
  97         do_start = not self.callbacks
  98         self.callbacks.add(callback)
  99         if do_start:
 100             self._start_listening()
 101
 102     def disconnect(self, callback):
 103         "Stop sending UBX debug packets to the given callback"
 104         if not self.callbacks: return
 105         self.callbacks.discard(callback)
 106         if not self.callbacks:
 107             self._stop_listening()
 108
 109 class GPSPosition():
 110     def __init__(self, gps):
 111         self.gps = gps
 112         self.callbacks = set()
 113
 114     def on_position_changed(self, fields, tstamp, lat, lon, alt):
 115         zavai.info("gps position: position changed")
 116         for c in self.callbacks:
 117             c(fields, tstamp, lat, lon, alt)
 118
 119     def _start_listening(self):
 120         self.gps.request(self)
 121         self.gps.bus.add_signal_receiver(
 122             self.on_position_changed, 'PositionChanged', 'org.freedesktop.Gypsy.Position',
 123             'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
 124
 125     def _stop_listening(self):
 126         self.gps.bus.remove_signal_receiver(
 127             self.on_position_changed, 'PositionChanged', 'org.freedesktop.Gypsy.Position',
 128             'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
 129         self.gps.release(self)
 130
 131     def connect(self, callback):
 132         "Send position changed messages to the given callback"
 133         do_start = not self.callbacks
 134         self.callbacks.add(callback)
 135         if do_start:
 136             self._start_listening()
 137
 138     def disconnect(self, callback):
 139         "Stop sending position changed messages to the given callback"
 140         if not self.callbacks: return
 141         self.callbacks.discard(callback)
 142         if not self.callbacks:
 143             self._stop_listening()
 144
 145
 146 # For a list of dbus services, look in /etc/dbus-1/system.d/
 147 class GPS(zavai.Resource):
 148     def __init__(self, registry, name):
 149         self.bus = registry.resource("dbus.system_bus")
 150
 151         # see mdbus -s org.freesmartphone.ousaged /org/freesmartphone/Usage
 152         self.usage = self.bus.get_object('org.freesmartphone.ousaged', '/org/freesmartphone/Usage')
 153         self.usage = dbus.Interface(self.usage, "org.freesmartphone.Usage")
 154
 155         # see mdbus -s org.freesmartphone.ogpsd /org/freedesktop/Gypsy
 156         gps = self.bus.get_object('org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
 157         self.gps = dbus.Interface(gps, "org.freedesktop.Gypsy.Device")
 158         self.gps_time = dbus.Interface(gps, "org.freedesktop.Gypsy.Time")
 159         self.gps_position = dbus.Interface(gps, 'org.freedesktop.Gypsy.Position')
 160         self.gps_ubx = dbus.Interface(gps, 'org.freesmartphone.GPS.UBX')
 161
 162         self.monitor = GPSMonitor(self)
 163         self.position = GPSPosition(self)
 164
 165         self.requestors = set()
 166
 167     def request(self, tag):
 168         "Request usage of GPS by the subsystem with the given tag"
 169         do_start = not self.requestors
 170         self.requestors.add(tag)
 171         if do_start:
 172             # Request GPS resource
 173             self.usage.RequestResource('GPS')
 174             zavai.info("Acquired GPS")
 175
 176     def release(self, tag):
 177         "Release usage of GPS by the subsystem with the given tag"
 178         if not self.requestors: return
 179         self.requestors.discard(tag)
 180         if not self.requestors:
 181             self.usage.ReleaseResource('GPS')
 182             zavai.info("Released GPS")
 183
 184     def shutdown(self):
 185         if self.requestors:
 186             self.requestors.clear()
 187             self.usage.ReleaseResource('GPS')
 188             zavai.info("Released GPS")
 189
 190 #    def wait_for_fix(self, callback):
 191 #        status = self.gps.GetFixStatus()
 192 #        if status in [2, 3]:
 193 #            zavai.info("We already have a fix, good.")
 194 #            callback()
 195 #            return True
 196 #        else:
 197 #            zavai.info("Waiting for a fix...")
 198 #            self.waiting_for_fix = callback
 199 #            self.bus.add_signal_receiver(
 200 #                self.on_fix_status_changed, 'FixStatusChanged', 'org.freedesktop.Gypsy.Device',
 201 #                'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
 202 #            return False
 203 #
 204 #    def on_fix_status_changed(self, status):
 205 #        if status not in [2, 3]: return
 206 #
 207 #        zavai.info("Got GPS fix")
 208 #        self.bus.remove_signal_receiver(
 209 #            self.on_fix_status_changed, 'FixStatusChanged', 'org.freedesktop.Gypsy.Device',
 210 #            'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
 211 #
 212 #        if self.waiting_for_fix:
 213 #            self.waiting_for_fix()
 214 #            self.waiting_for_fix = None
 215 #
 216
 217 #    def start_recording(self):
 218 #        if self.gps_monitor:
 219 #            self.gps_monitor.stop()
 220 #            self.gps_monitor = None
 221 #
 222 #        if not self.audio:
 223 #            return
 224 #
 225 #        # Sync system time
 226 #        gpstime = self.gps.gps_time.GetTime()
 227 #        subprocess.call(["date", "-s", "@%d" % gpstime])
 228 #        subprocess.call(["hwclock", "--systohc"])
 229 #
 230 #        # Compute basename for output files
 231 #        self.basename = time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime(gpstime))
 232 #        self.basename = os.path.join(AUDIODIR, self.basename)
 233 #
 234 #        # Start recording the GPX track
 235 #        self.gpx = GPX(self.basename)
 236 #        self.gps.track_position(self.on_position_changed)
 237 #
 238 #        # Start recording in background forking arecord
 239 #        self.audio.set_basename(self.basename)
 240 #        self.audio.start_recording()
 241 #
 242
 243 class GPX(zavai.Resource):
 244     "Write GPX track and waypoint files"
 245     def __init__(self, registry, name):
 246         self.registry = registry
 247         self.trk = None
 248         self.wpt = None
 249         self.last_pos = None
 250         self.requestors = set()
 251         conf = registry.resource("conf")
 252         self.trackdir = conf.homedir
 253         self.activity_monitors = set()
 254
 255     def add_activity_monitor(self, cb):
 256         self.activity_monitors.add(cb)
 257         cb(self, self.last_pos is not None)
 258
 259     def del_activity_monitor(self, cb):
 260         self.activity_monitors.discard(cb)
 261
 262     def notify_activity_monitors(self):
 263         for mon in self.activity_monitors:
 264             mon(self, self.last_pos is not None)
 265
 266     def request(self, tag):
 267         "Request the GPX trace to be taken"
 268         do_start = not self.requestors
 269         self.requestors.add(tag)
 270         if do_start:
 271             zavai.info("Starting GPX trace subsystem")
 272             gps = self.registry.resource("gps")
 273             gps.position.connect(self.on_position_changed)
 274
 275     def release(self, tag):
 276         "Release a GPX trace request"
 277         if not self.requestors: return
 278         self.requestors.discard(tag)
 279         if not self.requestors:
 280             zavai.info("Stopping GPX trace subsystem")
 281             gps = self.registry.resource("gps")
 282             gps.position.disconnect(self.on_position_changed)
 283             self.stop()
 284
 285     def on_position_changed(self, fields, tstamp, lat, lon, alt):
 286         self.last_pos = (fields, tstamp, lat, lon, alt)
 287         self.trackpoint()
 288
 289     def start(basename = None, tstamp = None):
 290         if basename is None:
 291             # Compute basename for output files
 292             basename = time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime(tstamp))
 293             basename = os.path.join(self.trackdir, self.basename)
 294
 295         self.trk = open(basename + "-trk.gpx", "wt")
 296         print >>self.trk, """<?xml version="1.0" encoding="UTF-8"?>
 297 <gpx
 298     version="1.0"
 299     creator="audiomap %s"
 300     xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
 301     xmlns="http://www.topografix.com/GPX/1/0"
 302     xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">
 303   <trk>
 304     <trkseg>""" % VERSION
 305
 306         self.wpt = open(basename + "-wpt.gpx", "wt")
 307         print >>self.wpt, """<?xml version="1.0" encoding="UTF-8"?>
 308 <gpx
 309     version="1.0"
 310     creator="audiomap %s"
 311     xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
 312     xmlns="http://www.topografix.com/GPX/1/0"
 313     xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">""" % VERSION
 314
 315         self.wpt_seq = 1;
 316         self.notify_activity_monitors()
 317
 318     def stop(self):
 319         if self.trk is not None:
 320             print >>self.trk, "</trkseg></trk></gpx>"
 321             self.trk.close()
 322             self.trk = None
 323         if self.wpt is not None:
 324             print >>self.wpt, "</gpx>"
 325             self.wpt.close()
 326             self.wpt = None
 327         self.last_pos = None
 328         self.notify_activity_monitors()
 329
 330     def shutdown(self):
 331         self.stop()
 332
 333     def trackpoint(self):
 334         "Mark a track point"
 335         if self.last_pos is None:
 336             return
 337
 338         fields, tstamp, lat, lon, ele = self.last_pos
 339
 340         if not self.trk:
 341             self.start(tstamp)
 342
 343         print >>self.trk, """<trkpt lat="%f" lon="%f">
 344   <time>%s</time>
 345   <ele>%f</ele>""" % (lat, lon, time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime(tstamp)), ele)
 346         #if course is not None: print >>self.trk, "    <course>%f</course>" % course
 347         #if speed is not None: print >>self.trk, "    <speed>%f</speed>" % speed
 348         #if fix is not None: print >>self.trk, "    <fix>%f</fix>" % fix
 349         #if hdop is not None: print >>self.trk, "    <hdop>%f</hdop>" % hdop
 350         print >>self.trk, "</trkpt>"
 351
 352     def waypoint(self, name = None):
 353         "Mark a waypoint"
 354         if self.last_pos is None:
 355             return
 356
 357         fields, tstamp, lat, lon, ele = self.last_pos
 358
 359         if not self.wpt:
 360             self.start(tstamp)
 361
 362         if name is None:
 363             name = "wpt_%d" % self.wpt_seq
 364             self.wpt_seq += 1
 365
 366         print >>self.wpt, """<wpt lat="%f" lon="%f">
 367     <name>%s</name>
 368     <time>%s</time>
 369     <ele>%f</ele>
 370 </wpt>""" % (
 371             lat, lon, name, time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime(tstamp)), ele)
 372
 373
 374 #    def record(self):
 375 #        self.audio = Audio(self.make_waypoint)
 376 #        self.gps = GPS()
 377 #        # Get a fix and start recording
 378 #        if not self.gps.wait_for_fix(self.start_recording):
 379 #            self.gps_monitor = GPSMonitor(self.gps)
 380 #            self.gps_monitor.start()
 381 #
 382 #    def monitor(self):
 383 #        self.audio = None
 384 #        self.gps = GPS()
 385 #        self.gps_monitor = GPSMonitor(self.gps)
 386 #        self.gps_monitor.start()
 387 #
 388 #
 389 #    def make_waypoint(self):
 390 #        if self.gpx is None:
 391 #            return
 392 #        if self.last_pos is None:
 393 #            self.last_pos = self.gps.gps_position.GetPosition()
 394 #        (fields, tstamp, lat, lon, alt) = self.last_pos
 395 #        self.gpx.waypoint(tstamp, lat, lon, alt)
 396 #        zavai.info("Making waypoint at %s: %f, %f, %f" % (
 397 #            time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(tstamp)), lat, lon, alt))