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 signal
  24 #import optparse
  25 import dbus
  26 #import gobject
  27 import zavai
  28
  29 class GPSMonitor():
  30     def __init__(self, gps):
  31         self.gps = gps
  32         self.gps_ubx = gps.gps_ubx
  33
  34         # This piece of machinery is taken from Zhone
  35         self.debug_busy = None
  36         self.debug_want = set( ["NAV-STATUS", "NAV-SVINFO"] )
  37         self.debug_have = set()
  38         self.debug_error = set()
  39
  40         self.callbacks = set()
  41
  42     def debug_update(self):
  43         if self.debug_busy is None:
  44             pending = self.debug_want - self.debug_have - self.debug_error
  45             if pending:
  46                 self.debug_busy = pending.pop()
  47                 self.gps_ubx.SetDebugFilter(
  48                     self.debug_busy,
  49                     True,
  50                     reply_handler=self.on_debug_reply,
  51                     error_handler=self.on_debug_error,
  52                 )
  53
  54     def debug_request(self):
  55         self.debug_have = set()
  56         self.debug_update()
  57
  58     def on_debug_reply(self):
  59         self.debug_have.add(self.debug_busy)
  60         self.debug_busy = None
  61         self.debug_update()
  62
  63     def on_debug_error(self, e):
  64         zavai.info(e, "error while requesting debug packet %s" % self.debug_busy)
  65         self.debug_error.add(self.debug_busy)
  66         self.debug_busy = None
  67         self.debug_update()
  68
  69     def on_satellites_changed(self, satellites):
  70         zavai.info("gps monitor: satellites changed")
  71         self.debug_request()
  72
  73     def on_ubxdebug_packet(self, clid, length, data):
  74         zavai.info("gps monitor: UBX debug packet")
  75         for c in self.callbacks:
  76             c(clid, length, data)
  77
  78     def _start_listening(self):
  79         self.gps.request(self)
  80         # TODO: find out how come sometimes these events are not sent
  81         self.gps.bus.add_signal_receiver(
  82             self.on_satellites_changed, 'SatellitesChanged', 'org.freedesktop.Gypsy.Satellite',
  83             'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
  84         self.gps.bus.add_signal_receiver(
  85             self.on_ubxdebug_packet, 'DebugPacket', 'org.freesmartphone.GPS.UBX',
  86             'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
  87         self.debug_request()
  88
  89     def _stop_listening(self):
  90         self.gps.bus.remove_signal_receiver(
  91             self.on_satellites_changed, 'SatellitesChanged', 'org.freedesktop.Gypsy.Satellite',
  92             'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
  93         self.gps.bus.remove_signal_receiver(
  94             self.on_ubxdebug_packet, 'DebugPacket', 'org.freesmartphone.GPS.UBX',
  95             'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
  96         self.gps.release(self)
  97
  98     def connect(self, callback):
  99         "Send UBX debug packets to the given callback"
 100         do_start = not self.callbacks
 101         self.callbacks.add(callback)
 102         if do_start:
 103             self._start_listening()
 104
 105     def disconnect(self, callback):
 106         "Stop sending UBX debug packets to the given callback"
 107         if not self.callbacks: return
 108         self.callbacks.discard(callback)
 109         if not self.callbacks:
 110             self._stop_listening()
 111
 112
 113 # For a list of dbus services, look in /etc/dbus-1/system.d/
 114 class GPS(zavai.Resource):
 115     def __init__(self, registry, name):
 116         self.bus = registry.resource("dbus.system_bus")
 117
 118         # see mdbus -s org.freesmartphone.ousaged /org/freesmartphone/Usage
 119         self.usage = self.bus.get_object('org.freesmartphone.ousaged', '/org/freesmartphone/Usage')
 120         self.usage = dbus.Interface(self.usage, "org.freesmartphone.Usage")
 121
 122         # see mdbus -s org.freesmartphone.ogpsd /org/freedesktop/Gypsy
 123         gps = self.bus.get_object('org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
 124         self.gps = dbus.Interface(gps, "org.freedesktop.Gypsy.Device")
 125         self.gps_time = dbus.Interface(gps, "org.freedesktop.Gypsy.Time")
 126         self.gps_position = dbus.Interface(gps, 'org.freedesktop.Gypsy.Position')
 127         self.gps_ubx = dbus.Interface(gps, 'org.freesmartphone.GPS.UBX')
 128
 129         self.monitor = GPSMonitor(self)
 130
 131         self.requestors = set()
 132
 133     def request(self, tag):
 134         "Request usage of GPS by the subsystem with the given tag"
 135         do_start = not self.requestors
 136         self.requestors.add(tag)
 137         if do_start:
 138             # Request GPS resource
 139             self.usage.RequestResource('GPS')
 140             zavai.info("Acquired GPS")
 141
 142     def release(self, tag):
 143         "Release usage of GPS by the subsystem with the given tag"
 144         if not self.requestors: return
 145         self.requestors.discard(tag)
 146         if not self.requestors:
 147             self.usage.ReleaseResource('GPS')
 148             zavai.info("Released GPS")
 149
 150     def shutdown(self):
 151         if self.requestors:
 152             self.requestors.clear()
 153             self.usage.ReleaseResource('GPS')
 154             zavai.info("Released GPS")
 155
 156 #    def wait_for_fix(self, callback):
 157 #        status = self.gps.GetFixStatus()
 158 #        if status in [2, 3]:
 159 #            zavai.info("We already have a fix, good.")
 160 #            callback()
 161 #            return True
 162 #        else:
 163 #            zavai.info("Waiting for a fix...")
 164 #            self.waiting_for_fix = callback
 165 #            self.bus.add_signal_receiver(
 166 #                self.on_fix_status_changed, 'FixStatusChanged', 'org.freedesktop.Gypsy.Device',
 167 #                'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
 168 #            return False
 169 #
 170 #    def on_fix_status_changed(self, status):
 171 #        if status not in [2, 3]: return
 172 #
 173 #        zavai.info("Got GPS fix")
 174 #        self.bus.remove_signal_receiver(
 175 #            self.on_fix_status_changed, 'FixStatusChanged', 'org.freedesktop.Gypsy.Device',
 176 #            'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
 177 #
 178 #        if self.waiting_for_fix:
 179 #            self.waiting_for_fix()
 180 #            self.waiting_for_fix = None
 181 #
 182 #    def track_position(self, callback):
 183 #        self.bus.add_signal_receiver(
 184 #            callback, 'PositionChanged', 'org.freedesktop.Gypsy.Position',
 185 #            'org.freesmartphone.ogpsd', '/org/freedesktop/Gypsy')
 186
 187
 188 class GPX(zavai.Resource):
 189     "Write GPX track and waypoint files"
 190     def __init__(self, resource, name):
 191         self.resource = resource
 192         self.trk = None
 193         self.wpt = None
 194
 195     def start(basename = None, tstamp = None):
 196         if basename is None:
 197             # compute it from GPS
 198             pass
 199
 200         self.trk = open(basename + "-trk.gpx", "wt")
 201         print >>self.trk, """<?xml version="1.0" encoding="UTF-8"?>
 202 <gpx
 203     version="1.0"
 204     creator="audiomap %s"
 205     xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
 206     xmlns="http://www.topografix.com/GPX/1/0"
 207     xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">
 208   <trk>
 209     <trkseg>""" % VERSION
 210
 211         self.wpt = open(basename + "-wpt.gpx", "wt")
 212         print >>self.wpt, """<?xml version="1.0" encoding="UTF-8"?>
 213 <gpx
 214     version="1.0"
 215     creator="audiomap %s"
 216     xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
 217     xmlns="http://www.topografix.com/GPX/1/0"
 218     xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">""" % VERSION
 219
 220         self.wpt_seq = 1;
 221
 222     def stop(self):
 223         if self.trk is not None:
 224             print >>self.trk, "</trkseg></trk></gpx>"
 225             self.trk.close()
 226             self.trk = None
 227         if self.wpt is not None:
 228             print >>self.wpt, "</gpx>"
 229             self.wpt.close()
 230             self.wpt = None
 231
 232     def shutdown(self):
 233         self.stop()
 234
 235     def waypoint(self, tstamp, lat, lon, ele = None, name = None):
 236         "Mark a waypoint"
 237         if name is None:
 238             name = "wpt_%d" % self.wpt_seq
 239             self.wpt_seq += 1
 240
 241         print >>self.wpt, """<wpt lat="%f" lon="%f">
 242     <name>%s</name>
 243     <time>%s</time>""" % (
 244             lat, lon, name, time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime(tstamp)))
 245         if ele is not None:
 246             print >>self.wpt, "    <ele>%f</ele>""" % ele
 247         print >>self.wpt, "</wpt>"
 248
 249     def trackpoint(self, tstamp, lat, lon, ele = None, course = None, speed = None, fix = None, hdop = None):
 250         print >>self.trk, """<trkpt lat="%f" lon="%f">
 251   <time>%s</time>""" % (lat, lon, time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime(tstamp)))
 252         if ele is not None: print >>self.trk, "    <ele>%f</ele>" % ele
 253         if course is not None: print >>self.trk, "    <course>%f</course>" % course
 254         if speed is not None: print >>self.trk, "    <speed>%f</speed>" % speed
 255         if fix is not None: print >>self.trk, "    <fix>%f</fix>" % fix
 256         if hdop is not None: print >>self.trk, "    <hdop>%f</hdop>" % hdop
 257         print >>self.trk, "</trkpt>"
 258
 259
 260
 261
 262 #    def record(self):
 263 #        self.audio = Audio(self.make_waypoint)
 264 #        self.gps = GPS()
 265 #        # Get a fix and start recording
 266 #        if not self.gps.wait_for_fix(self.start_recording):
 267 #            self.gps_monitor = GPSMonitor(self.gps)
 268 #            self.gps_monitor.start()
 269 #
 270 #    def monitor(self):
 271 #        self.audio = None
 272 #        self.gps = GPS()
 273 #        self.gps_monitor = GPSMonitor(self.gps)
 274 #        self.gps_monitor.start()
 275 #
 276 #    def start_recording(self):
 277 #        if self.gps_monitor:
 278 #            self.gps_monitor.stop()
 279 #            self.gps_monitor = None
 280 #
 281 #        if not self.audio:
 282 #            return
 283 #
 284 #        # Sync system time
 285 #        gpstime = self.gps.gps_time.GetTime()
 286 #        subprocess.call(["date", "-s", "@%d" % gpstime])
 287 #        subprocess.call(["hwclock", "--systohc"])
 288 #
 289 #        # Compute basename for output files
 290 #        self.basename = time.strftime("%Y-%m-%d-%H-%M-%S", time.localtime(gpstime))
 291 #        self.basename = os.path.join(AUDIODIR, self.basename)
 292 #
 293 #        # Start recording the GPX track
 294 #        self.gpx = GPX(self.basename)
 295 #        self.gps.track_position(self.on_position_changed)
 296 #
 297 #        # Start recording in background forking arecord
 298 #        self.audio.set_basename(self.basename)
 299 #        self.audio.start_recording()
 300 #
 301 #    def on_position_changed(self, fields, tstamp, lat, lon, alt):
 302 #        self.last_pos = (fields, tstamp, lat, lon, alt)
 303 #        if self.gpx:
 304 #            self.gpx.trackpoint(tstamp, lat, lon, alt)
 305 #
 306 #    def make_waypoint(self):
 307 #        if self.gpx is None:
 308 #            return
 309 #        if self.last_pos is None:
 310 #            self.last_pos = self.gps.gps_position.GetPosition()
 311 #        (fields, tstamp, lat, lon, alt) = self.last_pos
 312 #        self.gpx.waypoint(tstamp, lat, lon, alt)
 313 #        zavai.info("Making waypoint at %s: %f, %f, %f" % (
 314 #            time.strftime("%Y-%m-%d %H:%M:%S", time.localtime(tstamp)), lat, lon, alt))