Added GPS firmware integration 📡

classes/gps.py

@@ -1,15 +1,51 @@
 from config import *
 import json
 import time
+import serial
+
+port = "/dev/ttyS0"    # Raspberry Pi 3
 
 class GPS(object):
 
 	@classmethod
 	def getPos(self):
 
-		file = open(PARENT_DIR + "/modules/gps/gps.json", 'r')
+		position = {}
+
+		ser = serial.Serial(port, baudrate = 9600, timeout = 1)
+		latLon = [-1, -1];
+		speed = 0;
+
+		for row in range(0, 10):
+		    data = ser.readline()
+		    latLon = self.parseGPS(data) if self.parseGPS(data) != [-1, -1] else latLon
+		    speed = self.parseSpeed(data) if self.parseSpeed(data)!= -1 else speed
+
+		position["latitude"] = latLon[0]
+		position["longitude"] = latLon[1]
+		position["speed"] = speed
+		# TODO
+		position["heading"] = '-1'
+
+		return json.dumps(position)
+
+
+	#	Fast method to return current speed
+	@classmethod
+	def getSpeed(self):
+
+		ser = serial.Serial(port, baudrate = 9600, timeout = 1)
+		speed = 0;
+
+		while True:
+		    data = ser.readline()
+		    speed = self.parseSpeed(data)
+
+		    if speed > -1:
+		    	return self.parseSpeed(data)
+
+		return 0
 
-		return file.read()
 
 	@classmethod
 	def createNewGPSrecordFile(self, filename):
@@ -61,19 +97,44 @@ def getPositionObjectByTime(self, time, filename):
 		except KeyError:
 			return None
 
-		# res = None
-		# for (i, element) in enumerate(frames):
-		# 	# print str(int(element) - int(filename) + int(time)) + '   ' + element
-		# 	# print int(element)
-		# 	# print int(filename) + int(time)
-		# 	# print int(element) < int(int(filename) + int(time))
-		# 	# print
-		# 	if int(element) < int(filename) + int(time):
-		# 		res = (frames[element])
-		# 	else:
-		# 		print res
-		# 		return res
 
-		#
-		# print
-		# print
+	@classmethod
+	def parseGPS(self, data):
+	    lat = lon = -1
+	    if data[0:6] == "$GPGGA":
+	        s = data.split(",")
+	        if s[7] == '0':
+	            print "no satellite data available"
+	            return        
+	        lat = self.decode(s[2], s[3])
+	        lon = self.decode(s[4], s[5])
+
+	    return [lat, lon]
+
+	@classmethod
+	def parseSpeed(self, data):
+	#    print "raw:", data
+	    speed = -1
+	    if data[0:6] == "$GPRMC":
+	        speedParse = data.split(",")
+	        speed = speedParse[7]
+
+	    return speed
+
+	@classmethod
+	def dms2dd(self, degrees, minutes, seconds, direction):
+	    dd = float(degrees) + float(minutes)/60 + float(seconds)/(60*60);
+	    if direction == 'E' or direction == 'N':
+	        dd *= -1
+	    return dd;
+
+	@classmethod
+	def decode(self, coord, direction):
+	    # DDDMM.MMMMM -> DD deg MM.MMMMM min
+	    v = coord.split(".")
+	    head = v[0]
+	    tail =  v[1]
+	    deg = head[0:-2]
+	    min = head[-2:]
+	    return self.dms2dd(deg, min, "0." + tail, direction)
+

mainPi.py

@@ -39,10 +39,10 @@ def run_program():
 				cap.captureFrame(frame)
 
 
-			# get GPS data
-			position = json.loads(GPS.getPos())
+			# get speed from GPS
+			speed = GPS.getSpeed()
 
-			if config['in_calibration'] or (position and position['speed'] < config['activation_speed']):
+			if (config['calibration']['adas'] and speed > config['activation_speed']) or config['in_calibration']:
 				# Start ADAS process
 				frameAnalyzer.analyze_frame(frame, True, True, True)
 
@@ -56,4 +56,4 @@ def run_program():
 
 
 if __name__ == '__main__':
-	run_program()
+	run_program()