sparkfungps.py

"""
Author: chenb@pfw.edu
Date: 4/23/2024
Description:
  GPS related functions based on Sparkfun GPS' official examples at
  https://qwiic-ublox-gps-py.readthedocs.io/


Warning: interface changed.

"""

from ublox_gps import UbloxGps
import serial

class SparkfunGPS:

  def __init__(self, port='/dev/ttyACM0', baudrate=38400, timeout=1):
    """ Set series port and boudrate
        Init gps communication and coordinates
    """
    try:
      self.gps = UbloxGps(serial.Serial(port=port, baudrate=baudrate, timeout=timeout))
    except (ValueError, IOError) as err:
      print("GPS init failed. ", err)


  def get_latitude_longitude_heading(self):
    """ Set latitude and longitude

        Output: [latitude, longitude, heading of motion]
    """
    try:
      geo = self.gps.geo_coords()
    except (ValueError, IOError) as err:
      print('GPS geo_coord err: ', err)
    return geo.lat, geo.lon, geo.headMot
  
  def get_gps_time(self):
      """
      Description: self.gps.date_time() return a structure
        gps_time.year, .month, .day, .hour, .min, .sec
      """
      try:
        gps_time = self.gps.date_time()
        print(f"gps_time: {gps_time.hour}:{gps_time.min}:{gps_time.sec}")
        # print(f"Valid date:{gps_time.valid.validDate}\nValid Time:{gps_time.valid.validTime}")
      except (ValueError, IOError) as err:
          print("GPS time error: ", err)
        
      return gps_time

  def get_reckoning(self) -> dict:
      """ 
        Get roll, pitch, heading and their accelerations in a dict
      """
      try:
          veh = self.gps.veh_attitude()
      except (ValueError, IOError) as err:
          print("GPS Reckoningg Error:", err)

      return {'roll': veh.roll, 'pitch': veh.pitch, 'heading': veh.heading, 'roll_acceleration': veh.accRoll, 'pictch_acceleration': veh.accPitch, 'heading_acceleration': veh.accHeading}
  
  def get_stream_NMEA(self):
      try:
          nmea = self.gps.stream_nmea()
      except (ValueError, IOError) as err:
          print("GPS steam NMEA error:", err)
      return nmea