500 lines
15 KiB
Python
500 lines
15 KiB
Python
"""
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NMEA0183 verarbeiten
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TODO Multi-Sentence verarbeiten
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TXT Textmeldungen (Alarm)
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RTE Routendaten
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AIS-Sentences mit Binärdaten
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"""
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import serial
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from setproctitle import setthreadtitle
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import pynmea2
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# Empfangsthread
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def rxd_0183(appdata,boatdata, devname):
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# Prüfe ob NMEA0183-Port vorhanden ist und sich öffnen läßt
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try:
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ser = serial.Serial(devname, 115200, timeout=3)
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except serial.SerialException as e:
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print("NMEA0183 serial port not available")
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return
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setthreadtitle("0183listener")
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while not appdata.shutdown:
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raw = ser.readline().decode('ascii')
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if len(raw.strip()) == 0:
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continue
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try:
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msg = pynmea2.parse(raw)
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except pynmea2.nmea.ParseError:
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print(f"NMEA0183: Parse-Error: {raw}", end='')
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continue
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# sentence_type kann fehlen
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try:
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stype = msg.sentence_type
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except:
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print(f"NMEA0183: Sentence type missing: {raw}")
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continue
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# WIP Neuer Code aus Modul
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# TODO Filter mit gewünschen Satztypen
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# if stype in stypefilter:
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# continue
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if stype in decoder:
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decoder[stype](boatdata, msg)
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else:
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# Hier unbekannter Satztyp: protokollieren und ignorieren
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"""
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['checksum', 'data', 'fields', 'identifier', 'name_to_idx', 'parse',
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'proprietary_re', 'query_re', 'render', 'sentence_re',
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'sentence_type', 'sentence_types', 'talker', 'talker_re']
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"""
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print(f"Nicht implementiert: '{stype}' from {msg.talker}")
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ser.close()
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def DBS(boatdata, msg):
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# Wassertiefe unter der Oberfläche
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pass
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#boatdata.setValue("DBS", msg.depth)
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def DBT(boatdata, msg):
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# Wassertiefe unter Geber
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pass
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#boatdata.setValue("DBT", msg.depth)
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def DPT(boatdata, msg):
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# Depth
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print("-> DPT")
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print(msg.fields)
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print(msg.data)
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#boatdata.setValue("DBT", msg.depth)
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def GBS(boatdata, msg):
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# GNSS satellite fault detection
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"""
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(('Timestamp', 'timestamp', <function timestamp at 0x7f59cb0b65c0>), ('Expected error in latitude', 'lat_err'), ('Expected error in longitude', 'lon_err'), ('Expected error in altitude', 'alt_err'), ('PRN of most likely failed satellite', 'sat_prn_num_f'), ('Probability of missed detection for most likely failed satellite', 'pro_miss', <class 'decimal.Decimal'>), ('Estimate of bias in meters on most likely failed satellite', 'est_bias'), ('Standard deviation of bias estimate', 'est_bias_dev'))
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['213024.00', '0.9', '0.6', '2.5', '', '', '', '']
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NMEA0183: Parse-Error: !AIVDM,1,1,,A,H3ti3hPpDhiT0 """
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print("-> GBS")
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print(msg.fields)
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print(msg.data)
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#boatdata.setValue("LAT", msg.latitude)
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def GGA(boatdata, msg):
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# Time, position, and fix related data
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# msg.num_sats
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# msg.timestamp
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if msg.gps_qual == 0:
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# No fix
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return
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if msg.lat_dir == 'N':
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boatdata.setValue("LAT", msg.latitude)
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else:
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boatdata.setValue("LAT", msg.latitude * -1)
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if msg.lon_dir == 'E':
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boatdata.setValue("LON", msg.longitude)
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else:
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boatdata.setValue("LON", msg.longitude * -1)
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boatdata.setValue("HDOP", msg.horizontal_dil)
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def GLL(boatdata, msg):
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# Position data: position fix, time of position fix, and status
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if not msg.status == 'A':
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return
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lat_fac = 1 if msg.lat_dir == 'N' else -1
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lat_deg = int(msg.lat[0:2])
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lat_min = float(msg.lat[2:])
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boatdata.setValue("LAT", lat_fac * lat_deg + lat_min / 60)
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lon_fac = 1 if msg.lon_dir == 'E' else -1
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lon_deg = int(msg.lon[0:3])
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lon_min = float(msg.lon[3:])
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boatdata.setValue("LON", lon_fac * lon_deg + lon_min / 60)
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boatdata.setValue("TSPOS", msg.timestamp) # datetime.time, UTC
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def GSA(boatdata, msg):
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# Satellites
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for i in range(1, 13):
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satno = getattr(msg, f"sv_id{i:02}")
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if (len(satno) > 0) and not satno in boatdata.sat:
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boatdata.addSatellite(int(satno))
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boatdata.setValue("PDOP", float(msg.pdop))
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boatdata.setValue("PDOP", float(msg.hdop))
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boatdata.setValue("PDOP", float(msg.vdop))
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def GSV(boatdata, msg):
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# Satellites in view
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# mgs_num msg.num_messages # Nachricht n von m
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# msg.num_sv_in_view # Anzahl sichtbarer Satelliten
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rres = None # range residuals
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for i in range(1, 5):
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prn_num = getattr(msg, f"sv_prn_num_{i}")
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if len(prn_num) > 0:
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elevation = float(getattr(msg, f"elevation_deg_{i}"))
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azimuth = float(getattr(msg, f"azimuth_{i}"))
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snr = getattr(msg, f"snr_{i}")
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if len(snr) == 0:
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snr = 0
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status = 1 # prnusage tracked
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else:
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status = 2 # prnusage used
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boatdata.updateSatellite(int(prn_num), elevation, azimuth, int(snr), rres, status)
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"""
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if msg.sv_prn_num_1:
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if msg.snr_1 == '':
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status = 1
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msg.snr_1 = 0
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boatdata.updateSatellite(int(msg.sv_prn_num_1), float(msg.elevation_deg_1), float(msg.azimuth_1), int(msg.snr_1), rres, status)
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if msg.sv_prn_num_2:
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if msg.snr_2 == '':
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status = 1
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msg.snr_2 = 0
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boatdata.updateSatellite(int(msg.sv_prn_num_2), float(msg.elevation_deg_2), float(msg.azimuth_2), int(msg.snr_2), rres, status)
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if msg.sv_prn_num_3:
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if msg.snr_3 == '':
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status = 1
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msg.snr_3 = 0
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boatdata.updateSatellite(int(msg.sv_prn_num_3), float(msg.elevation_deg_3), float(msg.azimuth_3), int(msg.snr_3), rres, status)
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if msg.sv_prn_num_4:
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if msg.snr_4 == '':
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status = 1
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msg.snr_4 = 0
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boatdata.updateSatellite(int(msg.sv_prn_num_4), float(msg.elevation_deg_4), float(msg.azimuth_4), int(msg.snr_4), rres, status)
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"""
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def HDG(boatdata, msg):
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# UNUSED: Heading - Deviation & Variation
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# Magnetic Sensor heading in degrees
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# msg.heading
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# .deviation, dev_dir E/W
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# .variation, var_dir E/W
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pass
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def HDM(boatdata, msg):
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# Heading magnetic
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if msg.magnetic == 'M':
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boatdata.setValue("HDM", msg.heading)
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else:
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print("HDM: M not set!")
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def HDT(boatdata, msg):
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# Heading True
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if msg.hdg_true == 'T':
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boatdata.setValue("HDT", msg.heading)
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else:
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print("HDT: T not set!")
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def HTD(boatdata, msg):
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# Heading/Track control data
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# e.g. $YDHTD,V,1.5,,R,N,,,,,,,,,A,,,*48
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print("-> HTD")
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print(msg.fields)
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def MWV(boatdata, msg):
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# Windgeschwindigkeit und -winkel
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print(f"Wind: {msg.wind_angle}° {msg.wind_speed}kt")
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boatdata.setValue("AWA", msg.wind_angle)
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boatdata.setValue("AWS", msg.wind_speed)
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def MTW(boatdata, msg):
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# Wassertemperatur
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# boatdata.setValue("WTemp", msg.xxx)
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print("-> MTW Wassertemperatur")
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def RMB(boatdata, msg):
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# Recommended Minimum Navigation Information
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# Informationen bzgl. Erreichen des nächsten Wegepunkts
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#
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# (('Status', 'status'),
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# ('Cross Track Error', 'cross_track_error'),
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#('Cross Track Error, direction to corrent', 'cte_correction_dir'),
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#('Origin Waypoint ID', 'origin_waypoint_id'),
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# ('Destination Waypoint ID', 'dest_waypoint_id'),
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#('Destination Waypoint Latitude', 'dest_lat'),
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#('Destination Waypoint Lat Direction', 'dest_lat_dir'),
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# ('Destination Waypoint Longitude', 'dest_lon'),
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#('Destination Waypoint Lon Direction', 'dest_lon_dir'),
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#('Range to Destination', 'dest_range'),
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#('True Bearing to Destination', 'dest_true_bearing'),
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#('Velocity Towards Destination', 'dest_velocity'),
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#('Arrival Alarm', 'arrival_alarm'))
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print("-> RMB")
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if not msg.status == 'A':
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return
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lat_fac = 1 if msg.dest_lat_dir == 'N' else -1
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lat_deg = int(msg.dest_lat[0:2])
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lat_min = float(msg.dest_lat[2:])
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lon_fac = 1 if msg.dest_lon_dir == 'E' else -1
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lon_deg = int(msg.dest_lon[0:3])
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lon_min = float(msg.dest_lon[3:])
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boatdata.setValue("WPLat", lat_fac * lat_deg + lat_min / 60)
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boatdata.setValue("WPLon", lon_fac * lon_deg + lon_min / 60)
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boatdata.setValue("WPname", msg.dest_waypoint_id)
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boatdata.setValue("DTW", float(msg.dest_range))
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boatdata.setValue("BTW", float(msg.dest_true_bearing))
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def RMC(boatdata, msg):
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# Recommended Minimum Navigation Information
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#print("-> RMC")
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# print(msg.timestamp, msg.datestamp)
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# print(msg.status) # V=Warning, P=Precise, A=OK
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# mag_variation, mag_var_dir E/W
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# TODO nav_status welche Bedeutung?
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if not msg.status == 'A':
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return
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lat_fac = 1 if msg.lat_dir == 'N' else -1
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lat_deg = int(msg.lat[0:2])
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lat_min = float(msg.lat[2:])
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boatdata.setValue("LAT", lat_fac * lat_deg + lat_min / 60)
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lon_fac = 1 if msg.lon_dir == 'E' else -1
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lon_deg = int(msg.lon[0:3])
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lon_min = float(msg.lon[3:])
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boatdata.setValue("LON", lon_fac * lon_deg + lon_min / 60)
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if msg.spd_over_grnd:
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boatdata.setValue("SOG", float(msg.spd_over_grnd))
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if msg.true_course:
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boatdata.setValue("COG", float(msg.true_course))
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def ROT(boatdata, msg):
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# Rate Of Turn
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# print("-> ROT")
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if msg.status == 'A':
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boatdata.setValue("ROT", msg.rate_of_turn)
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def RSA(boatdata, msg):
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# Rudder Sensor Angle
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# negative Werte bedeuten Backbord
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#print("-> RSA")
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# Boatdata: RPOS primär, PRPOS sekundär
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if msg.rsa_starboard_status== 'A':
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boatdata.setValue("RPOS", msg.rsa_starboard)
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if msg.rsa_port_status == 'A':
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boatdata.setValue("PRPOS", msg.rsa_port)
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rte_curr = 0
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rte_max = 0
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rte_wpl = []
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def RTE(boatdata, msg):
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# Route: List of Waypoints
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# num_in_seq, sen_num, start_type, active_route_id
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global rte_curr, rte_max
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nmax = int(msg.sen_num)
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n = int(msg.num_in_seq)
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if nmax > 1:
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if rte_curr == 0 and n == 1:
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# neue Nachricht
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pass
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else:
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# Fortsetzung
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pass
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else:
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pass
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print("-> RTE")
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print(msg.fields)
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print(msg.waypoint_list)
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txt_msg = ''
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txt_type = None
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txt_curr = 0
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txt_max = 0
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def TXT(boatdata, msg):
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# Text Transmission (e.G. Alarms)
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global txt_msg, txt_type, txt_curr, txt_max
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#print("-> TXT")
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nmax = int(msg.num_msg)
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n = int(msg.msg_num)
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if nmax > 1:
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if txt_curr == 0 and n == 1:
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# neue Nachricht
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txt_msg = msg.text.rstrip('\r\n')
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txt_type = msg.msg_type
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txt_curr = 1
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txt_max = nmax
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else:
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# Fortsetzung
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if txt_curr == n - 1 and txt_type == msg.msg_type:
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txt_msg += msg.text.rstrip('\r\n')
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txt_curr = n
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if n == nmax:
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# Vollständig!
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print(f"TXT: {msg.msg_type} - {txt_msg}")
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if not boatdata.alarm:
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# Momentan wird kein bereits anstehender Alarm überschrieben
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boatdata.alarm_msg = txt_msg.strip()
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boatdata.alarm = True
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boatdata.alarm_id = msg.msg_type
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boatdata.alarm_src = "NMEA0183"
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txt_curr = 0
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txt_max = 0
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else:
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print(f"TXT: {msg.msg_type} - {msg.text}", end='')
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if not boatdata.alarm:
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# Momentan wird kein bereits anstehender Alarm überschrieben
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boatdata.alarm_msg = msg.text.strip()
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boatdata.alarm = True
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boatdata.alarm_id = msg.msg_type
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boatdata.alarm_src = "NMEA0183"
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def VBW(boatdata, msg):
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print("-> VBW")
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def VHW(boatdata, msg):
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# Heading und Geschwindigkeit durch das Wasser
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# Aktuelle Meßdaten von Sensoren
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# msg.heading_true # degrees decimal
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# msg.heading_magnetic degrees decimal
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# print("-> VHW")
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if msg.heading_true is not None:
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boatdata.setValue("HDT", float(msg.heading_true))
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if msg.heading_magnetic is not None:
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boatdata.setValue("HDM", float(msg.heading_magnetic))
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boatdata.setValue("STW", float(msg.water_speed_knots))
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def VPW(boatdata, msg):
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# UNUSED: Speed - Measured Parallel to Wind
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# print(f"-> VPW: {msg.speed_kn} kn")
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pass
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def VTG(boatdata, msg):
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"""
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Track made good and speed over ground
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Calculated from previous GPS positions
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Only true track is used at the moment. magnetic is ignored
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"""
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if msg.faa_mode != 'A':
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return
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#TODO klären was für Typen hier ankommen können
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# bytearray, str, decimal.Decimal?
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#str von OpenCPN: sog = float(msg.spd_over_grnd_kts[:-1])
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#Ggf. ist OpenCPN buggy!
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cog = float(msg.true_track) # in Grad
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sog = float(msg.spd_over_grnd_kts) # in Knoten
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boatdata.setValue("COG", cog)
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boatdata.setValue("SOG", sog)
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def VWR(boatdata, msg):
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# Relative Wind Speed and Angle
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#print("-> VWR")
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if msg.l_r == "R":
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angle = msg.deg_r
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else:
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angle = 360 - msg.deg_r
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boatdata.setValue("AWA", angle)
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boatdata.setValue("AWS", msg.wind_speed_ms)
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def WPL(boatdata, msg):
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# Waypoint
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# lat, lat_dir
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# lon, lon_dir
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# waypoint_id (name)
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print("-> WPL")
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print(msg.fields)
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lat_fac = 1 if msg.lat_dir == 'N' else -1
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lat_deg = int(msg.lat[0:2])
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lat_min = float(msg.lat[2:])
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#boatdata.setValue("LAT", lat_fac * lat_deg + lat_min / 60)
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lon_fac = 1 if msg.lon_dir == 'E' else -1
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lon_deg = int(msg.lon[0:3])
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lon_min = float(msg.lon[3:])
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#boatdata.setValue("LON", lon_fac * lon_deg + lon_min / 60)
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# Prüfe, ob der Wegepunkt schon existiert
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if msg.waypoint_id in boatdata.wps:
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# Wegepunkt aktualisieren
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pass
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else:
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# neuen Wegepunkt anlegen
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# boatdata.wps[waypoint_id]
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pass
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def VWT(boatdata, msg):
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# True Wind Speed and Angle
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if msg.direction == "R":
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angle = msg.wind_angle_vessel
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else:
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angle = 360 - msg.wind_angle_vessel
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boatdata.setValue("TWA", angle)
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boatdata.setValue("TWS", msg.wind_speed_meters)
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def XDR(boatdata, msg):
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# Extra sensor data / Transducer Measurement
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# type, value, units, id
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# type: A
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# units: D
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# id: Yaw
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if msg.id.lower() == 'yaw':
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boatdata.setValue("YAW", float(msg.value))
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elif msg.id.lower() == 'ptch':
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boatdata.setValue("PTCH", float(msg.value))
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elif msg.id.lower() == 'roll':
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boatdata.setValue("ROLL", float(msg.value))
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elif msg.id.lower() == 'barometer':
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boatdata.setValue("xdrPress", float(msg.value))
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else:
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print(f"-> XDR: {msg.type}, {msg.value}, {msg.units}, {msg.id}")
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def XTE(boatdata, msg):
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# Cross Track error measured
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print("-> XTE")
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def XTR(boatdata, msg):
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# Cross Track error gekoppelt
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print("-> XTR")
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def ZDA(boatdata, msg):
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# Time and date
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print("-> XTE")
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#boatdata.gpsd
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#boatdata.gpst
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# AIS
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def VDM(boatdata, msg):
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print("-> VDM")
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print(msg.fields)
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print(msg.data)
|
|
|
|
def VDO(boatdata, msg):
|
|
print("-> VDO")
|
|
|
|
|
|
# Aus Performancegründen eine direkte Sprungtabelle, ggf. können
|
|
# zukünftig außer der Funktion noch weitere Daten gespeichert werdeb
|
|
decoder = {
|
|
"DBS": DBS,
|
|
"DBT": DBT,
|
|
"DPT": DPT,
|
|
"GBS": GBS,
|
|
"GGA": GGA,
|
|
"GLL": GLL,
|
|
"GSA": GSA,
|
|
"GSV": GSV,
|
|
"HDG": HDG,
|
|
"HDM": HDM,
|
|
"HDT": HDT,
|
|
"HTD": HTD,
|
|
"MWV": MWV,
|
|
"MTW": MTW,
|
|
"RMB": RMB,
|
|
"ROT": ROT,
|
|
"RMC": RMC,
|
|
"RSA": RSA,
|
|
"RTE": RTE,
|
|
"TXT": TXT,
|
|
"VBW": VBW,
|
|
"VHW": VHW,
|
|
"VPW": VPW,
|
|
"VTG": VTG,
|
|
"VWR": VWR,
|
|
"VWT": VWT,
|
|
"WPL": WPL,
|
|
"XDR": XDR,
|
|
"XTE": XTE,
|
|
"XTR": XTR,
|
|
"ZDA": ZDA,
|
|
|
|
"VDM": VDM
|
|
}
|