py
# -*- coding: utf-8 -*
# 117.410465,31.768830
# 使用前先使用u-center设置GPS输出，去掉多余的输出
# sudo chmod 666 /dev/ttyUSB0
#打不开串口需要给于权限
import os
import time
import serial
import serial.tools.list_ports
import numpy as np
import time
import ctypes
import os
#1载入库
libLoad = ctypes.cdll.LoadLibrary
sharelib = libLoad("./build/libpython2share.so")
#python创建结构体
class py_Struct_GPS(ctypes.Structure):
_fields_ = [
('flag', ctypes.c_int), #c++ int
('msg', ctypes.c_char_p), #c++ char*
('longitude', ctypes.c_float), # c++ float
('latitude', ctypes.c_float),# c++ float
('high', ctypes.c_float),# c++ float
('time', ctypes.c_int)# c++ float
] #c++ char*[]
#python结构体赋予初值
struct_gps=py_Struct_GPS()
struct_gps.flag=ctypes.c_int(0)
struct_gps.msg=ctypes.c_char_p('GPS DATA'.encode())
struct_gps.longitude=ctypes.c_float(0.)
struct_gps.latitude=ctypes.c_float(0.)
struct_gps.high=ctypes.c_float(0.)
struct_gps.time=ctypes.c_int(0)
print("结构体gps_old \n",struct_gps)
print(struct_gps.flag,struct_gps.msg.decode(),struct_gps.longitude,struct_gps.latitude,struct_gps.high,struct_gps.time)
#0 GPS DATA 0.0 0.0 0.0 0.0
def SetGPSToShare_struct(struct_gps,flag,msg,longitude,latitude,high,time):
#print("========",flag)
struct_gps.flag=ctypes.c_int(int(flag))
#print("struct_gps.flag",struct_gps.flag)
struct_gps.msg=ctypes.c_char_p(msg.encode())
struct_gps.longitude=ctypes.c_float((float(longitude)))
struct_gps.latitude=ctypes.c_float((float(latitude)))
struct_gps.high=ctypes.c_float((float(high)))
struct_gps.time=ctypes.c_int(int(time))
#从c++获取数据-数据保存在 共享内存或C++直接生成
# 定义返回类型为结构体类型
sharelib.py_Set_cgg_gps_Struct_.restype = py_Struct_GPS
# 调用获取gps数据-返回数据结构体
struct_gps= sharelib.py_Set_cgg_gps_Struct_(struct_gps)
#print(struct_gps.flag)
print(struct_gps.msg.decode()) #必须解码
#print("结构体gps_new \n",struct_gps)
#print(struct_gps.flag,struct_gps.msg.decode(),struct_gps.longitude,struct_gps.latitude,struct_gps.high,struct_gps.time)
#1 new data 1.559999942779541 2.559999942779541 3.559999942779541 5.559999942779541
def gps_Get_data(ShareImages,lock,gps_debug=1):
os.system('cls')
serial_portlist = list(serial.tools.list_ports.comports())
print("如果串口打不开，请执行 sudo chmod 666 /dev/ttyUSB0 后面是可用串口号")
if len(serial_portlist) <= 0 :
print('未发现可用串口')
else :
for i in range (len(serial_portlist)):
print("可用串口：",serial_portlist[i])
#port_gps = '/dev/ttyUSB'+input('请输入GPS模块所在串口：')
#port_gps = 'COM'+input('请输入GPS模块所在串口：')
#port_gps="/dev/ttyUSB0"
port_gps=serial_portlist[0][0]
print(port_gps)
ser = serial.Serial(port_gps,115200,timeout = 2)
#----------------------------------------------
os.system('cls')
init = 3
#数据
weidu_xy=0.0#纬度
jingdu_xy=0.0 #经度
high=0.0 #海拔高
gps_use=0 #gps是否可用
id_=000000 #帧号
while True :
if ser.in_waiting > 0 :
line = str(ser.readline().decode("utf-8"))
GETSTR_List=[]
GETSTR_List.append(line)
GPRMC_List = GETSTR_List[0].split(',')
#print('$GPRMC 有 %d 个字段'%len(GPRMC_List)) #检查','分割情况 13
#print(len(GPRMC_List))
if len(GPRMC_List)!=15:#检查数据完整度
#if gps_debug==1: print('当前卫星定位无效，数据不完整')
pass
#经纬度维持上传一次最后的数据
#weidu_xy=0 #纬度
#jingdu_xy=0 #经度
#high=0 #海拔高
gps_use=0 #gps是否可用
#id_=000000 #帧号
time_=int(time.time())
ShareImages[1]=gps_use
ShareImages[2]=weidu_xy
ShareImages[3]=jingdu_xy
ShareImages[4]=high
ShareImages[5]=time_
continue#跳过本次循环
#------------------------------------------------
#print('')
if GPRMC_List[6] == '0' :#0=Invalid, 1=2D/3D, 2=DGNSS, 4=Fixed RTK, 5=Float RTK, 6=Dead Reckoning
if gps_debug==1: print('当前卫星定位无效,数据完整但无效')
#经纬度维持上传一次最后的数据
weidu_xy=0 #纬度
jingdu_xy=0 #经度
high=0 #海拔高
gps_use=0 #gps是否可用
#id_=000000 #帧号
time_=int(time.time())
ShareImages[1]=gps_use
ShareImages[2]=weidu_xy
ShareImages[3]=jingdu_xy
ShareImages[4]=high
ShareImages[5]=time_
elif GPRMC_List[6] == '1' or GPRMC_List[6] == '2' or GPRMC_List[6] == '3' or GPRMC_List[6] == '4' or GPRMC_List[6] == '5' :
#if gps_debug==1: print('定位正常')
#$GNGGA,063911.10,3402.02555,N,10845.82698,E,1,06,3.41,467.0,M,-27.9,M,,*6C
#if gps_debug==1: print(GETSTR_List[0])
#print('')
#--------------------------------------------
UTC = GPRMC_List[1][0:2] + ':' + GPRMC_List[1][2:4] + ':' + GPRMC_List[1][4:6]
#UTC = UTC +' '+ GPRMC_List[9][0:2] + '/' + GPRMC_List[9][2:4] + '/20' + GPRMC_List[9][4:6]
#print('卫星UTC时间：'+UTC)
#---------------------------------------------
weidu_xy = int(GPRMC_List[2][0:2])+float(GPRMC_List[2][2:11])/60
weidu_xy=format(weidu_xy, '.9f')
jingdu_xy = int(GPRMC_List[4][0:3])+float(GPRMC_List[4][3:12])/60
jingdu_xy=format(jingdu_xy, '.9f')
high = float(GPRMC_List[9]) #米
high=format(high, '.2f')
gps_use=1
time_=int(time.time())
ShareImages[1]=gps_use
ShareImages[2]=weidu_xy
ShareImages[3]=jingdu_xy
ShareImages[4]=high
ShareImages[5]=time_
#高度： 467.00 经度 108.7637830 纬度 34.0337592
if gps_debug==1: print("有效", gps_use,"纬度",weidu_xy,"经度", jingdu_xy ,"高度",high,"时间戳",time_)
else :
if gps_debug==1: print('当前卫星定位无效,数据完整但无效,数据有误，等待刷新')
gps_use=0 #GPS标志位可以使用为0
#weidu_xy=0 #纬度
#jingdu_xy=0 #经度
time_=int(time.time())
ShareImages[1]=gps_use
ShareImages[2]=weidu_xy
ShareImages[3]=jingdu_xy
ShareImages[4]=high
ShareImages[5]=time_
else:
# if gps_debug==1: print('当前卫星定位无效,GPS串口没有数据')
#gps_use=0 #GPS标志位可以使用为0
#weidu_xy=0.0#纬度
#jingdu_xy=0.0#经度
#high=0.0 #海拔高
#id_=000000 #帧号
time_=int(time.time())
#其他数据不更新 维持原样
ShareImages[1]=gps_use
ShareImages[2]=weidu_xy
ShareImages[3]=jingdu_xy
ShareImages[4]=high
ShareImages[5]=time_
from multiprocessing import Process,Manager
if __name__ == '__main__':
#1---初始化共享内存数据
lock = Manager().Lock()#创建共享内存容器
ShareImages=Manager().dict()#存str类型数据
ShareImages[1]=0 #"是否可用"
ShareImages[2]=0.0#"经度"
ShareImages[3]=0.0#"纬度"
ShareImages[4]=0.0#"高度"
ShareImages[5]=0#"时间"
ShareImages[9]=0#用于关闭所有进程
#gps_Get_data(ShareImages,lock)
#3采集GPS
p_gps = Process(target=gps_Get_data, args=(ShareImages,lock,1))#开启进程
p_gps.deamon=True #伴随主进程关闭而关闭，但是有时候还是关闭不了，单独搞个标志位来控制
p_gps.start()#开始
sharelib.Set_ImgFalg_(0) #允许发送
t1=time.time()
cnt=0
while 1:
if sharelib.Get_ImgFlag_()==0:
#发送gps数据-结构体模式
SetGPSToShare_struct(struct_gps,int(ShareImages[1]),"gps msg",ShareImages[2],ShareImages[3],ShareImages[4],ShareImages[5])
sharelib.Set_ImgFalg_(1)#存图结束，允许读图
#time.sleep(1)
t2=time.time()
if(t2-t1)>cnt:
cnt=cnt+1
print("有效",int(ShareImages[1]),"纬度",float(ShareImages[2]),"经度",float(ShareImages[3]),"高度",float(ShareImages[4]),"时间戳",ShareImages[5])
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