import threading import serial import time import pynmea2 import os from datetime import datetime, timedelta class GPSReader(threading.Thread): """GPS reader thread that handles NMEA data and provides GPS timing with separate logging""" def __init__(self, serial_port, baud_rate, data_callback, status_callback, sync_callback, log_directory="/home/morepork/Documents/CSEM/logs"): super().__init__() self.serial_port = "/dev/ttyAMA0" # Hardware UART for Pi self.baud_rate = 4800 # Standard GPS baud rate self.data_callback = data_callback self.status_callback = status_callback self.sync_callback = sync_callback self.log_directory = log_directory # Create log directory if it doesn't exist os.makedirs(self.log_directory, exist_ok=True) # Threading control self.running = True self.last_data_time = 0 # Sync control self.sync_requested = False self.sync_lock = threading.Lock() self.last_gps_second = None # GPS logging self.gps_log_path = None self.gps_log_fp = None # Current GPS state self.current_gps_data = { 'gps_datetime': None, 'lat': 'N/A', 'lon': 'N/A', 'sats': 'N/A' } def start_gps_log(self): """Start GPS position logging to separate file""" timestamp = datetime.utcnow().strftime("%Y%m%d_%H%M%S") self.gps_log_path = os.path.join(self.log_directory, f"gps_log_{timestamp}.txt") try: self.gps_log_fp = open(self.gps_log_path, 'w') # Write comprehensive GPS log header self.gps_log_fp.write("=" * 60 + "\n") self.gps_log_fp.write("MBARI CSEM TRIGGERBOX - GPS POSITION LOG\n") self.gps_log_fp.write("=" * 60 + "\n") self.gps_log_fp.write(f"Log created: {datetime.utcnow().strftime('%Y-%m-%d %H:%M:%S')} UTC\n") self.gps_log_fp.write(f"Serial port: {self.serial_port}\n") self.gps_log_fp.write(f"Baud rate: {self.baud_rate}\n") self.gps_log_fp.write("\nGPS Configuration:\n") self.gps_log_fp.write(" - Position updates logged every second\n") self.gps_log_fp.write(" - Format: ISO_DateTime, Latitude, Longitude, Satellites, Fix_Quality\n") self.gps_log_fp.write(" - All times in UTC\n") self.gps_log_fp.write("\n" + "=" * 60 + "\n") self.gps_log_fp.write("GPS POSITION DATA:\n") self.gps_log_fp.write("=" * 60 + "\n") self.gps_log_fp.flush() self.status_callback(f"GPS logging started: {self.gps_log_path}") except Exception as e: self.status_callback(f"Failed to create GPS log: {e}") self.gps_log_fp = None def stop_gps_log(self): """Stop GPS position logging""" if self.gps_log_fp: try: self.gps_log_fp.write(f"\n{datetime.utcnow().strftime('%Y-%m-%d %H:%M:%S')} UTC - GPS logging stopped\n") self.gps_log_fp.close() self.status_callback(f"GPS log closed: {self.gps_log_path}") except Exception as e: self.status_callback(f"Error closing GPS log: {e}") finally: self.gps_log_fp = None def get_gps_log_file(self): """Get current GPS log file path""" return self.gps_log_path def log_gps_event(self, event_type, message=""): """Log GPS-specific events to GPS log file""" if not self.gps_log_fp: return try: timestamp = datetime.utcnow().strftime('%Y-%m-%d %H:%M:%S') log_line = f"{timestamp} UTC - GPS_{event_type}" if message: log_line += f": {message}" log_line += "\n" self.gps_log_fp.write(log_line) self.gps_log_fp.flush() except Exception as e: self.status_callback(f"GPS log write error: {e}") def request_sync(self): """Request synchronization on the next GPS second boundary""" with self.sync_lock: if not self.sync_requested: # Only set if not already requested self.sync_requested = True self.last_gps_second = None # Reset to ensure fresh boundary detection self.status_callback("Waiting for GPS second boundary...") self.log_gps_event("SYNC_REQUEST", "Sync requested, waiting for second boundary") def run(self): """Main GPS reader loop""" self.start_gps_log() self.log_gps_event("CONNECTION_START", f"Connecting to {self.serial_port} at {self.baud_rate} baud") try: self.status_callback("Connecting to GPS...") with serial.Serial(self.serial_port, self.baud_rate, timeout=1) as ser: self.status_callback(f"Connected to {self.serial_port} at {self.baud_rate} baud.") self.log_gps_event("CONNECTION_SUCCESS", f"Connected to {self.serial_port}") while self.running: line = ser.readline().decode('ascii', errors='replace').strip() if line: self.last_data_time = time.time() self._process_nmea_line(line) elif time.time() - self.last_data_time > 5: self.status_callback("Connected, but no valid GPS data received.") except serial.SerialException as e: error_msg = f"Serial Error: {e}" self.status_callback(error_msg) self.log_gps_event("CONNECTION_ERROR", str(e)) except Exception as e: error_msg = f"GPS Reader Error: {e}" self.status_callback(error_msg) self.log_gps_event("READER_ERROR", str(e)) finally: self.log_gps_event("CONNECTION_STOP", "GPS reader stopping") self.stop_gps_log() def _process_nmea_line(self, line): """Process a single NMEA sentence""" try: msg = pynmea2.parse(line) if isinstance(msg, pynmea2.types.talker.RMC): self._process_rmc_message(msg) elif isinstance(msg, pynmea2.types.talker.GGA): self._process_gga_message(msg) # Always callback with current data after processing any message self.data_callback(self.current_gps_data.copy()) except pynmea2.ParseError: pass # Ignore invalid NMEA sentences def _process_rmc_message(self, msg): """Process RMC (Recommended Minimum) message""" if msg.status == 'A': # Valid fix gps_dt = datetime.combine(msg.datestamp, msg.timestamp) self.current_gps_data['gps_datetime'] = gps_dt self.current_gps_data['lat'] = f"{msg.latitude:.5f} {msg.lat_dir}" if msg.latitude else 'N/A' self.current_gps_data['lon'] = f"{msg.longitude:.5f} {msg.lon_dir}" if msg.longitude else 'N/A' # Log GPS position to separate GPS log file if self.gps_log_fp: try: # Enhanced GPS position logging with more details lat_str = self.current_gps_data['lat'] if self.current_gps_data['lat'] != 'N/A' else 'No Fix' lon_str = self.current_gps_data['lon'] if self.current_gps_data['lon'] != 'N/A' else 'No Fix' sats_str = self.current_gps_data['sats'] if self.current_gps_data['sats'] != 'N/A' else '0' self.gps_log_fp.write(f"{gps_dt.isoformat()}+00:00, {lat_str}, {lon_str}, {sats_str} sats, Valid Fix\n") self.gps_log_fp.flush() except Exception as e: self.status_callback(f"GPS log write error: {e}") # Check for second boundary and sync if requested self._check_sync_boundary(gps_dt) else: # Log invalid fix status if self.gps_log_fp: try: timestamp = datetime.utcnow().isoformat() self.gps_log_fp.write(f"{timestamp}+00:00, No Fix, No Fix, 0 sats, Invalid Fix Status: {msg.status}\n") self.gps_log_fp.flush() except Exception as e: self.status_callback(f"GPS log write error: {e}") def _process_gga_message(self, msg): """Process GGA (Global Positioning System Fix Data) message""" if msg.num_sats: # Update satellite count without logging changes self.current_gps_data['sats'] = str(msg.num_sats) def _check_sync_boundary(self, gps_dt): """Check for GPS second boundary for synchronization""" current_second = gps_dt.second with self.sync_lock: if (self.sync_requested and self.last_gps_second is not None and current_second != self.last_gps_second): # We've crossed a second boundary - sync now! # Add 1 second to account for the boundary we just crossed sync_time = gps_dt + timedelta(seconds=1) sync_time = sync_time.replace(microsecond=0) # Ensure clean second self.log_gps_event("SYNC_BOUNDARY", f"Second boundary detected, syncing to {sync_time.isoformat()}") self.sync_callback(sync_time) self.sync_requested = False self.last_gps_second = current_second def stop(self): """Stop the GPS reader thread""" self.running = False