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Merge branch 'main' of https://github.com/nprobert/Pynomicon into main

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Neal Probert
2021-06-18 10:09:33 -04:00
parent 38dd1d576d ef7a4ee33b
commit 81648e5ae1
8 changed files with 1920 additions and 0 deletions
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253
gps_vcones/MainWindow.py Normal file
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# -*- coding: utf-8 -*-
################################################################################
## Form generated from reading UI file 'mainwindow.ui'
##
## Created by: Qt User Interface Compiler version 5.15.2
##
## WARNING! All changes made in this file will be lost when recompiling UI file!
################################################################################
from PySide2.QtCore import *
from PySide2.QtGui import *
from PySide2.QtWidgets import *
class Ui_MainWindow(object):
def setupUi(self, MainWindow):
if not MainWindow.objectName():
MainWindow.setObjectName(u"MainWindow")
MainWindow.resize(772, 451)
self.centralwidget = QWidget(MainWindow)
self.centralwidget.setObjectName(u"centralwidget")
self.label_2 = QLabel(self.centralwidget)
self.label_2.setObjectName(u"label_2")
self.label_2.setGeometry(QRect(389, 60, 81, 16))
self.listCones2 = QListWidget(self.centralwidget)
self.listCones2.setObjectName(u"listCones2")
self.listCones2.setGeometry(QRect(200, 110, 180, 220))
self.label = QLabel(self.centralwidget)
self.label.setObjectName(u"label")
self.label.setGeometry(QRect(389, 40, 81, 16))
self.label_3 = QLabel(self.centralwidget)
self.label_3.setObjectName(u"label_3")
self.label_3.setGeometry(QRect(579, 40, 61, 16))
self.txtLongitude = QLabel(self.centralwidget)
self.txtLongitude.setObjectName(u"txtLongitude")
self.txtLongitude.setGeometry(QRect(470, 60, 91, 20))
self.txtLongitude.setFrameShape(QFrame.Panel)
self.txtLongitude.setFrameShadow(QFrame.Sunken)
self.txtDist4 = QLabel(self.centralwidget)
self.txtDist4.setObjectName(u"txtDist4")
self.txtDist4.setGeometry(QRect(709, 90, 51, 20))
self.txtDist4.setFrameShape(QFrame.Panel)
self.txtDist4.setFrameShadow(QFrame.Sunken)
self.txtDist2 = QLabel(self.centralwidget)
self.txtDist2.setObjectName(u"txtDist2")
self.txtDist2.setGeometry(QRect(329, 90, 51, 20))
self.txtDist2.setFrameShape(QFrame.Panel)
self.txtDist2.setFrameShadow(QFrame.Sunken)
self.txtSpeed = QLabel(self.centralwidget)
self.txtSpeed.setObjectName(u"txtSpeed")
self.txtSpeed.setGeometry(QRect(650, 40, 81, 18))
self.txtSpeed.setFrameShape(QFrame.Panel)
self.txtSpeed.setFrameShadow(QFrame.Sunken)
self.txtDist1 = QLabel(self.centralwidget)
self.txtDist1.setObjectName(u"txtDist1")
self.txtDist1.setGeometry(QRect(139, 90, 51, 20))
self.txtDist1.setFrameShape(QFrame.Panel)
self.txtDist1.setFrameShadow(QFrame.Sunken)
self.lblList2 = QLabel(self.centralwidget)
self.lblList2.setObjectName(u"lblList2")
self.lblList2.setGeometry(QRect(200, 90, 141, 16))
self.lblList1 = QLabel(self.centralwidget)
self.lblList1.setObjectName(u"lblList1")
self.lblList1.setGeometry(QRect(10, 90, 141, 16))
self.txtLatitude = QLabel(self.centralwidget)
self.txtLatitude.setObjectName(u"txtLatitude")
self.txtLatitude.setGeometry(QRect(470, 40, 91, 20))
self.txtLatitude.setFrameShape(QFrame.Panel)
self.txtLatitude.setFrameShadow(QFrame.Sunken)
self.label_4 = QLabel(self.centralwidget)
self.label_4.setObjectName(u"label_4")
self.label_4.setGeometry(QRect(579, 60, 61, 16))
self.listCones4 = QListWidget(self.centralwidget)
self.listCones4.setObjectName(u"listCones4")
self.listCones4.setGeometry(QRect(580, 110, 180, 220))
self.label_5 = QLabel(self.centralwidget)
self.label_5.setObjectName(u"label_5")
self.label_5.setGeometry(QRect(20, 10, 281, 16))
font = QFont()
font.setPointSize(14)
self.label_5.setFont(font)
self.exitButton = QPushButton(self.centralwidget)
self.exitButton.setObjectName(u"exitButton")
self.exitButton.setGeometry(QRect(680, 380, 84, 32))
self.lblList4 = QLabel(self.centralwidget)
self.lblList4.setObjectName(u"lblList4")
self.lblList4.setGeometry(QRect(580, 90, 141, 16))
self.listCones3 = QListWidget(self.centralwidget)
self.listCones3.setObjectName(u"listCones3")
self.listCones3.setGeometry(QRect(390, 110, 180, 220))
self.listCones1 = QListWidget(self.centralwidget)
self.listCones1.setObjectName(u"listCones1")
self.listCones1.setGeometry(QRect(10, 110, 180, 220))
self.txtDist3 = QLabel(self.centralwidget)
self.txtDist3.setObjectName(u"txtDist3")
self.txtDist3.setGeometry(QRect(519, 90, 51, 20))
self.txtDist3.setFrameShape(QFrame.Panel)
self.txtDist3.setFrameShadow(QFrame.Sunken)
self.txtHeading = QLabel(self.centralwidget)
self.txtHeading.setObjectName(u"txtHeading")
self.txtHeading.setGeometry(QRect(650, 60, 81, 18))
self.txtHeading.setFrameShape(QFrame.Panel)
self.txtHeading.setFrameShadow(QFrame.Sunken)
self.lblList3 = QLabel(self.centralwidget)
self.lblList3.setObjectName(u"lblList3")
self.lblList3.setGeometry(QRect(390, 90, 141, 16))
self.openFiles = QPushButton(self.centralwidget)
self.openFiles.setObjectName(u"openFiles")
self.openFiles.setGeometry(QRect(40, 40, 111, 32))
self.txtTime = QLabel(self.centralwidget)
self.txtTime.setObjectName(u"txtTime")
self.txtTime.setGeometry(QRect(470, 10, 261, 20))
self.txtTime.setFrameShape(QFrame.Panel)
self.txtTime.setFrameShadow(QFrame.Sunken)
self.label_7 = QLabel(self.centralwidget)
self.label_7.setObjectName(u"label_7")
self.label_7.setGeometry(QRect(390, 10, 49, 16))
self.logEnabled = QCheckBox(self.centralwidget)
self.logEnabled.setObjectName(u"logEnabled")
self.logEnabled.setGeometry(QRect(170, 50, 131, 20))
self.addPoint1 = QPushButton(self.centralwidget)
self.addPoint1.setObjectName(u"addPoint1")
self.addPoint1.setGeometry(QRect(60, 330, 41, 32))
self.delPoint1 = QPushButton(self.centralwidget)
self.delPoint1.setObjectName(u"delPoint1")
self.delPoint1.setGeometry(QRect(100, 340, 41, 32))
self.addPoint2 = QPushButton(self.centralwidget)
self.addPoint2.setObjectName(u"addPoint2")
self.addPoint2.setGeometry(QRect(250, 330, 41, 32))
self.delPoint2 = QPushButton(self.centralwidget)
self.delPoint2.setObjectName(u"delPoint2")
self.delPoint2.setGeometry(QRect(290, 340, 41, 32))
self.addPoint3 = QPushButton(self.centralwidget)
self.addPoint3.setObjectName(u"addPoint3")
self.addPoint3.setGeometry(QRect(440, 330, 41, 32))
self.delPoint3 = QPushButton(self.centralwidget)
self.delPoint3.setObjectName(u"delPoint3")
self.delPoint3.setGeometry(QRect(480, 340, 41, 32))
self.addPoint4 = QPushButton(self.centralwidget)
self.addPoint4.setObjectName(u"addPoint4")
self.addPoint4.setGeometry(QRect(630, 330, 41, 32))
self.delPoint4 = QPushButton(self.centralwidget)
self.delPoint4.setObjectName(u"delPoint4")
self.delPoint4.setGeometry(QRect(670, 340, 41, 32))
self.saveList1 = QPushButton(self.centralwidget)
self.saveList1.setObjectName(u"saveList1")
self.saveList1.setGeometry(QRect(150, 340, 41, 32))
self.saveList2 = QPushButton(self.centralwidget)
self.saveList2.setObjectName(u"saveList2")
self.saveList2.setGeometry(QRect(340, 340, 41, 32))
self.saveList3 = QPushButton(self.centralwidget)
self.saveList3.setObjectName(u"saveList3")
self.saveList3.setGeometry(QRect(530, 340, 41, 32))
self.saveList4 = QPushButton(self.centralwidget)
self.saveList4.setObjectName(u"saveList4")
self.saveList4.setGeometry(QRect(720, 340, 41, 32))
self.resetList1 = QPushButton(self.centralwidget)
self.resetList1.setObjectName(u"resetList1")
self.resetList1.setGeometry(QRect(10, 340, 41, 32))
self.resetList2 = QPushButton(self.centralwidget)
self.resetList2.setObjectName(u"resetList2")
self.resetList2.setGeometry(QRect(200, 340, 41, 32))
self.resetList3 = QPushButton(self.centralwidget)
self.resetList3.setObjectName(u"resetList3")
self.resetList3.setGeometry(QRect(390, 340, 41, 32))
self.resetList4 = QPushButton(self.centralwidget)
self.resetList4.setObjectName(u"resetList4")
self.resetList4.setGeometry(QRect(580, 340, 41, 32))
self.saveConfig = QPushButton(self.centralwidget)
self.saveConfig.setObjectName(u"saveConfig")
self.saveConfig.setGeometry(QRect(340, 380, 84, 32))
self.insPoint1 = QPushButton(self.centralwidget)
self.insPoint1.setObjectName(u"insPoint1")
self.insPoint1.setGeometry(QRect(60, 360, 41, 32))
self.insPoint2 = QPushButton(self.centralwidget)
self.insPoint2.setObjectName(u"insPoint2")
self.insPoint2.setGeometry(QRect(250, 360, 41, 32))
self.insPoint3 = QPushButton(self.centralwidget)
self.insPoint3.setObjectName(u"insPoint3")
self.insPoint3.setGeometry(QRect(440, 360, 41, 32))
self.insPoint4 = QPushButton(self.centralwidget)
self.insPoint4.setObjectName(u"insPoint4")
self.insPoint4.setGeometry(QRect(630, 360, 41, 32))
self.txtRange = QLineEdit(self.centralwidget)
self.txtRange.setObjectName(u"txtRange")
self.txtRange.setGeometry(QRect(310, 10, 41, 30))
self.label_6 = QLabel(self.centralwidget)
self.label_6.setObjectName(u"label_6")
self.label_6.setGeometry(QRect(250, 20, 61, 16))
MainWindow.setCentralWidget(self.centralwidget)
self.menubar = QMenuBar(MainWindow)
self.menubar.setObjectName(u"menubar")
self.menubar.setGeometry(QRect(0, 0, 772, 28))
MainWindow.setMenuBar(self.menubar)
self.statusbar = QStatusBar(MainWindow)
self.statusbar.setObjectName(u"statusbar")
MainWindow.setStatusBar(self.statusbar)
self.retranslateUi(MainWindow)
QMetaObject.connectSlotsByName(MainWindow)
# setupUi
def retranslateUi(self, MainWindow):
MainWindow.setWindowTitle(QCoreApplication.translate("MainWindow", u"NTCNA GPS Virtual Cones V1.0", None))
self.label_2.setText(QCoreApplication.translate("MainWindow", u"Longitude:", None))
self.label.setText(QCoreApplication.translate("MainWindow", u"Latitude:", None))
self.label_3.setText(QCoreApplication.translate("MainWindow", u"Speed:", None))
self.txtLongitude.setText(QCoreApplication.translate("MainWindow", u"0", None))
self.txtDist4.setText(QCoreApplication.translate("MainWindow", u"0", None))
self.txtDist2.setText(QCoreApplication.translate("MainWindow", u"0", None))
self.txtSpeed.setText(QCoreApplication.translate("MainWindow", u"0", None))
self.txtDist1.setText(QCoreApplication.translate("MainWindow", u"0", None))
self.lblList2.setText(QCoreApplication.translate("MainWindow", u"TextLabel", None))
self.lblList1.setText(QCoreApplication.translate("MainWindow", u"TextLabel", None))
self.txtLatitude.setText(QCoreApplication.translate("MainWindow", u"0", None))
self.label_4.setText(QCoreApplication.translate("MainWindow", u"Heading:", None))
self.label_5.setText(QCoreApplication.translate("MainWindow", u"NTCNA GPS Virtual Cones", None))
self.exitButton.setText(QCoreApplication.translate("MainWindow", u"Exit", None))
self.lblList4.setText(QCoreApplication.translate("MainWindow", u"TextLabel", None))
self.txtDist3.setText(QCoreApplication.translate("MainWindow", u"0", None))
self.txtHeading.setText(QCoreApplication.translate("MainWindow", u"0", None))
self.lblList3.setText(QCoreApplication.translate("MainWindow", u"TextLabel", None))
self.openFiles.setText(QCoreApplication.translate("MainWindow", u"Open Files", None))
self.txtTime.setText("")
self.label_7.setText(QCoreApplication.translate("MainWindow", u"Time:", None))
self.logEnabled.setText(QCoreApplication.translate("MainWindow", u"Logging Enabled", None))
self.addPoint1.setText(QCoreApplication.translate("MainWindow", u"Add", None))
self.delPoint1.setText(QCoreApplication.translate("MainWindow", u"Del", None))
self.addPoint2.setText(QCoreApplication.translate("MainWindow", u"Add", None))
self.delPoint2.setText(QCoreApplication.translate("MainWindow", u"Del", None))
self.addPoint3.setText(QCoreApplication.translate("MainWindow", u"Add", None))
self.delPoint3.setText(QCoreApplication.translate("MainWindow", u"Del", None))
self.addPoint4.setText(QCoreApplication.translate("MainWindow", u"Add", None))
self.delPoint4.setText(QCoreApplication.translate("MainWindow", u"Del", None))
self.saveList1.setText(QCoreApplication.translate("MainWindow", u"Save", None))
self.saveList2.setText(QCoreApplication.translate("MainWindow", u"Save", None))
self.saveList3.setText(QCoreApplication.translate("MainWindow", u"Save", None))
self.saveList4.setText(QCoreApplication.translate("MainWindow", u"Save", None))
self.resetList1.setText(QCoreApplication.translate("MainWindow", u"Reset", None))
self.resetList2.setText(QCoreApplication.translate("MainWindow", u"Reset", None))
self.resetList3.setText(QCoreApplication.translate("MainWindow", u"Reset", None))
self.resetList4.setText(QCoreApplication.translate("MainWindow", u"Reset", None))
self.saveConfig.setText(QCoreApplication.translate("MainWindow", u"SaveConfig", None))
self.insPoint1.setText(QCoreApplication.translate("MainWindow", u"Ins", None))
self.insPoint2.setText(QCoreApplication.translate("MainWindow", u"Ins", None))
self.insPoint3.setText(QCoreApplication.translate("MainWindow", u"Ins", None))
self.insPoint4.setText(QCoreApplication.translate("MainWindow", u"Ins", None))
self.txtRange.setText(QCoreApplication.translate("MainWindow", u"3.0", None))
self.label_6.setText(QCoreApplication.translate("MainWindow", u"Range:", None))
# retranslateUi

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gps_vcones/home-block.csv Normal file
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42.5218830, -83.2373390, 5.0
42.5210100, -83.2361230, 5.0
42.5211590, -83.2337800, 5.0
42.5220680, -83.2337250, 5.0
42.5232330, -83.2339910, 5.0
42.5226510, -83.2360890, 5.0
42.5221890, -83.2371260, 5.0
1 42.5218830 -83.2373390 5.0
2 42.5210100 -83.2361230 5.0
3 42.5211590 -83.2337800 5.0
4 42.5220680 -83.2337250 5.0
5 42.5232330 -83.2339910 5.0
6 42.5226510 -83.2360890 5.0
7 42.5221890 -83.2371260 5.0

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gps_vcones/mainwindow.ui Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>MainWindow</class>
<widget class="QMainWindow" name="MainWindow">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>772</width>
<height>451</height>
</rect>
</property>
<property name="windowTitle">
<string>NTCNA GPS Virtual Cones V1.0</string>
</property>
<widget class="QWidget" name="centralwidget">
<widget class="QLabel" name="label_2">
<property name="geometry">
<rect>
<x>389</x>
<y>60</y>
<width>81</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Longitude:</string>
</property>
</widget>
<widget class="QListWidget" name="listCones2">
<property name="geometry">
<rect>
<x>200</x>
<y>110</y>
<width>180</width>
<height>220</height>
</rect>
</property>
</widget>
<widget class="QLabel" name="label">
<property name="geometry">
<rect>
<x>389</x>
<y>40</y>
<width>81</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Latitude:</string>
</property>
</widget>
<widget class="QLabel" name="label_3">
<property name="geometry">
<rect>
<x>579</x>
<y>40</y>
<width>61</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Speed:</string>
</property>
</widget>
<widget class="QLabel" name="txtLongitude">
<property name="geometry">
<rect>
<x>470</x>
<y>60</y>
<width>91</width>
<height>20</height>
</rect>
</property>
<property name="frameShape">
<enum>QFrame::Panel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
<property name="text">
<string>0</string>
</property>
</widget>
<widget class="QLabel" name="txtDist4">
<property name="geometry">
<rect>
<x>709</x>
<y>90</y>
<width>51</width>
<height>20</height>
</rect>
</property>
<property name="frameShape">
<enum>QFrame::Panel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
<property name="text">
<string>0</string>
</property>
</widget>
<widget class="QLabel" name="txtDist2">
<property name="geometry">
<rect>
<x>329</x>
<y>90</y>
<width>51</width>
<height>20</height>
</rect>
</property>
<property name="frameShape">
<enum>QFrame::Panel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
<property name="text">
<string>0</string>
</property>
</widget>
<widget class="QLabel" name="txtSpeed">
<property name="geometry">
<rect>
<x>650</x>
<y>40</y>
<width>81</width>
<height>18</height>
</rect>
</property>
<property name="frameShape">
<enum>QFrame::Panel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
<property name="text">
<string>0</string>
</property>
</widget>
<widget class="QLabel" name="txtDist1">
<property name="geometry">
<rect>
<x>139</x>
<y>90</y>
<width>51</width>
<height>20</height>
</rect>
</property>
<property name="frameShape">
<enum>QFrame::Panel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
<property name="text">
<string>0</string>
</property>
</widget>
<widget class="QLabel" name="lblList2">
<property name="geometry">
<rect>
<x>200</x>
<y>90</y>
<width>141</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>TextLabel</string>
</property>
</widget>
<widget class="QLabel" name="lblList1">
<property name="geometry">
<rect>
<x>10</x>
<y>90</y>
<width>141</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>TextLabel</string>
</property>
</widget>
<widget class="QLabel" name="txtLatitude">
<property name="geometry">
<rect>
<x>470</x>
<y>40</y>
<width>91</width>
<height>20</height>
</rect>
</property>
<property name="frameShape">
<enum>QFrame::Panel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
<property name="text">
<string>0</string>
</property>
</widget>
<widget class="QLabel" name="label_4">
<property name="geometry">
<rect>
<x>579</x>
<y>60</y>
<width>61</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Heading:</string>
</property>
</widget>
<widget class="QListWidget" name="listCones4">
<property name="geometry">
<rect>
<x>580</x>
<y>110</y>
<width>180</width>
<height>220</height>
</rect>
</property>
</widget>
<widget class="QLabel" name="label_5">
<property name="geometry">
<rect>
<x>20</x>
<y>10</y>
<width>281</width>
<height>16</height>
</rect>
</property>
<property name="font">
<font>
<pointsize>14</pointsize>
</font>
</property>
<property name="text">
<string>NTCNA GPS Virtual Cones</string>
</property>
</widget>
<widget class="QPushButton" name="exitButton">
<property name="geometry">
<rect>
<x>680</x>
<y>380</y>
<width>84</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Exit</string>
</property>
</widget>
<widget class="QLabel" name="lblList4">
<property name="geometry">
<rect>
<x>580</x>
<y>90</y>
<width>141</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>TextLabel</string>
</property>
</widget>
<widget class="QListWidget" name="listCones3">
<property name="geometry">
<rect>
<x>390</x>
<y>110</y>
<width>180</width>
<height>220</height>
</rect>
</property>
</widget>
<widget class="QListWidget" name="listCones1">
<property name="geometry">
<rect>
<x>10</x>
<y>110</y>
<width>180</width>
<height>220</height>
</rect>
</property>
</widget>
<widget class="QLabel" name="txtDist3">
<property name="geometry">
<rect>
<x>519</x>
<y>90</y>
<width>51</width>
<height>20</height>
</rect>
</property>
<property name="frameShape">
<enum>QFrame::Panel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
<property name="text">
<string>0</string>
</property>
</widget>
<widget class="QLabel" name="txtHeading">
<property name="geometry">
<rect>
<x>650</x>
<y>60</y>
<width>81</width>
<height>18</height>
</rect>
</property>
<property name="frameShape">
<enum>QFrame::Panel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
<property name="text">
<string>0</string>
</property>
</widget>
<widget class="QLabel" name="lblList3">
<property name="geometry">
<rect>
<x>390</x>
<y>90</y>
<width>141</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>TextLabel</string>
</property>
</widget>
<widget class="QPushButton" name="openFiles">
<property name="geometry">
<rect>
<x>40</x>
<y>40</y>
<width>111</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Open Files</string>
</property>
</widget>
<widget class="QLabel" name="txtTime">
<property name="geometry">
<rect>
<x>470</x>
<y>10</y>
<width>261</width>
<height>20</height>
</rect>
</property>
<property name="frameShape">
<enum>QFrame::Panel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Sunken</enum>
</property>
<property name="text">
<string/>
</property>
</widget>
<widget class="QLabel" name="label_7">
<property name="geometry">
<rect>
<x>390</x>
<y>10</y>
<width>49</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Time:</string>
</property>
</widget>
<widget class="QCheckBox" name="logEnabled">
<property name="geometry">
<rect>
<x>170</x>
<y>50</y>
<width>131</width>
<height>20</height>
</rect>
</property>
<property name="text">
<string>Logging Enabled</string>
</property>
</widget>
<widget class="QPushButton" name="addPoint1">
<property name="geometry">
<rect>
<x>60</x>
<y>330</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Add</string>
</property>
</widget>
<widget class="QPushButton" name="delPoint1">
<property name="geometry">
<rect>
<x>100</x>
<y>340</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Del</string>
</property>
</widget>
<widget class="QPushButton" name="addPoint2">
<property name="geometry">
<rect>
<x>250</x>
<y>330</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Add</string>
</property>
</widget>
<widget class="QPushButton" name="delPoint2">
<property name="geometry">
<rect>
<x>290</x>
<y>340</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Del</string>
</property>
</widget>
<widget class="QPushButton" name="addPoint3">
<property name="geometry">
<rect>
<x>440</x>
<y>330</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Add</string>
</property>
</widget>
<widget class="QPushButton" name="delPoint3">
<property name="geometry">
<rect>
<x>480</x>
<y>340</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Del</string>
</property>
</widget>
<widget class="QPushButton" name="addPoint4">
<property name="geometry">
<rect>
<x>630</x>
<y>330</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Add</string>
</property>
</widget>
<widget class="QPushButton" name="delPoint4">
<property name="geometry">
<rect>
<x>670</x>
<y>340</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Del</string>
</property>
</widget>
<widget class="QPushButton" name="saveList1">
<property name="geometry">
<rect>
<x>150</x>
<y>340</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
<widget class="QPushButton" name="saveList2">
<property name="geometry">
<rect>
<x>340</x>
<y>340</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
<widget class="QPushButton" name="saveList3">
<property name="geometry">
<rect>
<x>530</x>
<y>340</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
<widget class="QPushButton" name="saveList4">
<property name="geometry">
<rect>
<x>720</x>
<y>340</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
<widget class="QPushButton" name="resetList1">
<property name="geometry">
<rect>
<x>10</x>
<y>340</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
<widget class="QPushButton" name="resetList2">
<property name="geometry">
<rect>
<x>200</x>
<y>340</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
<widget class="QPushButton" name="resetList3">
<property name="geometry">
<rect>
<x>390</x>
<y>340</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
<widget class="QPushButton" name="resetList4">
<property name="geometry">
<rect>
<x>580</x>
<y>340</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
<widget class="QPushButton" name="saveConfig">
<property name="geometry">
<rect>
<x>340</x>
<y>380</y>
<width>84</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>SaveConfig</string>
</property>
</widget>
<widget class="QPushButton" name="insPoint1">
<property name="geometry">
<rect>
<x>60</x>
<y>360</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Ins</string>
</property>
</widget>
<widget class="QPushButton" name="insPoint2">
<property name="geometry">
<rect>
<x>250</x>
<y>360</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Ins</string>
</property>
</widget>
<widget class="QPushButton" name="insPoint3">
<property name="geometry">
<rect>
<x>440</x>
<y>360</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Ins</string>
</property>
</widget>
<widget class="QPushButton" name="insPoint4">
<property name="geometry">
<rect>
<x>630</x>
<y>360</y>
<width>41</width>
<height>32</height>
</rect>
</property>
<property name="text">
<string>Ins</string>
</property>
</widget>
<widget class="QLineEdit" name="txtRange">
<property name="geometry">
<rect>
<x>310</x>
<y>10</y>
<width>41</width>
<height>30</height>
</rect>
</property>
<property name="text">
<string>3.0</string>
</property>
</widget>
<widget class="QLabel" name="label_6">
<property name="geometry">
<rect>
<x>250</x>
<y>20</y>
<width>61</width>
<height>16</height>
</rect>
</property>
<property name="text">
<string>Range:</string>
</property>
</widget>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>772</width>
<height>28</height>
</rect>
</property>
</widget>
<widget class="QStatusBar" name="statusbar"/>
</widget>
<resources/>
<connections/>
</ui>

71
gps_vcones/ublox-6h-250ms.txt Normal file
View File

@ -0,0 +1,71 @@
MON-VER - 0A 04 28 00 37 2E 30 33 20 28 34 35 39 36 39 29 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 30 30 30 34 30 30 30 37 00 00
CFG-ANT - 06 13 04 00 1B 00 8B A9
CFG-DAT - 06 06 02 00 00 00
CFG-FXN - 06 0E 24 00 0C 00 00 00 00 00 00 00 00 00 00 00 10 27 00 00 10 27 00 00 D0 07 00 00 18 FC FF FF 00 00 00 00 00 00 00 00
CFG-INF - 06 02 0A 00 00 00 00 00 00 00 00 00 00 00
CFG-INF - 06 02 0A 00 01 00 00 00 87 87 87 87 87 87
CFG-INF - 06 02 0A 00 03 00 00 00 00 00 00 00 00 00
CFG-ITFM - 06 39 08 00 F3 AC 62 2D 1E 03 00 00
CFG-MSG - 06 01 08 00 0B 30 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0B 32 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0B 33 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0B 31 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0B 01 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0B 00 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 0B 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 09 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 02 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 06 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 07 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 21 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 08 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 60 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 22 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 31 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 04 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 01 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 02 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 32 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 06 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 03 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 30 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 20 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 21 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 11 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 12 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 02 20 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0D 03 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0D 01 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0D 06 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F0 00 01 01 01 01 01 01
CFG-MSG - 06 01 08 00 F0 01 01 01 01 01 01 01
CFG-MSG - 06 01 08 00 F0 02 01 01 01 01 01 01
CFG-MSG - 06 01 08 00 F0 03 01 01 01 01 01 01
CFG-MSG - 06 01 08 00 F0 04 01 01 01 01 01 01
CFG-MSG - 06 01 08 00 F0 05 01 01 01 01 01 01
CFG-MSG - 06 01 08 00 F0 06 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F0 07 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F0 08 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F0 09 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F0 0A 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F1 00 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F1 03 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F1 04 00 00 00 00 00 00
CFG-NAV5 - 06 24 24 00 FF FF 00 03 00 00 00 00 10 27 00 00 05 00 FA 00 FA 00 64 00 2C 01 00 3C 00 00 00 00 00 00 00 00 00 00 00 00
CFG-NAVX5 - 06 23 28 00 00 00 FF FF 43 00 00 00 03 02 03 10 07 00 00 01 00 00 43 06 00 00 00 00 01 01 00 00 00 64 78 00 00 00 00 00 00 00 00 00
CFG-NMEA - 06 17 04 00 00 23 00 02
CFG-PM - 06 32 18 00 00 06 00 00 04 90 00 00 E8 03 00 00 10 27 00 00 00 00 00 00 02 00 00 00
CFG-PM2 - 06 3B 2C 00 01 06 00 00 00 90 02 00 E8 03 00 00 10 27 00 00 00 00 00 00 02 00 00 00 2C 01 00 00 4F C1 03 00 86 02 00 00 FE 00 00 00 64 40 01 00
CFG-PRT - 06 00 14 00 00 00 00 00 84 00 00 00 00 00 00 00 07 00 07 00 00 00 00 00
CFG-PRT - 06 00 14 00 01 00 00 00 C0 08 00 00 00 C2 01 00 07 00 03 00 00 00 00 00
CFG-PRT - 06 00 14 00 02 00 00 00 C0 08 00 00 80 25 00 00 00 00 00 00 00 00 00 00
CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 07 00 07 00 00 00 00 00
CFG-PRT - 06 00 14 00 04 00 00 00 00 32 00 00 00 00 00 00 07 00 07 00 00 00 00 00
CFG-RATE - 06 08 06 00 FA 00 01 00 01 00
CFG-RINV - 06 34 18 00 00 4E 6F 74 69 63 65 3A 20 6E 6F 20 64 61 74 61 20 73 61 76 65 64 21 00
CFG-RXM - 06 11 02 00 08 00
CFG-SBAS - 06 16 08 00 01 03 03 00 51 62 06 00
CFG-TP - 06 07 14 00 40 42 0F 00 A0 86 01 00 01 01 00 00 32 00 00 00 00 00 00 00
CFG-TP5 - 06 31 20 00 00 07 40 00 32 00 00 00 40 42 0F 00 40 42 0F 00 00 00 00 00 A0 86 01 00 00 00 00 00 F7 00 00 00
CFG-TP5 - 06 31 20 00 01 07 40 00 32 00 00 00 04 00 00 00 01 00 00 00 48 E8 01 00 A0 86 01 00 00 00 00 00 FE 00 00 00
CFG-USB - 06 1B 6C 00 46 15 A6 01 00 00 00 00 64 00 00 00 75 2D 62 6C 6F 78 20 41 47 20 2D 20 77 77 77 2E 75 2D 62 6C 6F 78 2E 63 6F 6D 00 00 00 00 00 00 75 2D 62 6C 6F 78 20 36 20 20 2D 20 20 47 50 53 20 52 65 63 65 69 76 65 72 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

71
gps_vcones/ublox-6h-500ms.txt Normal file
View File

@ -0,0 +1,71 @@
MON-VER - 0A 04 28 00 37 2E 30 33 20 28 34 35 39 36 39 29 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 30 30 30 34 30 30 30 37 00 00
CFG-ANT - 06 13 04 00 1B 00 8B A9
CFG-DAT - 06 06 02 00 00 00
CFG-FXN - 06 0E 24 00 0C 00 00 00 00 00 00 00 00 00 00 00 10 27 00 00 10 27 00 00 D0 07 00 00 18 FC FF FF 00 00 00 00 00 00 00 00
CFG-INF - 06 02 0A 00 00 00 00 00 00 00 00 00 00 00
CFG-INF - 06 02 0A 00 01 00 00 00 87 87 87 87 87 87
CFG-INF - 06 02 0A 00 03 00 00 00 00 00 00 00 00 00
CFG-ITFM - 06 39 08 00 F3 AC 62 2D 1E 03 00 00
CFG-MSG - 06 01 08 00 0B 30 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0B 32 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0B 33 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0B 31 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0B 01 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0B 00 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 0B 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 09 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 02 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 06 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 07 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 21 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0A 08 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 60 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 22 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 31 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 04 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 01 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 02 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 32 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 06 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 03 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 30 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 20 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 21 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 11 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 01 12 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 02 20 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0D 03 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0D 01 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 0D 06 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F0 00 01 01 01 01 01 01
CFG-MSG - 06 01 08 00 F0 01 01 01 01 01 01 01
CFG-MSG - 06 01 08 00 F0 02 01 01 01 01 01 01
CFG-MSG - 06 01 08 00 F0 03 01 01 01 01 01 01
CFG-MSG - 06 01 08 00 F0 04 01 01 01 01 01 01
CFG-MSG - 06 01 08 00 F0 05 01 01 01 01 01 01
CFG-MSG - 06 01 08 00 F0 06 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F0 07 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F0 08 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F0 09 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F0 0A 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F1 00 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F1 03 00 00 00 00 00 00
CFG-MSG - 06 01 08 00 F1 04 00 00 00 00 00 00
CFG-NAV5 - 06 24 24 00 FF FF 00 03 00 00 00 00 10 27 00 00 05 00 FA 00 FA 00 64 00 2C 01 00 3C 00 00 00 00 00 00 00 00 00 00 00 00
CFG-NAVX5 - 06 23 28 00 00 00 FF FF 43 00 00 00 03 02 03 10 07 00 00 01 00 00 43 06 00 00 00 00 01 01 00 00 00 64 78 00 00 00 00 00 00 00 00 00
CFG-NMEA - 06 17 04 00 00 23 00 02
CFG-PM - 06 32 18 00 00 06 00 00 04 90 00 00 E8 03 00 00 10 27 00 00 00 00 00 00 02 00 00 00
CFG-PM2 - 06 3B 2C 00 01 06 00 00 00 90 02 00 E8 03 00 00 10 27 00 00 00 00 00 00 02 00 00 00 2C 01 00 00 4F C1 03 00 86 02 00 00 FE 00 00 00 64 40 01 00
CFG-PRT - 06 00 14 00 00 00 00 00 84 00 00 00 00 00 00 00 07 00 07 00 00 00 00 00
CFG-PRT - 06 00 14 00 01 00 00 00 C0 08 00 00 00 C2 01 00 07 00 03 00 00 00 00 00
CFG-PRT - 06 00 14 00 02 00 00 00 C0 08 00 00 80 25 00 00 00 00 00 00 00 00 00 00
CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 07 00 07 00 00 00 00 00
CFG-PRT - 06 00 14 00 04 00 00 00 00 32 00 00 00 00 00 00 07 00 07 00 00 00 00 00
CFG-RATE - 06 08 06 00 F4 01 01 00 01 00
CFG-RINV - 06 34 18 00 00 4E 6F 74 69 63 65 3A 20 6E 6F 20 64 61 74 61 20 73 61 76 65 64 21 00
CFG-RXM - 06 11 02 00 08 00
CFG-SBAS - 06 16 08 00 01 03 03 00 51 62 06 00
CFG-TP - 06 07 14 00 40 42 0F 00 A0 86 01 00 01 01 00 00 32 00 00 00 00 00 00 00
CFG-TP5 - 06 31 20 00 00 07 40 00 32 00 00 00 40 42 0F 00 40 42 0F 00 00 00 00 00 A0 86 01 00 00 00 00 00 F7 00 00 00
CFG-TP5 - 06 31 20 00 01 07 40 00 32 00 00 00 04 00 00 00 01 00 00 00 48 E8 01 00 A0 86 01 00 00 00 00 00 FE 00 00 00
CFG-USB - 06 1B 6C 00 46 15 A6 01 00 00 00 00 64 00 00 00 75 2D 62 6C 6F 78 20 41 47 20 2D 20 77 77 77 2E 75 2D 62 6C 6F 78 2E 63 6F 6D 00 00 00 00 00 00 75 2D 62 6C 6F 78 20 36 20 20 2D 20 20 47 50 53 20 52 65 63 65 69 76 65 72 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00

278
gps_vcones/virtual_cones.py Executable file
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@ -0,0 +1,278 @@
#! /usr/bin/python3
import os
import sys
import getopt
import csv
from math import *
from gps import *
from time import strftime, sleep
import os
from sys import platform
##############################################################################
# audio stuff
##############################################################################
sound_args = ""
def play_sound(file):
if platform == "win32" or platform == "win64" or platform == "cygwin":
cmd = "wmplayer " + '"' + file + '"'
else:
cmd = "aplay -N " + sound_args + " " + file + " &"
# print(cmd)
os.system(cmd)
##############################################################################
# buzzer stuff
##############################################################################
# https://www.instructables.com/Raspberry-Pi-Tutorial-How-to-Use-a-Buzzer/
try:
import RPi.GPIO as GPIO
buzzer=23
seconds=3
def buzzer_init():
GPIO.setwarnings(0)
GPIO.setmode(GPIO.BCM)
GPIO.setup(buzzer, GPIO.OUT)
def buzzer_on():
GPIO.output(buzzer, GPIO.HIGH)
def buzzer_off():
GPIO.output(buzzer, GPIO.LOW)
def buzzer_run():
global seconds
sec = seconds
while (sec):
buzzer_on()
sleep(0.5)
buzzer_off()
sleep(0.5)
sec = sec - 1
buzzer_init()
except:
print("Not a Raspberry Pi! No buzzer support.")
##############################################################################
# gps stuff
##############################################################################
# https://ozzmaker.com/using-python-with-a-gps-receiver-on-a-raspberry-pi/
gpsd = gps(mode=WATCH_ENABLE|WATCH_NEWSTYLE)
#
# GPS receiver is ublox from V2V-MD at 10x seconds
#
# http://www.movable-type.co.uk/scripts/latlong.html
earth_flatening = 1.0/298.257223563
earth_radius = 6378137.0
def roydistance(lat1, lon1, lat2, lon2):
"""
Calculate the great circle distance between two points
on the earth (specified in decimal degrees)
"""
# convert decimal degrees to radians
lon1, lat1, lon2, lat2 = map(radians, [lon1, lat1, lon2, lat2])
# Roy's method
f1 = (1.0 - earth_flatening)
top = (pow((lon2-lon1), 2) * pow(cos(lat1), 2)) + pow(lat2-lat1, 2)
bot = pow(sin(lat1), 2) + (pow(f1, 2) * pow(cos(lat1), 2))
return f1 * earth_radius * sqrt(top/bot)
##############################################################################
# log
##############################################################################
debug_on = 0
if not os.path.isdir("logs"):
os.mkdir("logs")
log = open(strftime("logs/way-%Y%m%d-%H%M.log"), 'a')
log.write("Time,Latitude,Longitude,Heading,Speed,Description\n")
##############################################################################
# virtual cones
##############################################################################
# node from csv (each line is lat, long, distance, next code# (optional)):
# 42.522040, -83.237594, 5, 1
##############################################################################
# class
##############################################################################
class VirtualCones():
def __init__(self):
self.filename = ""
self.cones = []
self.num_cones = 0
self.current_cone = 0
self.distance = 0.0
self.buzz_no = 0
self.max_buzz = 1
def clr_cones(self):
self.cones = []
self.num_cones = 0
self.current_cone = 0
def add_cone(self, lat, lon, rad):
self.cones.append( [float(lat), float(lon), float(rad)] )
self.num_cones += 1
def read_csv(self, csv_file):
file_csv = open(csv_file)
data_csv = csv.reader(file_csv)
return list(data_csv)
def read_list(self, file):
self.filename = file
self.clr_cones()
self.cones = self.read_csv(file)
if len(self.cones) == 0:
return
for i in range(0, len(self.cones)):
for j in range(0, 3):
self.cones[i][j] = float(self.cones[i][j])
self.num_cones = len(self.cones)
return self.cones
def save_list(self, filename):
with open(filename, "w") as file:
for i in range(0, self.num_cones):
file.write("%11.7f, %11.7f, %4.1f\n" % (self.cones[i][0], self.cones[i][1], self.cones[i][2]))
file.close()
def check_list(self, lat, lon, heading, speed):
trig = 0
if self.num_cones == 0:
return (0, 999.0, 0)
# end of list?
if self.current_cone >= self.num_cones:
self.current_cone = 0
self.buzz_no = 0
# check first node for reset
if self.current_cone:
# node from csv (each line is lat, long, distance)
row = self.cones[0]
cone_lat = row[0]
cone_lon = row[1]
cone_dist = row[2]
dist = roydistance(lat, lon, cone_lat, cone_lon)
if dist < cone_dist:
self.current_cone = 0
# node from csv (each line is lat, long, distance, next code#)
row = self.cones[self.current_cone]
cone_lat = row[0]
cone_lon = row[1]
cone_dist = row[2]
# next cone
cone_next = self.current_cone + 1
try:
cone_next = int(row[3])
except:
pass
# distance between vehicle and cone
self.distance = roydistance(lat, lon, cone_lat, cone_lon)
# check distance trigger
if self.distance < cone_dist:
# out = "Waypoint %s:%d reached: %f, %f, %f, %d" % (self.filename, self.current_cone, lat, lon, heading, speed)
# print(out)
if self.buzz_no < self.max_buzz:
play_sound("alert.wav")
self.buzz_no = self.buzz_no + 1
self.current_cone = cone_next
trig = 1
else:
self.buzz_no = 0
return (self.current_cone, self.distance, trig)
##############################################################################
# main
##############################################################################
opt_list = "d"
def main(argv):
global log, debug_on
virtual_list = [[],[],[],[],[],[],[],[],[]]
virtual_count = 0
try:
opts, args = getopt.getopt(argv, opt_list, ["",""])
except getopt.GetoptError:
print(sys.argv[0], '[-d] <csvfile>')
sys.exit(2)
for opt, arg in opts:
if opt in ('-h'):
print("virtual_cone_alert.py " + opt_list + " <inputfiles>")
sys.exit()
elif opt in ('-d'):
debug_on = 1
else:
print("Argument error!")
print("virtual_cone_alert.py " + opt_list + " <inputfiles>")
sys.exit()
# slurp in files for each list
for arg in args:
try:
cones = VirtualCones()
cones.read_list(arg)
virtual_list[virtual_count] = cones
virtual_count += 1
except:
print("File open/read failed: ", arg)
sys.exit(1)
try:
while True:
report = gpsd.next() #
if report['class'] == 'TPV':
time = getattr(report, 'time', 0.0)
lat = getattr(report, 'lat', 0.0)
lon = getattr(report, 'lon', 0.0)
heading = getattr(report, 'track', 0.0)
speed = getattr(report, 'speed', 0.0)
log.write("%s,%f,%f,%f,%f\n" % (time, lat, lon, heading, speed))
# print("Position: %f, %f, %d" % (lat, lon, speed))
# walk through each list
for i in range(0, virtual_count):
virtual_list[i].check_list(lat, lon, heading, speed)
# time.sleep(0.2)
except (KeyboardInterrupt, SystemExit): #when you press ctrl+c
log.close()
print("Done.\nExiting.")
main(sys.argv[1:])

524
gps_vcones/virtual_cones_gui.py Executable file
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#! /usr/bin/python3
from sys import platform
from os import path, mkdir, system
from math import *
from gps import *
from datetime import datetime
from time import time, strftime
import gpxpy
import csv
import yaml
from PySide2.QtGui import *
from PySide2.QtWidgets import QApplication, QMainWindow, QFileDialog
from PySide2.QtCore import QObject, Slot, Signal, QThread, QDir
from MainWindow import Ui_MainWindow
##############################################################################
# audio stuff
##############################################################################
sound_args = ""
def play_sound(file):
if platform == "win32" or platform == "win64" or platform == "cygwin":
cmd = "wmplayer " + '"' + file + '"'
else:
cmd = "aplay -N " + sound_args + " " + file + " &"
# print(cmd)
system(cmd)
##############################################################################
# gps stuff
##############################################################################
# https://ozzmaker.com/using-python-with-a-gps-receiver-on-a-raspberry-pi/
#
# GPS receiver is ublox from V2V-MD at 10x seconds
#
# http://www.movable-type.co.uk/scripts/latlong.html
earth_flatening = 1.0/298.257223563
earth_radius = 6378137.0
def roydistance(lat1, lon1, lat2, lon2):
"""
Calculate the great circle distance between two points
on the earth (specified in decimal degrees)
"""
# convert decimal degrees to radians
lon1, lat1, lon2, lat2 = map(radians, [lon1, lat1, lon2, lat2])
# Roy's method
f1 = (1.0 - earth_flatening)
top = (pow((lon2-lon1), 2) * pow(cos(lat1), 2)) + pow(lat2-lat1, 2)
bot = pow(sin(lat1), 2) + (pow(f1, 2) * pow(cos(lat1), 2))
return f1 * earth_radius * sqrt(top/bot)
##############################################################################
# log
##############################################################################
if not path.isdir("logs"):
mkdir("logs")
##############################################################################
# virtual cones
##############################################################################
# node from csv (each line is lat, long, distance, next code# (optional)):
# 42.522040, -83.237594, 5, 1
##############################################################################
# class
##############################################################################
class VirtualCones():
def __init__(self):
self.filename = ""
self.cones = []
self.num_cones = 0
self.current_cone = 0
self.distance = 0.0
self.buzz_no = 0
self.max_buzz = 1
def clr_cones(self):
self.cones = []
self.num_cones = 0
self.current_cone = 0
def add_cone(self, lat, lon, rad):
self.cones.append( [float(lat), float(lon), float(rad)] )
self.num_cones += 1
def read_csv(self, csv_file):
file_csv = open(csv_file)
data_csv = csv.reader(file_csv)
return list(data_csv)
def read_list(self, file):
self.filename = file
self.clr_cones()
self.cones = self.read_csv(file)
if len(self.cones) == 0:
return
for i in range(0, len(self.cones)):
for j in range(0, 3):
self.cones[i][j] = float(self.cones[i][j])
self.num_cones = len(self.cones)
return self.cones
def save_list(self, filename):
with open(filename, "w") as file:
for i in range(0, self.num_cones):
file.write("%11.7f, %11.7f, %4.1f\n" % (self.cones[i][0], self.cones[i][1], self.cones[i][2]))
file.close()
def check_list(self, lat, lon, heading, speed):
trig = 0
if self.num_cones == 0:
return (0, 999.0, 0)
# end of list?
if self.current_cone >= self.num_cones:
self.current_cone = 0
self.buzz_no = 0
# check first node for reset
if self.current_cone:
# node from csv (each line is lat, long, distance)
row = self.cones[0]
cone_lat = row[0]
cone_lon = row[1]
cone_dist = row[2]
dist = roydistance(lat, lon, cone_lat, cone_lon)
if dist < cone_dist:
self.current_cone = 0
# node from csv (each line is lat, long, distance, next code#)
row = self.cones[self.current_cone]
cone_lat = row[0]
cone_lon = row[1]
cone_dist = row[2]
# next cone
cone_next = self.current_cone + 1
try:
cone_next = int(row[3])
except:
pass
# distance between vehicle and cone
self.distance = roydistance(lat, lon, cone_lat, cone_lon)
# check distance trigger
if self.distance < cone_dist:
# out = "Waypoint %s:%d reached: %f, %f, %f, %d" % (self.filename, self.current_cone, lat, lon, heading, speed)
# print(out)
if self.buzz_no < self.max_buzz:
play_sound("alert.wav")
self.buzz_no = self.buzz_no + 1
self.current_cone = cone_next
trig = 1
else:
self.buzz_no = 0
return (self.current_cone, self.distance, trig)
##############################################################################
# thread
##############################################################################
gpsd_host = "localhost"
gpsd_report = ()
class DataSignal(QObject):
sig = Signal(int)
class DataThread(QThread):
def __init__(self, parent=None):
super(DataThread, self).__init__(parent)
self.new_data = DataSignal()
# self.new_data.sig.connect(parent.update_data)
def run(self):
global gpsd_report
gpsd = gps(host=gpsd_host, mode=WATCH_ENABLE|WATCH_NEWSTYLE)
while not self.isInterruptionRequested():
gpsd_report = gpsd.next() # wait for next packet
self.new_data.sig.emit(1)
def stop(self):
self.requestInterruption()
self.wait()
##############################################################################
# main
##############################################################################
class MainWindow(QMainWindow, Ui_MainWindow):
def __init__(self, *args, obj=None, **kwargs):
super(MainWindow, self).__init__(*args, **kwargs)
self.setupUi(self)
class ConesWindow(MainWindow):
def __init__(self, *args, obj=None, **kwargs):
super(ConesWindow, self).__init__(*args, **kwargs)
self.setWindowTitle("NTCNA GPS Virtual Cones V1.6")
self.vlist1 = VirtualCones()
self.vlist2 = VirtualCones()
self.vlist3 = VirtualCones()
self.vlist4 = VirtualCones()
self.vlists = [self.vlist1, self.vlist2, self.vlist3, self.vlist4]
# button connections
self.openFiles.clicked.connect(self.read_dialog)
self.exitButton.clicked.connect(self.exit_button)
self.resetList1.clicked.connect(self.reset_list1)
self.resetList2.clicked.connect(self.reset_list2)
self.resetList3.clicked.connect(self.reset_list3)
self.resetList4.clicked.connect(self.reset_list4)
self.addPoint1.clicked.connect(self.add_point1)
self.delPoint1.clicked.connect(self.del_point1)
self.insPoint1.clicked.connect(self.ins_point1)
self.addPoint2.clicked.connect(self.add_point2)
self.delPoint2.clicked.connect(self.del_point2)
self.insPoint2.clicked.connect(self.ins_point2)
self.addPoint3.clicked.connect(self.add_point3)
self.delPoint3.clicked.connect(self.del_point3)
self.insPoint3.clicked.connect(self.ins_point3)
self.addPoint4.clicked.connect(self.add_point4)
self.delPoint4.clicked.connect(self.del_point4)
self.insPoint4.clicked.connect(self.ins_point4)
self.saveList1.clicked.connect(self.save_list1)
self.saveList2.clicked.connect(self.save_list2)
self.saveList3.clicked.connect(self.save_list3)
self.saveList4.clicked.connect(self.save_list4)
self.saveConfig.clicked.connect(self.save_config)
# makes life easier, avoid redundant code
self.labels = [self.lblList1, self.lblList2, self.lblList3, self.lblList4]
self.lists = [self.listCones1, self.listCones2, self.listCones3, self.listCones4]
self.dists = [self.txtDist1, self.txtDist2, self.txtDist3, self.txtDist4]
self.saves = [self.saveList1, self.saveList2, self.saveList3, self.saveList4]
for i in range(0, 4):
self.saves[i].hide()
# txtLatitude
self.latitude = 0.0
self.longitude = 0.0
# GPS log
self.gpx = gpxpy.gpx.GPX()
# Create first track in our GPX:
self.gpx_track = gpxpy.gpx.GPXTrack()
self.gpx.tracks.append(self.gpx_track)
# Create first segment in our GPX track:
self.gpx_segment = gpxpy.gpx.GPXTrackSegment()
self.gpx_track.segments.append(self.gpx_segment)
self.num_points = 0
self.my_thread = DataThread()
def read_dialog(self):
filedialog = QFileDialog(self)
filedialog.setDirectory(QDir.currentPath())
filedialog.setDefaultSuffix("csv")
filedialog.setNameFilter("CSV (*.csv);; all (*.*)")
filedialog.setFileMode(QFileDialog.ExistingFiles)
selected = filedialog.exec()
if selected:
self.load_cones( filedialog.selectedFiles()[0:4] )
def write_dialog(self):
filedialog = QFileDialog(self)
filedialog.setDirectory(QDir.currentPath())
filedialog.setDefaultSuffix("csv")
filedialog.setNameFilter("CSV (*.csv);; all (*.*)")
selected = filedialog.exec()
if selected:
filename = filedialog.selectedFiles()[0]
return filename
return ""
# slurp in files for each list
def load_cones(self, args):
count = 0
for i in range(0, 4):
self.labels[i].setText("")
self.lists[i].clear()
self.saves[i].hide()
self.vlists[i].clr_cones()
for arg in args:
try:
cones = VirtualCones()
cones.read_list(arg)
self.vlists[count] = cones
self.labels[count].setText(path.basename(arg))
self.lists[count].clear()
for i in range(0, cones.num_cones):
self.lists[count].addItem("%11.7f, %11.7f" % (cones.cones[i][0], cones.cones[i][1]))
self.lists[count].setCurrentRow(0)
count += 1
self.show()
except Exception as e:
print(e)
sys.exit(1)
def start_thread(self):
if not self.my_thread.isRunning():
self.my_thread.new_data.sig.connect(self.update_data)
self.my_thread.start()
self.my_thread.setTerminationEnabled(True)
def stop_thread(self):
self.my_thread.stop()
self.my_thread.wait(3)
self.save_log()
@Slot(list)
def update_data(self, x):
global gpsd_report
report = gpsd_report
if report['class'] == 'TPV':
status = getattr(report, 'status', 0)
mode = getattr(report, 'mode', 0)
time = getattr(report, 'time', 0)
lat = getattr(report, 'lat', 0.0)
lon = getattr(report, 'lon', 0.0)
elev = getattr(report, 'altHAE', 0.0) # meters
heading = getattr(report, 'track', 0.0)
speed = getattr(report, 'speed', 0.0) # m/sec
self.latitude = lat
self.longitude = lon
# self.txtStatus.setText(fix_status[status])
# self.txtMode.setText(fix_mode[mode])
self.txtTime.setText(time)
self.txtLatitude.setText("%10.7f" %(lat))
self.txtLongitude.setText("%10.7f" % (lon))
# self.txtAltitude.setText("%7.2f" % (elev))
self.txtHeading.setText("%7.2f" % (heading))
self.txtSpeed.setText("%7.2f" % (speed))
for i in range(0, 4):
if self.lists[i].count() == 0:
continue
(cone, dist, trig) = self.vlists[i].check_list(lat, lon, heading, speed)
if trig:
self.lists[i].setCurrentRow(cone)
if dist < 10000.0:
self.dists[i].setText("%6.1f" % (dist))
else
self.dists[i].setText("OOR")
if self.logEnabled.isChecked():
point = gpxpy.gpx.GPXTrackPoint(lat, lon, elevation=elev)
point.time = datetime.now()
self.gpx_segment.points.append(point)
self.num_points += 1
self.show()
def reset_list1(self):
self.listCones1.current_cone = 0
self.lists[0].setCurrentRow(0)
def reset_list2(self):
self.listCones2.current_cone = 0
self.lists[1].setCurrentRow(0)
def reset_list3(self):
self.listCones3.current_cone = 0
self.lists[2].setCurrentRow(0)
def reset_list4(self):
self.listCones4.current_cone = 0
self.lists[3].setCurrentRow(0)
def update_list(self, list):
self.vlists[list].clr_cones()
for i in range(0, self.lists[list].count()):
item = self.lists[list].item(i)
txt = item.text()
lat, lon = txt.split(", ")
self.vlists[list].add_cone(lat, lon, float(self.txtRange.text()))
def add_point(self, list, add):
self.lists[list].insertItem(self.lists[list].currentRow()+add, "%11.7f, %11.7f" % (self.latitude, self.longitude))
self.saves[list].show()
self.update_list(list)
def del_point(self, list):
listItems = self.lists[list].selectedItems()
if not listItems: return
for item in listItems:
self.lists[list].takeItem(self.lists[list].row(item))
self.saves[list].show()
self.update_list(list)
def save_list(self, list):
filename = self.labels[list].text()
if filename == "":
filename = self.write_dialog()
if filename == "":
return
filename = path.basename(filename)
self.labels[list].setText(filename)
self.vlists[list].save_list(filename)
self.saves[list].hide()
def add_point1(self):
self.add_point(0, 1)
def del_point1(self):
self.del_point(0)
def ins_point1(self):
self.add_point(0, 0)
def save_list1(self):
self.save_list(0)
def add_point2(self):
self.add_point(1, 1)
def del_point2(self):
self.del_point(1)
def ins_point2(self):
self.add_point(1, 0)
def save_list2(self):
self.save_list(1)
def add_point3(self):
self.add_point(2, 1)
def del_point3(self):
self.del_point(2)
def ins_point3(self):
self.add_point(2, 0)
def save_list3(self):
self.save_list(2)
def add_point4(self):
self.add_point(3, 1)
def del_point4(self):
self.del_point(3)
def ins_point4(self):
self.add_point(3, 0)
def save_list4(self):
self.save_list(3)
def save_config(self):
with open('config.yaml', 'w') as f:
config = {}
if gpsd_host != "localhost":
config['gpsd_host'] = gpsd_host
config['lists'] = []
for i in range(0, 4):
if self.labels[i].text() != "":
self.save_list(i)
config['lists'].append( self.labels[i].text() )
f.write(yaml.dump(config))
f.close()
def save_log(self):
if self.num_points:
log = open(strftime("logs/way-%Y%m%d-%H%M.gpx"), 'w')
log.write(self.gpx.to_xml())
log.close()
def closeEvent(self, event):
self.stop_thread()
event.accept()
sys.exit(0)
def exit_button(self):
self.stop_thread()
sys.exit(0)
if __name__ == '__main__':
app = QApplication(sys.argv)
window = ConesWindow()
window.show()
config = []
if path.isfile('config.yaml'):
with open('config.yaml') as f:
config = yaml.load(f, Loader=yaml.FullLoader)
if 'gpsd_host' in config:
gpsd_host = config['gpsd_host']
if len(sys.argv[1:]):
window.load_cones(sys.argv[1:])
elif 'lists' in config:
window.load_cones(config['lists'])
window.start_thread()
ret = app.exec_()
sys.exit(ret)