304 lines
8.8 KiB
Python
Executable File
304 lines
8.8 KiB
Python
Executable File
#! /usr/bin/python3
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import os
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import sys
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import yaml
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from math import radians
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from datetime import datetime
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from time import strftime, time
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from gps import *
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import gpxpy
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from PySide2.QtGui import *
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from PySide2.QtWidgets import QApplication, QMainWindow, QGraphicsEllipseItem, QFileDialog, QGraphicsScene, QGraphicsProxyWidget
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from PySide2.QtCore import QObject, Slot, Signal, QThread, QDir, QRect
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import matplotlib as mp
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import matplotlib.pyplot as plot
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from matplotlib.backends.backend_qt5agg import FigureCanvasQTAgg as FigureCanvas
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from matplotlib.figure import Figure
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from matplotlib.backends.qt_compat import QtCore, QtWidgets
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from matplotlib import cm
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from MainWindow import Ui_MainWindow
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import maidenhead as mh
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##############################################################################
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# log
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##############################################################################
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#if not os.path.isdir("logs"):
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# os.mkdir("logs")
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fix_status = [
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'Normal', 'DGPS', 'RTK FixPt', 'RTK Float', 'DR Fix', 'GNSSDR', 'Surveyed', 'Simulated', 'P(Y) Fix'
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];
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fix_mode = [
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'0=None', '1=No', '2=2D', '3=3D'
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];
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gpsd_host="127.0.0.1"
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gpsd_report = ()
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##############################################################################
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# thread
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##############################################################################
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class DataSignal(QObject):
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sig = Signal(int)
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class DataThread(QThread):
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def __init__(self, parent=None):
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super(DataThread, self).__init__(parent)
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self.new_data = DataSignal()
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def run(self):
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global gpsd_host, gpsd_report
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gpsd = gps(host=gpsd_host, mode=WATCH_ENABLE|WATCH_NEWSTYLE)
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while not self.isInterruptionRequested():
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gpsd_report = gpsd.next() # wait for next packet
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self.new_data.sig.emit(1)
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def stop(self):
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self.requestInterruption()
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self.wait()
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##############################################################################
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# plot
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##############################################################################
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##############################################################################
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# main
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##############################################################################
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class MainWindow(QMainWindow, Ui_MainWindow):
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def __init__(self, *args, obj=None, **kwargs):
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super(MainWindow, self).__init__(*args, **kwargs)
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self.setupUi(self)
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class QtGPSWindow(MainWindow):
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def __init__(self, *args, obj=None, **kwargs):
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super(QtGPSWindow, self).__init__(*args, **kwargs)
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self.exitButton.clicked.connect(self.exit_button)
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self.toggleLogging.clicked.connect(self.toggle_logging)
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# GPS log
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self.gpx = gpxpy.gpx.GPX()
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# Create first track in our GPX:
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self.gpx_track = gpxpy.gpx.GPXTrack()
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self.gpx.tracks.append(self.gpx_track)
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# Create first segment in our GPX track:
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self.gpx_segment = gpxpy.gpx.GPXTrackSegment()
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self.gpx_track.segments.append(self.gpx_segment)
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self.log_enabled = 0
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self.dirname = ""
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self.num_points = 0
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self.my_thread = DataThread()
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self.txtSatellites.setReadOnly(True)
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self.black = QColor(0,0,0)
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self.gray = QColor(128,128,128)
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self.red = QColor(255,0,0)
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self.orange = QColor(255,80,0)
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self.yellow = QColor(255,211,0)
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self.green = QColor(0,255,0)
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self.blue = QColor(0,0,255)
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self.scene = QtWidgets.QGraphicsScene()
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self.viewSatellites.setScene(self.scene)
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self.viewSatellites.scale(0.65, 0.65)
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@Slot(list)
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def update_data(self, x):
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global gpsd_report
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report = gpsd_report
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if report['class'] == 'TPV':
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status = getattr(report, 'status', 0)
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mode = getattr(report, 'mode', 0)
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time = getattr(report, 'time', 0)
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lat = getattr(report, 'lat', 0.0)
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lon = getattr(report, 'lon', 0.0)
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elev = getattr(report, 'altHAE', 0.0) # meters
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heading = getattr(report, 'track', 0.0)
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speed = getattr(report, 'speed', 0.0) # m/sec
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self.txtStatus.setText(fix_status[status])
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self.txtMode.setText(fix_mode[mode])
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self.txtTime.setText(time)
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self.txtLatitude.setText("%10.7f" %(lat))
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self.txtLongitude.setText("%10.7f" % (lon))
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self.txtAltitude.setText("%7.2f" % (elev))
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self.txtHeading.setText("%7.2f" % (heading))
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self.txtSpeed.setText("%7.2f" % (speed))
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self.txtGrid.setText(mh.to_maiden(lat, lon))
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if self.log_enabled:
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point = gpxpy.gpx.GPXTrackPoint(lat, lon, elevation=elev)
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point.time = datetime.now()
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self.gpx_segment.points.append(point)
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self.num_points += 1
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elif report['class'] == 'SKY':
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self.txtHDOP.setText(str(getattr(report, 'hdop', 0.0)))
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self.txtVDOP.setText(str(getattr(report, 'vdop', 0.0)))
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satellites = getattr(report, 'satellites')
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txt = "%4s %4s %4s %3s %1s" % ('PRN', 'Azim', 'Elev', 'SNR', 'Used')
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self.txtSatellites.setTextColor(self.black)
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self.txtSatellites.setFontWeight(QFont.Bold)
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self.txtSatellites.setText(txt)
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prns = []
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radius = []
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theta = []
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colors = []
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markers = []
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for (i, satellite) in enumerate(satellites):
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prn = satellite['PRN']
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azim = satellite['az']
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elev = satellite['el']
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snr = satellite['ss']
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used = satellite['used']
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# health = satellite['health']
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# don't show if not visible
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if azim >= 360 or elev < -10 or elev > 90:
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continue;
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cname = '#000000'
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color = self.black
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if snr < 12:
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cname = '#808080'
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color = self.gray
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elif snr < 30:
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cname = '#ff0000'
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color = self.red
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elif snr < 36:
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cname = '#ffd300'
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color = self.yellow
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elif snr < 42:
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color = '#00ff00'
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color = self.green
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else:
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color = '#0000ff'
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color = self.blue
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txt = "%4u %4u %4u %3u %1u" % (prn, azim, elev, snr, used)
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self.txtSatellites.setTextColor(color)
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if used:
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self.txtSatellites.setFontWeight(QFont.Bold)
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else:
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self.txtSatellites.setFontWeight(QFont.Normal)
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self.txtSatellites.append(txt)
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prns.append(prn)
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theta.append(radians(float(azim)))
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radius.append(float(elev))
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colors.append(cname)
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if used:
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markers.append(ord('P'))
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else:
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markers.append(ord('+'))
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area = 100
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figure = Figure()
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polar = figure.add_subplot(111, projection='polar')
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polar.scatter(theta, radius, c=colors, s=area, cmap=None, alpha=0.75)
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polar.set_rorigin(90.0)
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polar.set_xticklabels([])
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polar.set_yticklabels([])
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for i, prn in enumerate(prns):
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polar.annotate(str(prn), (theta[i], radius[i]))
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polar.set_theta_direction(-1)
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polar.set_theta_zero_location('N', offset=0)
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canvas = FigureCanvas(figure)
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self.scene.addWidget(canvas)
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h = float(self.scene.height()) / 2.0
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w = float(self.scene.width()) / 2.0
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self.viewSatellites.centerOn(w,h)
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self.viewSatellites.show()
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self.show()
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def toggle_logging(self):
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if self.log_enabled:
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self.log_enabled = 0
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self.dir_dialog()
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self.save_log()
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self.toggleLogging.setText("Start")
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else:
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self.log_enabled = 1
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self.toggleLogging.setText("Stop")
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def dir_dialog(self):
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dirdialog = QFileDialog(self)
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dirdialog.setDirectory(QDir.currentPath())
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dirdialog.setDefaultSuffix("gpx")
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dirdialog.setFileMode(QFileDialog.Directory)
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dirdialog.setOption(QFileDialog.ShowDirsOnly, True)
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selected = dirdialog.exec()
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if selected:
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dirname = dirdialog.selectedFiles()[0]
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# self.outputDir.setText(dirname)
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self.dirname = dirname
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def save_log(self):
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if self.num_points:
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self.num_points = 0
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log = open(strftime(self.dirname + "/track-%Y%m%d-%H%M.gpx"), 'w')
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log.write(self.gpx.to_xml())
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log.close()
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self.gpx_segment = gpxpy.gpx.GPXTrackSegment()
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def start_thread(self):
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if not self.my_thread.isRunning():
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self.my_thread.new_data.sig.connect(self.update_data)
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self.my_thread.start()
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self.my_thread.setTerminationEnabled(True)
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def stop_thread(self):
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self.my_thread.stop()
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self.my_thread.wait(3)
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self.save_log()
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def closeEvent(self, event):
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self.stop_thread()
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event.accept()
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sys.exit(0)
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def exit_button(self):
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self.stop_thread()
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if self.log_enabled:
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self.toggle_logging()
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self.log_enabled = 0
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sys.exit(0)
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if os.path.isfile('config.yaml'):
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with open('config.yaml') as f:
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config = yaml.load(f, Loader=yaml.FullLoader)
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if 'host' in config:
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gpsd_host = config['host']
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if __name__ == '__main__':
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app = QApplication(sys.argv)
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window = QtGPSWindow()
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window.show()
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window.start_thread()
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ret = app.exec_()
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sys.exit(ret)
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