Initial commit of files

Projects/GPS/etc/default/gpsd

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+# Default settings for the gpsd init script and the hotplug wrapper.
+
+# Start the gpsd daemon automatically at boot time
+START_DAEMON="true"
+
+# Use USB hotplugging to add new USB devices automatically to the daemon
+USBAUTO="true"
+
+# Devices gpsd should collect to at boot time.
+# They need to be read/writeable, either by user gpsd or the group dialout.
+DEVICES="/dev/ttyACM0"
+
+# Other options you want to pass to gpsd
+GPSD_OPTIONS="-G"

Projects/GPS/python/setup.sh

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+#!/bin/sh
+
+sudo -H pip3 install gps serial pynmea2

Projects/GPS/python/test.py

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+#! /usr/bin/python3
+ 
+from gps import *
+import time
+    
+gpsd = gps(mode=WATCH_ENABLE|WATCH_NEWSTYLE) 
+print('latitude\tlongitude\ttime utc\t\taltitude\tepv\tept\tspeed\tclimb') # '\t' = TAB to try and output the data in columns.
+   
+try:
+ 
+ 
+    while True:
+        report = gpsd.next() #
+        if report['class'] == 'TPV':
+            out = "" 
+            for i in ['lat','lon','time','alt','epv','ept','speed','climb']:
+                out += str(getattr(report,i,0.0)) + "\t"
+            print(out)
+ 
+        time.sleep(1) 
+ 
+except (KeyboardInterrupt, SystemExit): #when you press ctrl+c
+    print("Done.\nExiting.")
+

Projects/GPS/python/test1.csv

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+42.521985, -83.237700, 10, 0

Projects/GPS/python/waypoint_alert.py

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+#! /usr/bin/python3
+
+import os
+import sys
+import getopt
+import csv
+
+from math import *
+from gps import *
+from time import strftime, sleep
+
+import RPi.GPIO as GPIO
+
+##############################################################################
+# sound stuff
+##############################################################################
+
+import os
+from sys import platform as _platform
+
+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 + " &"
+  os.system(cmd)
+
+##############################################################################
+# buzzer stuff
+##############################################################################
+
+# https://www.instructables.com/Raspberry-Pi-Tutorial-How-to-Use-a-Buzzer/
+
+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)
+  play_sound("alert.wav")
+
+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()
+
+##############################################################################
+# 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 haversine(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])
+
+  # haversine formula
+  dlon = lon2 - lon1
+  dlat = lat2 - lat1
+  a = sin(dlat/2)**2 + cos(lat1) * cos(lat2) * sin(dlon/2)**2
+  c = 2 * asin(sqrt(a))
+
+  # 6367 km is the radius of the Earth
+  return earth_radius * c
+
+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))
+    
+  dist = f1 * earth_radius * sqrt(top/bot)
+    
+  return dist
+
+##############################################################################
+# virtual cones
+##############################################################################
+
+# node from csv (each line is lat, long, distance, next code# (optional)):
+# 42.522040, -83.237594, 5, 1
+
+def read_csv(csv_file):
+  file_csv = open(csv_file)
+  data_csv = csv.reader(file_csv)
+  virtual_cones = list(data_csv)
+  total_cones = len(virtual_cones)
+  print(csv_file, total_cones)
+#  print(virtual_cones)
+  return virtual_cones
+
+##############################################################################
+# main
+##############################################################################
+
+def main(argv):
+  virtual_list = [[],[],[],[],[],[],[],[],[]]
+  virtual_count = 0
+  current_cone = [0,0,0,0,0,0,0,0]
+  total_cones = [0,0,0,0,0,0,0,0]
+
+  try:
+    os.mkdir("logs")
+  except:
+    pass
+
+  log = open(strftime("logs/way-%Y%m%d-%H%M.log"), 'a')
+  log.write("Time,Latitude,Longitude,Heading,Speed,Description\n")
+
+  try:
+      opts, args = getopt.getopt(argv,"",["",""])
+  except getopt.GetoptError:
+      print(sys.argv[0], '<csvfile>')
+      sys.exit(2)
+#  for opt, arg in opts:
+#     nop
+
+  # slurp in files for each list
+  for arg in args:
+    virtual_cones = read_csv(arg)
+    current_cone[virtual_count] = 0
+    total_cones[virtual_count] = 0
+    virtual_list[virtual_count] = virtual_cones
+    virtual_count = virtual_count + 1
+
+#  print(virtual_list)
+  buzz_no = 0
+  max_buzz = 3
+
+  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(time+","+str(lat)+","+str(lon)+","+str(heading)+","+str(speed))
+#        print("Position: %f, %f, %d" % (lat, lon, speed))
+      
+        # walk through each list
+        for i in range(0, virtual_count):
+          # end of list?
+          if current_cone[i] >= total_cones[i]:
+            current_cone[i] = 0
+          
+          # check first node for reset
+          if current_cone[i]:
+            # node from csv (each line is lat, long, distance, next code#)
+            row = virtual_list[i][0]
+            cone_lat = float(row[0])
+            cone_lon = float(row[1])
+            cone_dist = float(row[2])
+            dist = haversine(lat, lon, cone_lat, cone_lon) / 1000.0
+            if dist < cone_dist:
+              current_cone[i] = 0
+          
+          # node from csv (each line is lat, long, distance, next code#)
+          row = virtual_list[i][current_cone[i]]
+          cone_lat = float(row[0])
+          cone_lon = float(row[1])
+          cone_dist = float(row[2])
+            
+          # next cone
+          cone_next = current_cone[i] + 1
+          try:
+            cone_next = int(row[3])
+          except:
+            cone_next = 0
+          
+          # distance between vehicle and cone
+#          dist = haversine(lat, lon, cone_lat, cone_lon)
+          dist = roydistance(lat, lon, cone_lat, cone_lon)
+                    
+          # check distance trigger
+          if (dist < cone_dist and buzz_no < max_buzz):
+            log.write(".Waypoint="+str(i)+":"+str(current_cone[i]))
+            print("Waypoint %d:%d reached: %f, %f, %d" % (i, current_cone[i], lat, lon, speed))
+            buzzer_run()
+            current_cone[i] = cone_next
+            buzz_no = buzz_no + 1
+          else:
+            buzz_no = 0
+        log.write("\n")
+    
+#    time.sleep(0.2)
+ 
+  except (KeyboardInterrupt, SystemExit): #when you press ctrl+c
+    log.close()
+    print("Done.\nExiting.")
+
+main(sys.argv[1:])

Projects/GPS/setup.sh

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+#!/bin/sh
+
+sudo apt-get install -y gpsd gpsd-clients gpsbabel libgps-dev python-gps
+
+sudo cp etc/default/gpsd /etc/default/gpsd