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#!/usr/bin/python
#UDP listener
import signal,sys
def signal_handler(signal, frame):
insock.close()
print "wim: tomorrowtheground: interrupted"
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
from latLng import *
from layers import *
from xml2obj import *
from logger import *
if len(sys.argv)<2:
print "wim: usage: tomorrowtheground configfile [-D debug] [-L log] [-T test]"
sys.exit(0)
Debug=False
test=False
Log=False
if len(sys.argv)>2:
if sys.argv[2]=="-D" or sys.argv[2]=="-d":
Debug=True
print "wim: DEBUG mode"
if len(sys.argv)>3:
if sys.argv[3]=="-L" or sys.argv[3]=="-l":
Log=True
print "wim: gps LOG mode"
if len(sys.argv)>4:
if sys.argv[4]=="-T" or sys.argv[4]=="-t":
test=True
print "wim: gps TEST mode"
doc=xml2obj(open(sys.argv[1]))
gpslayers=[]
#catch invalid xml
try:
for i in doc.gps.index:
#catch invalid xml
try:
g=indexlayer(i.file,i.ll1,i.ll2)
for t in i.trigger:
g.triggers.append(trigger(int(t.id),t.command,t.param))
gpslayers.append(g)
except:
print "wim: error parsing xml index entry"
except:
print "wim: no index layers found"
#catch invalid xml
try:
for i in doc.gps.scale:
#catch invalid xml
try:
g=scalelayer(i.file,i.ll1,i.ll2)
g.setcommand(i.command)
gpslayers.append(g)
except:
print "wim: error parsing xml index entry"
except:
print "wim: no scale layers found"
from gpspoller import *
gpsp=""
try:
gpsp = GpsPoller(doc.gpsdevice,test)
gpsp.start()
except:
print "wim: gps device not found"
from btscan import *
scan=scanner("127.0.0.1",5401,False)
for t in doc.bt.trigger:
scan.d.dm.triggers[t.id]=(t.command,t.param)
scan.start()
logger=None
if Log:
logger=log("gpslog")
import socket
GUI_IP="0.0.0.0"
GUI_PORT=5400
insock = socket.socket( socket.AF_INET, socket.SOCK_DGRAM )
insock.bind( (GUI_IP,GUI_PORT) )
insock.settimeout(0.01) #non blocking, this sets the frame rate of checking
PD_IP="127.0.0.1"
PD_PORT=5401
outsock = socket.socket( socket.AF_INET,socket.SOCK_DGRAM )
pos=latLng()
posChanged=False
gpsfix=False
while True:
data=""
try:
data, addr = insock.recvfrom(128)
if Debug:
print "wim: received:",data
pos.parse(data)
posChanged=True
except:
nothing=None
if gpsp!="": #gps available
if gpsp.fix>1:
gpsfix=True
outsock.sendto( "gps status 1\n", (PD_IP, PD_PORT) )
if gpsp.fix<2:
gpsfix=False
outsock.sendto( "gps status 0\n", (PD_IP, PD_PORT) )
check=gpsp.check()
if check!=False:
if Debug:
print "wim: received from gps",check[0],check[1]
outsock.sendto("gps data "+str(check[0])+" "+str(check[1])+"\n",(PD_IP, PD_PORT) )
pos=latLng(check[0],check[1])
posChanged=True
if posChanged:
posChanged=False
if Log:
logger.log(str(pos.lng)+","+str(pos.lat))
for layer in gpslayers:
r=layer.checkcoord(pos) #returns a message or None
if r!=None:
if Debug:
print "wim: sending:",str(r[0]),str(r[1])
#pd needs \n at end of message
outsock.sendto( str(r[0])+' '+str(r[1])+'\n', (PD_IP, PD_PORT) )
time.sleep(0.05)
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