52 lines
1.8 KiB
Python
52 lines
1.8 KiB
Python
# ---------------------------------------------------------------------------
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# GNSS Lese-Thread
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# ---------------------------------------------------------------------------
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import socket
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import serial
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from PyQt5.QtCore import QThread, pyqtSignal
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from ubx import UbxPacketizer, build_poll, UBX_CLASS_NAV, UBX_ID_NAV_SAT, UBX_ID_NAV_DOP, extract_satellites
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class GnssReader(QThread):
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satellites_updated = pyqtSignal(dict)
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error_occurred = pyqtSignal(str)
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connected = pyqtSignal(str)
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def __init__(self, transport_factory):
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super().__init__()
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self._factory = transport_factory
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self._running = False
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self._transport = None
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self.packetizer = UbxPacketizer()
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def run(self):
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self._running = True
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buf = b""
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try:
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self._transport = self._factory()
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self.connected.emit("Verbunden")
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while self._running:
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poll_msg = build_poll(UBX_CLASS_NAV, UBX_ID_NAV_SAT)
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self._transport.write(poll_msg)
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poll_msg = build_poll(UBX_CLASS_NAV, UBX_ID_NAV_DOP)
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self._transport.write(poll_msg)
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chunk = self._transport.read(512)
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frames = self.packetizer.on_recv(chunk)
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res = extract_satellites(frames)
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if 'sat' in res:
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self.satellites_updated.emit(res)
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if 'dop' in res:
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self.satellites_updated.emit(res)
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except (serial.SerialException, OSError, ConnectionRefusedError,
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socket.timeout, socket.gaierror) as exc:
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self.error_occurred.emit(str(exc))
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finally:
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if self._transport:
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self._transport.close()
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def stop(self):
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self._running = False
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self.wait(3000)
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