#!/usr/bin/env python
import sys
from PyQt4.QtCore import *
from PyQt4.QtGui import *
from grass.script.core import *
from GPS_ui import Ui_Form
import os
from gpst import *
import socket
from PyQt4.QtWebKit import *
apppath = os.path.abspath(os.path.dirname(sys.argv[0]))
#webpage = 'http://localhost/~tiamo/ka-map/htdocs/index_aqua.html'
webpage = '%s/gps/gpsy.html' % (apppath)
latfile = '%s/gps/lat.xml' % (apppath)
lonfile = '%s/gps/lon.xml' % (apppath)
kmlfile = '%s/gps/nmea.kml' % (apppath)
class GpsClass(QWidget, Ui_Form):
def __init__(self):
QWidget.__init__(self)
self.setupUi(self)
self.GPSlatitude = ""
self.thread = GpsT()
self.thread.start()
self.Rangechange = 0
self.Zoomchange = 0
self.Rollchange = 0
self.Pitchchange = 0
self.Headchange = 0
self.Vtypechange = ''
self.connect(self.StartGps, SIGNAL("clicked()"),
self.thread.toggle)
self.connect(self.thread, SIGNAL("gpslat"),
self.setCrossClassLat)
self.connect(self.thread, SIGNAL("gpslon"),
self.setCrossClassLon)
self.connect(self.thread, SIGNAL("gpssat"),
self.setCrossClassSat)
self.connect(self.thread, SIGNAL("gpseph"),
self.setCrossClassEph)
self.connect(self.thread, SIGNAL("gpsaltitude"),
self.setCrossClassAltitude)
self.connect(self.thread, SIGNAL("gpsclimb"),
self.setCrossClassClimb)
self.connect(self.thread, SIGNAL("gpstime"),
self.setCrossClassTime)
self.connect(self.thread, SIGNAL("gpsspeed"),
self.setCrossClassSpeed)
self.connect(self.thread, SIGNAL("gpsepv"),
self.setCrossClassEpv)
self.connect(self.thread, SIGNAL("gpsept"),
self.setCrossClassEpt)
self.connect(self.thread, SIGNAL("utctime"),
self.setCrossClassUtctime)
self.connect(self.thread, SIGNAL("gpstrack"),
self.setCrossClassTrack)
self.connect(self.thread, SIGNAL("gpseps"),
self.setCrossClassEps)
self.connect(self.thread, SIGNAL("gpsepd"),
self.setCrossClassEpc)
self.connect(self.thread, SIGNAL("gpsepc"),
self.setCrossClassEpd)
self.connect(self.thread, SIGNAL("gpspdop"),
self.setCrossClassPdop)
self.connect(self.thread, SIGNAL("gpshdop"),
self.setCrossClassHdop)
self.connect(self.thread, SIGNAL("gpstdop"),
self.setCrossClassTdop)
self.connect(self.thread, SIGNAL("gpsvdop"),
self.setCrossClassVdop)
self.connect(self.thread, SIGNAL("gpsgdop"),
self.setCrossClassGdop)
url = QUrl(webpage)
self.WebMap.load(url)
self.WebMap.show()
frame = self.WebMap.page().mainFrame()
def setChangeRoll(self, Rollchange):
self.Rollchange = Rollchange
def setChangeZoom(self, Zoomchange):
self.Zoomchange = Zoomchange
def setChangeRange(self, Rangechange):
self.Rangechange = Rangechange
def setChangePitch(self, Pitchchange):
self.Pitchchange = Pitchchange
def setChangeHead(self, Headchange):
self.Headchange = Headchange
def setChangeVtype(self, Vtypechange):
self.Vtypechange = Vtypechange
def setCrossClassLat(self, value):
#global CrossClassLat
self.CrossClassLat = value
self.GPSlat.setText(self.CrossClassLat)
if self.Headchange is not None:
if self.GPSSend.isChecked():
if self.Headchange == str('Manual'):
heads = self.HandlingSlider.value()
if self.Headchange == str('Auto'):
heads = self.CrossClassTrack
ossimxml = '<Set target=":navigator" vref="wgs84"><%s>\
<longitude>%s</longitude><latitude>%s</latitude>\
<altitude>%s</altitude><heading>%s</heading><pitch>%s</pitch>\
<roll>%s</roll><altitudeMode>absolute</altitudeMode><range>%s</range>\
</%s></Set>' % (self.Vtypechange, unicode(self.CrossClassLon),
unicode(self.CrossClassLat), self.Zoomchange, self.Headchange,
self.Pitchchange, self.Rollchange, self.Rangechange, self.Vtypechange)
ossim = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
ossim.connect(("127.0.0.1", 7000))
ossim.send(ossimxml)
ossim.close()
print ossimxml
f = open(lonfile, "w")
f.write(unicode(self.CrossClassLon))
f.close
g = open(latfile, "w")
g.write(unicode(self.CrossClassLat))
g.close
h = open(kmlfile, "w")
output = """<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://earth.google.com/kml/2.0">
<Placemark>
<name>Place</name>
<Style id="randomColorIcon">
<IconStyle>
<color>ff00ff00</color>
<colorMode>random</colorMode>
<scale>1.1</scale>
<Icon>
<href>red_circle.png</href>
</Icon>
</IconStyle>
</Style>
<description><![CDATA[<table border="1"><tr>
<td>Date</td><td> %s</td>
</tr></table>]]></description>
<LookAt>
<longitude>%s</longitude>
<latitude>%s</latitude>
<range>200</range>
<tilt>0</tilt>
<heading>0</heading>
</LookAt>
<Point>
<coordinates>%s,%s,0</coordinates>
</Point>
</Placemark>
</kml>""" % (unicode(self.CrossClassTime), unicode(self.CrossClassLon),
unicode(self.CrossClassLat), unicode(self.CrossClassLon),
unicode(self.CrossClassLat))
lonlat = unicode(self.CrossClassLon)+' '+unicode(self.CrossClassLat)
h.write(output)
h.close
coordsfile = apppath+'/lonlatfile'
f = open(coordsfile, "w")
f.write(lonlat)
f.flush()
f.close
def setCrossClassLat2(self, value):
self.CrossClassLat = value
self.GPSlat.setText(self.CrossClassLat)
#if self.actionGPS.isChecked():
# self.Lat.setText(self.CrossClassLat)
def setCrossClassLon(self, value):
self.CrossClassLon = value
self.GPSlon.setText(self.CrossClassLon)
#if self.actionGPS.isChecked():
# self.Lon.setText(self.CrossClassLon)
def setCrossClassSat(self, value):
self.CrossClassSat = value
self.Satellite.setText(self.CrossClassSat)
def setCrossClassEph(self, value):
self.CrossClassEph = value
self.GPSEph.setText(self.CrossClassEph)
def setCrossClassAltitude(self, value):
self.CrossClassAltitude = value
self.GPSAltitude.setText(self.CrossClassAltitude)
def setCrossClassClimb(self, value):
self.CrossClassClimb = value
self.GPSClimb.setText(self.CrossClassClimb)
def setCrossClassTime(self, value):
self.CrossClassTime = value
self.GPSTime.setText(self.CrossClassTime)
def setCrossClassSpeed(self, value):
self.CrossClassSpeed = value
self.GPSSpeed.setText(self.CrossClassSpeed)
def setCrossClassEpv(self, value):
self.CrossClassEpv = value
self.GPSEpv.setText(self.CrossClassEpv)
def setCrossClassEpt(self, value):
self.CrossClassEpt = value
self.GPSEpt.setText(self.CrossClassEpt)
def setCrossClassUtctime(self, value):
self.CrossClassUtctime = value
self.GPSUtctime.setText(self.CrossClassUtctime)
def setCrossClassTrack(self, value):
self.CrossClassTrack = value
self.GPSTrack.setText(self.CrossClassTrack)
def setCrossClassEpd(self, value):
self.CrossClassEpd = value
self.GPSEpd.setText(self.CrossClassEpd)
def setCrossClassEps(self, value):
self.CrossClassEps = value
self.GPSEps.setText(self.CrossClassEps)
def setCrossClassEpc(self, value):
self.CrossClassEpc = value
self.GPSEpc.setText(self.CrossClassEpc)
def setCrossClassPdop(self, value):
self.CrossClassPdop = value
self.GPSPdop.setText(self.CrossClassPdop)
def setCrossClassHdop(self, value):
self.CrossClassHdop = value
self.GPSHdop.setText(self.CrossClassHdop)
def setCrossClassTdop(self, value):
self.CrossClassTdop = value
self.GPSTdop.setText(self.CrossClassTdop)
def setCrossClassVdop(self, value):
self.CrossClassVdop = value
self.GPSVdop.setText(self.CrossClassVdop)
def setCrossClassGdop(self, value):
self.CrossClassGdop = value
self.GPSGdop.setText(self.CrossClassGdop)