59 lines
2.1 KiB
Python
59 lines
2.1 KiB
Python
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import serial
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import pynmea2
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import time
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from .gnss_utils import current_utc_time
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class GNSSModule:
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"""
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Основной класс для работы с GNSS на Raspberry Pi.
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Поддерживает GPS, GLONASS, BeiDou через NMEA-формат.
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"""
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def __init__(self, port='/dev/ttyAMA0', baudrate=9600, timeout=1):
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self.port = port
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self.baudrate = baudrate
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self.timeout = timeout
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self.serial_conn = None
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self.last_position = None
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def connect(self):
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"""Подключение к GNSS модулю"""
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try:
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self.serial_conn = serial.Serial(
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port=self.port,
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baudrate=self.baudrate,
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timeout=self.timeout
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)
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print(f"GNSS подключен на {self.port} @ {self.baudrate} бод")
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except Exception as e:
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print(f"Ошибка подключения GNSS: {e}")
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raise e
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def read_position(self):
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"""
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Считывает NMEA строку, парсит координаты.
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Возвращает словарь с lat, lon, alt, timestamp
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"""
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if self.serial_conn is None or not self.serial_conn.is_open:
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raise ConnectionError("GNSS модуль не подключен")
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try:
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line = self.serial_conn.readline().decode('ascii', errors='replace')
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if line.startswith('$G'):
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msg = pynmea2.parse(line)
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if isinstance(msg, pynmea2.GGA):
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self.last_position = {
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'lat': msg.latitude,
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'lon': msg.longitude,
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'alt': msg.altitude,
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'timestamp': current_utc_time()
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}
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return self.last_position
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except pynmea2.ParseError:
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pass
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return None
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def close(self):
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if self.serial_conn and self.serial_conn.is_open:
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self.serial_conn.close()
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print("GNSS соединение закрыто")
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