diff --git a/Docs/start.md b/Docs/start.md new file mode 100644 index 0000000..cd2fc6e --- /dev/null +++ b/Docs/start.md @@ -0,0 +1,356 @@ +# Оффлайн-карта с треком по WebSocket + +**Стек:** Python (FastAPI) + WebSocket + React (Leaflet + Tauri) +**Цель:** хранить карту полностью локально на устройстве и в реальном времени отображать движение по координатам GNSS. + +## 1. Цели и общие требования + +### 1.1. Функциональные цели + +1. Отображать карту местности **без доступа к интернету**. +2. Получать от устройства GNSS координаты в реальном времени. +3. Передавать координаты в клиентское приложение через **WebSocket**, без периодических запросов. +4. В React-приложении: + 1. показывать текущую позицию на карте. + 2. рисовать трек движения (историю точек). + 3. при необходимости в будущем — отображать дополнительные слои (контуры поля, границы, маршруты). + +### 1.2. Нефункциональные требования + +1. **Полный оффлайн:** + 1. ни карта, ни координаты не должны требовать внешних сервисов. + 2. все файлы тайлов карты находятся локально на диске устройства. +2. **Устойчивость:** + 1. временные потери GNSS-сигнала не должны ломать интерфейс. + 2. разрыв WebSocket-соединения не должен ломать отображение данных с фронта. +3. **Расширяемость:** + 1. добавлять новые типы данных (например, скорость, курс, высоту). + 2. подключать реальные GNSS-устройства вместо генераторов. + 3. добавлять слои на карту: полигоны, точки, маршруты. +4. **Простота развёртывания:** + 1. backend и frontend должны запускаться стандартными командами. + 2. конфигурация (путь к карте, параметры GNSS) выносится в настройки. +## 2. Архитектура решения + +### 2.1. Высокоуровневая схема + +Система логически делится на три части: +1. **Сервис получения GNSS-данных (внутри backend)** + - модуль в Python, который: + 1. подключается к приёмнику GNSS. + 2. читает сырые данные. + 3. преобразует их в нормализованный формат (широта, долгота, метки времени). +2. **Backend-сервер (FastAPI)** + - HTTP-интерфейсы: + 1. выдача тайлов карты по пути вида `/tiles/zoom/x/y.png`. + 2. вспомогательные эндпоинты (health-check, конфигурация и т.п.). + - WebSocket-интерфейс: + 1. постоянное соединение с клиентом. + 2. отправка координат в режиме “push”. + - работа с файловой системой: + 1. поиск нужных тайлов. + 2. выдача заглушки при отсутствии тайла. +3. **Клиент (React + Leaflet)** + - модуль карты: + 1. инициализацирует Leaflet-карту. + 2. использует локальный URL тайлов (через backend). + - модуль трека: + 1. поддерживает подключение по WebSocket. + 2. хранит массив полученных точек. + 3. обновляет отображение карты при получении новых данных. +#### Связи: +1. GNSS → модуль GNSS backend’а → WebSocket → React → Leaflet. +2. React → HTTP (через Leaflet) → backend → файловая система с тайлами. +### 2.2. Логические компоненты + +**Backend:** +1. Модуль инициализации приложения FastAPI. +2. Модуль выдачи тайлов: + 1. логика построения пути к тайлу по `{zoom}/{x}/{y}`. + 2. проверка наличия файла. + 3. выдача или оригинального тайла, или заглушки. +3. Модуль GNSS: + 1. абстракция источника координат. + 2. возможность переключить данный источник: + 1. на реальное устройство. +4. Модуль WebSocket: + 1. управление подключениями клиентов. + 2. цикл отправки координат. + 3. обработка разрывов соединения и ошибок. +**Frontend:** +5. Модуль подключения WebSocket: + 1. открытие соединения. + 2. обработка входящих сообщений с координатами. + 3. восстановление соединения при разрыве. +6. Модуль управления треком: + 1. добавление точки в список. +7. Модуль карты: + 1. инициализация Leaflet-карты. + 2. настройка источника тайлов на локальный backend. + 3. отображение маркера последней точки. +## 3. Оффлайн-карта: концепция и хранение + +### 3.1. Формат карты + +В начальной версии планируется использовать **растровые тайлы**: +1. карта заранее разбивается на набор изображений (PNG или JPEG). +2. тайлы организованы в структуре каталогов по схеме: + 1. уровень масштабирования (zoom). + 2. координаты тайла по X и Y. +Преимущества: +3. Leaflet “из коробки” умеет работать с тайлами такого формата. +4. не требуется дополнительный сервер картографических данных — достаточно отдавать файлы по HTTP. +5. относительно просто генерировать карту для нужного региона с помощью внешних инструментов (QGIS, GDAL и др.). + +### 3.2. Структура хранения тайлов + +На уровне файловой системы тайлы лежат в диапазоне, например: + +1. `tiles/10/567/321.png` — тайл уровня зума 10, координаты X=567, Y=321. +2. `tiles/11/1134/643.png` — тот же район на другом зуме. + +Backend ничего не знает о том, как эти тайлы были созданы, он: + +1. получает значение zoom, x и y из URL. +2. строит путь к файлу. +3. проверяет наличие файла. +4. отдаёт файл, если он есть. +5. если файлы нет — отдаёт заранее подготовленную картинку-заглушку. + +Таким образом, карта является полностью статичной, а логика backend — максимально простой. + +### 3.3. Генерация и обновление карты + +Это отдельный процесс, который выполняется вне основной системы: +1. Выбирается необходимый регион (поля, районы полётов). +2. В GIS-инструменте формируется растровая подложка. +3. Эта подложка нарезается в тайлы нужных уровней масштабирования. +4. Готовый набор тайлов копируется на устройство в папку `tiles/`. + +В дальнейшем можно: + +1. обновлять карту, подменяя содержимое `tiles/`. +2. хранить несколько наборов карт (например, по сезонам) и включать нужный через конфиг. + +## 4. Работа с координатами и GNSS + +### 4.1. Источник данных + +Фактически координаты приходят либо: +1. от реального GNSS-приёмника, подключённого по: + 1. последовательному порту. + 2. USB. + 3. сетевому протоколу. +2. либо от программного симулятора, который генерирует “виртуальный маршрут”. + +Задача backend — предоставить единый интерфейс, не зависящий от конкретного железа. + +### 4.2. Нормализация координат + +Сырые данные могут быть в формате NMEA или другом специфичном виде. Модуль GNSS: + +1. парсит входные данные. +2. приводит координаты к стандартной системе: + 1. широта (latitude) в градусах. + 2. долгота (longitude) в градусах. + 3. опционально — высота, скорость, курс. +3. добавляет метку времени (например, UNIX timestamp или ISO-строку). +4. формирует структуру, удобную для отправки на фронт. + +Важно, чтобы координаты были в той системе, которую ожидает Leaflet (обычно WGS84). + +### 4.3. Частота обновления + +1. Модуль GNSS определяет: + 1. как часто появляются новые точки. + 2. как часто обновлять данные на фронте: + 3. возможен вариант “как пришло — так отправили”. + 4. либо накопление точек и отправка пачками (например, раз в секунду). + +Частота обновления — важный параметр, влияющий на: +1. плавность трека. +2. нагрузку на канал связи. +3. нагрузку на фронт. + +## 5. Потоки данных и жизненный цикл приложения + +### 5.1. Запуск backend + +1. При старте FastAPI: + 1. инициализирует конфигурацию (настройки путей, порты, параметры GNSS). + 2. проверяет наличие базовых директорий (`tiles/`, заглушка тайла). + 3. при необходимости пробует подключиться к GNSS-источнику. +2. Запускается HTTP-сервер: + 1. обслуживает выдачу тайлов. + 2. отвечает на запросы. + +### 5.2. Запуск frontend + +1. React-приложение загружается в оболочке Tauri (Бинарник) +2. После инициализации: + 1. открывается WebSocket-соединение с backend. + 2. инициализируется карта: + 1. начальный центр (по умолчанию либо по первой полученной точке). + 2. указание backend-урла тайлов. +3. При успешном подключении по WebSocket: + 1. приложение начинает получать координаты. + 2. каждая новая точка добавляется в список. + 3. карта обновляет положение маркера и линии трека. + +### 5.3. Реакция на ошибки и разрывы + +1. Если WebSocket-соединение закрывается: + 1. фронт может попытаться переподключиться через интервалы. + 2. на карте можно оставить последнюю известную позицию. +2. Если нет GNSS-данных: + 1. backend может отправлять специальные сообщения о состоянии (например, “нет сигнала”). + 2. фронт может отображать статичную карту без движения или соответствующее уведомление. +3. Если тайл для карты отсутствует: + 1. backend отдаёт заглушку. + 2. на карте вместо участка появляется условный “серый” квадрат, но интерфейс остаётся рабочим. + +## 6. Основные этапы разработки + +### Этап 1. Подготовка окружения и структуры проекта + +1. Создать общий репозиторий с двумя основными директориями: `backend` и `frontend`. +2. Настроить базовую систему сборки и запуска: + - для backend — запуск FastAPI через Uvicorn. + - для frontend — сборщик (Vite + Tauri). +### Этап 2. Скелет backend-приложения + +1. Инициализировать приложение FastAPI. +2. Добавить endpoint для проверки, что сервер поднялся. +3. Настроить CORS так, чтобы frontend мог связаться с backend в локальной разработке + +На этом этапе можно убедиться, что базовая связка “frontend - backend по HTTP” работает. + +### Этап 3. Механизм выдачи тайлов + +1. Определить директорию хранения тайлов (`tiles/`). +2. Реализовать логику извлечения тайла по запросу вида `/tiles/{zoom}/{x}/{y}.png`. +3. Добавить заглушку для отсутствующих тайлов. +4. Прогнать простой тест: вручную запросить существующий и несуществующий тайл и убедиться, что: + 1. первый отдаётся корректно. + 2. второй отдаёт заглушку. + +### Этап 4. Проработка GNSS-абстракции + +1. Определить интерфейс модуля “источник координат”: + 1. формат выдаваемых данных. + 2. тип возвращаемой структуры (координаты + время). +2. На этом этапе использовать **симулятор** вместо реального устройства: + 1. сделать виртуальную траекторию (линия, круг, восьмёрка и т.п.). + 2. выдавать новые точки с заданным интервалом. +3. Важно: модуль должен быть реализован так, чтобы позже его можно было легко заменить реализацией, работающей с реальным железом. + +### Этап 5. Добавление WebSocket-эндпоинта в backend + +1. Создать WebSocket-обработчик: + 1. принимать подключение от клиента. + 2. при подключении запускать цикл, в котором: + 1. берётся следующая точка из GNSS-источника. + 2. отправляется на клиента. +2. Обработать возможные сценарии: + 1. разрыв соединения клиентом. + 2. ошибки в процессе отправки. + 3. отключение GNSS-источника. + +На этом этапе backend уже умеет: + +1. выдавать тайлы. +2. в реальном времени отдавать поток координат любому подключенному клиенту по WebSocket. + +### Этап 6. Скелет frontend-приложения + +1. Инициализировать React-приложение. +2. Подготовить базовую структуру компонентов: + 1. основной компонент приложения. + 2. компонент карты. + 3. будущий модуль для WebSocket. +3. Настроить запуск фронта и убедиться, что базовый “каркас” работает. + +### Этап 7. Интеграция Leaflet в frontend + +1. Подключить Leaflet и его React-обёртку. +2. Создать компонент карты, который: + 1. инициализирует карту с некоторым стартовым центром. + 2. использует URL `http://localhost:8000/tiles/{z}/{x}/{y}.png` в качестве источника тайлов. +3. Проверить: + 1. что при старте приложение отображает карту (в рамках подготовленной области). + 2. что при перемещении и масштабировании запросы к тайлам уходят на backend. + +На этом этапе карта уже отображается локально, без участия внешних сервисов. + +### Этап 8. Подключение WebSocket на frontend + +1. Создать модуль, который: + 1. открывает WebSocket-соединение с backend’ом по адресу `ws://localhost:8000/ws/track`. + 2. слушает сообщения и добавляет новые координаты в локальное состояние приложения. +2. Реализовать простую логику: + 1. хранить массив точек. + 2. по каждой новой точке: + 1. добавлять её в массив. + 2. обновлять центр карты. +3. Связать модуль WebSocket с компонентом карты: + 1. передавать массив точек как пропсы. + 2. отображать: + 1. маркер последней точки. + 2. линию, соединяющую все точки (трек). + +### Этап 9. Обработка ошибок и повышение устойчивости + +1. Добавить обработку ошибок WebSocket на frontend: + 1. логировать причины разрыва. + 2. реализовать простую стратегию повторного подключения (например, попытка подключиться раз в несколько секунд при разрыве). +2. На backend: + 1. в явном виде логировать ошибки GNSS и WebSocket. + 2. при необходимости — реализовать таймауты и защиту от зависаний. + +### Этап 10. Подключение реального GNSS-устройства + +1. Вместо симулятора реализовать модуль чтения реальных данных: + 1. добавить конфиг с параметрами подключения: порт, скорость, протокол. + 2. реализовать парсинг данных. +2. Убедиться, что внешний интерфейс модуля GNSS не изменился: + 1. по-прежнему выдаются координаты в ожидаемом формате. +3. Протестировать работу системы “в поле”: + 1. убедиться, что карта и трек корректно отражают реальное движение. + +### Этап 11. Оптимизация и подготовка к эксплуатации + +1. Оптимизация производительности: + 1. ограничение длины трека, если ожидается очень длинное использование без перезапуска. + 2. настройка частоты обновления координат. +2. Упаковка приложения: + 1. вариант 1: backend + frontend как отдельные пакеты. + 2. вариант 2: объединение фронта и бека в один пакет. +3. Документация по развёртыванию: + 1. пошаговое руководство по установке зависимостей. + 2. инструкции по замене тайлов карты. + 3. инструкции по смене GNSS-источника. + +## 7. Возможные дальнейшие расширения + +После того как базовый функционал будет устойчиво работать, его можно расширять: + +1. **Отображение контуров полей** + 1. загрузка контуров из локальных файлов (например, GeoJSON). + 2. визуализация границ поля поверх карты. +2. **Планирование маршрута** + 1. формирование линии проходов (полос) по ширине захвата. + 2. привязка трека к этим линиям (показ отклонения). +3. **Запись и экспорт данных** + 1. сохранение трека в файл (например, GeoJSON, GPX). + 2. экспорт для дальнейшего анализа. +4. **Конфигурация через UI** + 1. настройка масштабов карты, уровней тайлов. + 2. переключение наборов карт (разные сезоны, регионы). + +## 8. Итоговая сводка + +Суть решения: на устройстве устанавливается локальный сервер на Python (FastAPI), который одновременно: +1. отдаёт статические файлы тайлов карты с диска, +2. и по WebSocket непрерывно передаёт координаты из приёмника ГЛОНАСС. + +React-приложение с Leaflet открывает эту локальную карту (через HTTP) и подписывается на WebSocket, чтобы в реальном времени обновлять положение маркера и трек движения. Всё — от карты до координат — живёт локально, не зависит от интернета и может работать в любых условиях, где есть только устройство, приёмник и локальная сеть (или даже один компьютер). \ No newline at end of file diff --git a/README.md b/README.md new file mode 100644 index 0000000..6e0ea87 --- /dev/null +++ b/README.md @@ -0,0 +1,16 @@ +# GNSS Backend (FastAPI + WebSocket) + +## Установка +- Убедитесь, что установлен Python 3.11+ и Poetry. +- Выполните `poetry install` (ставит зависимости и проект как пакет `gnss`). + +## Запуск +- `poetry run uvicorn gnss:app --host 0.0.0.0 --port 8000` +- Тайлы ожидаются по пути `gnss/tiles/{zoom}/{x}/{y}.png` (можно положить заглушку `placeholder.png` в эту же директорию). + +## Ключевые зависимости +- fastapi — REST и WebSocket +- uvicorn[standard] — ASGI-сервер +- pyserial — чтение GNSS по последовательному порту +- pynmea2 — парсинг NMEA +- python-dateutil — работа с временем/таймзонами diff --git a/config.py b/config.py deleted file mode 100644 index 84880b2..0000000 --- a/config.py +++ /dev/null @@ -1,3 +0,0 @@ -GNSS_PORT = '/dev/ttyAMA0' # UART порт GNSS модуля -GNSS_BAUD = 9600 -GNSS_TIMEOUT = 1 \ No newline at end of file diff --git a/gnss/__init__.py b/gnss/__init__.py new file mode 100644 index 0000000..e0de528 --- /dev/null +++ b/gnss/__init__.py @@ -0,0 +1,2 @@ +"""GNSS backend package.""" +from .app import app diff --git a/gnss/__pycache__/__init__.cpython-313.pyc b/gnss/__pycache__/__init__.cpython-313.pyc new file mode 100644 index 0000000..74b704a Binary files /dev/null and b/gnss/__pycache__/__init__.cpython-313.pyc differ diff --git a/gnss/__pycache__/app.cpython-313.pyc b/gnss/__pycache__/app.cpython-313.pyc new file mode 100644 index 0000000..9beb043 Binary files /dev/null and b/gnss/__pycache__/app.cpython-313.pyc differ diff --git a/gnss/__pycache__/config.cpython-313.pyc b/gnss/__pycache__/config.cpython-313.pyc new file mode 100644 index 0000000..36dfeb3 Binary files /dev/null and b/gnss/__pycache__/config.cpython-313.pyc differ diff --git a/gnss/__pycache__/gnss_core.cpython-313.pyc b/gnss/__pycache__/gnss_core.cpython-313.pyc new file mode 100644 index 0000000..ac6f74a Binary files /dev/null and b/gnss/__pycache__/gnss_core.cpython-313.pyc differ diff --git a/gnss/__pycache__/gnss_utils.cpython-313.pyc b/gnss/__pycache__/gnss_utils.cpython-313.pyc new file mode 100644 index 0000000..f38d9f6 Binary files /dev/null and b/gnss/__pycache__/gnss_utils.cpython-313.pyc differ diff --git a/gnss/app.py b/gnss/app.py new file mode 100644 index 0000000..b535953 --- /dev/null +++ b/gnss/app.py @@ -0,0 +1,114 @@ +import base64 +import logging +from pathlib import Path + +from fastapi import FastAPI, WebSocket, WebSocketDisconnect +from fastapi.middleware.cors import CORSMiddleware +from fastapi.responses import FileResponse, Response + +from . import config +from .gnss_core import GNSSService, SerialNMEASource, SimulatedPathSource, build_status_payload + + +logger = logging.getLogger("gnss") +logging.basicConfig(level=logging.INFO) + +DEFAULT_PLACEHOLDER_PNG = base64.b64decode( + "iVBORw0KGgoAAAANSUhEUgAAAAEAAAABCAQAAAC1HAwCAAAAC0lEQVR42mP8/x8AAwMB/6Xq3lYAAAAASUVORK5CYII=" +) + +TILES_DIR = Path(config.TILES_DIR) +PLACEHOLDER_TILE = Path(config.TILE_PLACEHOLDER) + + +def create_gnss_service() -> GNSSService: + source_type = (config.GNSS_SOURCE or "simulated").lower() + if source_type == "serial": + source = SerialNMEASource( + port=config.GNSS_PORT, + baudrate=config.GNSS_BAUD, + timeout=config.GNSS_TIMEOUT, + ) + logger.info("GNSS source: serial (%s @ %s baud)", config.GNSS_PORT, config.GNSS_BAUD) + else: + start_lat, start_lon = config.SIM_START_POINT + source = SimulatedPathSource( + center_lat=start_lat, + center_lon=start_lon, + radius_m=config.SIM_RADIUS_METERS, + ) + logger.info("GNSS source: simulator (center=%s, %s, radius=%sm)", start_lat, start_lon, config.SIM_RADIUS_METERS) + + return GNSSService(source=source, broadcast_interval=config.WS_BROADCAST_INTERVAL) + + +gnss_service = create_gnss_service() +app = FastAPI(title="GNSS Backend", version="0.1.0") + +app.add_middleware( + CORSMiddleware, + allow_origins=["*"], + allow_credentials=True, + allow_methods=["*"], + allow_headers=["*"], +) + + +@app.on_event("startup") +async def on_startup() -> None: + TILES_DIR.mkdir(parents=True, exist_ok=True) + try: + await gnss_service.start() + except Exception as exc: + logger.error("Failed to start GNSS source: %s", exc) + logger.info("Backend started, tiles dir: %s", TILES_DIR) + + +@app.on_event("shutdown") +async def on_shutdown() -> None: + await gnss_service.stop() + logger.info("Backend stopped") + + +@app.get("/health") +async def health() -> dict: + return { + "status": "ok", + "tiles_dir": str(TILES_DIR), + "gnss_source": config.GNSS_SOURCE, + } + + +@app.get("/tiles/{zoom}/{x}/{y}.png") +async def serve_tile(zoom: int, x: int, y: int): + tile_path = TILES_DIR / str(zoom) / str(x) / f"{y}.png" + if tile_path.is_file(): + return FileResponse(tile_path, media_type="image/png") + + if PLACEHOLDER_TILE.is_file(): + return FileResponse(PLACEHOLDER_TILE, media_type="image/png") + + return Response(content=DEFAULT_PLACEHOLDER_PNG, media_type="image/png") + + +@app.websocket("/ws/track") +async def websocket_track(websocket: WebSocket): + await websocket.accept() + logger.info("WebSocket client connected: %s", websocket.client) + try: + async for payload in gnss_service.stream(): + await websocket.send_json(payload) + except WebSocketDisconnect: + logger.info("WebSocket disconnected: %s", websocket.client) + except Exception as exc: + logger.exception("WebSocket error: %s", exc) + await websocket.close(code=1011) + + +@app.get("/config") +async def get_config() -> dict: + return { + "tiles_url": "/tiles/{z}/{x}/{y}.png", + "ws_url": "/ws/track", + "gnss_source": config.GNSS_SOURCE, + } diff --git a/gnss/config.py b/gnss/config.py new file mode 100644 index 0000000..cc52d34 --- /dev/null +++ b/gnss/config.py @@ -0,0 +1,13 @@ +from pathlib import Path + +BASE_DIR = Path(__file__).parent +TILES_DIR = BASE_DIR / "tiles" +TILE_PLACEHOLDER = BASE_DIR / "tiles" / "placeholder.png" +GNSS_SOURCE = "simulated" +GNSS_PORT = "/dev/ttyAMA0" +GNSS_BAUD = 9600 +GNSS_TIMEOUT = 1.0 +SIM_START_POINT = (55.751244, 37.618423) +SIM_RADIUS_METERS = 50.0 +SIM_POINT_INTERVAL = 1.0 +WS_BROADCAST_INTERVAL = 1.0 diff --git a/gnss/gnss_core.py b/gnss/gnss_core.py new file mode 100644 index 0000000..3fd7674 --- /dev/null +++ b/gnss/gnss_core.py @@ -0,0 +1,187 @@ +import asyncio +import math +from dataclasses import dataclass +from typing import AsyncIterator, Optional + +import pynmea2 +import serial + +from .gnss_utils import current_utc_time + + +EARTH_RADIUS_M = 6_378_137 + + +@dataclass +class GNSSPoint: + lat: float + lon: float + alt: Optional[float] + timestamp: str + source: str + + def to_payload(self, fresh: bool = True) -> dict: + payload = { + "type": "fix", + "lat": self.lat, + "lon": self.lon, + "alt": self.alt, + "timestamp": self.timestamp, + "source": self.source, + "fresh": fresh, + } + return payload + + +class BaseGNSSSource: + """Общий интерфейс источника координат.""" + + async def start(self) -> None: + raise NotImplementedError + + async def stop(self) -> None: + raise NotImplementedError + + async def next_point(self) -> Optional[GNSSPoint]: + raise NotImplementedError + + +class SerialNMEASource(BaseGNSSSource): + """Читает NMEA-строки с последовательного порта.""" + + def __init__(self, port: str, baudrate: int, timeout: float): + self.port = port + self.baudrate = baudrate + self.timeout = timeout + self._serial: Optional[serial.Serial] = None + + async def start(self) -> None: + if self._serial and self._serial.is_open: + return + self._serial = serial.Serial(port=self.port, baudrate=self.baudrate, timeout=self.timeout) + + async def stop(self) -> None: + if self._serial and self._serial.is_open: + await asyncio.to_thread(self._serial.close) + + async def next_point(self) -> Optional[GNSSPoint]: + if self._serial is None or not self._serial.is_open: + return None + + def _readline() -> str: + raw = self._serial.readline() + return raw.decode("ascii", errors="replace") + + line = await asyncio.to_thread(_readline) + if not line.startswith("$G"): + return None + + try: + message = pynmea2.parse(line) + except pynmea2.ParseError: + return None + + lat = getattr(message, "latitude", None) + lon = getattr(message, "longitude", None) + if lat is None or lon is None: + return None + + alt = getattr(message, "altitude", None) + return GNSSPoint(lat=lat, lon=lon, alt=alt, timestamp=current_utc_time(), source="serial") + + +def _move_point(lat: float, lon: float, distance_m: float, bearing_deg: float) -> tuple[float, float]: + """Смещение точки на заданное расстояние и азимут (в градусах).""" + lat_rad = math.radians(lat) + lon_rad = math.radians(lon) + bearing = math.radians(bearing_deg) + angular_distance = distance_m / EARTH_RADIUS_M + + new_lat = math.asin( + math.sin(lat_rad) * math.cos(angular_distance) + + math.cos(lat_rad) * math.sin(angular_distance) * math.cos(bearing) + ) + new_lon = lon_rad + math.atan2( + math.sin(bearing) * math.sin(angular_distance) * math.cos(lat_rad), + math.cos(angular_distance) - math.sin(lat_rad) * math.sin(new_lat), + ) + return math.degrees(new_lat), math.degrees(new_lon) + + +class SimulatedPathSource(BaseGNSSSource): + """Генерирует координаты по окружности вокруг указанной точки.""" + + def __init__( + self, + center_lat: float, + center_lon: float, + radius_m: float = 50.0, + angle_step_deg: float = 12.0, + ): + self.center_lat = center_lat + self.center_lon = center_lon + self.radius_m = radius_m + self.angle_step_deg = angle_step_deg + self._angle = 0.0 + + async def start(self) -> None: + self._angle = 0.0 + + async def stop(self) -> None: + return None + + async def next_point(self) -> Optional[GNSSPoint]: + lat, lon = _move_point(self.center_lat, self.center_lon, self.radius_m, self._angle) + self._angle = (self._angle + self.angle_step_deg) % 360.0 + return GNSSPoint( + lat=lat, + lon=lon, + alt=0.0, + timestamp=current_utc_time(), + source="simulated", + ) + + +def build_status_payload(status: str, detail: Optional[str] = None) -> dict: + payload = {"type": "status", "status": status, "timestamp": current_utc_time()} + if detail: + payload["detail"] = detail + return payload + + +class GNSSService: + """Обёртка над источником, выдающая сообщения для WebSocket.""" + + def __init__(self, source: BaseGNSSSource, broadcast_interval: float = 1.0): + self.source = source + self.broadcast_interval = broadcast_interval + self._lock = asyncio.Lock() + self._last_fix: Optional[GNSSPoint] = None + + async def start(self) -> None: + await self.source.start() + + async def stop(self) -> None: + await self.source.stop() + + async def _fetch_fix(self) -> Optional[GNSSPoint]: + async with self._lock: + fix = await self.source.next_point() + if fix: + self._last_fix = fix + return fix + + async def next_payload(self) -> dict: + fix = await self._fetch_fix() + if fix: + return fix.to_payload(fresh=True) + if self._last_fix: + stale_payload = self._last_fix.to_payload(fresh=False) + stale_payload["detail"] = "reused_last_fix" + return stale_payload + return build_status_payload("no-fix", "GNSS data not available") + + async def stream(self) -> AsyncIterator[dict]: + while True: + yield await self.next_payload() + await asyncio.sleep(self.broadcast_interval) diff --git a/gnss_utils.py b/gnss/gnss_utils.py similarity index 85% rename from gnss_utils.py rename to gnss/gnss_utils.py index 5a87fdb..a35360c 100644 --- a/gnss_utils.py +++ b/gnss/gnss_utils.py @@ -1,5 +1,6 @@ from datetime import datetime, timezone -def current_utc_time(): + +def current_utc_time() -> str: """Возвращает текущее UTC-время, для синхронизации с RTC""" return datetime.now(timezone.utc).isoformat() diff --git a/gnss_core.py b/gnss_core.py deleted file mode 100644 index 003ffa4..0000000 --- a/gnss_core.py +++ /dev/null @@ -1,58 +0,0 @@ -import serial -import pynmea2 -import time -from .gnss_utils import current_utc_time - -class GNSSModule: - """ - Основной класс для работы с GNSS на Raspberry Pi. - Поддерживает GPS, GLONASS, BeiDou через NMEA-формат. - """ - def __init__(self, port='/dev/ttyAMA0', baudrate=9600, timeout=1): - self.port = port - self.baudrate = baudrate - self.timeout = timeout - self.serial_conn = None - self.last_position = None - - def connect(self): - """Подключение к GNSS модулю""" - try: - self.serial_conn = serial.Serial( - port=self.port, - baudrate=self.baudrate, - timeout=self.timeout - ) - print(f"GNSS подключен на {self.port} @ {self.baudrate} бод") - except Exception as e: - print(f"Ошибка подключения GNSS: {e}") - raise e - - def read_position(self): - """ - Считывает NMEA строку, парсит координаты. - Возвращает словарь с lat, lon, alt, timestamp - """ - if self.serial_conn is None or not self.serial_conn.is_open: - raise ConnectionError("GNSS модуль не подключен") - - try: - line = self.serial_conn.readline().decode('ascii', errors='replace') - if line.startswith('$G'): - msg = pynmea2.parse(line) - if isinstance(msg, pynmea2.GGA): - self.last_position = { - 'lat': msg.latitude, - 'lon': msg.longitude, - 'alt': msg.altitude, - 'timestamp': current_utc_time() - } - return self.last_position - except pynmea2.ParseError: - pass - return None - - def close(self): - if self.serial_conn and self.serial_conn.is_open: - self.serial_conn.close() - print("GNSS соединение закрыто") diff --git a/poetry.lock b/poetry.lock index c82edf4..c53374c 100644 --- a/poetry.lock +++ b/poetry.lock @@ -1,4 +1,340 @@ -# This file is automatically @generated by Poetry 2.2.1 and should not be changed by hand. +# This file is automatically @generated by Poetry 2.1.2 and should not be changed by hand. + +[[package]] +name = "annotated-types" +version = "0.7.0" 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