{"repo": "Stefal/rtkbase", "pull_number": 60, "instance_id": "Stefal__rtkbase-60", "issue_numbers": "", "base_commit": "73637def7ff8219fed889fcfcb4435dd2076626e", "patch": "diff --git a/tools/gps/__init__.py b/tools/gps/__init__.py\nnew file mode 100755\n--- /dev/null\n+++ b/tools/gps/__init__.py\n@@ -0,0 +1,26 @@\n+# Make core client functions available without prefix.\n+# This code is generated by scons. Do not hand-hack it!\n+#\n+# This file is Copyright 2010 by the GPSD project\n+# SPDX-License-Identifier: BSD-2-Clause\n+#\n+# This code runs compatibly under Python 2 and 3.x for x >= 2.\n+# Preserve this property!\n+from __future__ import absolute_import # Ensure Python2 behaves like Python 3\n+\n+from .gps import *\n+from .misc import *\n+\n+# Keep in sync with gpsd.h\n+api_version_major = 3 # bumped on incompatible changes\n+api_version_minor = 14 # bumped on compatible changes\n+\n+# at some point this will need an override method\n+__iconpath__ = '//usr/local/share/gpsd/icons'\n+\n+__version__ = '3.20.1~dev'\n+\n+# The 'client' module exposes some C utility functions for Python clients.\n+# The 'packet' module exposes the packet getter via a Python interface.\n+\n+# vim: set expandtab shiftwidth=4\ndiff --git a/tools/gps/aiogps.py b/tools/gps/aiogps.py\nnew file mode 100644\n--- /dev/null\n+++ b/tools/gps/aiogps.py\n@@ -0,0 +1,309 @@\n+#!/usr/bin/env python3\n+# -*- coding: utf-8 -*-\n+\n+# Copyright 2019 Grand Joldes (grandwork2@yahoo.com).\n+#\n+# This file is Copyright 2019 by the GPSD project\n+# SPDX-License-Identifier: BSD-2-clause\n+\n+# This code run compatibly under Python 3.x for x >= 6.\n+\n+\"\"\"aiogps.py -- Asyncio Python interface to GPSD.\n+\n+This module adds asyncio support to the Python gps interface. It runs on\n+Python versions >= 3.6 and provides the following benefits:\n+ - easy integration in asyncio applications (all I/O operations done through\n+ non-blocking coroutines, async context manager, async iterator);\n+ - support for cancellation (all operations are cancellable);\n+ - support for timeouts (on both read and connect);\n+ - support for connection keep-alive (using the TCP keep alive mechanism)\n+ - support for automatic re-connection;\n+ - configurable connection parameters;\n+ - configurable exeption handling (internally or by application);\n+ - logging support (logger name: 'gps.aiogps').\n+\n+The use of timeouts, keepalive and automatic reconnection make possible easy\n+handling of GPSD connections over unreliable networks.\n+\n+Examples:\n+ import logging\n+ import gps.aiogps\n+\n+ # configuring logging\n+ logging.basicConfig()\n+ logging.root.setLevel(logging.INFO)\n+ # Example of setting up logging level for the aiogps logger\n+ logging.getLogger('gps.aiogps').setLevel(logging.ERROR)\n+\n+ # using default parameters\n+ async with gps.aiogps.aiogps() as gpsd:\n+ async for msg in gpsd:\n+ # Log last message\n+ logging.info(f'Received: {msg}')\n+ # Log updated GPS status\n+ logging.info(f'\\nGPS status:\\n{gpsd}')\n+\n+ # using custom parameters\n+ try:\n+ async with gps.aiogps.aiogps(\n+ connection_args = {\n+ 'host': '192.168.10.116',\n+ 'port': 2947\n+ },\n+ connection_timeout = 5,\n+ reconnect = 0, # do not try to reconnect, raise exceptions\n+ alive_opts = {\n+ 'rx_timeout': 5\n+ }\n+ ) as gpsd:\n+ async for msg in gpsd:\n+ logging.info(msg)\n+ except asyncio.CancelledError:\n+ return\n+ except asyncio.IncompleteReadError:\n+ logging.info('Connection closed by server')\n+ except asyncio.TimeoutError:\n+ logging.error('Timeout waiting for gpsd to respond')\n+ except Exception as exc:\n+ logging.error(f'Error: {exc}')\n+\n+\"\"\"\n+\n+__all__ = ['aiogps', ]\n+\n+import logging\n+import asyncio\n+import socket\n+from typing import Optional, Union, Awaitable\n+\n+from .client import gpsjson, dictwrapper\n+from .gps import gps, gpsdata, WATCH_ENABLE, PACKET_SET\n+from .misc import polystr, polybytes\n+\n+\n+class aiogps(gps): # pylint: disable=R0902\n+ \"\"\"An asyncio gps client.\n+\n+ Reimplements all gps IO methods using asyncio coros. Adds connection\n+ management, an asyncio context manager and an asyncio iterator.\n+\n+ The class uses a logger named 'gps.aiogps' to record events. The logger is\n+ configured with a NullHandler to disable any message logging until the\n+ application configures another handler.\n+ \"\"\"\n+\n+ def __init__(self, # pylint: disable=W0231\n+ connection_args: Optional[dict] = None,\n+ connection_timeout: Optional[float] = None,\n+ reconnect: Optional[float] = 2,\n+ alive_opts: Optional[dict] = None) -> None:\n+ \"\"\"\n+ Arguments:\n+ connection_args: arguments needed for opening a connection.\n+ These will be passed directly to asyncio.open_connection.\n+ If set to None, a connection to the default gps host and port\n+ will be attempded.\n+ connection_timeout: time to wait for a connection to complete\n+ (seconds). Set to None to disable.\n+ reconnect: configures automatic reconnections:\n+ - 0: reconnection is not attempted in case of an error and the\n+ error is raised to the user;\n+ - number > 0: delay until next reconnection attempt (seconds).\n+ alive_opts: options related to detection of disconnections.\n+ Two mecanisms are supported: TCP keepalive (default, may not be\n+ available on all platforms) and Rx timeout, through the\n+ following options:\n+ - rx_timeout: Rx timeout (seconds). Set to None to disable.\n+ - SO_KEEPALIVE: socket keepalive and related parameters:\n+ - TCP_KEEPIDLE\n+ - TCP_KEEPINTVL\n+ - TCP_KEEPCNT\n+ \"\"\"\n+ # If connection_args are not specified use defaults\n+ self.connection_args = connection_args or {\n+ 'host': self.host,\n+ 'port': self.port\n+ }\n+ self.connection_timeout = connection_timeout\n+ assert reconnect >= 0\n+ self.reconnect = reconnect\n+ # If alive_opts are not specified use defaults\n+ self.alive_opts = alive_opts or {\n+ 'rx_timeout': None,\n+ 'SO_KEEPALIVE': 1,\n+ 'TCP_KEEPIDLE': 2,\n+ 'TCP_KEEPINTVL': 2,\n+ 'TCP_KEEPCNT': 3\n+ }\n+ # Connection access streams\n+ self.reader: Optional[asyncio.StreamReader] = None\n+ self.writer: Optional[asyncio.StreamWriter] = None\n+ # Set up logging\n+ self.logger = logging.getLogger(__name__)\n+ # Set the Null handler - prevents logging message handling unless the\n+ # application sets up a handler.\n+ self.logger.addHandler(logging.NullHandler())\n+ # Init gps parents\n+ gpsdata.__init__(self) # pylint: disable=W0233\n+ gpsjson.__init__(self) # pylint: disable=W0233\n+ # Provide the response in both 'str' and 'bytes' form\n+ self.bresponse = b''\n+ self.response = polystr(self.bresponse)\n+ # Default stream command\n+ self.stream_command = self.generate_stream_command(WATCH_ENABLE)\n+ self.loop = self.connection_args.get('loop', asyncio.get_event_loop())\n+\n+ def __del__(self) -> None:\n+ \"\"\" Destructor \"\"\"\n+ self.close()\n+\n+ async def _open_connection(self) -> None:\n+ \"\"\"\n+ Opens a connection to the GPSD server and configures the TCP socket.\n+ \"\"\"\n+ self.logger.info(\n+ f\"Connecting to gpsd at {self.connection_args['host']}\" +\n+ (f\":{self.connection_args['port']}\"\n+ if self.connection_args['port'] else ''))\n+ self.reader, self.writer = await asyncio.wait_for(\n+ asyncio.open_connection(**self.connection_args),\n+ self.connection_timeout,\n+ loop=self.loop)\n+ # Set socket options\n+ sock = self.writer.get_extra_info('socket')\n+ if sock is not None:\n+ if 'SO_KEEPALIVE' in self.alive_opts:\n+ sock.setsockopt(socket.SOL_SOCKET,\n+ socket.SO_KEEPALIVE,\n+ self.alive_opts['SO_KEEPALIVE'])\n+ if hasattr(\n+ sock,\n+ 'TCP_KEEPIDLE') and 'TCP_KEEPIDLE' in self.alive_opts:\n+ sock.setsockopt(socket.IPPROTO_TCP,\n+ socket.TCP_KEEPIDLE, # pylint: disable=E1101\n+ self.alive_opts['TCP_KEEPIDLE'])\n+ if hasattr(\n+ sock,\n+ 'TCP_KEEPINTVL') and 'TCP_KEEPINTVL' in self.alive_opts:\n+ sock.setsockopt(socket.IPPROTO_TCP,\n+ socket.TCP_KEEPINTVL, # pylint: disable=E1101\n+ self.alive_opts['TCP_KEEPINTVL'])\n+ if hasattr(\n+ sock,\n+ 'TCP_KEEPCNT') and 'TCP_KEEPCNT' in self.alive_opts:\n+ sock.setsockopt(socket.IPPROTO_TCP,\n+ socket.TCP_KEEPCNT,\n+ self.alive_opts['TCP_KEEPCNT'])\n+\n+ def close(self) -> None:\n+ \"\"\" Closes connection to GPSD server \"\"\"\n+ if self.writer:\n+ try:\n+ self.writer.close()\n+ except Exception: # pylint: disable=W0703\n+ pass\n+ self.writer = None\n+\n+ def waiting(self) -> bool: # pylint: disable=W0221\n+ \"\"\" Mask the blocking waiting method from gpscommon \"\"\"\n+ return True\n+\n+ async def read(self) -> Union[dictwrapper, str]:\n+ \"\"\" Reads data from GPSD server \"\"\"\n+ while True:\n+ await self.connect()\n+ try:\n+ rx_timeout = self.alive_opts.get('rx_timeout', None)\n+ reader = self.reader.readuntil(separator=b'\\n')\n+ self.bresponse = await asyncio.wait_for(reader,\n+ rx_timeout,\n+ loop=self.loop)\n+ self.response = polystr(self.bresponse)\n+ if self.response.startswith(\n+ \"{\") and self.response.endswith(\"}\\r\\n\"):\n+ self.unpack(self.response)\n+ self._oldstyle_shim()\n+ self.valid |= PACKET_SET\n+ return self.data\n+ return self.response\n+ except asyncio.CancelledError:\n+ self.close()\n+ raise\n+ except Exception as exc: # pylint: disable=W0703\n+ error = 'timeout' if isinstance(\n+ exc, asyncio.TimeoutError) else exc\n+ self.logger.warning(\n+ f'Failed to get message from GPSD: {error}')\n+ self.close()\n+ if self.reconnect:\n+ # Try again later\n+ await asyncio.sleep(self.reconnect)\n+ else:\n+ raise\n+\n+ async def connect(self) -> None: # pylint: disable=W0221\n+ \"\"\" Connects to GPSD server and starts streaming data \"\"\"\n+ while not self.writer:\n+ try:\n+ await self._open_connection()\n+ await self.stream()\n+ self.logger.info('Connected to gpsd')\n+ except asyncio.CancelledError:\n+ self.close()\n+ raise\n+ except Exception as exc: # pylint: disable=W0703\n+ error = 'timeout' if isinstance(\n+ exc, asyncio.TimeoutError) else exc\n+ self.logger.error(f'Failed to connect to GPSD: {error}')\n+ self.close()\n+ if self.reconnect:\n+ # Try again later\n+ await asyncio.sleep(self.reconnect)\n+ else:\n+ raise\n+\n+ async def send(self, commands) -> None:\n+ \"\"\" Sends commands \"\"\"\n+ bcommands = polybytes(commands + \"\\n\")\n+ if self.writer:\n+ self.writer.write(bcommands)\n+ await self.writer.drain()\n+\n+ async def stream(self, flags: Optional[int] = 0,\n+ devpath: Optional[str] = None) -> None:\n+ \"\"\" Creates and sends the stream command \"\"\"\n+ if flags > 0:\n+ # Update the stream command\n+ self.stream_command = self.generate_stream_command(flags, devpath)\n+\n+ if self.stream_command:\n+ self.logger.info(f'Sent stream as: {self.stream_command}')\n+ await self.send(self.stream_command)\n+ else:\n+ raise TypeError(f'Invalid streaming command: {flags}')\n+\n+ async def __aenter__(self) -> 'aiogps':\n+ \"\"\" Context manager entry \"\"\"\n+ return self\n+\n+ async def __aexit__(self, exc_type, exc, traceback) -> None:\n+ \"\"\" Context manager exit: close connection \"\"\"\n+ self.close()\n+\n+ def __aiter__(self) -> 'aiogps':\n+ \"\"\" Async iterator interface \"\"\"\n+ return self\n+\n+ async def __anext__(self) -> Union[dictwrapper, str]:\n+ \"\"\" Returns next message from GPSD \"\"\"\n+ data = await self.read()\n+ return data\n+\n+ def __next__(self) -> Awaitable:\n+ \"\"\"\n+ Reimplementation of the blocking iterator from gps.\n+ Returns an awaitable which returns the next message from GPSD.\n+ \"\"\"\n+ return self.read()\n+\n+# vim: set expandtab shiftwidth=4\ndiff --git a/tools/gps/client.py b/tools/gps/client.py\nnew file mode 100644\n--- /dev/null\n+++ b/tools/gps/client.py\n@@ -0,0 +1,342 @@\n+\"gpsd client functions\"\n+# This file is Copyright 2019 by the GPSD project\n+# SPDX-License-Identifier: BSD-2-Clause\n+#\n+# This code run compatibly under Python 2 and 3.x for x >= 2.\n+# Preserve this property!\n+from __future__ import absolute_import, print_function, division\n+\n+import json\n+import select\n+import socket\n+import sys\n+import time\n+\n+from .misc import polystr, polybytes\n+from .watch_options import *\n+\n+GPSD_PORT = \"2947\"\n+\n+\n+class gpscommon(object):\n+ \"Isolate socket handling and buffering from the protocol interpretation.\"\n+\n+ host = \"127.0.0.1\"\n+ port = GPSD_PORT\n+\n+ def __init__(self, host=\"127.0.0.1\", port=GPSD_PORT, verbose=0,\n+ should_reconnect=False):\n+ self.stream_command = b''\n+ self.linebuffer = b''\n+ self.received = time.time()\n+ self.reconnect = should_reconnect\n+ self.verbose = verbose\n+ self.sock = None # in case we blow up in connect\n+ # Provide the response in both 'str' and 'bytes' form\n+ self.bresponse = b''\n+ self.response = polystr(self.bresponse)\n+\n+ if host is not None and port is not None:\n+ self.host = host\n+ self.port = port\n+ self.connect(self.host, self.port)\n+\n+ def connect(self, host, port):\n+ \"\"\"Connect to a host on a given port.\n+\n+ If the hostname ends with a colon (`:') followed by a number, and\n+ there is no port specified, that suffix will be stripped off and the\n+ number interpreted as the port number to use.\n+ \"\"\"\n+ if not port and (host.find(':') == host.rfind(':')):\n+ i = host.rfind(':')\n+ if i >= 0:\n+ host, port = host[:i], host[i + 1:]\n+ try:\n+ port = int(port)\n+ except ValueError:\n+ raise socket.error(\"nonnumeric port\")\n+ # if self.verbose > 0:\n+ # print 'connect:', (host, port)\n+ msg = \"getaddrinfo returns an empty list\"\n+ self.sock = None\n+ for res in socket.getaddrinfo(host, port, 0, socket.SOCK_STREAM):\n+ af, socktype, proto, _canonname, sa = res\n+ try:\n+ self.sock = socket.socket(af, socktype, proto)\n+ # if self.debuglevel > 0: print 'connect:', (host, port)\n+ self.sock.connect(sa)\n+ if self.verbose > 0:\n+ print('connected to tcp://{}:{}'.format(host, port))\n+ break\n+ # do not use except ConnectionRefusedError\n+ # # Python 2.7 doc does have this exception\n+ except socket.error as e:\n+ if self.verbose > 1:\n+ msg = str(e) + ' (to {}:{})'.format(host, port)\n+ sys.stderr.write(\"error: {}\\n\".format(msg.strip()))\n+ self.close()\n+ raise # propogate error to caller\n+\n+ def close(self):\n+ \"Close the gpsd socket\"\n+ if self.sock:\n+ self.sock.close()\n+ self.sock = None\n+\n+ def __del__(self):\n+ \"Close the gpsd socket\"\n+ self.close()\n+\n+ def waiting(self, timeout=0):\n+ \"Return True if data is ready for the client.\"\n+ if self.linebuffer:\n+ return True\n+ if self.sock is None:\n+ return False\n+\n+ (winput, _woutput, _wexceptions) = select.select(\n+ (self.sock,), (), (), timeout)\n+ return winput != []\n+\n+ def read(self):\n+ \"Wait for and read data being streamed from the daemon.\"\n+\n+ if None is self.sock:\n+ self.connect(self.host, self.port)\n+ if None is self.sock:\n+ return -1\n+ self.stream()\n+\n+ eol = self.linebuffer.find(b'\\n')\n+ if eol == -1:\n+ # RTCM3 JSON can be over 4.4k long, so go big\n+ frag = self.sock.recv(8192)\n+\n+ self.linebuffer += frag\n+ if not self.linebuffer:\n+ if self.verbose > 1:\n+ sys.stderr.write(\n+ \"poll: no available data: returning -1.\\n\")\n+ # Read failed\n+ return -1\n+\n+ eol = self.linebuffer.find(b'\\n')\n+ if eol == -1:\n+ if self.verbose > 1:\n+ sys.stderr.write(\"poll: partial message: returning 0.\\n\")\n+ # Read succeeded, but only got a fragment\n+ self.response = '' # Don't duplicate last response\n+ self.bresponse = '' # Don't duplicate last response\n+ return 0\n+ else:\n+ if self.verbose > 1:\n+ sys.stderr.write(\"poll: fetching from buffer.\\n\")\n+\n+ # We got a line\n+ eol += 1\n+ # Provide the response in both 'str' and 'bytes' form\n+ self.bresponse = self.linebuffer[:eol]\n+ self.response = polystr(self.bresponse)\n+ self.linebuffer = self.linebuffer[eol:]\n+\n+ # Can happen if daemon terminates while we're reading.\n+ if not self.response:\n+ return -1\n+ if 1 < self.verbose:\n+ sys.stderr.write(\"poll: data is %s\\n\" % repr(self.response))\n+ self.received = time.time()\n+ # We got a \\n-terminated line\n+ return len(self.response)\n+\n+ # Note that the 'data' method is sometimes shadowed by a name\n+ # collision, rendering it unusable. The documentation recommends\n+ # accessing 'response' directly. Consequently, no accessor method\n+ # for 'bresponse' is currently provided.\n+\n+ def data(self):\n+ \"Return the client data buffer.\"\n+ return self.response\n+\n+ def send(self, commands):\n+ \"Ship commands to the daemon.\"\n+ lineend = \"\\n\"\n+ if isinstance(commands, bytes):\n+ lineend = polybytes(\"\\n\")\n+ if not commands.endswith(lineend):\n+ commands += lineend\n+\n+ if self.sock is None:\n+ self.stream_command = commands\n+ else:\n+ self.sock.send(polybytes(commands))\n+\n+\n+class json_error(BaseException):\n+ \"Class for JSON errors\"\n+\n+ def __init__(self, data, explanation):\n+ BaseException.__init__(self)\n+ self.data = data\n+ self.explanation = explanation\n+\n+\n+class gpsjson(object):\n+ \"Basic JSON decoding.\"\n+\n+ def __init__(self):\n+ self.data = None\n+ self.stream_command = None\n+ self.enqueued = None\n+ self.verbose = -1\n+\n+ def __iter__(self):\n+ \"Broken __iter__\"\n+ return self\n+\n+ def unpack(self, buf):\n+ \"Unpack a JSON string\"\n+ try:\n+ self.data = dictwrapper(json.loads(buf.strip(), encoding=\"ascii\"))\n+ except ValueError as e:\n+ raise json_error(buf, e.args[0])\n+ # Should be done for any other array-valued subobjects, too.\n+ # This particular logic can fire on SKY or RTCM2 objects.\n+ if hasattr(self.data, \"satellites\"):\n+ self.data.satellites = [dictwrapper(x)\n+ for x in self.data.satellites]\n+\n+ def stream(self, flags=0, devpath=None):\n+ \"Control streaming reports from the daemon,\"\n+\n+ if 0 < flags:\n+ self.stream_command = self.generate_stream_command(flags, devpath)\n+ else:\n+ self.stream_command = self.enqueued\n+\n+ if self.stream_command:\n+ if self.verbose > 1:\n+ sys.stderr.write(\"send: stream as:\"\n+ \" {}\\n\".format(self.stream_command))\n+ self.send(self.stream_command)\n+ else:\n+ raise TypeError(\"Invalid streaming command!! : \" + str(flags))\n+\n+ def generate_stream_command(self, flags=0, devpath=None):\n+ \"Generate stream command\"\n+ if flags & WATCH_OLDSTYLE:\n+ return self.generate_stream_command_old_style(flags)\n+\n+ return self.generate_stream_command_new_style(flags, devpath)\n+\n+ @staticmethod\n+ def generate_stream_command_old_style(flags=0):\n+ \"Generate stream command, old style\"\n+ if flags & WATCH_DISABLE:\n+ arg = \"w-\"\n+ if flags & WATCH_NMEA:\n+ arg += 'r-'\n+\n+ elif flags & WATCH_ENABLE:\n+ arg = 'w+'\n+ if flags & WATCH_NMEA:\n+ arg += 'r+'\n+\n+ return arg\n+\n+ @staticmethod\n+ def generate_stream_command_new_style(flags=0, devpath=None):\n+ \"Generate stream command, new style\"\n+\n+ if (flags & (WATCH_JSON | WATCH_OLDSTYLE | WATCH_NMEA |\n+ WATCH_RAW)) == 0:\n+ flags |= WATCH_JSON\n+\n+ if flags & WATCH_DISABLE:\n+ arg = '?WATCH={\"enable\":false'\n+ if flags & WATCH_JSON:\n+ arg += ',\"json\":false'\n+ if flags & WATCH_NMEA:\n+ arg += ',\"nmea\":false'\n+ if flags & WATCH_RARE:\n+ arg += ',\"raw\":1'\n+ if flags & WATCH_RAW:\n+ arg += ',\"raw\":2'\n+ if flags & WATCH_SCALED:\n+ arg += ',\"scaled\":false'\n+ if flags & WATCH_TIMING:\n+ arg += ',\"timing\":false'\n+ if flags & WATCH_SPLIT24:\n+ arg += ',\"split24\":false'\n+ if flags & WATCH_PPS:\n+ arg += ',\"pps\":false'\n+ else: # flags & WATCH_ENABLE:\n+ arg = '?WATCH={\"enable\":true'\n+ if flags & WATCH_JSON:\n+ arg += ',\"json\":true'\n+ if flags & WATCH_NMEA:\n+ arg += ',\"nmea\":true'\n+ if flags & WATCH_RARE:\n+ arg += ',\"raw\":1'\n+ if flags & WATCH_RAW:\n+ arg += ',\"raw\":2'\n+ if flags & WATCH_SCALED:\n+ arg += ',\"scaled\":true'\n+ if flags & WATCH_TIMING:\n+ arg += ',\"timing\":true'\n+ if flags & WATCH_SPLIT24:\n+ arg += ',\"split24\":true'\n+ if flags & WATCH_PPS:\n+ arg += ',\"pps\":true'\n+ if flags & WATCH_DEVICE:\n+ arg += ',\"device\":\"%s\"' % devpath\n+ arg += \"}\"\n+ return arg\n+\n+\n+class dictwrapper(object):\n+ \"Wrapper that yields both class and dictionary behavior,\"\n+\n+ def __init__(self, ddict):\n+ \"Init class dictwrapper\"\n+ self.__dict__ = ddict\n+\n+ def get(self, k, d=None):\n+ \"Get dictwrapper\"\n+ return self.__dict__.get(k, d)\n+\n+ def keys(self):\n+ \"Keys dictwrapper\"\n+ return self.__dict__.keys()\n+\n+ def __getitem__(self, key):\n+ \"Emulate dictionary, for new-style interface.\"\n+ return self.__dict__[key]\n+\n+ def __iter__(self):\n+ \"Iterate dictwrapper\"\n+ return self.__dict__.__iter__()\n+\n+ def __setitem__(self, key, val):\n+ \"Emulate dictionary, for new-style interface.\"\n+ self.__dict__[key] = val\n+\n+ def __contains__(self, key):\n+ \"Find key in dictwrapper\"\n+ return key in self.__dict__\n+\n+ def __str__(self):\n+ \"dictwrapper to string\"\n+ return \"\"\n+ __repr__ = __str__\n+\n+ def __len__(self):\n+ \"length of dictwrapper\"\n+ return len(self.__dict__)\n+\n+#\n+# Someday a cleaner Python interface using this machinery will live here\n+#\n+\n+# End\n+# vim: set expandtab shiftwidth=4\ndiff --git a/tools/gps/clienthelpers.py b/tools/gps/clienthelpers.py\nnew file mode 100644\n--- /dev/null\n+++ b/tools/gps/clienthelpers.py\n@@ -0,0 +1,920 @@\n+#!/usr/bin/env python\n+# -*- coding: utf-8 -*-\n+#\n+# clienthelpers.py - helper functions for xgps and test_maidenhead\n+# This duplicates gpsclient.c, but in python. Keep the two files in\n+# sync.\n+#\n+# See gpsclient.c for code comments.\n+#\n+# This file is Copyright 2019 by the GPSD project\n+# SPDX-License-Identifier: BSD-2-Clause\n+\"\"\"GPSd client helpers submodule.\"\"\"\n+import math\n+import os\n+\n+\n+TABLE_ROWS = 37\n+TABLE_COLS = 73\n+TABLE_SPAN = 5\n+\n+GEOID_DELTA = [\n+ # -90\n+ [ -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015,\n+ -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015,\n+ -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015,\n+ -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015,\n+ -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015,\n+ -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015,\n+ -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015, -3015,\n+ -3015, -3015, -3015],\n+ # -85\n+ [ -3568, -3608, -3739, -3904, -4039, -4079, -4033, -3946, -3845, -3734,\n+ -3603, -3458, -3310, -3163, -2994, -2827, -2695, -2667, -2737, -2823,\n+ -2840, -2757, -2634, -2567, -2547, -2540, -2452, -2247, -1969, -1704,\n+ -1540, -1507, -1552, -1592, -1573, -1513, -1465, -1478, -1542, -1577,\n+ -1483, -1256, -1029, -957, -1066, -1216, -1262, -1194, -1118, -1129,\n+ -1231, -1370, -1504, -1641, -1813, -2028, -2255, -2455, -2630, -2811,\n+ -3022, -3242, -3436, -3578, -3658, -3676, -3640, -3578, -3527, -3490,\n+ -3532, -3570, -3568],\n+ # -80\n+ [ -5232, -5276, -5275, -5301, -5286, -5276, -5218, -5001, -4775, -4580,\n+ -4319, -4064, -3854, -3691, -3523, -3205, -2910, -2608, -2337, -2355,\n+ -2417, -2445, -2471, -2350, -2230, -2136, -1869, -1689, -1732, -1748,\n+ -1540, -1236, -1048, -794, -569, -603, -501, -305, -166, 19,\n+ 146, 274, 444, 510, 534, 550, 458, 373, 473, 575,\n+ 607, 732, 562, 153, -271, -825, -1300, -1861, -2475, -2866,\n+ -3434, -4001, -4196, -4533, -4989, -5152, -5094, -4983, -4987, -5065,\n+ -5055, -5115, -5232],\n+ # -75\n+ [ -6155, -6339, -6266, -6344, -6282, -6100, -6009, -5492, -5088, -4547,\n+ -4187, -3901, -3586, -3234, -3051, -2886, -2577, -2289, -1981, -1655,\n+ -1435, -1096, -557, -617, -998, -961, -655, -464, -170, 79,\n+ -103, -64, 150, 223, 819, 1006, 1174, 1136, 1211, 1278,\n+ 1467, 1686, 1783, 1706, 1833, 1721, 1653, 1580, 1267, 953,\n+ 629, 807, 774, 607, 217, -386, -814, -1354, -2452, -3542,\n+ -3833, -3932, -4259, -4962, -4977, -5536, -5753, -5800, -6012, -5835,\n+ -5751, -5820, -6155],\n+ # -70\n+ [ -6218, -6432, -6333, -6150, -6021, -5948, -5705, -5480, -5213, -4789,\n+ -4365, -4003, -3757, -3514, -3250, -3000, -2672, -2541, -2138, -1220,\n+ -844, -277, 249, 906, 458, 69, 26, 98, 166, 130,\n+ 118, 253, 303, 437, 1010, 1341, 1423, 1558, 1682, 1825,\n+ 1766, 1917, 2027, 2047, 2164, 2909, 2882, 2997, 3010, 2687,\n+ 1749, 1703, 1799, 1438, 1099, 346, -813, -1432, -2149, -2320,\n+ -2704, -3085, -3907, -4172, -4287, -4846, -5466, -5592, -5576, -5525,\n+ -5800, -5954, -6218],\n+ # -65\n+ [ -5152, -5115, -5049, -4943, -4858, -4714, -4580, -4369, -4202, -4060,\n+ -3806, -3454, -3210, -3007, -2749, -2484, -2264, -1928, -1501, -1113,\n+ -614, 31, 642, 1502, 1833, 1844, 1268, 1442, 1441, 1302,\n+ 1164, 1041, 945, 874, 896, 1059, 1368, 1680, 1736, 1975,\n+ 1891, 1979, 2131, 2338, 2672, 2861, 3114, 3097, 2801, 2695,\n+ 2422, 2022, 1648, 1340, 713, 352, -127, -895, -1740, -2040,\n+ -2854, -3292, -3453, -3922, -4395, -4538, -4554, -4356, -4445, -4669,\n+ -4988, -5122, -5152],\n+ # -60\n+ [ -4598, -4449, -4278, -4056, -3732, -3417, -3205, -3094, -3008, -2876,\n+ -2669, -2478, -2350, -2272, -2218, -1969, -1660, -1381, -1123, -716,\n+ -350, 247, 924, 1712, 2016, 2066, 2032, 1556, 2123, 2322,\n+ 2384, 1034, 2121, 1923, 1720, 1571, 1517, 1668, 2008, 2366,\n+ 2546, 2736, 2914, 3169, 3395, 3467, 3315, 3286, 3279, 3073,\n+ 2930, 2727, 2502, 1783, 893, 311, -328, -778, -1364, -1973,\n+ -2467, -2833, -3143, -3283, -3311, -3120, -2956, -3027, -3485, -3972,\n+ -4454, -4679, -4598],\n+ # -55\n+ [ -3414, -3429, -3223, -3013, -2704, -2474, -2292, -2185, -1962, -1818,\n+ -1828, -1485, -1259, -1284, -1327, -1304, -1097, -1071, -628, -326,\n+ 174, 340, 1331, 1217, 1712, 1441, 1467, 1578, 1654, 2179,\n+ 764, 1486, 2074, 2245, 2462, 2655, 2720, 2581, 2423, 2731,\n+ 3145, 3383, 3436, 3909, 4448, 4422, 4032, 3938, 3665, 3461,\n+ 3465, 3317, 2487, 1908, 1311, 683, 52, -582, -1196, -1798,\n+ -2158, -2450, -2475, -2429, -2277, -2011, -2140, -2306, -2551, -2726,\n+ -3016, -3319, -3414],\n+ # -50\n+ [ -1615, -1938, -1875, -1827, -1839, -1793, -1605, -1650, -1737, -1773,\n+ -1580, -1237, -1010, -983, -1051, -1025, -838, -653, -316, 48,\n+ 502, 1382, 1186, 1114, 1264, 785, 231, 329, 353, 556,\n+ 1084, 1597, 2065, 2475, 2744, 2701, 2518, 2545, 2584, 2963,\n+ 3323, 3537, 3792, 4085, 4520, 4505, 4459, 4287, 3818, 4112,\n+ 3975, 3293, 2748, 2043, 1272, 569, -207, -898, -1498, -1990,\n+ -2242, -2358, -2212, -1968, -1843, -1695, -1705, -1688, -1400, -1177,\n+ -1013, -1168, -1615],\n+ # -45\n+ [ 338, -20, -606, -849, -777, -838, -1123, -1322, -1485, -1503,\n+ -1413, -1203, -1077, -1004, -960, -829, -662, -371, -88, 322,\n+ 710, 1323, 1831, 1202, 908, 47, -292, -367, -495, -174,\n+ 688, 1500, 2194, 2673, 2568, 2423, 2099, 2168, 2617, 2834,\n+ 3254, 3328, 3443, 4442, 4639, 4588, 4524, 4223, 3575, 3187,\n+ 3101, 2651, 2155, 1506, 774, -55, -961, -1719, -2355, -2719,\n+ -2731, -2670, -2430, -2026, -1715, -1477, -1144, -901, -646, -303,\n+ 871, 565, 338],\n+ # -40\n+ [ 2048, 1283, 637, 317, 109, -156, -679, -1023, -1186, -1277,\n+ -1275, -1202, -1282, -1150, -1022, -881, -690, -300, -84, 130,\n+ 694, 937, 2220, 1511, 1341, 558, -266, -623, -670, -209,\n+ 643, 1459, 2101, 2385, 2307, 2000, 1765, 1992, 2496, 2733,\n+ 2941, 3431, 3298, 3327, 3877, 4306, 4069, 3446, 2844, 2601,\n+ 2333, 1786, 1318, 599, -238, -1184, -2098, -2786, -3250, -3406,\n+ -3351, -3095, -2741, -2101, -1482, -148, -201, 221, 491, 1179,\n+ 1877, 1206, 2048],\n+ # -35\n+ [ 2833, 2556, 1700, 1059, 497, -21, -370, -752, -959, -1103,\n+ -1093, -1104, -1198, -1097, -960, -785, -596, -362, -211, 103,\n+ 739, 1300, 3029, 2021, 1712, 1269, -23, -616, -701, -255,\n+ 684, 1237, 1701, 1903, 1696, 1789, 1795, 2034, 2398, 2561,\n+ 3187, 2625, 2609, 2897, 2564, 3339, 3118, 3121, 2240, 2102,\n+ 1529, 991, 387, -559, -1464, -2380, -3138, -3999, -3899, -3446,\n+ -3473, -3300, -2823, -1043, 143, 970, 2058, 1555, 1940, 2621,\n+ 3154, 3839, 2833],\n+ # -30\n+ [ 4772, 3089, 2257, 1381, 566, 64, -136, -612, -868, -1186,\n+ -1309, -1131, -1033, -903, -780, -625, -443, -242, 100, 269,\n+ 815, 1489, 3633, 2424, 1810, 1138, 297, -720, -847, -2,\n+ 347, 579, 1025, 1408, 1504, 1686, 2165, 2353, 2599, 3182,\n+ 3332, 3254, 3094, 2042, 1369, 1945, 1468, 1487, 1505, 1048,\n+ 613, 26, -904, -1757, -2512, -3190, -3751, -3941, -3939, -2896,\n+ -2222, -1766, -1442, 70, 1262, 2229, 3189, 2910, 3371, 3608,\n+ 4379, 4520, 4772],\n+ # -25\n+ [ 4984, 2801, 2475, 1374, 798, 198, -269, -628, -1063, -1262,\n+ -1090, -970, -692, -516, -458, -313, -143, 19, 183, 403,\n+ 837, 1650, 3640, 2990, 2084, 628, 422, -597, -1130, -712,\n+ -474, -110, 446, 1043, 1349, 1571, 2008, 2572, 2405, 3175,\n+ 2766, 2407, 2100, 1130, 367, 840, 89, 114, 49, -25,\n+ -494, -1369, -2345, -3166, -3804, -4256, -4141, -3730, -3337, -1814,\n+ -901, -388, 298, 1365, 2593, 3490, 4639, 4427, 4795, 4771,\n+ 5325, 5202, 4984],\n+ # -20\n+ [ 4994, 5152, 2649, 1466, 935, 427, -115, -518, -838, -1135,\n+ -1134, -917, -525, -280, -218, -310, -396, -306, -137, 148,\n+ 811, 1643, 3496, 4189, 1958, 358, -784, -684, -740, -800,\n+ -579, -638, -49, 704, 1221, 1358, 1657, 1957, 2280, 2639,\n+ 2157, 1246, 728, -364, -1021, -586, -1098, -1055, -1032, -1244,\n+ -2065, -3158, -4028, -4660, -4802, -4817, -4599, -3523, -2561, -1260,\n+ 446, 1374, 2424, 3310, 4588, 5499, 5724, 5479, 5698, 5912,\n+ 6400, 6116, 4994],\n+ # -15\n+ [ 4930, 4158, 2626, 1375, 902, 630, 150, -275, -667, -1005,\n+ -954, -847, -645, -376, -315, -479, -639, -681, -550, -268,\n+ 709, 2996, 4880, 2382, 1695, -136, -964, -1211, -1038, -1045,\n+ -695, -595, 23, 733, 1107, 1318, 1348, 1376, 1630, 2240,\n+ 1248, 454, -737, -1252, -2001, -2513, -1416, -2169, -2269, -3089,\n+ -4063, -5194, -5715, -6105, -5700, -4873, -3919, -2834, -1393, -112,\n+ 1573, 3189, 3907, 4863, 5437, 6548, 6379, 6281, 6289, 5936,\n+ 6501, 5794, 4930],\n+ # -10\n+ [ 3525, 2747, 2135, 1489, 1078, 739, 544, -39, -268, -588,\n+ -917, -1025, -1087, -940, -771, -923, -1177, -1114, -919, -383,\n+ -108, 2135, 2818, 1929, 386, -1097, -1911, -1619, -1226, -1164,\n+ -952, -583, 399, 1070, 1280, 1345, 1117, 993, 1306, 1734,\n+ 538, -463, -1208, -1602, -2662, -3265, -3203, -3408, -3733, -5014,\n+ -6083, -7253, -7578, -7096, -6418, -4658, -2647, -586, -87, 1053,\n+ 3840, 3336, 5240, 6253, 6898, 7070, 7727, 7146, 6209, 5826,\n+ 5068, 4161, 3525],\n+ # -5\n+ [ 2454, 1869, 1656, 1759, 1404, 1263, 1012, 605, 108, -511,\n+ -980, -1364, -1620, -1633, -1421, -1342, -1412, -1349, -1006, -229,\n+ 1711, 1293, 1960, 605, -793, -2058, -2108, -2626, -1195, -606,\n+ -513, -108, 671, 1504, 1853, 1711, 1709, 940, 570, 296,\n+ -913, -1639, -1471, -1900, -3000, -4164, -4281, -4062, -5366, -6643,\n+ -7818, -8993, -9275, -8306, -6421, -4134, -1837, 1367, 2850, 4286,\n+ 5551, 5599, 5402, 6773, 7736, 7024, 8161, 6307, 5946, 4747,\n+ 3959, 3130, 2454],\n+ # 0\n+ [ 2128, 1774, 1532, 1470, 1613, 1589, 1291, 783, 79, -676,\n+ -1296, -1941, -2298, -2326, -2026, -1738, -1412, -1052, -406, 82,\n+ 1463, 1899, 1352, -170, -1336, -2446, -2593, -2328, -1863, -833,\n+ 245, 1005, 1355, 1896, 1913, 1888, 1723, 1642, 940, -127,\n+ -1668, -1919, -1078, -1633, -2762, -4357, -4885, -5143, -6260, -7507,\n+ -8947, -10042, -10259, -8865, -6329, -3424, -692, 1445, 3354, 5132,\n+ 5983, 4978, 7602, 7274, 7231, 6941, 6240, 5903, 4944, 4065,\n+ 3205, 2566, 2128],\n+ # 5\n+ [ 1632, 1459, 1243, 1450, 1643, 1432, 867, 283, -420, -1316,\n+ -1993, -2614, -3012, -3016, -2555, -1933, -1256, -688, -133, 634,\n+ 1369, 2095, -92, -858, -1946, -3392, -3666, -3110, -1839, -371,\n+ 674, 1221, 1657, 1994, 2689, 2577, 2020, 2126, 1997, 987,\n+ -739, -989, -1107, -1369, -1914, -3312, -4871, -5365, -6171, -7732,\n+ -9393, -10088, -10568, -9022, -6053, -4104, -1296, 373, 2310, 4378,\n+ 6279, 6294, 6999, 6852, 6573, 6302, 5473, 5208, 4502, 3445,\n+ 2790, 2215, 1632],\n+ # 10\n+ [ 1285, 1050, 1212, 1439, 1055, 638, 140, -351, -1115, -2060,\n+ -2904, -3593, -3930, -3694, -2924, -2006, -1145, -441, 164, 1059,\n+ 91, -440, -1043, -2791, -4146, -4489, -4259, -3218, -1691, -683,\n+ 306, 1160, 1735, 3081, 3275, 2807, 2373, 2309, 2151, 1245,\n+ 207, -132, -507, -564, -956, -1917, -3167, -5067, -5820, -7588,\n+ -9107, -9732, -9732, -8769, -6308, -4585, -2512, -891, 1108, 3278,\n+ 5183, 6391, 5985, 5969, 6049, 5616, 4527, 4156, 3531, 2776,\n+ 2456, 1904, 1285],\n+ # 15\n+ [ 862, 804, 860, 969, 544, 89, -417, -1008, -1641, -2608,\n+ -3607, -4234, -4482, -4100, -3232, -2092, -1105, -1092, 238, 330,\n+ -571, -1803, -2983, -3965, -5578, -4864, -3777, -2572, -1690, -536,\n+ 806, 2042, 2323, 3106, 3019, 2833, 2260, 2064, 2036, 1358,\n+ 1030, 908, 391, -54, -377, -885, -2172, -3359, -5309, -6686,\n+ -8058, -8338, -8695, -8322, -6404, -5003, -3420, -2060, -255, 1833,\n+ 4143, 4218, 4771, 5031, 5241, 5504, 4399, 3471, 2832, 2266,\n+ 1643, 1190, 862],\n+ # 20\n+ [ 442, 488, 986, 877, 757, 1175, -696, -1473, -2285, -3128,\n+ -3936, -4520, -4739, -4286, -3350, -2092, -747, -1894, -1083, -1508,\n+ -2037, -2528, -4813, -6316, -4698, -4222, -3279, -1814, -1001, 212,\n+ 1714, 2273, 2535, 3367, 3112, 2736, 3086, 2742, 2679, 2071,\n+ 1422, 1333, 922, 619, 183, -945, -3070, -3680, -4245, -5461,\n+ -6064, -6652, -6806, -6210, -5947, -5177, -3814, -2589, -1319, 551,\n+ 2150, 3262, 3799, 4177, 4898, 4658, 4149, 2833, 2148, 1410,\n+ 899, 551, 442],\n+ # 25\n+ [ -248, 12, 716, 415, 327, -187, -1103, -1729, -2469, -3296,\n+ -4040, -4545, -4642, -4232, -3466, -2064, -1667, -3232, -2660, -2685,\n+ -2789, -4262, -5208, -5084, -4935, -4077, -2622, -804, 131, 946,\n+ 1859, 2203, 3038, 3433, 3758, 3029, 2757, 3524, 3109, 2511,\n+ 2300, 1554, 1316, 1114, 954, -81, -2642, -3389, -3167, -4211,\n+ -4634, -5193, -6014, -6245, -5347, -5313, -3846, -3149, -2130, -354,\n+ 1573, 2760, 3310, 3713, 4594, 3862, 2827, 1939, 1019, 313,\n+ -142, -378, -248],\n+ # 30\n+ [ -720, -717, -528, -573, -867, -1224, -1588, -2135, -2796, -3432,\n+ -4036, -4329, -4246, -3464, -2996, -2389, -2323, -2844, -2744, -2884,\n+ -3238, -4585, -5164, -4463, -4064, -3238, -1751, 150, 1657, 2501,\n+ 3023, 3007, 3404, 3976, 4354, 4648, 3440, 2708, 2813, 2968,\n+ 2611, 2104, 1606, 1808, 1086, -392, -1793, -689, -1527, -2765,\n+ -3766, -4709, -3687, -2800, -3375, -3793, -3365, -4182, -2385, -1115,\n+ 785, 2302, 3020, 3564, 4178, 2993, 1940, 1081, 331, -364,\n+ -683, -690, -720],\n+ # 35\n+ [ -1004, -1222, -1315, -1304, -1463, -1680, -2160, -2675, -3233, -3746,\n+ -4021, -4053, -3373, -3012, -2447, -2184, -2780, -3219, -2825, -3079,\n+ -3181, -4284, -4548, -3867, -3123, -2302, -785, 943, 2687, 4048,\n+ 4460, 4290, 4118, 4585, 4282, 4437, 4898, 3818, 3696, 3414,\n+ 2299, 2057, 627, 1915, 1833, 451, 678, -876, -1602, -2167,\n+ -3344, -2549, -2860, -3514, -4043, -4207, -4005, -3918, -3121, -1521,\n+ 471, 2023, 2980, 3679, 3465, 2405, 1475, 553, -142, -880,\n+ -1178, -963, -1004],\n+ # 40\n+ [ -1223, -1218, -1076, -1116, -1298, -1541, -2085, -2648, -3120, -3473,\n+ -3679, -3342, -2334, -1912, -1787, -1756, -2482, -3182, -3322, -3429,\n+ -3395, -3374, -3372, -3341, -2654, -1509, 105, 1620, 3250, 4603,\n+ 5889, 5776, 5198, 4840, 4903, 5370, 5086, 4536, 4519, 4601,\n+ 3395, 4032, 3890, 3537, 3113, 2183, -1769, -1552, -2856, -3694,\n+ -4092, -3614, -5468, -6518, -6597, -5911, -5476, -4465, -2802, -1076,\n+ 232, 1769, 2305, 3018, 3768, 1721, 1694, 667, -154, -799,\n+ -1068, -1196, -1223],\n+ # 45\n+ [ -634, -460, -330, -267, -413, -818, -1310, -1763, -2352, -2738,\n+ -2632, -2685, -1929, -1340, -737, -1441, -2254, -2685, -3358, -3488,\n+ -3635, -3187, -2665, -2142, -1515, -124, 1727, 2798, 3965, 5065,\n+ 6150, 6513, 6089, 5773, 5044, 4471, 4677, 5052, 3938, 4537,\n+ 4425, 3652, 3063, 2178, 1267, 84, -1109, -1974, -2905, -3650,\n+ -4264, -4741, -4136, -6324, -5826, -5143, -4851, -4344, -3225, -1386,\n+ 5, 1153, 2198, 2833, 2835, 2563, 1337, 1194, 503, -329,\n+ -289, -754, -634],\n+ # 50\n+ [ -578, -40, 559, 880, 749, 464, 0, -516, -1140, -1655,\n+ -1818, -1589, -1555, -1337, -1769, -1919, -2372, -2981, -3485, -3976,\n+ -3941, -3565, -2614, -2223, -1253, 802, 2406, 3239, 4434, 5428,\n+ 6265, 6394, 6180, 5690, 5855, 5347, 4506, 4685, 4799, 4445,\n+ 3972, 3165, 2745, 1601, 1084, 41, -1170, -1701, -1916, -2914,\n+ -3305, -3790, -4435, -4128, -4163, -4535, -4190, -3891, -2951, -1869,\n+ -414, 851, 1494, 2097, 2268, 1939, 2031, 2460, 638, 578,\n+ 325, 98, -578],\n+ # 55\n+ [ -18, 482, 905, 1562, 1739, 983, 1097, 568, 34, -713,\n+ -695, -1072, -1576, -1879, -2479, -2884, -3275, -3971, -4456, -4654,\n+ -4461, -3688, -2697, -1623, -823, 1270, 2523, 3883, 4967, 5977,\n+ 6049, 6149, 6095, 5776, 5820, 5575, 4642, 4099, 4025, 3462,\n+ 2679, 2447, 1951, 1601, 1151, 663, 157, -603, -952, -1987,\n+ -2609, -3316, -3600, -3684, -3717, -3836, -4024, -3452, -2950, -1861,\n+ -903, 89, 975, 1499, 1560, 1601, 1922, 2031, 2326, -58,\n+ 506, -177, -18],\n+ # 60\n+ [ 93, 673, 969, 1168, 1498, 1486, 1439, 1165, 1128, 720,\n+ 5, -689, -1610, -2409, -3094, -3585, -4193, -4772, -4678, -4521,\n+ -4184, -2955, -2252, -834, 503, 1676, 2882, 4130, 4892, 5611,\n+ 6390, 6338, 6069, 5974, 5582, 5461, 4788, 4503, 4080, 2957,\n+ 1893, 1773, 1586, 1544, 1136, 1026, 622, 50, -389, -1484,\n+ -2123, -2625, -3028, -3143, -3366, -3288, -3396, -3069, -2770, -2605,\n+ -1663, -555, 25, 491, 1168, 1395, 1641, 1597, 1426, 1299,\n+ 921, -160, 93],\n+ # 65\n+ [ 419, 424, 443, 723, 884, 1030, 1077, 1191, 1065, 734,\n+ 265, -1052, -1591, -2136, -2773, -3435, -3988, -3978, -3698, -3509,\n+ -3370, -2490, -1347, -263, 1647, 2582, 3291, 4802, 4447, 5609,\n+ 5879, 6454, 6709, 6606, 5988, 5365, 5103, 4385, 3996, 3250,\n+ 2526, 1766, 1817, 1751, 1275, 857, 636, 29, -12, -918,\n+ -1364, -1871, -2023, -2102, -2258, -2441, -2371, -2192, -1908, -1799,\n+ -1720, -1662, -385, 86, 466, 880, 715, 834, 1010, 1105,\n+ 877, 616, 419],\n+ # 70\n+ [ 242, 93, 98, 62, -54, -25, -127, -156, -253, -412,\n+ -805, -1106, -1506, -1773, -2464, -2829, -2740, -2579, -2559, -2271,\n+ -1849, -853, 294, 1055, 2357, 2780, 2907, 3909, 4522, 5272,\n+ 5594, 5903, 5966, 5930, 5592, 5188, 4878, 4561, 4190, 3834,\n+ 2963, 2451, 1981, 1525, 1064, 694, 253, -70, -318, -781,\n+ -979, -1048, -1274, -1413, -1175, -1313, -1449, -1206, -850, -1087,\n+ -828, -933, -540, -301, -35, 53, 279, 267, 345, 371,\n+ 334, 289, 242],\n+ # 75\n+ [ 128, 228, 376, 46, -173, -355, -417, -548, -764, -925,\n+ -419, -950, -1185, -1102, -1293, -1355, -1075, -713, -365, 167,\n+ 516, 1381, 1882, 1826, 1956, 2492, 3192, 3541, 3750, 4123,\n+ 4462, 4592, 4472, 4705, 4613, 4559, 4340, 4392, 4144, 3973,\n+ 3119, 2582, 2057, 1684, 1199, 834, 477, 325, 295, -198,\n+ -459, -670, -706, -677, -766, -852, -939, -905, -637, -601,\n+ -531, -433, -292, -158, 88, 85, 118, 121, 147, 179,\n+ 173, 149, 128],\n+ # 80\n+ [ 342, 293, 244, 159, 38, 20, 15, -15, -109, -119,\n+ -240, -182, 16, 397, 550, 264, 350, 670, 865, 681,\n+ 1188, 1136, 703, 1153, 1930, 2412, 2776, 3118, 3351, 3634,\n+ 3653, 3272, 3177, 3161, 3354, 3671, 3615, 3572, 3522, 3274,\n+ 2914, 2682, 2426, 2185, 1845, 1584, 1297, 1005, 809, 507,\n+ 248, 314, 230, 96, 149, 240, 274, 297, 153, 109,\n+ 164, 91, 104, 43, 12, 153, 243, 170, 184, 59,\n+ 99, 158, 342],\n+ # 85\n+ [ 912, 961, 1013, 1013, 997, 1032, 1026, 1050, 1072, 1132,\n+ 1156, 1253, 1310, 1389, 1441, 1493, 1508, 1565, 1621, 1642,\n+ 1768, 1888, 2036, 2089, 2117, 2106, 2010, 2120, 2276, 2376,\n+ 2426, 2427, 2526, 2582, 2493, 2534, 2628, 2564, 2471, 2509,\n+ 2407, 2332, 2214, 2122, 1987, 1855, 1714, 1619, 1517, 1474,\n+ 1406, 1351, 1308, 1264, 1181, 1081, 1047, 1084, 1043, 964,\n+ 851, 755, 732, 706, 697, 785, 864, 762, 686, 729,\n+ 789, 856, 912],\n+ # 90\n+ [ 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490,\n+ 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490,\n+ 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490,\n+ 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490,\n+ 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490,\n+ 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490,\n+ 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490, 1490,\n+ 1490, 1490, 1490]]\n+\n+\n+# This table is wmm2015. Values obtained from MagneticField, part of\n+# geographiclib., by using devtools/get_mag_var_table.py\n+#\n+# magvar[][] has the magnetic variation (declination), in hundreths of\n+# a degree, on a 5 degree by 5 * degree grid for the entire planet.\n+#\n+# This table is duplicated in geoid.c. Keep them in sync.\n+#\n+\n+magvar_table = [\n+ # -90\n+ [ 14920, 14420, 13920, 13420, 12920, 12420, 11920, 11420, 10920,\n+ 10420, 9920, 9420, 8920, 8420, 7920, 7420, 6920, 6420,\n+ 5920, 5420, 4920, 4420, 3920, 3420, 2920, 2420, 1920,\n+ 1420, 920, 420, -80, -580, -1080, -1580, -2080, -2580,\n+ -3080, -3580, -4080, -4580, -5080, -5580, -6080, -6580, -7080,\n+ -7580, -8080, -8580, -9080, -9580, -10080, -10580, -11080, -11580,\n+ -12080, -12580, -13080, -13580, -14080, -14580, -15080, -15580, -16080,\n+ -16580, -17080, -17580, 17920, 17420, 16920, 16420, 15920, 15420,\n+ 14920],\n+ # -85\n+ [ 14174, 13609, 13052, 12504, 11965, 11435, 10914, 10402, 9898,\n+ 9403, 8915, 8434, 7960, 7492, 7029, 6572, 6119, 5671,\n+ 5226, 4784, 4346, 3909, 3475, 3042, 2611, 2180, 1750,\n+ 1319, 889, 457, 25, -409, -845, -1283, -1723, -2166,\n+ -2612, -3061, -3514, -3971, -4431, -4895, -5364, -5837, -6315,\n+ -6798, -7285, -7778, -8277, -8781, -9291, -9808, -10331, -10860,\n+ -11397, -11940, -12491, -13048, -13613, -14184, -14761, -15344, -15931,\n+ -16523, -17117, -17714, 17690, 17094, 16500, 15910, 15325, 14746,\n+ 14174],\n+ # -80\n+ [ 12958, 12331, 11733, 11163, 10619, 10099, 9600, 9121, 8659,\n+ 8211, 7776, 7352, 6937, 6529, 6127, 5730, 5338, 4949,\n+ 4563, 4180, 3799, 3420, 3043, 2667, 2292, 1918, 1544,\n+ 1170, 795, 419, 40, -342, -727, -1117, -1512, -1912,\n+ -2318, -2729, -3147, -3571, -4002, -4438, -4880, -5328, -5782,\n+ -6241, -6707, -7180, -7659, -8146, -8641, -9146, -9662, -10190,\n+ -10732, -11290, -11866, -12461, -13077, -13716, -14379, -15064, -15772,\n+ -16500, -17244, -17999, 17241, 16485, 15738, 15007, 14298, 13614,\n+ 12958],\n+ # -75\n+ [ 11045, 10435, 9882, 9378, 8915, 8485, 8081, 7699, 7335,\n+ 6983, 6640, 6304, 5972, 5642, 5313, 4982, 4651, 4317,\n+ 3982, 3646, 3309, 2972, 2635, 2300, 1966, 1634, 1304,\n+ 975, 646, 316, -16, -352, -694, -1042, -1398, -1764,\n+ -2138, -2523, -2916, -3319, -3729, -4146, -4569, -4997, -5430,\n+ -5866, -6306, -6750, -7197, -7650, -8109, -8576, -9054, -9545,\n+ -10054, -10585, -11143, -11736, -12371, -13058, -13806, -14624, -15519,\n+ -16489, -17525, 17396, 16307, 15245, 14242, 13317, 12478, 11723,\n+ 11045],\n+ # -70\n+ [ 8567, 8144, 7771, 7437, 7132, 6851, 6587, 6336, 6095,\n+ 5858, 5623, 5386, 5144, 4896, 4639, 4372, 4094, 3807,\n+ 3510, 3206, 2895, 2582, 2266, 1952, 1641, 1334, 1033,\n+ 736, 444, 155, -136, -429, -729, -1038, -1359, -1693,\n+ -2042, -2406, -2782, -3170, -3568, -3973, -4383, -4795, -5208,\n+ -5620, -6030, -6437, -6843, -7246, -7650, -8054, -8463, -8880,\n+ -9308, -9756, -10230, -10744, -11314, -11965, -12737, -13686, -14889,\n+ -16424, 17708, 15701, 13867, 12382, 11234, 10344, 9636, 9056,\n+ 8567],\n+ # -65\n+ [ 6318, 6126, 5946, 5777, 5617, 5466, 5322, 5183, 5046,\n+ 4910, 4770, 4622, 4464, 4291, 4101, 3891, 3661, 3411,\n+ 3142, 2857, 2558, 2250, 1938, 1625, 1318, 1019, 730,\n+ 454, 189, -67, -318, -570, -827, -1096, -1381, -1685,\n+ -2009, -2354, -2717, -3095, -3485, -3881, -4279, -4676, -5068,\n+ -5453, -5828, -6193, -6546, -6887, -7218, -7538, -7849, -8152,\n+ -8450, -8744, -9037, -9335, -9645, -9979, -10368, -10886, -11809,\n+ -15193, 10922, 8778, 8037, 7595, 7264, 6988, 6744, 6523,\n+ 6318],\n+ # -60\n+ [ 4768, 4709, 4640, 4566, 4490, 4416, 4344, 4274, 4208,\n+ 4141, 4071, 3993, 3902, 3794, 3663, 3505, 3318, 3100,\n+ 2852, 2578, 2280, 1965, 1640, 1313, 991, 682, 392,\n+ 123, -125, -354, -569, -778, -991, -1215, -1458, -1726,\n+ -2023, -2347, -2695, -3064, -3445, -3833, -4220, -4600, -4969,\n+ -5323, -5658, -5972, -6264, -6532, -6776, -6993, -7181, -7338,\n+ -7458, -7532, -7546, -7474, -7273, -6857, -6058, -4557, -2058,\n+ 727, 2633, 3688, 4259, 4572, 4736, 4812, 4830, 4812,\n+ 4768],\n+ # -55\n+ [ 3771, 3768, 3750, 3720, 3685, 3647, 3611, 3577, 3546,\n+ 3519, 3492, 3462, 3421, 3364, 3283, 3171, 3023, 2835,\n+ 2607, 2339, 2036, 1705, 1356, 1001, 652, 319, 13,\n+ -261, -501, -709, -891, -1058, -1222, -1394, -1587, -1810,\n+ -2069, -2365, -2694, -3048, -3419, -3795, -4168, -4529, -4871,\n+ -5189, -5479, -5737, -5961, -6148, -6293, -6394, -6445, -6436,\n+ -6355, -6184, -5896, -5455, -4817, -3939, -2818, -1532, -251,\n+ 866, 1747, 2404, 2878, 3214, 3446, 3600, 3697, 3750,\n+ 3771],\n+ # -50\n+ [ 3099, 3120, 3123, 3115, 3098, 3077, 3056, 3036, 3021,\n+ 3011, 3006, 3001, 2992, 2971, 2929, 2856, 2743, 2584,\n+ 2373, 2111, 1800, 1449, 1071, 680, 294, -71, -401,\n+ -686, -925, -1118, -1273, -1401, -1516, -1633, -1767, -1932,\n+ -2138, -2392, -2689, -3021, -3374, -3734, -4089, -4425, -4736,\n+ -5014, -5253, -5450, -5601, -5700, -5743, -5724, -5634, -5465,\n+ -5202, -4832, -4344, -3732, -3008, -2203, -1368, -556, 188,\n+ 839, 1387, 1838, 2201, 2485, 2704, 2865, 2979, 3054,\n+ 3099],\n+ # -45\n+ [ 2611, 2642, 2656, 2658, 2651, 2639, 2625, 2610, 2598,\n+ 2592, 2591, 2595, 2601, 2600, 2583, 2539, 2456, 2321,\n+ 2128, 1871, 1554, 1183, 774, 346, -76, -472, -823,\n+ -1120, -1357, -1540, -1675, -1774, -1850, -1915, -1987, -2083,\n+ -2220, -2411, -2657, -2951, -3276, -3612, -3941, -4248, -4522,\n+ -4755, -4940, -5073, -5147, -5158, -5102, -4972, -4762, -4467,\n+ -4083, -3612, -3068, -2474, -1858, -1251, -675, -141, 343,\n+ 777, 1161, 1495, 1781, 2020, 2214, 2366, 2479, 2559,\n+ 2611],\n+ # -40\n+ [ 2236, 2269, 2287, 2295, 2295, 2289, 2279, 2266, 2253,\n+ 2243, 2238, 2239, 2245, 2250, 2246, 2220, 2157, 2043,\n+ 1864, 1613, 1290, 903, 468, 12, -438, -854, -1216,\n+ -1513, -1745, -1916, -2038, -2121, -2172, -2202, -2220, -2243,\n+ -2294, -2397, -2566, -2798, -3077, -3376, -3672, -3945, -4180,\n+ -4367, -4499, -4570, -4575, -4509, -4370, -4157, -3867, -3504,\n+ -3076, -2600, -2099, -1602, -1131, -697, -301, 62, 396,\n+ 706, 992, 1252, 1485, 1688, 1860, 1999, 2106, 2183,\n+ 2236],\n+ # -35\n+ [ 1934, 1966, 1985, 1996, 2001, 2000, 1994, 1982, 1967,\n+ 1952, 1939, 1932, 1930, 1932, 1930, 1911, 1860, 1758,\n+ 1589, 1343, 1016, 618, 167, -305, -767, -1187, -1544,\n+ -1830, -2047, -2204, -2315, -2387, -2426, -2432, -2406, -2360,\n+ -2315, -2308, -2368, -2508, -2716, -2964, -3222, -3462, -3666,\n+ -3818, -3909, -3934, -3888, -3771, -3584, -3331, -3015, -2645,\n+ -2236, -1809, -1390, -1003, -658, -355, -85, 165, 403,\n+ 634, 856, 1066, 1261, 1436, 1588, 1714, 1813, 1885,\n+ 1934],\n+ # -30\n+ [ 1687, 1715, 1732, 1744, 1752, 1755, 1753, 1744, 1728,\n+ 1709, 1689, 1672, 1660, 1653, 1647, 1629, 1581, 1485,\n+ 1321, 1075, 746, 343, -113, -588, -1045, -1453, -1792,\n+ -2056, -2251, -2390, -2484, -2542, -2565, -2544, -2475, -2360,\n+ -2220, -2093, -2026, -2049, -2164, -2349, -2568, -2786, -2976,\n+ -3116, -3193, -3201, -3138, -3007, -2815, -2567, -2271, -1936,\n+ -1577, -1218, -883, -590, -345, -140, 41, 212, 385,\n+ 563, 742, 918, 1085, 1238, 1374, 1488, 1578, 1643,\n+ 1687],\n+ # -25\n+ [ 1485, 1507, 1520, 1530, 1539, 1544, 1545, 1539, 1525,\n+ 1504, 1479, 1454, 1434, 1420, 1407, 1385, 1336, 1239,\n+ 1074, 827, 497, 93, -359, -823, -1262, -1647, -1960,\n+ -2198, -2366, -2478, -2546, -2575, -2564, -2502, -2380, -2200,\n+ -1978, -1753, -1575, -1486, -1504, -1617, -1794, -1998, -2189,\n+ -2341, -2432, -2454, -2406, -2295, -2131, -1920, -1670, -1388,\n+ -1089, -796, -531, -312, -141, -8, 108, 224, 353,\n+ 495, 646, 798, 945, 1082, 1204, 1308, 1389, 1447,\n+ 1485],\n+ # -20\n+ [ 1322, 1337, 1344, 1350, 1356, 1363, 1366, 1363, 1351,\n+ 1330, 1303, 1275, 1249, 1230, 1212, 1186, 1132, 1030,\n+ 859, 609, 278, -121, -561, -1006, -1420, -1775, -2058,\n+ -2264, -2401, -2478, -2506, -2489, -2425, -2309, -2134, -1903,\n+ -1633, -1359, -1122, -961, -902, -945, -1074, -1254, -1445,\n+ -1612, -1727, -1778, -1764, -1691, -1570, -1409, -1213, -986,\n+ -743, -504, -294, -131, -15, 66, 135, 213, 311,\n+ 430, 563, 699, 832, 957, 1070, 1165, 1240, 1291,\n+ 1322],\n+ # -15\n+ [ 1194, 1201, 1202, 1201, 1204, 1209, 1213, 1211, 1202,\n+ 1183, 1157, 1128, 1101, 1080, 1059, 1028, 968, 858,\n+ 680, 425, 94, -296, -718, -1138, -1522, -1846, -2096,\n+ -2268, -2367, -2401, -2378, -2304, -2182, -2013, -1798, -1545,\n+ -1270, -996, -752, -566, -462, -451, -529, -673, -849,\n+ -1019, -1151, -1228, -1246, -1212, -1135, -1023, -876, -700,\n+ -505, -311, -145, -23, 53, 97, 133, 184, 262,\n+ 366, 488, 615, 739, 856, 963, 1054, 1124, 1170,\n+ 1194],\n+ # -10\n+ [ 1097, 1098, 1090, 1083, 1081, 1083, 1087, 1087, 1080,\n+ 1063, 1039, 1011, 986, 965, 943, 906, 838, 718,\n+ 531, 271, -56, -434, -835, -1226, -1578, -1869, -2085,\n+ -2221, -2279, -2265, -2188, -2059, -1886, -1678, -1446, -1198,\n+ -946, -703, -482, -302, -181, -135, -170, -275, -425,\n+ -583, -719, -810, -851, -848, -808, -736, -633, -500,\n+ -346, -191, -59, 32, 78, 96, 109, 141, 205,\n+ 300, 415, 537, 658, 772, 877, 966, 1035, 1078,\n+ 1097],\n+ # -5\n+ [ 1026, 1022, 1009, 995, 988, 987, 990, 992, 987,\n+ 973, 951, 926, 903, 882, 856, 813, 734, 603,\n+ 407, 144, -179, -542, -919, -1281, -1601, -1858, -2038,\n+ -2136, -2152, -2094, -1971, -1797, -1589, -1363, -1131, -903,\n+ -685, -480, -293, -131, -10, 55, 50, -22, -143,\n+ -284, -412, -507, -561, -578, -565, -525, -457, -360,\n+ -242, -121, -18, 47, 71, 69, 66, 85, 140,\n+ 229, 339, 460, 580, 695, 803, 895, 966, 1010,\n+ 1026],\n+ # 0\n+ [ 975, 971, 953, 935, 924, 922, 926, 930, 928,\n+ 917, 898, 875, 852, 828, 796, 743, 651, 506,\n+ 300, 34, -282, -629, -981, -1314, -1601, -1823, -1967,\n+ -2028, -2006, -1910, -1753, -1553, -1327, -1096, -873, -669,\n+ -484, -315, -160, -20, 94, 166, 181, 134, 38,\n+ -84, -201, -293, -352, -380, -384, -367, -327, -261,\n+ -175, -84, -9, 33, 39, 23, 8, 17, 64,\n+ 147, 255, 375, 497, 617, 731, 831, 908, 957,\n+ 975],\n+ # 5\n+ [ 937, 936, 920, 901, 890, 888, 895, 902, 904,\n+ 897, 880, 858, 832, 803, 761, 693, 584, 423,\n+ 205, -65, -374, -704, -1031, -1333, -1587, -1773, -1881,\n+ -1906, -1853, -1730, -1554, -1341, -1112, -885, -675, -490,\n+ -331, -191, -62, 58, 162, 235, 260, 231, 154,\n+ 50, -56, -142, -201, -234, -249, -248, -228, -188,\n+ -130, -67, -18, 2, -9, -38, -64, -63, -24,\n+ 52, 157, 276, 402, 529, 652, 763, 852, 911,\n+ 937],\n+ # 10\n+ [ 901, 911, 902, 889, 881, 883, 895, 908, 916,\n+ 913, 899, 876, 845, 806, 749, 662, 532, 352,\n+ 120, -155, -459, -773, -1076, -1347, -1565, -1715, -1787,\n+ -1781, -1703, -1564, -1380, -1167, -942, -724, -526, -357,\n+ -216, -96, 13, 117, 210, 280, 312, 294, 232,\n+ 142, 47, -33, -89, -125, -145, -153, -149, -129,\n+ -97, -61, -38, -40, -67, -110, -146, -156, -127,\n+ -58, 40, 159, 289, 424, 559, 683, 787, 861,\n+ 901],\n+ # 15\n+ [ 859, 887, 893, 892, 893, 904, 924, 945, 959,\n+ 962, 950, 925, 888, 836, 760, 651, 497, 294,\n+ 45, -238, -540, -841, -1120, -1360, -1542, -1655, -1694,\n+ -1661, -1565, -1418, -1234, -1028, -812, -604, -416, -257,\n+ -128, -21, 75, 165, 249, 315, 349, 340, 290,\n+ 212, 127, 53, 0, -35, -58, -73, -80, -78,\n+ -68, -58, -61, -85, -131, -189, -238, -260, -243,\n+ -185, -94, 22, 155, 298, 445, 584, 706, 799,\n+ 859],\n+ # 20\n+ [ 803, 856, 885, 903, 921, 945, 976, 1006, 1029,\n+ 1037, 1027, 1000, 955, 888, 793, 658, 478, 250,\n+ -18, -314, -617, -908, -1167, -1377, -1524, -1602, -1610,\n+ -1554, -1446, -1296, -1117, -920, -715, -516, -336, -184,\n+ -60, 40, 127, 208, 284, 346, 381, 379, 339,\n+ 273, 198, 131, 81, 46, 22, 3, -14, -27,\n+ -38, -54, -83, -131, -198, -273, -338, -374, -371,\n+ -326, -244, -131, 3, 153, 310, 464, 605, 720,\n+ 803],\n+ # 25\n+ [ 731, 813, 871, 916, 957, 1000, 1045, 1086, 1117,\n+ 1131, 1123, 1094, 1040, 958, 842, 682, 475, 221,\n+ -70, -381, -690, -976, -1218, -1402, -1518, -1565, -1546,\n+ -1472, -1354, -1203, -1030, -841, -646, -455, -281, -130,\n+ -8, 90, 173, 249, 318, 377, 413, 418, 389,\n+ 336, 273, 214, 167, 134, 107, 83, 57, 29,\n+ -4, -45, -101, -176, -267, -361, -444, -497, -509,\n+ -477, -404, -296, -162, -7, 159, 326, 483, 621,\n+ 731],\n+ # 30\n+ [ 643, 756, 848, 926, 996, 1062, 1124, 1178, 1217,\n+ 1235, 1230, 1197, 1134, 1038, 902, 718, 484, 203,\n+ -113, -443, -762, -1046, -1276, -1439, -1530, -1551, -1511,\n+ -1422, -1297, -1145, -975, -792, -604, -418, -246, -96,\n+ 29, 129, 213, 287, 354, 411, 450, 464, 449,\n+ 411, 362, 313, 272, 238, 208, 176, 139, 94,\n+ 38, -31, -117, -220, -337, -454, -556, -626, -654,\n+ -634, -569, -466, -331, -174, -1, 176, 348, 506,\n+ 643],\n+ # 35\n+ [ 547, 691, 818, 930, 1031, 1123, 1205, 1273, 1321,\n+ 1345, 1340, 1304, 1234, 1124, 968, 760, 499, 189,\n+ -153, -505, -837, -1125, -1347, -1495, -1567, -1570, -1514,\n+ -1413, -1281, -1126, -956, -776, -590, -406, -233, -80,\n+ 50, 157, 246, 323, 392, 452, 498, 523, 525,\n+ 507, 476, 440, 405, 371, 335, 292, 239, 173,\n+ 90, -10, -129, -265, -411, -553, -675, -761, -801,\n+ -792, -734, -633, -499, -338, -161, 25, 210, 386,\n+ 547],\n+ # 40\n+ [ 454, 626, 784, 929, 1061, 1180, 1283, 1366, 1424,\n+ 1454, 1452, 1413, 1335, 1211, 1036, 804, 513, 173,\n+ -199, -576, -925, -1219, -1439, -1577, -1637, -1627, -1560,\n+ -1450, -1311, -1152, -978, -795, -607, -422, -245, -85,\n+ 54, 172, 271, 358, 435, 504, 562, 603, 627,\n+ 632, 622, 602, 575, 541, 497, 439, 365, 271,\n+ 156, 19, -139, -312, -489, -657, -799, -900, -950,\n+ -947, -892, -792, -656, -492, -310, -117, 79, 271,\n+ 454],\n+ # 45\n+ [ 374, 569, 754, 927, 1087, 1230, 1354, 1454, 1525,\n+ 1563, 1565, 1525, 1439, 1301, 1105, 845, 522, 145,\n+ -262, -668, -1037, -1341, -1562, -1696, -1748, -1729, -1654,\n+ -1538, -1392, -1225, -1045, -855, -661, -469, -284, -114,\n+ 39, 172, 289, 392, 486, 572, 648, 712, 761,\n+ 793, 808, 807, 790, 756, 702, 627, 526, 397,\n+ 241, 59, -144, -359, -573, -769, -930, -1043, -1099,\n+ -1098, -1042, -940, -799, -630, -442, -241, -34, 172,\n+ 374],\n+ # 50\n+ [ 313, 526, 732, 928, 1110, 1276, 1419, 1536, 1622,\n+ 1671, 1679, 1641, 1549, 1396, 1175, 882, 518, 96,\n+ -355, -797, -1192, -1508, -1733, -1864, -1910, -1885, -1804,\n+ -1680, -1526, -1350, -1159, -960, -755, -552, -354, -168,\n+ 4, 160, 301, 430, 549, 661, 764, 857, 935,\n+ 997, 1040, 1060, 1055, 1023, 960, 864, 731, 561,\n+ 355, 119, -139, -405, -660, -886, -1066, -1187, -1245,\n+ -1241, -1181, -1072, -925, -749, -552, -342, -125, 94,\n+ 313],\n+ # 55\n+ [ 270, 499, 721, 935, 1135, 1319, 1480, 1614, 1716,\n+ 1779, 1797, 1761, 1664, 1495, 1245, 909, 490, 9,\n+ -500, -988, -1413, -1744, -1971, -2099, -2138, -2105, -2015,\n+ -1881, -1716, -1528, -1324, -1110, -890, -670, -454, -246,\n+ -48, 137, 311, 475, 629, 776, 914, 1041, 1155,\n+ 1250, 1322, 1366, 1377, 1351, 1281, 1164, 997, 779,\n+ 514, 211, -114, -441, -744, -1003, -1201, -1329, -1387,\n+ -1377, -1308, -1191, -1034, -849, -642, -422, -194, 38,\n+ 270],\n+ # 60\n+ [ 240, 482, 719, 946, 1162, 1361, 1539, 1690, 1808,\n+ 1886, 1914, 1882, 1779, 1590, 1302, 908, 415, -149,\n+ -734, -1280, -1738, -2081, -2305, -2422, -2447, -2399, -2294,\n+ -2145, -1963, -1758, -1536, -1302, -1062, -819, -577, -340,\n+ -110, 113, 326, 532, 730, 919, 1099, 1267, 1420,\n+ 1551, 1657, 1730, 1764, 1749, 1680, 1548, 1349, 1080,\n+ 747, 364, -44, -446, -809, -1108, -1328, -1464, -1519,\n+ -1502, -1424, -1297, -1130, -934, -717, -487, -247, -4,\n+ 240],\n+ # 65\n+ [ 214, 468, 717, 957, 1186, 1399, 1592, 1759, 1891,\n+ 1982, 2018, 1988, 1872, 1652, 1308, 830, 230, -448,\n+ -1130, -1738, -2220, -2559, -2763, -2853, -2849, -2773, -2641,\n+ -2467, -2260, -2030, -1782, -1523, -1255, -983, -709, -437,\n+ -168, 96, 355, 608, 853, 1090, 1316, 1529, 1725,\n+ 1899, 2044, 2155, 2220, 2232, 2178, 2047, 1828, 1514,\n+ 1111, 635, 124, -376, -819, -1174, -1426, -1577, -1635,\n+ -1615, -1530, -1394, -1218, -1013, -787, -546, -296, -42,\n+ 214],\n+ # 70\n+ [ 178, 442, 702, 955, 1195, 1421, 1625, 1802, 1944,\n+ 2040, 2074, 2030, 1881, 1600, 1159, 546, -215, -1041,\n+ -1821, -2461, -2924, -3215, -3362, -3394, -3337, -3214, -3040,\n+ -2827, -2585, -2320, -2040, -1747, -1445, -1138, -828, -517,\n+ -207, 101, 406, 706, 999, 1283, 1558, 1819, 2062,\n+ 2284, 2479, 2637, 2752, 2811, 2799, 2700, 2496, 2170,\n+ 1716, 1147, 511, -125, -689, -1136, -1450, -1637, -1714,\n+ -1702, -1619, -1481, -1302, -1092, -859, -611, -352, -88,\n+ 178],\n+ # 75\n+ [ 114, 385, 652, 911, 1157, 1386, 1592, 1767, 1899,\n+ 1975, 1973, 1868, 1622, 1193, 548, -307, -1284, -2226,\n+ -2997, -3542, -3876, -4038, -4070, -4006, -3869, -3677, -3445,\n+ -3182, -2895, -2589, -2269, -1939, -1600, -1257, -909, -559,\n+ -210, 140, 486, 829, 1167, 1497, 1818, 2128, 2423,\n+ 2698, 2951, 3173, 3356, 3491, 3562, 3550, 3431, 3177,\n+ 2759, 2165, 1420, 605, -165, -797, -1254, -1540, -1684,\n+ -1714, -1659, -1539, -1370, -1166, -936, -687, -426, -157,\n+ 114],\n+ # 80\n+ [ -8, 249, 501, 742, 965, 1164, 1327, 1442, 1489,\n+ 1441, 1262, 902, 306, -553, -1618, -2716, -3648, -4317,\n+ -4731, -4941, -4998, -4945, -4811, -4617, -4378, -4104, -3804,\n+ -3483, -3146, -2796, -2436, -2068, -1693, -1315, -933, -549,\n+ -164, 220, 603, 984, 1361, 1733, 2099, 2457, 2805,\n+ 3140, 3459, 3758, 4031, 4273, 4472, 4616, 4686, 4657,\n+ 4492, 4146, 3573, 2755, 1755, 731, -142, -778, -1181,\n+ -1395, -1468, -1438, -1333, -1176, -980, -758, -517, -265,\n+ -8],\n+ # 85\n+ [ -546, -534, -552, -627, -794, -1097, -1585, -2300, -3236,\n+ -4294, -5297, -6100, -6655, -6988, -7144, -7167, -7093, -6945,\n+ -6742, -6496, -6217, -5912, -5585, -5241, -4883, -4513, -4134,\n+ -3746, -3352, -2952, -2547, -2138, -1726, -1312, -896, -478,\n+ -60, 359, 778, 1196, 1612, 2028, 2441, 2851, 3257,\n+ 3660, 4057, 4448, 4831, 5205, 5567, 5916, 6248, 6558,\n+ 6841, 7088, 7287, 7421, 7465, 7378, 7100, 6543, 5611,\n+ 4289, 2795, 1493, 572, 0, -325, -488, -553, -561,\n+ -546],\n+ # 90\n+ [ -17825, -17325, -16825, -16325, -15825, -15325, -14825, -14325, -13825,\n+ -13325, -12825, -12325, -11825, -11325, -10825, -10325, -9825, -9325,\n+ -8825, -8325, -7825, -7325, -6825, -6325, -5825, -5325, -4825,\n+ -4325, -3825, -3325, -2825, -2325, -1825, -1325, -825, -325,\n+ 175, 675, 1175, 1675, 2175, 2675, 3175, 3675, 4175,\n+ 4675, 5175, 5675, 6175, 6675, 7175, 7675, 8175, 8675,\n+ 9175, 9675, 10175, 10675, 11175, 11675, 12175, 12675, 13175,\n+ 13675, 14175, 14675, 15175, 15675, 16175, 16675, 17175, 17675,\n+ -17825]]\n+\n+# \"enum\" for display units\n+unspecified = 0\n+imperial = 1\n+nautical = 2\n+metric = 3\n+\n+# \"enum\" for deg_to_str() conversion type\n+deg_dd = 0\n+deg_ddmm = 1\n+deg_ddmmss = 2\n+\n+\n+def _non_finite(num):\n+ \"\"\"Is this number not finite?\"\"\"\n+ return math.isnan(num) or math.isinf(num)\n+\n+\n+def deg_to_str(fmt, degrees):\n+ \"\"\"String-format a latitude/longitude.\"\"\"\n+ try:\n+ degrees = float(degrees)\n+ except ValueError:\n+ return ''\n+\n+ if _non_finite(degrees):\n+ return ''\n+\n+ if degrees >= 360:\n+ degrees -= 360\n+ if not math.fabs(degrees) <= 360:\n+ return ''\n+\n+ if fmt is deg_dd:\n+ degrees += 1.0e-9\n+ return '%12.8f' % degrees\n+\n+ degrees += 1.0e-8 / 36.0\n+ (fmin, fdeg) = math.modf(degrees)\n+\n+ if fmt is deg_ddmm:\n+ return '%3d %09.6f\\'' % (fdeg, math.fabs(60. * fmin))\n+\n+ (fsec, fmin) = math.modf(60. * fmin)\n+ return '%3d %02d\\' %08.5f\\\"' % (fdeg, math.fabs(fmin),\n+ math.fabs(60. * fsec))\n+\n+\n+def gpsd_units():\n+ \"\"\"Deduce a set of units from locale and environment.\"\"\"\n+ unit_lookup = {'imperial': imperial,\n+ 'metric': metric,\n+ 'nautical': nautical}\n+ if 'GPSD_UNITS' in os.environ:\n+ store = os.environ['GPSD_UNITS']\n+ if isinstance(store, (str)) and store in unit_lookup:\n+ return unit_lookup[store]\n+ for inner in ['LC_MEASUREMENT', 'LANG']:\n+ if inner in os.environ:\n+ store = os.environ[inner]\n+ if isinstance(store, (str)):\n+ if store in ['C', 'POSIX'] or store.startswith('en_US'):\n+ return imperial\n+ return metric\n+ return unspecified\n+\n+\n+# Arguments are in signed decimal latitude and longitude. For example,\n+# the location of Montevideo (GF15vc) is: -34.91, -56.21166\n+# plagarized from https://ham.stackexchange.com/questions/221\n+# by https://ham.stackexchange.com/users/10/walter-underwood-k6wru\n+def maidenhead(dec_lat, dec_lon):\n+ \"\"\"Convert latitude and longitude to Maidenhead grid locators.\"\"\"\n+ try:\n+ dec_lat = float(dec_lat)\n+ dec_lon = float(dec_lon)\n+ except ValueError:\n+ return ''\n+ if _non_finite(dec_lat) or _non_finite(dec_lon):\n+ return ''\n+\n+ if 90 < math.fabs(dec_lat) or 180 < math.fabs(dec_lon):\n+ return ''\n+\n+ if 89.99999 < dec_lat:\n+ # force North Pole to just inside lat_sq 'R'\n+ dec_lat = 89.99999\n+\n+ if 179.99999 < dec_lon:\n+ # force 180 to just inside lon_sq 'R'\n+ dec_lon = 179.99999\n+\n+ adj_lat = dec_lat + 90.0\n+ adj_lon = dec_lon + 180.0\n+\n+ # divide into 18 zones (fields) each 20 degrees lon, 10 degrees lat\n+ grid_lat_sq = chr(int(adj_lat / 10) + 65)\n+ grid_lon_sq = chr(int(adj_lon / 20) + 65)\n+\n+ # divide into 10 zones (squares) each 2 degrees lon, 1 degrees lat\n+ grid_lat_field = str(int(adj_lat % 10))\n+ grid_lon_field = str(int((adj_lon / 2) % 10))\n+\n+ # remainder in minutes\n+ adj_lat_remainder = (adj_lat - int(adj_lat)) * 60\n+ adj_lon_remainder = ((adj_lon) - int(adj_lon / 2) * 2) * 60\n+\n+ # divide into 24 zones (subsquares) each 5 degrees lon, 2.5 degrees lat\n+ grid_lat_subsq = chr(97 + int(adj_lat_remainder / 2.5))\n+ grid_lon_subsq = chr(97 + int(adj_lon_remainder / 5))\n+\n+ # remainder in seconds\n+ adj_lat_remainder = (adj_lat_remainder % 2.5) * 60\n+ adj_lon_remainder = (adj_lon_remainder % 5.0) * 60\n+\n+ # divide into 10 zones (extended squares) each 30 secs lon, 15 secs lat\n+ grid_lat_extsq = chr(48 + int(adj_lat_remainder / 15))\n+ grid_lon_extsq = chr(48 + int(adj_lon_remainder / 30))\n+\n+ return (grid_lon_sq + grid_lat_sq +\n+ grid_lon_field + grid_lat_field +\n+ grid_lon_subsq + grid_lat_subsq +\n+ grid_lon_extsq + grid_lat_extsq)\n+\n+def __bilinear(lat, lon, table):\n+ \"\"\"Return bilinear interpolated data from table\"\"\"\n+\n+ try:\n+ lat = float(lat)\n+ lon = float(lon)\n+ except ValueError:\n+ return ''\n+ if _non_finite(lat) or _non_finite(lon):\n+ return ''\n+\n+ if math.fabs(lat) > 90 or math.fabs(lon) > 180:\n+ return ''\n+\n+ row = int(math.floor((90.0 + lat) / TABLE_SPAN))\n+ column = int(math.floor((180.0 + lon) / TABLE_SPAN))\n+\n+ if row < (TABLE_ROWS - 1):\n+ grid_w = row\n+ grid_e = row + 1\n+ else:\n+ grid_w = row - 1\n+ grid_e = row\n+ if column < (TABLE_COLS - 1):\n+ grid_s = column\n+ grid_n = column + 1\n+ else:\n+ grid_s = column - 1\n+ grid_n = column\n+\n+ south = grid_s * TABLE_SPAN - 180\n+ north = grid_n * TABLE_SPAN - 180\n+ west = grid_w * TABLE_SPAN - 90\n+ east = grid_e * TABLE_SPAN - 90\n+\n+ delta = TABLE_SPAN * TABLE_SPAN * 100\n+ from_west = lat - west\n+ from_south = lon - south\n+ from_east = east - lat\n+ from_north = north - lon\n+\n+ result = table[grid_e][grid_n] * from_west * from_south\n+ result += table[grid_w][grid_n] * from_east * from_south\n+ result += table[grid_e][grid_s] * from_west * from_north\n+ result += table[grid_w][grid_s] * from_east * from_north\n+ return result / delta\n+\n+\n+def mag_var(lat, lon):\n+ \"\"\"Return magnetic variation (declination) in degrees.\n+Given a lat/lon in degrees\"\"\"\n+ return __bilinear(lat, lon, magvar_table)\n+\n+\n+def wgs84_separation(lat, lon):\n+ \"\"\"Return MSL-WGS84 geodetic separation in meters.\n+Given a lat/lon in degrees\"\"\"\n+ return __bilinear(lat, lon, GEOID_DELTA)\n+\n+# vim: set expandtab shiftwidth=4\ndiff --git a/tools/gps/fake.py b/tools/gps/fake.py\nnew file mode 100644\n--- /dev/null\n+++ b/tools/gps/fake.py\n@@ -0,0 +1,843 @@\n+# This code run compatibly under Python 2 and 3.x for x >= 2.\n+# Preserve this property!\n+#\n+# This file is Copyright 2010 by the GPSD project\n+# SPDX-License-Identifier: BSD-2-Clause\n+\"\"\"\n+gpsfake.py -- classes for creating a controlled test environment around gpsd.\n+\n+The gpsfake(1) regression tester shipped with GPSD is a trivial wrapper\n+around this code. For a more interesting usage example, see the\n+valgrind-audit script shipped with the GPSD code.\n+\n+To use this code, start by instantiating a TestSession class. Use the\n+prefix argument if you want to run the daemon under some kind of run-time\n+monitor like valgrind or gdb. Here are some particularly useful possibilities:\n+\n+valgrind --tool=memcheck --gen-suppressions=yes --leak-check=yes\n+ Run under Valgrind, checking for malloc errors and memory leaks.\n+\n+xterm -e gdb -tui --args\n+ Run under gdb, controlled from a new xterm.\n+\n+You can use the options argument to pass in daemon options; normally you will\n+use this to set the debug-logging level.\n+\n+On initialization, the test object spawns an instance of gpsd with no\n+devices or clients attached, connected to a control socket.\n+\n+TestSession has methods to attach and detch fake GPSes. The\n+TestSession class simulates GPS devices for you with objects composed\n+from a pty and a class instance that cycles sentences into the master side\n+from some specified logfile; gpsd reads the slave side. A fake GPS is\n+identified by the string naming its slave device.\n+\n+TestSession also has methods to start and end client sessions. Daemon\n+responses to a client are fed to a hook function which, by default,\n+discards them. Note that this data is 'bytes' to accommodate possible\n+binary data in Python 3; use polystr() if you need a str. You can\n+change the hook to misc.get_bytes_stream(sys.stdout).write to dump\n+responses to standard output (this is what the gpsfake executable does)\n+or do something more exotic. A client session is identified by a small\n+integer that counts the number of client session starts.\n+\n+There are a couple of convenience methods. TestSession.wait() does nothing,\n+allowing a specified number of seconds to elapse. TestSession.send()\n+ships commands to an open client session.\n+\n+TestSession does not currently capture the daemon's log output. It is\n+run with -N, so the output will go to stderr (along with, for example,\n+Valgrind notifications).\n+\n+Each FakeGPS instance tries to packetize the data from the logfile it\n+is initialized with. It uses the same packet-getter as the daemon.\n+Exception: if there is a Delay-Cookie line in a header comment, that\n+delimiter is used to split up the test load.\n+\n+The TestSession code maintains a run queue of FakeGPS and gps.gs\n+(client- session) objects. It repeatedly cycles through the run queue.\n+For each client session object in the queue, it tries to read data\n+from gpsd. For each fake GPS, it sends one line or packet of stored\n+data. When a fake-GPS's go predicate becomes false, the fake GPS is\n+removed from the run queue.\n+\n+There are two ways to use this code. The more deterministic is\n+non-threaded mode: set up your client sessions and fake GPS devices,\n+then call the run() method. The run() method will terminate when\n+there are no more objects in the run queue. Note, you must have\n+created at least one fake client or fake GPS before calling run(),\n+otherwise it will terminate immediately.\n+\n+To allow for adding and removing clients while the test is running,\n+run in threaded mode by calling the start() method. This simply calls\n+the run method in a subthread, with locking of critical regions.\n+\"\"\"\n+# This code runs compatibly under Python 2 and 3.x for x >= 2.\n+# Preserve this property!\n+from __future__ import absolute_import, print_function, division\n+\n+import os\n+import pty\n+import select\n+import signal\n+import socket\n+import stat\n+import subprocess\n+import sys\n+import termios # fcntl, array, struct\n+import threading\n+import time\n+\n+import gps\n+from . import packet as sniffer\n+\n+# The magic number below has to be derived from observation. If\n+# it's too high you'll slow the tests down a lot. If it's too low\n+# you'll get regression tests timing out.\n+\n+# WRITE_PAD: Define a per-line delay on writes so we won't spam the\n+# buffers in the pty layer or gpsd itself. Values smaller than the\n+# system timer tick don't make any difference here. Can be set from\n+# WRITE_PAD in the environment.\n+\n+if sys.platform.startswith(\"linux\"):\n+ WRITE_PAD = 0.0\n+elif sys.platform.startswith(\"freebsd\"):\n+ WRITE_PAD = 0.01\n+elif sys.platform.startswith(\"netbsd5\"):\n+ WRITE_PAD = 0.200\n+elif sys.platform.startswith(\"netbsd\"):\n+ WRITE_PAD = 0.01\n+elif sys.platform.startswith(\"darwin\"):\n+ # darwin Darwin-13.4.0-x86_64-i386-64bit\n+ WRITE_PAD = 0.005\n+else:\n+ WRITE_PAD = 0.004\n+\n+# Additional delays in slow mode\n+WRITE_PAD_SLOWDOWN = 0.01\n+\n+# If a test takes longer than this, we deem it to have timed out\n+TEST_TIMEOUT = 60\n+\n+\n+def GetDelay(slow=False):\n+ \"Get appropriate per-line delay.\"\n+ delay = float(os.getenv(\"WRITE_PAD\", WRITE_PAD))\n+ if slow:\n+ delay += WRITE_PAD_SLOWDOWN\n+ return delay\n+\n+\n+class TestError(BaseException):\n+ \"Class TestError\"\n+ def __init__(self, msg):\n+ super(TestError, self).__init__()\n+ self.msg = msg\n+\n+\n+class TestLoadError(TestError):\n+ \"Class TestLoadError, empty\"\n+\n+\n+class TestLoad(object):\n+ \"Digest a logfile into a list of sentences we can cycle through.\"\n+\n+ def __init__(self, logfp, predump=False, slow=False, oneshot=False):\n+ self.sentences = [] # This is the interesting part\n+ if isinstance(logfp, str):\n+ logfp = open(logfp, \"rb\")\n+ self.name = logfp.name\n+ self.logfp = logfp\n+ self.predump = predump\n+ self.type = None\n+ self.sourcetype = \"pty\"\n+ self.serial = None\n+ self.delay = GetDelay(slow)\n+ self.delimiter = None\n+ # Stash away a copy in case we need to resplit\n+ text = logfp.read()\n+ logfp = open(logfp.name, 'rb')\n+ # Grab the packets in the normal way\n+ getter = sniffer.new()\n+ # gps.packet.register_report(reporter)\n+ type_latch = None\n+ commentlen = 0\n+ while True:\n+ # Note that packet data is bytes rather than str\n+ (plen, ptype, packet, _counter) = getter.get(logfp.fileno())\n+ if plen <= 0:\n+ break\n+ elif ptype == sniffer.COMMENT_PACKET:\n+ commentlen += len(packet)\n+ # Some comments are magic\n+ if b\"Serial:\" in packet:\n+ # Change serial parameters\n+ packet = packet[1:].strip()\n+ try:\n+ (_xx, baud, params) = packet.split()\n+ baud = int(baud)\n+ if params[0] in (b'7', b'8'):\n+ databits = int(params[0])\n+ else:\n+ raise ValueError\n+ if params[1] in (b'N', b'O', b'E'):\n+ parity = params[1]\n+ else:\n+ raise ValueError\n+ if params[2] in (b'1', b'2'):\n+ stopbits = int(params[2])\n+ else:\n+ raise ValueError\n+ except (ValueError, IndexError):\n+ raise TestLoadError(\"bad serial-parameter spec in %s\" %\n+ self.name)\n+ self.serial = (baud, databits, parity, stopbits)\n+ elif b\"Transport: UDP\" in packet:\n+ self.sourcetype = \"UDP\"\n+ elif b\"Transport: TCP\" in packet:\n+ self.sourcetype = \"TCP\"\n+ elif b\"Delay-Cookie:\" in packet:\n+ if packet.startswith(b\"#\"):\n+ packet = packet[1:]\n+ try:\n+ (_dummy, self.delimiter, delay) = \\\n+ packet.strip().split()\n+ self.delay = float(delay)\n+ except ValueError:\n+ raise TestLoadError(\"bad Delay-Cookie line in %s\" %\n+ self.name)\n+ self.resplit = True\n+ else:\n+ if type_latch is None:\n+ type_latch = ptype\n+ if self.predump:\n+ print(repr(packet))\n+ if not packet:\n+ raise TestLoadError(\"zero-length packet from %s\" %\n+ self.name)\n+ self.sentences.append(packet)\n+ # Look at the first packet to grok the GPS type\n+ self.textual = (type_latch == sniffer.NMEA_PACKET)\n+ if self.textual:\n+ self.legend = \"gpsfake: line %d: \"\n+ else:\n+ self.legend = \"gpsfake: packet %d\"\n+ # Maybe this needs to be split on different delimiters?\n+ if self.delimiter is not None:\n+ self.sentences = text[commentlen:].split(self.delimiter)\n+ # Do we want single-shot operation?\n+ if oneshot:\n+ self.sentences.append(b\"# EOF\\n\")\n+\n+\n+class PacketError(TestError):\n+ \"Class PacketError, empty\"\n+\n+\n+class FakeGPS(object):\n+ \"Class FakeGPS\"\n+ def __init__(self, testload, progress=lambda x: None):\n+ self.exhausted = 0\n+ self.go_predicate = lambda: True\n+ self.index = 0\n+ self.progress = progress\n+ self.readers = 0\n+ self.testload = testload\n+ self.progress(\"gpsfake: %s provides %d sentences\\n\"\n+ % (self.testload.name, len(self.testload.sentences)))\n+\n+ def write(self, line):\n+ \"Throw an error if this superclass is ever instantiated.\"\n+ raise ValueError(line)\n+\n+ def feed(self):\n+ \"Feed a line from the contents of the GPS log to the daemon.\"\n+ line = self.testload.sentences[self.index\n+ % len(self.testload.sentences)]\n+ if b\"%Delay:\" in line:\n+ # Delay specified number of seconds\n+ delay = line.split()[1]\n+ time.sleep(int(delay))\n+ # self.write has to be set by the derived class\n+ self.write(line)\n+ time.sleep(self.testload.delay)\n+ self.index += 1\n+\n+\n+class FakePTY(FakeGPS):\n+ \"A FakePTY is a pty with a test log ready to be cycled to it.\"\n+\n+ def __init__(self, testload,\n+ speed=4800, databits=8, parity='N', stopbits=1,\n+ progress=lambda x: None):\n+ super(FakePTY, self).__init__(testload, progress)\n+ # Allow Serial: header to be overridden by explicit speed.\n+ if self.testload.serial:\n+ (speed, databits, parity, stopbits) = self.testload.serial\n+ self.speed = speed\n+ baudrates = {\n+ 0: termios.B0,\n+ 50: termios.B50,\n+ 75: termios.B75,\n+ 110: termios.B110,\n+ 134: termios.B134,\n+ 150: termios.B150,\n+ 200: termios.B200,\n+ 300: termios.B300,\n+ 600: termios.B600,\n+ 1200: termios.B1200,\n+ 1800: termios.B1800,\n+ 2400: termios.B2400,\n+ 4800: termios.B4800,\n+ 9600: termios.B9600,\n+ 19200: termios.B19200,\n+ 38400: termios.B38400,\n+ 57600: termios.B57600,\n+ 115200: termios.B115200,\n+ 230400: termios.B230400,\n+ }\n+ (self.fd, self.slave_fd) = pty.openpty()\n+ self.byname = os.ttyname(self.slave_fd)\n+ os.chmod(self.byname, stat.S_IRUSR | stat.S_IWUSR | stat.S_IRGRP |\n+ stat.S_IWGRP | stat.S_IROTH | stat.S_IWOTH)\n+ (iflag, oflag, cflag, lflag, ispeed, ospeed, cc) = termios.tcgetattr(\n+ self.slave_fd)\n+ cc[termios.VMIN] = 1\n+ cflag &= ~(termios.PARENB | termios.PARODD | termios.CRTSCTS)\n+ cflag |= termios.CREAD | termios.CLOCAL\n+ iflag = oflag = lflag = 0\n+ iflag &= ~ (termios.PARMRK | termios.INPCK)\n+ cflag &= ~ (termios.CSIZE | termios.CSTOPB | termios.PARENB |\n+ termios.PARODD)\n+ if databits == 7:\n+ cflag |= termios.CS7\n+ else:\n+ cflag |= termios.CS8\n+ if stopbits == 2:\n+ cflag |= termios.CSTOPB\n+ # Warning: attempting to set parity makes Fedora lose its cookies\n+ if parity == 'E':\n+ iflag |= termios.INPCK\n+ cflag |= termios.PARENB\n+ elif parity == 'O':\n+ iflag |= termios.INPCK\n+ cflag |= termios.PARENB | termios.PARODD\n+ ispeed = ospeed = baudrates[speed]\n+ try:\n+ termios.tcsetattr(self.slave_fd, termios.TCSANOW,\n+ [iflag, oflag, cflag, lflag, ispeed, ospeed, cc])\n+ except termios.error:\n+ raise TestLoadError(\"error attempting to set serial mode to %s \"\n+ \" %s%s%s\"\n+ % (speed, databits, parity, stopbits))\n+\n+ def read(self):\n+ \"Discard control strings written by gpsd.\"\n+ # A tcflush implementation works on Linux but fails on OpenBSD 4.\n+ termios.tcflush(self.fd, termios.TCIFLUSH)\n+ # Alas, the FIONREAD version also works on Linux and fails on OpenBSD.\n+ # try:\n+ # buf = array.array('i', [0])\n+ # fcntl.ioctl(self.master_fd, termios.FIONREAD, buf, True)\n+ # n = struct.unpack('i', buf)[0]\n+ # os.read(self.master_fd, n)\n+ # except IOError:\n+ # pass\n+\n+ def write(self, line):\n+ self.progress(\"gpsfake: %s writes %d=%s\\n\"\n+ % (self.testload.name, len(line), repr(line)))\n+ os.write(self.fd, line)\n+\n+ def drain(self):\n+ \"Wait for the associated device to drain (e.g. before closing).\"\n+ termios.tcdrain(self.fd)\n+\n+\n+def cleansocket(host, port, socktype=socket.SOCK_STREAM):\n+ \"Get a socket that we can re-use cleanly after it's closed.\"\n+ cs = socket.socket(socket.AF_INET, socktype)\n+ # This magic prevents \"Address already in use\" errors after\n+ # we release the socket.\n+ cs.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)\n+ cs.bind((host, port))\n+ return cs\n+\n+\n+def freeport(socktype=socket.SOCK_STREAM):\n+ \"\"\"Get a free port number for the given connection type.\n+\n+ This lets the OS assign a unique port, and then assumes\n+ that it will become available for reuse once the socket\n+ is closed, and remain so long enough for the real use.\n+ \"\"\"\n+ s = cleansocket(\"127.0.0.1\", 0, socktype)\n+ port = s.getsockname()[1]\n+ s.close()\n+ return port\n+\n+\n+class FakeTCP(FakeGPS):\n+ \"A TCP serverlet with a test log ready to be cycled to it.\"\n+\n+ def __init__(self, testload,\n+ host, port,\n+ progress=lambda x: None):\n+ super(FakeTCP, self).__init__(testload, progress)\n+ self.host = host\n+ self.dispatcher = cleansocket(self.host, int(port))\n+ # Get actual assigned port\n+ self.port = self.dispatcher.getsockname()[1]\n+ self.byname = \"tcp://\" + host + \":\" + str(self.port)\n+ self.dispatcher.listen(5)\n+ self.readables = [self.dispatcher]\n+\n+ def read(self):\n+ \"Handle connection requests and data.\"\n+ readable, _writable, _errored = select.select(self.readables, [], [],\n+ 0)\n+ for s in readable:\n+ if s == self.dispatcher: # Connection request\n+ client_socket, _address = s.accept()\n+ self.readables = [client_socket]\n+ # Depending on timing, gpsd may try to reconnect between the\n+ # end of the log data and the remove_device. With no listener,\n+ # this results in spurious error messages. Keeping the\n+ # listener around avoids this. It will eventually be closed\n+ # by the Python object cleanup. self.dispatcher.close()\n+ else: # Incoming data\n+ data = s.recv(1024)\n+ if not data:\n+ s.close()\n+ self.readables.remove(s)\n+\n+ def write(self, line):\n+ \"Send the next log packet to everybody connected.\"\n+ self.progress(\"gpsfake: %s writes %d=%s\\n\"\n+ % (self.testload.name, len(line), repr(line)))\n+ for s in self.readables:\n+ if s != self.dispatcher:\n+ s.send(line)\n+\n+ def drain(self):\n+ \"Wait for the associated device(s) to drain (e.g. before closing).\"\n+ for s in self.readables:\n+ if s != self.dispatcher:\n+ s.shutdown(socket.SHUT_RDWR)\n+\n+\n+class FakeUDP(FakeGPS):\n+ \"A UDP broadcaster with a test log ready to be cycled to it.\"\n+\n+ def __init__(self, testload,\n+ ipaddr, port,\n+ progress=lambda x: None):\n+ super(FakeUDP, self).__init__(testload, progress)\n+ self.byname = \"udp://\" + ipaddr + \":\" + str(port)\n+ self.ipaddr = ipaddr\n+ self.port = port\n+ self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)\n+\n+ def read(self):\n+ \"Discard control strings written by gpsd.\"\n+ return\n+\n+ def write(self, line):\n+ self.progress(\"gpsfake: %s writes %d=%s\\n\"\n+ % (self.testload.name, len(line), repr(line)))\n+ self.sock.sendto(line, (self.ipaddr, int(self.port)))\n+\n+ def drain(self):\n+ \"Wait for the associated device to drain (e.g. before closing).\"\n+ # shutdown() fails on UDP\n+ return # shutdown() fails on UDP\n+\n+\n+class SubprogramError(TestError):\n+ \"Class SubprogramError\"\n+ def __str__(self):\n+ return repr(self.msg)\n+\n+\n+class SubprogramInstance(object):\n+ \"Class for generic subprogram.\"\n+ ERROR = SubprogramError\n+\n+ def __init__(self):\n+ self.spawncmd = None\n+ self.process = None\n+ self.returncode = None\n+ self.env = None\n+\n+ def spawn_sub(self, program, options, background=False, prefix=\"\",\n+ env=None):\n+ \"Spawn a subprogram instance.\"\n+ spawncmd = None\n+\n+ # Look for program in GPSD_HOME env variable\n+ if os.environ.get('GPSD_HOME'):\n+ for path in os.environ['GPSD_HOME'].split(':'):\n+ _spawncmd = \"%s/%s\" % (path, program)\n+ if os.path.isfile(_spawncmd) and os.access(_spawncmd, os.X_OK):\n+ spawncmd = _spawncmd\n+ break\n+\n+ # if we could not find it yet try PATH env variable for it\n+ if not spawncmd:\n+ if '/usr/sbin' not in os.environ['PATH']:\n+ os.environ['PATH'] = os.environ['PATH'] + \":/usr/sbin\"\n+ for path in os.environ['PATH'].split(':'):\n+ _spawncmd = \"%s/%s\" % (path, program)\n+ if os.path.isfile(_spawncmd) and os.access(_spawncmd, os.X_OK):\n+ spawncmd = _spawncmd\n+ break\n+\n+ if not spawncmd:\n+ raise self.ERROR(\"Cannot execute %s: executable not found. \"\n+ \"Set GPSD_HOME env variable\" % program)\n+ self.spawncmd = [spawncmd] + options.split()\n+ if prefix:\n+ self.spawncmd = prefix.split() + self.spawncmd\n+ if env:\n+ self.env = os.environ.copy()\n+ self.env.update(env)\n+ self.process = subprocess.Popen(self.spawncmd, env=self.env)\n+ if not background:\n+ self.returncode = status = self.process.wait()\n+ if os.WIFSIGNALED(status) or os.WEXITSTATUS(status):\n+ raise self.ERROR(\"%s exited with status %d\"\n+ % (program, status))\n+\n+ def is_alive(self):\n+ \"Is the program still alive?\"\n+ if not self.process:\n+ return False\n+ self.returncode = self.process.poll()\n+ if self.returncode is None:\n+ return True\n+ self.process = None\n+ return False\n+\n+ def kill(self):\n+ \"Kill the program instance.\"\n+ while self.is_alive():\n+ try: # terminate() may fail if already killed\n+ self.process.terminate()\n+ except OSError:\n+ continue\n+ time.sleep(0.01)\n+\n+\n+class DaemonError(SubprogramError):\n+ \"Class DaemonError\"\n+\n+\n+class DaemonInstance(SubprogramInstance):\n+ \"Control a gpsd instance.\"\n+ ERROR = DaemonError\n+\n+ def __init__(self, control_socket=None):\n+ self.sock = None\n+ super(DaemonInstance, self).__init__()\n+ if control_socket:\n+ self.control_socket = control_socket\n+ else:\n+ tmpdir = os.environ.get('TMPDIR', '/tmp')\n+ self.control_socket = \"%s/gpsfake-%d.sock\" % (tmpdir, os.getpid())\n+\n+ def spawn(self, options, port, background=False, prefix=\"\"):\n+ \"Spawn a daemon instance.\"\n+ # The -b option to suppress hanging on probe returns is needed to cope\n+ # with OpenBSD (and possibly other non-Linux systems) that don't\n+ # support anything we can use to implement the FakeGPS.read() method\n+ opts = (\" -b -N -S %s -F %s %s\"\n+ % (port, self.control_socket, options))\n+ # Derive a unique SHM key from the port # to avoid collisions.\n+ # Use 'Gp' as the prefix to avoid colliding with 'GPSD'.\n+ shmkey = '0x4770%.04X' % int(port)\n+ env = {'GPSD_SHM_KEY': shmkey}\n+ self.spawn_sub('gpsd', opts, background, prefix, env)\n+\n+ def wait_ready(self):\n+ \"Wait for the daemon to create the control socket.\"\n+ while self.is_alive():\n+ if os.path.exists(self.control_socket):\n+ return\n+ time.sleep(0.1)\n+\n+ def __get_control_socket(self):\n+ # Now we know it's running, get a connection to the control socket.\n+ if not os.path.exists(self.control_socket):\n+ return None\n+ try:\n+ self.sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM, 0)\n+ self.sock.connect(self.control_socket)\n+ except socket.error:\n+ if self.sock:\n+ self.sock.close()\n+ self.sock = None\n+ return self.sock\n+\n+ def add_device(self, path):\n+ \"Add a device to the daemon's internal search list.\"\n+ if self.__get_control_socket():\n+ self.sock.sendall(gps.polybytes(\"+%s\\r\\n\\x00\" % path))\n+ self.sock.recv(12)\n+ self.sock.close()\n+\n+ def remove_device(self, path):\n+ \"Remove a device from the daemon's internal search list.\"\n+ if self.__get_control_socket():\n+ self.sock.sendall(gps.polybytes(\"-%s\\r\\n\\x00\" % path))\n+ self.sock.recv(12)\n+ self.sock.close()\n+\n+\n+class TestSessionError(TestError):\n+ \"class TestSessionError\"\n+ # why does testSessionError() do nothing? \"\n+\n+\n+class TestSession(object):\n+ \"Manage a session including a daemon with fake GPSes and clients.\"\n+\n+ def __init__(self, prefix=None, port=None, options=None, verbose=0,\n+ predump=False, udp=False, tcp=False, slow=False,\n+ timeout=None):\n+ \"Initialize the test session by launching the daemon.\"\n+ self.prefix = prefix\n+ self.options = options\n+ self.verbose = verbose\n+ self.predump = predump\n+ self.udp = udp\n+ self.tcp = tcp\n+ self.slow = slow\n+ self.daemon = DaemonInstance()\n+ self.fakegpslist = {}\n+ self.client_id = 0\n+ self.readers = 0\n+ self.writers = 0\n+ self.runqueue = []\n+ self.index = 0\n+ if port:\n+ self.port = port\n+ else:\n+ self.port = freeport()\n+ self.progress = lambda x: None\n+ # for debugging\n+ # self.progress = lambda x: sys.stderr.write(\"# Hi \" + x)\n+ self.reporter = lambda x: None\n+ self.default_predicate = None\n+ self.fd_set = []\n+ self.threadlock = None\n+ self.timeout = TEST_TIMEOUT if timeout is None else timeout\n+\n+ def spawn(self):\n+ \"Spawn daemon\"\n+ for sig in (signal.SIGQUIT, signal.SIGINT, signal.SIGTERM):\n+ signal.signal(sig, lambda unused, dummy: self.cleanup())\n+ self.daemon.spawn(background=True, prefix=self.prefix, port=self.port,\n+ options=self.options)\n+ self.daemon.wait_ready()\n+\n+ def set_predicate(self, pred):\n+ \"Set a default go predicate for the session.\"\n+ self.default_predicate = pred\n+\n+ def gps_add(self, logfile, speed=19200, pred=None, oneshot=False):\n+ \"Add a simulated GPS being fed by the specified logfile.\"\n+ self.progress(\"gpsfake: gps_add(%s, %d)\\n\" % (logfile, speed))\n+ if logfile not in self.fakegpslist:\n+ testload = TestLoad(logfile, predump=self.predump, slow=self.slow,\n+ oneshot=oneshot)\n+ if testload.sourcetype == \"UDP\" or self.udp:\n+ newgps = FakeUDP(testload, ipaddr=\"127.0.0.1\",\n+ port=freeport(socket.SOCK_DGRAM),\n+ progress=self.progress)\n+ elif testload.sourcetype == \"TCP\" or self.tcp:\n+ # Let OS assign the port\n+ newgps = FakeTCP(testload, host=\"127.0.0.1\", port=0,\n+ progress=self.progress)\n+ else:\n+ newgps = FakePTY(testload, speed=speed,\n+ progress=self.progress)\n+ if pred:\n+ newgps.go_predicate = pred\n+ elif self.default_predicate:\n+ newgps.go_predicate = self.default_predicate\n+ self.fakegpslist[newgps.byname] = newgps\n+ self.append(newgps)\n+ newgps.exhausted = 0\n+ self.daemon.add_device(newgps.byname)\n+ return newgps.byname\n+\n+ def gps_remove(self, name):\n+ \"Remove a simulated GPS from the daemon's search list.\"\n+ self.progress(\"gpsfake: gps_remove(%s)\\n\" % name)\n+ self.fakegpslist[name].drain()\n+ self.remove(self.fakegpslist[name])\n+ self.daemon.remove_device(name)\n+ del self.fakegpslist[name]\n+\n+ def client_add(self, commands):\n+ \"Initiate a client session and force connection to a fake GPS.\"\n+ self.progress(\"gpsfake: client_add()\\n\")\n+ try:\n+ newclient = gps.gps(port=self.port, verbose=self.verbose)\n+ except socket.error:\n+ if not self.daemon.is_alive():\n+ raise TestSessionError(\"daemon died\")\n+ raise\n+ self.append(newclient)\n+ newclient.id = self.client_id + 1\n+ self.client_id += 1\n+ self.progress(\"gpsfake: client %d has %s\\n\"\n+ % (self.client_id, newclient.device))\n+ if commands:\n+ self.initialize(newclient, commands)\n+ return self.client_id\n+\n+ def client_remove(self, cid):\n+ \"Terminate a client session.\"\n+ self.progress(\"gpsfake: client_remove(%d)\\n\" % cid)\n+ for obj in self.runqueue:\n+ if isinstance(obj, gps.gps) and obj.id == cid:\n+ self.remove(obj)\n+ return True\n+ return False\n+\n+ def wait(self, seconds):\n+ \"Wait, doing nothing.\"\n+ self.progress(\"gpsfake: wait(%d)\\n\" % seconds)\n+ time.sleep(seconds)\n+\n+ def gather(self, seconds):\n+ \"Wait, doing nothing but watching for sentences.\"\n+ self.progress(\"gpsfake: gather(%d)\\n\" % seconds)\n+ time.sleep(seconds)\n+\n+ def cleanup(self):\n+ \"We're done, kill the daemon.\"\n+ self.progress(\"gpsfake: cleanup()\\n\")\n+ if self.daemon:\n+ self.daemon.kill()\n+ self.daemon = None\n+\n+ def run(self):\n+ \"Run the tests.\"\n+ try:\n+ self.progress(\"gpsfake: test loop begins\\n\")\n+ while self.daemon:\n+ if not self.daemon.is_alive():\n+ raise TestSessionError(\"daemon died\")\n+ # We have to read anything that gpsd might have tried\n+ # to send to the GPS here -- under OpenBSD the\n+ # TIOCDRAIN will hang, otherwise.\n+ for device in self.runqueue:\n+ if isinstance(device, FakeGPS):\n+ device.read()\n+ had_output = False\n+ chosen = self.choose()\n+ if isinstance(chosen, FakeGPS):\n+ if (((chosen.exhausted and self.timeout and\n+ (time.time() - chosen.exhausted > self.timeout) and\n+ chosen.byname in self.fakegpslist))):\n+ sys.stderr.write(\n+ \"Test timed out: maybe increase WRITE_PAD (= %s)\\n\"\n+ % GetDelay(self.slow))\n+ raise SystemExit(1)\n+\n+ if not chosen.go_predicate(chosen.index, chosen):\n+ if chosen.exhausted == 0:\n+ chosen.exhausted = time.time()\n+ self.progress(\"gpsfake: GPS %s ran out of input\\n\"\n+ % chosen.byname)\n+ else:\n+ chosen.feed()\n+ elif isinstance(chosen, gps.gps):\n+ if chosen.enqueued:\n+ chosen.send(chosen.enqueued)\n+ chosen.enqueued = \"\"\n+ while chosen.waiting():\n+ if not self.daemon or not self.daemon.is_alive():\n+ raise TestSessionError(\"daemon died\")\n+ ret = chosen.read()\n+ if 0 > ret:\n+ raise TestSessionError(\"daemon output stopped\")\n+ # FIXME: test for 0 == ret.\n+ had_output = True\n+ if not chosen.valid & gps.PACKET_SET:\n+ continue\n+ self.reporter(chosen.bresponse)\n+ if ((chosen.data[\"class\"] == \"DEVICE\" and\n+ chosen.data[\"activated\"] == 0 and\n+ chosen.data[\"path\"] in self.fakegpslist)):\n+ self.gps_remove(chosen.data[\"path\"])\n+ self.progress(\n+ \"gpsfake: GPS %s removed (notification)\\n\"\n+ % chosen.data[\"path\"])\n+ else:\n+ raise TestSessionError(\"test object of unknown type\")\n+ if not self.writers and not had_output:\n+ self.progress(\"gpsfake: no writers and no output\\n\")\n+ break\n+ self.progress(\"gpsfake: test loop ends\\n\")\n+ finally:\n+ self.cleanup()\n+\n+ # All knowledge about locks and threading is below this line,\n+ # except for the bare fact that self.threadlock is set to None\n+ # in the class init method.\n+\n+ def append(self, obj):\n+ \"Add a producer or consumer to the object list.\"\n+ if self.threadlock:\n+ self.threadlock.acquire()\n+ self.runqueue.append(obj)\n+ if isinstance(obj, FakeGPS):\n+ self.writers += 1\n+ elif isinstance(obj, gps.gps):\n+ self.readers += 1\n+ if self.threadlock:\n+ self.threadlock.release()\n+\n+ def remove(self, obj):\n+ \"Remove a producer or consumer from the object list.\"\n+ if self.threadlock:\n+ self.threadlock.acquire()\n+ self.runqueue.remove(obj)\n+ if isinstance(obj, FakeGPS):\n+ self.writers -= 1\n+ elif isinstance(obj, gps.gps):\n+ self.readers -= 1\n+ self.index = min(len(self.runqueue) - 1, self.index)\n+ if self.threadlock:\n+ self.threadlock.release()\n+\n+ def choose(self):\n+ \"Atomically get the next object scheduled to do something.\"\n+ if self.threadlock:\n+ self.threadlock.acquire()\n+ chosen = self.index\n+ self.index += 1\n+ self.index %= len(self.runqueue)\n+ if self.threadlock:\n+ self.threadlock.release()\n+ return self.runqueue[chosen]\n+\n+ def initialize(self, client, commands):\n+ \"Arrange for client to ship specified commands when it goes active.\"\n+ client.enqueued = \"\"\n+ if not self.threadlock:\n+ client.send(commands)\n+ else:\n+ client.enqueued = commands\n+\n+ def start(self):\n+ \"Start thread\"\n+ self.threadlock = threading.Lock()\n+ threading.Thread(target=self.run)\n+\n+# End\n+# vim: set expandtab shiftwidth=4\ndiff --git a/tools/gps/gps.py b/tools/gps/gps.py\nnew file mode 100755\n--- /dev/null\n+++ b/tools/gps/gps.py\n@@ -0,0 +1,385 @@\n+#!/usr/bin/env python\n+# -*- coding: utf-8 -*-\n+# This code is generated by scons. Do not hand-hack it!\n+'''gps.py -- Python interface to GPSD.\n+\n+This interface has a lot of historical cruft in it related to old\n+protocol, and was modeled on the C interface. It won't be thrown\n+away, but it's likely to be deprecated in favor of something more\n+Pythonic.\n+\n+The JSON parts of this (which will be reused by any new interface)\n+now live in a different module.\n+'''\n+\n+#\n+# This file is Copyright 2010 by the GPSD project\n+# SPDX-License-Identifier: BSD-2-Clause\n+#\n+\n+# This code runs compatibly under Python 2 and 3.x for x >= 2.\n+# Preserve this property!\n+from __future__ import absolute_import, print_function, division\n+\n+from .client import *\n+from .watch_options import *\n+\n+\n+NaN = float('nan')\n+\n+\n+def isfinite(f):\n+ \"Check if f is finite\"\n+ # Python 2 does not think +Inf or -Inf are NaN\n+ # Python 2 has no easier way to test for Inf\n+ return float('-inf') < float(f) < float('inf')\n+\n+\n+# Don't hand-hack this list, it's generated.\n+ONLINE_SET = (1 << 1)\n+TIME_SET = (1 << 2)\n+TIMERR_SET = (1 << 3)\n+LATLON_SET = (1 << 4)\n+ALTITUDE_SET = (1 << 5)\n+SPEED_SET = (1 << 6)\n+TRACK_SET = (1 << 7)\n+CLIMB_SET = (1 << 8)\n+STATUS_SET = (1 << 9)\n+MODE_SET = (1 << 10)\n+DOP_SET = (1 << 11)\n+HERR_SET = (1 << 12)\n+VERR_SET = (1 << 13)\n+ATTITUDE_SET = (1 << 14)\n+SATELLITE_SET = (1 << 15)\n+SPEEDERR_SET = (1 << 16)\n+TRACKERR_SET = (1 << 17)\n+CLIMBERR_SET = (1 << 18)\n+DEVICE_SET = (1 << 19)\n+DEVICELIST_SET = (1 << 20)\n+DEVICEID_SET = (1 << 21)\n+RTCM2_SET = (1 << 22)\n+RTCM3_SET = (1 << 23)\n+AIS_SET = (1 << 24)\n+PACKET_SET = (1 << 25)\n+SUBFRAME_SET = (1 << 26)\n+GST_SET = (1 << 27)\n+VERSION_SET = (1 << 28)\n+POLICY_SET = (1 << 29)\n+LOGMESSAGE_SET = (1 << 30)\n+ERROR_SET = (1 << 31)\n+TIMEDRIFT_SET = (1 << 32)\n+EOF_SET = (1 << 33)\n+SET_HIGH_BIT = 34\n+UNION_SET = (RTCM2_SET | RTCM3_SET | SUBFRAME_SET | AIS_SET | VERSION_SET |\n+ DEVICELIST_SET | ERROR_SET | GST_SET)\n+STATUS_NO_FIX = 0\n+STATUS_FIX = 1\n+STATUS_DGPS_FIX = 2\n+STATUS_RTK_FIX = 3\n+STATUS_RTK_FLT = 4\n+STATUS_DR = 5\n+STATUS_GNSSDR = 6\n+STATUS_TIME = 7\n+STATUS_SIM = 8\n+STATUS_PPS_FIX = 9\n+MODE_NO_FIX = 1\n+MODE_2D = 2\n+MODE_3D = 3\n+MAXCHANNELS = 72 # Copied from gps.h, but not required to match\n+SIGNAL_STRENGTH_UNKNOWN = NaN\n+\n+\n+class gpsfix(object):\n+ \"Class to hold one GPS fix\"\n+\n+ def __init__(self):\n+ \"Init class gpsfix\"\n+\n+ self.altitude = NaN # Meters DEPRECATED\n+ self.altHAE = NaN # Meters\n+ self.altMSL = NaN # Meters\n+ self.climb = NaN # Meters per second\n+ self.datum = \"\"\n+ self.dgpsAge = -1\n+ self.dgpsSta = \"\"\n+ self.depth = NaN\n+ self.device = \"\"\n+ self.ecefx = NaN\n+ self.ecefy = NaN\n+ self.ecefz = NaN\n+ self.ecefvx = NaN\n+ self.ecefvy = NaN\n+ self.ecefvz = NaN\n+ self.ecefpAcc = NaN\n+ self.ecefvAcc = NaN\n+ self.epc = NaN\n+ self.epd = NaN\n+ self.eph = NaN\n+ self.eps = NaN\n+ self.ept = NaN\n+ self.epv = NaN\n+ self.epx = NaN\n+ self.epy = NaN\n+ self.geoidSep = NaN # Meters\n+ self.latitude = self.longitude = 0.0\n+ self.magtrack = NaN\n+ self.magvar = NaN\n+ self.mode = MODE_NO_FIX\n+ self.relN = NaN\n+ self.relE = NaN\n+ self.relD = NaN\n+ self.sep = NaN # a.k.a. epe\n+ self.speed = NaN # Knots\n+ self.status = STATUS_NO_FIX\n+ self.time = NaN\n+ self.track = NaN # Degrees from true north\n+ self.velN = NaN\n+ self.velE = NaN\n+ self.velD = NaN\n+\n+\n+class gpsdata(object):\n+ \"Position, track, velocity and status information returned by a GPS.\"\n+\n+ class satellite(object):\n+ \"Class to hold satellite data\"\n+ def __init__(self, PRN, elevation, azimuth, ss, used=None):\n+ self.PRN = PRN\n+ self.elevation = elevation\n+ self.azimuth = azimuth\n+ self.ss = ss\n+ self.used = used\n+\n+ def __repr__(self):\n+ return \"PRN: %3d E: %3d Az: %3d Ss: %3d Used: %s\" % (\n+ self.PRN, self.elevation, self.azimuth, self.ss,\n+ \"ny\"[self.used])\n+\n+ def __init__(self):\n+ # Initialize all data members\n+ self.online = 0 # NZ if GPS on, zero if not\n+\n+ self.valid = 0\n+ self.fix = gpsfix()\n+\n+ self.status = STATUS_NO_FIX\n+ self.utc = \"\"\n+\n+ self.satellites_used = 0 # Satellites used in last fix\n+ self.xdop = self.ydop = self.vdop = self.tdop = 0\n+ self.pdop = self.hdop = self.gdop = 0.0\n+\n+ self.epe = 0.0\n+\n+ self.satellites = [] # satellite objects in view\n+\n+ self.gps_id = None\n+ self.driver_mode = 0\n+ self.baudrate = 0\n+ self.stopbits = 0\n+ self.cycle = 0\n+ self.mincycle = 0\n+ self.device = None\n+ self.devices = []\n+\n+ self.version = None\n+\n+ def __repr__(self):\n+ st = \"Time: %s (%s)\\n\" % (self.utc, self.fix.time)\n+ st += \"Lat/Lon: %f %f\\n\" % (self.fix.latitude, self.fix.longitude)\n+ if not isfinite(self.fix.altHAE):\n+ st += \"Altitude HAE: ?\\n\"\n+ else:\n+ st += \"Altitude HAE: %f\\n\" % (self.fix.altHAE)\n+ if not isfinite(self.fix.speed):\n+ st += \"Speed: ?\\n\"\n+ else:\n+ st += \"Speed: %f\\n\" % (self.fix.speed)\n+ if not isfinite(self.fix.track):\n+ st += \"Track: ?\\n\"\n+ else:\n+ st += \"Track: %f\\n\" % (self.fix.track)\n+ st += \"Status: STATUS_%s\\n\" \\\n+ % (\"NO_FIX\", \"FIX\", \"DGPS_FIX\")[self.status]\n+ st += \"Mode: MODE_%s\\n\" \\\n+ % (\"ZERO\", \"NO_FIX\", \"2D\", \"3D\")[self.fix.mode]\n+ st += \"Quality: %d p=%2.2f h=%2.2f v=%2.2f t=%2.2f g=%2.2f\\n\" % \\\n+ (self.satellites_used, self.pdop, self.hdop, self.vdop,\n+ self.tdop, self.gdop)\n+ st += \"Y: %s satellites in view:\\n\" % len(self.satellites)\n+ for sat in self.satellites:\n+ st += \" %r\\n\" % sat\n+ return st\n+\n+\n+class gps(gpscommon, gpsdata, gpsjson):\n+ \"Client interface to a running gpsd instance.\"\n+\n+ # module version, would be nice to automate the version\n+ __version__ = \"3.20.1~dev\"\n+\n+ def __init__(self, host=\"127.0.0.1\", port=GPSD_PORT, verbose=0, mode=0,\n+ reconnect=False):\n+ self.activated = None\n+ self.clock_sec = NaN\n+ self.clock_nsec = NaN\n+ self.path = ''\n+ self.precision = 0\n+ self.real_sec = NaN\n+ self.real_nsec = NaN\n+ self.serialmode = \"8N1\"\n+ gpscommon.__init__(self, host, port, verbose, reconnect)\n+ gpsdata.__init__(self)\n+ gpsjson.__init__(self)\n+ if mode:\n+ self.stream(mode)\n+\n+ def _oldstyle_shim(self):\n+ # The rest is backwards compatibility for the old interface\n+ def default(k, dflt, vbit=0):\n+ \"Return default for key\"\n+ if k not in self.data.keys():\n+ return dflt\n+\n+ self.valid |= vbit\n+ return self.data[k]\n+\n+ if self.data.get(\"class\") == \"VERSION\":\n+ self.version = self.data\n+ elif self.data.get(\"class\") == \"DEVICE\":\n+ self.valid = ONLINE_SET | DEVICE_SET\n+ self.path = self.data[\"path\"]\n+ self.activated = default(\"activated\", None)\n+ driver = default(\"driver\", None, DEVICEID_SET)\n+ subtype = default(\"subtype\", None, DEVICEID_SET)\n+ self.gps_id = driver\n+ if subtype:\n+ self.gps_id += \" \" + subtype\n+ self.baudrate = default(\"bps\", 0)\n+ self.cycle = default(\"cycle\", NaN)\n+ self.driver_mode = default(\"native\", 0)\n+ self.mincycle = default(\"mincycle\", NaN)\n+ self.serialmode = default(\"serialmode\", \"8N1\")\n+ elif self.data.get(\"class\") == \"TPV\":\n+ self.device = default(\"device\", \"missing\")\n+ self.utc = default(\"time\", None, TIME_SET)\n+ self.valid = ONLINE_SET\n+ if self.utc is not None:\n+ # self.utc is always iso 8601 string\n+ # just copy to fix.time\n+ self.fix.time = self.utc\n+ self.fix.altitude = default(\"alt\", NaN, ALTITUDE_SET) # DEPRECATED\n+ self.fix.altHAE = default(\"altHAE\", NaN, ALTITUDE_SET)\n+ self.fix.altMSL = default(\"altMSL\", NaN, ALTITUDE_SET)\n+ self.fix.climb = default(\"climb\", NaN, CLIMB_SET)\n+ self.fix.epc = default(\"epc\", NaN, CLIMBERR_SET)\n+ self.fix.epd = default(\"epd\", NaN)\n+ self.fix.eps = default(\"eps\", NaN, SPEEDERR_SET)\n+ self.fix.ept = default(\"ept\", NaN, TIMERR_SET)\n+ self.fix.epv = default(\"epv\", NaN, VERR_SET)\n+ self.fix.epx = default(\"epx\", NaN, HERR_SET)\n+ self.fix.epy = default(\"epy\", NaN, HERR_SET)\n+ self.fix.latitude = default(\"lat\", NaN, LATLON_SET)\n+ self.fix.longitude = default(\"lon\", NaN)\n+ self.fix.mode = default(\"mode\", 0, MODE_SET)\n+ self.fix.speed = default(\"speed\", NaN, SPEED_SET)\n+ self.fix.status = default(\"status\", 1)\n+ self.fix.track = default(\"track\", NaN, TRACK_SET)\n+ elif self.data.get(\"class\") == \"SKY\":\n+ self.device = default(\"device\", \"missing\")\n+ for attrp in (\"g\", \"h\", \"p\", \"t\", \"v\", \"x\", \"y\"):\n+ n = attrp + \"dop\"\n+ setattr(self, n, default(n, NaN, DOP_SET))\n+ if \"satellites\" in self.data.keys():\n+ self.satellites = []\n+ for sat in self.data['satellites']:\n+ if 'el' not in sat:\n+ sat['el'] = -999\n+ if 'az' not in sat:\n+ sat['az'] = -999\n+ if 'ss' not in sat:\n+ sat['ss'] = -999\n+ self.satellites.append(gps.satellite(PRN=sat['PRN'],\n+ elevation=sat['el'],\n+ azimuth=sat['az'], ss=sat['ss'],\n+ used=sat['used']))\n+ self.satellites_used = 0\n+ for sat in self.satellites:\n+ if sat.used:\n+ self.satellites_used += 1\n+ self.valid = ONLINE_SET | SATELLITE_SET\n+ elif self.data.get(\"class\") == \"PPS\":\n+ self.device = default(\"device\", \"missing\")\n+ self.real_sec = default(\"real_sec\", NaN)\n+ self.real_nsec = default(\"real_nsec\", NaN)\n+ self.clock_sec = default(\"clock_sec\", NaN)\n+ self.clock_nsec = default(\"clock_nsec\", NaN)\n+ self.precision = default(\"precision\", 0)\n+ # elif self.data.get(\"class\") == \"DEVICES\":\n+ # TODO: handle class DEVICES # pylint: disable=fixme\n+\n+ def read(self):\n+ \"Read and interpret data from the daemon.\"\n+ status = gpscommon.read(self)\n+ if status <= 0:\n+ return status\n+ if self.response.startswith(\"{\") and self.response.endswith(\"}\\r\\n\"):\n+ self.unpack(self.response)\n+ self._oldstyle_shim()\n+ self.valid |= PACKET_SET\n+ return 0\n+\n+ def __next__(self):\n+ \"Python 3 version of next().\"\n+ if self.read() == -1:\n+ raise StopIteration\n+ if hasattr(self, \"data\"):\n+ return self.data\n+\n+ return self.response\n+\n+ def next(self):\n+ \"Python 2 backward compatibility.\"\n+ return self.__next__()\n+\n+ def stream(self, flags=0, devpath=None):\n+ \"Ask gpsd to stream reports at your client.\"\n+\n+ gpsjson.stream(self, flags, devpath)\n+\n+\n+def is_sbas(prn):\n+ \"Is this the NMEA ID of an SBAS satellite?\"\n+ return 120 <= prn <= 158\n+\n+\n+if __name__ == '__main__':\n+ import getopt\n+ import sys\n+ (options, arguments) = getopt.getopt(sys.argv[1:], \"v\")\n+ streaming = False\n+ verbose = False\n+ for (switch, val) in options:\n+ if switch == '-v':\n+ verbose = True\n+ if len(arguments) > 2:\n+ print('Usage: gps.py [-v] [host [port]]')\n+ sys.exit(1)\n+\n+ opts = {\"verbose\": verbose}\n+ if arguments:\n+ opts[\"host\"] = arguments[0]\n+ if arguments:\n+ opts[\"port\"] = arguments[1]\n+\n+ session = gps(**opts)\n+ session.stream(WATCH_ENABLE)\n+ try:\n+ for report in session:\n+ print(report)\n+ except KeyboardInterrupt:\n+ # Avoid garble on ^C\n+ print(\"\")\n+\n+# gps.py ends here\n+# vim: set expandtab shiftwidth=4\ndiff --git a/tools/gps/misc.py b/tools/gps/misc.py\nnew file mode 100644\n--- /dev/null\n+++ b/tools/gps/misc.py\n@@ -0,0 +1,294 @@\n+# misc.py - miscellaneous geodesy and time functions\n+\"miscellaneous geodesy and time functions\"\n+#\n+# This file is Copyright 2010 by the GPSD project\n+# SPDX-License-Identifier: BSD-2-Clause\n+\n+# This code runs compatibly under Python 2 and 3.x for x >= 2.\n+# Preserve this property!\n+from __future__ import absolute_import, print_function, division\n+\n+import calendar\n+import io\n+import math\n+import time\n+\n+\n+def monotonic():\n+ \"\"\"return monotonic seconds, of unknown epoch.\n+ Python 2 to 3.7 has time.clock(), deprecates in 3.3+, removed in 3.8\n+ Python 3.5+ has time.monotonic()\n+ This always works\n+ \"\"\"\n+\n+ if hasattr(time, 'monotonic'):\n+ return time.monotonic()\n+ # else\n+ return time.clock()\n+\n+\n+# Determine a single class for testing \"stringness\"\n+try:\n+ STR_CLASS = basestring # Base class for 'str' and 'unicode' in Python 2\n+except NameError:\n+ STR_CLASS = str # In Python 3, 'str' is the base class\n+\n+# We need to be able to handle data which may be a mixture of text and binary\n+# data. The text in this context is known to be limited to US-ASCII, so\n+# there aren't any issues regarding character sets, but we need to ensure\n+# that binary data is preserved. In Python 2, this happens naturally with\n+# \"strings\" and the 'str' and 'bytes' types are synonyms. But in Python 3,\n+# these are distinct types (with 'str' being based on Unicode), and conversions\n+# are encoding-sensitive. The most straightforward encoding to use in this\n+# context is 'latin-1' (a.k.a.'iso-8859-1'), which directly maps all 256\n+# 8-bit character values to Unicode page 0. Thus, if we can enforce the use\n+# of 'latin-1' encoding, we can preserve arbitrary binary data while correctly\n+# mapping any actual text to the proper characters.\n+\n+BINARY_ENCODING = 'latin-1'\n+\n+if bytes is str: # In Python 2 these functions can be null transformations\n+\n+ polystr = str\n+ polybytes = bytes\n+\n+ def make_std_wrapper(stream):\n+ \"Dummy stdio wrapper function.\"\n+ return stream\n+\n+ def get_bytes_stream(stream):\n+ \"Dummy stdio bytes buffer function.\"\n+ return stream\n+\n+else: # Otherwise we do something real\n+\n+ def polystr(o):\n+ \"Convert bytes or str to str with proper encoding.\"\n+ if isinstance(o, str):\n+ return o\n+ if isinstance(o, bytes) or isinstance(o, bytearray):\n+ return str(o, encoding=BINARY_ENCODING)\n+ if isinstance(o, int):\n+ return str(o)\n+ raise ValueError\n+\n+ def polybytes(o):\n+ \"Convert bytes or str to bytes with proper encoding.\"\n+ if isinstance(o, bytes):\n+ return o\n+ if isinstance(o, str):\n+ return bytes(o, encoding=BINARY_ENCODING)\n+ raise ValueError\n+\n+ def make_std_wrapper(stream):\n+ \"Standard input/output wrapper factory function\"\n+ # This ensures that the encoding of standard output and standard\n+ # error on Python 3 matches the binary encoding we use to turn\n+ # bytes to Unicode in polystr above.\n+ #\n+ # newline=\"\\n\" ensures that Python 3 won't mangle line breaks\n+ # line_buffering=True ensures that interactive command sessions\n+ # work as expected\n+ return io.TextIOWrapper(stream.buffer, encoding=BINARY_ENCODING,\n+ newline=\"\\n\", line_buffering=True)\n+\n+ def get_bytes_stream(stream):\n+ \"Standard input/output bytes buffer function\"\n+ return stream.buffer\n+\n+\n+# some multipliers for interpreting GPS output\n+# Note: A Texas Foot is ( meters * 3937/1200)\n+# (Texas Natural Resources Code, Subchapter D, Sec 21.071 - 79)\n+# not the same as an international fooot.\n+FEET_TO_METERS = 0.3048 # U.S./British feet to meters, exact\n+METERS_TO_FEET = (1 / FEET_TO_METERS) # Meters to U.S./British feet, exact\n+MILES_TO_METERS = 1.609344 # Miles to meters, exact\n+METERS_TO_MILES = (1 / MILES_TO_METERS) # Meters to miles, exact\n+FATHOMS_TO_METERS = 1.8288 # Fathoms to meters, exact\n+METERS_TO_FATHOMS = (1 / FATHOMS_TO_METERS) # Meters to fathoms, exact\n+KNOTS_TO_MPH = (1852 / 1609.344) # Knots to miles per hour, exact\n+KNOTS_TO_KPH = 1.852 # Knots to kilometers per hour, exact\n+MPS_TO_KPH = 3.6 # Meters per second to klicks/hr, exact\n+KNOTS_TO_MPS = (KNOTS_TO_KPH / MPS_TO_KPH) # Knots to meters per second, exact\n+MPS_TO_MPH = (1 / 0.44704) # Meters/second to miles per hour, exact\n+MPS_TO_KNOTS = (3600.0 / 1852.0) # Meters per second to knots, exact\n+\n+\n+def Deg2Rad(x):\n+ \"Degrees to radians.\"\n+ return x * (math.pi / 180)\n+\n+\n+def Rad2Deg(x):\n+ \"Radians to degrees.\"\n+ return x * (180 / math.pi)\n+\n+\n+def CalcRad(lat):\n+ \"Radius of curvature in meters at specified latitude WGS-84.\"\n+ # the radius of curvature of an ellipsoidal Earth in the plane of a\n+ # meridian of latitude is given by\n+ #\n+ # R' = a * (1 - e^2) / (1 - e^2 * (sin(lat))^2)^(3/2)\n+ #\n+ # where\n+ # a is the equatorial radius (surface to center distance),\n+ # b is the polar radius (surface to center distance),\n+ # e is the first eccentricity of the ellipsoid\n+ # e2 is e^2 = (a^2 - b^2) / a^2\n+ # es is the second eccentricity of the ellipsoid (UNUSED)\n+ # es2 is es^2 = (a^2 - b^2) / b^2\n+ #\n+ # for WGS-84:\n+ # a = 6378.137 km (3963 mi)\n+ # b = 6356.752314245 km (3950 mi)\n+ # e2 = 0.00669437999014132\n+ # es2 = 0.00673949674227643\n+ a = 6378.137\n+ e2 = 0.00669437999014132\n+ sc = math.sin(math.radians(lat))\n+ x = a * (1.0 - e2)\n+ z = 1.0 - e2 * pow(sc, 2)\n+ y = pow(z, 1.5)\n+ r = x / y\n+\n+ r = r * 1000.0 # Convert to meters\n+ return r\n+\n+\n+def EarthDistance(c1, c2):\n+ \"\"\"\n+ Vincenty's formula (inverse method) to calculate the distance (in\n+ kilometers or miles) between two points on the surface of a spheroid\n+ WGS 84 accurate to 1mm!\n+ \"\"\"\n+\n+ (lat1, lon1) = c1\n+ (lat2, lon2) = c2\n+\n+ # WGS 84\n+ a = 6378137 # meters\n+ f = 1 / 298.257223563\n+ b = 6356752.314245 # meters; b = (1 - f)a\n+\n+ # MILES_PER_KILOMETER = 1000.0 / (.3048 * 5280.0)\n+\n+ MAX_ITERATIONS = 200\n+ CONVERGENCE_THRESHOLD = 1e-12 # .000,000,000,001\n+\n+ # short-circuit coincident points\n+ if lat1 == lat2 and lon1 == lon2:\n+ return 0.0\n+\n+ U1 = math.atan((1 - f) * math.tan(math.radians(lat1)))\n+ U2 = math.atan((1 - f) * math.tan(math.radians(lat2)))\n+ L = math.radians(lon1 - lon2)\n+ Lambda = L\n+\n+ sinU1 = math.sin(U1)\n+ cosU1 = math.cos(U1)\n+ sinU2 = math.sin(U2)\n+ cosU2 = math.cos(U2)\n+\n+ for _ in range(MAX_ITERATIONS):\n+ sinLambda = math.sin(Lambda)\n+ cosLambda = math.cos(Lambda)\n+ sinSigma = math.sqrt((cosU2 * sinLambda) ** 2 +\n+ (cosU1 * sinU2 - sinU1 * cosU2 * cosLambda) ** 2)\n+ if sinSigma == 0:\n+ return 0.0 # coincident points\n+ cosSigma = sinU1 * sinU2 + cosU1 * cosU2 * cosLambda\n+ sigma = math.atan2(sinSigma, cosSigma)\n+ sinAlpha = cosU1 * cosU2 * sinLambda / sinSigma\n+ cosSqAlpha = 1 - sinAlpha ** 2\n+ try:\n+ cos2SigmaM = cosSigma - 2 * sinU1 * sinU2 / cosSqAlpha\n+ except ZeroDivisionError:\n+ cos2SigmaM = 0\n+ C = f / 16 * cosSqAlpha * (4 + f * (4 - 3 * cosSqAlpha))\n+ LambdaPrev = Lambda\n+ Lambda = L + (1 - C) * f * sinAlpha * (sigma + C * sinSigma *\n+ (cos2SigmaM + C * cosSigma *\n+ (-1 + 2 * cos2SigmaM ** 2)))\n+ if abs(Lambda - LambdaPrev) < CONVERGENCE_THRESHOLD:\n+ break # successful convergence\n+ else:\n+ # failure to converge\n+ # fall back top EarthDistanceSmall\n+ return EarthDistanceSmall(c1, c2)\n+\n+ uSq = cosSqAlpha * (a ** 2 - b ** 2) / (b ** 2)\n+ A = 1 + uSq / 16384 * (4096 + uSq * (-768 + uSq * (320 - 175 * uSq)))\n+ B = uSq / 1024 * (256 + uSq * (-128 + uSq * (74 - 47 * uSq)))\n+ deltaSigma = B * sinSigma * (cos2SigmaM + B / 4 * (\n+ cosSigma * (-1 + 2 * cos2SigmaM ** 2) - B / 6 * cos2SigmaM *\n+ (-3 + 4 * sinSigma ** 2) * (-3 + 4 * cos2SigmaM ** 2)))\n+ s = b * A * (sigma - deltaSigma)\n+\n+ # return meters to 6 decimal places\n+ return round(s, 6)\n+\n+\n+def EarthDistanceSmall(c1, c2):\n+ \"Distance in meters between two close points specified in degrees.\"\n+ # This calculation is known as an Equirectangular Projection\n+ # fewer numeric issues for small angles that other methods\n+ # the main use here is for when Vincenty's fails to converge.\n+ (lat1, lon1) = c1\n+ (lat2, lon2) = c2\n+ avglat = (lat1 + lat2) / 2\n+ phi = math.radians(avglat) # radians of avg latitude\n+ # meters per degree at this latitude, corrected for WGS84 ellipsoid\n+ # Note the wikipedia numbers are NOT ellipsoid corrected:\n+ # https://en.wikipedia.org/wiki/Decimal_degrees#Precision\n+ m_per_d = (111132.954 - 559.822 * math.cos(2 * phi) +\n+ 1.175 * math.cos(4 * phi))\n+ dlat = (lat1 - lat2) * m_per_d\n+ dlon = (lon1 - lon2) * m_per_d * math.cos(phi)\n+\n+ dist = math.sqrt(math.pow(dlat, 2) + math.pow(dlon, 2))\n+ return dist\n+\n+\n+def MeterOffset(c1, c2):\n+ \"Return offset in meters of second arg from first.\"\n+ (lat1, lon1) = c1\n+ (lat2, lon2) = c2\n+ dx = EarthDistance((lat1, lon1), (lat1, lon2))\n+ dy = EarthDistance((lat1, lon1), (lat2, lon1))\n+ if lat1 < lat2:\n+ dy = -dy\n+ if lon1 < lon2:\n+ dx = -dx\n+ return (dx, dy)\n+\n+\n+def isotime(s):\n+ \"Convert timestamps in ISO8661 format to and from Unix time.\"\n+ if isinstance(s, int):\n+ return time.strftime(\"%Y-%m-%dT%H:%M:%S\", time.gmtime(s))\n+\n+ if isinstance(s, float):\n+ date = int(s)\n+ msec = s - date\n+ date = time.strftime(\"%Y-%m-%dT%H:%M:%S\", time.gmtime(s))\n+ return date + \".\" + repr(msec)[3:]\n+\n+ if isinstance(s, STR_CLASS):\n+ if s[-1] == \"Z\":\n+ s = s[:-1]\n+ if \".\" in s:\n+ (date, msec) = s.split(\".\")\n+ else:\n+ date = s\n+ msec = \"0\"\n+ # Note: no leap-second correction!\n+ return calendar.timegm(\n+ time.strptime(date, \"%Y-%m-%dT%H:%M:%S\")) + float(\"0.\" + msec)\n+\n+ # else:\n+ raise TypeError\n+\n+# End\n+# vim: set expandtab shiftwidth=4\ndiff --git a/tools/gps/packet.py b/tools/gps/packet.py\nnew file mode 100755\n--- /dev/null\n+++ b/tools/gps/packet.py\n@@ -0,0 +1,166 @@\n+#!/usr/bin/env python\n+#\n+# This code is generated by scons. Do not hand-hack it!\n+#\n+# -*- coding: utf-8 -*-\n+#\n+# packet.py - helper functions for various bit\n+#\n+# theoretically comprised of reusable bits, in practice probably not so much.\n+#\n+# This code run compatibly under Python 2 and 3.x for x >= 2.\n+# Preserve this property!\n+#\n+# This file is Copyright 2019 by the GPSD project\n+# SPDX-License-Identifier: BSD-2-Clause\n+\"\"\"Python binding of the libgpsd module for recognizing GPS packets.\n+\n+The new() function returns a new packet-lexer instance. Lexer instances\n+have two methods:\n+ get() takes a file descriptor argument and returns a tuple consisting of\n+the integer packet type and string packet value. On end of file it returns\n+(-1, '').\n+ reset() resets the packet-lexer to its initial state.\n+ The module also has a register_report() function that accepts a callback\n+for debug message reporting. The callback will get two arguments, the error\n+level of the message and the message itself.\n+\"\"\"\n+from __future__ import absolute_import, print_function\n+import ctypes\n+import gps.misc\n+import os\n+\n+\n+# Packet types and Logging levels extracted from gpsd.h\n+MAX_PACKET_LENGTH = 9216\n+COMMENT_PACKET = 0\n+NMEA_PACKET = 1\n+AIVDM_PACKET = 2\n+GARMINTXT_PACKET = 3\n+SIRF_PACKET = 4\n+ZODIAC_PACKET = 5\n+TSIP_PACKET = 6\n+EVERMORE_PACKET = 7\n+ITALK_PACKET = 8\n+GARMIN_PACKET = 9\n+NAVCOM_PACKET = 10\n+UBX_PACKET = 11\n+SUPERSTAR2_PACKET = 12\n+ONCORE_PACKET = 13\n+GEOSTAR_PACKET = 14\n+NMEA2000_PACKET = 15\n+GREIS_PACKET = 16\n+MAX_GPSPACKET_TYPE = 16\n+RTCM2_PACKET = 17\n+RTCM3_PACKET = 18\n+JSON_PACKET = 19\n+PACKET_TYPES = 20\n+SKY_PACKET = 21\n+LOG_SHOUT = 0\n+LOG_WARN = 1\n+LOG_CLIENT = 2\n+LOG_INF = 3\n+LOG_PROG = 4\n+LOG_IO = 5\n+LOG_DATA = 6\n+LOG_SPIN = 7\n+LOG_RAW = 8\n+ISGPS_ERRLEVEL_BASE = LOG_RAW\n+\n+\n+class GpsdErrOutT(ctypes.Structure):\n+ pass\n+\n+\n+# Add raw interface to the packet FFI stub.\n+_packet = None\n+_cwd = os.getcwd()\n+if 'gpsd' in _cwd.split('/'):\n+ _path = _cwd + '/'\n+else:\n+ _path = '/usr/local/lib'\n+ if _path[-1] != '/':\n+ _path += '/'\n+\n+try:\n+ _packet = ctypes.CDLL('%slibgpsdpacket.so.27.0.0' % _path)\n+except OSError:\n+ print('Failed to load the library:\\t%slibgpsdpacket.so.27.0.0' % _path)\n+ exit(1)\n+\n+_lexer_size = ctypes.c_size_t.in_dll(_packet, \"fvi_size_lexer\")\n+LEXER_SIZE = _lexer_size.value\n+_buffer_size = ctypes.c_size_t.in_dll(_packet, \"fvi_size_buffer\").value\n+\n+REPORTER = ctypes.CFUNCTYPE(ctypes.c_int, ctypes.c_char_p)\n+GpsdErrOutT._fields_ = [('debug', ctypes.c_int),\n+ ('report', REPORTER),\n+ ('label', ctypes.c_char_p)]\n+\n+\n+class lexer_t(ctypes.Structure):\n+ _fields_ = [\n+ ('packet_type', ctypes.c_int),\n+ ('state', ctypes.c_uint),\n+ ('length', ctypes.c_size_t),\n+ ('inbuffer', ctypes.c_ubyte * _buffer_size),\n+ ('inbuflen', ctypes.c_size_t),\n+ ('inbufptr', ctypes.c_char_p),\n+ ('outbuffer', ctypes.c_ubyte * _buffer_size),\n+ ('outbuflen', ctypes.c_size_t),\n+ ('char_counter', ctypes.c_ulong),\n+ ('retry_counter', ctypes.c_ulong),\n+ ('counter', ctypes.c_uint),\n+ ('errout', GpsdErrOutT),\n+ ]\n+\n+\n+def new():\n+ \"\"\"new() -> new packet-self object\"\"\"\n+ return Lexer()\n+\n+\n+def register_report(reporter):\n+ \"\"\"register_report(callback)\n+\n+ callback must be a callable object expecting a string as parameter.\"\"\"\n+ global _loaded\n+ if callable(reporter):\n+ _loaded.errout.report = REPORTER(reporter)\n+\n+\n+class Lexer():\n+ \"\"\"GPS packet lexer object\n+\n+Fetch a single packet from file descriptor\n+\"\"\"\n+ pointer = None\n+\n+ def __init__(self):\n+ global _loaded\n+ _packet.ffi_Lexer_init.restype = ctypes.POINTER(lexer_t)\n+ self.pointer = _packet.ffi_Lexer_init()\n+ _loaded = self.pointer.contents\n+\n+ def get(self, file_handle):\n+ \"\"\"Get a packet from a file descriptor.\"\"\"\n+ global _loaded\n+ _packet.packet_get.restype = ctypes.c_int\n+ _packet.packet_get.argtypes = [ctypes.c_int, ctypes.POINTER(lexer_t)]\n+ length = _packet.packet_get(file_handle, self.pointer)\n+ _loaded = self.pointer.contents\n+ packet = ''\n+ for octet in range(_loaded.outbuflen):\n+ packet += chr(_loaded.outbuffer[octet])\n+ return [length,\n+ _loaded.packet_type,\n+ gps.misc.polybytes(packet),\n+ _loaded.char_counter]\n+\n+ def reset(self):\n+ \"\"\"Reset the packet self to ground state.\"\"\"\n+ _packet.ffi_Lexer_init.restype = None\n+ _packet.ffi_Lexer_init.argtypes = [ctypes.POINTER(lexer_t)]\n+ _packet.ffi_Lexer_init(self.pointer)\n+\n+# vim: set expandtab shiftwidth=4\ndiff --git a/tools/gps/watch_options.py b/tools/gps/watch_options.py\nnew file mode 100644\n--- /dev/null\n+++ b/tools/gps/watch_options.py\n@@ -0,0 +1,16 @@\n+\"WATCH options - controls what data is streamed, and how it's converted\"\n+WATCH_ENABLE = 0x000001 # enable streaming\n+WATCH_DISABLE = 0x000002 # disable watching\n+WATCH_JSON = 0x000010 # JSON output\n+WATCH_NMEA = 0x000020 # output in NMEA\n+WATCH_RARE = 0x000040 # output of packets in hex\n+WATCH_RAW = 0x000080 # output of raw packets\n+\n+WATCH_SCALED = 0x000100 # scale output to floats\n+WATCH_TIMING = 0x000200 # timing information\n+WATCH_DEVICE = 0x000800 # watch specific device\n+WATCH_SPLIT24 = 0x001000 # split AIS Type 24s\n+WATCH_PPS = 0x002000 # enable PPS JSON\n+\n+WATCH_NEWSTYLE = 0x010000 # force JSON streaming\n+WATCH_OLDSTYLE = 0x020000 # force old-style streaming\ndiff --git a/web_app/ConfigManager.py b/web_app/ConfigManager.py\nnew file mode 100644\n--- /dev/null\n+++ b/web_app/ConfigManager.py\n@@ -0,0 +1,368 @@\n+# ReachView code is placed under the GPL license.\n+# Written by Egor Fedorov (egor.fedorov@emlid.com)\n+# Copyright (c) 2015, Emlid Limited\n+# All rights reserved.\n+\n+# If you are interested in using ReachView code as a part of a\n+# closed source project, please contact Emlid Limited (info@emlid.com).\n+\n+# This file is part of ReachView.\n+\n+# ReachView is free software: you can redistribute it and/or modify\n+# it under the terms of the GNU General Public License as published by\n+# the Free Software Foundation, either version 3 of the License, or\n+# (at your option) any later version.\n+\n+# ReachView is distributed in the hope that it will be useful,\n+# but WITHOUT ANY WARRANTY; without even the implied warranty of\n+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n+# GNU General Public License for more details.\n+\n+# You should have received a copy of the GNU General Public License\n+# along with ReachView. If not, see .\n+\n+from reach_tools import reach_tools\n+\n+import os\n+from glob import glob\n+from shutil import copy, Error\n+\n+# This module aims to make working with RTKLIB configs easier\n+# It allows to parse RTKLIB .conf files to python dictionaries and backwards\n+# Note that on startup it reads on of the default configs\n+# and keeps the order of settings, stored there\n+\n+class Config:\n+\n+ def __init__(self, file_name = None, items = None):\n+ # we keep all the options for current config file and their order here\n+\n+ # config file name\n+ self.current_file_name = None\n+\n+ # due to how sending stuff over socket.io works, we need to keep config data\n+ # as a dictionary. to maintain order later in the browser we keep it in the\n+ # following form:\n+ # items = {\n+ # \"0\": item0,\n+ # \"1\": item1\n+ # }\n+ # where item is also a dictionary:\n+ # item0 = {\n+ # \"parameter\": \"p\",\n+ # \"value\": \"v\",\n+ # \"comment\": \"c\",\n+ # \"description\": \"d\"\n+ # }\n+\n+ if items is None:\n+ self.items = {}\n+ else:\n+ self.items = items\n+\n+ # if we pass the file to the constructor, then read the values\n+ if file_name is not None:\n+ self.readFromFile(file_name)\n+\n+ def formStringFromItem(self, item):\n+ # form a line to put into a RTKLIB config file:\n+\n+ # item must be a dict, described in the __init__ method comments!\n+\n+ # we want to write values aligned for easier reading\n+ # hence need to add a number of spaces after the parameter\n+ if item:\n+ parameter_with_trailing_spaces = item[\"parameter\"] + \" \" * (18 - len(item[\"parameter\"]))\n+\n+ s = [parameter_with_trailing_spaces, \"=\" + item[\"value\"]]\n+\n+ if \"comment\" in item:\n+ s.append(\"#\")\n+ s.append(item[\"comment\"])\n+\n+ if \"description\" in item:\n+ s.append(\"##\")\n+ s.append(item[\"description\"])\n+\n+ return \" \".join(s)\n+ else:\n+ return \"\"\n+\n+ def extractItemFromString(self, string):\n+ # extract information from a config file line\n+ # return true, if the line\n+\n+ # create an empty item\n+ item = {}\n+\n+ # cut the line into pieces by spaces\n+ separated_lines = string.split()\n+ length = len(separated_lines)\n+\n+ # first, check if this line is empty\n+ if length > 0:\n+\n+ # second, check if it's fully commented\n+ if separated_lines[0][0] != \"#\":\n+\n+ # extract the parameter and value\n+ item[\"parameter\"] = separated_lines[0]\n+ item[\"value\"] = separated_lines[1][1:]\n+\n+ # check if we have more info, possibly useful comment\n+ if length > 3 and separated_lines[2] == \"#\":\n+ item[\"comment\"] = separated_lines[3]\n+\n+ # check if we have more info, possibly description\n+ if length > 5 and separated_lines[4] == \"##\":\n+ # in order to have a description with spaces, we take all what's left\n+ # after the \"##\" symbols and create a single line out of it:\n+ description = separated_lines[5:]\n+ description = \" \".join(description)\n+ item[\"description\"] = description\n+\n+ # check if we have only a description, rather than a comment and description\n+ if length >3 and separated_lines[2] == \"##\":\n+ description = separated_lines[3:]\n+ description = \" \".join(description)\n+ item[\"description\"] = description\n+\n+ # add information about available serial connections to input and output paths\n+ if \"path\" in item[\"parameter\"]:\n+ item[\"comment\"] = self.formSelectCommentFromList(reach_tools.getAvailableSerialPorts())\n+\n+ # we return the item we managed to extract form from string. if it's empty,\n+ # then we could not parse the string, hence it's empty, commented, or invalid\n+ return item\n+\n+ def formSelectCommentFromList(self, items_list):\n+ comment = \"\"\n+\n+ if items_list:\n+ comment = \"(\"\n+\n+ for index, item in enumerate(items_list):\n+ comment += str(index) + \":\" + str(item) + \",\"\n+\n+ comment = comment[:-1] + \")\"\n+\n+ return comment\n+\n+ def parseBluetoothEntries(self, config_dict):\n+ # check if anything is set as a tcpsvr with path :8143\n+ # and change it to bluetooth\n+ entries_with_bt_port = {k: v for (k, v) in config_dict.items() if v[\"value\"] == \"localhost:8143\"}\n+\n+ for entry in entries_with_bt_port.keys():\n+ # can be log or out or in\n+ io_field = entries_with_bt_port[entry][\"parameter\"].split(\"-\")[0]\n+\n+ # find the corresponding io type\n+ io_type_entries = {k: v for (k, v) in config_dict.items() if io_field + \"-type\" in v[\"parameter\"]}\n+\n+ for key in io_type_entries.keys():\n+ config_dict[key][\"value\"] = \"bluetooth\"\n+\n+ return config_dict\n+\n+ def processConfig(self, config_dict):\n+ # sometimes, when reading we need to handle special situations, like bluetooth connection\n+\n+ config_dict = self.parseBluetoothEntries(config_dict)\n+\n+ return config_dict\n+\n+ def readFromFile(self, from_file):\n+\n+ # save file name as current\n+ self.current_file_name = from_file\n+\n+ # clear previous data\n+ self.items = {}\n+ items_dict = {}\n+\n+ # current item container\n+ item = {}\n+\n+ with open(from_file, \"r\") as f:\n+ i = 0\n+ for line in f:\n+ # we mine for info in every line of the file\n+ # if the info is valid, we add this item to the items dict\n+ item = self.extractItemFromString(line)\n+\n+ if item:\n+ # save the info as {\"0\": item0, ...}\n+ items_dict[str(i)] = item\n+\n+ i += 1\n+\n+ self.items = self.processConfig(items_dict)\n+\n+ def writeToFile(self, to_file = None):\n+\n+ # by default, we write to the current file\n+ if to_file == None:\n+ to_file = self.current_file_name\n+\n+ # we keep the config as a dict, which is unordered\n+ # now is a time to convert it to a list, so that we could\n+ # write it to a file maintaining the order\n+\n+ # create an empty list of the same length as we have items\n+ items_list = [\"\"] * len(self.items)\n+\n+ # turn our dict with current items into a list in the correct order:\n+ for item_number in self.items:\n+ # some of the fields are not numbers and need to be treated separately\n+ try:\n+ int_item_number = int(item_number)\n+ except ValueError:\n+ pass\n+ else:\n+ items_list[int_item_number] = self.items[item_number]\n+\n+ with open(to_file, \"w\") as f:\n+ line = \"# rtkrcv options for rtk (v.2.4.2)\"\n+ f.write(line + \"\\n\\n\")\n+\n+ for item in items_list:\n+ f.write(self.formStringFromItem(item) + \"\\n\")\n+\n+class ConfigManager:\n+\n+ def __init__(self, rtklib_path, config_path):\n+\n+ self.config_path = config_path\n+\n+ self.default_rover_config = \"rtkbase_single_default.conf\"\n+ self.default_base_config = \"rtkbase_base_default.conf\"\n+\n+ self.available_configs = []\n+ self.updateAvailableConfigs()\n+\n+ # create a buffer for keeping config data\n+ # read default one into buffer\n+\n+ self.buffered_config = Config(os.path.join(self.config_path, self.default_rover_config))\n+\n+ def updateAvailableConfigs(self):\n+\n+ self.available_configs = []\n+\n+ # get a list of available .conf files in the config directory\n+ configs = glob(self.config_path + \"*.conf\")\n+ self.available_configs = [os.path.basename(config) for config in configs]\n+\n+\n+ # we do not show the base config\n+ try:\n+ self.available_configs.remove(self.default_base_config)\n+ except:\n+ pass\n+\n+ def readConfig(self, from_file):\n+\n+ if from_file is None:\n+ from_file = self.default_rover_config\n+\n+ # check if this is a full path or just a name\n+ # if it's a name, then we use the default location\n+ if \"/\" in from_file:\n+ config_file_path = from_file\n+ else:\n+ config_file_path = self.config_path + from_file\n+\n+ self.buffered_config.readFromFile(config_file_path)\n+\n+ def writeConfig(self, to_file = None, config_values = None):\n+\n+ if to_file is None:\n+ to_file = self.default_rover_config\n+\n+ # check if this is a full path or just a name\n+ # if it's a name, then we use the default location\n+ if \"/\" not in to_file:\n+ to_file = self.config_path + to_file\n+\n+ # do the actual writing\n+\n+ # if we receive config_values to write, then we create another config instance\n+ # and use write on it\n+ if config_values is None:\n+ self.buffered_config.writeToFile(to_file)\n+ else:\n+ conf = Config(items = config_values)\n+ conf.writeToFile(to_file)\n+\n+ def resetConfigToDefault(self, config_name):\n+ # try to copy default config to the working configs directory\n+ if \"/\" not in config_name:\n+ default_config_value = self.config_path + config_name\n+ else:\n+ default_config_value = config_name\n+\n+ try:\n+ copy(default_config_value, self.config_path)\n+ except IOError as e:\n+ print(\"Error resetting config \" + config_name + \" to default. Error: \" + e.filename + \" - \" + e.strerror)\n+ except OSError as e:\n+ print('Error: %s' % e)\n+\n+ def deleteConfig(self, config_name):\n+ # try to delete config if it exists\n+ if \"/\" not in config_name:\n+ config_name = self.config_path + config_name\n+\n+ try:\n+ os.remove(config_name)\n+ except OSError as e:\n+ print (\"Error: \" + e.filename + \" - \" + e.strerror)\n+\n+ def readItemFromConfig(self, property, from_file):\n+ # read a complete item from config, found by \"parameter part\"\n+\n+ conf = Config(self.config_path + from_file)\n+\n+ # cycle through this config to find the needed option\n+ for item_number in conf.items:\n+ if conf.items[item_number][\"parameter\"] == property:\n+ # in case we found it\n+ return conf.items[item_number]\n+\n+ # in case we didn't\n+ return None\n+\n+ def writeItemToConfig(self, item, to_file):\n+ # write a complete item to the file\n+\n+ # first we read the whole file\n+ conf = Config(self.config_path + to_file)\n+\n+ # then we substitute the one property\n+ # cycle through this config to find the needed option\n+ for item_number in conf.items:\n+ if conf.items[item_number][\"parameter\"] == item[\"parameter\"]:\n+ # in case we found it\n+ conf.items[item_number] = item\n+\n+ # rewrite the file again:\n+ self.writeConfig(to_file, conf.items)\n+ return 1\n+ break\n+\n+ # in case we didn't find it\n+ return None\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\ndiff --git a/web_app/LogManager.py b/web_app/LogManager.py\nnew file mode 100644\n--- /dev/null\n+++ b/web_app/LogManager.py\n@@ -0,0 +1,179 @@\n+# ReachView code is placed under the GPL license.\n+# Written by Egor Fedorov (egor.fedorov@emlid.com)\n+# Copyright (c) 2015, Emlid Limited\n+# All rights reserved.\n+\n+# If you are interested in using ReachView code as a part of a\n+# closed source project, please contact Emlid Limited (info@emlid.com).\n+\n+# This file is part of ReachView.\n+\n+# ReachView is free software: you can redistribute it and/or modify\n+# it under the terms of the GNU General Public License as published by\n+# the Free Software Foundation, either version 3 of the License, or\n+# (at your option) any later version.\n+\n+# ReachView is distributed in the hope that it will be useful,\n+# but WITHOUT ANY WARRANTY; without even the implied warranty of\n+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n+# GNU General Public License for more details.\n+\n+# You should have received a copy of the GNU General Public License\n+# along with ReachView. If not, see .\n+\n+import os\n+import math\n+from glob import glob\n+\n+from log_converter import convbin\n+\n+class LogManager():\n+\n+ supported_solution_formats = [\"llh\", \"xyz\", \"enu\", \"nmea\", \"erb\", \"zip\", \"bz2\", \"tar\", \"tag\"]\n+\n+ def __init__(self, rtklib_path, log_path):\n+\n+ self.log_path = log_path\n+ self.convbin = convbin.Convbin(rtklib_path)\n+\n+ self.log_being_converted = \"\"\n+\n+ self.available_logs = []\n+ self.updateAvailableLogs()\n+\n+ def updateAvailableLogs(self):\n+\n+ self.available_logs = []\n+\n+ print(\"Getting a list of available logs\")\n+ for log in glob(self.log_path + \"/*\"):\n+ \n+ log_name = os.path.basename(log)\n+ # get size in bytes and convert to MB\n+ log_size = self.getLogSize(log)\n+\n+ potential_zip_path = os.path.splitext(log)[0] + \".zip\"\n+\n+ log_format = self.getLogFormat(log)\n+ is_being_converted = True if log == self.log_being_converted else False\n+\n+ self.available_logs.append({\n+ \"name\": log_name,\n+ \"size\": log_size,\n+ \"format\": log_format,\n+ \"is_being_converted\": is_being_converted\n+ })\n+\n+ self.available_logs.sort(key = lambda date: date['name'], reverse = True)\n+ \n+ #Adding an id to each log\n+ id = 0\n+ for log in self.available_logs:\n+ log['id'] = id\n+ id += 1\n+\n+ \n+ \"\"\"\n+ def getLogCompareString(self, log_name):\n+ name_without_extension = os.path.splitext(log_name)[0]\n+ print(\"log name: \", log_name)\n+ log_type, log_date = name_without_extension.split(\"_\")\n+ return log_date + log_type[0:2]\n+ \"\"\"\n+ def getLogSize(self, log_path):\n+ size = os.path.getsize(log_path) / (1024 * 1024.0)\n+ return \"{0:.2f}\".format(size)\n+\n+ def getLogFormat(self, log_path):\n+ file_path, extension = os.path.splitext(log_path)\n+ extension = extension[1:]\n+\n+ \"\"\"\n+ # removed because a zip file is not necesseraly RINEX\n+ potential_zip_path = file_path + \".zip\"\n+ if os.path.isfile(potential_zip_path):\n+ return \"RINEX\"\n+ \"\"\"\n+ if (extension in self.supported_solution_formats or\n+ extension in self.convbin.supported_log_formats):\n+ return extension.upper()\n+ else:\n+ return \"\"\n+\n+ def formTimeString(self, seconds):\n+ # form a x minutes y seconds string from seconds\n+ m, s = divmod(seconds, 60)\n+\n+ s = math.ceil(s)\n+\n+ format_string = \"{0:.0f} minutes \" if m > 0 else \"\"\n+ format_string += \"{1:.0f} seconds\"\n+\n+ return format_string.format(m, s)\n+\n+ def calculateConversionTime(self, log_path):\n+ # calculate time to convert based on log size and format\n+ log_size = os.path.getsize(log_path) / (1024*1024.0)\n+ conversion_time = 0\n+\n+ if log_path.endswith(\"rtcm3\"):\n+ conversion_time = 42.0 * log_size\n+ elif log_path.endswith(\"ubx\"):\n+ conversion_time = 1.8 * log_size\n+\n+ return \"{:.0f}\".format(conversion_time)\n+\n+ def cleanLogFiles(self, log_path):\n+ # delete all files except for the raw log\n+ full_path_logs = glob(self.log_path + \"/*.rtcm3\") + glob(self.log_path + \"/*.ubx\")\n+ extensions_not_to_delete = [\".zip\", \".ubx\", \".rtcm3\"]\n+\n+ log_without_extension = os.path.splitext(log_path)[0]\n+ log_files = glob(log_without_extension + \"*\")\n+\n+ for log_file in log_files:\n+ if not any(log_file.endswith(ext) for ext in extensions_not_to_delete):\n+ try:\n+ os.remove(log_file)\n+ except OSError as e:\n+ print (\"Error: \" + e.filename + \" - \" + e.strerror)\n+\n+ def deleteLog(self, log_filename):\n+ # try to delete log if it exists\n+\n+ #log_name, extension = os.path.splitext(log_filename)\n+\n+ # try to delete raw log\n+ print(\"Deleting log \" + log_filename)\n+ try:\n+ os.remove(os.path.join(self.log_path, log_filename))\n+ except OSError as e:\n+ print (\"Error: \" + e.log_filename + \" - \" + e.strerror)\n+\n+ \"\"\"\n+ print(\"Deleting log \" + log_name + \".zip\")\n+ try:\n+ os.remove(self.log_path + \"/\" + log_name + \".zip\")\n+ except OSError as e:\n+ print (\"Error: \" + e.filename + \" - \" + e.strerror)\n+ \"\"\"\n+\n+ def getRINEXVersion(self):\n+ # read RINEX version from system file\n+ print(\"Getting RINEX version from system settings\")\n+ version = \"3.01\"\n+ try:\n+ with open(os.path.join(os.path.expanduser(\"~\"), \".reach/rinex_version\"), \"r\") as f:\n+ version = f.readline().rstrip(\"\\n\")\n+ except (IOError, OSError):\n+ print(\"No such file detected, defaulting to 3.01\")\n+\n+ return version\n+\n+ def setRINEXVersion(self, version):\n+ # write RINEX version to system file\n+ print(\"Writing new RINEX version to system file\")\n+\n+ with open(os.path.join(os.path.expanduser(\"~\"), \".reach/rinex_version\"), \"w\") as f:\n+ f.write(version)\n+\ndiff --git a/web_app/RTKBaseConfigManager.py b/web_app/RTKBaseConfigManager.py\nnew file mode 100644\n--- /dev/null\n+++ b/web_app/RTKBaseConfigManager.py\n@@ -0,0 +1,179 @@\n+import os\n+from configparser import ConfigParser\n+from secrets import token_urlsafe\n+\n+class RTKBaseConfigManager:\n+ \"\"\" A class to easily access the settings from RTKBase settings.conf \"\"\"\n+\n+ NON_QUOTED_KEYS = (\"basedir\", \"web_authentification\", \"new_web_password\", \"web_password_hash\",\n+ \"flask_secret_key\", \"archive_name\", \"user\")\n+\n+ def __init__(self, default_settings_path, user_settings_path):\n+ \"\"\" \n+ :param default_settings_path: path to the default settings file \n+ :param user_settings_path: path to the user settings file \n+ \"\"\"\n+ self.user_settings_path = user_settings_path\n+ self.config = self.merge_default_and_user(default_settings_path, user_settings_path)\n+ self.expand_path()\n+ self.write_file(self.config)\n+\n+ def merge_default_and_user(self, default, user):\n+ \"\"\"\n+ After a software update if there is some new entries in the default settings file,\n+ we need to add them to the user settings file. This function will do this: It loads\n+ the default settings then overwrite the existing values from the user settings. Then\n+ the function write these settings on disk.\n+\n+ :param default: path to the default settings file \n+ :param user: path to the user settings file\n+ :return: the new config object\n+ \"\"\"\n+ config = ConfigParser(interpolation=None)\n+ config.read(default)\n+ #if there is no existing user settings file, config.read return\n+ #an empty object.\n+ config.read(user)\n+ return config\n+\n+\n+ def parseconfig(self, settings_path):\n+ \"\"\"\n+ Parse the config file with interpolation=None or it will break run_cast.sh\n+ \"\"\"\n+ config = ConfigParser(interpolation=None)\n+ config.read(settings_path)\n+ return config\n+\n+ def expand_path(self):\n+ \"\"\"\n+ get the paths and convert $BASEDIR to the real path\n+ \"\"\"\n+ datadir = self.config.get(\"local_storage\", \"datadir\")\n+ if \"$BASEDIR\" in datadir:\n+ exp_datadir = os.path.abspath(os.path.join(os.path.dirname(__file__), \"../\", datadir.strip(\"$BASEDIR/\")))\n+ self.update_setting(\"local_storage\", \"datadir\", exp_datadir)\n+ \n+ logdir = self.config.get(\"log\", \"logdir\")\n+ if \"$BASEDIR\" in logdir:\n+ exp_logdir = os.path.abspath(os.path.join(os.path.dirname(__file__), \"../\", logdir.strip(\"$BASEDIR/\")))\n+ self.update_setting(\"log\", \"logdir\", exp_logdir)\n+\n+\n+\n+ def listvalues(self):\n+ \"\"\"\n+ print all keys/values from all sections in the settings\n+ \"\"\"\n+ for section in self.config.sections():\n+ print(\"SECTION: {}\".format(section))\n+ for key in self.config[section]:\n+ print(\"{} : {} \".format(key, self.config[section].get(key)))\n+\n+ def get_main_settings(self):\n+ \"\"\"\n+ Get a subset of the settings from the main section in an ordered object\n+ and remove the single quotes. \n+ \"\"\"\n+ ordered_main = [{\"source_section\" : \"main\"}]\n+ for key in (\"position\", \"com_port\", \"com_port_settings\", \"receiver\", \"receiver_format\", \"tcp_port\"):\n+ ordered_main.append({key : self.config.get('main', key).strip(\"'\")})\n+ return ordered_main\n+\n+ def get_ntrip_settings(self):\n+ \"\"\"\n+ Get a subset of the settings from the ntrip section in an ordered object\n+ and remove the single quotes. \n+ \"\"\"\n+ ordered_ntrip = [{\"source_section\" : \"ntrip\"}]\n+ for key in (\"svr_addr\", \"svr_port\", \"svr_pwd\", \"mnt_name\", \"rtcm_msg\"):\n+ ordered_ntrip.append({key : self.config.get('ntrip', key).strip(\"'\")})\n+ return ordered_ntrip\n+ \n+ def get_file_settings(self):\n+ \"\"\"\n+ Get a subset of the settings from the file section in an ordered object\n+ and remove the single quotes. \n+ \"\"\"\n+ ordered_file = [{\"source_section\" : \"local_storage\"}]\n+ for key in (\"datadir\", \"file_name\", \"file_rotate_time\", \"file_overlap_time\", \"archive_rotate\"):\n+ ordered_file.append({key : self.config.get('local_storage', key).strip(\"'\")})\n+ return ordered_file\n+\n+ def get_rtcm_svr_settings(self):\n+ \"\"\"\n+ Get a subset of the settings from the file section in an ordered object\n+ and remove the single quotes. \n+ \"\"\"\n+ ordered_rtcm_svr = [{\"source_section\" : \"rtcm_svr\"}]\n+ for key in (\"rtcm_svr_port\", \"rtcm_svr_msg\"):\n+ ordered_rtcm_svr.append({key : self.config.get('rtcm_svr', key).strip(\"'\")})\n+ return ordered_rtcm_svr\n+\n+ def get_ordered_settings(self):\n+ \"\"\"\n+ Get a subset of the main, ntrip and file sections from the settings file\n+ Return a dict where values are a list (to keeps the settings ordered)\n+ \"\"\"\n+ ordered_settings = {}\n+ ordered_settings['main'] = self.get_main_settings()\n+ ordered_settings['ntrip'] = self.get_ntrip_settings()\n+ ordered_settings['file'] = self.get_file_settings()\n+ ordered_settings['rtcm_svr'] = self.get_rtcm_svr_settings()\n+ return ordered_settings\n+\n+ def get_web_authentification(self):\n+ \"\"\"\n+ a simple method to convert the web_authentification value\n+ to a boolean\n+ :return boolean\n+ \"\"\"\n+ return self.config.getboolean(\"general\", \"web_authentification\")\n+\n+ def get_secret_key(self):\n+ \"\"\"\n+ Return the flask secret key, or generate a new one if it doesn't exists\n+ \"\"\"\n+ SECRET_KEY = self.config.get(\"general\", \"flask_secret_key\", fallback='None')\n+ if SECRET_KEY is 'None' or SECRET_KEY == '':\n+ SECRET_KEY = token_urlsafe(48)\n+ self.update_setting(\"general\", \"flask_secret_key\", SECRET_KEY)\n+ \n+ return SECRET_KEY\n+\n+ def get(self, *args, **kwargs):\n+ \"\"\"\n+ a wrapper around configparser.get()\n+ \"\"\"\n+ return self.config.get(*args, **kwargs)\n+\n+ def update_setting(self, section, setting, value, write_file=True):\n+ \"\"\"\n+ Update a setting in the config file and write the file (default)\n+ If the setting is not in the NON_QUOTED_KEYS list, the method will\n+ add single quotes\n+ :param section: the section in the config file\n+ :param setting: the setting (like a key in a dict)\n+ :param value: the new value for the setting\n+ :param write_file: write the file or not\n+ \"\"\"\n+ #Add single quotes around the value\n+ if setting not in self.NON_QUOTED_KEYS:\n+ value = \"'\" + value + \"'\"\n+ try:\n+ self.config[section][setting] = value\n+ if write_file:\n+ self.write_file()\n+ except Exception as e:\n+ print(e)\n+ return False\n+\n+ def write_file(self, settings=None):\n+ \"\"\"\n+ write on disk the settings to the config file\n+ \"\"\"\n+ if settings is None:\n+ settings = self.config\n+\n+ with open(self.user_settings_path, \"w\") as configfile:\n+ settings.write(configfile, space_around_delimiters=False)\ndiff --git a/web_app/RTKLIB.py b/web_app/RTKLIB.py\nnew file mode 100644\n--- /dev/null\n+++ b/web_app/RTKLIB.py\n@@ -0,0 +1,704 @@\n+# ReachView code is placed under the GPL license.\n+# Written by Egor Fedorov (egor.fedorov@emlid.com)\n+# Copyright (c) 2015, Emlid Limited\n+# All rights reserved.\n+\n+# If you are interested in using ReachView code as a part of a\n+# closed source project, please contact Emlid Limited (info@emlid.com).\n+\n+# This file is part of ReachView.\n+\n+# ReachView is free software: you can redistribute it and/or modify\n+# it under the terms of the GNU General Public License as published by\n+# the Free Software Foundation, either version 3 of the License, or\n+# (at your option) any later version.\n+\n+# ReachView is distributed in the hope that it will be useful,\n+# but WITHOUT ANY WARRANTY; without even the implied warranty of\n+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n+# GNU General Public License for more details.\n+\n+# You should have received a copy of the GNU General Public License\n+# along with ReachView. If not, see .\n+\n+from RtkController import RtkController\n+from ConfigManager import ConfigManager\n+from Str2StrController import Str2StrController\n+from LogManager import LogManager\n+#from ReachLED import ReachLED\n+from reach_tools import reach_tools, gps_time\n+\n+import json\n+import time\n+import os\n+import signal\n+import zipfile\n+\n+from subprocess import check_output, Popen, PIPE\n+from threading import Semaphore, Thread\n+\n+# master class for working with all RTKLIB programmes\n+# prevents them from stacking up and handles errors\n+# also handles all data broadcast through websockets\n+\n+class RTKLIB:\n+\n+ # we will save RTKLIB state here for later loading\n+ state_file = os.path.join(os.path.expanduser(\"~\"), \".reach/rtk_state\")\n+ # if the state file is not available, these settings are loaded\n+ default_state = {\n+ \"started\": \"no\",\n+ \"state\": \"base\"\n+ }\n+\n+ def __init__(self, socketio, rtklib_path = None, config_path=None, enable_led = True, log_path = None):\n+\n+ print(\"RTKLIB 1\")\n+ print(rtklib_path)\n+ print(log_path)\n+\n+ if rtklib_path is None:\n+ rtklib_path = os.path.join(os.path.expanduser(\"~\"), \"RTKLIB\")\n+ \n+ if config_path is None:\n+ self.config_path = os.path.join(os.path.dirname(__file__), \"rtklib_configs\")\n+ else:\n+ self.config_path = config_path\n+\n+ if log_path is None:\n+ #TODO find a better default location\n+ self.log_path = \"../data\"\n+ else:\n+ self.log_path = log_path\n+\n+ # This value should stay below the timeout value or the Satellite/Coordinate broadcast\n+ # thread will stop\n+ self.sleep_count = 0\n+ \n+ # default state for RTKLIB is \"rover single\"\n+ self.state = \"base\"\n+\n+ # we need this to broadcast stuff\n+ self.socketio = socketio\n+\n+ # these are necessary to handle rover mode\n+ self.rtkc = RtkController(rtklib_path, self.config_path)\n+ self.conm = ConfigManager(rtklib_path, self.config_path)\n+\n+ # this one handles base settings\n+ self.s2sc = Str2StrController(rtklib_path)\n+\n+ # take care of serving logs\n+ self.logm = LogManager(rtklib_path, self.log_path)\n+\n+ # basic synchronisation to prevent errors\n+ self.semaphore = Semaphore()\n+\n+ # we need this to send led signals\n+# self.enable_led = enable_led\n+\n+# if self.enable_led:\n+# self.led = ReachLED()\n+\n+ # broadcast satellite levels and status with these\n+ self.server_not_interrupted = True\n+ self.satellite_thread = None\n+ self.coordinate_thread = None\n+ self.conversion_thread = None\n+\n+ self.system_time_correct = False\n+# self.system_time_correct = True\n+\n+ self.time_thread = Thread(target = self.setCorrectTime)\n+ self.time_thread.start()\n+\n+ # we try to restore previous state\n+ # in case we can't, we start as rover in single mode\n+ # self.loadState()\n+\n+ def setCorrectTime(self):\n+ # determine if we have ntp service ready or we need gps time\n+\n+ print(\"RTKLIB 2 GPS time sync\")\n+\n+## if not gps_time.time_synchronised_by_ntp():\n+ # wait for gps time\n+## print(\"Time is not synced by NTP\")\n+# self.updateLED(\"orange,off\")\n+# gps_time.set_gps_time(\"/dev/ttyACM0\", 115200)\n+\n+ print(\"Time is synced by GPS!\")\n+\n+ self.system_time_correct = True\n+ self.socketio.emit(\"system time corrected\", {}, namespace=\"/test\")\n+\n+ self.loadState()\n+ self.socketio.emit(\"system state reloaded\", {}, namespace=\"/test\")\n+\n+ \n+ \n+ def launchBase(self):\n+ # due to the way str2str works, we can't really separate launch and start\n+ # all the configuration goes to startBase() function\n+ # this launchBase() function exists to change the state of RTKLIB instance\n+ # and to make the process for base and rover modes similar\n+\n+ self.semaphore.acquire()\n+\n+ self.state = \"base\"\n+\n+ #self.saveState()\n+\n+# if self.enable_led:\n+# self.updateLED()\n+\n+ print(\"RTKLIB 7 Base mode launched\")\n+\n+\n+ self.semaphore.release()\n+\n+ def shutdownBase(self):\n+ # due to the way str2str works, we can't really separate launch and start\n+ # all the configuration goes to startBase() function\n+ # this shutdownBase() function exists to change the state of RTKLIB instance\n+ # and to make the process for base and rover modes similar\n+\n+ self.stopBase()\n+\n+ self.semaphore.acquire()\n+\n+ self.state = \"inactive\"\n+\n+ \n+ print(\"RTKLIB 8 Base mode shutdown\")\n+\n+ self.semaphore.release()\n+\n+ def startBase(self, rtcm3_messages = None, base_position = None, gps_cmd_file = None):\n+\n+ self.semaphore.acquire()\n+ \"\"\"\n+ print(\"RTKLIB 9 Attempting to start str2str...\")\n+\n+ \n+ res = self.s2sc.start(rtcm3_messages, base_position, gps_cmd_file)\n+ if res < 0:\n+ print(\"str2str start failed\")\n+ elif res == 1:\n+ print(\"str2str start successful\")\n+ elif res == 2:\n+ print(\"str2str already started\")\n+ \n+ self.saveState()\n+ \"\"\"\n+ #TODO need refactoring\n+ #maybe a new method to launch/start rtkrcv outside\n+ #startBase and startRover\n+ #TODO launchRover and startRover send a config_name to rtkc\n+ #I don't do this here :-/\n+ print(\"RTKLIB 9a Attempting to launch rtkrcv...\")\n+\n+ res2 = self.rtkc.launch()\n+ \n+ if res2 < 0:\n+ print(\"rtkrcv launch failed\")\n+ elif res2 == 1:\n+ print(\"rtkrcv launch successful\")\n+ elif res2 == 2:\n+ print(\"rtkrcv already launched\")\n+ \n+ #TODO need refactoring\n+ #maybe a new method to launch/start rtkrcv outside\n+ #startBase and startRover\n+ print(\"RTKLIB 9b Attempting to start rtkrcv...\")\n+ res3 = self.rtkc.start()\n+\n+ if res3 == -1:\n+ print(\"rtkrcv start failed\")\n+ elif res3 == 1:\n+ print(\"rtkrcv start successful\")\n+ print(\"Starting coordinate and satellite broadcast\")\n+ elif res3 == 2:\n+ print(\"rtkrcv already started\")\n+\n+ # start fresh data broadcast\n+ #TODO the satellite and coordinate broadcast start\n+ #when rtkrcv start failed\n+\n+ self.server_not_interrupted = True\n+\n+ if self.satellite_thread is None:\n+ self.satellite_thread = Thread(target = self.broadcastSatellites)\n+ self.satellite_thread.start()\n+\n+ if self.coordinate_thread is None:\n+ self.coordinate_thread = Thread(target = self.broadcastCoordinates)\n+ self.coordinate_thread.start()\n+\n+ self.semaphore.release()\n+\n+ return res3\n+\n+ def stopBase(self):\n+\n+ self.semaphore.acquire()\n+ \n+\n+ print(\"RTKLIB 10a Attempting to stop rtkrcv...\")\n+\n+ res2 = self.rtkc.stop()\n+ if res2 == -1:\n+ print(\"rtkrcv stop failed\")\n+ elif res2 == 1:\n+ print(\"rtkrcv stop successful\")\n+ elif res2 == 2:\n+ print(\"rtkrcv already stopped\")\n+\n+ print(\"RTKLIB 10b Attempting to stop satellite broadcasting...\")\n+\n+ self.server_not_interrupted = False\n+\n+ if self.satellite_thread is not None:\n+ self.satellite_thread.join()\n+ self.satellite_thread = None\n+\n+ if self.coordinate_thread is not None:\n+ self.coordinate_thread.join()\n+ self.coordinate_thread = None\n+\n+ print(\"RTKLIB 10c Attempting rtkrcv shutdown\")\n+\n+ res = self.rtkc.shutdown()\n+\n+ if res < 0:\n+ print(\"rtkrcv shutdown failed\")\n+ elif res == 1:\n+ print(\"rtkrcv shutdown successful\")\n+ self.state = \"inactive\"\n+ elif res == 2:\n+ print(\"rtkrcv already shutdown\")\n+ self.state = \"inactive\"\n+ self.semaphore.release()\n+\n+ return res\n+\n+ def readConfigBase(self):\n+\n+ self.semaphore.acquire()\n+\n+ print(\"RTKLIB 11 Got signal to read base config\")\n+\n+ self.socketio.emit(\"current config base\", self.s2sc.readConfig(), namespace = \"/test\")\n+\n+ self.semaphore.release()\n+\n+ def writeConfigBase(self, config):\n+\n+ self.semaphore.acquire()\n+\n+ print(\"RTKLIB 12 Got signal to write base config\")\n+\n+ self.s2sc.writeConfig(config)\n+\n+ print(\"Restarting str2str...\")\n+\n+ res = self.s2sc.stop() + self.s2sc.start()\n+\n+ if res > 1:\n+ print(\"Restart successful\")\n+ else:\n+ print(\"Restart failed\")\n+\n+ self.saveState()\n+\n+# if self.enable_led:\n+# self.updateLED()\n+\n+ self.semaphore.release()\n+\n+ return res\n+\n+ def shutdown(self):\n+ # shutdown whatever mode we are in. stop broadcast threads\n+\n+ print(\"RTKLIB 17 Shutting down\")\n+\n+ # clean up broadcast and blink threads\n+ self.server_not_interrupted = False\n+# self.led.blinker_not_interrupted = False\n+\n+ if self.coordinate_thread is not None:\n+ self.coordinate_thread.join()\n+\n+ if self.satellite_thread is not None:\n+ self.satellite_thread.join()\n+\n+# if self.led.blinker_thread is not None:\n+# self.led.blinker_thread.join()\n+\n+ # shutdown base\n+\n+ elif self.state == \"base\":\n+ return self.shutdownBase()\n+\n+ # otherwise, we are inactive\n+ return 1\n+\n+ def deleteConfig(self, config_name):\n+ # pass deleteConfig to conm\n+\n+ print(\"RTKLIB 18 Got signal to delete config \" + config_name)\n+\n+ self.conm.deleteConfig(config_name)\n+\n+ self.conm.updateAvailableConfigs()\n+\n+ # send available configs to the browser\n+ self.socketio.emit(\"available configs\", {\"available_configs\": self.conm.available_configs}, namespace=\"/test\")\n+\n+ print(self.conm.available_configs)\n+\n+ def cancelLogConversion(self, raw_log_path):\n+ if self.logm.log_being_converted:\n+ print(\"Canceling log conversion for \" + raw_log_path)\n+\n+ self.logm.convbin.child.kill(signal.SIGINT)\n+\n+ self.conversion_thread.join()\n+ self.logm.convbin.child.close(force = True)\n+\n+ print(\"Thread killed\")\n+ self.logm.cleanLogFiles(raw_log_path)\n+ self.logm.log_being_converted = \"\"\n+\n+ print(\"Canceled msg sent\")\n+\n+ def processLogPackage(self, raw_log_path):\n+\n+ currently_converting = False\n+\n+ try:\n+ print(\"conversion thread is alive \" + str(self.conversion_thread.isAlive()))\n+ currently_converting = self.conversion_thread.isAlive()\n+ except AttributeError:\n+ pass\n+\n+ log_filename = os.path.basename(raw_log_path)\n+ potential_zip_path = os.path.splitext(raw_log_path)[0] + \".zip\"\n+\n+ can_send_file = True\n+\n+ # can't send if there is no converted package and we are busy\n+ if (not os.path.isfile(potential_zip_path)) and (currently_converting):\n+ can_send_file = False\n+\n+ if can_send_file:\n+ print(\"Starting a new bg conversion thread for log \" + raw_log_path)\n+ self.logm.log_being_converted = raw_log_path\n+ self.conversion_thread = Thread(target = self.getRINEXPackage, args = (raw_log_path, ))\n+ self.conversion_thread.start()\n+ else:\n+ error_msg = {\n+ \"name\": os.path.basename(raw_log_path),\n+ \"conversion_status\": \"A log is being converted at the moment. Please wait\",\n+ \"messages_parsed\": \"\"\n+ }\n+ self.socketio.emit(\"log conversion failed\", error_msg, namespace=\"/test\")\n+\n+ def conversionIsRequired(self, raw_log_path):\n+ log_filename = os.path.basename(raw_log_path)\n+ potential_zip_path = os.path.splitext(raw_log_path)[0] + \".zip\"\n+\n+ print(\"Comparing \" + raw_log_path + \" and \" + potential_zip_path + \" for conversion\")\n+\n+ if os.path.isfile(potential_zip_path):\n+ print(\"Raw logs differ \" + str(self.rawLogsDiffer(raw_log_path, potential_zip_path)))\n+ return self.rawLogsDiffer(raw_log_path, potential_zip_path)\n+ else:\n+ print(\"No zip file!!! Conversion required\")\n+ return True\n+\n+ def rawLogsDiffer(self, raw_log_path, zip_package_path):\n+ # check if the raw log is the same size in the zip and in filesystem\n+ log_name = os.path.basename(raw_log_path)\n+ raw_log_size = os.path.getsize(raw_log_path)\n+\n+ zip_package = zipfile.ZipFile(zip_package_path)\n+ raw_file_inside_info = zip_package.getinfo(\"Raw/\" + log_name)\n+ raw_file_inside_size = raw_file_inside_info.file_size\n+\n+ print(\"Sizes:\")\n+ print(\"Inside: \" + str(raw_file_inside_size))\n+ print(\"Raw: \" + str(raw_log_size))\n+\n+ if raw_log_size == raw_file_inside_size:\n+ return False\n+ else:\n+ return True\n+\n+ def getRINEXPackage(self, raw_log_path):\n+ # if this is a solution log, return the file right away\n+ if \"sol\" in raw_log_path:\n+ log_url_tail = \"/logs/download/\" + os.path.basename(raw_log_path)\n+ self.socketio.emit(\"log download path\", {\"log_url_tail\": log_url_tail}, namespace=\"/test\")\n+ return raw_log_path\n+\n+ # return RINEX package if it already exists\n+ # create one if not\n+ log_filename = os.path.basename(raw_log_path)\n+ potential_zip_path = os.path.splitext(raw_log_path)[0] + \".zip\"\n+ result_path = \"\"\n+\n+ if self.conversionIsRequired(raw_log_path):\n+ print(\"Conversion is Required!\")\n+ result_path = self.createRINEXPackage(raw_log_path)\n+ # handle canceled conversion\n+ if result_path is None:\n+ log_url_tail = \"/logs/download/\" + os.path.basename(raw_log_path)\n+ self.socketio.emit(\"log download path\", {\"log_url_tail\": log_url_tail}, namespace=\"/test\")\n+ return None\n+ else:\n+ result_path = potential_zip_path\n+ print(\"Conversion is not Required!\")\n+ already_converted_package = {\n+ \"name\": log_filename,\n+ \"conversion_status\": \"Log already converted. Details inside the package\",\n+ \"messages_parsed\": \"\"\n+ }\n+ self.socketio.emit(\"log conversion results\", already_converted_package, namespace=\"/test\")\n+\n+ log_url_tail = \"/logs/download/\" + os.path.basename(result_path)\n+ self.socketio.emit(\"log download path\", {\"log_url_tail\": log_url_tail}, namespace=\"/test\")\n+\n+ self.cleanBusyMessages()\n+ self.logm.log_being_converted = \"\"\n+\n+ return result_path\n+\n+ def cleanBusyMessages(self):\n+ # if user tried to convert other logs during conversion, he got an error message\n+ # this function clears them to show it's ok to convert again\n+ self.socketio.emit(\"clean busy messages\", {}, namespace=\"/test\")\n+\n+ def createRINEXPackage(self, raw_log_path):\n+ # create a RINEX package before download\n+ # in case we fail to convert, return the raw log path back\n+ result = raw_log_path\n+ log_filename = os.path.basename(raw_log_path)\n+\n+ conversion_time_string = self.logm.calculateConversionTime(raw_log_path)\n+\n+ start_package = {\n+ \"name\": log_filename,\n+ \"conversion_time\": conversion_time_string\n+ }\n+\n+ conversion_result_package = {\n+ \"name\": log_filename,\n+ \"conversion_status\": \"\",\n+ \"messages_parsed\": \"\",\n+ \"log_url_tail\": \"\"\n+ }\n+\n+ self.socketio.emit(\"log conversion start\", start_package, namespace=\"/test\")\n+ try:\n+ log = self.logm.convbin.convertRTKLIBLogToRINEX(raw_log_path, self.logm.getRINEXVersion())\n+ except (ValueError, IndexError):\n+ print(\"Conversion canceled\")\n+ conversion_result_package[\"conversion_status\"] = \"Conversion canceled, downloading raw log\"\n+ self.socketio.emit(\"log conversion results\", conversion_result_package, namespace=\"/test\")\n+ return None\n+\n+ print(\"Log conversion done!\")\n+\n+ if log is not None:\n+ result = log.createLogPackage()\n+ if log.isValid():\n+ conversion_result_package[\"conversion_status\"] = \"Log converted to RINEX\"\n+ conversion_result_package[\"messages_parsed\"] = log.log_metadata.formValidMessagesString()\n+ else:\n+ conversion_result_package[\"conversion_status\"] = \"Conversion successful, but log does not contain any useful data. Downloading raw log\"\n+ else:\n+ print(\"Could not convert log. Is the extension wrong?\")\n+ conversion_result_package[\"conversion_status\"] = \"Log conversion failed. Downloading raw log\"\n+\n+ self.socketio.emit(\"log conversion results\", conversion_result_package, namespace=\"/test\")\n+\n+ print(\"Log conversion results:\")\n+ print(str(log))\n+\n+ return result\n+\n+ def saveState(self):\n+ # save current state for future resurrection:\n+ # state is a list of parameters:\n+ # rover state example: [\"rover\", \"started\", \"reach_single_default.conf\"]\n+ # base state example: [\"base\", \"stopped\", \"input_stream\", \"output_stream\"]\n+\n+ state = {}\n+\n+ # save \"rover\", \"base\" or \"inactive\" state\n+ state[\"state\"] = self.state\n+\n+ if self.state == \"rover\":\n+ started = self.rtkc.started\n+ elif self.state == \"base\":\n+ started = self.s2sc.started\n+ elif self.state == \"inactive\":\n+ started = False\n+\n+ state[\"started\"] = \"yes\" if started else \"no\"\n+\n+ # dump rover state\n+ state[\"rover\"] = {\"current_config\": self.rtkc.current_config}\n+\n+ # dump rover state\n+ state[\"base\"] = {\n+ \"input_stream\": self.s2sc.input_stream,\n+ \"output_stream\": self.s2sc.output_stream,\n+ \"rtcm3_messages\": self.s2sc.rtcm3_messages,\n+ \"base_position\": self.s2sc.base_position,\n+ \"gps_cmd_file\": self.s2sc.gps_cmd_file\n+ }\n+\n+ print(\"RTKLIB 20 DEBUG saving state\")\n+ print(str(state))\n+\n+ with open(self.state_file, \"w\") as f:\n+ json.dump(state, f, sort_keys = True, indent = 4)\n+\n+ reach_tools.run_command_safely([\"sync\"])\n+\n+ return state\n+\n+ def byteify(self, input):\n+ # thanks to Mark Amery from StackOverflow for this awesome function\n+ if isinstance(input, dict):\n+ return {self.byteify(key): self.byteify(value) for key, value in input.items()}\n+ elif isinstance(input, list):\n+ return [self.byteify(element) for element in input]\n+ elif isinstance(input, str):\n+ #no need to convert to utf-8 anymore with Python v3.x\n+ #return input.encode('utf-8')\n+ return input\n+ else:\n+ return input\n+\n+ def getState(self):\n+ # get the state, currently saved in the state file\n+ print(\"RTKLIB 21 Trying to read previously saved state...\")\n+\n+ try:\n+ f = open(self.state_file, \"r\")\n+ except IOError:\n+ # can't find the file, let's create a new one with default state\n+ print(\"Could not find existing state, Launching default mode...\")\n+\n+ return self.default_state\n+ else:\n+\n+ print(\"Found existing state...trying to decode...\")\n+\n+ try:\n+ json_state = json.load(f)\n+ except ValueError:\n+ # could not properly decode current state\n+ print(\"Could not decode json state. Launching default mode...\")\n+ f.close()\n+\n+ return self.default_state\n+ else:\n+ print(\"Decoding succesful\")\n+\n+ f.close()\n+\n+ # convert unicode strings to normal\n+ json_state = self.byteify(json_state)\n+\n+ print(\"That's what we found:\")\n+ print(str(json_state))\n+\n+ return json_state\n+\n+ def loadState(self):\n+\n+ # get current state\n+ json_state = self.getState()\n+\n+ print(\"RTKLIB 22 Now loading the state printed above... \")\n+ #print(str(json_state))\n+ # first, we restore the base state, because no matter what we end up doing,\n+ # we need to restore base state\n+\n+ if json_state[\"state\"] == \"base\":\n+ self.launchBase()\n+\n+ if json_state[\"started\"] == \"yes\":\n+ self.startBase()\n+\n+ print(str(json_state[\"state\"]) + \" state loaded\")\n+\n+ def sendState(self):\n+ # send current state to every connecting browser\n+\n+ state = self.getState()\n+ print(\"RTKLIB 22a\")\n+ #print(str(state))\n+ self.conm.updateAvailableConfigs()\n+ state[\"available_configs\"] = self.conm.available_configs\n+\n+ state[\"system_time_correct\"] = self.system_time_correct\n+ state[\"log_path\"] = str(self.log_path)\n+\n+ print(\"Available configs to send: \")\n+ print(str(state[\"available_configs\"]))\n+\n+ print(\"Full state: \")\n+ for key in state:\n+ print(\"{} : {}\".format(key, state[key]))\n+\n+ self.socketio.emit(\"current state\", state, namespace = \"/test\")\n+\n+\n+ # this function reads satellite levels from an existing rtkrcv instance\n+ # and emits them to the connected browser as messages\n+ def broadcastSatellites(self):\n+ count = 0\n+\n+ while self.server_not_interrupted:\n+\n+ # update satellite levels\n+ self.rtkc.getObs()\n+\n+# if count % 10 == 0:\n+ #print(\"Sending sat rover levels:\\n\" + str(self.rtkc.obs_rover))\n+ #print(\"Sending sat base levels:\\n\" + str(self.rtkc.obs_base))\n+\n+ self.socketio.emit(\"satellite broadcast rover\", self.rtkc.obs_rover, namespace = \"/test\")\n+ #self.socketio.emit(\"satellite broadcast base\", self.rtkc.obs_base, namespace = \"/test\")\n+ count += 1\n+ self.sleep_count +=1\n+ time.sleep(1)\n+ #print(\"exiting satellite broadcast\")\n+\n+ # this function reads current rtklib status, coordinates and obs count\n+ def broadcastCoordinates(self):\n+ count = 0\n+\n+ while self.server_not_interrupted:\n+\n+ # update RTKLIB status\n+ self.rtkc.getStatus()\n+\n+# if count % 10 == 0:\n+# print(\"Sending RTKLIB status select information:\")\n+# print(self.rtkc.status)\n+\n+ self.socketio.emit(\"coordinate broadcast\", self.rtkc.status, namespace = \"/test\")\n+\n+# if self.enable_led:\n+# self.updateLED()\n+\n+ count += 1\n+ time.sleep(1)\n+ #print(\"exiting coordinate broadcast\")\ndiff --git a/web_app/RtkController.py b/web_app/RtkController.py\nnew file mode 100644\n--- /dev/null\n+++ b/web_app/RtkController.py\n@@ -0,0 +1,301 @@\n+# ReachView code is placed under the GPL license.\n+# Written by Egor Fedorov (egor.fedorov@emlid.com)\n+# Copyright (c) 2015, Emlid Limited\n+# All rights reserved.\n+\n+# If you are interested in using ReachView code as a part of a\n+# closed source project, please contact Emlid Limited (info@emlid.com).\n+\n+# This file is part of ReachView.\n+\n+# ReachView is free software: you can redistribute it and/or modify\n+# it under the terms of the GNU General Public License as published by\n+# the Free Software Foundation, either version 3 of the License, or\n+# (at your option) any later version.\n+\n+# ReachView is distributed in the hope that it will be useful,\n+# but WITHOUT ANY WARRANTY; without even the implied warranty of\n+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n+# GNU General Public License for more details.\n+\n+# You should have received a copy of the GNU General Public License\n+# along with ReachView. If not, see .\n+\n+import os\n+import time\n+import signal\n+import pexpect\n+from threading import Semaphore, Thread\n+\n+# This module automates working with RTKRCV directly\n+# You can get sat levels, current status, start and restart the software\n+\n+class RtkController:\n+\n+ def __init__(self, rtklib_path, config_path):\n+\n+ self.bin_path = rtklib_path\n+ self.config_path = config_path\n+\n+ self.child = 0\n+\n+ self.status = {}\n+ self.obs_rover = {}\n+ self.obs_base = {}\n+ self.info = {}\n+ self.semaphore = Semaphore()\n+\n+ self.started = False\n+ self.launched = False\n+ self.current_config = \"\"\n+\n+ def expectAnswer(self, last_command = \"\"):\n+ a = self.child.expect([\"rtkrcv>\", pexpect.EOF, \"error\"])\n+ # check rtklib output for any errors\n+ if a == 1:\n+ print(\"got EOF while waiting for rtkrcv> . Shutting down\")\n+ print(\"This means something went wrong and rtkrcv just stopped\")\n+ print(\"output before exception: \" + str(self.child))\n+ return -1\n+\n+ if a == 2:\n+ print(\"Could not \" + last_command + \". Please check path to binary or config name\")\n+ print(\"You may also check serial port for availability\")\n+ return -2\n+\n+ return 1\n+\n+ def launch(self, config_name = None):\n+ # run an rtkrcv instance with the specified config:\n+ # if there is a slash in the name we consider it a full location\n+ # otherwise, it's supposed to be in the upper directory(rtkrcv inside app)\n+\n+ if config_name is None:\n+ config_name = \"rtkbase_single_default.conf\"\n+\n+ if not self.launched:\n+\n+ self.semaphore.acquire()\n+\n+ if \"/\" in config_name:\n+ spawn_command = self.bin_path + \"/rtkrcv -o \" + config_name\n+ else:\n+ spawn_command = self.bin_path + \"/rtkrcv -o \" + os.path.join(self.config_path, config_name)\n+\n+ self.child = pexpect.spawn(spawn_command, cwd = self.bin_path, echo = False)\n+\n+ print('Launching rtklib with: \"' + spawn_command + '\"')\n+\n+ if self.expectAnswer(\"spawn\") < 0:\n+ self.semaphore.release()\n+ return -1\n+\n+ self.semaphore.release()\n+ self.launched = True\n+ self.current_config = config_name\n+\n+ # launch success\n+ return 1\n+\n+ # already launched\n+ return 2\n+\n+ def shutdown(self):\n+\n+ if self.launched:\n+ self.semaphore.acquire()\n+\n+ self.child.kill(signal.SIGUSR2)\n+\n+ # wait for rtkrcv to shutdown\n+ try:\n+ self.child.wait()\n+ except pexpect.ExceptionPexpect:\n+ print(\"Already dead!!\")\n+\n+ if self.child.isalive():\n+ r = -1\n+ else:\n+ r = 1\n+\n+ self.semaphore.release()\n+ self.launched = False\n+\n+ return r\n+\n+ # already shut down\n+ return 2\n+\n+\n+ def start(self):\n+\n+ if not self.started:\n+ self.semaphore.acquire()\n+\n+ self.child.send(\"start\\r\\n\")\n+\n+ if self.expectAnswer(\"start\") < 0:\n+ self.semaphore.release()\n+ return -1\n+\n+ self.semaphore.release()\n+ self.started = True\n+\n+ self.restart()\n+ print(\"Restart\")\n+ return 1\n+\n+ # already started\n+ return 2\n+\n+ def stop(self):\n+\n+ if self.started:\n+ self.semaphore.acquire()\n+\n+ self.child.send(\"stop\\r\\n\")\n+\n+ if self.expectAnswer(\"stop\") < 0:\n+ self.semaphore.release()\n+ return -1\n+\n+ self.semaphore.release()\n+\n+ self.started = False\n+\n+ return 1\n+\n+ # already stopped\n+ return 2\n+\n+ def restart(self):\n+\n+ if self.started:\n+ self.semaphore.acquire()\n+\n+ self.child.send(\"restart\\r\\n\")\n+\n+ if self.expectAnswer(\"restart\") < 0:\n+ self.semaphore.release()\n+ return -1\n+\n+ self.semaphore.release()\n+\n+ return 3\n+ else:\n+ # if we are not started yet, just start\n+ return self.start()\n+\n+ def loadConfig(self, config_name = \"rtk.conf\"):\n+\n+ self.semaphore.acquire()\n+\n+ if \"/\" not in config_name:\n+ # we assume this is not the full path\n+ # so it must be in the upper dir\n+ self.child.send(\"load \" + \"../\" + config_name + \"\\r\\n\")\n+ else:\n+ self.child.send(\"load \" + config_name + \"\\r\\n\")\n+\n+ if self.expectAnswer(\"load config\") < 0:\n+ self.semaphore.release()\n+ return -1\n+\n+ self.semaphore.release()\n+\n+ self.current_config = config_name\n+\n+ return 1\n+\n+ def getStatus(self):\n+\n+ self.semaphore.acquire()\n+\n+ self.child.send(\"status\\r\\n\")\n+\n+ if self.expectAnswer(\"get status\") < 0:\n+ self.semaphore.release()\n+ return -1\n+\n+ status = self.child.before.decode().split(\"\\r\\n\")\n+\n+ if status != {}:\n+ for line in status:\n+ spl = line.split(\":\", 1)\n+\n+ if len(spl) > 1:\n+\n+ param = spl[0].strip()\n+ value = spl[1].strip()\n+\n+ self.status[param] = value\n+\n+ self.semaphore.release()\n+\n+ return 1\n+\n+ def getObs(self):\n+\n+ self.semaphore.acquire()\n+\n+ self.obs_rover = {}\n+ self.obs_base = {}\n+\n+ self.child.send(\"obs\\r\\n\")\n+\n+ if self.expectAnswer(\"get obs\") < 0:\n+ self.semaphore.release()\n+ return -1\n+\n+ obs = self.child.before.decode().split(\"\\r\\n\")\n+ obs = [_f for _f in obs if _f]\n+\n+ matching_strings = [s for s in obs if \"SAT\" in s]\n+\n+ if matching_strings != []:\n+ # find the header of the OBS table\n+ header_index = obs.index(matching_strings[0])\n+\n+ # split the header string into columns\n+ header = obs[header_index].split()\n+\n+ if \"S1\" in header:\n+ # find the indexes of the needed columns\n+ sat_name_index = header.index(\"SAT\")\n+ sat_level_index = header.index(\"S1\")\n+ sat_input_source_index = header.index(\"R\")\n+\n+ if len(obs) > (header_index + 1):\n+ # we have some info about the actual satellites:\n+\n+ self.obs_rover = {}\n+ self.obs_base = {}\n+\n+ for line in obs[header_index+1:]:\n+ spl = line.split()\n+\n+ if len(spl) > sat_level_index:\n+ name = spl[sat_name_index]\n+ level = spl[sat_level_index]\n+\n+ # R parameter corresponds to the input source number\n+ if spl[sat_input_source_index] == \"1\":\n+ # we consider 1 to be rover,\n+ self.obs_rover[name] = level\n+ elif spl[sat_input_source_index] == \"2\":\n+ # 2 to be base\n+ self.obs_base[name] = level\n+\n+ else:\n+ self.obs_base = {}\n+ self.obs_rover = {}\n+\n+ self.semaphore.release()\n+\n+ return 1\n+\n+\n+\n+\n+\n+\ndiff --git a/web_app/ServiceController.py b/web_app/ServiceController.py\nnew file mode 100644\n--- /dev/null\n+++ b/web_app/ServiceController.py\n@@ -0,0 +1,42 @@\n+import os\n+from pystemd.systemd1 import Unit\n+from pystemd.systemd1 import Manager\n+\n+class ServiceController(object):\n+ \"\"\"\n+ A simple wrapper around pystemd to manage systemd services\n+ \"\"\"\n+ \n+ manager = Manager(_autoload=True)\n+\n+ def __init__(self, unit):\n+ \"\"\"\n+ param: unit: a systemd unit name (ie str2str_tcp.service...)\n+ \"\"\"\n+ self.unit = Unit(bytes(unit, 'utf-8'), _autoload=True)\n+ \n+ def isActive(self):\n+ if self.unit.Unit.ActiveState == b'active':\n+ return True\n+ elif self.unit.Unit.ActiveState == b'activating':\n+ #TODO manage this transitionnal state differently\n+ return True\n+ else:\n+ return False\n+\n+ def getUser(self):\n+ return self.unit.Service.User.decode()\n+ \n+ def status(self):\n+ return (self.unit.Unit.SubState).decode()\n+\n+ def start(self):\n+ self.manager.Manager.EnableUnitFiles(self.unit.Unit.Names, False, True)\n+ return self.unit.Unit.Start(b'replace')\n+ \n+ def stop(self):\n+ self.manager.Manager.DisableUnitFiles(self.unit.Unit.Names, False)\n+ return self.unit.Unit.Stop(b'replace')\n+ \n+ def restart(self):\n+ return self.unit.Unit.Restart(b'replace')\n\\ No newline at end of file\ndiff --git a/web_app/Str2StrController.py b/web_app/Str2StrController.py\nnew file mode 100644\n--- /dev/null\n+++ b/web_app/Str2StrController.py\n@@ -0,0 +1,300 @@\n+# ReachView code is placed under the GPL license.\n+# Written by Egor Fedorov (egor.fedorov@emlid.com)\n+# Copyright (c) 2015, Emlid Limited\n+# All rights reserved.\n+\n+# If you are interested in using ReachView code as a part of a\n+# closed source project, please contact Emlid Limited (info@emlid.com).\n+\n+# This file is part of ReachView.\n+\n+# ReachView is free software: you can redistribute it and/or modify\n+# it under the terms of the GNU General Public License as published by\n+# the Free Software Foundation, either version 3 of the License, or\n+# (at your option) any later version.\n+\n+# ReachView is distributed in the hope that it will be useful,\n+# but WITHOUT ANY WARRANTY; without even the implied warranty of\n+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n+# GNU General Public License for more details.\n+\n+# You should have received a copy of the GNU General Public License\n+# along with ReachView. If not, see .\n+\n+import os\n+import signal\n+import pexpect\n+from glob import glob\n+\n+from reach_tools import reach_tools\n+\n+# This module automates working with STR2STR software\n+\n+class Str2StrController:\n+\n+ def __init__(self, rtklib_path):\n+\n+ self.bin_path = rtklib_path\n+\n+ self.gps_cmd_file_path = rtklib_path + \"/app/rtkrcv\"\n+ self.gps_cmd_file = \"GPS_10Hz.cmd\"\n+\n+ self.child = 0\n+ self.started = False\n+\n+ # port settings are kept as class properties:\n+ self.input_stream = \"\"\n+ self.output_stream = \"\"\n+\n+ # Reach defaults for base position and rtcm3 messages:\n+ self.rtcm3_messages = [\"1002\", \"1006\", \"1008\", \"1010\", \"1019\", \"1020\"]\n+ self.base_position = [] # lat, lon, height\n+\n+ self.setSerialStream() # input ublox serial\n+ #self.setTCPClientStream()\n+ self.setTCPServerStream(input = False) # output tcp server on port 9000\n+\n+ def getAvailableReceiverCommandFiles(self):\n+ # returns a list of available cmd files in the working rtkrcv directory\n+ available_cmd_files = glob(self.gps_cmd_file_path + \"/\" +\"*.cmd\")\n+ available_cmd_files = [os.path.basename(cmd_file) for cmd_file in available_cmd_files]\n+\n+ return available_cmd_files\n+\n+ def formCommentString(self, options_list):\n+\n+ comment = \"(\"\n+\n+ for index, option in enumerate(options_list):\n+ comment += str(index) + \":\" + str(option)\n+\n+ if index < len(options_list) - 1:\n+ comment += \",\"\n+\n+ comment += \")\"\n+\n+ return comment\n+\n+ def readConfig(self):\n+ parameters_to_send = {}\n+\n+ parameters_to_send[\"0\"] = {\n+ \"parameter\": \"outstr-path\",\n+ \"value\": self.output_stream,\n+ \"comment\": self.formCommentString(reach_tools.getAvailableSerialPorts()),\n+ \"description\": \"Output path for corrections\"\n+ }\n+\n+ parameters_to_send[\"1\"] = {\"parameter\": \"rtcm3_out_messages\", \"value\": \",\".join(self.rtcm3_messages), \"description\": \"RTCM3 messages for output\"}\n+\n+ # if we don't have a set base position we want to send empty strings\n+ if not self.base_position:\n+ base_pos = [\"\", \"\", \"\"]\n+ else:\n+ base_pos = self.base_position\n+\n+ parameters_to_send[\"2\"] = {\"parameter\": \"base_pos_lat\", \"value\": base_pos[0], \"description\": \"Base latitude\"}\n+ parameters_to_send[\"3\"] = {\"parameter\": \"base_pos_lon\", \"value\": base_pos[1], \"description\": \"Base longitude\"}\n+ parameters_to_send[\"4\"] = {\"parameter\": \"base_pos_height\", \"value\": base_pos[2], \"description\": \"Base height\"}\n+\n+ parameters_to_send[\"5\"] = {\n+ \"parameter\": \"gps_cmd_file\",\n+ \"value\": self.gps_cmd_file,\n+ \"description\": \"Receiver configuration file\",\n+ \"comment\": self.formCommentString(self.getAvailableReceiverCommandFiles())\n+ }\n+\n+ print(\"DEBUG read\")\n+ print(parameters_to_send)\n+\n+ return parameters_to_send\n+\n+ def writeConfig(self, parameters_received):\n+\n+ print(\"DEBUG write\")\n+\n+ print(parameters_received)\n+\n+ coordinate_filled_flag = 3\n+ base_pos = []\n+\n+ self.output_stream = parameters_received[\"0\"][\"value\"]\n+\n+ # llh\n+ self.base_position = []\n+ self.base_position.append(parameters_received[\"2\"][\"value\"])\n+ self.base_position.append(parameters_received[\"3\"][\"value\"])\n+ self.base_position.append(parameters_received[\"4\"][\"value\"])\n+\n+ self.rtcm3_messages = parameters_received[\"1\"][\"value\"].split(\",\")\n+\n+ self.gps_cmd_file = parameters_received[\"5\"][\"value\"]\n+\n+ def setPort(self, port, input = True, format = \"ubx\"):\n+ if input:\n+ self.input_stream = port + \"#\" + format\n+ else:\n+ # str2str only supports rtcm3 for output\n+ self.output_stream = port + \"#\" + \"rtcm3\"\n+\n+ def setSerialStream(self, serial_parameters = None, input = True, format = \"ubx\"):\n+ # easier way to specify serial port for str2str\n+ # serial_parameters is a list of options for our serial device:\n+ # 1. serial port\n+ # 2. baudrate\n+ # 3. byte size\n+ # 4. parity bit\n+ # 5. stop bit\n+ # 6. fctr\n+ # default parameters here are Reach standards\n+\n+ def_parameters = [\n+ \"ttyACM0\",\n+ \"230400\",\n+ \"8\",\n+ \"n\",\n+ \"1\",\n+ \"off\"\n+ ]\n+\n+ if serial_parameters is None:\n+ serial_parameters = def_parameters\n+\n+ port = \"serial://\" + \":\".join(serial_parameters)\n+\n+ self.setPort(port, input, format)\n+\n+ def setTCPClientStream(self, tcp_client_parameters = None, input = True, format = \"ubx\"):\n+ # easier way to specify tcp connection parameters for str2str\n+ # tcp client parameters include:\n+ # 1. ip address\n+ # 2. port number\n+\n+ def_parameters = [\n+ \"localhost\",\n+ \"5015\"\n+ ]\n+\n+ if tcp_client_parameters is None:\n+ tcp_client_parameters = def_parameters\n+\n+ port = \"tcpcli://\" + \":\".join(tcp_server_parameters)\n+\n+ self.setPort(port, input, format)\n+\n+ def setTCPServerStream(self, tcp_server_parameters = None, input = True, format = \"ubx\"):\n+ # tcp server parameters only include the port number:\n+ # 1. port number\n+\n+ def_parameters = [\n+ \"9000\"\n+ ]\n+\n+ if tcp_server_parameters is None:\n+ tcp_server_parameters = def_parameters\n+\n+ port = \"tcpsvr://:\" + def_parameters[0]\n+\n+ self.setPort(port, input, format)\n+\n+ def setNTRIPClientStream(self, ntrip_client_parameters = None, input = True, format = \"ubx\"):\n+ # ntrip client parameters:\n+ # 1. user\n+ # 2. password\n+ # 3. address\n+ # 4. port\n+ # 5. mount point\n+\n+ port = \"ntrip://\" + ntrip_client_parameters[0] + \":\"\n+ port += ntrip_client_parameters[1] + \"@\" + ntrip_client_parameters[2] + \":\"\n+ port += ntrip_client_parameters[3] + \"/\" + ntrip_client_parameters[4]\n+\n+ self.setPort(port, input, format)\n+\n+ def setNTRIPServerStream(self, ntrip_server_parameters = None, input = True, format = \"ubx\"):\n+ # ntrip client parameters:\n+ # 1. password\n+ # 2. address\n+ # 3. port\n+ # 4. mount point\n+ # 5. str ???\n+\n+ port = \"ntrips://:\" + ntrip_client_parameters[0] + \"@\" + ntrip_client_parameters[1]\n+ port += \":\" + ntrip_client_parameters[2] + \"/\" + ntrip_client_parameters[3] + \":\"\n+ port += ntrip_client_parameters[4]\n+\n+ self.setPort(port, input, format)\n+\n+ def start(self, rtcm3_messages = None, base_position = None, gps_cmd_file = None):\n+ # when we start str2str we also have 3 important optional parameters\n+ # 1. rtcm3 message types. We have standard 1002, 1006, 1013, 1019 by default\n+ # 2. base position in llh. By default we don't pass any values, however it is best to use this feature\n+ # 3. gps cmd file will take care of msg frequency and msg types\n+ # To pass parameters to this function use string lists, like [\"1002\", \"1006\"] or [\"60\", \"30\", \"100\"]\n+\n+ print(self.bin_path)\n+\n+ if not self.started:\n+ if rtcm3_messages is None:\n+ rtcm3_messages = self.rtcm3_messages\n+\n+ if base_position is None:\n+ base_position = self.base_position\n+\n+ if gps_cmd_file is None:\n+ gps_cmd_file = self.gps_cmd_file\n+\n+ cmd = \"/str2str -in \" + self.input_stream + \" -out \" + self.output_stream + \" -msg \" + \",\".join(rtcm3_messages)\n+\n+ if \"\" in base_position:\n+ base_position = []\n+\n+ if base_position:\n+ cmd += \" -p \" + \" \".join(base_position)\n+\n+ if gps_cmd_file:\n+ cmd += \" -c \" + self.gps_cmd_file_path + \"/\" + gps_cmd_file\n+\n+ cmd = self.bin_path + cmd\n+ print(\"Starting str2str with\")\n+ print(cmd)\n+\n+ self.child = pexpect.spawn(cmd, cwd = self.bin_path, echo = False)\n+\n+ a = self.child.expect([\"stream server start\", pexpect.EOF, \"error\"])\n+ # check if we encountered any errors launching str2str\n+ if a == 1:\n+ print(\"got EOF while waiting for stream start. Shutting down\")\n+ print(\"This means something went wrong and str2str just stopped\")\n+ print(\"output before exception: \" + str(self.child))\n+ return -1\n+\n+ if a == 2:\n+ print(\"Could not start str2str. Please check path to binary or parameters, like serial port\")\n+ print(\"You may also check serial, tcp, ntrip ports for availability\")\n+ return -2\n+\n+ # if we are here, everything is good\n+ self.started = True\n+ return 1\n+\n+ # str2str already started\n+ return 2\n+\n+ def stop(self):\n+ # terminate the stream\n+\n+ if self.started:\n+ self.child.kill(signal.SIGUSR2)\n+ try:\n+ self.child.wait()\n+ except pexpect.ExceptionPexpect:\n+ print(\"Str2str already down\")\n+\n+ self.started = False\n+ return 1\n+\n+ # str2str already stopped\n+ return 2\n+\n+\ndiff --git a/web_app/log_converter/convbin.py b/web_app/log_converter/convbin.py\nnew file mode 100644\n--- /dev/null\n+++ b/web_app/log_converter/convbin.py\n@@ -0,0 +1,118 @@\n+# ReachView code is placed under the GPL license.\n+# Written by Egor Fedorov (egor.fedorov@emlid.com)\n+# Copyright (c) 2015, Emlid Limited\n+# All rights reserved.\n+\n+# If you are interested in using ReachView code as a part of a\n+# closed source project, please contact Emlid Limited (info@emlid.com).\n+\n+# This file is part of ReachView.\n+\n+# ReachView is free software: you can redistribute it and/or modify\n+# it under the terms of the GNU General Public License as published by\n+# the Free Software Foundation, either version 3 of the License, or\n+# (at your option) any later version.\n+\n+# ReachView is distributed in the hope that it will be useful,\n+# but WITHOUT ANY WARRANTY; without even the implied warranty of\n+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n+# GNU General Public License for more details.\n+\n+# You should have received a copy of the GNU General Public License\n+# along with ReachView. If not, see .\n+\n+import pexpect\n+from .logs import Log, LogMetadata\n+\n+class Convbin:\n+\n+ supported_log_formats = [\"rtcm2\", \"rtcm3\", \"nov\", \"oem3\", \"ubx\", \"ss2\", \"hemis\", \"stq\", \"javad\", \"nvs\", \"binex\", \"rinex\"]\n+\n+ def __init__(self, rtklib_path):\n+ self.bin_path = rtklib_path\n+ self.child = 0\n+\n+ def convertRTKLIBLogToRINEX(self, log_path, rinex_version=\"3.01\"):\n+\n+ print(\"Converting log \" + log_path + \"...\")\n+\n+ result = None\n+\n+ # check if extension format is in the list of the supported ones\n+ log_format = [f for f in self.supported_log_formats if log_path.endswith(f)]\n+\n+ if log_format:\n+ try:\n+ log_metadata = self.convertLogToRINEX(log_path, log_format[0], rinex_version)\n+ except ValueError:\n+ return None\n+\n+ if log_metadata:\n+ result = Log(log_path, log_metadata)\n+\n+ return result\n+\n+ def convertLogToRINEX(self, log_path, format, rinex_version):\n+\n+ spawn_command = \" \".join([\n+ self.bin_path + \"/convbin\",\n+ \"-r\",\n+ format,\n+ \"-v\",\n+ rinex_version,\n+ \"-od\",\n+ \"-os\",\n+ \"-oi\",\n+ \"-ot\",\n+ \"-ol\",\n+ log_path\n+ ])\n+\n+ print(\"Specified format is \" + format)\n+\n+ print(\"Spawning convbin with \" + spawn_command)\n+ self.child = pexpect.spawn(spawn_command, echo = False)\n+ print(\"Process spawned!\")\n+ self.child.expect(pexpect.EOF, timeout = None)\n+\n+ if self.child.exitstatus != 0 and self.child.signalstatus == None:\n+ print(\"Convbin killed by external signal\")\n+ raise ValueError\n+\n+ print(\"Conversion process finished correctly\")\n+ return self.parseConvbinOutput(self.child.before)\n+\n+ def parseConvbinOutput(self, output):\n+\n+ result_string = self.extractResultingString(output)\n+\n+ if self.resultStringIsValid(result_string):\n+ return LogMetadata(result_string)\n+ else:\n+ return None\n+\n+ def resultStringIsValid(self, result_string):\n+ return True if len(result_string) > 21 else False\n+\n+ def extractResultingString(self, output):\n+ # get the last line of the convbin output\n+\n+ last_line_end = output.rfind(\"\\r\\r\\n\")\n+ last_line_start = output.rfind(\"\\r\", 0, last_line_end) + 1\n+\n+ return output[last_line_start:last_line_end]\n+\n+\n+if __name__ == \"__main__\":\n+ cb = Convbin(\"/home/reach/RTKLIB\")\n+ rlog = cb.convertRTKLIBLogToRINEX(\"/home/reach/logs/rov_201601210734.ubx\")\n+ print(rlog)\n+ # print(\"base\")\n+ # blog = cb.convertRTKLIBLogToRINEX(\"/home/egor/RTK/convbin_test/ref_201601080935.rtcm3\")\n+ # print(blog)\n+ # print(\"Kinelog\")\n+ # kinelog = KinematicLog(rlog, blog)\n+ # print(kinelog)\n+ # kinelog.createKinematicLogPackage(\"lol.zip\")\n+ # rlog.createLogPackage(\"lol1.zip\")\n+\ndiff --git a/web_app/log_converter/logs.py b/web_app/log_converter/logs.py\nnew file mode 100644\n--- /dev/null\n+++ b/web_app/log_converter/logs.py\n@@ -0,0 +1,239 @@\n+# ReachView code is placed under the GPL license.\n+# Written by Egor Fedorov (egor.fedorov@emlid.com)\n+# Copyright (c) 2015, Emlid Limited\n+# All rights reserved.\n+\n+# If you are interested in using ReachView code as a part of a\n+# closed source project, please contact Emlid Limited (info@emlid.com).\n+\n+# This file is part of ReachView.\n+\n+# ReachView is free software: you can redistribute it and/or modify\n+# it under the terms of the GNU General Public License as published by\n+# the Free Software Foundation, either version 3 of the License, or\n+# (at your option) any later version.\n+\n+# ReachView is distributed in the hope that it will be useful,\n+# but WITHOUT ANY WARRANTY; without even the implied warranty of\n+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n+# GNU General Public License for more details.\n+\n+# You should have received a copy of the GNU General Public License\n+# along with ReachView. If not, see .\n+\n+import glob\n+import zipfile\n+import os\n+\n+class LogMetadata:\n+\n+ message_names = {\n+ \"OBS\": \"Obs\",\n+ \"NAV\": \"GPS nav\",\n+ \"GNAV\": \"GLONASS nav\",\n+ \"HNAV\": \"GEO nav\",\n+ \"QNAV\": \"QZSS nav\",\n+ \"LNAV\": \"Galileo nav\",\n+ \"SBAS\": \"SBAS log\",\n+ \"Errors\": \"Errors\",\n+ \"TM\": \"Time marks\"\n+ }\n+\n+ def __init__(self, convbin_output):\n+\n+ self.start_timestamp = 0\n+ self.stop_timestamp = 0\n+ self.navigation_messages = {msg_type: 0 for msg_type in list(self.message_names.keys())}\n+\n+ self.extractDataFromString(convbin_output)\n+\n+ def __str__(self):\n+ to_print = \"Log start time: \" + self.formatTimestamp(self.start_timestamp) + \"\\n\"\n+ to_print += \"Log stop time: \" + self.formatTimestamp(self.stop_timestamp) + \"\\n\"\n+ to_print += \"Navigation messages parsed:\\n\"\n+ to_print += self.formValidMessagesString()\n+\n+ return to_print\n+\n+ def formatTimestamp(self, timestamp):\n+ # 19800106000000\n+ timestamp = str(timestamp)\n+\n+ # date\n+ human_readable_timestamp = timestamp[:4] + \"-\" + timestamp[4:6] + \"-\" + timestamp[6:8]\n+ # time\n+ human_readable_timestamp += \" \" + timestamp[8:10]\n+ human_readable_timestamp += \":\" + timestamp[10:12]\n+ human_readable_timestamp += \":\" + timestamp[12:14]\n+\n+ return human_readable_timestamp\n+\n+ def countValidMessages(self):\n+\n+ valid_messages = 0\n+\n+ for msg_type, msg_count in list(self.navigation_messages.items()):\n+ if msg_type is not \"Errors\":\n+ valid_messages += int(msg_count)\n+\n+ return valid_messages\n+\n+ def formValidMessagesString(self):\n+\n+ correct_order = list(self.message_names.keys())\n+\n+ to_print = \"Messages inside: \"\n+\n+ for msg in correct_order:\n+ msg_type = msg\n+ msg_count = self.navigation_messages[msg_type]\n+ if int(msg_count) > 0:\n+ to_print += self.message_names[msg_type] + \": \" + msg_count + \", \"\n+\n+ return to_print[:-2]\n+\n+ def extractDataFromString(self, data_string):\n+ # example string:\n+ # 2016/01/08 09:35:02-01/08 11:24:58: O=32977 N=31 G=41 E=2\n+\n+ data_list = data_string.split(\" \")\n+ data_list = [_f for _f in data_list if _f]\n+\n+ # first 3 parts mark the time properties\n+ # the next elemets show message counts\n+\n+ self.extractTimeDataFromString(data_list[:3])\n+ self.extractMessageCountFromString(data_list[3:])\n+\n+ def extractTimeDataFromString(self, data_list):\n+ # example string(split into a list by spaces)\n+ # 2016/01/08 09:35:02-01/08 11:24:58:\n+\n+ # remove all the extra punctuation\n+ raw_data = \"\".join(data_list)\n+ raw_data = raw_data.translate(None, \"/:\\r\")\n+\n+ print(\"Raw data is \" + raw_data)\n+ start_timestamp, stop_timestamp = raw_data.split(\"-\")\n+ stop_year = self.calculateStopYear(start_timestamp, stop_timestamp)\n+\n+ self.start_timestamp = start_timestamp\n+ self.stop_timestamp = stop_year + stop_timestamp\n+\n+ def calculateStopYear(self, start_timestamp, stop_timestamp):\n+ # calc stop year for the stop timestamp\n+\n+ start_year = int(start_timestamp[:4])\n+ start_month = int(start_timestamp[4:6])\n+\n+ stop_month = int(stop_timestamp[0:2])\n+\n+ # we assume logs can't last longer than a year\n+ stop_year = start_year if start_month <= stop_month else start_year + 1\n+\n+ return str(stop_year)\n+\n+ def extractMessageCountFromString(self, data_list):\n+ # example string(split into a list by spaces)\n+ # O=32977 N=31 G=41 E=2\n+\n+ msg_dictionary = {msg_type[0]: msg_type for msg_type in list(self.message_names.keys())}\n+\n+ for entry in data_list:\n+ split_entry = entry.split(\"=\")\n+ msg_type = msg_dictionary[split_entry[0]]\n+ msg_count = split_entry[1]\n+\n+ # append the resulting data\n+ self.navigation_messages[msg_type] = msg_count\n+\n+\n+class Log:\n+\n+ rinex_file_extensions = [\".obs\", \".nav\", \".gnav\", \".hnav\", \".qnav\", \".lnav\", \".sbs\"]\n+\n+ def __init__(self, log_path, log_metadata):\n+\n+ self.log_path = log_path\n+ self.log_name = os.path.splitext(os.path.basename(self.log_path))[0]\n+\n+ self.log_metadata = log_metadata\n+\n+ self.RINEX_files = self.findRINEXFiles(os.path.dirname(self.log_path))\n+\n+ self.log_package_path = \"\"\n+\n+ def __str__(self):\n+\n+ to_print = \"Printing log info:\\n\"\n+ to_print += \"Full path to log == \" + self.log_path + \"\\n\"\n+ to_print += \"Available RINEX files: \"\n+ to_print += str(self.RINEX_files) + \"\\n\"\n+ to_print += str(self.log_metadata) + \"\\n\"\n+ to_print += \"ZIP file layout:\\n\"\n+ to_print += str(self.prepareLogPackage())\n+\n+ return to_print\n+\n+ def isValid(self):\n+ # determine whether the log has valuable RINEX info\n+ return True if self.log_metadata.countValidMessages() else False\n+\n+ def findRINEXFiles(self, log_directory):\n+\n+ files_in_dir = glob.glob(log_directory + \"/*\")\n+ rinex_files_in_dir = []\n+\n+ for f in files_in_dir:\n+ filename = os.path.basename(f)\n+ name, extension = os.path.splitext(filename)\n+\n+ if extension in self.rinex_file_extensions:\n+ if name == self.log_name:\n+ rinex_files_in_dir.append(f)\n+\n+ return rinex_files_in_dir\n+\n+ def prepareLogPackage(self):\n+ # return a list of tuples [(\"abspath\", \"wanted_path_inside_zip\"), ... ]\n+ # with raw and RINEX logs:w\n+\n+ files_list = []\n+ # add raw log\n+ files_list.append((self.log_path, \"Raw/\" + os.path.basename(self.log_path)))\n+\n+ for rinex_file in self.RINEX_files:\n+ rinex_files_paths = (rinex_file, \"RINEX/\" + os.path.basename(rinex_file))\n+ files_list.append(rinex_files_paths)\n+\n+ return files_list\n+\n+ def createLogPackage(self, package_destination=None):\n+ # files_list is a list of tuples [(\"abspath\", \"wanted_path_inside_zip\"), ... ]\n+\n+ if package_destination is None:\n+ package_destination = os.path.dirname(self.log_path) + \"/\" + self.log_name + \".zip\"\n+ file_tree = self.prepareLogPackage()\n+\n+ with zipfile.ZipFile(package_destination, \"w\") as newzip:\n+ for f in file_tree:\n+ newzip.write(f[0], f[1])\n+\n+ newzip.writestr(\"readme.txt\", str(self.log_metadata))\n+\n+ # delete unzipped files\n+ self.deleteLogFiles()\n+\n+ return package_destination\n+\n+ def deleteLogFiles(self):\n+\n+ all_log_files = self.RINEX_files\n+ # all_log_files.append(self.log_path)\n+\n+ for log in all_log_files:\n+ try:\n+ os.remove(log)\n+ except OSError:\n+ pass\n+\ndiff --git a/web_app/port.py b/web_app/port.py\nnew file mode 100644\n--- /dev/null\n+++ b/web_app/port.py\n@@ -0,0 +1,48 @@\n+# ReachView code is placed under the GPL license.\n+# Written by Egor Fedorov (egor.fedorov@emlid.com)\n+# Copyright (c) 2015, Emlid Limited\n+# All rights reserved.\n+\n+# If you are interested in using ReachView code as a part of a\n+# closed source project, please contact Emlid Limited (info@emlid.com).\n+\n+# This file is part of ReachView.\n+\n+# ReachView is free software: you can redistribute it and/or modify\n+# it under the terms of the GNU General Public License as published by\n+# the Free Software Foundation, either version 3 of the License, or\n+# (at your option) any later version.\n+\n+# ReachView is distributed in the hope that it will be useful,\n+# but WITHOUT ANY WARRANTY; without even the implied warranty of\n+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n+# GNU General Public License for more details.\n+\n+# You should have received a copy of the GNU General Public License\n+# along with ReachView. If not, see .\n+\n+from os import system\n+\n+def sh(script):\n+ system(\"bash -c '%s'\" % script)\n+\n+# change baudrate to 230400\n+def br230400():\n+ cmd = [\"echo\", \"-en\", '\"\\\\xb5\\\\x62\\\\x06\\\\x00\\\\x01\\\\x00\\\\x01\\\\x08\\\\x22\\\\xb5\\\\x62\\\\x06\\\\x00\\\\x14\\\\x00\\\\x01\\\\x00\\\\x00\\\\x00\\\\xd0\\\\x08\\\\x00\\\\x00\\\\x00\\\\x84\\\\x03\\\\x00\\\\x07\\\\x00\\\\x03\\\\x00\\\\x00\\\\x00\\\\x00\\\\x00\\\\x84\\\\xe8\\\\xb5\\\\x62\\\\x06\\\\x00\\\\x01\\\\x00\\\\x01\\\\x08\\\\x22\"', \">\", \"/dev/ttyMFD1\"]\n+ cmd = \" \".join(cmd)\n+ sh(cmd)\n+\n+# change baudrate to 230400 from any previous baudrates\n+def changeBaudrateTo115200():\n+ # typical baudrate values\n+# br = [\"4800\", \"9600\", \"19200\", \"38400\", \"57600\", \"115200\", \"230400\"]\n+ br = [\"4800\", \"9600\", \"19200\", \"38400\", \"57600\", \"115200\"]\n+ cmd = [\"stty\", \"-F\", \"/dev/ttyACM0\"]\n+\n+ for rate in br:\n+ cmd.append(str(rate))\n+ cmd_line = \" \".join(cmd)\n+ sh(cmd_line)\n+\n+# br230400()\n+# cmd.pop()\ndiff --git a/web_app/reach_tools/__init__.py b/web_app/reach_tools/__init__.py\nnew file mode 100644\ndiff --git a/web_app/reach_tools/gps_time.py b/web_app/reach_tools/gps_time.py\nnew file mode 100755\n--- /dev/null\n+++ b/web_app/reach_tools/gps_time.py\n@@ -0,0 +1,186 @@\n+#!/usr/bin/python\n+\n+# ReachView code is placed under the GPL license.\n+# Written by Egor Fedorov (egor.fedorov@emlid.com)\n+# Copyright (c) 2015, Emlid Limited\n+# All rights reserved.\n+\n+# If you are interested in using ReachView code as a part of a\n+# closed source project, please contact Emlid Limited (info@emlid.com).\n+\n+# This file is part of ReachView.\n+\n+# ReachView is free software: you can redistribute it and/or modify\n+# it under the terms of the GNU General Public License as published by\n+# the Free Software Foundation, either version 3 of the License, or\n+# (at your option) any later version.\n+\n+# ReachView is distributed in the hope that it will be useful,\n+# but WITHOUT ANY WARRANTY; without even the implied warranty of\n+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n+# GNU General Public License for more details.\n+\n+# You should have received a copy of the GNU General Public License\n+# along with ReachView. If not, see .\n+\n+import serial\n+import binascii\n+import ctypes\n+import subprocess\n+from . import reach_tools\n+\n+def hexify(char_list):\n+ \"\"\" transform a char list into a list of int values\"\"\"\n+ return [ord(c) for c in char_list]\n+\n+def enable_nav_timeutc(port):\n+ poll_time_utc = [\"b5\", \"62\", \"06\", \"01\", \"03\", \"00\", \"01\", \"21\", \"01\", \"2d\", \"85\"]\n+ msg = binascii.unhexlify(\"\".join(poll_time_utc))\n+ port.write(msg)\n+\n+def time_synchronised_by_ntp():\n+ out = subprocess.check_output(\"timedatectl\")\n+\n+ if \"NTP synchronized: yes\" in out:\n+ return True\n+ else:\n+ return False\n+\n+def update_system_time(date, time):\n+ # requires a date list and a time list\n+ # [\"YYYY\", \"MM\", \"DD\"], [\"hh\", \"mm\", \"ss\"]\n+ print(\"##### UPDATING SYSTEM TIME #####\")\n+ print(date)\n+ print(time)\n+ # busybox date cmd can use a following format\n+ # YYYY.MM.DD-hh:mm:ss\n+ # real date -s needs YYYY-MM-DD hh:mm:ss\n+ printable_date = \"-\".join(str(x) for x in date)\n+ printable_time = \":\".join(str(x) for x in time)\n+\n+ datetime_string = printable_date + \" \" + printable_time\n+ cmd = [\"date\", \"-s\", datetime_string]\n+ out = subprocess.check_output(cmd)\n+\n+def get_gps_time(port):\n+\n+ try:\n+ multiple_bytes = port.read(1024)\n+ except OSError:\n+ print(\"Could not open serial device\")\n+ else:\n+ ubx_log = hexify(multiple_bytes)\n+ time_data = MSG_NAV_TIMEUTC(ubx_log)\n+ print(time_data)\n+\n+ if time_data.time_valid:\n+ return time_data.date, time_data.time\n+\n+ return None, None\n+\n+def set_gps_time(serial_device, baud_rate):\n+\n+ port = serial.Serial(serial_device, baud_rate, timeout = 1.5)\n+ enable_nav_timeutc(port)\n+\n+ print(\"Restarting ntp service for faster sync...\")\n+ reach_tools.run_command_safely([\"timedatectl\", \"set-ntp\", \"false\"])\n+ reach_tools.run_command_safely([\"timedatectl\", \"set-ntp\", \"true\"])\n+\n+ print(\"TIMEUTC enabled\")\n+ time = None\n+ ntp_not_synced = True\n+\n+ while time is None and ntp_not_synced:\n+ date, time = get_gps_time(port)\n+ ntp_not_synced = not time_synchronised_by_ntp()\n+\n+ if ntp_not_synced:\n+ update_system_time(date, time)\n+\n+class MSG_NAV_TIMEUTC:\n+\n+ msg_start = [0xb5, 0x62, 0x01, 0x21, 0x14, 0x00]\n+ msg_length = 28\n+\n+ def __init__(self, ubx_hex_log):\n+ self.time_valid = False\n+ self.date = None\n+ self.time = None\n+\n+ extracted_messages = self.scan_log(ubx_hex_log)\n+\n+ if extracted_messages:\n+ for msg in extracted_messages:\n+ if self.is_valid(msg):\n+ if self.time_is_valid(msg):\n+ self.time_valid = True\n+ self.date, self.time= self.unpack(msg)\n+\n+ def __str__(self):\n+ to_print = \"ubx NAV-TIMEUTC message\\n\"\n+\n+ if self.time_valid:\n+ to_print += \"Time data is valid\\n\"\n+ to_print += \".\".join(str(x) for x in self.date)\n+ to_print += \" \"\n+ to_print += \":\".join(str(x) for x in self.time)\n+ else:\n+ to_print += \"Time data is invalid!\"\n+\n+ return to_print\n+\n+ def scan_log(self, ubx_hex_log):\n+ \"\"\"Search the provided log for a required msg header\"\"\"\n+ matches = []\n+ pattern = self.msg_start\n+ msg_length = self.msg_length\n+\n+ for i in range(0, len(ubx_hex_log)):\n+ if ubx_hex_log[i] == pattern[0] and ubx_hex_log[i:i + len(pattern)] == pattern:\n+ matches.append(ubx_hex_log[i:i + msg_length])\n+\n+ return matches\n+\n+ def is_valid(self, msg):\n+ \"\"\"Count and verify the checksum of a ubx message. msg is a list of hex values\"\"\"\n+\n+ to_check = msg[2:-2]\n+\n+ ck_a = ctypes.c_uint8(0)\n+ ck_b = ctypes.c_uint8(0)\n+\n+ for num in to_check:\n+ byte = ctypes.c_uint8(num)\n+ ck_a.value = ck_a.value + byte.value\n+ ck_b.value = ck_b.value + ck_a.value\n+\n+ if (ck_a.value, ck_b.value) == (ctypes.c_uint8(msg[-2]).value, ctypes.c_uint8(msg[-1]).value):\n+ return True\n+ else:\n+ return False\n+\n+ def time_is_valid(self, msg):\n+ \"\"\"Check the flags confirming utc time in the message is valid\"\"\"\n+ flag_byte = ctypes.c_uint8(msg[-3])\n+ return True if flag_byte.value & 4 == 4 else False\n+\n+ def unpack(self, msg):\n+ \"\"\"Extract the actual time from the message\"\"\"\n+ datetime = []\n+\n+ # unpack year\n+ byte1 = ctypes.c_uint8(msg[18])\n+ byte2 = ctypes.c_uint8(msg[19])\n+\n+ year = ctypes.c_uint16(byte2.value << 8 | byte1.value).value\n+ datetime.append(year)\n+ # unpack month, day, hour, minute, second\n+ for i in range(20, 25):\n+ datetime.append(msg[i])\n+\n+ date = datetime[:3]\n+ time = datetime[3:]\n+\n+ return date, time\n+\ndiff --git a/web_app/reach_tools/provisioner.py b/web_app/reach_tools/provisioner.py\nnew file mode 100644\n--- /dev/null\n+++ b/web_app/reach_tools/provisioner.py\n@@ -0,0 +1,148 @@\n+#!/usr/bin/python\n+\n+# ReachView code is placed under the GPL license.\n+# Written by Egor Fedorov (egor.fedorov@emlid.com)\n+# Copyright (c) 2015, Emlid Limited\n+# All rights reserved.\n+\n+# If you are interested in using ReachView code as a part of a\n+# closed source project, please contact Emlid Limited (info@emlid.com).\n+\n+# This file is part of ReachView.\n+\n+# ReachView is free software: you can redistribute it and/or modify\n+# it under the terms of the GNU General Public License as published by\n+# the Free Software Foundation, either version 3 of the License, or\n+# (at your option) any later version.\n+\n+# ReachView is distributed in the hope that it will be useful,\n+# but WITHOUT ANY WARRANTY; without even the implied warranty of\n+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n+# GNU General Public License for more details.\n+\n+# You should have received a copy of the GNU General Public License\n+# along with ReachView. If not, see .\n+\n+import pip\n+import subprocess\n+import os\n+from . import reach_tools\n+import imp\n+import shutil\n+\n+def install_pip_packages():\n+\n+ packages = [\n+ (\"pybluez\", \"bluetooth\")\n+ ]\n+\n+ for p in packages:\n+ try:\n+ imp.find_module(p[1])\n+ except ImportError:\n+ print(\"No module \" + p[0] + \" found...\")\n+ pip.main([\"install\", p[0]])\n+\n+def check_opkg_packages(packages):\n+\n+ packages_to_check = packages\n+\n+ try:\n+ out = subprocess.check_output([\"opkg\", \"list-installed\"])\n+ except subprocess.CalledProcessError:\n+ print(\"Error getting installed opkg packages\")\n+ return None\n+ else:\n+ for p in out.split(\"\\n\"):\n+ if p:\n+ installed_package_name = p.split()[0]\n+ if installed_package_name in packages_to_check:\n+ packages_to_check.remove(installed_package_name)\n+\n+ return packages_to_check\n+\n+def install_opkg_packages(packages):\n+\n+ packages = check_opkg_packages(packages)\n+\n+ if packages:\n+ print(\"Installing missing packages:\")\n+ print(packages)\n+ try:\n+ subprocess.check_output([\"opkg\", \"update\"])\n+ except subprocess.CalledProcessError:\n+ print(\"No internet connection, so no package installs!\")\n+ pass\n+ else:\n+ for p in packages:\n+ subprocess.check_output([\"opkg\", \"install\", p])\n+\n+def restart_bt_daemon():\n+ reach_tools.run_command_safely([\"rfkill\", \"unblock\", \"bluetooth\"])\n+ reach_tools.run_command_safely([\"systemctl\", \"daemon-reload\"])\n+ reach_tools.run_command_safely([\"systemctl\", \"restart\", \"bluetooth.service\"])\n+ reach_tools.run_command_safely([\"systemctl\", \"restart\", \"bluetooth.service\"])\n+ reach_tools.run_command_safely([\"hciconfig\", \"hci0\", \"reset\"])\n+\n+def enable_bt_compatibility(file_path):\n+\n+ with open(file_path, \"r\") as f:\n+ data_read = f.readlines()\n+\n+ need_to_update = True\n+ required_line = 0\n+\n+ for line in data_read:\n+ if \"ExecStart=/usr/lib/bluez5/bluetooth/bluetoothd -C\" in line:\n+ need_to_update = False\n+\n+ if need_to_update:\n+ data_to_write = []\n+\n+ for line in data_read:\n+ if \"ExecStart=/usr/lib/bluez5/bluetooth/bluetoothd\" in line:\n+ to_append = \"ExecStart=/usr/lib/bluez5/bluetooth/bluetoothd -C\\n\"\n+ else:\n+ to_append = line\n+\n+ data_to_write.append(to_append)\n+\n+ with open(file_path, \"w\") as f:\n+ f.writelines(data_to_write)\n+\n+ reach_tools.run_command_safely([\"sync\"])\n+\n+ restart_bt_daemon()\n+\n+def update_bluetooth_service():\n+ first = \"/lib/systemd/system/bluetooth.service\"\n+ second = \"/etc/systemd/system/bluetooth.target.wants/bluetooth.service\"\n+ enable_bt_compatibility(first)\n+ enable_bt_compatibility(second)\n+ restart_bt_daemon()\n+\n+def check_RTKLIB_integrity():\n+ RTKLIB_path = \"/home/reach/RTKLIB/\"\n+ reachview_binaries_path = \"/home/reach/rtklib_configs/\"\n+\n+ RTKLIB_binaries = [\n+ (RTKLIB_path + \"app/rtkrcv/gcc/rtkrcv\", reachview_binaries_path + \"rtkrcv\"),\n+ (RTKLIB_path + \"app/convbin/gcc/convbin\", reachview_binaries_path + \"convbin\"),\n+ (RTKLIB_path + \"app/str2str/gcc/str2str\", reachview_binaries_path + \"str2str\")\n+ ]\n+\n+ for b in RTKLIB_binaries:\n+ if not os.path.isfile(b[0]):\n+ print(\"Could not find \" + b[0] + \"! Copying from ReachView backup...\")\n+ shutil.copy(b[1], b[0])\n+\n+def provision_reach():\n+ install_pip_packages()\n+ packages = [\"kernel-module-ftdi-sio\"]\n+ install_opkg_packages(packages)\n+ update_bluetooth_service()\n+ check_RTKLIB_integrity()\n+\n+if __name__ == \"__main__\":\n+ provision_reach()\n+\ndiff --git a/web_app/reach_tools/reach_tools.py b/web_app/reach_tools/reach_tools.py\nnew file mode 100644\n--- /dev/null\n+++ b/web_app/reach_tools/reach_tools.py\n@@ -0,0 +1,171 @@\n+# ReachView code is placed under the GPL license.\n+# Written by Egor Fedorov (egor.fedorov@emlid.com)\n+# Copyright (c) 2015, Emlid Limited\n+# All rights reserved.\n+\n+# If you are interested in using ReachView code as a part of a\n+# closed source project, please contact Emlid Limited (info@emlid.com).\n+\n+# This file is part of ReachView.\n+\n+# ReachView is free software: you can redistribute it and/or modify\n+# it under the terms of the GNU General Public License as published by\n+# the Free Software Foundation, either version 3 of the License, or\n+# (at your option) any later version.\n+\n+# ReachView is distributed in the hope that it will be useful,\n+# but WITHOUT ANY WARRANTY; without even the implied warranty of\n+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n+# GNU General Public License for more details.\n+\n+# You should have received a copy of the GNU General Public License\n+# along with ReachView. If not, see .\n+\n+import os\n+import subprocess\n+\n+def getImageVersion():\n+\n+ image_version_file = \"/home/pi/.reach/image_version\"\n+\n+ try:\n+ with open(image_version_file, \"r\") as f:\n+ image_version = f.readline().rstrip(\"\\n\")\n+ except (IOError, OSError):\n+ print(\"Could not find version file inside system\")\n+ print(\"This is image v1.0\")\n+ image_version = \"v1.0\"\n+\n+ return image_version\n+\n+def getNetworkStatus():\n+\n+ # get Wi-Fi mode, Master or Managed\n+# cmd = [\"configure_edison\", \"--showWiFiMode\"]\n+# cmd = \" \".join(cmd)\n+# mode = subprocess.check_output(cmd, shell = True).strip()\n+\n+# mode = \"Managed\"\n+# ssid = \"empty\"\n+# ip_address = \"empty\"\n+\n+ mode = \"Master\"\n+ ssid = \"RTK_test\"\n+ ip_address = \"192.168.43.1\"\n+\n+# if mode == \"Managed\":\n+ # we are in managed, client mode\n+ # we can extract all information from \"wpa_cli status\"\n+\n+# cmd = [\"wpa_cli\", \"status\"]\n+# cmd = \" \".join(cmd)\n+# out = subprocess.check_output(cmd, shell = True)\n+\n+# out = out.split(\"\\n\")\n+\n+# for line in out:\n+# if \"ssid=\" in line:\n+# ssid = line[5:]\n+# if \"ip_address=\" in line:\n+# ip_address = line[11:]\n+\n+# if mode == \"Master\":\n+ # we are in master, AP mode\n+ # we can extract all info from \"configure_edison\"\n+ # with differnet parameters\n+\n+ # example of the output {\"hostname\": \"reach\", \"ssid\": \"reach:ec:e8\", \"default_ssid\": \"edison_ap\"}\n+# cmd = [\"configure_edison\", \"--showNames\"]\n+# cmd = \" \".join(cmd)\n+# out = subprocess.check_output(cmd, shell = True)\n+\n+# anchor = '\"ssid\": \"'\n+\n+# ssid_start_position = out.find(anchor) + len(anchor)\n+# ssid_stop_position = out.find('\"', ssid_start_position)\n+\n+# ssid = out[ssid_start_position:ssid_stop_position]\n+\n+# cmd = [\"configure_edison\", \"--showWiFiIP\"]\n+# cmd = \" \".join(cmd)\n+# ip_address = subprocess.check_output(cmd, shell = True).strip()\n+\n+ return {\"mode\": mode, \"ssid\": ssid, \"ip_address\": ip_address}\n+\n+def getAppVersion():\n+ # Extract git tag as software version\n+# git_tag_cmd = \"git describe --tags\"\n+# app_version = subprocess.check_output([git_tag_cmd], shell = True, cwd = \"/home/reach\")\n+ app_version = 1.0\n+\n+ return app_version\n+\n+def getSystemStatus():\n+\n+ system_status = {\n+ \"network_status\": getNetworkStatus(),\n+ \"image_version\": getImageVersion(),\n+ \"app_version\": getAppVersion(),\n+ }\n+\n+ return system_status\n+\n+def getAvailableSerialPorts():\n+\n+ possible_ports_ports_to_use = [\"ttyACM0\", \"ttyUSB0\"]\n+ serial_ports_to_use = [port for port in possible_ports_ports_to_use if os.path.exists(\"/dev/\" + port)]\n+\n+ return serial_ports_to_use\n+\n+def getLogsSize(logs_path):\n+ #logs_path = \"/home/pi/logs/\"\n+ size_in_bytes = sum(os.path.getsize(logs_path + f) for f in os.listdir(logs_path) if os.path.isfile(logs_path + f))\n+ return size_in_bytes/(1024*1024)\n+\n+def getFreeSpace(logs_path):\n+ space = os.statvfs(os.path.expanduser(\"~\"))\n+ free = space.f_bavail * space.f_frsize / 1024000\n+ total = space.f_blocks * space.f_frsize / 1024000\n+\n+ used_by_logs = getLogsSize(logs_path)\n+ total_for_logs = free + used_by_logs\n+ percentage = (float(used_by_logs)/float(total_for_logs)) * 100\n+ total_for_logs_gb = float(total_for_logs) / 1024.0\n+\n+ result = {\n+ \"used\": \"{0:.0f}\".format(used_by_logs),\n+ \"total\": \"{0:.1f}\".format(total_for_logs_gb),\n+ \"percentage\": \"{0:.0f}\".format(percentage)\n+ }\n+\n+ print(\"Returning sizes!\")\n+ print(result)\n+\n+ return result\n+\n+def run_command_safely(cmd):\n+ try:\n+ out = subprocess.check_output(cmd)\n+ except subprocess.CalledProcessError:\n+ out = None\n+\n+ return out\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\n+\ndiff --git a/web_app/server.py b/web_app/server.py\nnew file mode 100755\n--- /dev/null\n+++ b/web_app/server.py\n@@ -0,0 +1,565 @@\n+#!/usr/bin/python\n+\n+# This Flask app is a heavily modified version of Reachview\n+# modified to be used as a front end for GNSS base\n+# author: St\u00e9phane P\u00e9neau\n+# source: https://github.com/Stefal/rtkbase\n+\n+# ReachView code is placed under the GPL license.\n+# Written by Egor Fedorov (egor.fedorov@emlid.com)\n+# Copyright (c) 2015, Emlid Limited\n+# All rights reserved.\n+\n+# If you are interested in using ReachView code as a part of a\n+# closed source project, please contact Emlid Limited (info@emlid.com).\n+\n+# This file is part of ReachView.\n+\n+# ReachView is free software: you can redistribute it and/or modify\n+# it under the terms of the GNU General Public License as published by\n+# the Free Software Foundation, either version 3 of the License, or\n+# (at your option) any later version.\n+\n+# ReachView is distributed in the hope that it will be useful,\n+# but WITHOUT ANY WARRANTY; without even the implied warranty of\n+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the\n+# GNU General Public License for more details.\n+\n+# You should have received a copy of the GNU General Public License\n+# along with ReachView. If not, see .\n+\n+#from gevent import monkey\n+#monkey.patch_all()\n+import eventlet\n+eventlet.monkey_patch()\n+\n+import time\n+import json\n+import os\n+import signal\n+import sys\n+import requests\n+\n+from threading import Thread\n+from RTKLIB import RTKLIB\n+from port import changeBaudrateTo115200\n+from reach_tools import reach_tools, provisioner\n+from ServiceController import ServiceController\n+from RTKBaseConfigManager import RTKBaseConfigManager\n+\n+#print(\"Installing all required packages\")\n+#provisioner.provision_reach()\n+\n+#import reach_bluetooth.bluetoothctl\n+#import reach_bluetooth.tcp_bridge\n+\n+from threading import Thread\n+from flask_bootstrap import Bootstrap\n+from flask import Flask, render_template, session, request, flash, url_for\n+from flask import send_file, send_from_directory, safe_join, redirect, abort\n+from flask import g\n+from flask_wtf import FlaskForm\n+from wtforms import PasswordField, BooleanField, SubmitField\n+from flask_login import LoginManager, login_user, logout_user, login_required, current_user, UserMixin\n+from wtforms.validators import ValidationError, DataRequired, EqualTo\n+from flask_socketio import SocketIO, emit, disconnect\n+from subprocess import check_output\n+\n+from werkzeug.security import generate_password_hash\n+from werkzeug.security import check_password_hash\n+from werkzeug.urls import url_parse\n+\n+app = Flask(__name__)\n+app.debug = False\n+app.config[\"SECRET_KEY\"] = \"secret!\"\n+#app.config[\"UPLOAD_FOLDER\"] = os.path.join(os.path.dirname(__file__), \"../logs\")\n+app.config[\"DOWNLOAD_FOLDER\"] = os.path.join(os.path.dirname(__file__), \"../data\")\n+app.config[\"LOGIN_DISABLED\"] = False\n+\n+path_to_rtklib = \"/usr/local/bin\"\n+\n+login=LoginManager(app)\n+login.login_view = 'login_page'\n+socketio = SocketIO(app)\n+bootstrap = Bootstrap(app)\n+\n+rtk = RTKLIB(socketio, rtklib_path=path_to_rtklib, log_path=app.config[\"DOWNLOAD_FOLDER\"])\n+services_list = [{\"service_unit\" : \"str2str_tcp.service\", \"name\" : \"main\"},\n+ {\"service_unit\" : \"str2str_ntrip.service\", \"name\" : \"ntrip\"},\n+ {\"service_unit\" : \"str2str_rtcm_svr.service\", \"name\" : \"rtcm_svr\"},\n+ {\"service_unit\" : \"str2str_file.service\", \"name\" : \"file\"},\n+ ]\n+\n+\n+#Delay before rtkrcv will stop if no user is on status.html page\n+rtkcv_standby_delay = 600\n+\n+#Get settings from settings.conf.default and settings.conf\n+rtkbaseconfig = RTKBaseConfigManager(os.path.join(os.path.dirname(__file__), \"../settings.conf.default\"), os.path.join(os.path.dirname(__file__), \"../settings.conf\"))\n+\n+class User(UserMixin):\n+ \"\"\" Class for user authentification \"\"\"\n+ def __init__(self, username):\n+ self.id=username\n+ self.password_hash = rtkbaseconfig.get(\"general\", \"web_password_hash\")\n+\n+ def check_password(self, password):\n+ return check_password_hash(self.password_hash, password)\n+\n+class LoginForm(FlaskForm):\n+ \"\"\" Class for the loginform\"\"\"\n+ #username = StringField('Username', validators=[DataRequired()])\n+ password = PasswordField('Please enter the password:', validators=[DataRequired()])\n+ remember_me = BooleanField('Remember Me')\n+ submit = SubmitField('Sign In')\n+\n+def update_password(config_object):\n+ \"\"\"\n+ Check in settings.conf if web_password entry contains a value\n+ If yes, this function will generate a new hash for it and\n+ remove the web_password value\n+ :param config_object: a RTKBaseConfigManager instance\n+ \"\"\"\n+ new_password = config_object.get(\"general\", \"new_web_password\")\n+ if new_password != \"\":\n+ config_object.update_setting(\"general\", \"web_password_hash\", generate_password_hash(new_password))\n+ config_object.update_setting(\"general\", \"new_web_password\", \"\")\n+ \n+def manager():\n+ \"\"\" This manager runs inside a thread\n+ It checks how long rtkrcv is running since the last user leaves the\n+ status web page, and stop rtkrcv when sleep_count reaches rtkrcv_standby delay\n+ \"\"\"\n+ while True:\n+ if rtk.sleep_count > rtkcv_standby_delay and rtk.state != \"inactive\":\n+ rtk.stopBase()\n+ rtk.sleep_count = 0\n+ elif rtk.sleep_count > rtkcv_standby_delay:\n+ print(\"I'd like to stop rtkrcv (sleep_count = {}), but rtk.state is: {}\".format(rtk.sleep_count, rtk.state))\n+ time.sleep(1)\n+\n+@socketio.on(\"check update\", namespace=\"/test\")\n+def check_update(source_url = None, current_release = None, prerelease=True, emit = True):\n+ \"\"\"\n+ Check if a RTKBase update exists\n+ :param source_url: the url where we will try to find an update. It uses the github api.\n+ :param current_release: The current RTKBase release\n+ :param prerelease: True/False Get prerelease or not\n+ :param emit: send the result to the web front end with socketio\n+ :return The new release version inside a dict (release version and url for this release)\n+ \"\"\"\n+ new_release = {}\n+ source_url = source_url if source_url is not None else \"https://api.github.com/repos/stefal/rtkbase/releases\"\n+ current_release = current_release if current_release is not None else rtkbaseconfig.get(\"general\", \"version\").strip(\"v\")\n+ \n+ try: \n+ response = requests.get(source_url)\n+ response = response.json()\n+ for release in response:\n+ if release.get(\"prerelease\") & prerelease or release.get(\"prerelease\") == False:\n+ latest_release = release[\"tag_name\"].strip(\"v\")\n+ if latest_release > current_release and latest_release <= rtkbaseconfig.get(\"general\", \"checkpoint_version\"):\n+ new_release = {\"new_release\" : latest_release, \"url\" : release.get(\"tarball_url\")}\n+ break\n+ \n+ except Exception as e:\n+ print(\"Check update error: \", e)\n+ \n+ if emit:\n+ socketio.emit(\"new release\", json.dumps(new_release), namespace=\"/test\")\n+ print\n+ return new_release\n+\n+@socketio.on(\"update rtkbase\", namespace=\"/test\") \n+def update_rtkbase():\n+ \"\"\"\n+ Check if a RTKBase exists, download it and update rtkbase\n+ \"\"\"\n+ #Check if an update is available\n+ update_url = check_update(emit=False).get(\"url\")\n+ if update_url is None:\n+ return\n+\n+ import tarfile\n+ #Download update\n+ update_archive = \"/var/tmp/rtkbase_update.tar.gz\"\n+ try:\n+ response = requests.get(update_url)\n+ with open(update_archive, \"wb\") as f:\n+ f.write(response.content)\n+ except Exception as e:\n+ print(\"Error: Can't download update - \", e)\n+\n+ #Get the \"root\" folder in the archive\n+ tar = tarfile.open(update_archive)\n+ for tarinfo in tar:\n+ if tarinfo.isdir():\n+ primary_folder = tarinfo.name\n+ break\n+ \n+ #Extract archive\n+ tar.extractall(\"/var/tmp\")\n+\n+ #launch update script\n+ rtk.shutdownBase()\n+ rtkbase_path = os.path.abspath(os.path.join(os.path.dirname(__file__), \"../\"))\n+ source_path = os.path.join(\"/var/tmp/\", primary_folder)\n+ script_path = os.path.join(source_path, \"rtkbase_update.sh\")\n+ current_release = rtkbaseconfig.get(\"general\", \"version\").strip(\"v\")\n+ standard_user = rtkbaseconfig.get(\"general\", \"user\")\n+ os.execl(script_path, \"unused arg0\", source_path, rtkbase_path, app.config[\"DOWNLOAD_FOLDER\"].split(\"/\")[-1], current_release, standard_user)\n+\n+@app.before_request\n+def inject_release():\n+ \"\"\"\n+ Insert the RTKBase release number as a global variable for Flask/Jinja\n+ \"\"\"\n+ g.version = rtkbaseconfig.get(\"general\", \"version\")\n+\n+@login.user_loader\n+def load_user(id):\n+ return User(id)\n+\n+@app.route('/')\n+@app.route('/index')\n+@app.route('/status')\n+@login_required\n+def status_page():\n+ \"\"\"\n+ The status web page with the gnss satellites levels and a map\n+ \"\"\"\n+ return render_template(\"status.html\")\n+\n+@app.route('/settings')\n+@login_required\n+def settings_page():\n+ \"\"\"\n+ The settings page where you can manage the various services, the parameters, update, power...\n+ \"\"\"\n+ main_settings = rtkbaseconfig.get_main_settings()\n+ ntrip_settings = rtkbaseconfig.get_ntrip_settings()\n+ file_settings = rtkbaseconfig.get_file_settings()\n+ rtcm_svr_settings = rtkbaseconfig.get_rtcm_svr_settings()\n+\n+ return render_template(\"settings.html\", main_settings = main_settings,\n+ ntrip_settings = ntrip_settings,\n+ file_settings = file_settings,\n+ rtcm_svr_settings = rtcm_svr_settings)\n+\n+@app.route('/logs')\n+@login_required\n+def logs_page():\n+ \"\"\"\n+ The data web pages where you can download/delete the raw gnss data\n+ \"\"\"\n+ return render_template(\"logs.html\")\n+\n+@app.route(\"/logs/download/\")\n+@login_required\n+def downloadLog(log_name):\n+ \"\"\" Route for downloading raw gnss data\"\"\"\n+ try:\n+ full_log_path = rtk.logm.log_path + \"/\" + log_name\n+ return send_file(full_log_path, as_attachment = True)\n+ except FileNotFoundError:\n+ abort(404)\n+\n+@app.route('/login', methods=['GET', 'POST'])\n+def login_page():\n+ if current_user.is_authenticated:\n+ return redirect(url_for('status_page'))\n+ loginform = LoginForm()\n+ if loginform.validate_on_submit():\n+ user = User('admin')\n+ password = loginform.password.data\n+ if not user.check_password(password):\n+ return abort(401)\n+ \n+ login_user(user, remember=loginform.remember_me.data)\n+ next_page = request.args.get('next')\n+ if not next_page or url_parse(next_page).netloc != '':\n+ next_page = url_for('status_page')\n+\n+ return redirect(next_page)\n+ \n+ return render_template('login.html', title='Sign In', form=loginform)\n+\n+@app.route('/logout')\n+def logout():\n+ logout_user()\n+ return redirect(url_for('login_page'))\n+\n+#### Handle connect/disconnect events ####\n+\n+@socketio.on(\"connect\", namespace=\"/test\")\n+def testConnect():\n+ print(\"Browser client connected\")\n+ rtk.sendState()\n+\n+@socketio.on(\"disconnect\", namespace=\"/test\")\n+def testDisconnect():\n+ print(\"Browser client disconnected\")\n+\n+#### Log list handling ###\n+\n+@socketio.on(\"get logs list\", namespace=\"/test\")\n+def getAvailableLogs():\n+ print(\"DEBUG updating logs\")\n+ rtk.logm.updateAvailableLogs()\n+ print(\"Updated logs list is \" + str(rtk.logm.available_logs))\n+ rtk.socketio.emit(\"available logs\", rtk.logm.available_logs, namespace=\"/test\")\n+\n+#### str2str launch/shutdown handling ####\n+\n+@socketio.on(\"launch base\", namespace=\"/test\")\n+def launchBase():\n+ rtk.launchBase()\n+\n+@socketio.on(\"shutdown base\", namespace=\"/test\")\n+def shutdownBase():\n+ rtk.shutdownBase()\n+\n+#### str2str start/stop handling ####\n+\n+@socketio.on(\"start base\", namespace=\"/test\")\n+def startBase():\n+ rtk.startBase()\n+\n+@socketio.on(\"stop base\", namespace=\"/test\")\n+def stopBase():\n+ rtk.stopBase()\n+\n+@socketio.on(\"on graph\", namespace=\"/test\")\n+def continueBase():\n+ rtk.sleep_count = 0\n+#### Free space handler\n+\n+@socketio.on(\"get available space\", namespace=\"/test\")\n+def getAvailableSpace():\n+ rtk.socketio.emit(\"available space\", reach_tools.getFreeSpace(path_to_gnss_log), namespace=\"/test\")\n+\n+#### Delete log button handler ####\n+\n+@socketio.on(\"delete log\", namespace=\"/test\")\n+def deleteLog(json):\n+ rtk.logm.deleteLog(json.get(\"name\"))\n+ # Sending the the new available logs\n+ getAvailableLogs()\n+\n+#### Download and convert log handlers ####\n+\n+@socketio.on(\"process log\", namespace=\"/test\")\n+def processLog(json):\n+ log_name = json.get(\"name\")\n+\n+ print(\"Got signal to process a log, name = \" + str(log_name))\n+ print(\"Path to log == \" + rtk.logm.log_path + \"/\" + str(log_name))\n+\n+ raw_log_path = rtk.logm.log_path + \"/\" + log_name\n+ rtk.processLogPackage(raw_log_path)\n+\n+@socketio.on(\"cancel log conversion\", namespace=\"/test\")\n+def cancelLogConversion(json):\n+ log_name = json.get(\"name\")\n+ raw_log_path = rtk.logm.log_path + \"/\" + log_name\n+ rtk.cancelLogConversion(raw_log_path)\n+\n+#### RINEX versioning ####\n+\n+@socketio.on(\"read RINEX version\", namespace=\"/test\")\n+def readRINEXVersion():\n+ rinex_version = rtk.logm.getRINEXVersion()\n+ rtk.socketio.emit(\"current RINEX version\", {\"version\": rinex_version}, namespace=\"/test\")\n+\n+@socketio.on(\"write RINEX version\", namespace=\"/test\")\n+def writeRINEXVersion(json):\n+ rinex_version = json.get(\"version\")\n+ rtk.logm.setRINEXVersion(rinex_version)\n+\n+#### Device hardware functions ####\n+\n+@socketio.on(\"reboot device\", namespace=\"/test\")\n+def rebootRtkbase():\n+ print(\"Rebooting...\")\n+ rtk.shutdown()\n+ #socketio.stop() hang. I disabled it\n+ #socketio.stop()\n+ check_output(\"reboot\")\n+\n+@socketio.on(\"shutdown device\", namespace=\"/test\")\n+def shutdownRtkbase():\n+ print(\"Shutdown...\")\n+ rtk.shutdown()\n+ #socketio.stop() hang. I disabled it\n+ #socketio.stop()\n+ check_output([\"shutdown\", \"now\"])\n+\n+@socketio.on(\"turn off wi-fi\", namespace=\"/test\")\n+def turnOffWiFi():\n+ print(\"Turning off wi-fi\")\n+# check_output(\"rfkill block wlan\", shell = True)\n+\n+#### Systemd Services functions ####\n+\n+def load_units(services):\n+ \"\"\"\n+ load unit service before getting status\n+ :param services: A list of systemd services (dict) containing a service_unit key:value\n+ :return The dict list updated with the pystemd ServiceController object\n+\n+ example: \n+ services = [{\"service_unit\" : \"str2str_tcp.service\"}]\n+ return will be [{\"service_unit\" : \"str2str_tcp.service\", \"unit\" : a pystemd object}]\n+ \n+ \"\"\"\n+ for service in services:\n+ service[\"unit\"] = ServiceController(service[\"service_unit\"])\n+ return services\n+\n+def update_std_user(services):\n+ \"\"\"\n+ check which user run str2str_file service and update settings.conf\n+ :param services: A list of systemd services (dict) containing a service_unit key:value\n+ \"\"\"\n+ service = next(x for x in services_list if x[\"name\"] == \"file\")\n+ user = service[\"unit\"].getUser()\n+ rtkbaseconfig.update_setting(\"general\", \"user\", user)\n+\n+def restartServices(restart_services_list):\n+ \"\"\"\n+ Restart already running services\n+ This function will refresh all services status, then compare the global services_list and \n+ the restart_services_list to find the services we need to restart.\n+ #TODO I don't really like this global services_list use.\n+ \"\"\"\n+ #Update services status\n+ for service in services_list:\n+ service[\"active\"] = service[\"unit\"].isActive()\n+\n+ #Restart running services\n+ for restart_service in restart_services_list:\n+ for service in services_list:\n+ if service[\"name\"] == restart_service and service[\"active\"] is True:\n+ print(\"Restarting service: \", service[\"name\"])\n+ service[\"unit\"].restart()\n+ \n+ #refresh service status\n+ getServicesStatus()\n+\n+@socketio.on(\"get services status\", namespace=\"/test\")\n+def getServicesStatus():\n+ \"\"\"\n+ Get the status of services listed in services_list\n+ (services_list is global)\n+ \"\"\"\n+\n+ print(\"Getting services status\")\n+ \n+ for service in services_list:\n+ service[\"active\"] = service[\"unit\"].isActive()\n+\n+ services_status = []\n+ for service in services_list: \n+ services_status.append({key:service[key] for key in service if key != 'unit'})\n+ \n+ print(services_status)\n+ socketio.emit(\"services status\", json.dumps(services_status), namespace=\"/test\")\n+ return services_status\n+\n+@socketio.on(\"services switch\", namespace=\"/test\")\n+def switchService(json):\n+ \"\"\"\n+ Start or stop some systemd services\n+ As a service could need some time to start or stop, there is a 5 seconds sleep\n+ before refreshing the status.\n+ param: json: A json var from the web front end containing one or more service\n+ name with their new status.\n+ \"\"\"\n+ print(\"Received service to switch\", json)\n+ try:\n+ for service in services_list:\n+ if json[\"name\"] == service[\"name\"] and json[\"active\"] == True:\n+ print(\"Trying to start service {}\".format(service[\"name\"]))\n+ service[\"unit\"].start()\n+ elif json[\"name\"] == service[\"name\"] and json[\"active\"] == False:\n+ print(\"Trying to stop service {}\".format(service[\"name\"]))\n+ service[\"unit\"].stop()\n+\n+ except Exception as e:\n+ print(e)\n+ finally:\n+ time.sleep(5)\n+ getServicesStatus()\n+\n+@socketio.on(\"form data\", namespace=\"/test\")\n+def update_settings(json):\n+ \"\"\"\n+ Get the form data from the web front end, and save theses values to settings.conf\n+ Then restart the services which have a dependency with these parameters.\n+ param json: A json variable containing the source fom and the new paramaters\n+ \"\"\"\n+ print(\"received settings form\", json)\n+ source_section = json.pop().get(\"source_form\")\n+ print(\"section: \", source_section)\n+ if source_section == \"change_password\":\n+ if json[0].get(\"value\") == json[1].get(\"value\"):\n+ rtkbaseconfig.update_setting(\"general\", \"new_web_password\", json[0].get(\"value\"))\n+ update_password(rtkbaseconfig)\n+ socketio.emit(\"password updated\", namespace=\"/test\")\n+\n+ else:\n+ print(\"ERREUR, MAUVAIS PASS\")\n+ else:\n+ for form_input in json:\n+ print(\"name: \", form_input.get(\"name\"))\n+ print(\"value: \", form_input.get(\"value\"))\n+ rtkbaseconfig.update_setting(source_section, form_input.get(\"name\"), form_input.get(\"value\"), write_file=False)\n+ rtkbaseconfig.write_file()\n+\n+ #Restart service if needed\n+ if source_section == \"main\":\n+ restartServices((\"main\", \"ntrip\", \"rtcm_svr\", \"file\"))\n+ elif source_section == \"ntrip\":\n+ restartServices((\"ntrip\",))\n+ elif source_section == \"rtcm_svr\":\n+ restartServices((\"rtcm_svr\",))\n+ elif source_section == \"local_storage\":\n+ restartServices((\"file\",))\n+\n+if __name__ == \"__main__\":\n+ try:\n+ #check if a new password is defined in settings.conf\n+ update_password(rtkbaseconfig)\n+ #check if authentification is required\n+ if not rtkbaseconfig.get_web_authentification():\n+ app.config[\"LOGIN_DISABLED\"] = True\n+ #get data path\n+ app.config[\"DOWNLOAD_FOLDER\"] = rtkbaseconfig.get(\"local_storage\", \"datadir\")\n+ #load services status managed with systemd\n+ services_list = load_units(services_list)\n+ #Update standard user in settings.conf\n+ update_std_user(services_list)\n+ #Start a \"manager\" thread\n+ manager_thread = Thread(target=manager, daemon=True)\n+ manager_thread.start()\n+\n+ app.secret_key = rtkbaseconfig.get_secret_key()\n+ socketio.run(app, host = \"0.0.0.0\", port = 80)\n+\n+ except KeyboardInterrupt:\n+ print(\"Server interrupted by user!!\")\n+\n+ # clean up broadcast and blink threads\n+ rtk.server_not_interrupted = False\n+# rtk.led.blinker_not_interrupted = False\n+ rtk.waiting_for_single = False\n+\n+ if rtk.coordinate_thread is not None:\n+ rtk.coordinate_thread.join()\n+\n+ if rtk.satellite_thread is not None:\n+ rtk.satellite_thread.join()\n+\n+# if rtk.led.blinker_thread is not None:\n+# rtk.led.blinker_thread.join()\n+\n", "test_patch": "diff --git a/receiver_cfg/ubxconfig.sh b/receiver_cfg/test_ubx.sh\nsimilarity index 98%\nrename from receiver_cfg/ubxconfig.sh\nrename to receiver_cfg/test_ubx.sh\n--- a/receiver_cfg/ubxconfig.sh\n+++ b/receiver_cfg/test_ubx.sh\n@@ -74,6 +74,8 @@ ver_check ()\n {\n dev_mon_ver=`dev_mon_ver`\n file_mon_ver=`file_mon_ver $1`\n+echo \"Device version: \" ${dev_mon_ver}\n+echo \"File version: \" ${file_mon_ver}\n \n if [[ ${dev_mon_ver} =~ .*${file_mon_ver}.* ]]\n then\n@@ -105,6 +107,7 @@ then\n else\n return 1\n fi\n+return 1\n }\n \n send_ubx ()\ndiff --git a/unit/test.service b/web_app/log_converter/__init__.py\nsimilarity index 100%\nrename from unit/test.service\nrename to web_app/log_converter/__init__.py\n", "problem_statement": "", "hints_text": "", "created_at": "2020-06-07T08:01:41Z"}