garmin.py

gps pygarmin-0[1].6.tgz

MaxVer = 999.99

ModelProtocols = {
#                        Use a wide window for best viewing!
#
# ID    minver maxver    Link  Cmnd   Wpt,          Rte,                Trk,          Prx,          Alm
7:   ( (None,            L001, A010, (A100, D100), (A200, D200, D100), None,         None,         (A500, D500) ), ),
13:  ( (None,            L001, A010, (A100, D100), (A200, D200, D100), (A300, D300), (A400, D400), (A500, D500) ), ),
14:  ( (None,            L001, A010, (A100, D100), (A200, D200, D100), None,         (A400, D400), (A500, D500) ), ),
15:  ( (None,            L001, A010, (A100, D151), (A200, D200, D151), None,         (A400, D151), (A500, D500) ), ),
18:  ( (None,            L001, A010, (A100, D100), (A200, D200, D100), (A300, D300), (A400, D400), (A500, D500) ), ),
20:  ( (None,            L002, A011, (A100, D150), (A200, D201, D150), None,         (A400, D450), (A500, D550) ), ),
22:  ( (None,            L001, A010, (A100, D152), (A200, D200, D152), (A300, D300), (A400, D152), (A500, D500) ), ),
23:  ( (None,            L001, A010, (A100, D100), (A200, D200, D100), (A300, D300), (A400, D400), (A500, D500) ), ),
24:  ( (None,            L001, A010, (A100, D100), (A200, D200, D100), (A300, D300), (A400, D400), (A500, D500) ), ),
25:  ( (None,            L001, A010, (A100, D100), (A200, D200, D100), (A300, D300), (A400, D400), (A500, D500) ), ),
29:  ( ((0.00, 4.00),    L001, A010, (A100, D101), (A200, D201, D101), (A300, D300), (A400, D101), (A500, D500) ),
       ((4.00, MaxVer),  L001, A010, (A100, D102), (A200, D201, D102), (A300, D300), (A400, D102), (A500, D500) ), ),
31:  ( (None,            L001, A010, (A100, D100), (A200, D201, D100), (A300, D300), None,         (A500, D500) ), ),
33:  ( (None,            L002, A011, (A100, D150), (A200, D201, D150), None,         (A400, D450), (A500, D550) ), ),
34:  ( (None,            L002, A011, (A100, D150), (A200, D201, D150), None,         (A400, D450), (A500, D550) ), ),
35:  ( (None,            L001, A010, (A100, D100), (A200, D200, D100), (A300, D300), (A400, D400), (A500, D500) ), ),
36:  ( ((0.00, 3.00),    L001, A010, (A100, D152), (A200, D200, D152), (A300, D300), (A400, D152), (A500, D500) ),
       ((3.00, MaxVer),  L001, A010, (A100, D152), (A200, D200, D152), (A300, D300), None,         (A500, D500) ), ),
39:  ( (None,            L001, A010, (A100, D151), (A200, D201, D151), (A300, D300), None,         (A500, D500) ), ),
41:  ( (None,            L001, A010, (A100, D100), (A200, D201, D100), (A300, D300), None,         (A500, D500) ), ),
42:  ( (None,            L001, A010, (A100, D100), (A200, D200, D100), (A300, D300), (A400, D400), (A500, D500) ), ),
44:  ( (None,            L001, A010, (A100, D101), (A200, D201, D101), (A300, D300), (A400, D101), (A500, D500) ), ),
45:  ( (None,            L001, A010, (A100, D152), (A200, D201, D152), (A300, D300), None,         (A500, D500) ), ),
47:  ( (None,            L001, A010, (A100, D100), (A200, D201, D100), (A300, D300), None,         (A500, D500) ), ),
48:  ( (None,            L001, A010, (A100, D154), (A200, D201, D154), (A300, D300), None,         (A500, D501) ), ),
49:  ( (None,            L001, A010, (A100, D102), (A200, D201, D102), (A300, D300), (A400, D102), (A500, D501) ), ),
50:  ( (None,            L001, A010, (A100, D152), (A200, D201, D152), (A300, D300), None,         (A500, D501) ), ),
52:  ( (None,            L002, A011, (A100, D150), (A200, D201, D150), None,         (A400, D450), (A500, D550) ), ),
53:  ( (None,            L001, A010, (A100, D152), (A200, D201, D152), (A300, D300), None,         (A500, D501) ), ),
55:  ( (None,            L001, A010, (A100, D100), (A200, D201, D100), (A300, D300), None,         (A500, D500) ), ),
56:  ( (None,            L001, A010, (A100, D100), (A200, D201, D100), (A300, D300), None,         (A500, D500) ), ),
59:  ( (None,            L001, A010, (A100, D100), (A200, D201, D100), (A300, D300), None,         (A500, D500) ), ),
61:  ( (None,            L001, A010, (A100, D100), (A200, D201, D100), (A300, D300), None,         (A500, D500) ), ),
62:  ( (None,            L001, A010, (A100, D100), (A200, D201, D100), (A300, D300), None,         (A500, D500) ), ),
64:  ( (None,            L002, A011, (A100, D150), (A200, D201, D150), None,         (A400, D450), (A500, D551) ), ),
71:  ( (None,            L001, A010, (A100, D155), (A200, D201, D155), (A300, D300), None,         (A500, D501) ), ),
72:  ( (None,            L001, A010, (A100, D104), (A200, D201, D104), (A300, D300), None,         (A500, D501) ), ),
73:  ( (None,            L001, A010, (A100, D103), (A200, D201, D103), (A300, D300), None,         (A500, D501) ), ),
74:  ( (None,            L001, A010, (A100, D100), (A200, D201, D100), (A300, D300), None,         (A500, D500) ), ),
76:  ( (None,            L001, A010, (A100, D102), (A200, D201, D102), (A300, D300), (A400, D102), (A500, D501) ), ),
77:  ( ((0.00, 3.01),    L001, A010, (A100, D100), (A200, D201, D100), (A300, D300), (A400, D400), (A500, D501) ),
       ((3.01, 3.50),    L001, A010, (A100, D103), (A200, D201, D103), (A300, D300), (A400, D403), (A500, D501) ),
       ((3.50, 3.61),    L001, A010, (A100, D103), (A200, D201, D103), (A300, D300), None,         (A500, D501) ),
       ((3.61, MaxVer),  L001, A010, (A100, D103), (A200, D201, D103), (A300, D300), (A400, D403), (A500, D501) ), ),
87:  ( (None,            L001, A010, (A100, D103), (A200, D201, D103), (A300, D300), (A400, D403), (A500, D501) ), ),
88:  ( (None,            L001, A010, (A100, D102), (A200, D201, D102), (A300, D300), (A400, D102), (A500, D501) ), ),
95:  ( (None,            L001, A010, (A100, D103), (A200, D201, D103), (A300, D300), (A400, D403), (A500, D501) ), ),
96:  ( (None,            L001, A010, (A100, D103), (A200, D201, D103), (A300, D300), (A400, D403), (A500, D501) ), ),
97:  ( (None,            L001, A010, (A100, D103), (A200, D201, D103), (A300, D300), None,         (A500, D501) ), ),
98:  ( (None,            L002, A011, (A100, D150), (A200, D201, D150), None,         (A400, D450), (A500, D551) ), ),
100: ( (None,            L001, A010, (A100, D103), (A200, D201, D103), (A300, D300), (A400, D403), (A500, D501) ), ),
105: ( (None,            L001, A010, (A100, D103), (A200, D201, D103), (A300, D300), (A400, D403), (A500, D501) ), ),
106: ( (None,            L001, A010, (A100, D103), (A200, D201, D103), (A300, D300), (A400, D403), (A500, D501) ), ),
112: ( (None,            L001, A010, (A100, D152), (A200, D201, D152), (A300, D300), None,         (A500, D501) ), )
}

def GetProtocols(prod_id, soft_ver):
   bits = ModelProtocols[prod_id]
   for i in bits:
      vrange = i[0]
      if ( (vrange == None) or
           ((soft_ver >= vrange[0]) and (soft_ver < vrange[1]))):
         return i
   raise "No protocols known for this software version. Strange!"

def FormatA001(protocols):
   """This is here to get the list of strings returned by A001 into
    the same format as used in the ModelProtocols dictionary"""

   try:
      phys = eval(protocols[0])
      link = eval(protocols[1])
      cmnd = eval(protocols[2])
      
      tuples = {"1" : None, "2" : None, "3" : None, "4" : None,
                "5" : None, "6" : None, "7" : None, "8" : None,
                "9" : None}
      last_seen = None
      for i in range(3, len(protocols)):
         p = protocols[i]
         if p[0] == "A":
            pclass = p[1]
            if tuples[pclass] == None:
               tuples[pclass] = []
            last_seen = tuples[pclass]
         last_seen.append(eval(p))
   except NameError:
      print sys.exc_info()[2]
      raise NameError, "Protocol %s not supported yet!" % sys.exc_info()[1]
   return (None, link, cmnd, tuples["1"], tuples["2"], tuples["3"],
           tuples["4"], tuples["5"])

# ====================================================================

# Now some practical implementations

class SerialLink(P000):
   """
     A serial link will look something like this, though real
     implementations will probably override most of it.
   """
   def __init__(self, f, timeout = 5):
      self.f = f
      self.initserial()
      self.settimeout(timeout)

   def initserial(self):
      "Set up baud rate, handshaking, etc"
      pass
   
   def read(self, n):
      """
      Read n bytes and return them. Real implementations should
      raise a LinkException if there is a timeout > self.timeout
      """
      return self.f.read(n)

   def write(self, data):
      self.f.write(data)

   def settimeout(self, secs):
      self.timeout = secs
      
   def __del__(self):
      """Should close down any opened resources"""
      pass


class UnixSerialLink(SerialLink):

   def __init__(self, device):
      f = open(device, "w+", 0)
      SerialLink.__init__(self, f)

   def initserial(self):
      from tty import *
      
      fd = self.f.fileno()
      setraw(fd)
      mode = tcgetattr(fd)
      mode[ISPEED] = mode[OSPEED] = B9600
      # mode[LFLAG] = mode[LFLAG] | ECHO
      tcsetattr(fd, TCSAFLUSH, mode)

   def read(self, n):
      import select
      
      i = 0
      data = []
      while i < n:
         iset,oset,eset = select.select([self.f.fileno()], [], [], self.timeout)
         if iset == []:
           raise LinkException, "time out"
         b = self.f.read(1)
         data.append(b)
         i = i + 1
      return string.join(data,'')

   def __del__(self):
      self.f.close()

# Win32 Serial Link ==================================================

if os.name == 'nt':
   from win32file import * 
   import win32con

class Win32SerialLink(SerialLink):
   def __init__(self, device):
      self.device = device
      handle = CreateFile(device,
         win32con.GENERIC_READ | win32con.GENERIC_WRITE,
         0, # exclusive access
         None, # no security
         win32con.OPEN_EXISTING,
         0,
         None)
      SerialLink.__init__(self, handle)

   def initserial(self):
      # Remove anything that was there
      PurgeComm(self.f, PURGE_TXABORT | PURGE_RXABORT
         | PURGE_TXCLEAR | PURGE_RXCLEAR )

      # Setup the connection info.
      dcb = GetCommState( self.f )
      dcb.BaudRate = CBR_9600
      dcb.ByteSize = 8
      dcb.Parity = NOPARITY
      dcb.StopBits = ONESTOPBIT
      SetCommState(self.f, dcb)

   def read(self, n):
      buffer = AllocateReadBuffer(n)
      rc, data = ReadFile(self.f, buffer)
      if len(data) != n:
         raise LinkException, "time out";
      return data

   def write(self, n):
      rc,n = WriteFile(self.f, n)
      if rc:
         raise LinkException, "WriteFile error";

   def settimeout(self, secs):
      SerialLink.settimeout(self, secs)
      # Setup time-outs
      timeouts = 0xFFFFFFFF, 0, 1000*secs, 0, 1000*secs
      SetCommTimeouts(self.f, timeouts)

   def __del__(self):
      CloseHandle(self.f)
      
class Garmin:
   """
   A representation of the GPS device, which is connected
   via some physical connection, typically a SerialLink of some sort.
   """
   def __init__(self, physicalLayer):
      self.link = L000(physicalLayer)      # at least initially
      (self.prod_id, self.soft_ver,
       self.prod_descs) = A000(self.link).getProductData()

      if debug > 1: print "Get supported protocols"
      # Wait for the unit to announce its capabilities using A001.  If
      # that doesn't happen, try reading the protocols supported by the
      # unit from the Big Table.
      physicalLayer.settimeout(2)
      try:
         self.protocols = A001(self.link).getProtocols()
         protos = FormatA001(self.protocols)
      except LinkException, e:
         if debug > 2: print "PCP not supported"
         try:
            protos = GetProtocols(self.prod_id, self.soft_ver)
         except KeyError:
            raise Exception, "Couldn't determine product capabilities"
      physicalLayer.settimeout(5)
      
      # protos = GetProtocols(self.prod_id, self.soft_ver)

      (versions, self.linkProto, self.cmdProto, wptProtos, rteProtos,
       trkProtos, prxProtos, almProtos) = protos

      self.link = self.linkProto(physicalLayer)

      # The datatypes we expect to receive

      self.wptType = wptProtos[1]
      self.rteTypes = rteProtos[1:]
      self.trkTypes = trkProtos[1:]

      # Now we set up 'links' through which we can get data of the
      # appropriate types

      self.wptLink = wptProtos[0](self.link, self.cmdProto, (self.wptType,))
      self.rteLink = rteProtos[0](self.link, self.cmdProto, self.rteTypes)
      self.trkLink = trkProtos[0](self.link, self.cmdProto, self.trkTypes)

      if prxProtos != None:   
         self.prxType = prxProtos[1]
         self.prxLink = prxProtos[0](self.link, self.cmdProto, (self.prxType,))

      if almProtos != None:
         self.almType = almProtos[1]
         self.almLink = almProtos[0](self.link, self.cmdProto, (self.almType,))

      self.timeLink = A600(self.link, self.cmdProto, D600)
      self.pvtLink  = A800(self.link, self.cmdProto, D800)
      
   def getWaypoints(self):
      return self.wptLink.getData()

   def putWaypoints(self, data):
      return self.wptLink.putData(data)

   def getRoutes(self):
      return self.rteLink.getData()

   def getTracks(self):
      data = self.trkLink.getData()
      if isinstance(self.trkLink, SingleTransferProtocol):
         return [data] # for consistency- compare A300 with A301
      else:
         return data

   def getProxPoints(self):
      return self.prxLink.getData()

   def getAlmanac(self):
      return self.almLink.getData()

   def getTime(self):
      return self.timeLink.getData()

   def pvtOn(self):
      return self.pvtLink.dataOn()

   def pvtOff(self):
      return self.pvtLink.dataOff()

   def getPvt(self):
      return self.pvtLink.getData()

# =================================================================
# The following is test code. See other included files for more
# useful applications.

def main():
   if os.name == 'nt':
      serialDevice =  "com1"
      phys = Win32SerialLink(serialDevice)
   else:
      serialDevice =  "/dev/ttyS0"
      phys = UnixSerialLink(serialDevice)
      
   gps = Garmin(phys)

   print "GPS Product ID: %d Descriptions: %s Software version: %2.2f" % \
         (gps.prod_id, gps.prod_descs, gps.soft_ver)

   if 1:
      # show waypoints
      wpts = gps.getWaypoints()
      for w in wpts:
         print w

   if 0:
      # show routes
      routes = gps.getRoutes()
      for r in routes:
         print r[0].route_num
         for p in r[1:]:
            print p
         
   if 0:
      # show proximity points
      print gps.getProxPoints()

   if 0:
      # show track
      tracks = gps.getTracks()
      for t in tracks:
         for p in t:
            print p

   if 0:
      # show almanac
      print gps.getAlmanac()

   if 0:
      # show time
      d = gps.getTime()
      print d.year, d.month, d.day, d.hour, d.min, d.sec

   if 0:
      # upload a waypoint
      w = gps.wptType(
         ident="01TEST",
         cmnt="A TEST POINT",
         slat=624447295,
         slon=-2529985
         )
      gps.putWaypoints([w])
      print "Uploaded", w

   if 0:
      # show some real-time data
      print "Starting pvt"
      gps.pvtOn()
      try:
         for i in range(10):
            p = gps.getPvt()
            print p
      finally:
         print "Stopping pvt"
         gps.pvtOff()


      
if __name__ == "__main__":
   main()