# ReachView code is placed under the GPL license.
# Written by Egor Fedorov (egor.fedorov@emlid.com)
# Copyright (c) 2015, Emlid Limited
# All rights reserved.
# If you are interested in using ReachView code as a part of a
# closed source project, please contact Emlid Limited (info@emlid.com).
# This file is part of ReachView.
# ReachView is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
# ReachView is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
# You should have received a copy of the GNU General Public License
# along with ReachView. If not, see <http://www.gnu.org/licenses/>.
import os
import time
import signal
import pexpect
from threading import Semaphore, Thread
# This module automates working with RTKRCV directly
# You can get sat levels, current status, start and restart the software
class RtkController:
def __init__(self, rtklib_path, config_path):
self.bin_path = rtklib_path
self.config_path = config_path
self.child = 0
self.status = {}
self.obs_rover = {}
self.obs_base = {}
self.info = {}
self.semaphore = Semaphore()
self.started = False
self.launched = False
self.current_config = ""
def expectAnswer(self, last_command = ""):
a = self.child.expect(["rtkrcv>", pexpect.EOF, "error"])
# check rtklib output for any errors
if a == 1:
print("got EOF while waiting for rtkrcv> . Shutting down")
print("This means something went wrong and rtkrcv just stopped")
print("output before exception: " + str(self.child))
return -1
if a == 2:
print("Could not " + last_command + ". Please check path to binary or config name")
print("You may also check serial port for availability")
return -2
return 1
def launch(self, config_name = None):
# run an rtkrcv instance with the specified config:
# if there is a slash in the name we consider it a full location
# otherwise, it's supposed to be in the upper directory(rtkrcv inside app)
if config_name is None:
config_name = "rtkbase_single_default.conf"
if not self.launched:
self.semaphore.acquire()
if "/" in config_name:
spawn_command = self.bin_path + "/rtkrcv -o " + config_name
else:
spawn_command = self.bin_path + "/rtkrcv -o " + os.path.join(self.config_path, config_name)
self.child = pexpect.spawn(spawn_command, cwd = self.bin_path, echo = False)
print('Launching rtklib with: "' + spawn_command + '"')
if self.expectAnswer("spawn") < 0:
self.semaphore.release()
return -1
self.semaphore.release()
self.launched = True
self.current_config = config_name
# launch success
return 1
# already launched
return 2
def shutdown(self):
if self.launched:
self.semaphore.acquire()
self.child.kill(signal.SIGUSR2)
# wait for rtkrcv to shutdown
try:
self.child.wait()
except pexpect.ExceptionPexpect:
print("Already dead!!")
if self.child.isalive():
r = -1
else:
r = 1
self.semaphore.release()
self.launched = False
return r
# already shut down
return 2
def start(self):
if not self.started:
self.semaphore.acquire()
self.child.send("start\r\n")
if self.expectAnswer("start") < 0:
self.semaphore.release()
return -1
self.semaphore.release()
self.started = True
self.restart()
print("Restart")
return 1
# already started
return 2
def stop(self):
if self.started:
self.semaphore.acquire()
self.child.send("stop\r\n")
if self.expectAnswer("stop") < 0:
self.semaphore.release()
return -1
self.semaphore.release()
self.started = False
return 1
# already stopped
return 2
def restart(self):
if self.started:
self.semaphore.acquire()
self.child.send("restart\r\n")
if self.expectAnswer("restart") < 0:
self.semaphore.release()
return -1
self.semaphore.release()
return 3
else:
# if we are not started yet, just start
return self.start()
def loadConfig(self, config_name = "rtk.conf"):
self.semaphore.acquire()
if "/" not in config_name:
# we assume this is not the full path
# so it must be in the upper dir
self.child.send("load " + "../" + config_name + "\r\n")
else:
self.child.send("load " + config_name + "\r\n")
if self.expectAnswer("load config") < 0:
self.semaphore.release()
return -1
self.semaphore.release()
self.current_config = config_name
return 1
def getStatus(self):
self.semaphore.acquire()
self.child.send("status\r\n")
if self.expectAnswer("get status") < 0:
self.semaphore.release()
return -1
status = self.child.before.decode().split("\r\n")
if status != {}:
for line in status:
spl = line.split(":", 1)
if len(spl) > 1:
param = spl[0].strip()
value = spl[1].strip()
self.status[param] = value
self.semaphore.release()
return 1
def getObs(self):
self.semaphore.acquire()
self.obs_rover = {}
self.obs_base = {}
self.child.send("obs\r\n")
if self.expectAnswer("get obs") < 0:
self.semaphore.release()
return -1
obs = self.child.before.decode().split("\r\n")
obs = [_f for _f in obs if _f]
matching_strings = [s for s in obs if "SAT" in s]
if matching_strings != []:
# find the header of the OBS table
header_index = obs.index(matching_strings[0])
# split the header string into columns
header = obs[header_index].split()
if "S1" in header:
# find the indexes of the needed columns
sat_name_index = header.index("SAT")
sat_level_index = header.index("S1")
sat_input_source_index = header.index("R")
if len(obs) > (header_index + 1):
# we have some info about the actual satellites:
self.obs_rover = {}
self.obs_base = {}
for line in obs[header_index+1:]:
spl = line.split()
if len(spl) > sat_level_index:
name = spl[sat_name_index]
level = spl[sat_level_index]
# R parameter corresponds to the input source number
if spl[sat_input_source_index] == "1":
# we consider 1 to be rover,
self.obs_rover[name] = level
elif spl[sat_input_source_index] == "2":
# 2 to be base
self.obs_base[name] = level
else:
self.obs_base = {}
self.obs_rover = {}
self.semaphore.release()
return 1
