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Rework gpsd gps code to fix issue with early dongle #373

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Merged
brickbots merged 1 commit into from
Jan 25, 2026
Merged

Rework gpsd gps code to fix issue with early dongle #373

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126 changes: 50 additions & 76 deletions python/PiFinder/gps_gpsd.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@
This module is for GPS related functions
"""

import asyncio
from PiFinder.multiproclogging import MultiprocLogging
from gpsdclient import GPSDClient
import logging
Expand Down Expand Up @@ -43,91 +42,66 @@ def is_tpv_accurate(tpv_dict):
return False


async def aiter_wrapper(sync_iter):
"""Wrap a synchronous iterable into an asynchronous one."""
for item in sync_iter:
yield item
await asyncio.sleep(0) # Yield control to the event loop


async def process_sky_messages(client, gps_queue):
sky_stream = client.dict_stream(filter=["SKY"])
global error_2d, error_3d
async for result in aiter_wrapper(sky_stream):
logger.debug("GPS: SKY: %s", result)
if result["class"] == "SKY":
error_2d = result.get("hdop", 999)
error_3d = result.get("pdop", 999)
if result["class"] == "SKY" and "nSat" in result:
sats_seen = result["nSat"]
sats_used = result["uSat"]
num_sats = (sats_seen, sats_used)
msg = ("satellites", num_sats)
logger.debug("Number of sats seen: %i", sats_seen)
gps_queue.put(msg)
await asyncio.sleep(0) # Yield control to the event loop


async def process_reading_messages(client, gps_queue, console_queue, gps_locked):
global error_in_m
tpv_stream = client.dict_stream(convert_datetime=True, filter=["TPV"])
async for result in aiter_wrapper(tpv_stream):
if is_tpv_accurate(result):
# if True:
logger.debug("last reading is %s", result)
if result.get("lat") and result.get("lon") and result.get("altHAE"):
if not gps_locked:
gps_locked = True
console_queue.put("GPS: Locked")
logger.debug("GPS locked")
msg = (
"fix",
{
"lat": result.get("lat"),
"lon": result.get("lon"),
"altitude": result.get("altHAE"),
"source": "GPS",
"lock": True,
"lock_type": result.get("mode", 0),
"error_in_m": error_in_m,
},
)
logger.debug("GPS fix: %s", msg)
gps_queue.put(msg)

if result.get("time"):
msg = ("time", result.get("time"))
logger.debug("Setting time to %s", result.get("time"))
gps_queue.put(msg)
await asyncio.sleep(0) # Yield control to the event loop


async def gps_main(gps_queue, console_queue, log_queue):
def gps_main(gps_queue, console_queue, log_queue):
global error_2d, error_3d, error_in_m
MultiprocLogging.configurer(log_queue)
logger.info("Using GPSD GPS code")
gps_locked = False

while True:
try:
with GPSDClient(host="127.0.0.1") as client:
while True:
logger.debug("GPS waking")

# Run both functions concurrently
await asyncio.gather(
process_sky_messages(client, gps_queue),
process_reading_messages(
client, gps_queue, console_queue, gps_locked
),
)

logger.debug("GPS sleeping now for 7s")
await asyncio.sleep(7)
for result in client.dict_stream(
convert_datetime=True, filter=["TPV", "SKY"]
):
if result["class"] == "TPV" and is_tpv_accurate(result):
logger.debug("last reading is %s", result)
if (
result.get("lat")
and result.get("lon")
and result.get("altHAE")
):
if not gps_locked:
gps_locked = True
console_queue.put("GPS: Locked")
logger.debug("GPS locked")
msg = (
"fix",
{
"lat": result.get("lat"),
"lon": result.get("lon"),
"altitude": result.get("altHAE"),
"source": "GPS",
"lock": True,
"lock_type": result.get("mode", 0),
"error_in_m": error_in_m,
},
)
logger.debug("GPS fix: %s", msg)
gps_queue.put(msg)

if result.get("time"):
msg = ("time", result.get("time"))
logger.debug("Setting time to %s", result.get("time"))
gps_queue.put(msg)

if result["class"] == "SKY":
logger.debug("GPS: SKY: %s", result)
print("GPS: SKY: %s", result)
if result["class"] == "SKY":
error_2d = result.get("hdop", 999)
error_3d = result.get("pdop", 999)
if result["class"] == "SKY" and "nSat" in result:
sats_seen = result["nSat"]
sats_used = result["uSat"]
num_sats = (sats_seen, sats_used)
msg = ("satellites", num_sats)
logger.debug("Number of sats seen: %i", sats_seen)
gps_queue.put(msg)
except Exception as e:
logger.error(f"Error in GPS monitor: {e}")
await asyncio.sleep(5) # Wait before attempting to reconnect


# To run the GPS monitor
def gps_monitor(gps_queue, console_queue, log_queue):
asyncio.run(gps_main(gps_queue, console_queue, log_queue))
gps_main(gps_queue, console_queue, log_queue)