reorganize the nmea drivers by message type

hyo2/soundspeed/base/callbacks/abstract_callbacks.py

@@ -1,13 +1,12 @@
-from abc import ABCMeta, abstractmethod
 import logging
+from abc import ABCMeta, abstractmethod
 from datetime import datetime
 from typing import Optional, TYPE_CHECKING
 
 if TYPE_CHECKING:
     from hyo2.soundspeed.listener.sis.sis import Sis
     from hyo2.soundspeed.listener.nmea.nmea import Nmea
 
-
 logger = logging.getLogger(__name__)
 
 
@@ -16,7 +15,7 @@ class GeneralAbstractCallbacks(metaclass=ABCMeta):
 
     def __init__(self) -> None:
         self.sis_listener = None  # type: Optional[Sis]
-        self.nmea_listener = None # type: Optional[Nmea]
+        self.nmea_listener = None  # type: Optional[Nmea]
 
     @abstractmethod
     def ask_number(self, title: Optional[str] = "", msg: Optional[str] = "Enter number", default: Optional[float] = 0.0,

hyo2/soundspeed/formats/nmea_0183/nmea_0183_gga.py

@@ -0,0 +1,45 @@
+import logging
+from hyo2.soundspeed.formats.nmea_0183.nmea_0183_nav_abstract import Nmea0183NavAbstract
+
+logger = logging.getLogger(__name__)
+
+
+class Nmea0183GGA(Nmea0183NavAbstract):
+
+    def __init__(self, data: str) -> None:
+        super(Nmea0183GGA, self).__init__(data)
+
+    def _parse(self) -> None:
+
+        self._timestamp = self.msg[1]
+        self._lat = self.msg[2]
+        self._lat_dir = self.msg[3]
+        self._lon = self.msg[4]
+        self._lon_dir = self.msg[5]
+        self._gps_qual = self.msg[6]
+        self._num_sats = self.msg[7]
+        self._horizontal_dil = self.msg[8]
+        self._altitude = self.msg[9]
+        self._altitude_units = self.msg[10]
+        self._geo_sep = self.msg[11]
+        self._geo_sep_units = self.msg[12]
+        self._age_gps_data = self.msg[13]
+        self._ref_station_id = self.msg[14]
+
+        try:
+            self._latitude = int(self._lat[:2]) + float(self._lat[2:]) / 60.
+            if self._lat_dir == 'S':
+                self._latitude = -1.0 * self.latitude
+            # logger.debug("NMEA 0183 $$GGA lat: {}".format(self.latitude))
+
+        except Exception as e:
+            logger.warning("unable to interpret latitude from %s and %s: %s" % (self._lat, self._lat_dir, e))
+
+        try:
+            self._longitude = int(self._lon[:3]) + float(self._lon[3:]) / 60.
+            if self._lon_dir == 'W':
+                self._longitude = -1.0 * self.longitude
+            # logger.debug("NMEA 0183 $$GGA lon: {}".format(self.longitude))
+
+        except Exception as e:
+            logger.warning("unable to interpret longitude from %s and %s: %s" % (self._lon, self._lon_dir, e))

hyo2/soundspeed/formats/nmea_0183/nmea_0183_gll.py

@@ -0,0 +1,45 @@
+import logging
+from typing import Optional
+from hyo2.soundspeed.formats.nmea_0183.nmea_0183_nav_abstract import Nmea0183NavAbstract
+
+logger = logging.getLogger(__name__)
+
+
+class Nmea0183GLL(Nmea0183NavAbstract):
+
+    def __init__(self, data: str) -> None:
+        super(Nmea0183GLL, self).__init__(data)
+
+        self._lat = Optional[str]
+        self._lat_dir = Optional[str]
+        self._lon = Optional[str]
+        self._lon_dir = Optional[str]
+        self._timestamp = Optional[str]
+        self._status = Optional[str]
+
+    def _parse(self) -> None:
+
+        self._lat = self.msg[1]
+        self._lat_dir = self.msg[2]
+        self._lon = self.msg[3]
+        self._lon_dir = self.msg[4]
+        self._timestamp = self.msg[5]
+        self._status = self.msg[6]
+
+        try:
+            self._latitude = int(self._lat[:2]) + float(self._lat[2:]) / 60.
+            if self._lat_dir == 'S':
+                self._latitude = -1.0 * self.latitude
+            # logger.debug("NMEA 0183 $$GLL lat: {}".format(self.latitude))
+
+        except Exception as e:
+            logger.warning("unable to interpret latitude from %s and %s: %s" % (self._lat, self._lat_dir, e))
+
+        try:
+            self._longitude = int(self._lon[:3]) + float(self._lon[3:]) / 60.
+            if self._lon_dir == 'W':
+                self._longitude = -1.0 * self.longitude
+            # logger.debug("NMEA 0183 $$GLL lon: {}".format(self.longitude))
+
+        except Exception as e:
+            logger.warning("unable to interpret longitude from %s and %s: %s" % (self._lon, self._lon_dir, e))

hyo2/soundspeed/formats/nmea_0183/nmea_0183_nav_abstract.py

@@ -0,0 +1,34 @@
+import logging
+from abc import ABCMeta, abstractmethod
+from typing import Optional
+
+logger = logging.getLogger(__name__)
+
+
+class Nmea0183NavAbstract(metaclass=ABCMeta):
+
+    def __init__(self, data: str) -> None:
+        self.data = data
+        self.msg = None  # type: Optional[list[str]]
+
+        self._latitude = None  # type: Optional[float]
+        self._longitude = None  # type: Optional[float]
+
+        self.msg = self.data.split(',')
+
+        self._parse()
+
+    @abstractmethod
+    def _parse(self) -> None:
+        pass
+
+    @property
+    def latitude(self) -> Optional[float]:
+        return self._latitude
+
+    @property
+    def longitude(self) -> Optional[float]:
+        return self._longitude
+
+    def __str__(self) -> str:
+        return "Latitude: %s, longitude: %s" % (self._latitude, self._longitude)

hyo2/soundspeed/listener/abstract.py

@@ -29,7 +29,7 @@ def __init__(self, port: int = 4001, ip: str = "0.0.0.0", timeout: int = 1,
 
         self.shutdown = Event()
         self.sock_in = None
-        self.data = None
+        self.data = None  # type: Optional[bytes]
         self.sender = None
 
     def init_sockets(self) -> bool:

hyo2/soundspeed/listener/nmea/nmea.py

@@ -2,8 +2,9 @@
 from datetime import datetime
 from typing import Optional, Union
 
+from hyo2.soundspeed.formats.nmea_0183.nmea_0183_gga import Nmea0183GGA
+from hyo2.soundspeed.formats.nmea_0183.nmea_0183_gll import Nmea0183GLL
 from hyo2.soundspeed.listener.abstract import AbstractListener
-from hyo2.soundspeed.formats import nmea0183
 
 logger = logging.getLogger(__name__)
 
@@ -16,9 +17,9 @@ def __init__(self, port: int, timeout: int = 1, ip: str = "0.0.0.0",
         super(Nmea, self).__init__(port=port, ip=ip, timeout=timeout, target=target, name=name, debug=debug)
         self.desc = name
 
-        self.nav = None            # type: Union[nmea0183.Nmea0183GGA, nmea0183.Nmea0183GLL, None]
+        self.nav = None  # type: Optional[Union[Nmea0183GGA, Nmea0183GLL]]
         self.nav_last_time = None  # type: Optional[datetime]
-        
+
     @property
     def nav_latitude(self) -> Optional[float]:
         if self.nav is None:
@@ -29,7 +30,7 @@ def nav_latitude(self) -> Optional[float]:
     def nav_longitude(self) -> Optional[float]:
         if self.nav is None:
             return None
-        return self.nav.longitude            
+        return self.nav.longitude
 
     def parse(self) -> None:
         this_data = self.data[:].decode("utf-8")
@@ -39,14 +40,14 @@ def parse(self) -> None:
         sentence_type = this_data[3:6]
 
         if sentence_type == 'GGA':
-            self.nav = nmea0183.Nmea0183GGA(this_data)
+            self.nav = Nmea0183GGA(this_data)
             self.nav_last_time = datetime.utcnow()
 
         elif sentence_type == 'GLL':
-            self.nav = nmea0183.Nmea0183GLL(this_data)
+            self.nav = Nmea0183GLL(this_data)
             self.nav_last_time = datetime.utcnow()
-        
+
     def __repr__(self):
         msg = "%s" % super(Nmea, self).__repr__()
-        # msg += "  <has data loaded: %s>\n" % self.has_data_loaded
+        msg += "  <nav last time: %s>\n" % self.nav_last_time
         return msg