Rewrote GPS receiver for Raspberry Pi.

ProjectNeura · Mar 3, 2024 · e42f2fd · e42f2fd
1 parent 101ea55
commit e42f2fd
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Showing 2 changed files with 14 additions and 2 deletions.
diff --git a/leads/dt/predefined_tags.py b/leads/dt/predefined_tags.py
@@ -12,3 +12,4 @@
 BRAKE_PEDAL: str = "bpd"
 DC_MOTOR_CONTROLLER_A: str = "dmca"
 DC_MOTOR_CONTROLLER_B: str = "dmcb"
+GPS_RECEIVER: str = "gps"
diff --git a/leads_vec/controller.py b/leads_vec/controller.py
@@ -1,14 +1,16 @@
 from leads import device, controller, MAIN_CONTROLLER, get_controller, WHEEL_SPEED_CONTROLLER, SRWDataContainer, \
     DRWDataContainer, LEFT_FRONT_WHEEL_SPEED_SENSOR, RIGHT_FRONT_WHEEL_SPEED_SENSOR, Controller, \
     CENTER_REAR_WHEEL_SPEED_SENSOR, LEFT_REAR_WHEEL_SPEED_SENSOR, RIGHT_REAR_WHEEL_SPEED_SENSOR, get_config, \
-    mark_system, POWER_CONTROLLER, ODOMETER, get_device
+    mark_system, POWER_CONTROLLER, ODOMETER, GPS_RECEIVER
 from leads_arduino import ArduinoMicro, WheelSpeedSensor, ArduinoCallback, VoltageSensor, ConcurrentOdometer
 from leads_gui import Config
+from leads_raspberry_pi import GPSReceiver
 
 config = get_config(Config)
 BAUD_RATE: int = config.get("baud_rate", 9600)
 POWER_CONTROLLER_PORT: str = config.get("power_controller_port", "COM4")
 WHEEL_SPEED_CONTROLLER_PORT: str = config.get("wheel_speed_controller_port", "COM3")
+GPS_RECEIVER_PORT: str = config.get("gps_receiver_port", "COM3")
 FRONT_WHEEL_DIAMETER: float = config.get("front_wheel_diameter", 20)  # 20 inches
 REAR_WHEEL_DIAMETER: float = config.get("rear_wheel_diameter", 20)  # 20 inches
 THROTTLE_PEDAL_PIN: int = config.get("throttle_pedal_pin", 2)
@@ -22,7 +24,9 @@ def read(self) -> SRWDataContainer | DRWDataContainer:
         r = get_controller(WHEEL_SPEED_CONTROLLER).read()
         universal = {
             "voltage": get_controller(POWER_CONTROLLER).read(),
-            "mileage": get_device(ODOMETER).read()
+            "mileage": self.device(ODOMETER).read(),
+            "latitude": (coords := self.device(GPS_RECEIVER).read())[0],
+            "longitude": coords[1]
         }
         return SRWDataContainer(**r, **universal) if config.srw_mode else DRWDataContainer(**r, **universal)
 
@@ -105,4 +109,11 @@ def initialize(self, *parent_tags: str) -> None:
 #         self._brake: bool = brake
 
 
+@device(GPS_RECEIVER, MAIN_CONTROLLER, (GPS_RECEIVER_PORT,))
+class GPS(GPSReceiver):
+    def initialize(self, *parent_tags: str) -> None:
+        mark_system(self, "GPS")
+        super().initialize(*parent_tags)
+
+
 _ = None  # null export