Update to include USB GPS

EGI container updated to include:
  - USB-GPS functionality using GPSD
  - Reports Lat, Long, Alt, Time every ~10 seconds
  - Update to Docker-Compose file to support
  - Update to Dockerfile to support

Known issues:
  - If USB GPS is unplugged, container must be restarted - it will not currently fail
  - Environment variables must be set for Lat, Long, Alt, Roll, Pitch, and Yaw.  Failure to do so will result in EGI container failure.

docker-compose.yml

@@ -72,14 +72,9 @@ services:
 
  egi:
  build: ./egi
- entrypoint: "/app/egi.py -m mqtt"
- environment:
- - LAT=${LAT}
- - LONG=${LONG}
- - ALT=${ALT}
- - ROLL=${ROLL}
- - PITCH=${PITCH}
- - YAW=${YAW}
+ entrypoint: bash -c "gpsd ${GPS_SERIAL} -F /var/run/gpsd.sock && python3 gps_mqtt.py -m mqtt -l ${LAT} -L ${LONG} -a ${ALT} -r ${ROLL} -p ${PITCH} -y ${YAW}"
+ devices:
+ - /dev/ttyACM0
  depends_on:
  - mqtt
  restart: unless-stopped

egi/Dockerfile

@@ -1,13 +1,15 @@
 FROM debian
 
 RUN apt update && \
- apt install -y python3 python3-pip && \
- pip3 install paho-mqtt coloredlogs
+ apt install -y python3 python3-pip gpsd-clients gpsd
 
 RUN mkdir -p /app/
 WORKDIR /app
+ADD *.txt /app/ 
+RUN pip3 install -r requirements.txt
 ADD *.py /app/
 
-#ENTRYPOINT python3 /tmp/egi.py
+ENTRYPOINT sh -c "gpsd /dev/ttyACM0 -F /var/run/gpsd.sock && bash"
 
-#docker run -d --restart unless-stopped --network=host -v /home/pi/:/tmp/ --name lamp docker-registry.iqt.org/mission-capabilities/rpi-stats-reporting/lamp-control
+#docker run -it --device=/dev/ttyACM0 skyscan_egi
+#python3 egi_mqtt.py -h

egi/egi.py → egi/egi_mqtt.py

@@ -1,5 +1,6 @@
 #!/usr/bin/env python3
 
+from gps import *
 import paho.mqtt.client as mqtt #import the client1
 import time
 import random
@@ -17,43 +18,47 @@
  '\033[0;36m%(filename)-18s%(lineno)3d\033[00m '
  '%(message)s',
  level_styles = styles)
+logging.info("Initializing EGI")
 
 #######################################################
 ## Initialize Variables ##
 #######################################################
 config = {}
 config['Local'] = ["127.0.0.1", "skyscan/egi", "Local MQTT Bus"] # updated based on naming convention here: https://www.hivemq.com/blog/mqtt-essentials-part-5-mqtt-topics-best-practices/
-timeTrigger = 0
+timeTrigger = time.mktime(time.gmtime()) + 10
 timeHeartbeat = 0
 ID = str(random.randint(1,100001))
-
-LLA = [ os.environ['LAT'], os.environ['LONG'], os.environ['ALT'] ]
-RPY = [ os.environ['ROLL'], os.environ['PITCH'], os.environ['YAW'] ]
-
-state = {}
-state['lat'] = LLA[0]
-state['long'] = LLA[1]
-state['alt'] = LLA[2]
-state['roll'] = RPY[0]
-state['pitch'] = RPY[1]
-state['yaw'] = RPY[2]
-state=json.dumps(state)
+gpsd = gps(mode=WATCH_ENABLE|WATCH_NEWSTYLE) 
+LLA = [38.9510808,-77.3841834,130.1337]
+RPY = [0,0,0]
 
 parser = argparse.ArgumentParser(description='An MQTT based camera controller')
-
 parser.add_argument('-m', '--mqtt-host', help="MQTT broker hostname", default='127.0.0.1')
-
+parser.add_argument('-l', '--latitude', help="Latitude (decimal degrees)", default=LLA[0])
+parser.add_argument('-L', '--longitude', help="Longitude (decimal degrees)", default=LLA[1])
+parser.add_argument('-a', '--altitude', help="Altitude (meters)", default=LLA[2])
+parser.add_argument('-r', '--roll', help="Roll Angle of Camera (degrees)", default=RPY[0])
+parser.add_argument('-p', '--pitch', help="Pitch Angle of Camera (degrees)", default=RPY[1])
+parser.add_argument('-y', '--yaw', help="Yaw Angle of Camera (degrees from True North)", default=RPY[2])
 args = parser.parse_args()
 
+state = {}
+state['time'] = time.strftime("%Y-%m-%dT%H:%M:%SZ",time.gmtime())
+state['lat'] = float(args.latitude)
+state['long'] = float(args.longitude)
+state['alt'] = float(args.altitude)
+state['roll'] = float(args.roll)
+state['pitch'] = float(args.pitch)
+state['yaw'] = float(args.yaw)
+logging.info("Initial State Array: " + str(state))
+
 
 #######################################################
 ## Local MQTT Callback Function ##
 #######################################################
 def on_message_local(client, userdata, message):
  payload = str(message.payload.decode("utf-8"))
  logging.info('Message Received: ' + message.topic + ' | ' + payload)
- #if message.topic == local_topic+"/OFF":
- # logging.info("Turning Lamp OFF")
 
 def on_disconnect(client, userdata, rc):
  global Active
@@ -72,17 +77,20 @@ def on_disconnect(client, userdata, rc):
 clientLocal.on_disconnect = on_disconnect
 clientLocal.connect(broker_address) #connect to broker
 clientLocal.loop_start() #start the loop
-#clientLocal.subscribe(local_topic+"/#") #config/#")
 clientLocal.publish("skyscan/registration","EGI-"+ID+" Registration")
 
 #############################################
 ## Main Loop ##
 #############################################
 while Active:
- #if timeHeartbeat < time.mktime(time.gmtime()):
- # timeHeartbeat = time.mktime(time.gmtime()) + 10
- # clientLocal.publish(local_topic+"Heartbeat","EGI-"+ID+" Heartbeat")
  if timeTrigger < time.mktime(time.gmtime()):
  timeTrigger = time.mktime(time.gmtime()) + 10
- clientLocal.publish(local_topic,state)
- time.sleep(0.1)
+ clientLocal.publish(local_topic,json.dumps(state))
+
+ report = gpsd.next() #
+ if report['class'] == 'TPV':
+ state['time'] = getattr(report,'time',time.strftime("%Y-%m-%dT%H:%M:%SZ",time.gmtime()))
+ state['lat'] = getattr(report,'lat',LLA[0])
+ state['long'] = getattr(report,'lon',LLA[1])
+ state['alt'] = getattr(report,'alt',LLA[2])
+ time.sleep(0.01)

egi/requirements.txt

@@ -0,0 +1,3 @@
+paho-mqtt==1.5.0
+coloredlogs
+gps

env-example

@@ -14,4 +14,5 @@ CAMERA_MOVE_SPEED=50 # The speed at which the Axis will move for Pan/Tilt
 CAMERA_DELAY=0.5 # How many seconds after issuing a Pan/Tilt command should a picture be taken
 CAMERA_ZOOM=9999 # The zoom setting for the camera (0-9999)
 CAMERA_LEAD=0.25 # How many seconds ahead of a plane's predicted location should the camera be positioned
-RTL_DEV=1 # The device ID for the RTL-SDR - set using the rtl_eeprom program
+RTL_DEV=1 # The device ID for the RTL-SDR - set using the rtl_eeprom program
+GPS_SERIAL=/dev/ttyACM0 # GPS module serial port