GpsSensor
robodyno.components.can_bus.gps_sensor
GPS sensor driver.
This module provides a class to get the GPS data from the GPS sensor which is based on a GT-U12 module.
Examples:
>>> from robodyno.components import GpsSensor
>>> from robodyno.interfaces import CanBus
>>> can = CanBus()
>>> gps = GpsSensor(can)
>>> gps.get_position()
{'timestamp': datetime.time(0, 0, 0, 0), 'longitude': 0.0, 'latitude': 0.0}
>>> can.disconnect()
GpsSensor
Bases: CanBusDevice
GPS sensor driver.
Attributes:
| Name | Type | Description |
|---|---|---|
id |
int
|
Device id. |
type |
Model
|
Device type. |
fw_ver |
float
|
Firmware version. |
timestamp |
float
|
Timestamp of the last received data. |
__init__(can, id_=50)
Initialize the GPS sensor driver.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
can |
CanBus
|
CanBus object. |
required |
id_ |
int
|
Device id. Defaults to 0x32. |
50
|
Raises:
| Type | Description |
|---|---|
ValueError
|
If the device type is not GPS sensor. |
get_position(timeout=None)
Get the position of the GPS sensor.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
Timeout. Defaults to None. |
None
|
Returns:
| Type | Description |
|---|---|
Optional[dict]
|
Optional[dict]: Timestamp, longitude and latitude. |
get_position_str(timeout=None)
Get the position of the GPS sensor in string format.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
timeout |
float
|
Timeout. Defaults to None. |
None
|
Returns:
| Type | Description |
|---|---|
Optional[str]
|
Optional[str]: Position (timestamp, longitude, latitude) in string format. |
config_can_bus(new_id=None, bitrate=1000000)
Configures the can bus.
Parameters:
| Name | Type | Description | Default |
|---|---|---|---|
new_id |
int
|
New device id. |
None
|
bitrate |
int
|
Can bus bitrate. |
1000000
|
Raises:
| Type | Description |
|---|---|
ValueError
|
If the new id is invalid. |