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|
// SPDX-FileCopyrightText: Sony Semiconductor Solutions Corporation
//
// SPDX-License-Identifier: MIT
#include "shared-bindings/gnss/GNSS.h"
#include "shared-bindings/time/__init__.h"
#include "shared-bindings/util.h"
#include "py/objproperty.h"
#include "py/runtime.h"
//| class GNSS:
//| """Get updated positioning information from Global Navigation Satellite System (GNSS)
//|
//| Usage::
//|
//| import gnss
//| import time
//|
//| nav = gnss.GNSS([gnss.SatelliteSystem.GPS, gnss.SatelliteSystem.GLONASS])
//| last_print = time.monotonic()
//| while True:
//| nav.update()
//| current = time.monotonic()
//| if current - last_print >= 1.0:
//| last_print = current
//| if nav.fix is gnss.PositionFix.INVALID:
//| print("Waiting for fix...")
//| continue
//| print("Latitude: {0:.6f} degrees".format(nav.latitude))
//| print("Longitude: {0:.6f} degrees".format(nav.longitude))"""
//|
//| def __init__(self, system: Union[SatelliteSystem, List[SatelliteSystem]]) -> None:
//| """Turn on the GNSS.
//|
//| :param system: satellite system to use"""
//| ...
//|
STATIC mp_obj_t gnss_make_new(const mp_obj_type_t *type, size_t n_args, size_t n_kw, const mp_obj_t *all_args) {
gnss_obj_t *self = m_new_obj(gnss_obj_t);
self->base.type = &gnss_type;
enum { ARG_system };
static const mp_arg_t allowed_args[] = {
{ MP_QSTR_system, MP_ARG_REQUIRED | MP_ARG_OBJ },
};
mp_arg_val_t args[MP_ARRAY_SIZE(allowed_args)];
mp_arg_parse_all_kw_array(n_args, n_kw, all_args, MP_ARRAY_SIZE(allowed_args), allowed_args, args);
unsigned long selection = 0;
if (mp_obj_is_type(args[ARG_system].u_obj, &gnss_satellitesystem_type)) {
selection |= gnss_satellitesystem_obj_to_type(args[ARG_system].u_obj);
} else if (mp_obj_is_type(args[ARG_system].u_obj, &mp_type_list)) {
size_t systems_size = 0;
mp_obj_t *systems;
mp_obj_list_get(args[ARG_system].u_obj, &systems_size, &systems);
for (size_t i = 0; i < systems_size; ++i) {
if (!mp_obj_is_type(systems[i], &gnss_satellitesystem_type)) {
mp_raise_TypeError(translate("System entry must be gnss.SatelliteSystem"));
}
selection |= gnss_satellitesystem_obj_to_type(systems[i]);
}
} else {
mp_raise_TypeError(translate("System entry must be gnss.SatelliteSystem"));
}
common_hal_gnss_construct(self, selection);
return MP_OBJ_FROM_PTR(self);
}
//| def deinit(self) -> None:
//| """Turn off the GNSS."""
//| ...
//|
STATIC mp_obj_t gnss_obj_deinit(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
common_hal_gnss_deinit(self);
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_deinit_obj, gnss_obj_deinit);
STATIC void check_for_deinit(gnss_obj_t *self) {
if (common_hal_gnss_deinited(self)) {
raise_deinited_error();
}
}
//| def update(self) -> None:
//| """Update GNSS positioning information."""
//| ...
//|
STATIC mp_obj_t gnss_obj_update(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
common_hal_gnss_update(self);
return mp_const_none;
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_update_obj, gnss_obj_update);
//| latitude: float
//| """Latitude of current position in degrees (float)."""
//|
STATIC mp_obj_t gnss_obj_get_latitude(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
return mp_obj_new_float(common_hal_gnss_get_latitude(self));
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_latitude_obj, gnss_obj_get_latitude);
MP_PROPERTY_GETTER(gnss_latitude_obj,
(mp_obj_t)&gnss_get_latitude_obj);
//| longitude: float
//| """Longitude of current position in degrees (float)."""
//|
STATIC mp_obj_t gnss_obj_get_longitude(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
return mp_obj_new_float(common_hal_gnss_get_longitude(self));
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_longitude_obj, gnss_obj_get_longitude);
MP_PROPERTY_GETTER(gnss_longitude_obj,
(mp_obj_t)&gnss_get_longitude_obj);
//| altitude: float
//| """Altitude of current position in meters (float)."""
//|
STATIC mp_obj_t gnss_obj_get_altitude(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
return mp_obj_new_float(common_hal_gnss_get_altitude(self));
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_altitude_obj, gnss_obj_get_altitude);
MP_PROPERTY_GETTER(gnss_altitude_obj,
(mp_obj_t)&gnss_get_altitude_obj);
//| timestamp: time.struct_time
//| """Time when the position data was updated."""
//|
STATIC mp_obj_t gnss_obj_get_timestamp(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
timeutils_struct_time_t tm;
common_hal_gnss_get_timestamp(self, &tm);
return struct_time_from_tm(&tm);
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_timestamp_obj, gnss_obj_get_timestamp);
MP_PROPERTY_GETTER(gnss_timestamp_obj,
(mp_obj_t)&gnss_get_timestamp_obj);
//| fix: PositionFix
//| """Fix mode."""
//|
STATIC mp_obj_t gnss_obj_get_fix(mp_obj_t self_in) {
gnss_obj_t *self = MP_OBJ_TO_PTR(self_in);
check_for_deinit(self);
return gnss_positionfix_type_to_obj(common_hal_gnss_get_fix(self));
}
MP_DEFINE_CONST_FUN_OBJ_1(gnss_get_fix_obj, gnss_obj_get_fix);
MP_PROPERTY_GETTER(gnss_fix_obj,
(mp_obj_t)&gnss_get_fix_obj);
STATIC const mp_rom_map_elem_t gnss_locals_dict_table[] = {
{ MP_ROM_QSTR(MP_QSTR_deinit), MP_ROM_PTR(&gnss_deinit_obj) },
{ MP_ROM_QSTR(MP_QSTR_update), MP_ROM_PTR(&gnss_update_obj) },
{ MP_ROM_QSTR(MP_QSTR_latitude), MP_ROM_PTR(&gnss_latitude_obj) },
{ MP_ROM_QSTR(MP_QSTR_longitude), MP_ROM_PTR(&gnss_longitude_obj) },
{ MP_ROM_QSTR(MP_QSTR_altitude), MP_ROM_PTR(&gnss_altitude_obj) },
{ MP_ROM_QSTR(MP_QSTR_timestamp), MP_ROM_PTR(&gnss_timestamp_obj) },
{ MP_ROM_QSTR(MP_QSTR_fix), MP_ROM_PTR(&gnss_fix_obj) }
};
STATIC MP_DEFINE_CONST_DICT(gnss_locals_dict, gnss_locals_dict_table);
const mp_obj_type_t gnss_type = {
{ &mp_type_type },
.name = MP_QSTR_GNSS,
.make_new = gnss_make_new,
.locals_dict = (mp_obj_dict_t *)&gnss_locals_dict,
};
|
