Dmitry Shalnoff's Git Repository - ETG_Helmet/blob - SOFTWARE/OMEGA2/gps.sh

   1 #/bin/bash
   2
   3 if [ "$TMPFS" == "" ]; then
   4         . "common.sh"
   5 fi
   6
   7 echo $$ > $PID/$0
   8
   9 echo "---------- START GPS -------------"
  10
  11 GPSenable
  12
  13 : > $CURRENTGPS
  14
  15 prevGPS=''
  16 PREVGPSTMP=''
  17
  18 prevtimeGPSmess=0
  19 prevtime=0
  20 prevtimeNav=0
  21
  22 while [ 1 ]; do
  23
  24 #       nmea=$(str=''; read -t 3 str < /dev/ttyS1; echo $str | grep -E 'GPRMC|GNRMC' | awk -F',' '{print $4 " " $5 " " $6 " " $7; exit}' | head -1)
  25 #       nmea=$(head -10 $GPSTTY | grep -E 'GPRMC|GNRMC' | awk -F',' '{print $4 " " $5 " " $6 " " $7; exit}' | head -1 ) # tr -d '\040\011\012\015'
  26
  27         NMEA=$(head -10 $GPSTTY | grep -E 'GPRMC|GNRMC')
  28         nmea=$(echo $NMEA | awk -F',' '{print $4 " " $5 " " $6 " " $7; exit}' | head -1 )
  29         GPSvalid=$(echo $NMEA | awk -F'[,*]' '{print $13; exit}' | head -1 )
  30
  31 #       echo $nmea, $GPSdate, $GPStime, $GPSvalid
  32
  33 #       A = Autonomous
  34 #       D = Differential
  35 #       E = Estimated
  36 #       N = Data not valid
  37
  38         nmeaTrim=$(echo $nmea | tr -d '\040\011\012\015')
  39
  40         time=$(date +%s)
  41
  42         if [ "$nmeaTrim" != "" ] && ([ "$GPSvalid" == "A" ] || [ "$GPSvalid" == "D" ] || [ "$GPSvalid" == "E" ]); then
  43
  44                 # save first fixation NMEA time
  45
  46                 if [ "$firstFix" == "" ]; then
  47
  48                         firstFix=1
  49
  50                         GPSdate=$(echo $NMEA | awk -F',' '{print $10; exit}' | head -1 )
  51                         GPStime=$(echo $NMEA | awk -F'[,.]' '{print $2; exit}' | head -1 )
  52
  53                         echo "$GPSdate|$GPStime" > $TIMENMEA &
  54                 fi
  55
  56                 # mesure time from previous correct probe
  57
  58                 tdiff=$(( $time - $prevtime ))
  59                 currentGPS=$nmea
  60
  61                 echo "$nmea|$prevGPS|$prevtime" > $CURRENTGPS
  62
  63                 if [ "$tdiff" -gt "$STANDARD_DISTANCE_TIME" ]; then
  64
  65                         prevGPS=$PREVGPSTMP
  66                         PREVGPSTMP=$nmea
  67                         prevtime=$time
  68
  69                         led main slow
  70
  71                 fi
  72         fi
  73
  74         # -------------- GPS dependent messages -------------
  75
  76         tdiff=$(( $time - $prevtime ))
  77
  78         if [ "$tdiff" -lt "$MAX_GPS_AGE_THRESHOLD" ]; then # gps is ok
  79
  80                 # -------------- navigation -----------------
  81
  82                 if [ -s "$navOn" ]; then # if navigation turned on
  83
  84                         tdiffNav=$(( $time - $prevtimeNav ))
  85
  86                         if [ "$tdiffNav" -gt "$NAV_MESSAGE_EACH_SEC" ]; then    # time to infrom user
  87
  88                                 prevtimeNav=$time
  89
  90                                 distance=0 # TODO: CALCULATE DISTANCE HERE BETWEEN $prevGPS AND $currentGPS
  91
  92                                 if [ "$distance" -ge "$MIN_DISTANCE" ]; then    # motion detected
  93
  94                                         # direction determination
  95
  96                                         targetGPS=$(cat $navMemo)
  97
  98                                         angle=0 # CALCULATE ANGLE HERE BY 3 POINTS $prevGPS $currentGPS $targetGPS
  99
 100                                         NMESSang=$(sayDir $angle)
 101
 102                                         # distance between current and memorized points
 103
 104                                         navdDstanceOk=0 # TODO: CALCULATE DISTANCE HERE BETWEEN $targetGPS AND $currentGPS
 105
 106                                         km=$(echo $navdDstanceOk | awk '{print $1; exit}')
 107                                         kmPfx=$(echo $navdDstanceOk | awk '{print "$" $2; exit}')
 108                                         md=$(echo $navdDstanceOk | awk '{print $3; exit}')
 109                                         m=$(echo $navdDstanceOk | awk '{print $4; exit}')
 110                                         mPfx=$(echo $navdDstanceOk | awk '{print "$" $5; exit}')
 111
 112                                         # km
 113
 114                                         currentL=$(cat $TMPFS/$currentLang)
 115
 116                                         if [ "$km" -gt "0" ]; then
 117                                                 number=$(ls -p $CONTENT/$currentL/$SYSMESSAGES/$NAV_NUMBERS_1 | grep -v '/' | awk -v a=$km 'NR == a+1 {print; exit}')
 118
 119                                                 NMESSkmNum="$NAV_NUMBERS_1/$number"
 120                                                 NMESSkm=$(eval "echo $kmPfx")
 121                                         fi
 122
 123                                         # m
 124
 125                                         if [ "$md" -gt "0" ]; then
 126                                                 number=$(ls -p $CONTENT/$currentL/$SYSMESSAGES/$NAV_NUMBERS_2_100 | grep -v '/' | awk -v a=$md 'NR == a+1 {print; exit}')
 127                                                 NMESSmNum="$NAV_NUMBERS_2_100/$number"
 128                                         fi
 129
 130                                         if [ "$m" -gt "0" ]; then
 131                                                 number=$(ls -p $CONTENT/$currentL/$SYSMESSAGES/$NAV_NUMBERS_2 | grep -v '/' | awk -v a=$m 'NR == a+1 {print; exit}')
 132
 133                                                 NMESSm2Num="$NAV_NUMBERS_2/$number"
 134                                                 NMESSm=$(eval "echo $mPfx")
 135                                         fi
 136
 137                                         echo "$NMESSang|$NAV_DISTANCE_IS|$NMESSkmNum|$NMESSkm|$NMESSmNum|$NMESSm2Num|$NMESSm" > $TMPFS/$message
 138
 139                                 else
 140                                         # no direction detected
 141
 142                                         echo $NAV_NO_DIR > $TMPFS/$message
 143                                 fi
 144                         fi
 145                 fi
 146         else
 147                 # can't determine position
 148
 149                 led main midd
 150
 151                 # -------------- no GPS position message -------------
 152
 153                 timeGPSmess=$time
 154
 155                 if [ "$prevtimeGPSmess" == "0" ]; then
 156                         prevtimeGPSmess=$timeGPSmess;
 157                         tdiffGPSmess=0;
 158                 else
 159                         tdiffGPSmess=$(( $timeGPSmess - $prevtimeGPSmess ))
 160                 fi
 161
 162                 if [ "$tdiffGPSmess" -gt "$NOGPS_MESSAGE_EACH_SEC" ]; then
 163                         prevtimeGPSmess=$timeGPSmess
 164
 165                         echo "GPS lost" | myLog
 166
 167                         echo "$DEV_JINGLE|$DEV_NO_COORD" > $TMPFS/$message
 168                 fi
 169         fi
 170
 171         sleep $GPSREADINTERVAL # maybe not needed since NMEA has 1 sec period # look like NEEDED
 172
 173 done
 174