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feat: Add BT Locate and GPS modes with IRK auto-detection
New modes: - BT Locate: SAR Bluetooth device location with GPS-tagged signal trail, RSSI-based proximity bands, audio alerts, and IRK auto-extraction from paired devices (macOS plist / Linux BlueZ) - GPS: Real-time position tracking with live map, speed, heading, altitude, satellite info, and track recording via gpsd Bug fixes: - Fix ABBA deadlock between session lock and aggregator lock in BT Locate - Fix bleak scan lifecycle tracking in BluetoothScanner (is_scanning property now cross-checks backend state) - Fix map tile persistence when switching modes - Use 15s max_age window for fresh detections in BT Locate poll loop Documentation: - Update README, FEATURES.md, USAGE.md, and GitHub Pages with new modes Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
Smittix
213
utils/gps.py
213
utils/gps.py
@@ -6,28 +6,86 @@ Provides GPS location data by connecting to the gpsd daemon.
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from __future__ import annotations
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import contextlib
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import logging
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import socket as _socket_mod
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import threading
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import time
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from dataclasses import dataclass
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from dataclasses import dataclass, field
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from datetime import datetime
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from typing import Optional, Callable
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from typing import Callable
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logger = logging.getLogger('intercept.gps')
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@dataclass
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class GPSSatellite:
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"""Individual satellite data from gpsd SKY message."""
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prn: int
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elevation: float | None = None # degrees
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azimuth: float | None = None # degrees
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snr: float | None = None # dB-Hz
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used: bool = False
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constellation: str = 'GPS' # GPS, GLONASS, Galileo, BeiDou, SBAS, QZSS
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def to_dict(self) -> dict:
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return {
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'prn': self.prn,
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'elevation': self.elevation,
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'azimuth': self.azimuth,
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'snr': self.snr,
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'used': self.used,
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'constellation': self.constellation,
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}
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@dataclass
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class GPSSkyData:
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"""Sky view data from gpsd SKY message."""
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satellites: list[GPSSatellite] = field(default_factory=list)
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hdop: float | None = None
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vdop: float | None = None
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pdop: float | None = None
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tdop: float | None = None
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gdop: float | None = None
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xdop: float | None = None
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ydop: float | None = None
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nsat: int = 0 # total visible
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usat: int = 0 # total used
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def to_dict(self) -> dict:
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return {
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'satellites': [s.to_dict() for s in self.satellites],
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'hdop': self.hdop,
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'vdop': self.vdop,
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'pdop': self.pdop,
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'tdop': self.tdop,
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'gdop': self.gdop,
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'xdop': self.xdop,
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'ydop': self.ydop,
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'nsat': self.nsat,
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'usat': self.usat,
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}
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@dataclass
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class GPSPosition:
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"""GPS position data."""
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latitude: float
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longitude: float
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altitude: Optional[float] = None
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speed: Optional[float] = None # m/s
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heading: Optional[float] = None # degrees
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satellites: Optional[int] = None
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altitude: float | None = None
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speed: float | None = None # m/s
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heading: float | None = None # degrees
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climb: float | None = None # m/s vertical speed
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satellites: int | None = None
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fix_quality: int = 0 # 0=unknown, 1=no fix, 2=2D fix, 3=3D fix
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timestamp: Optional[datetime] = None
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device: Optional[str] = None
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timestamp: datetime | None = None
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device: str | None = None
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# Error estimates
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epx: float | None = None # lon error (m)
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epy: float | None = None # lat error (m)
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epv: float | None = None # vertical error (m)
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eps: float | None = None # speed error (m/s)
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ept: float | None = None # time error (s)
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def to_dict(self) -> dict:
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"""Convert to dictionary for JSON serialization."""
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@@ -37,13 +95,45 @@ class GPSPosition:
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'altitude': self.altitude,
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'speed': self.speed,
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'heading': self.heading,
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'climb': self.climb,
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'satellites': self.satellites,
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'fix_quality': self.fix_quality,
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'timestamp': self.timestamp.isoformat() if self.timestamp else None,
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'device': self.device,
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'epx': self.epx,
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'epy': self.epy,
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'epv': self.epv,
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'eps': self.eps,
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'ept': self.ept,
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}
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def _classify_constellation(prn: int, gnssid: int | None = None) -> str:
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"""Classify satellite constellation from PRN or gnssid."""
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if gnssid is not None:
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mapping = {
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0: 'GPS', 1: 'SBAS', 2: 'Galileo', 3: 'BeiDou',
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4: 'IMES', 5: 'QZSS', 6: 'GLONASS', 7: 'NavIC',
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}
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return mapping.get(gnssid, 'GPS')
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# Fall back to PRN range heuristic
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if 1 <= prn <= 32:
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return 'GPS'
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elif 33 <= prn <= 64:
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return 'SBAS'
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elif 65 <= prn <= 96:
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return 'GLONASS'
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elif 120 <= prn <= 158:
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return 'SBAS'
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elif 201 <= prn <= 264:
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return 'BeiDou'
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elif 301 <= prn <= 336:
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return 'Galileo'
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elif 193 <= prn <= 200:
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return 'QZSS'
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return 'GPS'
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class GPSDClient:
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"""
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Connects to gpsd daemon for GPS data.
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@@ -58,35 +148,43 @@ class GPSDClient:
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def __init__(self, host: str = DEFAULT_HOST, port: int = DEFAULT_PORT):
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self.host = host
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self.port = port
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self._position: Optional[GPSPosition] = None
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self._position: GPSPosition | None = None
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self._sky: GPSSkyData | None = None
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self._lock = threading.Lock()
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self._running = False
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self._thread: Optional[threading.Thread] = None
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self._socket: Optional['socket.socket'] = None
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self._last_update: Optional[datetime] = None
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self._error: Optional[str] = None
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self._thread: threading.Thread | None = None
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self._socket: _socket_mod.socket | None = None
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self._last_update: datetime | None = None
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self._error: str | None = None
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self._callbacks: list[Callable[[GPSPosition], None]] = []
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self._device: Optional[str] = None
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self._sky_callbacks: list[Callable[[GPSSkyData], None]] = []
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self._device: str | None = None
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@property
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def position(self) -> Optional[GPSPosition]:
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def position(self) -> GPSPosition | None:
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"""Get the current GPS position."""
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with self._lock:
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return self._position
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@property
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def sky(self) -> GPSSkyData | None:
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"""Get the current sky view data."""
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with self._lock:
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return self._sky
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@property
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def is_running(self) -> bool:
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"""Check if the client is running."""
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return self._running
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@property
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def last_update(self) -> Optional[datetime]:
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def last_update(self) -> datetime | None:
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"""Get the time of the last position update."""
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with self._lock:
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return self._last_update
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@property
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def error(self) -> Optional[str]:
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def error(self) -> str | None:
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"""Get any error message."""
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with self._lock:
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return self._error
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@@ -105,6 +203,15 @@ class GPSDClient:
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if callback in self._callbacks:
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self._callbacks.remove(callback)
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def add_sky_callback(self, callback: Callable[[GPSSkyData], None]) -> None:
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"""Add a callback to be called on sky data updates."""
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self._sky_callbacks.append(callback)
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def remove_sky_callback(self, callback: Callable[[GPSSkyData], None]) -> None:
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"""Remove a sky data update callback."""
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if callback in self._sky_callbacks:
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self._sky_callbacks.remove(callback)
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def start(self) -> bool:
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"""Start receiving GPS data from gpsd."""
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import socket
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@@ -135,10 +242,8 @@ class GPSDClient:
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self._error = str(e)
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logger.error(f"Failed to connect to gpsd at {self.host}:{self.port}: {e}")
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if self._socket:
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try:
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with contextlib.suppress(Exception):
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self._socket.close()
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except Exception:
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pass
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self._socket = None
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return False
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@@ -169,7 +274,7 @@ class GPSDClient:
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buffer = ""
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message_count = 0
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print(f"[GPS] gpsd read loop started", flush=True)
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print("[GPS] gpsd read loop started", flush=True)
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while self._running and self._socket:
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try:
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@@ -202,6 +307,8 @@ class GPSDClient:
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if msg_class == 'TPV':
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self._handle_tpv(msg)
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elif msg_class == 'SKY':
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self._handle_sky(msg)
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elif msg_class == 'DEVICES':
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# Track connected device
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devices = msg.get('devices', [])
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@@ -239,11 +346,9 @@ class GPSDClient:
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timestamp = None
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time_str = msg.get('time')
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if time_str:
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try:
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with contextlib.suppress(ValueError, AttributeError):
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# gpsd uses ISO format: 2024-01-01T12:00:00.000Z
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timestamp = datetime.fromisoformat(time_str.replace('Z', '+00:00'))
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except (ValueError, AttributeError):
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pass
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position = GPSPosition(
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latitude=lat,
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@@ -251,14 +356,58 @@ class GPSDClient:
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altitude=msg.get('alt'),
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speed=msg.get('speed'), # m/s in gpsd
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heading=msg.get('track'),
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climb=msg.get('climb'),
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fix_quality=mode,
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timestamp=timestamp,
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device=self._device or f"gpsd://{self.host}:{self.port}",
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epx=msg.get('epx'),
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epy=msg.get('epy'),
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epv=msg.get('epv'),
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eps=msg.get('eps'),
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ept=msg.get('ept'),
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)
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print(f"[GPS] gpsd FIX: {lat:.6f}, {lon:.6f} (mode: {mode})", flush=True)
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self._update_position(position)
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def _handle_sky(self, msg: dict) -> None:
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"""Handle SKY (satellite sky view) message from gpsd."""
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sats = []
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for sat in msg.get('satellites', []):
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prn = sat.get('PRN', 0)
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gnssid = sat.get('gnssid')
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sats.append(GPSSatellite(
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prn=prn,
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elevation=sat.get('el'),
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azimuth=sat.get('az'),
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snr=sat.get('ss'),
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used=sat.get('used', False),
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constellation=_classify_constellation(prn, gnssid),
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))
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sky_data = GPSSkyData(
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satellites=sats,
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hdop=msg.get('hdop'),
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vdop=msg.get('vdop'),
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pdop=msg.get('pdop'),
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tdop=msg.get('tdop'),
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gdop=msg.get('gdop'),
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xdop=msg.get('xdop'),
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ydop=msg.get('ydop'),
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nsat=len(sats),
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usat=sum(1 for s in sats if s.used),
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)
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with self._lock:
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self._sky = sky_data
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# Notify sky callbacks
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for callback in self._sky_callbacks:
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try:
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callback(sky_data)
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except Exception as e:
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logger.error(f"GPS sky callback error: {e}")
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def _update_position(self, position: GPSPosition) -> None:
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"""Update the current position and notify callbacks."""
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with self._lock:
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@@ -275,18 +424,19 @@ class GPSDClient:
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# Global GPS client instance
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_gps_client: Optional[GPSDClient] = None
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_gps_client: GPSDClient | None = None
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_gps_lock = threading.Lock()
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def get_gps_reader() -> Optional[GPSDClient]:
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def get_gps_reader() -> GPSDClient | None:
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"""Get the global GPS client instance."""
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with _gps_lock:
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return _gps_client
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def start_gpsd(host: str = 'localhost', port: int = 2947,
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callback: Optional[Callable[[GPSPosition], None]] = None) -> bool:
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callback: Callable[[GPSPosition], None] | None = None,
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sky_callback: Callable[[GPSSkyData], None] | None = None) -> bool:
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"""
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Start the global GPS client connected to gpsd.
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@@ -294,6 +444,7 @@ def start_gpsd(host: str = 'localhost', port: int = 2947,
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host: gpsd host (default localhost)
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port: gpsd port (default 2947)
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callback: Optional callback for position updates
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sky_callback: Optional callback for sky data updates
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Returns:
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True if started successfully
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@@ -307,9 +458,11 @@ def start_gpsd(host: str = 'localhost', port: int = 2947,
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_gps_client = GPSDClient(host, port)
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# Register callback BEFORE starting to avoid race condition
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# Register callbacks BEFORE starting to avoid race condition
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if callback:
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_gps_client.add_callback(callback)
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if sky_callback:
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_gps_client.add_sky_callback(sky_callback)
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return _gps_client.start()
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@@ -324,7 +477,7 @@ def stop_gps() -> None:
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_gps_client = None
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def get_current_position() -> Optional[GPSPosition]:
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def get_current_position() -> GPSPosition | None:
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"""Get the current GPS position from the global client."""
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client = get_gps_reader()
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if client:
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