Gps service example

py/examples/gps_client/README.md

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+# Amiga Brain GPS example
+
+URL: https://amiga.farm-ng.com/docs/examples/gps_client/

py/examples/gps_client/main.py

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+"""Example of a GPS service client."""
+# Copyright (c) farm-ng, inc.
+#
+# Licensed under the Amiga Development Kit License (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://github.com/farm-ng/amiga-dev-kit/blob/main/LICENSE
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+from __future__ import annotations
+
+import argparse
+import asyncio
+from pathlib import Path
+
+from farm_ng.core.event_client import EventClient
+from farm_ng.core.event_service_pb2 import EventServiceConfig
+from farm_ng.core.events_file_reader import proto_from_json_file
+
+
+async def main(service_config_path: Path, msg_type: str, _outage_ctn=[0]) -> None:
+    """Run the gps service client.
+
+    Args:
+        service_config_path (Path): The path to the gps service config.
+    """
+    # create a client to the camera service
+    config: EventServiceConfig = proto_from_json_file(service_config_path, EventServiceConfig())
+
+    async for event, msg in EventClient(config).subscribe(config.subscriptions[0]):
+
+        try:
+            if event.uri.path == "/relposned" and msg_type == 'relposned':
+                print(f"Message stamp: {msg.stamp.stamp}")
+                print(f"GPS time: {msg.gps_time.stamp}")
+                print(f"Relative pose north: {msg.relative_pose_north}")
+                print(f"Relative pose east: {msg.relative_pose_east}")
+                print(f"Relative pose down: {msg.relative_pose_down}")
+                print(f"Relative pose length: {msg.relative_pose_length}")
+                print(f"Accuracy north: {msg.accuracy_north}")
+                print(f"Accuracy east: {msg.accuracy_east}")
+                print(f"Accuracy down: {msg.accuracy_down}")
+                print(f"Carrier solution: {msg.carr_soln}")
+                print(f"GNSS fix ok: {msg.gnss_fix_ok}\n################################")
+
+            elif event.uri.path == "/pvt" and msg_type == 'pvt':
+                print(f"Message stamp: {msg.stamp.stamp}")
+                print(f"GPS time: {msg.gps_time.stamp}")
+                print(f"Latitude: {msg.latitude}")
+                print(f"Longitude: {msg.longitude}")
+                print(f"Altitude: {msg.altitude}")
+                print(f"Ground speed: {msg.ground_speed}")
+                print(f"Speed accuracy: {msg.speed_accuracy}")
+                print(f"Horizontal accuracy: {msg.horizontal_accuracy}")
+                print(f"Vertical accuracy: {msg.vertical_accuracy}")
+                print(f"P DOP: {msg.p_dop}\n################################")
+
+        except AttributeError:
+            _outage_ctn[0] += 1
+            if _outage_ctn[0] > 0:
+                print(
+                    "Service is active but no messages are being published. "
+                    "Ensure your GPS antenna is unobstructed and "
+                    "try restarting the service."
+                )
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(prog="amiga-gps-stream")
+    parser.add_argument("--service-config", type=Path, required=True, help="The GPS config.")
+    parser.add_argument(
+        "--msg-type", type=str, default="relposned", help="The name of the gps interface to read: relposned or pvt."
+    )
+    args = parser.parse_args()
+
+    asyncio.run(main(args.service_config, args.msg_type))

py/examples/gps_client/requirements.txt

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+farm-ng-amiga

py/examples/gps_client/service_config.json

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+{
+    "name": "gps",
+    "port": 3001,
+    "host": "localhost",
+    "log_level": "INFO",
+    "subscriptions": [
+        {
+            "uri": {
+                "path": "*",
+                "query": "service_name=gps"
+            },
+            "every_n": 1
+        }
+    ]
+}