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gps manipulations tailored to sim7600h hat

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This commit is contained in:
Mikkeli Matlock
2026-02-09 02:11:55 +09:00
parent 992270ed00
commit 629c735eec
20 changed files with 2503 additions and 2355 deletions
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13
pi/backend/README.md
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@@ -178,6 +178,19 @@ The Pi's internal pull-down (~50kΩ) will overpower high-value external resistor
Physical switches/connectors need debouncing. Current implementation requires 15 consecutive identical readings (~750ms at 20Hz) before accepting a state change. Tune `required_consecutive` in `gpio_service.py` as needed.
## Utilities
Standalone tools live in `pi/utils/` (not part of the backend service):
| Tool | Description |
|------|-------------|
| `at_terminal.py` | Interactive AT command terminal for SIM7600 (pyserial). Default port: `/dev/ttyUSB2` |
```bash
python pi/utils/at_terminal.py # default /dev/ttyUSB2
python pi/utils/at_terminal.py /dev/ttyUSB3 # specify port
```
## Deploy
TODO: Add to `scripts/deploy.py` as second target + systemd service.

54
pi/backend/gps_service.py
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@@ -40,6 +40,9 @@ class GPSService:
# Callback for push-based updates
self._on_data_callback = None
# GPS state tracking (NMEA can't distinguish "acquiring" from "lost")
self._has_ever_fixed = False # True after first valid fix this session
# Periodic status logging
self._last_status_log = 0.0
self._fix_count = 0
@@ -57,6 +60,17 @@ class GPSService:
with self._lock:
return self._latest.copy() if self._latest else {"error": "no data"}
def _gps_state(self, fix: dict) -> str:
"""Determine GPS state: acquiring, fix, or lost.
NMEA doesn't distinguish 'never had fix' from 'lost signal' — both
report mode 1 with no position. We track it ourselves.
"""
has_fix = fix.get("mode") in (2, 3) and fix.get("lat") is not None
if has_fix:
return "fix"
return "lost" if self._has_ever_fixed else "acquiring"
def get_buffer(self) -> list[dict[str, Any]]:
"""Get buffered GPS history."""
with self._lock:
@@ -122,7 +136,8 @@ class GPSService:
self._last_status_log = time.time()
self._fix_count = 0
first_fix_timeout = time.time() + 5.0 # 5s to get first fix
# 120s for initial cold fix, 10s for signal loss after first fix
fix_timeout = time.time() + 120.0
for result in client.dict_stream(filter=["TPV"]):
if not self._running:
@@ -140,16 +155,23 @@ class GPSService:
"satellites": result.get("satellites"), # from SKY messages
}
# Compute state and attach to fix
fix["gps_state"] = self._gps_state(fix)
# Check if this is a real fix (has position) or just empty TPV
if fix.get("lat") is None and fix.get("mode") in (None, 0, 1):
# No real data yet, check timeout
if time.time() > first_fix_timeout:
print("[GPS] No GPS fix after 5s, will retry connection")
if time.time() > fix_timeout:
timeout_s = "120s" if not self._has_ever_fixed else "10s"
print(f"[GPS] No GPS fix after {timeout_s}, will retry connection")
raise ConnectionError("No GPS fix within timeout")
continue # Skip empty fixes
# Got real data, disable timeout
first_fix_timeout = float('inf')
# Got real data — mark first fix, reset timeout to shorter window
if not self._has_ever_fixed:
self._has_ever_fixed = True
print("[GPS] First fix acquired")
fix_timeout = time.time() + 10.0 # 10s timeout for signal loss
with self._lock:
self._latest = fix
@@ -178,8 +200,9 @@ class GPSService:
"""Generate realistic mock GPS data for development/testing.
Simulates:
- Initial acquisition delay (~3s before first fix)
- Normal 3D fix with satellites
- Occasional signal loss (~3% chance per second, lasts ~5s)
- Occasional signal loss (~30% chance per second, lasts ~2s)
- Wandering position near Tokyo
"""
self._last_status_log = time.time()
@@ -189,6 +212,9 @@ class GPSService:
signal_lost = False
signal_lost_until = 0.0
# Simulate cold start acquisition (~3s)
acquiring_until = time.time() + 3.0
# Base position (Tokyo area)
base_lat = 35.6762
base_lon = 139.6503
@@ -202,12 +228,16 @@ class GPSService:
self._connected = True
now = time.time()
# Check for signal loss simulation
if signal_lost:
if now >= signal_lost_until:
# Simulate initial acquisition period
if now < acquiring_until:
signal_lost = True # No fix yet
elif signal_lost and now >= signal_lost_until:
signal_lost = False
if self._has_ever_fixed:
print("[GPS] Signal recovered (stub)")
else:
print("[GPS] First fix acquired (stub)")
elif not signal_lost:
# ~30% chance per second to lose signal
if random.random() < 0.3:
signal_lost = True
@@ -232,6 +262,9 @@ class GPSService:
heading = (heading + random.uniform(1, 3)) % 360
speed = max(0, min(30, speed + random.uniform(-2, 2)))
if not self._has_ever_fixed:
self._has_ever_fixed = True
fix = {
"time": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
"lat": base_lat + random.uniform(-0.001, 0.001),
@@ -243,6 +276,9 @@ class GPSService:
"satellites": random.randint(6, 12),
}
# Attach state — same logic as real GPS path
fix["gps_state"] = self._gps_state(fix)
with self._lock:
self._latest = fix
if fix.get("lat") is not None:

2
pi/backend/main.py
View File

@@ -180,9 +180,11 @@ def throttle_flusher():
@app.route("/health")
def health():
"""Health check endpoint."""
gps_latest = gps.get_latest()
return jsonify({
"status": "ok",
"gps_connected": gps.connected,
"gps_state": gps_latest.get("gps_state", "acquiring"),
"arduino_connected": arduino.connected,
"ws_clients": len(connected_clients),
})

49
pi/backend/utils/at_terminal.py Normal file
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@@ -0,0 +1,49 @@
"""Quick AT command terminal - minicom but less hostile.
Usage:
python at_terminal.py [port]
Default port: /dev/ttyUSB2 (SIM7600 AT command interface)
"""
import sys
import serial
import threading
PORT = sys.argv[1] if len(sys.argv) > 1 else "/dev/ttyUSB2"
BAUD = 115200
def reader(ser):
"""Background thread: print everything the modem sends."""
while True:
try:
data = ser.read(ser.in_waiting or 1)
if data:
sys.stdout.write(data.decode("utf-8", errors="replace"))
sys.stdout.flush()
except Exception:
break
def main():
print(f"Opening {PORT} @ {BAUD} baud")
print("Type AT commands. Ctrl+C to quit.\n")
ser = serial.Serial(PORT, BAUD, timeout=0.1)
t = threading.Thread(target=reader, args=(ser,), daemon=True)
t.start()
try:
while True:
line = input()
ser.write((line + "\r\n").encode())
except (KeyboardInterrupt, EOFError):
print("\nBye.")
finally:
ser.close()
if __name__ == "__main__":
main()

38
pi/ui/lib/app_root.dart
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@@ -41,6 +41,7 @@ class _AppRootState extends State<AppRoot> {
// Show all items from the start so the row doesn't jump around
_updateStatus('Config', '...');
_updateStatus('UART', '...');
_updateStatus('GPS', '...');
_updateStatus('Navigator', '...');
// Config must load first (everything else depends on it)
@@ -48,11 +49,13 @@ class _AppRootState extends State<AppRoot> {
await ConfigService.instance.load();
_updateStatus('Config', 'Ready');
// UART health check and navigator image preload run truly in parallel
// UART, GPS, and navigator image preload run truly in parallel
_updateStatus('UART', 'Connecting');
_updateStatus('GPS', 'Waiting');
_updateStatus('Navigator', 'Loading');
await Future.wait([
_waitForUart(),
_waitForGps(),
_preloadNavigatorImages(),
]);
@@ -100,6 +103,39 @@ class _AppRootState extends State<AppRoot> {
_updateStatus('UART', 'Timeout');
}
/// Poll backend health endpoint until GPS has a fix, or bail after 7.5s
Future<void> _waitForGps() async {
final backendUrl = ConfigService.instance.backendUrl;
const bailOut = Duration(milliseconds: 7500);
const retryDelay = Duration(seconds: 1);
final deadline = DateTime.now().add(bailOut);
_updateStatus('GPS', 'Acquiring');
while (DateTime.now().isBefore(deadline)) {
try {
final response = await http
.get(Uri.parse('$backendUrl/health'))
.timeout(const Duration(seconds: 2));
if (response.statusCode == 200) {
final data = jsonDecode(response.body) as Map<String, dynamic>;
if (data['gps_state'] == 'fix') {
_updateStatus('GPS', 'Ready');
return;
}
}
} catch (e) {
// Backend not reachable yet - keep trying
}
await Future.delayed(retryDelay);
}
// Bail out - dashboard will show live GPS state when it arrives
_updateStatus('GPS', 'Timeout');
}
/// Preload navigator images into Flutter's image cache
///
/// Scans for all PNGs in the navigator folder and precaches them.

6
pi/ui/lib/screens/dashboard_screen.dart
View File

@@ -60,6 +60,7 @@ class _DashboardScreenState extends State<DashboardScreen> {
// Placeholder values for system bar
int? _gpsSatellites;
String? _gpsState;
int? _lteSignal;
// WebSocket connection state
@@ -109,6 +110,7 @@ class _DashboardScreenState extends State<DashboardScreen> {
_gpsSpeed = data.speed;
_gpsTrack = data.track;
_gpsSatellites = data.satellites;
_gpsState = data.gpsState;
});
});
@@ -144,6 +146,7 @@ class _DashboardScreenState extends State<DashboardScreen> {
_gpsSpeed = cachedGps.speed;
_gpsTrack = cachedGps.track;
_gpsSatellites = cachedGps.satellites;
_gpsState = cachedGps.gpsState;
}
_wsState = WebSocketService.instance.connectionState;
@@ -200,6 +203,7 @@ class _DashboardScreenState extends State<DashboardScreen> {
// System status bar
SystemBar(
gpsSatellites: _gpsSatellites,
gpsState: _gpsState,
lteSignal: _lteSignal,
piTemp: _piTemp,
voltage: _voltage,
@@ -237,7 +241,7 @@ class _DashboardScreenState extends State<DashboardScreen> {
mainAxisAlignment: MainAxisAlignment.spaceEvenly,
children: [
StatBox(value: _formatInt(_rpm), label: 'RPM', isWarning: () => (_rpm ?? 0) > 4000),
GpsCompass(heading: _gpsTrack),
GpsCompass(heading: _gpsTrack, gpsState: _gpsState),
StatBox(value: _formatGear(_gear), label: 'GEAR'),
],
),

4
pi/ui/lib/services/backend_service.dart
View File

@@ -40,8 +40,9 @@ class GpsData {
final double? track;
final int? mode; // 0=no fix, 2=2D, 3=3D
final int? satellites;
final String? gpsState; // "acquiring", "fix", or "lost"
GpsData({this.lat, this.lon, this.speed, this.alt, this.track, this.mode, this.satellites});
GpsData({this.lat, this.lon, this.speed, this.alt, this.track, this.mode, this.satellites, this.gpsState});
factory GpsData.fromJson(Map<String, dynamic> json) {
return GpsData(
@@ -52,6 +53,7 @@ class GpsData {
track: (json['track'] as num?)?.toDouble(),
mode: (json['mode'] as num?)?.toInt(),
satellites: (json['satellites'] as num?)?.toInt(),
gpsState: json['gps_state'] as String?,
);
}
}

10
pi/ui/lib/widgets/gps_compass.dart
View File

@@ -4,14 +4,16 @@ import '../theme/app_theme.dart';
class GpsCompass extends StatelessWidget {
final double? heading;
final String? gpsState; // "acquiring", "fix", "lost"
const GpsCompass({super.key, this.heading});
const GpsCompass({super.key, this.heading, this.gpsState});
bool get _hasSignal => heading != null;
bool get _isAcquiring => gpsState == 'acquiring';
String get _displayHeading {
if (!_hasSignal) return 'N/A'; // Just make it clear; redundant anyways, this only gets called when _hasSignal
return '${(heading! % 360).round()}'; // No need for the degree symbol
if (!_hasSignal) return 'N/A';
return '${(heading! % 360).round()}';
}
String get _compassDirection {
@@ -56,7 +58,7 @@ class GpsCompass extends StatelessWidget {
child: FittedBox(
fit: BoxFit.contain,
child: Text(
_hasSignal ? "${_displayHeading} ${_compassDirection}" : "N/A",
_hasSignal ? "${_displayHeading} ${_compassDirection}" : (_isAcquiring ? "ACQ" : "N/A"),
style: TextStyle(
fontSize: 80,
color: theme.subdued,

8
pi/ui/lib/widgets/system_bar.dart
View File

@@ -7,6 +7,7 @@ import '../theme/app_theme.dart';
/// Shows GPS satellites, LTE signal, Pi temp, voltage, WS status at a glance.
class SystemBar extends StatelessWidget {
final int? gpsSatellites; // null = disconnected
final String? gpsState; // "acquiring", "fix", "lost"
final int? lteSignal; // null = disconnected, 0-4 bars
final double? piTemp; // null = unavailable
final double? voltage; // null = Arduino disconnected
@@ -15,6 +16,7 @@ class SystemBar extends StatelessWidget {
const SystemBar({
super.key,
this.gpsSatellites,
this.gpsState,
this.lteSignal,
this.piTemp,
this.voltage,
@@ -65,8 +67,10 @@ class SystemBar extends StatelessWidget {
),
_Indicator(
label: 'GPS',
value: gpsSatellites?.toString() ?? 'N/A',
isAbnormal: gpsSatellites == null || gpsSatellites == 0,
value: gpsState == 'acquiring' ? 'ACQ'
: gpsState == 'fix' ? (gpsSatellites?.toString() ?? 'N/A')
: '0', // lost or unknown
isAbnormal: gpsState != 'fix',
alignment: Alignment.centerLeft,
labelSize: labelSize,
valueSize: valueSize,