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June 4, 2016 09:00
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Parse NMEA format to KML format
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| #!/usr/bin/env python | |
| # coding: UTF-8 | |
| import sys | |
| import StringIO | |
| ############################################################################### | |
| class NMEAParser: | |
| # ------------------------------------------------------------------------- | |
| def __init__(self): | |
| '''Initialize''' | |
| # ------------------------------------------------------------------------- | |
| def trans_time(self, nmea_time): | |
| if nmea_time == '': | |
| return '00:00:00' | |
| return '%s:%s:%s' % (nmea_time[0:2], nmea_time[2:4], nmea_time[4:6]) | |
| # ------------------------------------------------------------------------- | |
| def trans_date(self, nmea_date): | |
| if nmea_date == '': | |
| return 'no date' | |
| return '20%s-%s-%s' % (nmea_date[4:6], nmea_date[2:4], nmea_date[0:2]) | |
| # ------------------------------------------------------------------------- | |
| def calc_lat(self, nmea_lat, nmea_dir): | |
| if nmea_lat == '': | |
| return 0.0 | |
| gps_lat = float(nmea_lat[0:2]) | |
| gps_lat += float(nmea_lat[2:9]) / 60.0 | |
| return gps_lat | |
| # ------------------------------------------------------------------------- | |
| def calc_lng(self, nmea_lng, nmea_dir): | |
| if nmea_lng == '': | |
| return 0.0 | |
| gps_lng = float(nmea_lng[0:3]) | |
| gps_lng += float(nmea_lng[3:10]) / 60.0 | |
| return gps_lng | |
| # ------------------------------------------------------------------------- | |
| def calc_alt(self, nmea_alt, nmea_alt_unit, wgs84, wgs84_unit): | |
| if nmea_alt == '': | |
| return 0.0 | |
| gps_alt = float(nmea_alt) | |
| return gps_alt | |
| # ------------------------------------------------------------------------- | |
| def calc_speed(self, nmea_knot): | |
| if nmea_knot == '': | |
| return 0.0 | |
| # 1 knot = 0.5144 m/s | |
| return 0.5144 * float(nmea_knot) | |
| # ------------------------------------------------------------------------- | |
| def parse(self, fp, stime, etime): | |
| gps_list = [] | |
| gps_valid = 0 | |
| for line in fp: | |
| if line[0] == '$': | |
| if line[1:6] == 'GPGGA': | |
| # -------------------------------------- parse GGA data --- | |
| try: | |
| tag,time,lat,lat_d,lng,lng_d,gps_type,nr_sat,dop,alt,alt_m,wgs84,wgs84_m,dgps_sec,dgps_id = line.split(',') | |
| except: | |
| print "failed to parse GPGGA" | |
| gps_data = None | |
| continue | |
| if gps_type != '0': | |
| gps_data = {'type':int(gps_type), 'time':self.trans_time(time), 'lat':self.calc_lat(lat, lat_d), 'lng':self.calc_lng(lng, lng_d), 'alt':self.calc_alt(alt, alt_m, wgs84, wgs84_m)} | |
| gps_data['satellite'] = int(nr_sat) | |
| gps_data['dop'] = float(dop) | |
| gps_valid = 1 | |
| else: | |
| gps_data = {'type':int(gps_type), 'time':self.trans_time(time)} | |
| gps_data['lng'] = 0.0 | |
| gps_data['lat'] = 0.0 | |
| gps_data['alt'] = 0.0 | |
| gps_data['satellite'] = 0 | |
| gps_data['dop'] = 100.0 | |
| gps_valid = 0 | |
| elif line[1:6] == 'GPRMC': | |
| # -------------------------------------- parse RMC data --- | |
| try: | |
| tag,time,valid,lat,lat_d,lng,lng_d,knot,knot_d,date,mag,mag_d,method = line.split(',') | |
| except: | |
| print "failed to parse GPRMC" | |
| continue | |
| gps_data['date'] = self.trans_date(date) | |
| gps_data['speed'] = self.calc_speed(knot) | |
| gps_data['dir'] = float(knot_d) | |
| if stime == '' or gps_data['time'] >= stime: | |
| gps_list.append(gps_data) | |
| if etime != '' and gps_data['time'] >= etime: | |
| return gps_list | |
| elif line[1:6] == 'GPGSA': | |
| '''GSA data''' | |
| elif line[1:6] == 'GPGSV': | |
| '''GSV data''' | |
| return gps_list | |
| # ------------------------------------------------------------------------- | |
| def parseFile(self, filename, stime, etime): | |
| '''Parse GPS NMEA format''' | |
| fp = open(filename, 'r') | |
| gps_list = self.parse(fp, stime, etime) | |
| fp.close() | |
| return gps_list | |
| # ------------------------------------------------------------------------- | |
| def parseString(self, str): | |
| '''Parse GPS NMEA format''' | |
| fp = StringIO.StringIO(str) | |
| gps_list = self.parse(fp) | |
| fp.close() | |
| return gps_list | |
| # ------------------------------------------------------------------------- | |
| def outputKML2(self, gps_list): | |
| print '''<?xml version="1.0" encoding="UTF-8"?> | |
| <kml xmlns="http://www.opengis.net/kml/2.2"> | |
| <Document> | |
| <name>Paths</name> | |
| <description>This is GPS Line</description> | |
| <Style id="Line0"> | |
| <LineStyle> | |
| <color>ccff0000</color> | |
| <width>4</width> | |
| </LineStyle> | |
| </Style> | |
| <Style id="Line1"> | |
| <LineStyle> | |
| <color>ccffffff</color> | |
| <width>4</width> | |
| </LineStyle> | |
| </Style>''' | |
| first = 1 | |
| num_paths = 0 | |
| path_start = 0 | |
| for data in gps_list: | |
| if data['type'] != 0: | |
| if path_start == 0: | |
| path_start = 1 | |
| if first == 0: | |
| print '%f,%f,%f' % (data['lng'], data['lat'], data['alt']) | |
| print ''' </coordinates> | |
| </LineString> | |
| </Placemark>''' | |
| print ''' <Placemark> | |
| <name>Path %d</name> | |
| <description></description> | |
| <styleUrl>#Line0</styleUrl> | |
| <LineString> | |
| <coordinates>''' % num_paths | |
| num_paths += 1 | |
| else: | |
| if path_start == 1: | |
| path_start = 0 | |
| print ''' </coordinates> | |
| </LineString> | |
| </Placemark>''' | |
| first = 0 | |
| print ''' <Placemark> | |
| <name>Path GPS None</name> | |
| <description></description> | |
| <styleUrl>#Line1</styleUrl> | |
| <LineString> | |
| <coordinates>''' | |
| print '%f,%f,%f' % (prev['lng'], prev['lat'], prev['alt']) | |
| if path_start == 1: | |
| print '%f,%f,%f' % (data['lng'], data['lat'], data['alt']) | |
| prev = data | |
| if path_start == 1: | |
| path_start = 0 | |
| print ''' </coordinates> | |
| </LineString> | |
| </Placemark>''' | |
| else: | |
| print ''' </coordinates> | |
| </LineString> | |
| </Placemark>''' | |
| print ''' </Document> | |
| </kml>''' | |
| # ------------------------------------------------------------------------- | |
| def get_line_no(self, data): | |
| if data['type'] == 0: | |
| line_no = 0 | |
| elif data['dop'] < 0.9: | |
| line_no = 4 | |
| elif data['dop'] < 1.0: | |
| line_no = 3 | |
| elif data['dop'] < 1.1: | |
| line_no = 2 | |
| else: | |
| line_no = 1 | |
| return line_no | |
| # ------------------------------------------------------------------------- | |
| def get_line_no_(self, data): | |
| if data['type'] == 0: | |
| line_no = 0 | |
| elif data['satellite'] < 4: | |
| line_no = 1 | |
| elif data['satellite'] < 8: | |
| line_no = 2 | |
| elif data['satellite'] < 12: | |
| line_no = 3 | |
| else: | |
| line_no = 4 | |
| return line_no | |
| # ------------------------------------------------------------------------- | |
| def outputKML_sat(self, gps_list): | |
| print '''<?xml version="1.0" encoding="UTF-8"?> | |
| <kml xmlns="http://www.opengis.net/kml/2.2"> | |
| <Document> | |
| <name>Paths</name> | |
| <description>This is GPS Line</description>''' | |
| colors = [ 'ccffffff', | |
| 'cc0000ff', # red | |
| 'cc00ffff', # yellow | |
| 'cc00ff00', # green | |
| 'ccffff00' ] # cyan | |
| idx = 0 | |
| for color in colors: | |
| print ''' <Style id="Line%d"> | |
| <LineStyle> | |
| <color>%s</color> | |
| <width>4</width> | |
| </LineStyle> | |
| </Style>''' % (idx, color) | |
| idx += 1 | |
| skip_first = 1 | |
| path_start = 0 | |
| num_paths = 0 | |
| prev_line_no = -1 | |
| prev = None | |
| for data in gps_list: | |
| if skip_first == 1: | |
| if data['type'] == 0: | |
| continue | |
| skip_first = 0 | |
| # ----------------------------------------------------------------- | |
| line_no = self.get_line_no(data) | |
| # ----------------------------------------------------------------- | |
| if line_no != prev_line_no: | |
| if line_no > 0 and prev_line_no >= 0: | |
| print '%f,%f,%f' % (data['lng'], data['lat'], data['alt']), | |
| print '<!-- %s, %.2f m/s, %d -->' % (data['time'], data['speed'], int(data['dir'])) | |
| print ''' </coordinates> | |
| </LineString> | |
| </Placemark>''' | |
| elif line_no == 0: | |
| print ''' </coordinates> | |
| </LineString> | |
| </Placemark>''' | |
| print ''' <Placemark> | |
| <name>Path %d</name> | |
| <description></description> | |
| <styleUrl>#Line%d</styleUrl> | |
| <LineString> | |
| <coordinates>''' % (num_paths, line_no) | |
| if line_no == 0: | |
| print '%f,%f,%f' % (prev['lng'], prev['lat'], prev['alt']), | |
| print '<!-- %s, %.2f m/s, %d -->' % (prev['time'], prev['speed'], int(prev['dir'])) | |
| prev_line_no = line_no | |
| # ----------------------------------------------------------------- | |
| if data['type'] != 0: | |
| print '%f,%f,%f' % (data['lng'], data['lat'], data['alt']), | |
| print '<!-- %s, %.2f m/s, %d -->' % (data['time'], data['speed'], int(data['dir'])) | |
| prev = data | |
| if prev_line_no > 0 or prev is not None: | |
| print ''' </coordinates> | |
| </LineString> | |
| </Placemark>''' | |
| print ''' </Document> | |
| </kml>''' | |
| # ------------------------------------------------------------------------- | |
| def outputKML(self, gps_list): | |
| num_paths = 0 | |
| path_start = 0 | |
| for data in gps_list: | |
| if data['type'] != 0: | |
| if path_start == 0: | |
| path_start = 1 | |
| num_paths += 1 | |
| else: | |
| if path_start == 1: | |
| path_start = 0 | |
| print '''<?xml version="1.0" encoding="UTF-8"?> | |
| <kml xmlns="http://www.opengis.net/kml/2.2"> | |
| <Document> | |
| <name>Paths</name> | |
| <description>This is GPS Line</description>''' | |
| color = [ 'ccff0000', 'cc0000ff', 'ccff00ff', | |
| 'cc00ff00', 'ccffff00', 'cc00ffff', 'ccffffff' ] | |
| for i in range(num_paths): | |
| print ''' <Style id="Line%d"> | |
| <LineStyle> | |
| <color>%s</color> | |
| <width>4</width> | |
| </LineStyle> | |
| </Style>''' % (i, color[i % 6]) | |
| print ''' <Style id="LineNo"> | |
| <LineStyle> | |
| <color>ccffffff</color> | |
| <width>4</width> | |
| </LineStyle> | |
| </Style>''' | |
| first = 1 | |
| num_paths = 0 | |
| path_start = 0 | |
| prev = None | |
| for data in gps_list: | |
| if options.etime != '' and data['time'] >= options.etime: | |
| #print data['time'] | |
| break | |
| if data['type'] != 0: | |
| if path_start == 0: | |
| path_start = 1 | |
| if first == 0: | |
| print '%f,%f,%f' % (data['lng'], data['lat'], data['alt']), | |
| print '<!-- %s, %.2f m/s, %d -->' % (data['time'], data['speed'], int(data['dir'])) | |
| print ''' </coordinates> | |
| </LineString> | |
| </Placemark>''' | |
| print ''' <Placemark> | |
| <name>Path %d</name> | |
| <description></description> | |
| <styleUrl>#Line%d</styleUrl> | |
| <LineString> | |
| <coordinates>''' % (num_paths, num_paths) | |
| num_paths += 1 | |
| else: | |
| if path_start == 1: | |
| path_start = 0 | |
| print ''' </coordinates> | |
| </LineString> | |
| </Placemark>''' | |
| first = 0 | |
| print ''' <Placemark> | |
| <name>Path GPS None</name> | |
| <description></description> | |
| <styleUrl>#LineNo</styleUrl> | |
| <LineString> | |
| <coordinates>''' | |
| print '%f,%f,%f' % (prev['lng'], prev['lat'], prev['alt']) | |
| if path_start == 1: | |
| if prev is None or data['lng'] != prev['lng'] or data['lat'] != prev['lat']: | |
| print '%f,%f,%f' % (data['lng'], data['lat'], data['alt']), | |
| print '<!-- %s, %.2f m/s, %d -->' % (data['time'], data['speed'], int(data['dir'])) | |
| prev = data | |
| if path_start == 1: | |
| path_start = 0 | |
| print ''' </coordinates> | |
| </LineString> | |
| </Placemark>''' | |
| else: | |
| print ''' </coordinates> | |
| </LineString> | |
| </Placemark>''' | |
| print ''' </Document> | |
| </kml>''' | |
| # ------------------------------------------------------------------------- | |
| def outputDebug(self, gps_list): | |
| output = '' | |
| for data in gps_list: | |
| output += '%sT%sZ' % (data['date'], data['time']) | |
| if data['type'] != 0: | |
| output += ' (%f, %f, %f)\n' % (data['lng'], data['lat'], data['alt']) | |
| else: | |
| output += '\n' | |
| output += ' speed=%fm/s, dir=%f\n' % (data['speed'], data['dir']) | |
| return output | |
| ############################################################################### | |
| from optparse import OptionParser | |
| if __name__ == '__main__': | |
| parser = OptionParser('usage: %prog (options) [NMEA file]') | |
| parser.add_option("-d", "--debug", | |
| action="store_true", dest="debug", default=False, | |
| help="debug mode") | |
| parser.add_option("-v", "--verify", | |
| action="store_true", dest="verify", default=False, | |
| help="verify mode") | |
| parser.add_option("-m", "--mode", type="int", dest="mode", default=0, | |
| metavar="MODE", | |
| help="specify MODE 0=signle color, 1=satellite, 2=colorful") | |
| parser.add_option("-s", "--start", type="string", | |
| dest="stime", default="", | |
| metavar="TIME", | |
| help="specify start TIME as 'hh:mm:ss' (default: no start time)") | |
| parser.add_option("-e", "--end", type="string", | |
| dest="etime", default="", | |
| metavar="TIME", | |
| help="specify end TIME as 'hh:mm:ss' (default: no end time)") | |
| (options, args) = parser.parse_args() | |
| #argvs = sys.argv | |
| #argc = len(argvs) | |
| if (len(args) != 1): | |
| parser.error("need to specify NMEA file") | |
| quit() | |
| nmea_parser = NMEAParser() | |
| gps_list = nmea_parser.parseFile(args[0], options.stime, options.etime) | |
| if options.verify is True: | |
| print "start time = %s" % gps_list[0]['time'] | |
| print "end time = %s" % gps_list[-1]['time'] | |
| quit() | |
| if options.debug is False: | |
| if options.mode == 0: | |
| nmea_parser.outputKML2(gps_list) | |
| elif options.mode == 1: | |
| nmea_parser.outputKML_sat(gps_list) | |
| else: | |
| nmea_parser.outputKML(gps_list) | |
| else: | |
| print nmea_parser.outputDebug(gps_list) |
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$ python nmeaparser.py --help
Usage: nmeaparser.py (options) [NMEA file]
Options:
-h, --help show this help message and exit
-d, --debug debug mode
-v, --verify verify mode
-m MODE, --mode=MODE specify MODE 0=signle color, 1=satellite, 2=colorful
-s TIME, --start=TIME
specify start TIME as 'hh:mm:ss' (default: no start
time)
-e TIME, --end=TIME specify end TIME as 'hh:mm:ss' (default: no end time)