gps_serial.py

# -*- coding: utf-8 -*-

import serial
import time
import threading
import pigpio

pi=pigpio.pi()
pi.set_mode(6,pigpio.OUTPUT)
time.sleep(1.0)
s = serial.Serial('/dev/serial0', 115200, timeout=10)

pi.write(6,0)
s.readline()

def get_gps():
	global t,lat,lon
	try:
		while True:

			sentence = s.readline().decode('utf-8')
			print(sentence)

			#時間
			h = int(sentence[7]+sentence[8]) + 9
			if h > 23:
				h - 24
			t = str(h)+sentence[9]+sentence[10]+sentence[11]+sentence[12]+sentence[13]+sentence[14]+sentence[15]+sentence[16]
			print(time)

			#緯度経度
			lat = float(sentence[20]+sentence[21]) + float(sentence[22]+sentence[23]+sentence[24]+sentence[25]+sentence[26]+sentence[27]+sentence[28])/60
			lon = float(sentence[32]+sentence[33]+sentence[34]) + float(sentence[35]+sentence[36]+sentence[37]+sentence[38]+sentence[39]+sentence[40]+sentence[41])/60
			if sentence[43] == 'W':
				lon = 0.0 - lon
			print(str(lat)+','+str(lon))

			#速度
			speed = float(sentence[45]+sentence[46]+sentence[47]+sentence[48]) * 1.852
			print(str(speed))

			#方位
			if sentence[55] == ',':
				dir = sentence[50]+sentence[51]+sentence[52]+sentence[53]+sentence[54]
			else :
				dir = sentence[50]+sentence[51]+sentence[52]+sentence[53]+sentence[54]+sentence[55]
			print(dir)
	except ValueError:
		#s.write(b'ValueError\r\n')
		get_gps()

gpsthread = threading.Thread(target=get_gps, args=()) # 上の関数を実行するスレッドを生成
gpsthread.daemon = True
gpsthread.start() # スレッドを起動

try:

	while True:
		time.sleep(1.0)
		s.write(str(t).encode()+b','+str(lat).encode()+b','+str(lon).encode()+b'\r\n')


except KeyboardInterrupt:
	s.close()
	pass