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distance.py 使用说明

distance.py 是一个 Python 脚本，用于计算两个 GPS 坐标之间的距离。它使用了多线程和 socket 编程，可以实时读取和处理 GPS 数据。

功能

  • 自动和手动计算两个 GPS 坐标之间的距离
  • 通过按键来控制程序的运行
  • 通过 socket 从服务器读取 GPS 数据，并将计算结果发送到另一个服务器

使用方法

  1. 确保你的 Python 环境已经安装了 geographiclib 和 pynput 这两个库。如果没有，可以通过 pip 安装：
pip3 install geographiclib pynput
  1. 运行 distance.py 脚本：
python3 distance.py
  1. 在运行脚本后，你可以通过按键来控制程序的运行：
  • 按 'a' 键，程序会自动计算距离
  • 按 'q' 键，程序会停止自动计算距离
  • 按 's' 键，程序会手动计算距离
  • 按 'w' 键，程序会停止手动计算距离

注意事项

  • 请确保TCP信息接收端程序先行启动，否则程序无法运行，示例程序见receive.py
  • 请确保你的服务器 IP 和端口设置正确，否则程序可能无法正常运行
  • 请确保你的 GPS 数据格式正确，否则程序可能无法正常计算距离

依赖

  • Python 3
  • geographiclib
  • pynput

输出协议

  • 手动：$FP,Manual, gps_week, gps_tow, distance, 记录终止点lat, 记录终止点lon, 记录终止点height, 记录起始点lat, 记录起始点lon, 记录起始点height 示例：$FP, Manual, 2315, 100686.9, 254.48662114965956, 29.567 476545,106.470110427, 158.3273,29.56906212,106.468269119,159.3005
  • 自动：$FP,Auto，gps_week, gps_tow, distance, 记录终止点lat, 记录终止点lon, 记录终止点height, 记录起始点lat, 记录起始点lon, 记录起始点height 示例：$FP, Auto, 2315, 100686.9, 254.48662114965956, 29.567 476545,106.470110427, 158.3273,29.56906212,106.468269119,159.3005

通信接口

  • 与FP-VRTK2通信： IP需要设置为在configuration -> network ->Wi-Fi access point中的ip或Ethernet中的IP，取决于我们主机如何与VRTK2通信；端口设置不变，只要确保configura -> I/O —> Output messages -> Fusion output 中FP_A-ODOMETRY，FP_A-LLH在TCP0上有输出即可。 更改与VRTK2通信的IP请定位以下代码： 
    # 连接到指定的IP和端口
s.connect(("10.0.1.1", 21000)) #修改：这里是连接到RTK的IP和端口，有线为networksetting中的Ethernet IP，无线为networksetting中的WIFI IP
  • 与外部程序通信： 目前设置的是本机IP：127.0.0.1，端口号为：23010，如需修改请定位这行代码 
    # 连接到服务器
client_socket.connect(("127.0.0.1", 23010))  # 修改：修改为要发送到的目标IP和端口

distance.py User Guide

distance.py is a Python script for calculating the distance between two GPS coordinates. It uses multithreading and socket programming to read and process GPS data in real time.

Features

  • Automatic and manual calculation of the distance between two GPS coordinates
  • Control the program operation through key presses
  • Read GPS data from a server via socket and send the calculation results to another server

Usage

  1. Ensure that your Python environment has installed the geographiclib and pynput libraries. If not, you can install them via pip:
pip3 install geographiclib pynput
  1. Run the distance.py script:
python3 distance.py
  1. After running the script, you can control the program operation through key presses:
  • Press 'a' to start automatic distance calculation
  • Press 'q' to stop automatic distance calculation
  • Press 's' to start manual distance calculation
  • Press 'w' to stop manual distance calculation

Precautions

  • Please ensure that the TCP information receiving program is started first, otherwise the program cannot run. See receive.py for an example program.
  • Please ensure that your server IP and port settings are correct, otherwise the program may not run properly
  • Please ensure that your GPS data format is correct, otherwise the program may not calculate the distance correctly

Dependencies

  • Python 3
  • geographiclib
  • pynput

Output Protocol

  • Manual: $FP,Manual, gps_week, gps_tow, distance, record end point lat, record end point lon, record end point height, record start point lat, record start point lon, record start point height Example: $FP, Manual, 2315, 100686.9, 254.48662114965956, 29.567 476545,106.470110427, 158.3273,29.56906212,106.468269119,159.3005
  • Automatic: $FP,Auto，gps_week, gps_tow, distance, record end point lat, record end point lon, record end point height, record start point lat, record start point lon, record start point height Example: $FP, Auto, 2315, 100686.9, 254.48662114965956, 29.567 476545,106.470110427, 158.3273,29.56906212,106.468269119,159.3005

Communication Interface

  • Communication with FP-VRTK2: The IP should be set to the IP in configuration -> network -> Wi-Fi access point or Ethernet, depending on how our host communicates with VRTK2. The port setting remains unchanged, as long as FP_A-ODOMETRY and FP_A-LLH in configuration -> I/O —> Output messages -> Fusion output have output on TCP0. To change the IP for communication with VRTK2, please locate the following code: 
    # Connect to the specified IP and port
s.connect(("10.0.1.1", 21000)) #Note: This is where you connect to the RTK's IP and port. For wired connections, use the Ethernet IP in the network settings. For wireless, use the WIFI IP.
  • Communication with external programs: The current setting is the local IP: 127.0.0.1, and the port number is: 23010. To modify, please locate this line of code 
    # Connect to the server
client_socket.connect(("127.0.0.1", 23010))  # Note: Modify to the target IP and port you want to send to.