gps: modem GNSS -> gpsd -> OwnTracks/MQTT publisher
EC25-AF GNSS wiring (udev hotplug into gpsd) plus van-gps-owntracks, a port of the wayback-era gps_to_owntracks.py: apt-only deps (python3-gps instead of pip-only gpsdclient, paho 2.x callback API), broker secrets moved out of the code into /etc/van-gps/config.json (0600, seeded from a sanitized example), gpsd host now localhost. client_id is vanq-wan — a legacy client still holds vanq on the broker and shared IDs get kicked in a connect/disconnect loop. Exit-on-disconnect + systemd Restart=always is the reconnect logic. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
This commit is contained in:
Andreas Wrede
co-authored by
Claude Fable 5
Claude Fable 5
parent
d2a2b19b85
commit
8d5415f326
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# Quectel EC25-AF GNSS NMEA port (USB interface 01): hand it to gpsd on hotplug
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# via gpsd's own gpsdctl@ mechanism (same pattern as its 60-gpsd.rules) and give
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# it a stable name. NMEA only streams while the GNSS engine is on — enabled
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# persistently in modem NV via AT+QGPSCFG="autogps",1 (one-time; see README).
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ACTION=="add", SUBSYSTEM=="tty", ENV{ID_VENDOR_ID}=="2c7c", ENV{ID_MODEL_ID}=="0125", ENV{ID_USB_INTERFACE_NUM}=="01", SYMLINK+="modem-gps", GROUP="dialout", TAG+="systemd", ENV{SYSTEMD_WANTS}+="gpsdctl@%k.service"
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{
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"broker": "home.wrede.ca",
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"port": 1883,
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"username": "CHANGE_ME",
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"password": "CHANGE_ME",
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"client_id": "vanq-wan",
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"topic": "owntracks/rv/gps",
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"tid": "rv",
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"gpsd_host": "127.0.0.1",
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"idle_delay_s": 600,
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"move_trigger_m": 250,
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"mqtt_version": "3"
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}
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# Devices gpsd should collect to at boot time.
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# Empty: the EC25 NMEA port is hot-added via udev (77-modem-gps.rules -> gpsdctl@).
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DEVICES=""
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# -n: read GNSS data even with no clients connected (keeps the fix warm).
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GPSD_OPTIONS="-n"
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# Automatically hot add/remove USB GPS devices via gpsdctl (our udev rule uses this).
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USBAUTO="true"
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@@ -0,0 +1,161 @@
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#!/usr/bin/python3 -u
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# Publish gpsd fixes as OwnTracks location messages over MQTT.
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# Ported from gps_to_owntracks.py (wayback era): gpsdclient -> python3-gps
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# (apt-only deps), paho 1.x -> 2.x callback API, hard-coded broker secrets ->
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# /etc/van-gps/config.json. Exits on MQTT disconnect/DNS failure by design —
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# systemd Restart=always reconnects with a fresh session.
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import sys
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import json
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import signal
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import os
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import time
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import socket
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import gps as gpsd
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import paho.mqtt.client as mqtt
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from paho.mqtt.properties import Properties
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from paho.mqtt.packettypes import PacketTypes
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from datetime import datetime
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from math import radians, sin, cos, acos
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debug = False # toggle at runtime with SIGHUP
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config_path = sys.argv[1] if len(sys.argv) > 1 else "/etc/van-gps/config.json"
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with open(config_path) as f:
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cfg = json.load(f)
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version = cfg.get("mqtt_version", "3") # '3' or '5'
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mytransport = "tcp" # or 'websockets'
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broker = cfg["broker"]
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myport = cfg.get("port", 1883)
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mq_user = cfg["username"]
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mq_pw = cfg["password"]
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mq_id = cfg.get("client_id", "vanq-wan")
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gpsd_host = cfg.get("gpsd_host", "127.0.0.1")
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idle_delay = cfg.get("idle_delay_s", 600) # seconds between messages when not moving
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keep_alive = idle_delay + 60
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distance_move_trigger = cfg.get("move_trigger_m", 250) # meters of movement that triggers a message
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mytopic = cfg.get("topic", "owntracks/rv/gps")
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tid = cfg.get("tid", "rv")
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def handler(signum, frame):
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global debug
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debug = not debug
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print('debug is now', debug)
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def great_circle(llon1, llat1, llon2, llat2):
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lon1, lat1, lon2, lat2 = map(radians, [llon1, llat1, llon2, llat2])
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a = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(lon1 - lon2)
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if a >= 1.0:
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return 0
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try:
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res = int(6371000 * (acos(a)))
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except ValueError as e:
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print("gc error: ", e)
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print(" coords: ", llon1, llat1, llon2, llat2)
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return 0
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return res
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def on_disconnect(client, userdata, flags, reason_code, properties):
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print("mqtt disconnect:", reason_code)
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os._exit(1)
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def connect():
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if version == '5':
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properties = Properties(PacketTypes.CONNECT)
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properties.SessionExpiryInterval = 30 * 60 # in seconds
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client.connect(broker,
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port=myport,
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clean_start=mqtt.MQTT_CLEAN_START_FIRST_ONLY,
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properties=properties,
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keepalive=keep_alive)
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elif version == '3':
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client.connect(broker, port=myport, keepalive=keep_alive)
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print("mqtt connect")
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#
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# Main
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#
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print("van-gps-owntracks start", time.asctime(), debug, os.getpid())
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signal.signal(signal.SIGHUP, handler)
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if version == '5':
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client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2,
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client_id=mq_id,
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transport=mytransport,
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protocol=mqtt.MQTTv5)
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if version == '3':
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client = mqtt.Client(mqtt.CallbackAPIVersion.VERSION2,
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client_id=mq_id,
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transport=mytransport,
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protocol=mqtt.MQTTv311,
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clean_session=True)
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client.username_pw_set(mq_user, mq_pw)
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client.on_disconnect = on_disconnect
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try:
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connect()
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except socket.gaierror as e:
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print("could not connect mqtt, %s" % e)
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sys.exit(1)
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client.loop_start()
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pubproperties = Properties(PacketTypes.PUBLISH)
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pubproperties.MessageExpiryInterval = keep_alive # in seconds; MQTT5 only
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session = gpsd.gps(host=gpsd_host)
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session.stream(gpsd.WATCH_ENABLE)
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lastmsg = {'tst': 0, 'tid': tid, 'lat': 0, 'lon': 0}
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while session.read() == 0:
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result = session.data
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if not result or result.get('class') != 'TPV':
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continue
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msg = {'_type': 'location', 'tid': tid, 't': 'p'}
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if result.get('mode', 0) <= 1:
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continue
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if not ('lat' in result and 'lon' in result):
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continue
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msg['lat'] = result['lat']
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msg['lon'] = result['lon']
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if 'alt' in result:
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msg['alt'] = int(result['alt'])
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if 'speed' in result:
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msg['vel'] = int(result['speed']) * 3.6
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if 'eph' in result:
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msg['acc'] = int(result['eph'])
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if 'track' in result:
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msg['cog'] = int(result['track'])
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else:
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continue
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if 'time' not in result:
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continue
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msg['tst'] = int(datetime.fromisoformat(result['time']).timestamp())
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jmsg = json.dumps(msg)
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if lastmsg != msg:
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gc = great_circle(lastmsg['lat'], lastmsg['lon'], msg['lat'], msg['lon'])
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if debug:
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print("\rgc is ", gc, ' age is ', msg['tst'] - lastmsg['tst'], " ", end="")
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if msg['tst'] - lastmsg['tst'] >= idle_delay or gc > distance_move_trigger:
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if debug:
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print('* ', gc, jmsg)
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print('* ', mytopic, pubproperties)
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rc = client.publish(mytopic, jmsg, 0, properties=pubproperties)
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if debug:
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print("* client.publish rc=", rc)
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lastmsg = msg
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print("gpsd stream ended", file=sys.stderr)
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sys.exit(1)
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@@ -0,0 +1,14 @@
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[Unit]
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Description=Publish gpsd fixes to OwnTracks via MQTT
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After=network-online.target gpsd.service
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Wants=network-online.target
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[Service]
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ExecStart=/usr/local/sbin/van-gps-owntracks
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# The script exits on MQTT disconnect / DNS failure by design; a fresh start
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# is the reconnect. 15s so a dead WAN doesn't turn this into a hot loop.
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Restart=always
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RestartSec=15
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[Install]
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WantedBy=multi-user.target
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