import threading
import time

from platypush.backend import Backend
from platypush.message.event.gps import GPSVersionEvent, GPSDeviceEvent, GPSUpdateEvent


class GpsBackend(Backend):
    """
    This backend can interact with a GPS device and listen for events.

    Once installed gpsd you need to run it and associate it to your device. Example if your GPS device communicates
    over USB and is available on /dev/ttyUSB0::

        [sudo] gpsd /dev/ttyUSB0 -F /var/run/gpsd.sock

    The best option is probably to run gpsd at startup as a systemd service.
    """

    _fail_sleep_time = 5.0
    _lat_lng_tolerance = 1e-5
    _alt_tolerance = 0.5

    def __init__(self, gpsd_server='localhost', gpsd_port=2947, **kwargs):
        """
        :param gpsd_server: gpsd daemon server name/address (default: localhost)
        :type gpsd_server: str
        :param gpsd_port: Port of the gpsd daemon (default: 2947)
        :type gpsd_port: int or str
        """
        super().__init__(**kwargs)

        self.gpsd_server = gpsd_server
        self.gpsd_port = gpsd_port
        self._session = None
        self._session_lock = threading.RLock()
        self._devices = {}

    def _get_session(self):
        import gps

        with self._session_lock:
            if not self._session:
                self._session = gps.gps(
                    host=self.gpsd_server, port=self.gpsd_port, reconnect=True
                )
                self._session.stream(gps.WATCH_ENABLE | gps.WATCH_NEWSTYLE)

        return self._session

    def _gps_report_to_event(self, report):
        if report.get('class').lower() == 'version':
            return GPSVersionEvent(
                release=report.get('release'),
                rev=report.get('rev'),
                proto_major=report.get('proto_major'),
                proto_minor=report.get('proto_minor'),
            )
        if report.get('class').lower() == 'devices':
            for device in report.get('devices', []):
                if device.get(
                    'path'
                ) not in self._devices or device != self._devices.get('path'):
                    # noinspection DuplicatedCode
                    self._devices[device.get('path')] = device
                    return GPSDeviceEvent(
                        path=device.get('path'),
                        activated=device.get('activated'),
                        native=device.get('native'),
                        bps=device.get('bps'),
                        parity=device.get('parity'),
                        stopbits=device.get('stopbits'),
                        cycle=device.get('cycle'),
                        driver=device.get('driver'),
                    )
        if report.get('class').lower() == 'device':
            # noinspection DuplicatedCode
            self._devices[report.get('path')] = report
            return GPSDeviceEvent(
                path=report.get('path'),
                activated=report.get('activated'),
                native=report.get('native'),
                bps=report.get('bps'),
                parity=report.get('parity'),
                stopbits=report.get('stopbits'),
                cycle=report.get('cycle'),
                driver=report.get('driver'),
            )
        if report.get('class').lower() == 'tpv':
            return GPSUpdateEvent(
                device=report.get('device'),
                latitude=report.get('lat'),
                longitude=report.get('lon'),
                altitude=report.get('alt'),
                mode=report.get('mode'),
                epv=report.get('epv'),
                eph=report.get('eph'),
                sep=report.get('sep'),
            )

    def run(self):
        super().run()
        self.logger.info(
            'Initialized GPS backend on {}:{}'.format(self.gpsd_server, self.gpsd_port)
        )
        last_event = None

        while not self.should_stop():
            try:
                session = self._get_session()
                report = session.next()
                event = self._gps_report_to_event(report)
                if event and (
                    last_event is None
                    or abs(
                        (last_event.args.get('latitude') or 0)
                        - (event.args.get('latitude') or 0)
                    )
                    >= self._lat_lng_tolerance
                    or abs(
                        (last_event.args.get('longitude') or 0)
                        - (event.args.get('longitude') or 0)
                    )
                    >= self._lat_lng_tolerance
                    or abs(
                        (last_event.args.get('altitude') or 0)
                        - (event.args.get('altitude') or 0)
                    )
                    >= self._alt_tolerance
                ):
                    self.bus.post(event)
                    last_event = event
            except Exception as e:
                if isinstance(e, StopIteration):
                    self.logger.warning(
                        'GPS service connection lost, check that gpsd is running'
                    )
                else:
                    self.logger.exception(e)

                self._session = None
                time.sleep(self._fail_sleep_time)


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