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OpenMarine › Pypilot › General discussion v
Pypilot steals serial GPS from signalk

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Pypilot steals serial GPS from signalk
PaddyB Offline
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#1
2024-03-25, 11:57 AM
Struggling here to get Pypilot working with the GPS dongle. 
Serial Ublox is a connection to signalk, cat /dev/ttyOP_gps and the data can been seen coming in.
Code:
pi@openplotter:~ $ cat /dev/ttyOP_gps
$GPRMC,104422.00,A,2746.16364,N,01541.46466,W,0.341,,250324,,,A*61
$GPVTG,,T,,M,0.341,N,0.631,K,A*21
$GPGGA,104422.00,2746.16364,N,01541.46466,W,1,08,1.03,1.3,M,35.5,M,,*42
$GPGSA,A,3,25,29,28,32,31,18,26,16,,,,,2.00,1.03,1.71*0A
$GPGSV,3,1,10,12,04,073,,16,07,273,36,18,31,145,37,25,31,060,34*71
Everything works.
Just the arduino in whitelist >
Code:
pi@openplotter:~ $ cat .pypilot/serial_ports
/dev/ttyOP_pypilot
/dev/serial/by-path/platform-fd500000.pcie-pci-0000:01:00.0-usb-0:1.1.1:1.0-port0

if I start pyilot in systemd > sudo systemctl start pypilot

status >
Code:
pi@openplotter:~ $ sudo systemctl status pypilot
* pypilot.service - pypilot
     Loaded: loaded (/etc/systemd/system/pypilot.service; disabled; preset: enabled)
     Active: active (running) since Mon 2024-03-25 10:46:48 GMT; 7s ago
   Main PID: 4382 (pypilot)
      Tasks: 20 (limit: 1576)
        CPU: 2.711s
     CGroup: /system.slice/pypilot.service
             |-4382 /usr/bin/python3 /usr/local/bin/pypilot
             |-4383 /usr/bin/python3 /usr/local/bin/pypilot
             |-4385 /usr/bin/python3 /usr/local/bin/pypilot
             |-4391 /usr/bin/python3 /usr/local/bin/pypilot
             |-4392 /usr/bin/python3 /usr/local/bin/pypilot
             |-4394 /usr/bin/python3 /usr/local/bin/pypilot
             |-4396 /usr/bin/python3 /usr/local/bin/pypilot
             |-4397 /usr/bin/python3 /usr/local/bin/pypilot
             `-4398 /usr/bin/python3 /usr/local/bin/pypilot

Mar 25 10:46:55 openplotter pypilot[4398]: server add socket ('10.42.0.1', 54048)
Mar 25 10:46:55 openplotter pypilot[4394]: signalk process 4394
Mar 25 10:46:55 openplotter pypilot[4394]: signalkread token eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJkZXZpY2UiOiJweXBpbG90>
Mar 25 10:46:55 openplotter sudo[4421]:       pi : PWD=/ ; USER=root ; COMMAND=/usr/bin/stty -F /dev/ttyACM0
Mar 25 10:46:55 openplotter sudo[4421]: pam_unix(sudo:session): session opened for user root(uid=0) by (uid=1000)
Mar 25 10:46:55 openplotter sudo[4421]: pam_unix(sudo:session): session closed for user root
Mar 25 10:46:55 openplotter pypilot[4394]: signalk server found 127.0.0.1:3000
Mar 25 10:46:55 openplotter pypilot[4382]: sensor found gps gpsd /dev/ttyACM0 Mon Mar 25 10:46:55 2024
Mar 25 10:46:56 openplotter pypilot[4394]: signalk found ws://127.0.0.1:3000/signalk/v1/stream?subscribe=none
Mar 25 10:46:56 openplotter pypilot[4394]: signalk connected to ws://127.0.0.1:3000/signalk/v1/stream?subscribe=none


Code:
pi@openplotter:~ $ journalctl -b  | grep pypilot
Mar 25 09:58:02 openplotter systemd[1]: Started pypilot_web.service - pypilot web.
Mar 25 09:58:16 openplotter pypilot_web[269]: failed to read config /home/pi/.pypilot/web.conf
Mar 25 09:58:16 openplotter pypilot_web[269]: using port 8000
Mar 25 09:58:16 openplotter pypilot_web[269]: processing clients
Mar 25 10:46:48 openplotter sudo[4378]:       pi : TTY=pts/0 ; PWD=/home/pi ; USER=root ; COMMAND=/usr/bin/systemctl start pypilot
Mar 25 10:46:48 openplotter systemd[1]: Started pypilot.service - pypilot.
Mar 25 10:46:49 openplotter pypilot[4382]: autopilot start 2911.835676912
Mar 25 10:46:49 openplotter pypilot[4382]: world magnetic model not available
Mar 25 10:46:49 openplotter pypilot[4385]: imu process 4385
Mar 25 10:46:49 openplotter pypilot[4391]: nmea process 4391
Mar 25 10:46:49 openplotter pypilot[4391]: listening on port 20220 for nmea connections
Mar 25 10:46:49 openplotter pypilot[4385]: made imu process realtime
Mar 25 10:46:49 openplotter pypilot[4385]: Using settings file RTIMULib.ini
Mar 25 10:46:49 openplotter pypilot[4385]: Settings file not found. Using defaults and creating settings file
Mar 25 10:46:49 openplotter pypilot[4385]: Failed to open settings file for saveFailed to open SPI bus 0, select 0
Mar 25 10:46:49 openplotter pypilot[4385]: Using fusion algorithm Kalman STATE4
Mar 25 10:46:49 openplotter pypilot[4382]: loading servo calibration /home/pi/.pypilot/servocalibration
Mar 25 10:46:49 openplotter pypilot[4382]: WARNING: using default servo calibration!!
Mar 25 10:46:49 openplotter pypilot[4396]: gps process 4396
Mar 25 10:46:49 openplotter pypilot[4382]: Available Pilots: ['absolute', 'basic']
Mar 25 10:46:49 openplotter pypilot[4398]: pypilotServer process 4398
Mar 25 10:46:49 openplotter pypilot[4382]: pypilotinit complete 2912.076193986
Mar 25 10:46:49 openplotter pypilot[4382]: serialprobe removing gps device /dev/serial/by-id/usb-u-blox_AG_-_www.u-blox.com_u-blox_7_-_GPS_GNSS_Receiver-if00
Mar 25 10:46:49 openplotter pypilot[4382]: servo probe ('/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0', 38400) 2912.134809615
Mar 25 10:46:49 openplotter pypilot[4382]: server/client is running too _slowly_ 0.08476174100042044
Mar 25 10:46:49 openplotter pypilot[4382]: sensor found wind tcp IIsocket0 Mon Mar 25 10:46:49 2024
Mar 25 10:46:49 openplotter pypilot[4398]: load file /home/pi/.pypilot/pypilot.conf
Mar 25 10:46:49 openplotter pypilot[4398]: store_file /home/pi/.pypilot/pypilot.conf.bak 2912.220 False
Mar 25 10:46:49 openplotter pypilot[4398]: server setup has 6 pipes
Mar 25 10:46:49 openplotter pypilot[4391]: reset gps timeoffset 19807 38808 1711363609.6412442
Mar 25 10:46:49 openplotter pypilot[4382]: sensor found gps tcp GPsocket0 Mon Mar 25 10:46:49 2024
Mar 25 10:46:49 openplotter pypilot[4385]: imu rate set to rate 20
Mar 25 10:46:49 openplotter pypilot[4385]: imu rate set to rate 20
Mar 25 10:46:49 openplotter pypilot[4385]: setting initial gyro bias [0.71, -0.39, 0.25]
Mar 25 10:46:49 openplotter pypilot[4398]: server add socket ('10.42.0.1', 54042)
Mar 25 10:46:49 openplotter pypilot[4398]: server add socket ('10.42.0.59', 57144)
Mar 25 10:46:50 openplotter pypilot[4398]: zeroconf addresses ['127.0.0.1', '10.42.0.1'] 2
Mar 25 10:46:50 openplotter pypilot[4382]: arduino servo found ['/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0', 38400]
Mar 25 10:46:50 openplotter pypilot[4382]: serialprobe success: /home/pi/.pypilot/servodevice ['/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0', 38400]
Mar 25 10:46:50 openplotter pypilot[4392]: signalk zeroconf service add openplotter._http._tcp.local. _http._tcp.local.
Mar 25 10:46:50 openplotter pypilot[4392]: signalk zeroconf service add openplotter._http._tcp.local. _http._tcp.local.
Mar 25 10:46:50 openplotter pypilot[4397]: gps filter process 4397
Mar 25 10:46:51 openplotter pypilot[4396]: gpsd connected
Mar 25 10:46:54 openplotter pypilot[4382]: sensors is running too _slowly_ 0.04601940700013074
Mar 25 10:46:54 openplotter pypilot[4382]: GPSD devices ['/dev/ttyACM0']
Mar 25 10:46:54 openplotter pypilot[4383]: calibration loaded, starting 4383
Mar 25 10:46:55 openplotter pypilot[4398]: server remove socket ('10.42.0.1', 54042)
Mar 25 10:46:55 openplotter pypilot[4398]: server add socket ('10.42.0.1', 54048)
Mar 25 10:46:55 openplotter pypilot[4394]: signalk process 4394
Mar 25 10:46:55 openplotter pypilot[4394]: signalkread token eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJkZXZpY2UiOiJweXBpbG90LTc1MTMzNjYyMTg3IiwiaWF0IjoxNzExMjE2NjY5LCJleHAiOjE3NDI3NzQyNjl9.vOLb9_B8_TzLmfGlT-xKHAtzAvrEaYyqaoPV8Pqolb4
Mar 25 10:46:55 openplotter pypilot[4394]: signalk server found 127.0.0.1:3000
Mar 25 10:46:55 openplotter pypilot[4382]: sensor found gps gpsd /dev/ttyACM0 Mon Mar 25 10:46:55 2024
Mar 25 10:46:55 openplotter sudo[4423]:       pi : TTY=pts/0 ; PWD=/home/pi ; USER=root ; COMMAND=/usr/bin/systemctl status pypilot
Mar 25 10:46:56 openplotter pypilot[4394]: signalk found ws://127.0.0.1:3000/signalk/v1/stream?subscribe=none
Mar 25 10:46:56 openplotter pypilot[4394]: signalk connected to ws://127.0.0.1:3000/signalk/v1/stream?subscribe=none
Mar 25 10:46:57 openplotter pypilot[4382]: nmea probe ('/dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0', 38400)
Mar 25 10:47:01 openplotter pypilot[4398]: server remove socket ('10.42.0.1', 54048)
Mar 25 10:47:01 openplotter pypilot[4398]: server add socket ('10.42.0.1', 47904)
Mar 25 10:47:02 openplotter pypilot[4382]: nmea probe ('/dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0', 4800)
Mar 25 10:47:02 openplotter pypilot[4382]: failed to open ('/dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0', 4800) for nmea data [Errno 16] could not open port /dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0: [Errno 16] Device or resource busy: '/dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0'
Mar 25 10:47:05 openplotter pypilot[4382]: sensor lost gps gpsd /dev/ttyACM0 Mon Mar 25 10:47:05 2024
Mar 25 10:47:11 openplotter pypilot[4398]: server remove socket ('10.42.0.1', 47904)
Mar 25 10:47:11 openplotter pypilot[4398]: server add socket ('10.42.0.1', 41396)
Mar 25 10:47:13 openplotter pypilot[4382]: sensor lost truewind gps+wind None Mon Mar 25 10:47:13 2024
Mar 25 10:47:19 openplotter pypilot[4382]: nmea probe ('/dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0', 38400)
Mar 25 10:47:19 openplotter pypilot[4382]: failed to open ('/dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0', 38400) for nmea data [Errno 16] could not open port /dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0: [Errno 16] Device or resource busy: '/dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0'
Mar 25 10:47:19 openplotter pypilot[4382]: nmea probe ('/dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0', 4800)
Mar 25 10:47:19 openplotter pypilot[4382]: failed to open ('/dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0', 4800) for nmea data [Errno 16] could not open port /dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0: [Errno 16] Device or resource busy: '/dev/serial/by-id/usb-1a86_USB2.0-Ser_-if00-port0'
Mar 25 10:47:21 openplotter pypilot[4398]: server remove socket ('10.42.0.1', 41396)
Mar 25 10:47:22 openplotter pypilot[4398]: server add socket ('10.42.0.1', 48894)

Now signalk can't see the gps anymore and >
Code:
pi@openplotter:~ $ cat /dev/ttyOP_gps
cat: /dev/ttyOP_gps: Device or resource busy
Need to reboot to get it back.

Signalk has a connection to tcp 20220 & opencpn sees a position but not stable.

What should I do??? 

Thanks Heart
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Pypilot steals serial GPS from signalk - by PaddyB - 2024-03-25, 11:57 AM

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