fix local import errors

unified_frameworks/sensor_array/gps_compass/actual_gps_compass.py

@@ -1,5 +1,5 @@
 from typing import Tuple
-from .gps_compass_class import _GPSCompass
+from sensor_array.gps_compass.gps_compass_class import _GPSCompass
 import sys
 import serial.tools.list_ports as port_list
 import re
@@ -30,10 +30,9 @@ def __init__(self, port: str = None) -> None:
             print("====> No port specified. Using Port:", ports[port_number].device)
             port = ports[port_number].device
             self.gps = GPS.gpsRead(port, 57600)
-            while (
-                self.gps.get_position() == ["error"] * 2
-                or self.gps.get_position() is None
-            ):
+            while self.gps.get_position() == [
+                "error"
+            ] * 2 or self.gps.get_position() == ["None", "None"]:
                 print(f"Port {port} not working, going to next port...")
                 port_number += 1
                 port = ports[port_number].device
@@ -43,6 +42,8 @@ def __init__(self, port: str = None) -> None:
                 except:
                     continue
         self.cur_gps = self.gps.get_position()
+        if self.cur_gps is None:
+            raise Exception("Unable to get proper GPS lock.")
 
         self.compass = LSM303.Compass()
 

unified_frameworks/sensor_array/gps_compass/bridge_gps.py

@@ -1,5 +1,4 @@
 from typing import Tuple
-from gps_compass.actual_gps_compass import ActualGPSCompass
 import time
 import sys
 import re
@@ -9,7 +8,13 @@
 from bridge import rover_side, client_side
 from bridge.exceptions import NoOpenBridgeException
 from unified_utils import Service
-from .gps_compass_class import _GPSCompass
+
+try:
+    from sensor_array.gps_compass.actual_gps_compass import ActualGPSCompass
+except ImportError as e:
+    print(e.msg)
+    print("Assuming this means on client side.")
+from sensor_array.gps_compass.gps_compass_class import _GPSCompass
 
 import json
 
@@ -83,9 +88,9 @@ def get_cur_gps(self) -> Tuple[int, int]:
         rover_side.service.start_service()
         gps = BridgeGPS()
         gps.connect()
+        time.sleep(3)  # give time for threads to start
         while True:
             try:
-                # time.sleep(2)
                 print(f"GPS: {gps.get_cur_gps()}, Heading: {gps.get_cur_angle()}")
                 time.sleep(1)
             except KeyboardInterrupt:

unified_frameworks/sensor_array/gps_compass/fake_gps_compass.py

@@ -3,7 +3,7 @@
 
 root = __file__[: __file__.index("/unified_frameworks")]
 sys.path.append(root + "/unified_frameworks")
-from .gps_compass_class import _GPSCompass
+from sensor_array.gps_compass.gps_compass_class import _GPSCompass
 import math