#!/usr/bin/env python
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# Revision $Id$

## Simple talker demo that published std_msgs/Strings messages
## to the 'chatter' topic

import rospy
from std_msgs.msg import String
import serial
from pynmea import nmea

ser = serial.Serial()
ser.port = "/dev/ttyACM0"
ser.baudrate = 9600
ser.timeout = 1
ser.open()
gpgga = nmea.GPGGA()

def talker():
    pub = rospy.Publisher('chatter', String, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(5) # 10hz
    while not rospy.is_shutdown():
        data = ser.readline()
        if data[0:6] == '$GPGGA':
            ##method for parsing the sentence
            gpgga.parse(data)
            lats = gpgga.latitude
            #print  "Latitude values : " + str(lats)
            rospy.loginfo(str(lats))
            pub.publish(str(lats))

            #rospy.loginfo("tonight we are live")
            pub.publish("tonight we are live")

        #hello_str = "hello world %s, it is your dady" % rospy.get_time()
        #rospy.loginfo(hello_str)
        #pub.publish(hello_str)
        rate.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass