add UBX-MON-VER support and surface device identification in CLI/GUI
Add the Ver message parser and a fixed UbxQuery (was unused and had a broken semaphore/state bug) to poll MON-VER once on connect. The CLI prints hw/sw version and extensions; the GUI polls it per receiver, pre-fills the read-only ID field with a connection counter and rewrites it from the MOD= extension once the device answers, and propagates the resolved display name to the Sky and Plot tabs so they no longer show the stale placeholder ID. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com> Claude-Session: https://claude.ai/code/session_01XM4FNUjhu9x8df5Dp1hHvd
This commit is contained in:
Claude Sonnet 5
+28
-4
@@ -1,4 +1,4 @@
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import sys, os
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import sys, os, itertools
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_root = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
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_gui = os.path.dirname(os.path.abspath(__file__))
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@@ -19,6 +19,8 @@ from backend.file_backend import source_id_from_path
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BAUD_RATES = ['4800', '9600', '19200', '38400', '57600', '115200',
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'230400', '460800', '921600']
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_connection_counter = itertools.count(1)
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class _StatusDot(QLabel):
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def __init__(self):
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@@ -45,10 +47,11 @@ class ConnectionRow(QWidget):
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layout.setContentsMargins(4, 2, 4, 2)
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layout.setSpacing(6)
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# ── Receiver ID ──────────────────────────────────────────────────────
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# ── Receiver ID (read-only: pre-filled with a counter, rewritten from
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# MON-VER once the device answers, or derived from the file path) ──
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layout.addWidget(QLabel("ID:"))
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self._id_edit = QLineEdit()
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self._id_edit.setPlaceholderText("receiver-id")
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self._id_edit.setReadOnly(True)
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self._id_edit.setFixedWidth(110)
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layout.addWidget(self._id_edit)
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@@ -125,6 +128,11 @@ class ConnectionRow(QWidget):
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layout.addWidget(self._stack)
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layout.addStretch()
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# ── Device identification (read-only, from MON-VER on connect) ────────
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self._version_label = QLabel("")
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self._version_label.setStyleSheet("color: #888888; font-size: 11px;")
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layout.addWidget(self._version_label)
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# ── Status / buttons ─────────────────────────────────────────────────
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self._dot = _StatusDot()
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layout.addWidget(self._dot)
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@@ -141,6 +149,8 @@ class ConnectionRow(QWidget):
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if config:
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self.apply_config(config)
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else:
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self._id_edit.setText(f"conn-{next(_connection_counter)}")
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# ── File browse ──────────────────────────────────────────────────────────
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@@ -199,10 +209,17 @@ class ConnectionRow(QWidget):
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self._connected = connected
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self._dot.set_connected(connected)
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self._conn_btn.setText("Disconnect" if connected else "Connect")
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for w in [self._id_edit, self._type_combo, self._host_edit,
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for w in [self._type_combo, self._host_edit,
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self._port_spin, self._ser_combo, self._baud_combo,
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self._file_edit, self._delay_spin]:
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w.setEnabled(not connected)
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if not connected:
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self._version_label.setText("")
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def set_version_info(self, device_id: str, sw_version: str):
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if device_id:
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self._id_edit.setText(device_id)
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self._version_label.setText(sw_version)
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# ── Slots ────────────────────────────────────────────────────────────────
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@@ -287,6 +304,7 @@ class ConnectionTab(QWidget):
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outer.addLayout(bottom)
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model.connection_changed.connect(self._on_connection_changed)
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model.version_update.connect(self._on_version_update)
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# ── History combo ─────────────────────────────────────────────────────────
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@@ -332,3 +350,9 @@ class ConnectionTab(QWidget):
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break
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if connected:
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self._refresh_history_combo()
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def _on_version_update(self, rid: str, device_id: str, sw_version: str):
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for row in self._rows:
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if row.get_receiver_id() == rid:
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row.set_version_info(device_id, sw_version)
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break
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+46
-1
@@ -1,4 +1,4 @@
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import sys, os, json, dataclasses, time
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import sys, os, json, dataclasses, time, threading
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from dataclasses import dataclass
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from PyQt5.QtCore import QObject, QTimer, pyqtSignal
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@@ -13,6 +13,8 @@ from nmea.packetizer import NmeaPacketizer
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from ubx.packetizer import UbxPacketizer
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from backend.network_backend import NetworkBackend
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from ubx.ubx import frame_create
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from ubx.query import UbxQuery
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from ubx.messages import Ver
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GNSS_NAMES = {
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0: 'GPS', 1: 'SBAS', 2: 'Galileo', 3: 'BeiDou',
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@@ -35,6 +37,14 @@ LRU_PATH = os.path.expanduser('~/.nmea_client_gui.json')
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LRU_MAX = 20
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def _device_id_from_ver(ver: dict) -> str:
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for ext in ver.get('extensions', []):
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s = ext.get('extension', '')
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if s.startswith('MOD='):
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return s[len('MOD='):]
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return ver.get('hw_version', '')
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@dataclass
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class SatelliteData:
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gnss_id: int
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@@ -85,12 +95,15 @@ class _ReceiverState:
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self.backend = None
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self.transceiver = None
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self.poll_timer = None
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self.device_id: str = ''
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self.sw_version: str = ''
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class ReceiverManager(QObject):
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satellite_update = pyqtSignal(str, list) # rid, [SatelliteData]
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pdop_update = pyqtSignal(str, float, float) # rid, pdop, timestamp
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connection_changed = pyqtSignal(str, bool) # rid, connected
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version_update = pyqtSignal(str, str, str) # rid, device_id, sw_version
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receiver_added = pyqtSignal(str)
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receiver_removed = pyqtSignal(str)
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_connection_lost = pyqtSignal(str) # internal: backend thread -> GUI thread
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@@ -101,6 +114,7 @@ class ReceiverManager(QObject):
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self._configs: dict = {}
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self._lru: list = self._load_lru()
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self._connection_lost.connect(self._handle_connection_lost)
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self.version_update.connect(self._on_version)
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# ── LRU ──────────────────────────────────────────────────────────────────
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@@ -197,6 +211,11 @@ class ReceiverManager(QObject):
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GsaQtListener(rid, lambda p, t, r=rid: self._on_pdop(r, p, t))
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)
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ver_query = None
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if config.conn_type != 'file':
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ver_query = UbxQuery(xcvr, Ver())
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ubx_sink.register_listener(ver_query)
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backend.connect()
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backend.start()
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@@ -211,9 +230,18 @@ class ReceiverManager(QObject):
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timer.start()
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state.poll_timer = timer
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threading.Thread(target=self._poll_version, args=(rid, ver_query),
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daemon=True).start()
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self._push_lru(config)
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self.connection_changed.emit(rid, True)
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def _poll_version(self, rid: str, query: UbxQuery):
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ver = query.poll()
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if ver is None:
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return
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self.version_update.emit(rid, _device_id_from_ver(ver), ver['sw_version'])
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def _handle_connection_lost(self, rid: str):
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state = self._states.get(rid)
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if not state or not state.connected:
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@@ -237,7 +265,10 @@ class ReceiverManager(QObject):
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state.backend = None
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state.transceiver = None
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state.satellites.clear()
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state.device_id = ''
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state.sw_version = ''
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self.connection_changed.emit(rid, False)
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self.version_update.emit(rid, '', '')
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def _poll_ubx(self, rid: str):
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state = self._states.get(rid)
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@@ -263,6 +294,14 @@ class ReceiverManager(QObject):
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def get_config(self, rid: str):
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return self._configs.get(rid)
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def get_version_info(self, rid: str):
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s = self._states.get(rid)
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return (s.device_id, s.sw_version) if s else ('', '')
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def display_name(self, rid: str) -> str:
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s = self._states.get(rid)
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return (s.device_id if s and s.device_id else rid)
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def get_satellites(self, rids: list) -> list:
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result = []
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for rid in rids:
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@@ -288,3 +327,9 @@ class ReceiverManager(QObject):
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return
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state.pdop = pdop
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self.pdop_update.emit(rid, pdop, ts)
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def _on_version(self, rid: str, device_id: str, sw_version: str):
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state = self._states.get(rid)
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if state:
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state.device_id = device_id
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state.sw_version = sw_version
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+11
-1
@@ -316,6 +316,7 @@ class SinglePlotWidget(QWidget):
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model.receiver_removed.connect(self._on_receiver_removed)
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model.satellite_update.connect(self._on_sat_update)
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model.pdop_update.connect(self._on_pdop_update)
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model.version_update.connect(self._on_version_update)
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# ── UI ────────────────────────────────────────────────────────────────────
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@@ -425,7 +426,7 @@ class SinglePlotWidget(QWidget):
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for rid in selected:
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ts_dq, v_dq = self._data.get(rid, ([], []))
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if ts_dq:
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snapshot[rid] = (list(ts_dq), list(v_dq))
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snapshot[self._model.display_name(rid)] = (list(ts_dq), list(v_dq))
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w, h = self._canvas.width(), self._canvas.height()
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if w > 0 and h > 0:
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self._thread.submit(snapshot, self._y_cb.currentText(), w, h)
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@@ -485,6 +486,15 @@ class SinglePlotWidget(QWidget):
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self._rebuild_val_combo()
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self._submit_render()
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def _on_version_update(self, rid: str, device_id: str, sw_version: str):
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label = self._model.display_name(rid)
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for i in range(self._src_list.count()):
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item = self._src_list.item(i)
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if item.data(Qt.UserRole) == rid:
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item.setText(f" {label} ")
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break
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self._submit_render()
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def _on_sat_update(self, rid: str, sats: list):
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selected = set(self._selected_rids())
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if rid not in selected:
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+18
-1
@@ -34,6 +34,7 @@ class SkyTab(QWidget):
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self._pdop: dict = {} # rid -> float
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self._info_cards: dict = {} # rid -> QFrame
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self._info_labels: dict = {} # rid -> (lbl_pdop, lbl_visible, lbl_used)
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self._name_labels: dict = {} # rid -> QLabel (receiver display name)
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self._trail: dict = {} # (rid, gnss_id, sv_id) -> deque[(elev, azim)]
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self._hi_timers: dict = {} # (rid, gnss_id, sv_id) -> QTimer
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@@ -113,6 +114,7 @@ class SkyTab(QWidget):
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model.receiver_removed.connect(self._on_receiver_removed)
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model.satellite_update.connect(self._on_sat_update)
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model.pdop_update.connect(self._on_pdop_update)
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model.version_update.connect(self._on_version_update)
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# ── Source list management ────────────────────────────────────────────────
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@@ -136,6 +138,7 @@ class SkyTab(QWidget):
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cl.addWidget(w)
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self._info_cards[rid] = card
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self._info_labels[rid] = (lbl_pdop, lbl_visible, lbl_used)
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self._name_labels[rid] = name_lbl
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self._info_layout.insertWidget(self._info_layout.count() - 1, card)
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def _on_receiver_removed(self, rid: str):
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@@ -151,6 +154,20 @@ class SkyTab(QWidget):
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self._info_layout.removeWidget(card)
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card.deleteLater()
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self._info_labels.pop(rid, None)
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self._name_labels.pop(rid, None)
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self._refresh_immediate()
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def _on_version_update(self, rid: str, device_id: str, sw_version: str):
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label = self._model.display_name(rid)
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for i in range(self._src_list.count()):
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item = self._src_list.item(i)
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if item.data(Qt.UserRole) == rid:
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item.setText(f" {label} ")
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break
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lbl = self._name_labels.get(rid)
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if lbl:
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lbl.setText(f"<b>{label}</b>")
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self._table_keys = [] # force a full rebuild so the Receiver column updates
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self._refresh_immediate()
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def _selected_rids(self) -> set:
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@@ -297,7 +314,7 @@ class SkyTab(QWidget):
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self._table.setItem(row, 3, cell(f"{sat.azimuth:.0f}"))
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self._table.setItem(row, 4, cell(f"{sat.cno:.1f}"))
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self._table.setItem(row, 5, cell("✓" if sat.used_in_fix else ""))
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self._table.setItem(row, 6, cell(rid))
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self._table.setItem(row, 6, cell(self._model.display_name(rid)))
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msg_item = QTableWidgetItem("")
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msg_item.setTextAlignment(Qt.AlignCenter)
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msg_item.setBackground(brush)
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@@ -3,6 +3,7 @@ import time
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import json
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import signal
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import argparse
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import threading
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from backend.network_backend import NetworkBackend
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from backend.serial_backend import SerialBackend
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@@ -16,8 +17,9 @@ from nmea.messages import Gll, Gsa, Gsv, Gga, Rmc
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from ubx.ubx import frame_create
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from ubx.msg_types import *
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from ubx.packetizer import UbxPacketizer
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from ubx.messages import Sig, Sat, RawX, UbxMsg
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from ubx.messages import Sig, Sat, RawX, Ver, UbxMsg
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from ubx.listener import UbxListener
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from ubx.query import UbxQuery
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# ---------------------------------------------------------------------------
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@@ -87,7 +89,8 @@ def _make_listeners(name: str):
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def wire_source(name: str, backend, log_dir: str | None,
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loggers: list, transceivers: dict, pacer_delay: float = 0.0):
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loggers: list, transceivers: dict, ver_queries: dict,
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pacer_delay: float = 0.0):
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xcvr = Transceiver(name)
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backend.register_xcvr(xcvr)
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transceivers[name] = xcvr
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@@ -104,6 +107,10 @@ def wire_source(name: str, backend, log_dir: str | None,
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nmea_rx, ubx_rx = _make_listeners(name)
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ver_query = UbxQuery(xcvr, Ver())
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ubx_rx.append(ver_query)
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ver_queries[name] = ver_query
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if pacer_delay > 0:
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nmea_pacer = ReplayPacer(pacer_delay)
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ubx_pacer = ReplayPacer(pacer_delay)
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@@ -157,6 +164,7 @@ if __name__ == '__main__':
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backends = []
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loggers = []
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transceivers = {}
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ver_queries = {}
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# Network sources → one shared NetworkBackend
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net_sources = [s for s in sources if s['type'] == 'network']
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@@ -165,13 +173,14 @@ if __name__ == '__main__':
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for s in net_sources])
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backends.append(net_be)
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for s in net_sources:
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wire_source(s['name'], net_be, log_dir, loggers, transceivers)
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wire_source(s['name'], net_be, log_dir, loggers, transceivers, ver_queries)
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# Serial sources → one SerialBackend each
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for s in [s for s in sources if s['type'] == 'serial']:
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serial_sources = [s for s in sources if s['type'] == 'serial']
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for s in serial_sources:
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ser_be = SerialBackend(s['device'], s.get('baudrate', 115200))
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backends.append(ser_be)
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wire_source(s['name'], ser_be, log_dir, loggers, transceivers)
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wire_source(s['name'], ser_be, log_dir, loggers, transceivers, ver_queries)
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# File sources → one shared FileBackend (no secondary logging)
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file_sources = [s for s in sources if s['type'] == 'file']
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@@ -182,7 +191,8 @@ if __name__ == '__main__':
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name = source_id_from_path(s['path'])
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if name:
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wire_source(name, file_be, log_dir=None, loggers=loggers,
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transceivers=transceivers, pacer_delay=delay)
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transceivers=transceivers, ver_queries=ver_queries,
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pacer_delay=delay)
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signal.signal(signal.SIGINT,
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lambda sig, frm: handler(sig, frm, backends, loggers))
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@@ -191,6 +201,21 @@ if __name__ == '__main__':
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be.connect()
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be.start()
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# Poll MON-VER once per live (network/serial) source, off the main thread
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# since UbxQuery.poll() blocks until the response frame arrives.
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def report_version(name: str, query: UbxQuery):
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ver = query.poll()
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if ver is None:
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return
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ext = '; '.join(e['extension'] for e in ver['extensions'])
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print(f"{name}: device hw={ver['hw_version']} sw={ver['sw_version']}"
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+ (f" ({ext})" if ext else ""))
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for s in net_sources + serial_sources:
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name = s['name']
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threading.Thread(target=report_version, args=(name, ver_queries[name]),
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daemon=True).start()
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# Poll loop – only meaningful for network/serial sources
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net_names = [s['name'] for s in net_sources]
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if net_names:
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@@ -1,3 +1,4 @@
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from ubx.messages.msg import UbxMsg
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from ubx.messages.nav import Sig, Sat
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from ubx.messages.rxm import RawX
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from ubx.messages.mon import Ver
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@@ -0,0 +1,32 @@
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import struct
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from ubx.messages.msg import UbxMsg
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class Ver(UbxMsg):
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def __init__(self):
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UbxMsg.__init__(self, 0x0A, 0x04)
|
||||
|
||||
class Group1:
|
||||
@classmethod
|
||||
def from_bytes(cls, data: bytes):
|
||||
obj = Ver.Group1()
|
||||
obj.extension = data[0:30].split(b"\x00", 1)[0].decode("ascii", errors="replace")
|
||||
return obj.__dict__
|
||||
|
||||
@classmethod
|
||||
def from_bytes(cls, data: bytes):
|
||||
obj = Ver()
|
||||
obj.sw_version = data[0:30].split(b"\x00", 1)[0].decode("ascii", errors="replace")
|
||||
obj.hw_version = data[30:40].split(b"\x00", 1)[0].decode("ascii", errors="replace")
|
||||
obj.extensions = []
|
||||
offset = 40
|
||||
remain = len(data) - offset
|
||||
group_size = 30
|
||||
n = offset
|
||||
while remain >= group_size:
|
||||
extension = cls.Group1.from_bytes(data[n:n + group_size])
|
||||
n += group_size
|
||||
remain -= group_size
|
||||
obj.extensions.append(extension)
|
||||
if remain:
|
||||
print(f"Ver.from_bytes: {remain} trailing bytes unparsed (payload size mismatch)")
|
||||
return obj.__dict__
|
||||
+8
-13
@@ -3,30 +3,25 @@ from ubx.ubx import frame_parse, frame_create
|
||||
from ubx.messages.msg import UbxMsg
|
||||
from transceiver import Transceiver
|
||||
from ubx.listener import UbxListener
|
||||
from threading import BoundedSemaphore
|
||||
from threading import Event
|
||||
|
||||
class UbxQuery(UbxListener):
|
||||
def __init__(self, transceiver: Transceiver, msg: UbxMsg):
|
||||
UbxListener.__init__(self, msg)
|
||||
self.transceiver = transceiver
|
||||
self.sema = BoundedSemaphore()
|
||||
self.result = None
|
||||
self.event = Event()
|
||||
|
||||
def on_recv(self, msg: MsgContainer):
|
||||
if self.is_msg(msg):
|
||||
data, hdr = frame_parse(msg.data)
|
||||
msg_parsed = self.msg.from_bytes(data)
|
||||
self.msg = msg_parsed
|
||||
self.sema.release()
|
||||
self.result = self.msg.from_bytes(data)
|
||||
self.event.set()
|
||||
|
||||
def poll(self):
|
||||
self.event.clear()
|
||||
frame = frame_create(self.msg.mclass, self.msg.mid, b'')
|
||||
self.transceiver.send(frame)
|
||||
self.sema.acquire()
|
||||
print(self.msg)
|
||||
|
||||
def query(self, data: bytes):
|
||||
frame = frame_create(0x01, 0x35, b'')
|
||||
self.transceiver.send(frame)
|
||||
self.sema.acquire()
|
||||
print(self.msg)
|
||||
self.event.wait()
|
||||
return self.result
|
||||
|
||||
|
||||
Reference in New Issue
Block a user