refactored

network_backend.py

@@ -3,7 +3,8 @@ import selectors
 import time
 
 from msg_container import MsgContainer
-from packetizer import Packetizer
+from receiver.nmea_packetizer import NmeaPacketizer
+from receiver.ubx_packetizer import UbxPacketizer
 from transceiver import Transceiver
 from a_backend import ABackend
 from nmea.GLL import Gll
@@ -11,6 +12,8 @@ from nmea.GSA import Gsa
 from nmea.GSV import Gsv
 from nmea.GGA import Gga
 from nmea.RMC import Rmc
+from ubx.ubx import UbxReceiver
+
 
 class NetworkBackend(ABackend):
 	def __init__(self, servers: list[dict]):
@@ -98,7 +101,8 @@ if __name__ == "__main__":
 			Gsv(grm, 'GP'),
 			Gga(grm, 'GP'),
 			Rmc(grm, 'GN'),
-			Gga(grm, 'GN')
+			Gga(grm, 'GN'),
+			UbxReceiver(grm, 0x0a, 0x36)
 		]
 		# Topology
 		# Receiver-0.0 \
@@ -110,15 +114,17 @@ if __name__ == "__main__":
 		# Create transceiver
 		transceiver = mc.create_xcvr(grm)
 
-		# Create Packetizer
+		# Create NMEA-Packetizer
-		packetizer = Packetizer()
+		nmea_packetizer = NmeaPacketizer()
+		ubx_packetizer = UbxPacketizer(sync_bytes=b'\xb5\x62')
 
-		# Register packetizer to transceiver
+		# Register NMEA-Packetizer to transceiver
-		transceiver.register_recv(packetizer)
+		transceiver.register_recv(nmea_packetizer)
+		transceiver.register_recv(ubx_packetizer)
 
-		# Register Receiver to packetizer
+		# Register Receiver to NMEA-Packetizer
 		for rx in rx_list:
-			packetizer.register_recv(rx)
+			nmea_packetizer.register_recv(rx)
 
 	# Connect all sources
 	mc.connect()

nmea/GGA.py

@@ -1,8 +1,8 @@
 from msg_container import MsgContainer
-from nmea.receiver import Nmea
+from receiver.nmea_receiver import NmeaReceiver
 
 
-class Gga(Nmea):
+class Gga(NmeaReceiver):
 	class Msg:
 		def __init__(self):
 			self.utc_time = None
@@ -24,7 +24,7 @@ class Gga(Nmea):
 			return f"{self.__dict__}"
 
 	def __init__(self, name: str, tid: str):
-		Nmea.__init__(self, name, tid=tid, msg_type="GGA")
+		NmeaReceiver.__init__(self, name, tid=tid, msg_type="GGA")
 		self.msg = None
 		self.data = Gga.Msg()
 

nmea/GLL.py

@@ -1,8 +1,8 @@
 from msg_container import MsgContainer
-from nmea.receiver import Nmea
+from receiver.nmea_receiver import NmeaReceiver
 
 
-class Gll(Nmea):
+class Gll(NmeaReceiver):
 	class Msg:
 		def __init__(self):
 			self.latitude = None
@@ -18,7 +18,7 @@ class Gll(Nmea):
 			return f"{self.__dict__}"
 
 	def __init__(self, name: str, tid: str):
-		Nmea.__init__(self, name, tid=tid, msg_type="GLL")
+		NmeaReceiver.__init__(self, name, tid=tid, msg_type="GLL")
 		self.msg = None
 		self.data = Gll.Msg()
 

nmea/GSA.py

@@ -1,8 +1,8 @@
 from msg_container import MsgContainer
-from nmea.receiver import Nmea
+from receiver.nmea_receiver import NmeaReceiver
 
 
-class Gsa(Nmea):
+class Gsa(NmeaReceiver):
 	class Msg:
 		def __init__(self):
 			self.mode = None
@@ -18,7 +18,7 @@ class Gsa(Nmea):
 			return f"{self.__dict__}"
 
 	def __init__(self, name: str, tid: str):
-		Nmea.__init__(self, name, tid=tid, msg_type="GSA")
+		NmeaReceiver.__init__(self, name, tid=tid, msg_type="GSA")
 		self.msg = None
 		self.data = Gsa.Msg()
 

nmea/GSV.py

@@ -1,8 +1,8 @@
 from msg_container import MsgContainer
-from nmea.receiver import Nmea
+from receiver.nmea_receiver import NmeaReceiver
 
 
-class Gsv(Nmea):
+class Gsv(NmeaReceiver):
 	class Msg:
 		def __init__(self):
 			self.number_of_msg = None
@@ -19,7 +19,7 @@ class Gsv(Nmea):
 			return f"{self.__dict__}"
 
 	def __init__(self, name: str, tid: str):
-		Nmea.__init__(self, name, tid=tid, msg_type="GSV")
+		NmeaReceiver.__init__(self, name, tid=tid, msg_type="GSV")
 		self.msg = None
 		self.data = Gsv.Msg()
 

nmea/RMC.py

@@ -1,8 +1,8 @@
 from msg_container import MsgContainer
-from nmea.receiver import Nmea
+from receiver.nmea_receiver import NmeaReceiver
 
 
-class Rmc(Nmea):
+class Rmc(NmeaReceiver):
 	class Msg:
 		def __init__(self):
 			pass
@@ -11,7 +11,7 @@ class Rmc(Nmea):
 			return f"{self.__dict__}"
 
 	def __init__(self, name: str, tid: str):
-		Nmea.__init__(self, name, tid=tid, msg_type="RMC")
+		NmeaReceiver.__init__(self, name, tid=tid, msg_type="RMC")
 		self.msg = None
 		self.data = Rmc.Msg()
 

receiver/ascii_receiver.py

@@ -1,21 +0,0 @@
-from msg_container import MsgContainer
-from msg_sink import MsgSink
-import re
-
-class AsciiReceiver(MsgSink):
-	def __init__(self, name: str, filter: str):
-		super().__init__()
-		self.name = name
-		self.filter = filter
-
-	def is_msg(self, msg: MsgContainer):
-		res = False
-		try:
-			res = re.match(bytes(self.filter, encoding="utf-8"), msg.data) is not None
-		except UnicodeDecodeError:
-			pass
-		return res
-
-	def on_recv(self, msg: MsgContainer):
-		print(f"{self.name}: {msg}")
-

receiver/nmea_packetizer.py

@@ -3,7 +3,7 @@ from msg_sink import MsgSink
 from msg_source import MsgSource
 from struct import pack
 
-class Packetizer(MsgSink, MsgSource):
+class NmeaPacketizer(MsgSink, MsgSource):
 	def __init__(self):
 		MsgSink.__init__(self)
 		MsgSource.__init__(self)

receiver/nmea_receiver.py

@@ -1,4 +1,23 @@
-from receiver.ascii_receiver import AsciiReceiver
+from msg_container import MsgContainer
+from msg_sink import MsgSink
+import re
+
+class AsciiReceiver(MsgSink):
+	def __init__(self, name: str, filter: str):
+		super().__init__()
+		self.name = name
+		self.filter = filter
+
+	def is_msg(self, msg: MsgContainer):
+		res = False
+		try:
+			res = re.match(bytes(self.filter, encoding="utf-8"), msg.data) is not None
+		except UnicodeDecodeError:
+			pass
+		return res
+
+	def on_recv(self, msg: MsgContainer):
+		print(f"{self.name}: {msg}")
 
 
 class NmeaReceiver(AsciiReceiver):

receiver/ubx_packetizer.py

@@ -3,29 +3,44 @@ from msg_sink import MsgSink
 from msg_source import MsgSource
 from struct import pack
 
-class Packetizer(MsgSink, MsgSource):
+class UbxPacketizer(MsgSink, MsgSource):
-	def __init__(self):
+	def __init__(self, sync_bytes: bytes):
 		MsgSink.__init__(self)
 		MsgSource.__init__(self)
+		self.sync_bytes = sync_bytes
 		self.packet = b''
 		self.wait_sync = True
-
+		self.latency = None
 	def on_recv(self, msg: MsgContainer):
 		name = msg.name
 		data = msg.data
-		for n in range (len(data)):
+		w = len(self.sync_bytes)
-			d = data[n]
+		self.latency = 0
-			if d == 13 or d == 10:
+		for n in range (0, len(data)):
+			d = data[n:n+w]
+			if d == self.sync_bytes:
+				self.latency = w-1
+				print("UBX-sync")
 				timestamp = msg.timestamp
 				self.wait_sync = False
-				if len(self.packet) > 0:
-					self.call_sinks(MsgContainer(name, timestamp, self.packet))
-					self.wait_sync = True
-					self.packet = b''
 			elif not self.wait_sync:
-				self.packet += pack('B', d)
+				if self.latency == 0:
+					self.packet += d
+				else:
+					self.latency -= 1
 
 
 
 	def is_msg(self, msg: MsgContainer):
 		return True
+
+
+if __name__ == "__main__":
+	_sync = b'JA'
+	_data = b'31'
+	pkt = UbxPacketizer(sync_bytes=_sync)
+	frame1 = _sync + b'31' + _sync + b'31'
+	pkt.on_recv(MsgContainer('test', 31101970.0208, frame1))
+
+	frame2 = _sync + b'3' + _sync + b'10'
+	pkt.on_recv(MsgContainer('test', 31101970.0208, frame2))

ubx/ubx.py

@@ -1,5 +1,8 @@
 import struct
 
+from msg_container import MsgContainer
+from msg_sink import MsgSink
+
 
 def checksum(data: bytes) -> bytes:
 	ck_a = 0
@@ -11,34 +14,65 @@ def checksum(data: bytes) -> bytes:
 	return struct.pack("BB", ck_a, ck_b)
 
 def frame_create(_class: int, _id: int, _data: bytes) -> bytes:
-	hdr = b'\xb5\x62'
+	_sync = b'\xb5\x62'
-	frame = struct.pack('B', _class)
+	_hdr = struct.pack('B', _class)
-	frame += struct.pack('B', _id)
+	_hdr += struct.pack('B', _id)
-	frame += struct.pack('<H', len(_data))
+	_hdr += struct.pack('<H', len(_data))
-	frame += _data
+	_check = checksum(_hdr + _data)
-	check = checksum(frame)
 
-	return hdr + frame + check
+	return _sync + _hdr + _data + _check
 
 def frame_parse(frame: bytes):
+	_class = 0
+	_id = 0
+	_data = None
+
+	while True:
 		hdr = frame[0:2]
 		if hdr != b'\xb5\x62':
-		return None
+			break
 
 		_class = struct.unpack('B', frame[2:3])[0]
 		_id = struct.unpack('B', frame[3:4])[0]
 		_length = struct.unpack('<H', frame[4:6])[0]
 		if (6+_length+2) != len(frame):
-		return None
+			break
 
-	_data = frame[6:-2]
 		_check_soll = frame[-2:]
 		_check_ist = checksum(frame[2:-2])
 		if _check_soll != _check_ist:
-		return None
+			break
+
+		_data = frame[6:-2]
+		break
 
 	return _data, _class, _id
 
+class UbxReceiver(MsgSink):
+	def __init__(self, name: str, mid: int, mclass: int):
+		MsgSink.__init__(self)
+		self.name = name
+		self.mid = mid
+		self.mclass = mclass
+
+	def on_recv(self, msg: MsgContainer):
+		data, mclass, mid = frame_parse(msg.data)
+		print(f"{mclass}:{mid}:{data}")
+
+
+	def is_msg(self, msg: MsgContainer):
+		data, mclass, mid = frame_parse(msg.data)
+		if data is None:
+			return False
+
+		if mclass != self.mclass:
+			return False
+
+		if mid != self.mid:
+			return False
+
+		return True
+
 if __name__ == "__main__":
 	result = frame_create(1, 2, b'Hallo')
 	print(result)