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refactored

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This commit is contained in:
jens
2026-03-16 11:06:18 +01:00
parent 50d70ccce0
commit 34e56c6291
11 changed files with 131 additions and 78 deletions
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network_backend.py
+14 -8
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@@ -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
packetizer = Packetizer()
# Create NMEA-Packetizer
nmea_packetizer = NmeaPacketizer()
ubx_packetizer = UbxPacketizer(sync_bytes=b'\xb5\x62')
# Register packetizer to transceiver
transceiver.register_recv(packetizer)
# Register NMEA-Packetizer to transceiver
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
+3 -3
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@@ -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
+3 -3
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@@ -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
+3 -3
View File
@@ -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
+3 -3
View File
@@ -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
+3 -3
View File
@@ -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
-21
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@@ -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/ascii_packetizer.py → receiver/nmea_packetizer.py
+1 -1
View File
@@ -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
+20 -1
View File
@@ -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
+26 -11
View File
@@ -3,29 +3,44 @@ from msg_sink import MsgSink
from msg_source import MsgSource
from struct import pack
class Packetizer(MsgSink, MsgSource):
def __init__(self):
class UbxPacketizer(MsgSink, MsgSource):
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)):
d = data[n]
if d == 13 or d == 10:
w = len(self.sync_bytes)
self.latency = 0
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
+45 -11
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@@ -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'
frame = struct.pack('B', _class)
frame += struct.pack('B', _id)
frame += struct.pack('<H', len(_data))
frame += _data
check = checksum(frame)
_sync = b'\xb5\x62'
_hdr = struct.pack('B', _class)
_hdr += struct.pack('B', _id)
_hdr += struct.pack('<H', len(_data))
_check = checksum(_hdr + _data)
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)