From 4427995ed60ef63f82f4b505b28cfbe91f9169b3 Mon Sep 17 00:00:00 2001
From: Jens Ahrensfeld <jens@jayfield.org>
Date: Mon, 23 Mar 2026 15:42:24 +0100
Subject: [PATCH] - send() uses bytes no Msg

---
 a_backend.py          |  2 +-
 network_backend.py    |  4 ++--
 readme.md             | 10 ++++++++++
 receiver/ubx_query.py | 26 ++++++++++++++++++++++++++
 transceiver.py        |  4 ++--
 5 files changed, 41 insertions(+), 5 deletions(-)
 create mode 100644 receiver/ubx_query.py

diff --git a/a_backend.py b/a_backend.py
index ac3eb76..ff5306b 100644
--- a/a_backend.py
+++ b/a_backend.py
@@ -2,5 +2,5 @@ from abc import ABC
 from msg_container import MsgContainer
 
 class ABackend(ABC):
-	def send(self, name: str, msg: MsgContainer):
+	def send(self, name: str, data: bytes):
 		pass
diff --git a/network_backend.py b/network_backend.py
index b8ebb7e..92c5c3d 100644
--- a/network_backend.py
+++ b/network_backend.py
@@ -28,9 +28,9 @@ class NetworkBackend(ABackend):
 		self.thread = Thread(target=self.event_loop)
 		self.loop_enable = True
 
-	def send(self, name: str, msg: MsgContainer):
+	def send(self, name: str, data: bytes):
 		sock = self.find_by_name(name)
-		sock['queue'].put(msg)
+		sock['queue'].put(data)
 		if sock is not None:
 			self.sel.modify(sock['sock'], selectors.EVENT_READ + selectors.EVENT_WRITE, None)
 
diff --git a/readme.md b/readme.md
index d013d5f..74ecc50 100644
--- a/readme.md
+++ b/readme.md
@@ -13,3 +13,13 @@ https://content.u-blox.com/sites/default/files/documents/ZED-X20P-00B_DataSheet_
 https://content.u-blox.com/sites/default/files/documents/ZED-X20P_IntegrationManual_UBXDOC-963802114-12901.pdf?utm_content=UBXDOC-963802114-12901
 ## Interface spec
 https://content.u-blox.com/sites/default/files/documents/u-blox-20-HPG-2.00_InterfaceDescription_UBXDOC-304424225-19888.pdf?utm_content=UBXDOC-304424225-19888
+
+# Real time Kinematics
+## ESA Article 
+https://gssc.esa.int/navipedia/index.php?title=Real_Time_Kinematics
+
+# RTCM 3.0
+## Overview
+https://www.geopp.de/pdf/gppigs06_rtcm_f.pdf
+## Cheat sheet
+https://www.use-snip.com/kb/knowledge-base/an-rtcm-message-cheat-sheet/
diff --git a/receiver/ubx_query.py b/receiver/ubx_query.py
new file mode 100644
index 0000000..d41ef05
--- /dev/null
+++ b/receiver/ubx_query.py
@@ -0,0 +1,26 @@
+from msg_container import MsgContainer
+from ubx.ubx import frame_parse, frame_parse_hdr, frame_create
+from ubx.msg import UbxMsg
+from transceiver import Transceiver
+from ubx_receiver import UbxReceiver
+from threading import BoundedSemaphore
+
+class Query(UbxReceiver):
+	def __init__(self, transceiver: Transceiver, parser: UbxMsg, mclass: int|None = None, mid: int|None = None):
+		UbxReceiver.__init__(self, parser, mclass, mid)
+		self.transceiver = transceiver
+		self.sema = BoundedSemaphore()
+		self.msg = UbxMsg()
+
+	def on_recv(self, msg: MsgContainer):
+		if self.is_msg(msg):
+			data, hdr = frame_parse(msg.data)
+			msg_parsed = self.parser.from_bytes(data)
+			self.msg = msg_parsed
+			self.sema.release()
+
+	def query(self, data: bytes):
+		frame = frame_create(0x01, 0x35, b'')
+		self.transceiver.send(frame)
+		self.sema.acquire()
+		print(self.msg)
diff --git a/transceiver.py b/transceiver.py
index dd63128..3b31e0f 100644
--- a/transceiver.py
+++ b/transceiver.py
@@ -11,6 +11,6 @@ class Transceiver(MsgSource):
 	def on_recv(self, msg: MsgContainer):
 		self.call_sinks(msg)
 
-	def send(self, msg: MsgContainer):
-		self.backend.send(self.name, msg)
+	def send(self, data: bytes):
+		self.backend.send(self.name, data)