- send() uses bytes no Msg

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

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)
 

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/

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)

transceiver.py

@@ -11,6 +11,6 @@ class Transceiver(MsgSource):
 	def on_recv(self, msg: MsgContainer):
 		self.call_sinks(msg)
 
-	def send(self, msg: MsgContainer):
+	def send(self, data: bytes):
-		self.backend.send(self.name, msg)
+		self.backend.send(self.name, data)