added nmea msg parsing

network_backend.py

@@ -7,6 +7,8 @@ from packetizer import Packetizer
 from transceiver import Transceiver
 from a_backend import ABackend
 from nmea.GLL import Gll
+from nmea.GSA import Gsa
+from nmea.GSV import Gsv
 
 class NetworkBackend(ABackend):
 	def __init__(self, servers: list[dict]):
@@ -98,17 +100,16 @@ if __name__ == "__main__":
 
 	xcvr_1.register_recv(packetizer_0)
 	xcvr_2.register_recv(packetizer_1)
-#	rx_1 = MsgReceiver('Rx1', '^.?GPGSV.*')
-#	rx_2 = MsgReceiver('Rx2', '^.?GNGLL.*')
-#	rx_3 = Gga('Rx3', 'GP')
-	rx_4 = Gll('Rx4', '--')
+
+	rx_list = [
+			Gll('Rx', '--'),
+			Gsa('Rx', '--'),
+			Gsv('Rx', '--')
+		]
 	# Register all Rx to all sources
-#	packetizer_0.register_recv(rx_1)
-#	packetizer_0.register_recv(rx_2)
-#	packetizer_1.register_recv(rx_1)
-#	packetizer_1.register_recv(rx_2)
-	packetizer_0.register_recv(rx_4)
-	packetizer_1.register_recv(rx_4)
+	for rx in rx_list:
+		packetizer_0.register_recv(rx)
+		packetizer_1.register_recv(rx)
 
 	# Connect all sources
 	mc.connect()

nmea/GSA.py

@@ -0,0 +1,36 @@
+from msg_container import MsgContainer
+from nmea.receiver import Nmea
+
+
+class Gsa(Nmea):
+	class Msg:
+		def __init__(self):
+			self.mode = None
+			self.fix_type = None
+			self.sat_id = None
+			self.p_dop = None
+			self.h_dop = None
+			self.v_dop = None
+			self.checksum = None
+
+		def __repr__(self):
+			return f"mode: {self.mode}, fix_type: {self.mode}, sat_id: {self.sat_id}, p-dop: {self.p_dop:.3f}, h-dop: {self.h_dop:.3f}, v-dop: {self.v_dop:.3f}"
+
+	def __init__(self, name: str, tid: str):
+		Nmea.__init__(self, name, tid=tid, msg_type="GSA")
+		self.msg = None
+		self.data = Gsa.Msg()
+
+	def on_recv(self, msg: MsgContainer):
+		data = msg.data.decode(encoding="utf-8")
+		data_list = data.split(',')
+		self.msg = data_list[0]
+		self.data.mode = data_list[1]
+		self.data.fix_type = data_list[2]
+		self.data.sat_id = data_list[3:15]
+		self.data.p_dop = float(data_list[15])
+		self.data.h_dop = float(data_list[16])
+		self.data.v_dop = float(data_list[17])
+		self.data.checksum = data_list[18]
+
+		print(self.data)

nmea/GSV.py

@@ -0,0 +1,48 @@
+from msg_container import MsgContainer
+from nmea.receiver import Nmea
+
+
+class Gsv(Nmea):
+	class Msg:
+		def __init__(self):
+			self.number_of_msg = None
+			self.seq_number = None
+			self.sat_vis = None
+			self.sat_id = []
+			self.elevation = []
+			self.azimuth = []
+			self.snr = []
+			self.checksum = None
+
+		def __repr__(self):
+			return f"sat_vis: {self.sat_vis}, sat_id: {self.sat_id}, elevation: {self.elevation}, azimuth: {self.azimuth}, snr: {self.snr}"
+
+	def __init__(self, name: str, tid: str):
+		Nmea.__init__(self, name, tid=tid, msg_type="GSV")
+		self.msg = None
+		self.data = Gsv.Msg()
+
+	def on_recv(self, msg: MsgContainer):
+		msg_data = msg.data.decode(encoding="utf-8")
+		data_list = msg_data.split(',')
+		self.msg = data_list[0]
+
+		data = self.data
+		data.number_of_msg = data_list[1]
+		data.seq_number = data_list[2]
+		data.sat_vis = data_list[3]
+
+		data_set_size = 4
+		num_sats_in_msg = int(len(data_list[3:-2])/4)
+		for n in range(num_sats_in_msg):
+			data.sat_id.append(data_list[data_set_size*n+4])
+			data.elevation.append(data_list[data_set_size*n+5])
+			data.azimuth.append(data_list[data_set_size*n+6])
+			data.snr.append(data_list[data_set_size*n+7])
+
+		data.checksum = data_list[data_set_size*(num_sats_in_msg-1)+8]
+
+		if self.data.number_of_msg == self.data.seq_number:
+			print(data)
+			self.data = Gsv.Msg()
+