refactored

a_backend.py

@@ -1,6 +1,6 @@
 from abc import ABC
-
+from a_transceiver import ATransceiver
 
 class ABackend(ABC):
-	def send(self, name: str, data: bytes):
+	def send(self, xcr: ATransceiver, data: bytes):
 		pass

a_transceiver.py

@@ -1,4 +1,3 @@
-from a_backend import ABackend
 from msg.listener import MsgListener
 
 
@@ -6,14 +5,9 @@ class ATransceiver(MsgListener):
 	def __init__(self, name: str):
 		MsgListener.__init__(self)
 		self.name = name
-		self.backend = None
 
 	def on_recv(self, msg):
 		pass
 
-	def on_register(self, backend: ABackend):
-		self.backend = backend
-
 	def send(self, data: bytes):
-		self.backend.send(self.name, data)
-
+		pass

network_backend.py

@@ -6,7 +6,8 @@ from threading import Thread
 from queue import Queue
 
 from msg.container import MsgContainer
-from transceiver import Transceiver
+from transceiver import Transceiver, ATransceiver
+
 from a_backend import ABackend
 
 from nmea.packetizer import NmeaPacketizer
@@ -25,8 +26,8 @@ class NetworkBackend(ABackend):
 		self.thread = Thread(target=self.event_loop)
 		self.loop_enable = True
 
-	def send(self, name: str, data: bytes):
-		sock = self.find_by_name(name)
+	def send(self, xcvr: ATransceiver, data: bytes):
+		sock = self.find_by_name(xcvr.name)
 		sock['queue'].put(data)
 		if sock is not None:
 			self.sel.modify(sock['sock'], selectors.EVENT_READ + selectors.EVENT_WRITE, None)
@@ -141,12 +142,12 @@ if __name__ == "__main__":
 			Gga(grm, 'GN'),
 		]
 		ubx_rx_list = [
-			UbxListener(Sig(), 0x01, 0x43),
-			UbxListener(Sat(), 0x01, 0x35),
-			UbxListener(RawX(), 0x02, 0x15),
+			UbxListener(Sig()),
+			UbxListener(Sat()),
+			UbxListener(RawX()),
 
-			UbxListener(UbxMsg(), 0x05, 0x01),
-			UbxListener(UbxMsg(), 0x05, 0x00),
+			UbxListener(UbxMsg(0x05, 0x01)),
+			UbxListener(UbxMsg(0x05, 0x00)),
 		]
 
 		# Topology

transceiver.py

@@ -1,14 +1,21 @@
 from a_transceiver import ATransceiver
 from msg.container import MsgContainer
 from msg.talker import MsgTalker
+from a_backend import ABackend
 
 
 class Transceiver(ATransceiver, MsgTalker):
 	def __init__(self, name: str):
 		ATransceiver.__init__(self, name)
 		MsgTalker.__init__(self)
+		self.backend = None
 
 	def on_recv(self, msg: MsgContainer):
 		msg.transceiver = self
 		self.call_listener(msg)
 
+	def on_register(self, backend: ABackend):
+		self.backend = backend
+
+	def send(self, data: bytes):
+		self.backend.send(self, data)

ubx/listener.py

@@ -4,22 +4,20 @@ from ubx.ubx import frame_parse, frame_parse_hdr
 from ubx.messages.msg import UbxMsg
 
 class UbxListener(MsgListener):
-	def __init__(self, parser: UbxMsg, mclass: int|None = None, mid: int|None = None):
+	def __init__(self, msg: UbxMsg):
 		MsgListener.__init__(self)
-		self.parser = parser
-		self.mclass = mclass
-		self.mid = mid
+		self.msg = msg
 
 	def on_recv(self, msg: MsgContainer):
 		data, hdr = frame_parse(msg.data)
-		msg_parsed = self.parser.from_bytes(data)
+		msg_parsed = self.msg.from_bytes(data)
 		print(f"{msg.source.name}:{hdr.mclass}:{hdr.mid}:data({len(data)}):{msg_parsed}")
 
 	def is_msg(self, msg: MsgContainer):
 		hdr = frame_parse_hdr(msg.data)
 		if hdr is not None:
-			if self.mclass is not None and self.mid is not None:
-				return self.mclass == hdr.mclass and self.mid == hdr.mid
+			if self.msg.mclass is not None and self.msg.mid is not None:
+				return self.msg.mclass == hdr.mclass and self.msg.mid == hdr.mid
 			else:
 				return True
 		return False

ubx/messages/msg.py

@@ -1,6 +1,9 @@
 
 
 class UbxMsg:
+	def __init__(self, mclass: int, mid: int):
+		self.mclass = mclass
+		self.mid = mid
 
 	@classmethod
 	def from_bytes(cls, data: bytes):

ubx/messages/nav.py

@@ -2,6 +2,9 @@ import struct
 from ubx.messages.msg import UbxMsg
 
 class Sig(UbxMsg):
+	def __init__(self):
+		UbxMsg.__init__(self, 0x01, 0x43)
+
 	class Group1:
 		@classmethod
 		def from_bytes(cls, data: bytes):
@@ -39,6 +42,9 @@ class Sig(UbxMsg):
 		return obj.__dict__
 
 class Sat(UbxMsg):
+	def __init__(self):
+		UbxMsg.__init__(self, 0x01, 0x35)
+
 	class Group1:
 		@classmethod
 		def from_bytes(cls, data: bytes):

ubx/messages/rxm.py

@@ -2,6 +2,9 @@ import struct
 from ubx.messages.msg import UbxMsg
 
 class RawX(UbxMsg):
+	def __init__(self):
+		UbxMsg.__init__(self, 0x02, 0x15)
+
 	class Group1:
 		@classmethod
 		def from_bytes(cls, data: bytes):

ubx/query.py

@@ -6,21 +6,27 @@ from ubx.listener import UbxListener
 from threading import BoundedSemaphore
 
 class UbxQuery(UbxListener):
-	def __init__(self, transceiver: Transceiver, parser: UbxMsg, mclass: int|None = None, mid: int|None = None):
-		UbxListener.__init__(self, parser, mclass, mid)
+	def __init__(self, transceiver: Transceiver, msg: UbxMsg):
+		UbxListener.__init__(self, msg)
 		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)
+			msg_parsed = self.msg.from_bytes(data)
 			self.msg = msg_parsed
 			self.sema.release()
 
+	def poll(self):
+		frame = frame_create(self.msg.mclass, self.msg.mid, b'')
+		self.transceiver.send(frame)
+		self.sema.acquire()
+		print(self.msg)
+
 	def query(self, data: bytes):
 		frame = frame_create(0x01, 0x35, b'')
 		self.transceiver.send(frame)
 		self.sema.acquire()
 		print(self.msg)
+