refactored

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)
+