added UBX reception

receiver/ubx_packetizer.py

@@ -2,7 +2,7 @@ import struct
 from msg_container import MsgContainer
 from msg_sink import MsgSink
 from msg_source import MsgSource
-from ubx.ubx import UBX_SYNC_WORD, frame_parse_hdr, frame_create
+from ubx.ubx import UBX_SYNC_WORD, frame_parse, frame_create
 from receiver.ubx_receiver import UbxReceiver
 
 class UbxPacketizer(MsgSink, MsgSource):
@@ -34,9 +34,9 @@ class UbxPacketizer(MsgSink, MsgSource):
 			else:
 				if not self.wait_sync:
 					self.packet += struct.pack('B', d)
-					hdr = frame_parse_hdr(self.packet)
-					if hdr is not None:
-						if (6 + hdr.length) == len(self.packet):
+					data, hdr = frame_parse(self.packet)
+					if data is not None:
+						if hdr.length == len(data):
 							self.call_sinks(MsgContainer(name, timestamp, self.packet))
 							self.packet = b''