added UBX reception

msg_container.py

@@ -1,7 +1,7 @@
 
 
 class MsgContainer:
-	def __init__(self, name: str, timestamp: float = 0, data: bytes = b''):
+	def __init__(self, name: str, timestamp: float = 0, data = b''):
 		self.timestamp : float = timestamp
 		self.name : str= name
 		self.data: bytes = data

network_backend.py

@@ -104,7 +104,7 @@ if __name__ == "__main__":
 			Gga(grm, 'GN'),
 		]
 		ubx_rx_list = [
-			UbxReceiver(grm, 0x0a, 0x36),
+			UbxReceiver(grm, 0x01, 0x43),
 		]
 
 		# Topology

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)
+					data, hdr = frame_parse(self.packet)
-					if hdr is not None:
+					if data is not None:
-						if (6 + hdr.length) == len(self.packet):
+						if hdr.length == len(data):
 							self.call_sinks(MsgContainer(name, timestamp, self.packet))
 							self.packet = b''
 

receiver/ubx_receiver.py

@@ -3,11 +3,11 @@ from msg_sink import MsgSink
 from ubx.ubx import frame_parse, frame_parse_hdr
 
 class UbxReceiver(MsgSink):
-	def __init__(self, name: str, mid: int, mclass: int):
+	def __init__(self, name: str, mclass: int, mid: int):
 		MsgSink.__init__(self)
 		self.name = name
-		self.mid = mid
 		self.mclass = mclass
+		self.mid = mid
 
 	def on_recv(self, msg: MsgContainer):
 		data, hdr = frame_parse(msg.data)