refactored

ubx/listener.py

@@ -0,0 +1,25 @@
+from msg_container import MsgContainer
+from msg_listener import MsgListener
+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):
+		MsgListener.__init__(self)
+		self.parser = parser
+		self.mclass = mclass
+		self.mid = mid
+
+	def on_recv(self, msg: MsgContainer):
+		data, hdr = frame_parse(msg.data)
+		msg_parsed = self.parser.from_bytes(data)
+		print(f"{msg.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
+			else:
+				return True
+		return False

ubx/messages/__init__.py

@@ -0,0 +1,3 @@
+from ubx.messages.msg import UbxMsg
+from ubx.messages.nav import Sig, Sat
+from ubx.messages.rxm import RawX

ubx/messages/nav.py

@@ -1,7 +1,7 @@
 import struct
-import ubx.msg
+from ubx.messages.msg import UbxMsg
 
-class Sig(ubx.msg.UbxMsg):
+class Sig(UbxMsg):
 	class Group1:
 		@classmethod
 		def from_bytes(cls, data: bytes):
@@ -38,7 +38,7 @@ class Sig(ubx.msg.UbxMsg):
 			obj.signals.append(signal)
 		return obj.__dict__
 
-class Sat(ubx.msg.UbxMsg):
+class Sat(UbxMsg):
 	class Group1:
 		@classmethod
 		def from_bytes(cls, data: bytes):

ubx/messages/rxm.py

@@ -1,7 +1,7 @@
 import struct
-import ubx.msg
+from ubx.messages.msg import UbxMsg
 
-class RawX(ubx.msg.UbxMsg):
+class RawX(UbxMsg):
 	class Group1:
 		@classmethod
 		def from_bytes(cls, data: bytes):

ubx/packetizer.py

@@ -0,0 +1,81 @@
+import struct
+from msg_container import MsgContainer
+from msg_listener import MsgListener
+from msg_talker import MsgTalker
+from ubx.ubx import UBX_SYNC_WORD, frame_parse, frame_create
+from ubx.listener import UbxListener
+
+UBX_PKT_DEBUG = False
+def ubx_pkt_debug(s: str):
+	if UBX_PKT_DEBUG:
+		print(s)
+
+class UbxPacketizer(MsgListener, MsgTalker):
+	def __init__(self, sync_bytes: bytes = UBX_SYNC_WORD):
+		MsgListener.__init__(self)
+		MsgTalker.__init__(self)
+		self.sync_bytes = sync_bytes
+		self.packet = b''
+		self.wait_sync = True
+		self.sync_count = 0
+		self.timestamp = 0
+		self.d_save = b''
+
+	def reset(self):
+		self.packet = b''
+		self.wait_sync = True
+		self.sync_count = 0
+
+	def on_recv(self, msg: MsgContainer):
+		for n in range (0, len(msg.data)):
+			d = msg.data[n]
+			if d == self.sync_bytes[self.sync_count]:
+				self.d_save += struct.pack('B', d)
+				self.sync_count += 1
+				if self.sync_count == len(self.sync_bytes):
+					ubx_pkt_debug(f"{msg.name}:UBX-sync")
+					if len(self.packet) > 0:
+						ubx_pkt_debug(f"{msg.name}:Remaining packet: {self.packet}")
+					self.sync_count = 0
+					self.d_save = b''
+					self.packet = b''
+					self.wait_sync = False
+					self.timestamp = msg.timestamp
+			else:
+				if self.sync_count > 0:
+					self.packet += self.d_save
+					self.d_save = b''
+					self.sync_count = 0
+				if not self.wait_sync:
+					self.packet += struct.pack('B', d)
+					data, hdr = frame_parse(self.packet)
+					if data is not None:
+						if hdr.length == len(data):
+							self.call_listener(MsgContainer(msg.name, self.timestamp, self.packet))
+							self.packet = b''
+							self.wait_sync = True
+
+	def is_msg(self, msg: MsgContainer):
+		return True
+
+
+if __name__ == "__main__":
+	UBX_PKT_DEBUG = True
+	class MySink(MsgListener):
+		def __init__(self):
+			MsgListener.__init__(self)
+
+		def on_recv(self, msg: MsgContainer):
+			print(msg)
+
+		def is_msg(self, msg: MsgContainer):
+			return True
+
+	ubx_rx = UbxListener('test', 1, 2)
+
+	pkt = UbxPacketizer()
+	pkt.register_listener(ubx_rx)
+
+	pkt.reset()
+	frame = frame_create(_class=1, _id=2, _data=b'Hallo' + b'\xb5' + b',\x62Welt') + frame_create(_class=1, _id=2, _data=b',') + frame_create(_class=1, _id=2, _data=b'UBX') + frame_create(_class=1, _id=2, _data=b'World')
+	pkt.on_recv(MsgContainer('test', 31101970.0208, frame))

ubx/query.py

@@ -1,8 +1,8 @@
 from msg_container import MsgContainer
-from ubx.ubx import frame_parse, frame_parse_hdr, frame_create
-from ubx.msg import UbxMsg
+from ubx.ubx import frame_parse, frame_create
+from ubx.messages.msg import UbxMsg
 from transceiver import Transceiver
-from receiver.ubx_listener import UbxListener
+from ubx.listener import UbxListener
 from threading import BoundedSemaphore
 
 class UbxQuery(UbxListener):