from msg.container import MsgContainer
from ubx.ubx import frame_parse, frame_create
from ubx.messages.msg import UbxMsg
from transceiver import Transceiver
from ubx.listener import UbxListener
from threading import Event

class UbxQuery(UbxListener):
	def __init__(self, transceiver: Transceiver, msg: UbxMsg):
		UbxListener.__init__(self, msg)
		self.transceiver = transceiver
		self.result = None
		self.event = Event()

	def on_recv(self, msg: MsgContainer):
		if self.is_msg(msg):
			data, hdr = frame_parse(msg.data)
			self.result = self.msg.from_bytes(data)
			self.event.set()

	def poll(self):
		self.event.clear()
		frame = frame_create(self.msg.mclass, self.msg.mid, b'')
		self.transceiver.send(frame)
		self.event.wait()
		return self.result