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