26 lines
794 B
Python
26 lines
794 B
Python
from msg_container import MsgContainer
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from msg_sink import MsgSink
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from ubx.ubx import frame_parse, frame_parse_hdr
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from ubx.msg import UbxMsg
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class UbxReceiver(MsgSink):
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def __init__(self, parser: UbxMsg, mclass: int|None = None, mid: int|None = None):
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MsgSink.__init__(self)
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self.parser = parser
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self.mclass = mclass
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self.mid = mid
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def on_recv(self, msg: MsgContainer):
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data, hdr = frame_parse(msg.data)
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msg_parsed = self.parser.from_bytes(data)
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print(f"{msg.name}:{hdr.mclass}:{hdr.mid}:data({len(data)}):{msg_parsed}")
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def is_msg(self, msg: MsgContainer):
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hdr = frame_parse_hdr(msg.data)
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if hdr is not None:
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if self.mclass is not None and self.mid is not None:
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return self.mclass == hdr.mclass and self.mid == hdr.mid
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else:
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return True
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return False
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