# ---------------------------------------------------------------------------
# GNSS Lese-Thread
# ---------------------------------------------------------------------------
import socket

import serial
from PyQt5.QtCore import QThread, pyqtSignal

from ubx import UbxPacketizer, build_poll, UBX_CLASS_NAV, UBX_ID_NAV_SAT, extract_satellites

class GnssReader(QThread):
    satellites_updated = pyqtSignal(list)
    error_occurred     = pyqtSignal(str)
    connected          = pyqtSignal(str)

    def __init__(self, transport_factory):
        super().__init__()
        self._factory   = transport_factory
        self._running   = False
        self._transport = None
        self.packetizer = UbxPacketizer()

    def run(self):
        self._running = True
        buf = b""
        try:
            self._transport = self._factory()
            self.connected.emit("Verbunden")
            poll_msg = build_poll(UBX_CLASS_NAV, UBX_ID_NAV_SAT)
            self._transport.write(poll_msg)

            while self._running:
                chunk = self._transport.read(512)
                frames = self.packetizer.on_recv(chunk)
                sats   = extract_satellites(frames)
                if sats:
                    self.satellites_updated.emit(sats)
                else:
                    # Kein Datum – erneut pollen
                    self._transport.write(poll_msg)

        except (serial.SerialException, OSError, ConnectionRefusedError,
                socket.timeout, socket.gaierror) as exc:
            self.error_occurred.emit(str(exc))
        finally:
            if self._transport:
                self._transport.close()

    def stop(self):
        self._running = False
        self.wait(3000)