def __init__(self, stream, *args, **kwargs):
"""Constructor.
:param stream stream: input data stream
:param bool ubxonly (kwarg): check for non-UBX data (False (ignore - default), True (reject))
:param int validate (kwarg): validate checksum (VALCKSUM (1)=True (default), VALNONE (0)=False)
:param int msgmode (kwarg): message mode (0=GET (default), 1=SET, 2=POLL)
:raises: UBXStreamError (if mode is invalid)
"""
ubx_only = kwargs.get("ubxonly", False)
msgmode = kwargs.get("msgmode", 0)
validate = kwargs.get("validate", VALCKSUM)
# accept args for backwards compatibility if no kwargs
if len(kwargs) == 0:
if len(args) > 0:
ubx_only = args[0]
if len(args) > 1:
msgmode = args[1]
if msgmode not in (0, 1, 2):
raise ube.UBXStreamError(
f"Invalid stream mode {msgmode} - must be 0, 1 or 2")
self._stream = stream
self._ubx_only = ubx_only
self._validate = validate
self._mode = msgmode
def read(self) -> (bytes, UBXMessage):
"""
Read the binary data from the stream buffer.
:return: tuple of (raw_data as bytes, parsed_data as UBXMessage)
:rtype: tuple
:raises: UBXStreamError (if ubxonly=True and stream includes non-UBX data)
"""
reading = True
raw_data = None
parsed_data = None
byte1 = self._stream.read(1) # read the first byte
while reading:
is_ubx = False
is_nmea = False
if len(byte1) < 1: # EOF
break
if byte1 == b"\xb5":
byte2 = self._stream.read(1)
if len(byte2) < 1: # EOF
break
if byte2 == b"\x62":
is_ubx = True
if is_ubx: # it's a UBX message
byten = self._stream.read(4)
if len(byten) < 4: # EOF
break
clsid = byten[0:1]
msgid = byten[1:2]
lenb = byten[2:4]
leni = int.from_bytes(lenb, "little", signed=False)
byten = self._stream.read(leni + 2)
if len(byten) < leni + 2: # EOF
break
plb = byten[0:leni]
cksum = byten[leni:leni + 2]
raw_data = ubt.UBX_HDR + clsid + msgid + lenb + plb + cksum
parsed_data = self.parse(raw_data,
validate=self._validate,
msgmode=self._mode)
reading = False
else: # it's not a UBX message (NMEA or something else)
prevbyte = byte1
byte1 = self._stream.read(1)
if prevbyte == b"\x24" and byte1 in (b"\x47",
b"\x50"): # "$G" or "$P"
is_nmea = True # looks like an NMEA message
if self._ubx_only: # raise error and quit
nmeawarn = NMEAMSG if is_nmea else ""
raise ube.UBXStreamError(
f"Unknown data header {prevbyte + byte1}. {nmeawarn}")
return (raw_data, parsed_data)
def __init__(self, stream, ubx_only: bool = False, mode: int = 0):
"""Constructor.
:param stream stream: input data stream
:param bool ubx_only: check for non-UBX data (False (ignore - default), True (reject))
:param int mode: message mode (0=GET (default), 1=SET, 2=POLL)
:raises: UBXStreamError (if mode is invalid)
"""
if mode not in (0, 1, 2):
raise ube.UBXStreamError(
f"Invalid stream mode {mode} - must be 0, 1 or 2")
self._stream = stream
self._ubx_only = ubx_only
self._mode = mode
def __init__(self, datastream, **kwargs):
"""Constructor.
:param datastream stream: input data stream
:param int quitonerror: (kwarg) 0 = ignore errors, 1 = log errors and continue, 2 = (re)raise errors (1)
:param int protfilter: (kwarg) protocol filter 1 = NMEA, 2 = UBX, 4 = RTCM3 (3)
:param int validate: (kwarg) 0 = ignore invalid checksum, 1 = validate checksum (1)
:param int msgmode: (kwarg) 0=GET, 1=SET, 2=POLL (0)
:param bool parsebitfield: (kwarg) 1 = parse bitfields, 0 = leave as bytes (1)
:raises: UBXStreamError (if mode is invalid)
"""
self._stream = datastream
self._protfilter = int(
kwargs.get("protfilter", ubt.NMEA_PROTOCOL | ubt.UBX_PROTOCOL))
self._quitonerror = int(kwargs.get("quitonerror", ubt.ERR_LOG))
self._validate = int(kwargs.get("validate", ubt.VALCKSUM))
self._parsebf = int(kwargs.get("parsebitfield", True))
self._msgmode = int(kwargs.get("msgmode", 0))
if self._msgmode not in (0, 1, 2):
raise ube.UBXStreamError(
f"Invalid stream mode {self._msgmode} - must be 0, 1 or 2")
def __init__(self, stream, *args, **kwargs):
"""Constructor.
:param stream stream: input data stream
:param bool ubxonly: (kwarg) check non-UBX data (False (ignore - default), True (reject))
:param int validate: (kwarg) validate cksum (VALCKSUM (1)=True (default), VALNONE (0)=False)
:param int msgmode: (kwarg) message mode (0=GET (default), 1=SET, 2=POLL)
:param bool parsebitfield: (kwarg) parse bitfields True/false
:raises: UBXStreamError (if mode is invalid)
"""
ubx_only = kwargs.get("ubxonly", False)
validate = kwargs.get("validate", VALCKSUM)
parsebf = kwargs.get("parsebitfield", True)
decodenavdata = kwargs.get("decodenavdata",
True) # TODO make default false in final
msgmode = kwargs.get("msgmode", 0)
# accept args for backwards compatibility if no kwargs
if len(kwargs) == 0:
if len(args) > 0:
ubx_only = args[0]
if len(args) > 1:
msgmode = args[1]
if msgmode not in (0, 1, 2):
raise ube.UBXStreamError(
f"Invalid stream mode {msgmode} - must be 0, 1 or 2")
self._stream = stream
self._ubx_only = ubx_only
self._validate = validate
self._mode = msgmode
self._parsebf = parsebf
self._decodenavdata = decodenavdata
def read(self) -> tuple:
"""
Read a single NMEA or UBX message from the stream buffer
and return both raw and parsed data.
'protfilter' determines which protocols are parsed.
'quitonerror' determines whether to raise, log or ignore parsing errors.
:return: tuple of (raw_data as bytes, parsed_data as UBXMessage or NMEAMessage)
:rtype: tuple
:raises: UBXStreamError (if unrecognised protocol in data stream)
"""
parsing = True
try:
while parsing: # loop until end of valid message or EOF
raw_data = None
parsed_data = None
byte1 = self._read_bytes(1) # read the first byte
# if not UBX, NMEA or RTCM3, discard and continue
if byte1 not in (b"\xb5", b"\x24", b"\xd3"):
continue
byte2 = self._read_bytes(1)
bytehdr = byte1 + byte2
# if it's a UBX message (b'\xb5\x62')
if bytehdr == ubt.UBX_HDR:
(raw_data, parsed_data) = self._parse_ubx(bytehdr)
# if protocol filter passes UBX, return message,
# otherwise discard and continue
if self._protfilter & ubt.UBX_PROTOCOL:
parsing = False
else:
continue
# if it's an NMEA message ('$G' or '$P')
elif bytehdr in ubt.NMEA_HDR:
(raw_data, parsed_data) = self._parse_nmea(bytehdr)
# if protocol filter passes NMEA, return message,
# otherwise discard and continue
if self._protfilter & ubt.NMEA_PROTOCOL:
parsing = False
else:
continue
# if it's a RTCM3 message
# (byte1 = 0xd3; byte2 = 0b000000**)
elif byte1 == b"\xd3" and (byte2[0] & ~0x03) == 0:
(raw_data, parsed_data) = self._parse_rtcm3(bytehdr)
# if protocol filter passes RTCM, return message,
# otherwise discard and continue
if self._protfilter & ubt.RTCM3_PROTOCOL:
parsing = False
else:
continue
# unrecognised protocol header
else:
if self._quitonerror == ubt.ERR_RAISE:
raise ube.UBXStreamError(
f"Unknown protocol {bytehdr}.")
elif self._quitonerror == ubt.ERR_LOG:
return (bytehdr,
f"<UNKNOWN PROTOCOL(header={bytehdr})>")
else: # ignore unknown protocol and continue
continue
except EOFError:
return (None, None)
return (raw_data, parsed_data)