def testMaxConfigSet(self): # test for >64 configuration tuples
EXPECTED_ERROR = "Number of configuration tuples 65 exceeds maximum of 64"
cfgData = []
for i in range(65):
cfgData.append(("CFG_TEST", i))
with self.assertRaisesRegex(UBXMessageError, EXPECTED_ERROR):
UBXMessage.config_set(0, 0, cfgData)
def testConfigSet(
self): # test creation of CFG-VALSET message with single key
cfgData = [("CFG_UART1_BAUDRATE", 9600)]
res = UBXMessage.config_set(ubxcdb.SET_LAYER_RAM, ubxcdb.TXN_NONE,
cfgData)
self.assertEqual(
str(res),
"<UBX(CFG-VALSET, version=0, layers=b'\\x01', transaction=0, reserved0=0, cfgData_01=1, cfgData_02=0, cfgData_03=82, cfgData_04=64, cfgData_05=128, cfgData_06=37, cfgData_07=0, cfgData_08=0)>",
)
def set_uart(self, layers=1):
"""
Set the current BBR UART1/2 configuration
"""
transaction = 0
cfgData = [("CFG_UART1_BAUDRATE", 115200), ("CFG_UART2_BAUDRATE", 57600)]
msg = UBXMessage.config_set(layers, transaction, cfgData)
ubp.send(msg.serialize())
def testConfigSet2(
self,
): # test creation of CFG-VALSET message with multiple keys as transaction
cfgData = [("CFG_UART1_BAUDRATE", 9600), (0x40530001, 115200)]
res = UBXMessage.config_set(ubxcdb.SET_LAYER_BBR, ubxcdb.TXN_START,
cfgData)
self.assertEqual(
str(res),
"<UBX(CFG-VALSET, version=1, layers=b'\\x02', transaction=1, reserved0=0, cfgData_01=1, cfgData_02=0, cfgData_03=82, cfgData_04=64, cfgData_05=128, cfgData_06=37, cfgData_07=0, cfgData_08=0, cfgData_09=1, cfgData_10=0, cfgData_11=83, cfgData_12=64, cfgData_13=0, cfgData_14=194, cfgData_15=1, cfgData_16=0)>",
)
def set_nav(self):
"""
Set the current Navigation configuration
"""
transaction = 0 # Immediate application
layers = 3 # Volatile RAM only.
# 2 - Battery Backed
# 3 - Flash
cfgData = [
#("CFG_SFIMU_IMU_AUTO_MNTALG_ENA", 1), # Enable auto-IMU mounting alignment
# Start driving at a minimum speed of 30 km/h and do
# a series of approximately 10 left and right turns (at
# least 90 degrees).
("CFG_SFIMU_IMU_AUTO_MNTALG_YAW", 158),
("CFG_SFIMU_IMU_AUTO_MNTALG_PITCH", 86),
("CFG_SFIMU_IMU_AUTO_MNTALG_ROLL", 191),
("CFG_RATE_MEAS", 100), # Measurement rate once every x ms
("CFG_RATE_NAV", 1), # 1 navigation solution for every measurement
("CFG_RATE_NAV_PRIO", 10), # 30 Hz navigation priority messages
("CFG_MSGOUT_UBX_NAV_STATUS_USB", 1), # Navigation Status
("CFG_MSGOUT_UBX_NAV_PVT_USB", 1), # PVT solution
("CFG_MSGOUT_UBX_NAV_HPPOSECEF_USB",
1), # High Precision ECEF position
("CFG_MSGOUT_UBX_NAV_POSECEF_USB",
1), # Regular precision ECEF position
("CFG_MSGOUT_UBX_NAV_VELECEF_USB", 1), # Velocity in ECEF
("CFG_MSGOUT_UBX_NAV_HPPOSLLH_USB",
1), # High precision LLH position
("CFG_MSGOUT_UBX_NAV_POSLLH_USB",
1), # High precision LLH position
("CFG_MSGOUT_UBX_NAV_ATT_USB", 1), # Attitude of the vehicle
("CFG_MSGOUT_UBX_NAV_COV_USB", 1), # Covariance matricies
("CFG_MSGOUT_UBX_NAV_TIMEGPS_USB",
1), # GPS Time more explicitly called out
("CFG_MSGOUT_UBX_ESF_INS_USB",
1), # Compensated angular rate and acceleration
("CFG_MSGOUT_UBX_ESF_STATUS_USB",
1), # External Sensor Fusion status
("CFG_MSGOUT_UBX_ESF_ALG_USB", 1), #Alignment of the sensors
("CFG_MSGOUT_UBX_ESF_MEAS_USB", 1), # Measurements of the sensors
# Disable all the other default interfaces so we can actually get our 30Hz!
("CFG_MSGOUT_NMEA_ID_GGA_I2C", 0),
("CFG_MSGOUT_NMEA_ID_GGA_SPI", 0),
("CFG_MSGOUT_NMEA_ID_GGA_UART1", 0),
("CFG_MSGOUT_NMEA_ID_GGA_UART2", 0),
("CFG_MSGOUT_NMEA_ID_GGA_USB", 0),
("CFG_MSGOUT_NMEA_ID_GLL_I2C", 0),
("CFG_MSGOUT_NMEA_ID_GLL_SPI", 0),
("CFG_MSGOUT_NMEA_ID_GLL_UART1", 0),
("CFG_MSGOUT_NMEA_ID_GLL_UART2", 0),
("CFG_MSGOUT_NMEA_ID_GLL_USB", 0),
("CFG_MSGOUT_NMEA_ID_GSA_I2C", 0),
("CFG_MSGOUT_NMEA_ID_GSA_SPI", 0),
("CFG_MSGOUT_NMEA_ID_GSA_UART1", 0),
("CFG_MSGOUT_NMEA_ID_GSA_UART2", 0),
("CFG_MSGOUT_NMEA_ID_GSA_USB", 0),
("CFG_MSGOUT_NMEA_ID_GSV_I2C", 0),
("CFG_MSGOUT_NMEA_ID_GSV_SPI", 0),
("CFG_MSGOUT_NMEA_ID_GSV_UART1", 0),
("CFG_MSGOUT_NMEA_ID_GSV_UART2", 0),
("CFG_MSGOUT_NMEA_ID_GSV_USB", 0),
("CFG_MSGOUT_NMEA_ID_RMC_I2C", 0),
("CFG_MSGOUT_NMEA_ID_RMC_SPI", 0),
("CFG_MSGOUT_NMEA_ID_RMC_UART1", 0),
("CFG_MSGOUT_NMEA_ID_RMC_UART2", 0),
("CFG_MSGOUT_NMEA_ID_RMC_USB", 0),
("CFG_MSGOUT_NMEA_ID_VTG_I2C", 0),
("CFG_MSGOUT_NMEA_ID_VTG_SPI", 0),
("CFG_MSGOUT_NMEA_ID_VTG_UART1", 0),
("CFG_MSGOUT_NMEA_ID_VTG_UART2", 0),
("CFG_MSGOUT_NMEA_ID_VTG_USB", 0),
]
msg = UBXMessage.config_set(layers, transaction, cfgData)
ubp.send(msg.serialize())
def _do_valset(self):
"""
Send a CFG-VALSET message.
:return: valid entry flag
:rtype: bool
"""
valid_entry = True
att = atttyp(self._cfgatt.get())
atts = attsiz(self._cfgatt.get())
val = self._cfgval.get()
layers = self._cfglayer.get()
if layers == "BBR":
layers = 2
elif layers == "FLASH":
layers = 4
else:
layers = 1
try:
if att in ("C", "X"): # byte or char
if len(val) == atts * 2: # 2 hex chars per byte
val = bytearray.fromhex(val)
else:
valid_entry = False
elif att in ("E", "U"): # unsigned integer
val = int(val)
if val < 0:
valid_entry = False
elif att == "L": # bool
val = int(val)
if val not in (0, 1):
valid_entry = False
elif att == "I": # signed integer
val = int(val)
elif att == "R": # floating point
val = float(val)
transaction = 0
cfgData = [
(self._cfgval_keyname, val),
]
except ValueError:
valid_entry = False
if valid_entry:
msg = UBXMessage.config_set(layers, transaction, cfgData)
self.__app.serial_handler.serial_write(msg.serialize())
self._ent_val.configure(bg=ENTCOL)
self._lbl_send_command.config(image=self._img_pending)
self.__container.set_status("CFG-VALSET SET message sent", "blue")
self.__container.set_pending(UBX_CFGVAL, ("ACK-ACK", "ACK-NAK"))
else:
self._ent_val.configure(bg=ERRCOL)
self._lbl_send_command.config(image=self._img_warn)
typ = ATTDICT[att]
self.__container.set_status(
("INVALID ENTRY - must conform to parameter "
f"type {att} ({typ}) and size {atts} bytes"),
"red",
)
return valid_entry
def testBadCfgValSet(self): # test for invalid cfgData keyname
EXPECTED_ERROR = "Undefined configuration database key FOO_BAR"
cfgData = [("FOO_BAR", 9600)]
with self.assertRaisesRegex(UBXMessageError, EXPECTED_ERROR):
UBXMessage.config_set(0, 0, cfgData)
)
layer = POLL_LAYER_BBR
keys = [CONFIG_KEY1, CONFIG_KEY2]
msg = UBXMessage.config_poll(layer, position, keys)
send_message(serial, serial_lock, msg)
sleep(1)
# STEP 3: set the configuration in the non-volatile memory layer
print(
"\nSetting UART configuration in the BBR memory layer via CFG-VALSET...",
"\n(This should result in an ACK-ACK response)",
)
transaction = 0
layers = SET_LAYER_BBR # *** NB: SET and DEL messages use different memory layer values to POLL ***
cfgData = [(CONFIG_KEY1, CONFIG_VAL1), (CONFIG_KEY2, CONFIG_VAL2)]
msg = UBXMessage.config_set(layers, transaction, cfgData)
send_message(serial, serial_lock, msg)
sleep(2)
# STEP 4: poll the newly-set configuration in the non-volatile memory layer
print(
"\nPolling UART configuration in the BBR memory layer via CFG-VALGET...",
"\n(This should result in ACK-ACK and CFG-VALGET responses, provided the",
"configuration is valid for your particular device)",
)
position = 0
layer = POLL_LAYER_BBR
keys = [CONFIG_KEY1, CONFIG_KEY2]
msg = UBXMessage.config_poll(layer, position, keys)
send_message(serial, serial_lock, msg)
sleep(2)