def parse(self):
index = self.buffer.find(b'\xb5\x62')
if index >= 0:
self.start += index
result = UbloxMessage.validate(self.buffer[self.start:])
if result['valid']:
msgFormat, msgData, remainder = UbloxMessage.parse(
self.buffer[self.start:])
self.buffer = remainder if remainder is not None else b''
self.start = 0
self.handle_message(msgFormat, msgData)
else:
# Invalid message, move past sync bytes
if result['lengthMatch']:
self.buffer = self.buffer[self.start + 2:]
# Discard all but the last byte
else:
self.buffer = self.buffer[-1:]
self.start = 0
def parse(self):
self.logger.debug('in UbloxReader.parse()')
if len(self.buffer) < 8:
self.logger.debug('UbloxReader.parse(): not enough data in buffer')
return
index = self.buffer.find(b'\xb5\x62')
if index >= 0:
self.start += index
msgTime = time.time()
self.logger.debug('UbloxReader.parse(): sending for validation')
result = UbloxMessage.validate(self.buffer[self.start:])
if result['valid']:
rawMessage = self.buffer[self.start:]
self.logger.debug('UbloxReader.parse(): sending to UbloxMessage.parse()')
msgFormat, msgData, remainder = UbloxMessage.parse(rawMessage)
rawMessage = rawMessage[:len(rawMessage) - len(remainder)] if remainder is not None else rawMessage[:len(rawMessage)]
self.buffer = remainder if remainder is not None else b''
self.start = 0
if msgFormat is not None:
self.logger.debug('UbloxReader.parse(): sending to UbloxReader.handleMessage()')
self.handleMessage(msgTime, msgFormat, msgData, rawMessage)
return
else:
# Invalid message, move past sync bytes
if result['lengthMatch'] or ((result['length'] is not None) and (result['length'] > 4096)):
if result['lengthMatch']:
self.logger.debug('UbloxReader.parse(): invalid message in buffer, moving past sync')
else:
self.logger.debug('UbloxReader.parse(): invalid length ({}) - enforcing max length of 4096 bytes'.format(result['length']))
self.buffer = self.buffer[self.start+2:]
return
else:
self.logger.debug('Ublox.parse(): Header indicates a message of length {}, buffer only has {} bytes'.format(result['length'], len(self.buffer)))
return
# Discard all but the last byte
else:
self.logger.debug('UbloxReader.parse(): could not find sync in buffer, discarding all but the last byte')
self.buffer = self.buffer[-1:]
self.start = 0
return
