def test_not_equal(self):
c1 = UbxCID(0x05, 0x00)
c2 = UbxCID(0x05, 0x01)
assert c1 != c2
c1 = UbxCID(0x05, 0x01)
c2 = UbxCID(0x06, 0x01)
assert c1 != c2
def test_immutable(self):
c1 = UbxCID(0x05, 0x01)
with pytest.raises(AttributeError):
c1.cls = 0x06
with pytest.raises(AttributeError):
c1.id = 0x44
res = str(c1)
assert res == 'cls:05 id:01'
def process(self, data):
for d in data:
if self.state == __class__.State.INIT:
if d == UbxFrame.SYNC_1:
self.state = __class__.State.SYNC
elif self.state == __class__.State.SYNC:
if d == UbxFrame.SYNC_2:
self._reset()
self.state = __class__.State.CLASS
else:
self.state = __class__.State.INIT
elif self.state == __class__.State.CLASS:
self.msg_class = d
self.checksum.add(d)
self.state = __class__.State.ID
elif self.state == __class__.State.ID:
self.msg_id = d
self.checksum.add(d)
self.state = __class__.State.LEN1
elif self.state == __class__.State.LEN1:
self.msg_len = d
self.checksum.add(d)
self.state = __class__.State.LEN2
elif self.state == __class__.State.LEN2:
self.msg_len = self.msg_len + (d * 256)
self.checksum.add(d)
# TODO: Handle case with len = 0 -> goto CRC directly
# TODO: Handle case with unreasonable size
self.ofs = 0
self.state = __class__.State.DATA
elif self.state == __class__.State.DATA:
self.msg_data.append(d)
self.checksum.add(d)
self.ofs += 1
if self.ofs == self.msg_len:
self.state = __class__.State.CRC1
elif self.state == __class__.State.CRC1:
self.cka = d
self.state = __class__.State.CRC2
elif self.state == __class__.State.CRC2:
self.ckb = d
# if checksum matches received checksum put frame in receive queue
if self.checksum.matches(self.cka, self.ckb):
# Send CID and data as tuple to server
self.rx_queue.put((UbxCID(self.msg_class,
self.msg_id), self.msg_data))
else:
logger.warning(f'checksum error in frame, discarding')
self._reset()
self.state = __class__.State.INIT
def test_frame_construct(self, frame_factory):
frame_factory.register(UbxAckAck)
data = bytearray.fromhex('11 22')
f = frame_factory.build_with_data(UbxAckAck.CID, data)
assert f.CID == UbxCID(0x05, 0x01)
assert f.f.clsId == 0x11
assert f.f.msgId == 0x22
def __init__(self, device_name=None):
super().__init__()
self.device_name = device_name
self.selected_device = None
self.cmd_header = None
self.connect_msg = f'?WATCH={{"enable":true,"raw":2}}'.encode()
self.enabled = False
self.listen_sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.response_queue = queue.Queue()
self.parser = UbxParser(self.response_queue)
self.thread_ready_event = threading.Event()
self.thread_stop_event = threading.Event()
self.frame_factory = FrameFactory.getInstance()
self.wait_cid = None
self.gpsd_errors = 0
self.cid_error = UbxCID(0x00, 0x01)
class UbxEsfMeas_(UbxFrame):
CID = UbxCID(0x10, 0x02)
NAME = 'UBX-ESF-MEAS'
class UbxEsfStatus_(UbxFrame):
CID = UbxCID(0x10, 0x10)
NAME = 'UBX-ESF-STATUS'
class UbxCfgTp5_(UbxFrame):
CID = UbxCID(0x06, 0x31)
NAME = 'UBX-CFG-TP5'
class UbxCfgRst_(UbxFrame):
NAME = 'UBX-CFG-RST'
CID = UbxCID(0x06, 0x04)
class UbxCfgNav5_(UbxFrame):
CID = UbxCID(0x06, 0x24)
NAME = 'UBX-CFG-NAV5'
class UbxEsfAlg_(UbxFrame):
CID = UbxCID(0x10, 0x14)
NAME = 'UBX-ESF-ALG'
def test_equal(self):
c1 = UbxCID(0x05, 0x01)
c2 = UbxCID(0x05, 0x01)
assert c1 == c2
def test_print(self):
c = UbxCID(0x05, 0x01)
res = str(c)
assert res == 'cls:05 id:01'
class UbxCfgEsfAlg_(UbxFrame):
CID = UbxCID(0x06, 0x56)
NAME = 'UBX-CFG-ESFALG'
class UbxMonVer_(UbxFrame):
CID = UbxCID(0x0A, 0x04)
NAME = 'UBX-MON-VER'
def test_unkown_frame(self, frame_factory):
frame_factory.register(UbxAckAck)
with pytest.raises(KeyError):
m = frame_factory.build(UbxCID(99, 99))
def test_registration(self, frame_factory):
frame_factory.register(UbxAckAck)
f1 = frame_factory.build(UbxCID(5, 1))
assert type(f1) == UbxAckAck
class UbxCfgPrt_(UbxFrame):
CID = UbxCID(0x06, 0x00)
NAME = 'UBX-CFG-PRT'
PORTID_Uart = 1
class UbxEsfResetAlgAction(UbxFrame):
CID = UbxCID(0x10, 0x13)
NAME = 'UBX-ESF-RESETALG'
def __init__(self):
super().__init__()
class UbxCfgGnss_(UbxFrame):
CID = UbxCID(0x06, 0x3E)
NAME = 'UBX-CFG-GNSS'
class UbxNavStatus_(UbxFrame):
CID = UbxCID(0x01, 0x03)
NAME = 'UBX-NAV-STATUS'
class UbxUpdSos_(UbxFrame):
NAME = 'UBX-UPD-SOS'
CID = UbxCID(0x09, 0x14)
class UbxMgaIniTimeUtc_(UbxFrame):
CID = UbxCID(0x13, 0x40)
NAME = 'UBX-MGA-INI-TIME_UTC'
def test_creation(self):
c = UbxCID(0x05, 0x01)
assert c.cls == 0x05
assert c.id == 0x01
class UbxCfgNmea_(UbxFrame):
CID = UbxCID(0x06, 0x17)
NAME = 'UBX-CFG-NMEA'
class UbxCfgCfg_(UbxFrame):
NAME = 'UBX-CFG-CFG'
CID = UbxCID(0x06, 0x09)
