def testCFG_GNSS(self):
payload = b'\x00\x20\x20\x07\x00\x08\x10\x00\x01\x00\x01\x01\x01\x01\x03\x00\x01\x00\x01\x01\x02\x04\x08\x00\x00\x00\x01\x01\x03\x08\x10\x00\x00\x00\x01\x01\x04\x00\x08\x00\x00\x00\x01\x03\x05\x00\x03\x00\x01\x00\x01\x05\x06\x08\x0e\x00\x01\x00\x01\x01'
gnss = parseUBXPayload(UBX.CFG._class, UBX.CFG.GNSS._id, payload)
self.assertEqual(gnss.msgVer, 0x00)
self.assertEqual(gnss.numConfigBlocks, 0x07)
self.assertEqual(gnss.maxTrkCh_1, 0x10)
self.assertEqual(gnss.flags_4, 0x01010000)
self.assertEqual(gnss.maxTrkCh_7, 0x0E)
def testMON_VER(self):
payload = b'\x52\x4f\x4d\x20\x43\x4f\x52\x45\x20\x33\x2e\x30\x31\x20\x28\x31\x30\x37\x38\x38\x38\x29\x00\x00\x00\x00\x00\x00\x00\x00\x30\x30\x30\x38\x30\x30\x30\x30\x00\x00\x46\x57\x56\x45\x52\x3d\x53\x50\x47\x20\x33\x2e\x30\x31\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x50\x52\x4f\x54\x56\x45\x52\x3d\x31\x38\x2e\x30\x30\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x47\x50\x53\x3b\x47\x4c\x4f\x3b\x47\x41\x4c\x3b\x42\x44\x53\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x53\x42\x41\x53\x3b\x49\x4d\x45\x53\x3b\x51\x5a\x53\x53\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00'
ver = parseUBXPayload(UBX.MON._class, UBX.MON.VER._id, payload)
self.assertEqual(ver.swVersion, "ROM CORE 3.01 (107888)")
self.assertEqual(ver.hwVersion, "00080000")
self.assertEqual(ver.extension_1, "FWVER=SPG 3.01")
self.assertEqual(ver.extension_2, "PROTVER=18.00")
self.assertEqual(ver.extension_3, "GPS;GLO;GAL;BDS")
self.assertEqual(ver.extension_4, "SBAS;IMES;QZSS")
def _onUBX(self, msgClass, msgId, buffer):
from UBXMessage import parseUBXPayload, formatByteString
try:
obj = parseUBXPayload(msgClass, msgId, buffer)
except Exception as e:
errMsg = "No parse, \"{}\", payload={}".format(
e, formatByteString(buffer))
self.onUBXError(msgClass, msgId, errMsg)
else:
self.onUBX(obj)
def testCFG_MSG_SET(self):
msg = UBX.CFG.MSG.Set(msgClass=6, msgId=7, rate=8)
self.assertEqual(msg._class, 0x06)
self.assertEqual(msg._id, 0x01)
self.assertEqual(msg.serialize(), b'\xb5\x62\x06\x01\x03\x00\x06\x07\x08\x1f\x67')
msg = UBX.CFG.MSG.Set(msgClass=6, msgId=7, rateI2C=1, rateUART1=2, rateUSB=4, rateSPI=5)
self.assertEqual(msg._class, 0x06)
self.assertEqual(msg._id, 0x01)
self.assertEqual(msg.serialize(), b'\xb5\x62\x06\x01\x08\x00\x06\x07\x01\x02\x00\x04\x05\x00(*')
payload = b'\x02\x13\x00\x01\x00\x00\x00\x00'
msg = parseUBXPayload(UBX.CFG._class, UBX.CFG.MSG._id, payload)
self.assertEqual(msg.msgClass, 0x02)
self.assertEqual(msg.msgId, 0x13)
self.assertEqual(msg.rateI2C, 0x00)
self.assertEqual(msg.rateUART1, 0x01)
self.assertEqual(msg.rateUSB, 0x00)
self.assertEqual(msg.rateSPI, 0x00)
self.assertEqual(msg.rateRes1, 0x00)
self.assertEqual(msg.rateRes2, 0x00)
def create(timeTag, measurements, timeMarkSent=0, timeMarkEdge=0, calibTtagValid=0, id=0):
flags = ESF.MEAS._calculate_flags(timeMarkSent, timeMarkEdge, calibTtagValid, numMeas=len(measurements))
payload = struct.pack('<IHH', timeTag, flags, id) + b''.join(x.to_bytes() for x in measurements)
return parseUBXPayload(ESF._class, ESF.MEAS._id, payload)
import UBX
from UBXMessage import parseUBXPayload, parseUBXMessage
if __name__ == '__main__':
print("UBX.ACK.ACK.Get: ", UBX.ACK.ACK.Get().serialize())
print("UBX.CFG.PMS.Get: ", UBX.CFG.PMS.Get().serialize())
print("UBX.CFG.PMS.Set: ", UBX.CFG.PMS.Set(powerSetupValue=2).serialize())
print("UBX.MON.VER.Get: ", UBX.MON.VER.Get().serialize())
print("UBX.TEST.TEST.Get: ", UBX.TEST.TEST.Get().serialize())
print(parseUBXPayload(0x05, 0x01, b'12'))
print(parseUBXPayload(0x05, 0x00, b'gh'))
print(
parseUBXPayload(UBX.TEST._class, UBX.TEST.TEST._id,
b'\x80\xff\x01\x00\x02\x00'))
# CFG-GNSS
msg = b'\x00\x20\x20\x07\x00\x08\x10\x00\x01\x00\x01\x01\x01\x01\x03\x00\x01\x00\x01\x01\x02\x04\x08\x00\x00\x00\x01\x01\x03\x08\x10\x00\x00\x00\x01\x01\x04\x00\x08\x00\x00\x00\x01\x03\x05\x00\x03\x00\x01\x00\x01\x05\x06\x08\x0e\x00\x01\x00\x01\x01'
print(parseUBXPayload(UBX.CFG._class, UBX.CFG.GNSS._id, msg))
gps = {'gnssId': 0, 'resTrkCh': 12, 'maxTrkCh': 12, 'flags': 0x01010001}
sbas = {'gnssId': 1, 'resTrkCh': 0, 'maxTrkCh': 0, 'flags': 0x01010000}
gal = {'gnssId': 2, 'resTrkCh': 8, 'maxTrkCh': 8, 'flags': 0x01010001}
bds = {'gnssId': 3, 'resTrkCh': 4, 'maxTrkCh': 4, 'flags': 0x01010001}