def add_AID_EPH(self, msg):
"""add some AID_EPH ephemeris data"""
eph = ephemeris.EphemerisData(msg)
if eph.valid:
if eph.svid in self.ephemeris:
old_eph = self.ephemeris[eph.svid]
else:
old_eph = None
self.ephemeris[eph.svid] = eph
if old_eph is None or old_eph != eph:
self.smooth.reset(eph.svid)
util.saveObject('ephemeris.dat', self.ephemeris)
def handle_device1(msg):
"""handle message from reference GPS"""
global messages, satinfo, itow, week, rx1_pos, svid_seen
if msg.name() in ['NAV_SVINFO', 'NAV_SOL', 'AID_EPH']:
try:
msg.unpack()
except ublox.UBloxError as e:
print(e)
if msg.name() == 'NAV_SVINFO':
svinfo_to_rtcm(msg)
elif msg.name() == 'NAV_SOL':
itow = msg.iTOW * 0.001
week = msg.week
rx1_pos = util.PosVector(msg.ecefX / 100., msg.ecefY / 100.,
msg.ecefZ / 100.)
elif msg.name() == 'AID_EPH':
eph = ephemeris.EphemerisData(msg)
if eph.valid:
svid_iode[eph.svid] = eph.iode
svid_seen[sv] = tnow
while True:
msg = dev.receive_message()
if msg is None:
if opts.reopen:
dev.close()
dev = ublox.UBlox(opts.port, baudrate=opts.baudrate, timeout=2)
dev.set_logfile(opts.log, append=True)
continue
break
if opts.show:
try:
print(str(msg))
sys.stdout.flush()
except ublox.UBloxError as e:
print(e)
elif opts.dots:
sys.stdout.write('.')
sys.stdout.flush()
if msg.name() == 'RXM_RAW':
msg.unpack()
handle_rxm_raw(msg)
if msg.name() == 'AID_EPH':
try:
msg.unpack()
svid_ephemeris[msg.svid] = ephemeris.EphemerisData(msg)
except ublox.UBloxError as e:
print(e)
def add_RXM_SFRBX(self, msg):
svid = msg._fields['svid']
if svid not in self.ephemeris.keys():
self.ephemeris[svid] = ephemeris.EphemerisData()
self.ephemeris[svid].fill_ephemeris(msg)