def main(gctx=None):
poller = zmq.Poller()
if not CarSettings().get_value("useTeslaGPS"):
gpsLocationExternal = messaging.pub_sock(
service_list['gpsLocationExternal'].port)
ubloxGnss = messaging.pub_sock(service_list['ubloxGnss'].port)
# ubloxRaw = messaging.sub_sock(service_list['ubloxRaw'].port, poller)
# buffer with all the messages that still need to be input into the kalman
while 1:
polld = poller.poll(timeout=1000)
for sock, mode in polld:
if mode != zmq.POLLIN:
continue
logs = messaging.drain_sock(sock)
for log in logs:
buff = log.ubloxRaw
ttime = log.logMonoTime
msg = ublox.UBloxMessage()
msg.add(buff)
if msg.valid():
if msg.name() == 'NAV_PVT':
sol = gen_solution(msg)
if unlogger:
sol.logMonoTime = ttime
else:
sol.logMonoTime = int(
realtime.sec_since_boot() * 1e9)
gpsLocationExternal.send(sol.to_bytes())
elif msg.name() == 'RXM_RAW':
raw = gen_raw(msg)
if unlogger:
raw.logMonoTime = ttime
else:
raw.logMonoTime = int(
realtime.sec_since_boot() * 1e9)
ubloxGnss.send(raw.to_bytes())
else:
print "INVALID MESSAGE"
else:
while True:
time.sleep(1.1)
def main():
poller = zmq.Poller()
gpsLocationExternal = messaging.pub_sock('gpsLocationExternal')
ubloxGnss = messaging.pub_sock('ubloxGnss')
# ubloxRaw = messaging.sub_sock('ubloxRaw', poller)
# buffer with all the messages that still need to be input into the kalman
while 1:
polld = poller.poll(timeout=1000)
for sock, mode in polld:
if mode != zmq.POLLIN:
continue
logs = messaging.drain_sock(sock)
for log in logs:
buff = log.ubloxRaw
time = log.logMonoTime
msg = ublox.UBloxMessage()
msg.add(buff)
if msg.valid():
if msg.name() == 'NAV_PVT':
sol = gen_solution(msg)
if unlogger:
sol.logMonoTime = time
else:
sol.logMonoTime = int(realtime.sec_since_boot() *
1e9)
gpsLocationExternal.send(sol.to_bytes())
elif msg.name() == 'RXM_RAW':
raw = gen_raw(msg)
if unlogger:
raw.logMonoTime = time
else:
raw.logMonoTime = int(realtime.sec_since_boot() *
1e9)
ubloxGnss.send(raw.to_bytes())
else:
print("INVALID MESSAGE")