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 test_change_filter(self):
uut = UbxParser(UbxCID(0x00, 0x02))
uut.set_filter(UbxCID(0x13, 0x40))
uut.process(self.FRAME_1)
cid, packet = uut.packet()
assert cid == UbxCID(0x13, 0x40)
uut.set_filter(UbxCID(0x00, 0x00))
uut.process(self.FRAME_1)
cid, packet = uut.packet()
assert cid is None and packet is None
def test_cinvalid_length(self):
frame = [
0xB5, 0x62, 0x13, 0x40, 0xe9, 0x03, 0x10, 0x00, 0x00, 0x12, 0xE4,
0x07, 0x09, 0x05, 0x06, 0x28, 0x30, 0x00, 0x40, 0x28, 0xEF, 0x0C,
0x0A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x51, 0xAC
]
uut = UbxParser(UbxCID(0x00, 0x02))
uut.set_filter(UbxCID(0x13, 0x41))
uut.process(frame) # CRC packet
cid, packet = uut.packet(
) # Should be None because frame is too long (MAX_MESSAGE_LENGTH)
assert cid is None and packet is None
def test_crc_error(self):
# B5 62 13 40 18 00 10 00 00 12 E4 07 09 05 06 28 30 00 40 28 EF 0C 0A 00 00 00 00 00 00 00 51 AC
# hdr | <-- checksum --> | chksum
frame = [
0xB5, 0x62, 0x13, 0x40, 0x18, 0x00, 0x10, 0x00, 0x00, 0x12, 0xE4,
0x07, 0x09, 0x05, 0x06, 0x28, 0x30, 0x00, 0x40, 0x28, 0xEF, 0x0C,
0x0A, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x51, 0xAC + 1
]
uut = UbxParser(UbxCID(0x00, 0x02))
uut.set_filter(UbxCID(0x13, 0x41))
uut.process(frame) # CRC packet
cid, packet = uut.packet()
assert cid == UbxCID(0x00, 0x02)
def test_throws_when_unknown_frame_shall_be_built(self, frame_factory):
unregistered_cid = UbxCID(0xCA, 0xFE)
with pytest.raises(KeyError):
frame_factory.build(unregistered_cid)
with pytest.raises(KeyError):
frame_factory.build_with_data(unregistered_cid, "12345")
def _state_crc2(self, d):
self.ckb = d
# if checksum matches received checksum ..
if self.checksum.matches(self.cka, self.ckb):
self.frames_rx += 1
# .. and frame passes filter ..
cid = UbxCID(self.msg_class, self.msg_id)
if self.wait_cids and cid in self.wait_cids:
# .. queue packet (CID and data)
packet = (cid, self.msg_data)
self.rx_queue.append(packet)
else:
if logger.isEnabledFor(logging.DEBUG):
logger.debug(
f'no match - dropping {cid}, {self.msg_len} bytes')
else:
logger.warning('checksum error in frame, discarding')
logger.warning(
f'{self.msg_class:02x} {self.msg_id:02x} {binascii.hexlify(self.msg_data)}'
)
crc_error_message = (self.crc_error_cid, None)
self.rx_queue.append(crc_error_message)
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):
super().__init__()
self.cid_crc_error = UbxCID(0x00, 0x02)
self.parser = UbxParser(self.cid_crc_error)
self.frame_factory = FrameFactory.getInstance()
self.max_retries = 2
self.retry_delay_in_ms = 1800
class UbxAckAck(UbxFrame):
CID = UbxCID(UbxCID.CLASS_ACK, 0x01)
NAME = 'UBX-ACK-ACK'
def __init__(self):
super().__init__()
self.f.add(U1('clsId'))
self.f.add(U1('msgId'))
def _check_ack_nak(self, request, res):
if res.CID == UbxAckAck.CID:
ack_cid = UbxCID(res.f.clsId, res.f.msgId)
if ack_cid == request.CID:
# if logger.isEnabledFor(logging.DEBUG):
# logger.debug('ACK matches request')
return "ACK"
else:
# ACK is for another request
logger.warning(
f'ACK {ack_cid} does not match request {request.CID}')
elif res.CID == UbxAckNak.CID:
logger.warning(f'request {request.CID} rejected, NAK received')
return "NAK"
else:
# Must never happen. Only ACK/NAK in expected list
logger.error(f'invalid frame received {res.CID}')
def test_multiple_filters(self):
uut = UbxParser(UbxCID(0x00, 0x02))
cids = [
UbxCID(0x12, 0x12),
UbxCID(0x13, 0x40),
UbxCID(0xFF, 0x00),
UbxCID(0xFF, 0x00)
]
uut.set_filters(cids)
uut.process(self.FRAME_1)
cid, packet = uut.packet()
assert cid == UbxCID(0x13, 0x40)
def test_passes_filter(self):
uut = UbxParser(UbxCID(0x00, 0x02))
uut.set_filter(UbxCID(0x13, 0x40))
uut.process(self.FRAME_1)
cid, packet = uut.packet()
assert cid == UbxCID(0x13, 0x40)
def test_no_frames(self):
uut = UbxParser(UbxCID(0x00, 0x02))
packet = uut.packet()
assert packet == (None, None)
def test_filters(self):
uut = UbxParser(UbxCID(0x00, 0x02))
uut.set_filters([UbxCID(0x05, 0x00), UbxCID(0x05, 0x01)])
assert len(uut.wait_cids) == 2
assert UbxCID(0x05, 0x00) in uut.wait_cids
assert UbxCID(0x05, 0x01) in uut.wait_cids
def test_registration(self, frame_factory):
frame_factory.register(UbxAckAck)
f1 = frame_factory.build(UbxCID(5, 1))
assert type(f1) == UbxAckAck
def test_creation(self):
c = UbxCID(0x05, 0x01)
assert c.cls == 0x05
assert c.id == 0x01
class UbxCfgEsfAlg_(UbxFrame):
CID = UbxCID(UbxCID.CLASS_CFG, 0x56)
NAME = 'UBX-CFG-ESFALG'
def test_equal(self):
c1 = UbxCID(0x05, 0x01)
c2 = UbxCID(0x05, 0x01)
assert c1 == c2
class UbxCfgNmea_(UbxFrame):
CID = UbxCID(UbxCID.CLASS_CFG, 0x17)
NAME = 'UBX-CFG-NMEA'
class UbxCfgEsfla_(UbxFrame):
CID = UbxCID(UbxCID.CLASS_CFG, 0x2f)
NAME = 'UBX-CFG-ESFLA'
TYPE_VRP_Antenna = 0
TYPE_VRP_IMU = 1
class UbxMonVer_(UbxFrame):
CID = UbxCID(UbxCID.CLASS_MON, 0x04)
NAME = 'UBX-MON-VER'
class UbxEsfStatus_(UbxFrame):
CID = UbxCID(UbxCID.CLASS_ESF, 0x10)
NAME = 'UBX-ESF-STATUS'
def test_dropped_id(self):
uut = UbxParser(UbxCID(0x00, 0x02))
uut.set_filter(UbxCID(0x13, 0x41))
uut.process(self.FRAME_1)
cid, packet = uut.packet()
assert cid is None and packet is None
class UbxUpdSos_(UbxFrame):
NAME = 'UBX-UPD-SOS'
CID = UbxCID(UbxCID.CLASS_UPD, 0x14)
def test_unkown_frame(self, frame_factory):
frame_factory.register(UbxAckAck)
with pytest.raises(KeyError):
frame_factory.build(UbxCID(99, 99))
class UbxCfgNav5_(UbxFrame):
CID = UbxCID(UbxCID.CLASS_CFG, 0x24)
NAME = 'UBX-CFG-NAV5'
class UbxCfgPrt_(UbxFrame):
CID = UbxCID(UbxCID.CLASS_CFG, 0x00)
NAME = 'UBX-CFG-PRT'
PORTID_Uart = 1
class UbxMgaAckData0_(UbxFrame):
CID = UbxCID(UbxCID.CLASS_MGA, 0x60)
NAME = 'UBX-MGA-ACK-DATA0'
def test_print(self):
c = UbxCID(0x05, 0x01)
res = str(c)
assert res == 'cls:05 id:01'
