def config_msg(self, config):
"""
Creates a series of CFG-MSG configuration messages and
sends them to the receiver.
"""
try:
msgs = []
# compile all the UBX-NAV config message types
for key, val in UBX_MSGIDS.items():
if val == "NAV-PVT":
# if val[0:3] == "NAV":
msgs.append(key)
# send each UBX-NAV config message in turn
for msgtype in msgs:
payload = msgtype + config
msg = UBXMessage("CFG", "CFG-MSG", SET, payload=payload)
print(f"Sending {msg}")
self._send(msg.serialize())
sleep(1)
except (ube.UBXMessageError, ube.UBXTypeError,
ube.UBXParseError) as err:
print(f"Something went wrong {err}")
def reset(self):
"""
Reset settings to defaults.
"""
idx = 0
for _, val in UBX_MSGIDS.items():
if val[0:3] not in ("ACK", "CFG", "AID", "MGA", "UPD", "FOO"):
self._lbx_cfg_msg.insert(idx, val)
idx += 1
RATE = 4 # set to 0 to disable NAV messages on USB and UART1 ports
with Serial(port, baudrate, timeout=timeout) as serial:
# create UBXReader instance, reading only UBX messages
ubr = UBXReader(BufferedReader(serial), protfilter=2)
print("\nStarting read thread...\n")
reading = True
serial_lock = Lock()
read_thread = start_thread(serial, serial_lock, ubr)
# set the UART1 and USB message rate for each UBX-NAV message
# via a CFG-MSG command
print("\nSending CFG-MSG message rate configuration messages...\n")
for (msgid, msgname) in UBX_MSGIDS.items():
if msgid[0] == 0x01: # NAV
msg = UBXMessage(
"CFG",
"CFG-MSG",
SET,
msgClass=msgid[0],
msgID=msgid[1],
rateUART1=RATE,
rateUSB=RATE,
)
print(
f"\nSetting message rate for {msgname} message type to {RATE}...\n"
)
send_message(serial, serial_lock, msg)
sleep(1)
print("\nPolling receiver configuration...\n")
# poll the receiver configuration
print("\nPolling port configuration CFG-PRT...\n")
for prt in (0, 1, 2, 3, 4): # I2C, UART1, UART2, USB, SPI
msg = UBXMessage("CFG", "CFG-PRT", POLL, portID=prt)
ubp.send(msg.serialize())
sleep(PAUSE)
# poll all available CFG configuration messages
print("\nPolling CFG configuration CFG-*...\n")
for msgtype in CFGMESSAGES: # ("CFG-USB", "CFG-NMEA", "CFG-NAV5"):
msg = UBXMessage("CFG", msgtype, POLL)
ubp.send(msg.serialize())
sleep(PAUSE)
# poll a selection of current navigation message rates using CFG-MSG
print("\nPolling navigation message rates CFG-MSG...\n")
for msgid in UBX_MSGIDS.keys():
if msgid[0] in (1, 240, 241): # NAV, NMEA-Standard, NMEA-Proprietary
msg = UBXMessage("CFG", "CFG-MSG", POLL, payload=msgid)
ubp.send(msg.serialize())
sleep(1)
print("\n\nPolling complete, waiting for final responses...\n\n")
sleep(PAUSE)
print("\n\nStopping reader thread...")
ubp.stop_read_thread()
print("Disconnecting from serial port...")
ubp.disconnect()
print("Test Complete")