def test_process_msg_in_buffer(self):
# Create msg contained in buffer
raw_msg = bytearray(
[0x11, 0x21, 0x10, 0x21, 0x01, 0x10, 0x03, 0x23, 0x12])
msg, buffer = binr.process_msg(raw_msg)
# Test return data
self.assertEqual(msg["ID"], 0x21)
self.assertEqual(len(msg["data"]), 1)
self.assertEqual(msg["data"][0], 0x01)
# Test buffer
self.assertEqual(len(buffer), 2)
self.assertEqual(buffer[0], 0x23)
# Test for proper ending (no ending)
raw_msg = bytearray(
[0x11, 0x21, 0x10, 0x21, 0x01, 0x10, 0x00, 0x23, 0x12])
with self.assertRaises(ValueError):
binr.process_msg(raw_msg)
def test_process_msg(self):
# Create test message
raw_msg = bytearray([0x10, 0x21, 0x01, 0x10, 0x03])
# Process message 1
msg, bufffer = binr.process_msg(raw_msg)
# Test return data
self.assertEqual(msg["ID"], 0x21)
self.assertEqual(len(msg["data"]), 1)
self.assertEqual(msg["data"][0], 0x01)
## Create test message
raw_msg = bytearray([
0x10, 0x60, 0x0B, 0x09, 0x3E, 0x4E, 0x12, 0x3F, 0x11, 0x39, 0x60,
0x3F, 0x10, 0x03
])
# Process message 2
msg, buffer = binr.process_msg(raw_msg)
# Test return data
self.assertEqual(msg["ID"], 0x60)
self.assertEqual(len(msg["data"]), 10)
self.assertEqual(msg["data"][4], 0x12)
# Create bad message
raw_msg = bytearray([0x11, 0x21, 0x01, 0x10, 0x03])
# Process bad message
with self.assertRaises(ValueError):
binr.process_msg(raw_msg)
# Process message where last character is not yet sent
raw_msg = bytearray([0x10, 0x21, 0x01, 0x10])
# Process message
with self.assertRaises(ValueError):
binr.process_msg(raw_msg)
ser.close()
# Connect to device
print("Connecting to serial port [BINR 115200]")
ser = serial.Serial(port, 115200, parity=serial.PARITY_ODD, timeout=0.5)
# Cancel all previous requests
print("Cancelling old requests")
ser.write(binr.cancel_requests())
time.sleep(1)
try:
while True:
try:
# Clear screen
# Request current receiver channels status
print("Requesting receiver channels status")
ser.write(binr.request_status_of_receiver_channels())
buffer = ser.read(1000)
data, buffer = binr.process_msg(buffer)
channel_status = binr.process_status_of_receiver_channels(
data["data"])
os.system('cls' if os.name == 'nt' else 'clear')
binr.print_status_of_receiver_channels(channel_status)
time.sleep(1)
except ValueError:
s = 1
time.sleep(0.1)
except KeyboardInterrupt:
ser.close()
#print("Requesting satellite ephemeris")
#ser.write(binr.cancel_requests())
#time.sleep(0.5)
#ser.write(binr.request_sv_ephemeris(binr.GPS, 3,-3))
#buffer = ser.read(1000)
#data, buffer = binr.process_msg(buffer)
print("Requesting raw data stream")
ser.write(binr.request_raw_data(10))
buffer = []
try:
while True:
try:
buffer = list(ser.read_until(terminator='\x10\x03'))
if len(buffer) > 0:
data, buffer = binr.process_msg(list(buffer))
print(len(buffer))
print("Msg: " + str(hex(data["ID"])) + ": " +
str(len(data["data"])) + " bytes : " +
str(bytearray(data["data"][0:50])))
if data["ID"] == 0xF5:
raw_data = binr.process_raw_data(data["data"])
binr.print_raw_data(raw_data)
time.sleep(0.1)
except ValueError:
s = 1
time.sleep(0.1)
except KeyboardInterrupt:
ser.close()
115200,
parity=serial.PARITY_ODD,
timeout=0.5)
# Main loop
while True:
rover_obs = np.zeros((Nc, 4))
base_obs = np.zeros((Nc, 4))
# Get messages from base and rover
print("Checking for messages")
if rover_stream.in_waiting > 0:
# Read and process the messages
try:
rover_buffer = list(rover_stream.read_until(terminator='\x10\x03'))
rover_msg, rover_buffer = binr.process_msg(rover_buffer)
print("Rover message received. Unread buffer size: " +
str(len(rover_buffer)))
# We are only interrested in observation and navigation messages
if rover_msg['ID'] == 0xF5: # observation message
rover_data = binr.process_raw_data(rover_msg["data"])
# Calculate obervable receiver time
t_rx = (rover_data["Time"] +
rover_data["GPS time shift"]) / 1000
# Loop through all channels
for i in range(len(rover_data["Carrier Phase"])):
# Check if raw data is valid
if (rover_data["Signal Type"][i] == binr.GPS