def parser_test(fn, prefix):
nav_frame_buffer = {}
nav_frame_buffer[0] = {}
for i in xrange(1, 33):
nav_frame_buffer[0][i] = {}
if not os.path.exists(prefix):
print('Prefix invalid')
sys.exit(-1)
with open(fn, 'rb') as f:
i = 0
saved_i = 0
msg = UBloxMessage()
while True:
n = msg.needed_bytes()
b = f.read(n)
if not b:
break
msg.add(b)
if msg.valid():
i += 1
if msg.name() == 'NAV_PVT':
sol = gen_solution(msg)
sol.logMonoTime = int(realtime.sec_since_boot() * 1e9)
with open(os.path.join(prefix, str(saved_i)), 'wb') as f1:
f1.write(sol.to_bytes())
saved_i += 1
elif msg.name() == 'RXM_RAW':
raw = gen_raw(msg)
raw.logMonoTime = int(realtime.sec_since_boot() * 1e9)
with open(os.path.join(prefix, str(saved_i)), 'wb') as f1:
f1.write(raw.to_bytes())
saved_i += 1
elif msg.name() == 'RXM_SFRBX':
nav = gen_nav_data(msg, nav_frame_buffer)
if nav is not None:
nav.logMonoTime = int(realtime.sec_since_boot() * 1e9)
with open(os.path.join(prefix, str(saved_i)),
'wb') as f1:
f1.write(nav.to_bytes())
saved_i += 1
msg = UBloxMessage()
msg.debug_level = 0
print('Parsed {} msgs'.format(i))
print('Generated {} cereal events'.format(saved_i))
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")
