def _process_HNR_PVT(self, data: UBXMessage):
"""
Process HNR-PVT sentence - High Rate Navigation position velocity time solution.
:param UBXMessage data: HNR-PVT parsed message
"""
try:
self.utc = itow2utc(data.iTOW)
self.lat = data.lat / 10**7
self.lon = data.lon / 10**7
self.alt = data.hMSL / 1000
self.hacc = data.hAcc / 1000
self.vacc = data.vAcc / 1000
self.speed = data.gSpeed / 1000 # m/s
self.track = data.headMot / 10**5
fix = gpsfix2str(data.gpsFix)
self.__app.frm_banner.update_banner(
time=self.utc,
lat=self.lat,
lon=self.lon,
alt=self.alt,
hacc=self.hacc,
vacc=self.vacc,
speed=self.speed,
fix=fix,
track=self.track,
)
self.__app.frm_mapview.update_map(self.lat,
self.lon,
self.hacc,
fix=fix)
if (self.__app.frm_settings.record_track and self.lat != ""
and self.lon != ""):
time = (datetime(
data.year,
data.month,
data.day,
data.hour,
data.min,
data.second,
).isoformat() + "Z")
if fix == "3D":
fix = "3d"
elif fix == "2D":
fix = "2d"
else:
fix = "none"
self.__app.file_handler.add_trackpoint(
self.lat,
self.lon,
ele=self.alt,
time=time,
fix=fix,
)
except ValueError:
# self.__app.set_status(ube.UBXMessageError(err), "red")
pass
def _process_NAV_POSLLH(self, data: UBXMessage):
"""
Process NAV-LLH sentence - Latitude, Longitude, Height.
:param UBXMessage data: NAV-POSLLH parsed message
"""
try:
self.utc = itow2utc(data.iTOW)
self.lat = data.lat / 10**7
self.lon = data.lon / 10**7
self.alt = data.hMSL / 1000
self.hacc = data.hAcc / 1000
self.vacc = data.vAcc / 1000
self.__app.frm_banner.update_banner(
time=self.utc,
lat=self.lat,
lon=self.lon,
alt=self.alt,
hacc=self.hacc,
vacc=self.vacc,
)
self.__app.frm_mapview.update_map(self.lat, self.lon, self.hacc)
except ValueError:
# self.__app.set_status(ube.UBXMessageError(err), "red")
pass
def __str__(self) -> str:
"""
Human readable representation.
:return: human readable representation
:rtype: str
"""
clsid = None
umsg_name = self.identity
if self.payload is None:
return f"<UBX({umsg_name})>"
stg = f"<UBX({umsg_name}, "
for i, att in enumerate(self.__dict__):
if att[0] != "_": # only show public attributes
val = self.__dict__[att]
if att[0:6] == "gnssId": # attribute is a GNSS ID
val = gnss2str(val) # get string representation e.g. 'GPS'
if att == "iTOW": # attribute is a GPS Time of Week
val = itow2utc(val) # show time in UTC format
# if it's an ACK-ACK or ACK-NAK, we show what it's acknowledging in plain text
if self._ubxClass == b"\x05": # ACK
if att == "clsID":
clsid = self.val2bytes(val, ubt.U1)
val = ubt.UBX_CLASSES[clsid]
if att == "msgID" and clsid:
msgid = self.val2bytes(val, ubt.U1)
val = ubt.UBX_MSGIDS[clsid + msgid]
# if it's a CFG-MSG, we show what message class/id it refers to in plain text
if self._ubxClass == b"\x06" and self._ubxID == b"\x01": # CFG-MSG
if att == "msgClass":
clsid = self.val2bytes(val, ubt.U1)
val = ubt.UBX_CLASSES[clsid]
if att == "msgID" and clsid:
msgid = self.val2bytes(val, ubt.U1)
val = ubt.UBX_MSGIDS[clsid + msgid]
stg += att + "=" + str(val)
if i < len(self.__dict__) - 1:
stg += ", "
stg += ")>"
return stg
def testitow2utc(self):
res = str(itow2utc(387092000))
self.assertEqual(res, '11:31:16')