def testHNR(self): # test 20Hz high rate navigation messages
EXPECTED_RESULTS = (
"<UBX(HNR-PVT, iTOW=09:15:01.400000, year=2021, month=4, day=16, hour=9, min=14, second=59, valid=b'7', nano=400000109, gpsFix=3, flags=b'\\x1d', reserved1=3999, lon=45161898, lat=518927505, height=68308, hMSL=22326, gSpeed=477, speed=502, headMot=26585090, headVeh=26585090, hAcc=36541, vAcc=49102, sAcc=1557, headAcc=3887061, reserved2=775501108)>",
"<UBX(HNR-PVT, iTOW=09:15:01.450000, year=2021, month=4, day=16, hour=9, min=14, second=59, valid=b'7', nano=450000110, gpsFix=3, flags=b'\\x1d', reserved1=4499, lon=45161895, lat=518927505, height=68316, hMSL=22334, gSpeed=477, speed=502, headMot=26585090, headVeh=26585090, hAcc=36541, vAcc=49102, sAcc=1557, headAcc=3887061, reserved2=775501108)>",
"<UBX(HNR-PVT, iTOW=09:15:01.500000, year=2021, month=4, day=16, hour=9, min=14, second=59, valid=b'7', nano=500000111, gpsFix=3, flags=b'\\x1d', reserved1=4999, lon=45161891, lat=518927505, height=68324, hMSL=22342, gSpeed=477, speed=502, headMot=26585090, headVeh=26585090, hAcc=36541, vAcc=49102, sAcc=1557, headAcc=3887061, reserved2=775501108)>",
"<UBX(HNR-PVT, iTOW=09:15:01.550000, year=2021, month=4, day=16, hour=9, min=14, second=59, valid=b'7', nano=550000112, gpsFix=3, flags=b'\\x1d', reserved1=5499, lon=45161888, lat=518927505, height=68332, hMSL=22350, gSpeed=477, speed=502, headMot=26585090, headVeh=26585090, hAcc=36541, vAcc=49102, sAcc=1557, headAcc=3887061, reserved2=775501108)>",
"<UBX(HNR-PVT, iTOW=09:15:01.600000, year=2021, month=4, day=16, hour=9, min=14, second=59, valid=b'7', nano=600000112, gpsFix=3, flags=b'\\x1d', reserved1=5999, lon=45161884, lat=518927505, height=68340, hMSL=22358, gSpeed=477, speed=502, headMot=26585090, headVeh=26585090, hAcc=36541, vAcc=49102, sAcc=1557, headAcc=3887061, reserved2=775501108)>",
"<UBX(HNR-PVT, iTOW=09:15:01.650000, year=2021, month=4, day=16, hour=9, min=14, second=59, valid=b'7', nano=650000113, gpsFix=3, flags=b'\\x1d', reserved1=6499, lon=45161881, lat=518927505, height=68348, hMSL=22366, gSpeed=477, speed=502, headMot=26585090, headVeh=26585090, hAcc=36541, vAcc=49102, sAcc=1557, headAcc=3887061, reserved2=775501108)>",
"<UBX(HNR-PVT, iTOW=09:15:01.700000, year=2021, month=4, day=16, hour=9, min=14, second=59, valid=b'7', nano=700000114, gpsFix=3, flags=b'\\x1d', reserved1=6999, lon=45161877, lat=518927505, height=68356, hMSL=22374, gSpeed=477, speed=502, headMot=26585090, headVeh=26585090, hAcc=36541, vAcc=49102, sAcc=1557, headAcc=3887061, reserved2=775501108)>",
"<UBX(HNR-PVT, iTOW=09:15:01.750000, year=2021, month=4, day=16, hour=9, min=14, second=59, valid=b'7', nano=750000115, gpsFix=3, flags=b'\\x1d', reserved1=7499, lon=45161874, lat=518927505, height=68364, hMSL=22382, gSpeed=477, speed=502, headMot=26585090, headVeh=26585090, hAcc=36541, vAcc=49102, sAcc=1557, headAcc=3887061, reserved2=775501108)>",
"<UBX(HNR-PVT, iTOW=09:15:01.800000, year=2021, month=4, day=16, hour=9, min=14, second=59, valid=b'7', nano=800000115, gpsFix=3, flags=b'\\x1d', reserved1=7999, lon=45161870, lat=518927506, height=68372, hMSL=22390, gSpeed=477, speed=502, headMot=26585090, headVeh=26585090, hAcc=36541, vAcc=49102, sAcc=1557, headAcc=3887061, reserved2=775501108)>",
"<UBX(HNR-PVT, iTOW=09:15:01.850000, year=2021, month=4, day=16, hour=9, min=14, second=59, valid=b'7', nano=850000116, gpsFix=3, flags=b'\\x1d', reserved1=8499, lon=45161867, lat=518927506, height=68380, hMSL=22398, gSpeed=477, speed=502, headMot=26585090, headVeh=26585090, hAcc=36541, vAcc=49102, sAcc=1557, headAcc=3887061, reserved2=775501108)>",
"<UBX(HNR-PVT, iTOW=09:15:01.900000, year=2021, month=4, day=16, hour=9, min=14, second=59, valid=b'7', nano=900000117, gpsFix=3, flags=b'\\x1d', reserved1=8999, lon=45161863, lat=518927506, height=68388, hMSL=22406, gSpeed=477, speed=502, headMot=26585090, headVeh=26585090, hAcc=36541, vAcc=49102, sAcc=1557, headAcc=3887061, reserved2=775501108)>",
"<UBX(HNR-PVT, iTOW=09:15:01.950000, year=2021, month=4, day=16, hour=9, min=14, second=59, valid=b'7', nano=950000118, gpsFix=3, flags=b'\\x1d', reserved1=9499, lon=45161860, lat=518927506, height=68396, hMSL=22414, gSpeed=477, speed=502, headMot=26585090, headVeh=26585090, hAcc=36541, vAcc=49102, sAcc=1557, headAcc=3887061, reserved2=775501108)>",
"<UBX(HNR-PVT, iTOW=09:15:02, year=2021, month=4, day=16, hour=9, min=15, second=0, valid=b'7', nano=118, gpsFix=3, flags=b'\\x1d', reserved1=9999, lon=45161857, lat=518927506, height=68404, hMSL=22422, gSpeed=477, speed=502, headMot=26585090, headVeh=26585090, hAcc=36541, vAcc=49102, sAcc=1557, headAcc=3887061, reserved2=775501108)>",
)
i = 0
raw = 0
ubxreader = UBXReader(self.streamHNR, ubxonly=False)
while raw is not None:
(raw, parsed) = ubxreader.read()
if raw is not None:
self.assertEqual(str(parsed), EXPECTED_RESULTS[i])
i += 1
def testMIX2VAL(
self): # test mixed UBX/NMEA stream with validate set to True
EXPECTED_ERROR = "Unknown data header b'$G'. Looks like NMEA data. Set ubxonly flag to 'False' to ignore."
ubxreader = UBXReader(self.streamMIX2, True)
with self.assertRaises(UBXStreamError) as context:
(_, _) = ubxreader.read()
self.assertTrue(EXPECTED_ERROR in str(context.exception))
def testNAV(self):
EXPECTED_RESULTS = (
"<UBX(NAV-SOL, iTOW=14:04:51, fTOW=-77264, week=2128, gpsFix=3, flags=b'\\xdd', ecefX=380363769, ecefY=-14880401, ecefZ=510064462, pAcc=2632, ecefVX=-13, ecefVY=-2, ecefVZ=-6, sAcc=114, pDOP=194, reserved1=2, numSV=10, reserved2=215776)>",
"<UBX(NAV-PVT, iTOW=14:04:51, year=2020, month=10, day=20, hour=14, min=4, second=49, valid=b'7', tAcc=38, nano=-77262, fixType=3, flags=b'\\x01', flags2=b'\\n', numSV=10, lon=-22403544, lat=534507692, height=84862, hMSL=36378, hAcc=16719, vAcc=20330, velN=68, velE=-26, velD=131, gSpeed=73, headMot=16142809, sAcc=1139, headAcc=2991983, pDOP=194, reserved1=151580049408, headVeh=0, magDec=0, magAcc=0)>",
"<UBX(NAV-SVINFO, iTOW=14:04:51, numCh=23, globalFlags=b'\\x04', reserved2=0, chn_01=2, svid_01=2, flags_01=b'\\r', quality_01=b'\\x07', cno_01=35, elev_01=47, azim_01=255, prRes_01=-134, chn_02=6, svid_02=4, flags_02=b'\\r', quality_02=b'\\x04', cno_02=18, elev_02=15, azim_02=70, prRes_02=734, chn_03=3, svid_03=5, flags_03=b'\\r', quality_03=b'\\x04', cno_03=22, elev_03=39, azim_03=295, prRes_03=-1203, chn_04=4, svid_04=6, flags_04=b'\\x0c', quality_04=b'\\x03', cno_04=13, elev_04=30, azim_04=194, prRes_04=43, chn_05=0, svid_05=7, flags_05=b'\\r', quality_05=b'\\x04', cno_05=12, elev_05=57, azim_05=135, prRes_05=317, chn_06=1, svid_06=9, flags_06=b'\\r', quality_06=b'\\x04', cno_06=19, elev_06=52, azim_06=73, prRes_06=1223, chn_07=20, svid_07=13, flags_07=b'\\x04', quality_07=b'\\x01', cno_07=0, elev_07=6, azim_07=244, prRes_07=0, chn_08=16, svid_08=16, flags_08=b'\\x04', quality_08=b'\\x01', cno_08=0, elev_08=14, azim_08=41, prRes_08=0, chn_09=21, svid_09=26, flags_09=b'\\x04', quality_09=b'\\x01', cno_09=0, elev_09=3, azim_09=11, prRes_09=0, chn_10=18, svid_10=29, flags_10=b'\\x04', quality_10=b'\\x04', cno_10=18, elev_10=13, azim_10=320, prRes_10=0, chn_11=15, svid_11=30, flags_11=b'\\x04', quality_11=b'\\x03', cno_11=13, elev_11=38, azim_11=174, prRes_11=0, chn_12=17, svid_12=120, flags_12=b'\\x14', quality_12=b'\\x01', cno_12=0, elev_12=28, azim_12=196, prRes_12=0, chn_13=19, svid_13=123, flags_13=b'\\x14', quality_13=b'\\x01', cno_13=0, elev_13=22, azim_13=140, prRes_13=0, chn_14=8, svid_14=136, flags_14=b'\\x14', quality_14=b'\\x01', cno_14=0, elev_14=29, azim_14=171, prRes_14=0, chn_15=12, svid_15=69, flags_15=b'\\r', quality_15=b'\\x04', cno_15=22, elev_15=29, azim_15=84, prRes_15=-832, chn_16=9, svid_16=70, flags_16=b'\\r', quality_16=b'\\x06', cno_16=26, elev_16=75, azim_16=347, prRes_16=-77, chn_17=11, svid_17=71, flags_17=b'\\r', quality_17=b'\\x04', cno_17=26, elev_17=30, azim_17=285, prRes_17=-521, chn_18=14, svid_18=78, flags_18=b'\\x04', quality_18=b'\\x01', cno_18=0, elev_18=10, azim_18=16, prRes_18=0, chn_19=10, svid_19=79, flags_19=b'\\r', quality_19=b'\\x05', cno_19=26, elev_19=42, azim_19=61, prRes_19=-177, chn_20=7, svid_20=80, flags_20=b'\\x04', quality_20=b'\\x01', cno_20=0, elev_20=33, azim_20=136, prRes_20=0, chn_21=13, svid_21=85, flags_21=b'\\r', quality_21=b'\\x04', cno_21=25, elev_21=24, azim_21=232, prRes_21=232, chn_22=5, svid_22=86, flags_22=b'\\x04', quality_22=b'\\x01', cno_22=0, elev_22=39, azim_22=290, prRes_22=0, chn_23=22, svid_23=87, flags_23=b'\\x04', quality_23=b'\\x01', cno_23=0, elev_23=7, azim_23=354, prRes_23=0)>",
"<UBX(NAV-ORB, iTOW=14:04:51, version=1, numSv=54, reserved1=0, gnssId_01=GPS, svId_01=1, svFlag_01=b'\\x05', eph_01=b'\\x00', alm_01=b'1', otherOrb_01=b'\\x00', gnssId_02=GPS, svId_02=2, svFlag_02=b'\\r', eph_02=b'0', alm_02=b'1', otherOrb_02=b'\\x00', gnssId_03=GPS, svId_03=3, svFlag_03=b'\\x05', eph_03=b'\\x00', alm_03=b'1', otherOrb_03=b'\\x00', gnssId_04=GPS, svId_04=4, svFlag_04=b'\\x1d', eph_04=b'(', alm_04=b'1', otherOrb_04=b'\\x00', gnssId_05=GPS, svId_05=5, svFlag_05=b'\\r', eph_05=b'0', alm_05=b'1', otherOrb_05=b'\\x00', gnssId_06=GPS, svId_06=6, svFlag_06=b'\\x1d', eph_06=b'(', alm_06=b'1', otherOrb_06=b'\\x00', gnssId_07=GPS, svId_07=7, svFlag_07=b'\\x1d', eph_07=b'(', alm_07=b'1', otherOrb_07=b'\\x00', gnssId_08=GPS, svId_08=8, svFlag_08=b'\\x05', eph_08=b'\\x00', alm_08=b'1', otherOrb_08=b'\\x00', gnssId_09=GPS, svId_09=9, svFlag_09=b'\\x1d', eph_09=b'(', alm_09=b'1', otherOrb_09=b'\\x00', gnssId_10=GPS, svId_10=10, svFlag_10=b'\\x05', eph_10=b'\\x00', alm_10=b'1', otherOrb_10=b'\\x00', gnssId_11=GPS, svId_11=11, svFlag_11=b'\\x05', eph_11=b'\\x00', alm_11=b'0', otherOrb_11=b'\\x00', gnssId_12=GPS, svId_12=12, svFlag_12=b'\\x05', eph_12=b'\\x00', alm_12=b'0', otherOrb_12=b'\\x00', gnssId_13=GPS, svId_13=13, svFlag_13=b'\\r', eph_13=b'\\x00', alm_13=b'0', otherOrb_13=b'\\x00', gnssId_14=GPS, svId_14=15, svFlag_14=b'\\x05', eph_14=b'\\x00', alm_14=b'0', otherOrb_14=b'\\x00', gnssId_15=GPS, svId_15=16, svFlag_15=b'\\r', eph_15=b'\\x00', alm_15=b'0', otherOrb_15=b'\\x00', gnssId_16=GPS, svId_16=17, svFlag_16=b'\\x05', eph_16=b'\\x00', alm_16=b'1', otherOrb_16=b'\\x00', gnssId_17=GPS, svId_17=18, svFlag_17=b'\\x05', eph_17=b'\\x00', alm_17=b'0', otherOrb_17=b'\\x00', gnssId_18=GPS, svId_18=19, svFlag_18=b'\\x05', eph_18=b'\\x00', alm_18=b'0', otherOrb_18=b'\\x00', gnssId_19=GPS, svId_19=20, svFlag_19=b'\\x05', eph_19=b'\\x00', alm_19=b'0', otherOrb_19=b'\\x00', gnssId_20=GPS, svId_20=22, svFlag_20=b'\\x05', eph_20=b'\\x00', alm_20=b'1', otherOrb_20=b'\\x00', gnssId_21=GPS, svId_21=23, svFlag_21=b'\\x05', eph_21=b'\\x00', alm_21=b'1', otherOrb_21=b'\\x00', gnssId_22=GPS, svId_22=24, svFlag_22=b'\\x05', eph_22=b'\\x00', alm_22=b'1', otherOrb_22=b'\\x00', gnssId_23=GPS, svId_23=25, svFlag_23=b'\\x05', eph_23=b'\\x00', alm_23=b'1', otherOrb_23=b'\\x00', gnssId_24=GPS, svId_24=26, svFlag_24=b'\\t', eph_24=b'\\x00', alm_24=b'1', otherOrb_24=b'\\x00', gnssId_25=GPS, svId_25=27, svFlag_25=b'\\x05', eph_25=b'\\x00', alm_25=b'1', otherOrb_25=b'\\x00', gnssId_26=GPS, svId_26=28, svFlag_26=b'\\x05', eph_26=b'\\x00', alm_26=b'1', otherOrb_26=b'\\x00', gnssId_27=GPS, svId_27=29, svFlag_27=b'\\r', eph_27=b'\\x00', alm_27=b'1', otherOrb_27=b'\\x00', gnssId_28=GPS, svId_28=30, svFlag_28=b'\\r', eph_28=b'\\x00', alm_28=b'1', otherOrb_28=b'\\x00', gnssId_29=GPS, svId_29=31, svFlag_29=b'\\x05', eph_29=b'\\x00', alm_29=b'1', otherOrb_29=b'\\x00', gnssId_30=GPS, svId_30=32, svFlag_30=b'\\x05', eph_30=b'\\x00', alm_30=b'1', otherOrb_30=b'\\x00', gnssId_31=GLONASS, svId_31=1, svFlag_31=b'\\x05', eph_31=b'\\x00', alm_31=b'?', otherOrb_31=b'\\x00', gnssId_32=GLONASS, svId_32=2, svFlag_32=b'\\x05', eph_32=b'\\x00', alm_32=b'?', otherOrb_32=b'\\x00', gnssId_33=GLONASS, svId_33=3, svFlag_33=b'\\x05', eph_33=b'\\x00', alm_33=b'?', otherOrb_33=b'\\x00', gnssId_34=GLONASS, svId_34=4, svFlag_34=b'\\x05', eph_34=b'\\x00', alm_34=b'?', otherOrb_34=b'\\x00', gnssId_35=GLONASS, svId_35=5, svFlag_35=b'\\r', eph_35=b'?', alm_35=b'?', otherOrb_35=b'\\x00', gnssId_36=GLONASS, svId_36=6, svFlag_36=b'\\r', eph_36=b'?', alm_36=b'?', otherOrb_36=b'\\x00', gnssId_37=GLONASS, svId_37=7, svFlag_37=b'\\r', eph_37=b'?', alm_37=b'?', otherOrb_37=b'\\x00', gnssId_38=GLONASS, svId_38=8, svFlag_38=b'\\x05', eph_38=b'\\x00', alm_38=b'?', otherOrb_38=b'\\x00', gnssId_39=GLONASS, svId_39=9, svFlag_39=b'\\x05', eph_39=b'\\x00', alm_39=b'?', otherOrb_39=b'\\x00', gnssId_40=GLONASS, svId_40=10, svFlag_40=b'\\x05', eph_40=b'\\x00', alm_40=b'?', otherOrb_40=b'\\x00', gnssId_41=GLONASS, svId_41=11, svFlag_41=b'\\x05', eph_41=b'\\x00', alm_41=b'?', otherOrb_41=b'\\x00', gnssId_42=GLONASS, svId_42=12, svFlag_42=b'\\x05', eph_42=b'\\x00', alm_42=b'?', otherOrb_42=b'\\x00', gnssId_43=GLONASS, svId_43=13, svFlag_43=b'\\x05', eph_43=b'\\x00', alm_43=b'?', otherOrb_43=b'\\x00', gnssId_44=GLONASS, svId_44=14, svFlag_44=b'\\r', eph_44=b'\\x00', alm_44=b'?', otherOrb_44=b'\\x00', gnssId_45=GLONASS, svId_45=15, svFlag_45=b'\\r', eph_45=b'?', alm_45=b'?', otherOrb_45=b'\\x00', gnssId_46=GLONASS, svId_46=16, svFlag_46=b'\\r', eph_46=b'\\x00', alm_46=b'?', otherOrb_46=b'\\x00', gnssId_47=GLONASS, svId_47=17, svFlag_47=b'\\x05', eph_47=b'\\x00', alm_47=b'?', otherOrb_47=b'\\x00', gnssId_48=GLONASS, svId_48=18, svFlag_48=b'\\x05', eph_48=b'\\x00', alm_48=b'?', otherOrb_48=b'\\x00', gnssId_49=GLONASS, svId_49=19, svFlag_49=b'\\x05', eph_49=b'\\x00', alm_49=b'?', otherOrb_49=b'\\x00', gnssId_50=GLONASS, svId_50=20, svFlag_50=b'\\x05', eph_50=b'\\x00', alm_50=b'?', otherOrb_50=b'\\x00', gnssId_51=GLONASS, svId_51=21, svFlag_51=b'\\r', eph_51=b'?', alm_51=b'?', otherOrb_51=b'\\x00', gnssId_52=GLONASS, svId_52=22, svFlag_52=b'\\r', eph_52=b'\\x00', alm_52=b'?', otherOrb_52=b'\\x00', gnssId_53=GLONASS, svId_53=23, svFlag_53=b'\\r', eph_53=b'\\x00', alm_53=b'?', otherOrb_53=b'\\x00', gnssId_54=GLONASS, svId_54=24, svFlag_54=b'\\x05', eph_54=b'\\x00', alm_54=b'?', otherOrb_54=b'\\x00')>",
"<UBX(NAV-SAT, iTOW=14:04:51, version=1, numCh=23, reserved11=0, reserved12=0, gnssId_01=GPS, svId_01=2, cno_01=35, elev_01=47, azim_01=255, prRes_01=-13, flags_01=b'\\x1f\\x19\\x00\\x00', gnssId_02=GPS, svId_02=4, cno_02=18, elev_02=15, azim_02=70, prRes_02=73, flags_02=b'\\x1c\\x19\\x00\\x00', gnssId_03=GPS, svId_03=5, cno_03=22, elev_03=39, azim_03=295, prRes_03=-120, flags_03=b'\\x1c\\x19\\x00\\x00', gnssId_04=GPS, svId_04=6, cno_04=13, elev_04=30, azim_04=194, prRes_04=4, flags_04=b'\\x13\\x19\\x00\\x00', gnssId_05=GPS, svId_05=7, cno_05=12, elev_05=57, azim_05=135, prRes_05=32, flags_05=b'\\x1c\\x19\\x00\\x00', gnssId_06=GPS, svId_06=9, cno_06=19, elev_06=52, azim_06=73, prRes_06=122, flags_06=b'\\x1c\\x19\\x00\\x00', gnssId_07=GPS, svId_07=13, cno_07=0, elev_07=6, azim_07=244, prRes_07=0, flags_07=b'\\x11\\x12\\x00\\x00', gnssId_08=GPS, svId_08=16, cno_08=0, elev_08=14, azim_08=41, prRes_08=0, flags_08=b'\\x11\\x12\\x00\\x00', gnssId_09=GPS, svId_09=26, cno_09=0, elev_09=3, azim_09=11, prRes_09=0, flags_09=b'\\x11\\x12\\x00\\x00', gnssId_10=GPS, svId_10=29, cno_10=18, elev_10=13, azim_10=320, prRes_10=0, flags_10=b'\\x14\\x12\\x00\\x00', gnssId_11=GPS, svId_11=30, cno_11=13, elev_11=38, azim_11=174, prRes_11=0, flags_11=b'\\x13\\x12\\x00\\x00', gnssId_12=SBAS, svId_12=120, cno_12=0, elev_12=28, azim_12=196, prRes_12=0, flags_12=b'\\x01\\x07\\x00\\x00', gnssId_13=SBAS, svId_13=123, cno_13=0, elev_13=22, azim_13=140, prRes_13=0, flags_13=b'\\x01\\x07\\x00\\x00', gnssId_14=SBAS, svId_14=136, cno_14=0, elev_14=29, azim_14=171, prRes_14=0, flags_14=b'\\x01\\x07\\x00\\x00', gnssId_15=GLONASS, svId_15=5, cno_15=22, elev_15=29, azim_15=84, prRes_15=-83, flags_15=b'\\x1c\\x19\\x00\\x00', gnssId_16=GLONASS, svId_16=6, cno_16=26, elev_16=75, azim_16=347, prRes_16=-8, flags_16=b'\\x1e\\x19\\x00\\x00', gnssId_17=GLONASS, svId_17=7, cno_17=26, elev_17=30, azim_17=285, prRes_17=-52, flags_17=b'\\x1c\\x19\\x00\\x00', gnssId_18=GLONASS, svId_18=14, cno_18=0, elev_18=10, azim_18=16, prRes_18=0, flags_18=b'\\x11\\x12\\x00\\x00', gnssId_19=GLONASS, svId_19=15, cno_19=26, elev_19=42, azim_19=61, prRes_19=-18, flags_19=b'\\x1d\\x19\\x00\\x00', gnssId_20=GLONASS, svId_20=16, cno_20=0, elev_20=33, azim_20=136, prRes_20=0, flags_20=b'\\x11\\x12\\x00\\x00', gnssId_21=GLONASS, svId_21=21, cno_21=25, elev_21=24, azim_21=232, prRes_21=23, flags_21=b'\\x1c\\x19\\x00\\x00', gnssId_22=GLONASS, svId_22=22, cno_22=0, elev_22=39, azim_22=290, prRes_22=0, flags_22=b'\\x11\\x12\\x00\\x00', gnssId_23=GLONASS, svId_23=23, cno_23=0, elev_23=7, azim_23=354, prRes_23=0, flags_23=b'\\x11\\x12\\x00\\x00')>",
"<UBX(NAV-STATUS, iTOW=14:04:51, gpsFix=3, flags=b'\\xdd', fixStat=b'\\x00', flags2=b'\\x08', ttff=1882, msss=23382)>",
"<UBX(NAV-POSECEF, iTOW=14:04:51, ecefX=380363769, ecefY=-14880401, ecefZ=510064462, pAcc=2632)>",
"<UBX(NAV-POSLLH, iTOW=14:04:51, lon=-22403544, lat=534507692, height=84862, hMSL=36378, hAcc=16719, vAcc=20330)>",
"<UBX(NAV-DOP, iTOW=14:04:51, gDOP=219, pDOP=194, tDOP=102, vDOP=154, hDOP=118, nDOP=107, eDOP=49)>",
"<UBX(NAV-VELECEF, iTOW=14:04:51, ecefVX=-13, ecefVY=-2, ecefVZ=-6, sAcc=114)>",
"<UBX(NAV-VELNED, iTOW=14:04:51, velN=7, velE=-3, velD=13, speed=15, gSpeed=7, heading=16142809, sAcc=114, cAcc=2991983)>",
"<UBX(NAV-TIMEGPS, iTOW=14:04:51, fTOW=-77264, week=2128, leapS=18, valid=b'\\x07', tAcc=38)>",
"<UBX(NAV-TIMEGLO, iTOW=14:04:51, TOD=61489, fTOD=-77299, Nt=294, N4=7, valid=b'\\x03', tAcc=41)>",
"<UBX(NAV-TIMEBDS, iTOW=14:04:51, SOW=223493, fSOW=-77264, week=772, leapS=4, valid=b'\\x07', tAcc=3374)>",
"<UBX(NAV-TIMEGAL, iTOW=14:04:51, galTow=223507, fGalTow=-77264, galWno=1104, leapS=18, valid=b'\\x07', tAcc=3374)>",
"<UBX(NAV-TIMEUTC, iTOW=14:04:51, tAcc=38, nano=838860800, year=65234, month=255, day=228, hour=7, min=10, sec=20, validflags=b'\\x0e')>",
"<UBX(NAV-TIMELS, iTOW=14:04:51, version=0, reserved1=0, srcOfCurrLs=2, currLs=18, srcOfLsChange=2, lsChange=0, timeToLsEvent=34854912, dateOfLsGpsWn=2185, dateOfLsGpsDn=7, reserved2=0, valid=b'\\x03')>",
"<UBX(NAV-CLOCK, iTOW=14:04:51, clkB=77264, clkD=346, tAcc=38, fAcc=1902)>",
"<UBX(NAV-SBAS, iTOW=14:04:51, geo=0, mode:=0, sys=0, service=b'\\x00', numCh=0, reserved0=0)>",
"<UBX(NAV-DGPS, iTOW=14:04:51, age=0, baseId=0, baseHealth=0, numCh=0, status=0, reserved1=0)>",
"<UBX(NAV-AOPSTATUS, iTOW=14:04:51, config=0, status=0, reserved0=0, reserved1=10, avail=0, reserved2=0, reserved3=0)>",
"<UBX(NAV-ODO, version=0, reserved0=323, iTOW=14:04:51, distance=0, totalDistance=0, distanceStd=0)>",
"<UBX(NAV-GEOFENCE, iTOW=14:04:51, version=0, status=0, numFences=0, combState=0)>",
"<UBX(NAV-EOE, iTOW=14:04:51)>")
i = 0
raw = 0
ubxreader = UBXReader(self.streamNAV)
while raw is not None:
(raw, parsed) = ubxreader.read()
if raw is not None:
self.assertEqual(str(parsed), EXPECTED_RESULTS[i])
i += 1
def read_data(
stream: object,
ubr: UBXReader,
queue: Queue,
lock: Lock,
stop: Event,
):
"""
Read and parse incoming UBX data and place
raw and parsed data on queue
"""
# pylint: disable=unused-variable, broad-except
while not stop.is_set():
if stream.in_waiting:
try:
lock.acquire()
(raw_data, parsed_data) = ubr.read()
lock.release()
if parsed_data:
queue.put((raw_data, parsed_data))
except Exception as err:
print(f"\n\nSomething went wrong {err}\n\n")
continue
def testBADEOF3(self): # premature EOF after first byte of header
i = 0
raw = 0
ubxreader = UBXReader(self.streamBADEOF3)
while raw is not None:
(raw, _) = ubxreader.read()
i += 1
self.assertEqual(i, 3)
def testBADEOF2(self): # premature EOF after message class and length
i = 0
raw = 0
ubxreader = UBXReader(self.streamBADEOF2)
while raw is not None:
(raw, _) = ubxreader.read()
i += 1
self.assertEqual(i, 3)
def testIterator3(self): # test iterator function with mixed data stream
EXPECTED_RESULTS = (
"<UBX(NAV-SOL, iTOW=11:33:17, fTOW=52790, week=2128, gpsFix=3, flags=b'\\xdd', ecefX=380364134, ecefY=-14880030, ecefZ=510063062, pAcc=1026, ecefVX=-3, ecefVY=0, ecefVZ=1, sAcc=72, pDOP=135, reserved1=2, numSV=15, reserved2=215776)>",
"<UBX(NAV-PVT, iTOW=11:33:17, year=2020, month=10, day=23, hour=11, min=33, second=15, valid=b'7', tAcc=17, nano=52792, fixType=3, flags=b'\\x01', flags2=b'\\n', numSV=15, lon=-22402964, lat=534506691, height=75699, hMSL=27215, hAcc=6298, vAcc=8101, velN=27, velE=-4, velD=11, gSpeed=27, headMot=770506, sAcc=715, headAcc=3905453, pDOP=135, reserved1=151580049408, headVeh=0, magDec=0, magAcc=0)>",
"<UBX(NAV-SVINFO, iTOW=11:33:17, numCh=25, globalFlags=b'\\x04', reserved2=0, chn_01=13, svid_01=1, flags_01=b'\\x0c', quality_01=b'\\x01', cno_01=0, elev_01=4, azim_01=142, prRes_01=0, chn_02=19, svid_02=2, flags_02=b'\\x04', quality_02=b'\\x01', cno_02=0, elev_02=19, azim_02=311, prRes_02=0, chn_03=3, svid_03=3, flags_03=b'\\r', quality_03=b'\\x04', cno_03=24, elev_03=41, azim_03=89, prRes_03=469, chn_04=0, svid_04=4, flags_04=b'\\r', quality_04=b'\\x07', cno_04=26, elev_04=70, azim_04=98, prRes_04=94, chn_05=1, svid_05=6, flags_05=b'\\r', quality_05=b'\\x07', cno_05=29, elev_05=61, azim_05=287, prRes_05=-1023, chn_06=255, svid_06=7, flags_06=b'\\x04', quality_06=b'\\x00', cno_06=0, elev_06=0, azim_06=168, prRes_06=0, chn_07=2, svid_07=9, flags_07=b'\\r', quality_07=b'\\x07', cno_07=32, elev_07=56, azim_07=200, prRes_07=-18, chn_08=23, svid_08=12, flags_08=b'\\x04', quality_08=b'\\x01', cno_08=0, elev_08=1, azim_08=311, prRes_08=0, chn_09=5, svid_09=17, flags_09=b'\\r', quality_09=b'\\x04', cno_09=23, elev_09=26, azim_09=226, prRes_09=505, chn_10=4, svid_10=19, flags_10=b'\\r', quality_10=b'\\x04', cno_10=25, elev_10=35, azim_10=242, prRes_10=1630, chn_11=6, svid_11=22, flags_11=b'\\r', quality_11=b'\\x04', cno_11=21, elev_11=20, azim_11=96, prRes_11=-1033, chn_12=22, svid_12=25, flags_12=b'\\x04', quality_12=b'\\x01', cno_12=0, elev_12=4, azim_12=344, prRes_12=0, chn_13=11, svid_13=31, flags_13=b'\\r', quality_13=b'\\x04', cno_13=14, elev_13=10, azim_13=27, prRes_13=1714, chn_14=18, svid_14=120, flags_14=b'\\x14', quality_14=b'\\x01', cno_14=0, elev_14=28, azim_14=196, prRes_14=0, chn_15=20, svid_15=123, flags_15=b'\\x14', quality_15=b'\\x01', cno_15=0, elev_15=22, azim_15=140, prRes_15=0, chn_16=16, svid_16=136, flags_16=b'\\x14', quality_16=b'\\x01', cno_16=0, elev_16=29, azim_16=171, prRes_16=0, chn_17=14, svid_17=65, flags_17=b'\\r', quality_17=b'\\x04', cno_17=21, elev_17=33, azim_17=252, prRes_17=139, chn_18=8, svid_18=71, flags_18=b'\\r', quality_18=b'\\x04', cno_18=19, elev_18=44, azim_18=53, prRes_18=1941, chn_19=9, svid_19=72, flags_19=b'\\r', quality_19=b'\\x04', cno_19=20, elev_19=76, azim_19=286, prRes_19=-1155, chn_20=15, svid_20=73, flags_20=b'\\r', quality_20=b'\\x06', cno_20=25, elev_20=19, azim_20=81, prRes_20=-115, chn_21=21, svid_21=79, flags_21=b'\\x04', quality_21=b'\\x01', cno_21=0, elev_21=0, azim_21=342, prRes_21=0, chn_22=17, svid_22=80, flags_22=b'\\x04', quality_22=b'\\x04', cno_22=18, elev_22=20, azim_22=29, prRes_22=0, chn_23=7, svid_23=86, flags_23=b'\\r', quality_23=b'\\x04', cno_23=10, elev_23=18, azim_23=177, prRes_23=-149, chn_24=10, svid_24=87, flags_24=b'\\r', quality_24=b'\\x07', cno_24=32, elev_24=65, azim_24=257, prRes_24=169, chn_25=12, svid_25=88, flags_25=b'\\r', quality_25=b'\\x04', cno_25=23, elev_25=40, azim_25=318, prRes_25=-93)>"
)
i = 0
raw = 0
ubxreader = UBXReader(self.streamMIX, ubxonly=False)
while raw is not None and i < 3:
(raw, parsed) = ubxreader.read()
if raw is not None:
self.assertEqual(str(parsed), EXPECTED_RESULTS[i])
i += 1
def testRXM(self):
EXPECTED_RESULTS = (
"<UBX(RXM-MEASX, version=1, reserved0=0, gpsTOW=231234000, gloTOW=242016000, bdsTOW=231220000, reserved1=231234000, qzssTOW=1000, gpsTOWacc=0, gloTOWacc=0, bdsTOWacc=0, reserved2=0, qzssTOWacc=0, numSv=9, flags=46, reserved3=0, gnssId_01=QZSS, svId_01=1, cNo_01=12, mpathIndic_01=1, dopplerMS_01=11538, dopplerHz_01=12126, wholeChips_01=809, fracChips_01=24, codePhase_01=1658502, intCodePhase_01=0, pseuRangeRMSErr_01=52, reserved4_01=0, gnssId_02=GPS, svId_02=18, cNo_02=17, mpathIndic_02=1, dopplerMS_02=2646, dopplerHz_02=2781, wholeChips_02=858, fracChips_02=265, codePhase_02=1759434, intCodePhase_02=0, pseuRangeRMSErr_02=46, reserved4_02=0, gnssId_03=GPS, svId_03=28, cNo_03=18, mpathIndic_03=1, dopplerMS_03=10576, dopplerHz_03=11115, wholeChips_03=536, fracChips_03=533, codePhase_03=1099868, intCodePhase_03=0, pseuRangeRMSErr_03=46, reserved4_03=0, gnssId_04=GLONASS, svId_04=8, cNo_04=17, mpathIndic_04=1, dopplerMS_04=11949, dopplerHz_04=12797, wholeChips_04=55, fracChips_04=693, codePhase_04=228499, intCodePhase_04=0, pseuRangeRMSErr_04=46, reserved4_04=0, gnssId_05=GLONASS, svId_05=9, cNo_05=25, mpathIndic_05=1, dopplerMS_05=4320, dopplerHz_05=4614, wholeChips_05=279, fracChips_05=102, codePhase_05=1145429, intCodePhase_05=0, pseuRangeRMSErr_05=27, reserved4_05=0, gnssId_06=GLONASS, svId_06=7, cNo_06=24, mpathIndic_06=1, dopplerMS_06=-3672, dopplerHz_06=-3931, wholeChips_06=100, fracChips_06=156, codePhase_06=411030, intCodePhase_06=0, pseuRangeRMSErr_06=46, reserved4_06=0, gnssId_07=GPS, svId_07=7, cNo_07=13, mpathIndic_07=1, dopplerMS_07=-14783, dopplerHz_07=-15537, wholeChips_07=947, fracChips_07=989, codePhase_07=1943334, intCodePhase_07=0, pseuRangeRMSErr_07=52, reserved4_07=0, gnssId_08=GPS, svId_08=13, cNo_08=28, mpathIndic_08=1, dopplerMS_08=5649, dopplerHz_08=5937, wholeChips_08=239, fracChips_08=545, codePhase_08=491043, intCodePhase_08=0, pseuRangeRMSErr_08=15, reserved4_08=0, gnssId_09=GPS, svId_09=5, cNo_09=32, mpathIndic_09=1, dopplerMS_09=-9606, dopplerHz_09=-10096, wholeChips_09=220, fracChips_09=411, codePhase_09=451825, intCodePhase_09=0, pseuRangeRMSErr_09=18, reserved4_09=0)>",
"<UBX(RXM-SVSI, iTOW=16:13:38, week=2128, numVis=24, numSV=190, svid=1, svFlag=b'_', azim=82, elev=-49, age=b'\\xf2')>",
"<UBX(RXM-IMES, numTx=0, version=1, reserved1=0)>",
"<UBX(RXM-SFRBX, gnssId=GPS, svId=5, reserved0=0, freqId=0, numWords=10, chn=0, version=2, reserved1=0, dwrd_01=583028782, dwrd_02=2463198336, dwrd_03=394902765, dwrd_04=2566867280, dwrd_05=1062207503, dwrd_06=675481840, dwrd_07=616371498, dwrd_08=2740700967, dwrd_09=768066377, dwrd_10=3045061856)>"
)
i = 0
raw = 0
ubxreader = UBXReader(self.streamRXM)
while raw is not None:
(raw, parsed) = ubxreader.read()
if raw is not None:
self.assertEqual(str(parsed), EXPECTED_RESULTS[i])
i += 1
def testMON(self):
EXPECTED_RESULTS = (
"<UBX(MON-MSGPP, msg1_01=0, msg1_02=0, msg1_03=0, msg1_04=0, msg1_05=0, msg1_06=0, msg1_07=0, msg1_08=0, msg2_01=0, msg2_02=0, msg2_03=0, msg2_04=0, msg2_05=0, msg2_06=0, msg2_07=0, msg2_08=0, msg3_01=0, msg3_02=0, msg3_03=0, msg3_04=0, msg3_05=0, msg3_06=0, msg3_07=0, msg3_08=0, msg4_01=69, msg4_02=0, msg4_03=0, msg4_04=0, msg4_05=0, msg4_06=0, msg4_07=0, msg4_08=0, msg5_01=0, msg5_02=0, msg5_03=0, msg5_04=0, msg5_05=0, msg5_06=0, msg5_07=0, msg5_08=0, msg6_01=0, msg6_02=0, msg6_03=0, msg6_04=0, msg6_05=0, msg6_06=0, msg6_07=0, msg6_08=0, skipped_01=0, skipped_02=0, skipped_03=0, skipped_04=0, skipped_05=0, skipped_06=0)>",
"<UBX(MON-TXBUF, pending_01=0, pending_02=0, pending_03=0, pending_04=0, pending_05=0, pending_06=0, usage_01=0, usage_02=2, usage_03=0, usage_04=0, usage_05=0, usage_06=0, peakUsage_01=0, peakUsage_02=12, peakUsage_03=0, peakUsage_04=25, peakUsage_05=0, peakUsage_06=0, tUsage=2, tPeakUsage=25, errors=b'\\x00', reserved1=0)>",
"<UBX(MON-RXBUF, pending_01=0, pending_02=0, pending_03=0, pending_04=0, pending_05=0, pending_06=0, usage_01=0, usage_02=0, usage_03=0, usage_04=0, usage_05=0, usage_06=0, peakUsage_01=0, peakUsage_02=0, peakUsage_03=0, peakUsage_04=2, peakUsage_05=0, peakUsage_06=0)>",
"<UBX(MON-IO, rxBytes=0, txBytes=0, parityErrs=0, framingErrs=0, overrunErrs=0, breakCond=0, rxBusy=0, txBusy=0, reserved1=0)>",
"<UBX(MON-HW, pinSel=b'\\x00\\xf4\\x01\\x00', pinBank=b'\\x00\\x00\\x00\\x00', pinDir=b'\\x00\\x00\\x01\\x00', pinVal=b'\\xef\\xf7\\x00\\x00', noisePerMS=87, agcCnt=3042, aStatus=2, aPower=1, flags=b'\\x01', reserved1=132, usedMask=b'\\xff\\xeb\\x01\\x00', VP_01=b'\\n', VP_02=b'\\x0b', VP_03=b'\\x0c', VP_04=b'\\r', VP_05=b'\\x0e', VP_06=b'\\x0f', VP_07=b'\\x01', VP_08=b'\\x00', VP_09=b'\\x02', VP_10=b'\\x03', VP_11=b'\\xff', VP_12=b'\\x10', VP_13=b'\\xff', VP_14=b'\\x12', VP_15=b'\\x13', VP_16=b'6', VP_17=b'5', VP_18=b'\\x05', VP_19=b'\\xef', VP_20=b'^', VP_21=b'\\x00', VP_22=b'\\x00', VP_23=b'\\x00', VP_24=b'\\x00', VP_25=b'\\x80', jamInd=247, reserved3=0, pinIrq=b'\\x00\\x00\\x00\\x00', pullH=b'', pullL=b'')>",
"<UBX(MON-HW2, ofsI=4, magI=110, ofsQ=5, magQ=112, cfgSource=111, reserved0=1800, lowLevCfg=b'\\xff\\xff\\xff\\xff', reserved11=4294967295, reserved12=4294967295, postStatus=b'\\x00\\x00\\x00\\x00', reserved2=0)>"
)
i = 0
raw = 0
ubxreader = UBXReader(self.streamMON)
while raw is not None:
(raw, parsed) = ubxreader.read()
if raw is not None:
self.assertEqual(str(parsed), EXPECTED_RESULTS[i])
i += 1
def testMON(self):
EXPECTED_RESULTS = (
"<UBX(MON-MSGPP, msg10=0, msg11=0, msg12=0, msg13=0, msg14=0, msg15=0, msg16=0, msg17=0, msg20=0, msg21=0, msg22=0, msg23=0, msg24=0, msg25=0, msg26=0, msg27=0, msg30=0, msg31=0, msg32=0, msg33=0, msg34=0, msg35=0, msg36=0, msg37=0, msg40=69, msg41=0, msg42=0, msg43=0, msg44=0, msg45=0, msg46=0, msg47=0, msg50=0, msg51=0, msg52=0, msg53=0, msg54=0, msg55=0, msg56=0, msg57=0, msg60=0, msg61=0, msg62=0, msg63=0, msg64=0, msg65=0, msg66=0, msg67=0, skipped1=0, skipped2=0, skipped3=0, skipped4=0, skipped5=0, skipped6=0)>",
"<UBX(MON-TXBUF, pending0=0, pending1=0, pending2=0, pending3=0, pending4=0, pending5=0, usage0=0, usage1=2, usage2=0, usage3=0, usage4=0, usage5=0, peakUsage0=0, peakUsage1=12, peakUsage2=0, peakUsage3=25, peakUsage4=0, peakUsage5=0, tUsage=2, tPeakUsage=25, errors=b'\\x00', reserved1=0)>",
"<UBX(MON-RXBUF, pending0=0, pending1=0, pending2=0, pending3=0, pending4=0, pending5=0, usage0=0, usage1=0, usage2=0, usage3=0, usage4=0, usage5=0, peakUsage0=0, peakUsage1=0, peakUsage2=0, peakUsage3=2, peakUsage4=0, peakUsage5=0)>",
"<UBX(MON-IO, rxBytes=0, txBytes=0, parityErrs=0, framingErrs=0, overrunErrs=0, breakCond=0, rxBusy=0, txBusy=0, reserved1=0)>",
"<UBX(MON-HW, pinSel=b'\\x00\\xf4\\x01\\x00', pinBank=b'\\x00\\x00\\x00\\x00', pinDir=b'\\x00\\x00\\x01\\x00', pinVal=b'\\xef\\xf7\\x00\\x00', noisePerMS=87, agcCnt=3042, aStatus=2, aPower=1, flags=b'\\x01', reserved1=132, usedMask=b'\\xff\\xeb\\x01\\x00', VP01=b'\\n', VP02=b'\\x0b', VP03=b'\\x0c', VP04=b'\\r', VP05=b'\\x0e', VP06=b'\\x0f', VP07=b'\\x01', VP08=b'\\x00', VP09=b'\\x02', VP10=b'\\x03', VP11=b'\\xff', VP12=b'\\x10', VP13=b'\\xff', VP14=b'\\x12', VP15=b'\\x13', VP16=b'6', VP17=b'5', VP18=b'\\x05', VP19=b'\\xef', VP20=b'^', VP21=b'\\x00', VP22=b'\\x00', VP23=b'\\x00', VP24=b'\\x00', VP25=b'\\x80', jamInd=247, reserved3=0, pinIrq=b'\\x00\\x00\\x00\\x00', pullH=b'', pullL=b'')>",
"<UBX(MON-HW2, ofsI=4, magI=110, ofsQ=5, magQ=112, cfgSource=111, reserved0=1800, lowLevCfg=b'\\xff\\xff\\xff\\xff', reserved11=4294967295, reserved12=4294967295, postStatus=b'\\x00\\x00\\x00\\x00', reserved2=0)>"
)
i = 0
raw = 0
ubxreader = UBXReader(self.streamMON)
while raw is not None:
(raw, parsed) = ubxreader.read()
if raw is not None:
self.assertEqual(str(parsed), EXPECTED_RESULTS[i])
i += 1
def testMIX2(
self): # test mixed UBX/NMEA stream with validate set to False
EXPECTED_RESULTS = (
"<UBX(NAV-EOE, iTOW=09:08:04)>",
"<UBX(NAV-PVT, iTOW=09:08:09, year=2021, month=2, day=22, hour=9, min=8, second=7, valid=b'\\xf7', tAcc=1071, nano=332985, fixType=3, flags=b'\\x01', flags2=b'\\xa6', numSV=4, lon=-22401762, lat=534506799, height=72728, hMSL=24245, hAcc=55374, vAcc=35349, velN=362, velE=-50, velD=-71, gSpeed=365, headMot=0, sAcc=4508, headAcc=13597116, pDOP=520, reserved1=52016683286528, headVeh=0, magDec=0, magAcc=0)>",
"<UBX(NAV-ORB, iTOW=09:08:09, version=1, numSv=33, reserved1=0, gnssId_01=GPS, svId_01=1, svFlag_01=b'\\x05', eph_01=b'\\x00', alm_01=b'1', otherOrb_01=b'\\x00', gnssId_02=GPS, svId_02=14, svFlag_02=b'\\r', eph_02=b',', alm_02=b'o', otherOrb_02=b'G', gnssId_03=GPS, svId_03=19, svFlag_03=b'\\x05', eph_03=b'\\x00', alm_03=b'0', otherOrb_03=b'\\x00', gnssId_04=GPS, svId_04=20, svFlag_04=b'\\r', eph_04=b'\\x00', alm_04=b'1', otherOrb_04=b'\\x00', gnssId_05=GPS, svId_05=21, svFlag_05=b'\\x05', eph_05=b'\\x00', alm_05=b'1', otherOrb_05=b'\\x00', gnssId_06=GPS, svId_06=22, svFlag_06=b'\\x05', eph_06=b'\\x00', alm_06=b'1', otherOrb_06=b'\\x00', gnssId_07=GPS, svId_07=23, svFlag_07=b'\\r', eph_07=b'\\x00', alm_07=b'1', otherOrb_07=b'\\x00', gnssId_08=GPS, svId_08=24, svFlag_08=b'\\r', eph_08=b',', alm_08=b'o', otherOrb_08=b'G', gnssId_09=GPS, svId_09=25, svFlag_09=b'\\x01', eph_09=b'\\x00', alm_09=b'1', otherOrb_09=b'\\x00', gnssId_10=GLONASS, svId_10=1, svFlag_10=b'\\x05', eph_10=b'\\x00', alm_10=b'5', otherOrb_10=b'\\x00', gnssId_11=GLONASS, svId_11=2, svFlag_11=b'\\x05', eph_11=b'\\x00', alm_11=b'5', otherOrb_11=b'\\x00', gnssId_12=GLONASS, svId_12=3, svFlag_12=b'\\x05', eph_12=b'\\x00', alm_12=b'5', otherOrb_12=b'\\x00', gnssId_13=GLONASS, svId_13=4, svFlag_13=b'\\r', eph_13=b'\\x00', alm_13=b'5', otherOrb_13=b'\\x00', gnssId_14=GLONASS, svId_14=5, svFlag_14=b'\\r', eph_14=b'&', alm_14=b'5', otherOrb_14=b'G', gnssId_15=GLONASS, svId_15=6, svFlag_15=b'\\r', eph_15=b'\\x00', alm_15=b'5', otherOrb_15=b'\\x00', gnssId_16=GLONASS, svId_16=7, svFlag_16=b'\\x05', eph_16=b'\\x00', alm_16=b'5', otherOrb_16=b'\\x00', gnssId_17=GLONASS, svId_17=8, svFlag_17=b'\\x05', eph_17=b'\\x00', alm_17=b'5', otherOrb_17=b'\\x00', gnssId_18=GLONASS, svId_18=9, svFlag_18=b'\\x05', eph_18=b'\\x00', alm_18=b'5', otherOrb_18=b'\\x00', gnssId_19=GLONASS, svId_19=10, svFlag_19=b'\\x05', eph_19=b'\\x00', alm_19=b'5', otherOrb_19=b'\\x00', gnssId_20=GLONASS, svId_20=11, svFlag_20=b'\\x06', eph_20=b'\\x00', alm_20=b'5', otherOrb_20=b'\\x00', gnssId_21=GLONASS, svId_21=12, svFlag_21=b'\\x05', eph_21=b'\\x00', alm_21=b'5', otherOrb_21=b'\\x00', gnssId_22=GLONASS, svId_22=13, svFlag_22=b'\\t', eph_22=b'\\x00', alm_22=b'5', otherOrb_22=b'\\x00', gnssId_23=GLONASS, svId_23=14, svFlag_23=b'\\r', eph_23=b'\\x00', alm_23=b'5', otherOrb_23=b'\\x00', gnssId_24=GLONASS, svId_24=15, svFlag_24=b'\\r', eph_24=b'&', alm_24=b'5', otherOrb_24=b'G', gnssId_25=GLONASS, svId_25=16, svFlag_25=b'\\r', eph_25=b'\\x00', alm_25=b'5', otherOrb_25=b'\\x00', gnssId_26=GLONASS, svId_26=17, svFlag_26=b'\\x05', eph_26=b'\\x00', alm_26=b'5', otherOrb_26=b'\\x00', gnssId_27=GLONASS, svId_27=18, svFlag_27=b'\\x05', eph_27=b'\\x00', alm_27=b'5', otherOrb_27=b'\\x00', gnssId_28=GLONASS, svId_28=19, svFlag_28=b'\\x05', eph_28=b'\\x00', alm_28=b'5', otherOrb_28=b'\\x00', gnssId_29=GLONASS, svId_29=20, svFlag_29=b'\\x05', eph_29=b'\\x00', alm_29=b'5', otherOrb_29=b'\\x00', gnssId_30=GLONASS, svId_30=21, svFlag_30=b'\\t', eph_30=b'\\x00', alm_30=b'5', otherOrb_30=b'\\x00', gnssId_31=GLONASS, svId_31=22, svFlag_31=b'\\r', eph_31=b'\\x00', alm_31=b'5', otherOrb_31=b'\\x00', gnssId_32=GLONASS, svId_32=23, svFlag_32=b'\\t', eph_32=b'\\x00', alm_32=b'5', otherOrb_32=b'\\x00', gnssId_33=GLONASS, svId_33=24, svFlag_33=b'\\x05', eph_33=b'\\x00', alm_33=b'5', otherOrb_33=b'\\x00')>",
"<UBX(NAV-SAT, iTOW=09:08:09, version=1, numCh=19, reserved11=0, reserved12=0, gnssId_01=GPS, svId_01=3, cno_01=0, elev_01=-91, azim_01=0, prRes_01=0, flags_01=b'\\x11\\x00\\x00\\x00', gnssId_02=GPS, svId_02=14, cno_02=23, elev_02=50, azim_02=87, prRes_02=31, flags_02=b'\\x1cY\\x00\\x00', gnssId_03=GPS, svId_03=15, cno_03=26, elev_03=-91, azim_03=0, prRes_03=0, flags_03=b'\\x17\\x00\\x00\\x00', gnssId_04=GPS, svId_04=20, cno_04=15, elev_04=24, azim_04=313, prRes_04=0, flags_04=b'\\x14\\x12\\x00\\x00', gnssId_05=GPS, svId_05=23, cno_05=17, elev_05=24, azim_05=315, prRes_05=0, flags_05=b'\\x14\\x12\\x00\\x00', gnssId_06=GPS, svId_06=24, cno_06=36, elev_06=25, azim_06=247, prRes_06=-3, flags_06=b'\\x1fY\\x00\\x00', gnssId_07=GPS, svId_07=30, cno_07=16, elev_07=-91, azim_07=0, prRes_07=0, flags_07=b'\\x14\\x00\\x00\\x00', gnssId_08=SBAS, svId_08=127, cno_08=0, elev_08=10, azim_08=117, prRes_08=0, flags_08=b'\\x01\\x07\\x00\\x00', gnssId_09=BeiDou, svId_09=15, cno_09=0, elev_09=-91, azim_09=0, prRes_09=0, flags_09=b'\\x01\\x00\\x00\\x00', gnssId_10=GLONASS, svId_10=4, cno_10=0, elev_10=38, azim_10=144, prRes_10=0, flags_10=b'\\x10\\x12\\x00\\x00', gnssId_11=GLONASS, svId_11=5, cno_11=22, elev_11=84, azim_11=272, prRes_11=53, flags_11=b'\\x1cY\\x00\\x00', gnssId_12=GLONASS, svId_12=6, cno_12=0, elev_12=23, azim_12=318, prRes_12=0, flags_12=b'\\x10\\x12\\x00\\x00', gnssId_13=GLONASS, svId_13=13, cno_13=0, elev_13=2, azim_13=39, prRes_13=0, flags_13=b'\\x10\\x12\\x00\\x00', gnssId_14=GLONASS, svId_14=14, cno_14=23, elev_14=53, azim_14=47, prRes_14=0, flags_14=b'\\x14\\x12\\x00\\x00', gnssId_15=GLONASS, svId_15=15, cno_15=36, elev_15=67, azim_15=201, prRes_15=9, flags_15=b'\\x1fY\\x00\\x00', gnssId_16=GLONASS, svId_16=16, cno_16=0, elev_16=11, azim_16=216, prRes_16=0, flags_16=b'\\x10\\x12\\x00\\x00', gnssId_17=GLONASS, svId_17=21, cno_17=0, elev_17=4, azim_17=301, prRes_17=0, flags_17=b'\\x10\\x12\\x00\\x00', gnssId_18=GLONASS, svId_18=22, cno_18=0, elev_18=15, azim_18=346, prRes_18=0, flags_18=b'\\x10\\x12\\x00\\x00', gnssId_19=GLONASS, svId_19=23, cno_19=0, elev_19=4, azim_19=47, prRes_19=0, flags_19=b'\\x10\\x12\\x00\\x00')>",
"<UBX(NAV-SIG, iTOW=09:08:09, version=0, numSigs=12, reserved0=0, gnssId_01=GPS, svId_01=3, sigId_01=0, freqId_01=0, prRes_01=0, cno_01=0, qualityInd_01=1, corrSource_01=0, ionoModel_01=0, sigFlags_01=b'\\x01\\x00', reserved1_01=0, gnssId_02=GPS, svId_02=14, sigId_02=0, freqId_02=0, prRes_02=31, cno_02=23, qualityInd_02=4, corrSource_02=0, ionoModel_02=0, sigFlags_02=b')\\x00', reserved1_02=0, gnssId_03=GPS, svId_03=15, sigId_03=0, freqId_03=0, prRes_03=0, cno_03=26, qualityInd_03=7, corrSource_03=0, ionoModel_03=0, sigFlags_03=b'\\x01\\x00', reserved1_03=0, gnssId_04=GPS, svId_04=20, sigId_04=0, freqId_04=0, prRes_04=0, cno_04=15, qualityInd_04=4, corrSource_04=0, ionoModel_04=0, sigFlags_04=b'\\x01\\x00', reserved1_04=0, gnssId_05=GPS, svId_05=23, sigId_05=0, freqId_05=0, prRes_05=0, cno_05=17, qualityInd_05=4, corrSource_05=0, ionoModel_05=0, sigFlags_05=b'\\x01\\x00', reserved1_05=0, gnssId_06=GPS, svId_06=24, sigId_06=0, freqId_06=0, prRes_06=-3, cno_06=36, qualityInd_06=7, corrSource_06=0, ionoModel_06=0, sigFlags_06=b')\\x00', reserved1_06=0, gnssId_07=GPS, svId_07=30, sigId_07=0, freqId_07=0, prRes_07=0, cno_07=16, qualityInd_07=4, corrSource_07=0, ionoModel_07=0, sigFlags_07=b'\\x01\\x00', reserved1_07=0, gnssId_08=SBAS, svId_08=127, sigId_08=0, freqId_08=0, prRes_08=0, cno_08=0, qualityInd_08=1, corrSource_08=0, ionoModel_08=0, sigFlags_08=b'\\x00\\x00', reserved1_08=0, gnssId_09=BeiDou, svId_09=15, sigId_09=0, freqId_09=0, prRes_09=0, cno_09=0, qualityInd_09=1, corrSource_09=0, ionoModel_09=0, sigFlags_09=b'\\x00\\x00', reserved1_09=0, gnssId_10=GLONASS, svId_10=5, sigId_10=0, freqId_10=8, prRes_10=53, cno_10=22, qualityInd_10=4, corrSource_10=0, ionoModel_10=0, sigFlags_10=b')\\x00', reserved1_10=0, gnssId_11=GLONASS, svId_11=14, sigId_11=0, freqId_11=0, prRes_11=0, cno_11=23, qualityInd_11=4, corrSource_11=0, ionoModel_11=0, sigFlags_11=b'\\x01\\x00', reserved1_11=0, gnssId_12=GLONASS, svId_12=15, sigId_12=0, freqId_12=7, prRes_12=9, cno_12=36, qualityInd_12=7, corrSource_12=0, ionoModel_12=0, sigFlags_12=b')\\x00', reserved1_12=0)>",
"<UBX(NAV-STATUS, iTOW=09:08:09, gpsFix=3, flags=b']', fixStat=b'\\x00', flags2=b'\\x08', ttff=179368, msss=366244)>",
"<UBX(NAV-POSECEF, iTOW=09:08:09, ecefX=380363892, ecefY=-14879221, ecefZ=510062895, pAcc=6570)>",
"<UBX(NAV-POSLLH, iTOW=09:08:09, lon=-22401762, lat=534506799, height=72728, hMSL=24245, hAcc=55374, vAcc=35349)>",
"<UBX(NAV-DOP, iTOW=09:08:09, gDOP=570, pDOP=520, tDOP=233, vDOP=276, hDOP=441, nDOP=410, eDOP=161)>",
"<UBX(NAV-VELECEF, iTOW=09:08:09, ecefVX=-25, ecefVY=-4, ecefVZ=27, sAcc=451)>",
"<UBX(NAV-VELNED, iTOW=09:08:09, velN=36, velE=-5, velD=-7, speed=37, gSpeed=37, heading=0, sAcc=451, cAcc=13597116)>",
"<UBX(NAV-TIMEGPS, iTOW=09:08:09, fTOW=332986, week=2146, leapS=18, valid=b'\\x07', tAcc=71)>",
"<UBX(NAV-TIMEGLO, iTOW=09:08:09, TOD=43687, fTOD=332964, Nt=419, N4=7, valid=b'\\x03', tAcc=101)>",
"<UBX(NAV-TIMEBDS, iTOW=09:08:09, SOW=119291, fSOW=332986, week=790, leapS=4, valid=b'\\x07', tAcc=3406)>",
"<UBX(NAV-TIMEGAL, iTOW=09:08:09, galTow=119305, fGalTow=332986, galWno=1122, leapS=18, valid=b'\\x07', tAcc=3406)>",
"<UBX(NAV-TIMEUTC, iTOW=09:08:09, tAcc=1071, nano=332985, year=2021, month=2, day=22, hour=9, min=8, sec=7, validflags=b'\\xf7')>",
"<UBX(NAV-TIMELS, iTOW=09:08:09, version=0, reserved1=0, srcOfCurrLs=255, currLs=18, srcOfLsChange=6, lsChange=0, timeToLsEvent=-32887, dateOfLsGpsWn=2146, dateOfLsGpsDn=1, reserved2=0, valid=b'\\x03')>",
"<UBX(NAV-TIMEQZSS, iTOW=09:08:09, qzssTow=119305, fQzssTow=332986, qzssWno=2146, leapS=18, valid=b'\\x07', tAcc=3406)>",
"<UBX(NAV-CLOCK, iTOW=09:08:09, clkB=667014, clkD=-71, tAcc=71, fAcc=5239)>",
"<UBX(NAV-SBAS, iTOW=09:08:09, geo=0, mode:=0, sys=0, service=b'\\x00', numCh=0, reserved0=0)>",
"<UBX(NAV-SLAS, iTOW=09:08:09, version=0, reserved1=0, gmsLon=0, gmsLat=0, gmsCode=0, qzssSvId=0, serviceFlags=b'\\x00', cnt=0)>",
"<UBX(NAV-AOPSTATUS, iTOW=09:08:09, config=1, status=0, reserved0=0, reserved1=10, avail=0, reserved2=0, reserved3=0)>",
"<UBX(NAV-ODO, version=0, reserved0=466035, iTOW=09:08:09, distance=0, totalDistance=0, distanceStd=0)>",
"<UBX(NAV-COV, iTOW=09:08:09, version=0, posCovValid=1, velCovValid=1, reserved0=1172170281114452235776, posCovNN=2530.31201171875, posCovNE=-856.8651123046875, posCovND=-1116.0887451171875, posCovEE=535.9963989257812, posCovED=742.3728637695312, posCovDD=1249.5338134765625, velCovNN=17.608617782592773, velCovNE=-4.361900329589844, velCovND=-5.844054222106934, velCovEE=2.3484761714935303, velCovED=2.9350130558013916, velCovDD=4.592257499694824)>",
"<UBX(NAV-EELL, iTOW=09:08:09, version=0, reserved1=0, errEllipseOrient=15966, errEllipseMajor=132667, errEllipseMinor=36740)>",
"<UBX(NAV-GEOFENCE, iTOW=09:08:09, version=0, status=0, numFences=0, combState=0)>",
)
i = 0
raw = 0
ubxreader = UBXReader(self.streamMIX2, False)
while raw is not None:
(raw, parsed) = ubxreader.read()
if raw is not None:
self.assertEqual(str(parsed), EXPECTED_RESULTS[i])
i += 1
def testINF(self):
EXPECTED_RESULTS = (
"<UBX(INF-NOTICE, message=u-blox AG - www.u-blox.com)>",
"<UBX(INF-NOTICE, message=HW UBX-M8030 00080000)>",
"<UBX(INF-NOTICE, message=ROM CORE 3.01 (107888))>",
"<UBX(INF-NOTICE, message=FWVER=SPG 3.01)>",
"<UBX(INF-NOTICE, message=PROTVER=18.00)>",
"<UBX(INF-NOTICE, message=GPS;GLO;GAL;BDS)>",
"<UBX(INF-NOTICE, message=SBAS;IMES;QZSS)>",
"<UBX(INF-NOTICE, message=GNSS OTP=GPS;GLO)>",
"<UBX(INF-NOTICE, message=LLC=FFFFFFFF-FFFFFFFF-FFFFFFFF-FFFFFFFF-FFFFFFFD)>",
"<UBX(INF-NOTICE, message=ANTSUPERV=AC SD PDoS SR)>",
"<UBX(INF-NOTICE, message=ANTSTATUS=OK)>",
"<UBX(INF-NOTICE, message=PF=3FF)>")
i = 0
raw = 0
ubxreader = UBXReader(self.streamINF, ubxonly=False)
while raw is not None:
(raw, parsed) = ubxreader.read()
if raw is not None:
self.assertEqual(str(parsed), EXPECTED_RESULTS[i])
i += 1
class UBXStreamer:
"""
UBXStreamer class.
"""
def __init__(self, port, baudrate, timeout=5, ubx_only=False):
"""
Constructor.
"""
self._serial_object = None
self._serial_thread = None
self._ubxreader = None
self._connected = False
self._reading = False
self._port = port
self._baudrate = baudrate
self._timeout = timeout
self._ubx_only = ubx_only
def __del__(self):
"""
Destructor.
"""
self.stop_read_thread()
self.disconnect()
def connect(self):
"""
Open serial connection.
"""
self._connected = False
try:
self._serial_object = Serial(
self._port, self._baudrate, timeout=self._timeout
)
self._ubxreader = UBXReader(BufferedReader(self._serial_object), ubxonly=self._ubx_only)
self._connected = True
except (SerialException, SerialTimeoutException) as err:
print(f"Error connecting to serial port {err}")
return self._connected
def disconnect(self):
"""
Close serial connection.
"""
if self._connected and self._serial_object:
try:
self._serial_object.close()
except (SerialException, SerialTimeoutException) as err:
print(f"Error disconnecting from serial port {err}")
self._connected = False
return self._connected
def start_read_thread(self):
"""
Start the serial reader thread.
"""
if self._connected:
self._reading = True
self._serial_thread = Thread(target=self._read_thread, daemon=True)
self._serial_thread.start()
def stop_read_thread(self):
"""
Stop the serial reader thread.
"""
if self._serial_thread is not None:
self._reading = False
def send(self, data):
"""
Send data to serial connection.
"""
self._serial_object.write(data)
def flush(self):
"""
Flush input buffer
"""
self._serial_object.reset_input_buffer()
def waiting(self):
"""
Check if any messages remaining in the input buffer
"""
return self._serial_object.in_waiting
def _read_thread(self):
"""
THREADED PROCESS
Reads and parses UBX message data from stream
"""
while self._reading and self._serial_object:
if self._serial_object.in_waiting:
try:
(raw_data, parsed_data) = self._ubxreader.read()
# if raw_data:
# print(raw_data)
if parsed_data:
print(parsed_data)
except (
ube.UBXStreamError,
ube.UBXMessageError,
ube.UBXTypeError,
ube.UBXParseError,
) as err:
print(f"Something went wrong {err}")
continue
class GNSSStreamer:
"""
GNSS Streamer Class.
Streams and parses UBX and NMEA GNSS messages from any data stream (e.g. Serial or File) to the terminal
or to designated NMEA and/or UBX protocol handler(s).
Input stream is defined via keyword arguments. One of either stream, port or filename MUST be specified.
The remaining arguments are all optional with defaults.
"""
# pylint: disable=too-many-instance-attributes
def __init__(self, **kwargs):
"""
Constructor.
Example of usage with external protocol handler:
gnssdump port=COM3 msgfilter=NAV-PVT ubxhandler="lambda msg: print(f'lat: {msg.lat}, lon: {msg.lon}')"
:param object stream: (kwarg) stream object (must implement read(n) -> bytes method)
:param str port: (kwarg) serial port name
:param str filename: (kwarg) input file FQN
:param int baudrate: (kwarg) serial baud rate (9600)
:param int timeout: (kwarg) serial timeout in seconds (3)
:param int validate: (kwarg) 1 = validate checksums, 0 = do not validate (1)
:param int msgmode: (kwarg) 0 = GET, 1 = SET, 2 = POLL (0)
:param int parsebitfield: (kwarg) 1 = parse UBX 'X' attributes as bitfields, 0 = leave as bytes (1)
:param int format: (kwarg) output format 1 = parsed, 2 = raw, 4 = hex, 8 = tabulated hex (1) (can be OR'd)
:param int quitonerror: (kwarg) 0 = ignore errors, 1 = log errors and continue, 2 = (re)raise errors (1)
:param int protfilter: (kwarg) 1 = NMEA, 2 = UBX, 4 = RTCM3 (7 - ALL)
:param str msgfilter: (kwarg) comma-separated string of message identities e.g. 'NAV-PVT,GNGSA' (None)
:param int limit: (kwarg) maximum number of messages to read (0 = unlimited)
:param int verbosity: (kwarg) log message verbosity 0 = low, 1 = medium, 3 = high (1)
:param object errorhandler: (kwarg) evaluable expression defining external error handler (None)
:param object nmeahandler: (kwarg) evaluable expression defining external NMEA message handler (None)
:param object ubxhandler: (kwarg) evaluable expression defining external UBX message handler (None)
:param object rtcmhandler: (kwarg) evaluable expression defining external RTCM3 message handler (None)
:raises: ParameterError
"""
# pylint: disable=raise-missing-from
self._reader = None
self._datastream = kwargs.get("datastream", None)
self._port = kwargs.get("port", None)
self._filename = kwargs.get("filename", None)
if self._datastream is None and self._port is None and self._filename is None:
raise ParameterError(
f"Either stream, port or filename keyword argument must be provided.\n{GNSSDUMP_HELP}"
)
try:
self._baudrate = int(kwargs.get("baudrate", 9600))
self._timeout = int(kwargs.get("timeout", 3))
self._validate = int(kwargs.get("validate", VALCKSUM))
self._msgmode = int(kwargs.get("msgmode", GET))
self._parsebitfield = int(kwargs.get("parsebitfield", 1))
self._format = int(kwargs.get("format", FORMAT_PARSED))
self._quitonerror = int(kwargs.get("quitonerror", ERR_LOG))
self._protfilter = int(
kwargs.get("protfilter",
NMEA_PROTOCOL | UBX_PROTOCOL | RTCM3_PROTOCOL))
self._msgfilter = kwargs.get("msgfilter", None)
self._verbosity = int(kwargs.get("verbosity", VERBOSITY_MEDIUM))
self._limit = int(kwargs.get("limit", 0))
self._parsing = False
self._stream = None
self._msgcount = 0
self._errcount = 0
# evaluate protocol handler expressions
# CAUTION assumes expressions are benign
erh = kwargs.get("errorhandler", None)
self._errorhandler = None if erh is None else eval(erh)
nmh = kwargs.get("nmeahandler", None)
self._nmeahandler = None if nmh is None else eval(nmh)
ubh = kwargs.get("ubxhandler", None)
self._ubxhandler = None if ubh is None else eval(ubh)
rth = kwargs.get("rtcmhandler", None)
self._rtcmhandler = None if rth is None else eval(rth)
except ValueError:
raise ParameterError(f"Invalid parameter(s).\n{GNSSDUMP_HELP}")
def run(self, **kwargs):
"""
Read from provided data stream (serial, file or other stream type).
The data stream must support a read(n) -> bytes method.
:param int limit: (kwarg) maximum number of messages to read (0 = unlimited)
"""
self._limit = int(kwargs.get("limit", self._limit))
# open the specified input stream
if self._datastream is not None:
with self._datastream as self._stream:
self._start_reader()
elif self._port is not None:
with Serial(self._port, self._baudrate,
timeout=self._timeout) as self._stream:
self._start_reader()
elif self._filename is not None:
with open(self._filename, "rb") as self._stream:
self._start_reader()
def _start_reader(self):
"""Create UBXReader instance."""
self._reader = UBXReader(
self._stream,
quitonerror=self._quitonerror,
protfilter=self._protfilter,
validate=self._validate,
msgmode=self._msgmode,
parsebitfield=self._parsebitfield,
)
self._do_log(f"\nParsing GNSS data stream from: {self._stream}...\n")
self._do_parse()
def _do_parse(self):
"""
Read the data stream and direct to the appropriate
UBX or NMEA parser.
:raises: EOFError if stream ends prematurely or message limit reached
:raises: KeyboardInterrupt if user presses Ctrl-C
:raises: Exception for any other uncaptured Exception
"""
try:
while True: # loop until EOF, stream timeout or user hits Ctrl-C
try:
(raw_data, parsed_data) = self._reader.read()
except (
UBXMessageError,
UBXParseError,
UBXStreamError,
UBXTypeError,
NMEAMessageError,
NMEAParseError,
NMEAStreamError,
NMEATypeError,
) as err:
self._do_error(err)
continue
if raw_data is None: # EOF or timeout
raise EOFError
# get the message protocol (NMEA or UBX)
msgprot = protocol(raw_data)
handler = None
# establish the appropriate handler and identity for this protocol
if msgprot == UBX_PROTOCOL:
msgidentity = parsed_data.identity
handler = self._ubxhandler
elif msgprot == NMEA_PROTOCOL:
msgidentity = parsed_data.talker + parsed_data.msgID
handler = self._nmeahandler
elif msgprot == RTCM3_PROTOCOL:
msgidentity = parsed_data.identity
handler = self._rtcmhandler
# does it pass the protocol filter?
if self._protfilter & msgprot:
# does it pass the message identity filter if there is one?
if self._msgfilter is not None:
if msgidentity not in self._msgfilter:
continue
# if it passes, send to designated output
self._do_output(raw_data, parsed_data, handler)
if self._limit and self._msgcount >= self._limit:
raise EOFError
except KeyboardInterrupt: # user hit Ctrl-C
self._do_log("user")
except EOFError: # end of stream
self._do_log("eof")
except Exception as err: # pylint: disable=broad-except
self._quitonerror = ERR_RAISE # don't ignore irrecoverable errors
self._do_error(err)
def _do_output(self, raw: bytes, parsed: object, handler: object):
"""
Output message to terminal in specified format(s) OR pass
to external protocol handler if one is specified.
:param bytes raw: raw (binary) message
:param object parsed: parsed message
:param object handler: protocol handler (NMEA or UBX)
"""
if handler is None:
if self._format & FORMAT_PARSED:
print(str(parsed))
if self._format & FORMAT_BINARY:
print(raw)
if self._format & FORMAT_HEX:
print(raw.hex())
if self._format & FORMAT_HEXTABLE:
print(hextable(raw))
else:
handler(parsed)
self._msgcount += 1
def _do_error(self, err: Exception):
"""
Handle error according to quitonerror flag;
either ignore, log, (re)raise or pass to
external error handler if one is specified.
:param err Exception: error
"""
if self._errorhandler is None:
if self._quitonerror == ERR_RAISE:
raise err
if self._quitonerror == ERR_LOG:
print(err)
else:
self._errorhandler(err)
self._errcount += 1
def _do_log(self, msg: str, loglevel: int = VERBOSITY_MEDIUM):
"""
Log output according to verbosity setting.
:param str msg: log message
:param int loglevel: min verbosity level for this message
"""
if msg in ("eof", "user"):
mss = "" if self._msgcount == 1 else "s"
ers = "" if self._errcount == 1 else "s"
pre = ("Streaming terminated by user"
if msg == "user" else "End of stream reached")
msg = f"\n\n{pre}, {self._msgcount:,} message{mss} processed with {self._errcount:,} error{ers}.\n"
if loglevel <= self._verbosity and self._verbosity > VERBOSITY_LOW:
print(msg)
@property
def datastream(self) -> object:
"""
Getter for stream.
:return: data stream
:rtype: object
"""
return self._stream
class UBXStreamer:
"""
UBXStreamer class.
"""
def __init__(self, port, baudrate, timeout=5):
"""
Constructor.
"""
self._serial_object = None
self._serial_thread = None
self._ubxreader = None
self._connected = False
self._reading = False
self._port = port
self._baudrate = baudrate
self._timeout = timeout
def __del__(self):
"""
Destructor.
"""
self.stop_read_thread()
self.disconnect()
def connect(self):
"""
Open serial connection.
"""
try:
self._serial_object = Serial(self._port,
self._baudrate,
timeout=self._timeout)
self._ubxreader = UBXReader(BufferedReader(self._serial_object),
validate=VALCKSUM)
self._connected = True
except (SerialException, SerialTimeoutException) as err:
print(f"Error connecting to serial port {err}")
def disconnect(self):
"""
Close serial connection.
"""
if self._connected and self._serial_object:
try:
self._serial_object.close()
except (SerialException, SerialTimeoutException) as err:
print(f"Error disconnecting from serial port {err}")
self._connected = False
def start_read_thread(self):
"""
Start the serial reader thread.
"""
if self._connected:
self._reading = True
self._serial_thread = Thread(target=self._read_thread, daemon=True)
self._serial_thread.start()
def stop_read_thread(self):
"""
Stop the serial reader thread.
"""
if self._serial_thread is not None:
self._reading = False
def send(self, data):
"""
Send data to serial connection.
"""
self._serial_object.write(data)
def flush(self):
"""
Flush input buffer
"""
self._serial_object.reset_input_buffer()
def waiting(self):
"""
Check if any messages remaining in the input buffer
"""
return self._serial_object.in_waiting
def _read_thread(self):
"""
THREADED PROCESS
Reads and parses UBX message data from stream
"""
while self._reading and self._serial_object:
if self._serial_object.in_waiting:
try:
(_, parsed_data) = self._ubxreader.read()
if parsed_data:
print(parsed_data)
except (
ube.UBXStreamError,
ube.UBXMessageError,
ube.UBXTypeError,
ube.UBXParseError,
) as err:
print(f"Something went wrong {err}")
continue
def poll_uart(self, layer=0):
"""
Poll the current BBR UART1/2 configuration
"""
position = 0
keys = ["CFG_UART1_BAUDRATE", "CFG_UART2_BAUDRATE"]
msg = UBXMessage.config_poll(layer, position, keys)
ubp.send(msg.serialize())
def set_uart(self, layers=1):
"""
Set the current BBR UART1/2 configuration
"""
transaction = 0
cfgData = [("CFG_UART1_BAUDRATE", 115200),
("CFG_UART2_BAUDRATE", 57600)]
msg = UBXMessage.config_set(layers, transaction, cfgData)
ubp.send(msg.serialize())
def unset_uart(self, layers=1):
"""
Unset (del) the current BBR UART1/2 configuration
"""
transaction = 0
keys = ["CFG_UART1_BAUDRATE", "CFG_UART2_BAUDRATE"]
msg = UBXMessage.config_del(layers, transaction, keys)
ubp.send(msg.serialize())
class GPSReader:
"""
GPSReader class
"""
def __init__(self, port, baudrate, timeout=5, ubx_only=False):
"""
Constructor.
"""
self._serial_object = None
self._serial_thread = None
self._ubxreader = None
self._connected = False
self._reading = False
self._port = port
self._baudrate = baudrate
self._timeout = timeout
self._ubx_only = ubx_only
def __del__(self):
"""
Destructor.
"""
self.disconnect()
def connect(self):
"""
Open serial connection.
"""
self._connected = False
try:
self._serial_object = Serial(self._port,
self._baudrate,
timeout=self._timeout)
self._ubxreader = UBXReader(BufferedReader(self._serial_object,
buffer_size=1),
ubxonly=self._ubx_only)
self._connected = True
except (SerialException, SerialTimeoutException) as err:
print(f"Error connecting to serial port {err}")
return self._connected
def disconnect(self):
"""
Close serial connection.
"""
if self._connected and self._serial_object:
try:
self._serial_object.close()
except (SerialException, SerialTimeoutException) as err:
print(f"Error disconnecting from serial port {err}")
self._connected = False
return self._connected
def read(self):
"""
"""
if self._serial_object:
if self._serial_object.in_waiting:
try:
(raw_data, parsed_data) = self._ubxreader.read()
if parsed_data:
return parsed_data
except (
ube.UBXStreamError,
ube.UBXMessageError,
ube.UBXTypeError,
ube.UBXParseError,
) as err:
print(f"Something went wrong {err}")
return False
return False
'''
def start_read_thread(self):
"""
Start the serial reader thread.
"""
if self._connected:
self._reading = True
self._serial_thread = Thread(target=self._read_thread, daemon=True)
self._serial_thread.start()
def stop_read_thread(self):
"""
Stop the serial reader thread.
"""
if self._serial_thread is not None:
self._reading = False
'''
def _send(self, data):
"""
Send data to serial connection.
"""
self._serial_object.write(data)
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 config_timepulse(self):
'''
Not working.
'''
try:
# {'tpIdx': 'U001', 'reserved0': 'U001', 'reserved1': 'U002', 'antCableDelay': 'I002', 'rfGroupDelay': 'I002',
# 'freqPeriod': 'U004', 'freqPeriodLock': 'U004', 'pulseLenRatio': 'U004', 'pulseLenRatioLock': 'U004',
# 'userConfigDelay': 'I004', 'flags': 'X004'}
payload = {
"tpIdx": 0, # b"\x00", # timepulse selection
# 0x00, # message version
"reserved0": int.from_bytes(b"\x00", "little"), # reserved
"reserved1": int.from_bytes(b"\x00", "little"), # reserved
"antCableDelay": int.from_bytes(b"\x00\x00",
"little"), # Antenna delay
"rfGroupDelay": int.from_bytes(b"\x00\x00",
"little"), # RF delay
"freqPeriod": int.from_bytes(b"\x01\x00\x00\x00",
"little"), # frequency in Hz
"freqPeriodLock": int.from_bytes(
b"\x01\x00\x00\x00",
"little"), # frequency in Hz when GPS time is locked in
"pulseLenRatio": int.from_bytes(b"\xff\xff\xff\x7f",
"little"), # 50% pulse width
"pulseLenRatioLock": int.from_bytes(
b"\xff\xff\xff\x7f",
"little"), # 50% pulse width when locked to GPS time
"userConfigDelay":
int.from_bytes(b"\x00\x00\x00\x00",
"little"), # user configurable delay
"flags": b"\x00\x00\x00\x69" # flags
}
msg = UBXMessage("CFG", "CFG-TP5", SET, **payload)
print(f"Sending {msg.serialize()}")
self._send(msg.serialize())
sleep(1)
except (ube.UBXMessageError, ube.UBXTypeError,
ube.UBXParseError) as err:
print(f"Something went wrong {err}")
def config_timepulse_badly(self):
custom_string = b"\xb5\x62\x06\x31\x20\x00\x00\x00\x00\x00\x00\x00\x00\x00\x01\x00\x00\x00\x01\x00\x00\x00\xff\xff\xff\x7f\xff\xff\xff\x7f\x00\x00\x00\x00\x69\x00\x00\x00\xba\x37"
print(f"Sending {custom_string}")
self._send(custom_string)
sleep(0.1)
def flush(self):
"""
Flush input buffer
"""
self._serial_object.reset_input_buffer()
def waiting(self):
"""
Check if any messages remaining in the input buffer
"""
return self._serial_object.in_waiting
'''
class UBXServer:
"""
UBXServer class.
"""
def __init__(self, port, baudrate, timeout, validate=1):
"""
Constructor.
"""
self._serial_object = None
self._serial_thread = None
self._ubxreader = None
self._connected = False
self._reading = False
self._port = port
self._baudrate = baudrate
self._timeout = timeout
self._validate = validate
self._stopevent = Event()
self.gpsdata = {
"date": "1900-01-01",
"time": "00.00.00",
"latitude": 0.0,
"longitude": 0.0,
"elevation": 0.0,
"speed": 0.0,
"track": 0.0,
"siv": 0,
"pdop": 99,
"hdop": 99,
"vdop": 99,
"fix": 0,
}
def __del__(self):
"""
Destructor.
"""
self.stop_read_thread()
self.disconnect()
def connect(self):
"""
Open serial connection.
"""
self._connected = False
try:
print(
f"Connecting to serial port {self._port} at {self._baudrate} baud..."
)
self._serial_object = Serial(self._port,
self._baudrate,
timeout=self._timeout)
self._ubxreader = UBXReader(
BufferedReader(self._serial_object),
protfilter=UBX_PROTOCOL,
validate=self._validate,
msgmode=GET,
)
self._connected = True
except (SerialException, SerialTimeoutException) as err:
print(f"Error connecting to serial port {err}")
return self._connected
def disconnect(self):
"""
Close serial connection.
"""
if self._connected and self._serial_object:
print("Disconnecting from serial port...")
try:
self._serial_object.close()
except (SerialException, SerialTimeoutException) as err:
print(f"Error disconnecting from serial port {err}")
self._connected = False
return self._connected
def start_read_thread(self):
"""
Start the serial reader thread.
"""
if self._connected:
print("\nStarting serial read thread...")
self._reading = True
self._serial_thread = Thread(target=self._read_thread,
args=(self._stopevent, ))
self._serial_thread.start()
def stop_read_thread(self):
"""
Stop the serial reader thread.
"""
if self._serial_thread is not None:
self._stopevent.set()
self._serial_thread.join()
print("\nSerial read thread stopped")
def _read_thread(self, stopevent):
"""
THREADED PROCESS
Reads and parses UBX message data from stream
"""
# pylint: disable=unused-variable
while not stopevent.is_set():
if self._serial_object.in_waiting:
try:
(raw_data, parsed_data) = self._ubxreader.read()
if parsed_data:
self.set_data(parsed_data)
except (
ube.UBXStreamError,
ube.UBXMessageError,
ube.UBXTypeError,
ube.UBXParseError,
) as err:
print(f"Something went wrong {err}")
continue
def set_data(self, parsed_data):
"""
Set GPS data dictionary from UBX sentences.
"""
try:
if parsed_data.identity == "NAV-PVT":
self.gpsdata[
"date"] = f"{parsed_data.day:02}/{parsed_data.month:02}/{parsed_data.year}"
self.gpsdata[
"time"] = f"{parsed_data.hour:02}:{parsed_data.min:02}:{parsed_data.second:02}"
self.gpsdata["latitude"] = parsed_data.lat
self.gpsdata["longitude"] = parsed_data.lon
self.gpsdata["elevation"] = parsed_data.height / 1000
self.gpsdata["speed"] = parsed_data.gSpeed
self.gpsdata["track"] = parsed_data.headVeh
self.gpsdata["fix"] = parsed_data.fixType
self.gpsdata["pDOP"] = parsed_data.pDOP
if parsed_data.identity == "NAV-POSLLH":
self.gpsdata["latitude"] = parsed_data.lat
self.gpsdata["longitude"] = parsed_data.lon
self.gpsdata["elevation"] = parsed_data.height / 1000
if parsed_data.identity == "NAV-DOP":
self.gpsdata["pdop"] = parsed_data.pDOP
self.gpsdata["hdop"] = parsed_data.hDOP
self.gpsdata["vdop"] = parsed_data.vDOP
if parsed_data.identity == "NAV-SAT":
self.gpsdata["siv"] = parsed_data.numSvs
except ube.UBXMessageError() as err:
print(err)
self._stopevent.set()
def get_data(self):
"""
Return GPS data in JSON format.
This is used by the REST API /gps implemented in the
GPSHTTPServer class.
"""
return json.dumps(self.gpsdata)
