def testRXMPMPV1(self): # test parser of RXM-PMP v1 message
rxm_pmpv1 = b'\xb5b\x02\x72\x23\x00\x01\x00\x0b\x00\x01\x02\x03\x04\x01\x02\x03\x04\x01\x02\x03\x04\x01\x02\x00\x01\x01\x02\x01\x00'
for i in range(11):
rxm_pmpv1 += i.to_bytes(1, "little", signed=False)
rxm_pmpv1 += b'\x00\x20'
res = UBXReader.parse(rxm_pmpv1, True)
self.assertEqual(str(res), "<UBX(RXM-PMP, version=1, reserved0=0, numBytesUserData=11, timeTag=67305985, uniqueWord1=67305985, uniqueWord2=67305985, serviceIdentifier=513, spare=0, uniqueWordBitErrors=1, fecBits=513, ebno=1, reserved1=0, userData_01=0, userData_02=1, userData_03=2, userData_04=3, userData_05=4, userData_06=5, userData_07=6, userData_08=7, userData_09=8, userData_10=9, userData_11=10)>")
def testFill_CFGNMEAPARSE(
self
): # check that raw payload is correctly populated and parses back to original message
EXPECTED_RESULT = "<UBX(CFG-NMEA, filter=b'\\x00', nmeaVersion=35, numSV=1, flags=b'\\x00', gnssToFilter=b'\\x00\\x00\\x00\\x00', svNumbering=0, mainTalkerId=0, gsvTalkerId=0, version=0, bdsTalkerId=b'\\x00\\x00', reserved1=0)>"
res = UBXMessage('CFG', 'CFG-NMEA', SET, nmeaVersion=35, numSV=1)
res2 = UBXReader.parse(res.serialize())
self.assertEqual(str(res2), EXPECTED_RESULT)
def testESFMEASLOG(
self
): # test parse of actual ESF-MEAS log - thanks to tgalecki for log
EXPECTED_RESULT = [
"<UBX(ESF-MEAS, timeTag=514162, flags=b'\\x18\\x18', id=0, data_01=b'K\\xfd\\xff\\x10', data_02=b'@\\x02\\x00\\x11', data_03=b'#(\\x00\\x12', calibTtag=514162)>",
"<UBX(ESF-MEAS, timeTag=514157, flags=b'\\x18 ', id=0, data_01=b'\\xcd\\x06\\x00\\x0e', data_02=b'\\xe4\\xfe\\xff\\r', data_03=b'\\x03\\xfa\\xff\\x05', data_04=b'\\t\\x0b\\x00\\x0c', data_05=b'm\\xd8\\x07\\x00')>",
"<UBX(ESF-MEAS, timeTag=514261, flags=b'\\x18\\x18', id=0, data_01=b'M\\xfd\\xff\\x10', data_02=b'E\\x02\\x00\\x11', data_03=b'\\x1f(\\x00\\x12', calibTtag=514261)>",
"<UBX(ESF-MEAS, timeTag=514256, flags=b'\\x18 ', id=0, data_01=b'|\\x06\\x00\\x0e', data_02=b'\\xcb\\xfe\\xff\\r', data_03=b'\\xac\\xf9\\xff\\x05', data_04=b'\\t\\x0b\\x00\\x0c', data_05=b'\\xd0\\xd8\\x07\\x00')>",
"<UBX(ESF-MEAS, timeTag=514360, flags=b'\\x18\\x18', id=0, data_01=b'J\\xfd\\xff\\x10', data_02=b'A\\x02\\x00\\x11', data_03=b\"'(\\x00\\x12\", calibTtag=514360)>",
"<UBX(ESF-MEAS, timeTag=514355, flags=b'\\x18 ', id=0, data_01=b'\\x0f\\x06\\x00\\x0e', data_02=b'\\x16\\xfe\\xff\\r', data_03=b'[\\xfa\\xff\\x05', data_04=b'\\n\\x0b\\x00\\x0c', data_05=b'3\\xd9\\x07\\x00')>",
"<UBX(ESF-MEAS, timeTag=514460, flags=b'\\x18\\x18', id=0, data_01=b'N\\xfd\\xff\\x10', data_02=b'N\\x02\\x00\\x11', data_03=b' (\\x00\\x12', calibTtag=514460)>",
"<UBX(ESF-MEAS, timeTag=514455, flags=b'\\x18 ', id=0, data_01=b'\\x85\\x06\\x00\\x0e', data_02=b'w\\xfe\\xff\\r', data_03=b'\\xe1\\xf9\\xff\\x05', data_04=b'\\n\\x0b\\x00\\x0c', data_05=b'\\x97\\xd9\\x07\\x00')>",
"<UBX(ESF-MEAS, timeTag=514559, flags=b'\\x18\\x18', id=0, data_01=b'L\\xfd\\xff\\x10', data_02=b'>\\x02\\x00\\x11', data_03=b'$(\\x00\\x12', calibTtag=514559)>",
"<UBX(ESF-MEAS, timeTag=514554, flags=b'\\x18 ', id=0, data_01=b'\\x92\\x06\\x00\\x0e', data_02=b'a\\xfe\\xff\\r', data_03=b'\\x9f\\xf9\\xff\\x05', data_04=b'\\n\\x0b\\x00\\x0c', data_05=b'\\xfa\\xd9\\x07\\x00')>",
"<UBX(ESF-MEAS, timeTag=514659, flags=b'\\x18\\x18', id=0, data_01=b'G\\xfd\\xff\\x10', data_02=b'D\\x02\\x00\\x11', data_03=b'\\x1c(\\x00\\x12', calibTtag=514659)>",
"<UBX(ESF-MEAS, timeTag=514654, flags=b'\\x18 ', id=0, data_01=b'\\xef\\x06\\x00\\x0e', data_02=b'\\xb8\\xfe\\xff\\r', data_03=b'\\xc8\\xf9\\xff\\x05', data_04=b'\\n\\x0b\\x00\\x0c', data_05=b'^\\xda\\x07\\x00')>",
"<UBX(ESF-MEAS, timeTag=514758, flags=b'\\x18\\x18', id=0, data_01=b'J\\xfd\\xff\\x10', data_02=b'N\\x02\\x00\\x11', data_03=b'!(\\x00\\x12', calibTtag=514758)>",
"<UBX(ESF-MEAS, timeTag=514753, flags=b'\\x18 ', id=0, data_01=b'\\x82\\x06\\x00\\x0e', data_02=b'[\\xfe\\xff\\r', data_03=b'\\xc8\\xf9\\xff\\x05', data_04=b'\\t\\x0b\\x00\\x0c', data_05=b'\\xc1\\xda\\x07\\x00')>",
"<UBX(ESF-MEAS, timeTag=514858, flags=b'\\x18\\x18', id=0, data_01=b'H\\xfd\\xff\\x10', data_02=b'G\\x02\\x00\\x11', data_03=b\"'(\\x00\\x12\", calibTtag=514858)>",
"<UBX(ESF-MEAS, timeTag=514853, flags=b'\\x18 ', id=0, data_01=b'\\x1b\\x07\\x00\\x0e', data_02=b'\\xed\\xfe\\xff\\r', data_03=b'\\xfa\\xf9\\xff\\x05', data_04=b'\\t\\x0b\\x00\\x0c', data_05=b'%\\xdb\\x07\\x00')>",
"<UBX(ESF-MEAS, timeTag=75227, flags=b'\\x18 ', id=0, data_01=b'v\\x02\\x00\\x0e', data_02=b'\\x06\\xf8\\xff\\r', data_03=b'\\xde\\xf7\\xff\\x05', data_04=b'T\\n\\x00\\x0c', data_05=b'\\xdb%\\x01\\x00')>",
"<UBX(ESF-MEAS, timeTag=74734, flags=b'\\x18\\x18', id=0, data_01=b'\\xe8\\x11\\x00\\x10', data_02=b'\\xfa\\x07\\x00\\x11', data_03=b'\\xa1\"\\x00\\x12', calibTtag=74734)>",
"<UBX(ESF-MEAS, timeTag=74132, flags=b'\\x18 ', id=0, data_01=b'\\xff\\x05\\x00\\x0e', data_02=b'\\xf3\\xfe\\xff\\r', data_03=b'M\\x0b\\x00\\x05', data_04=b'Q\\n\\x00\\x0c', data_05=b'\\x94!\\x01\\x00')>"
]
for i, msg in enumerate(self.esf_meas_log):
res = UBXReader.parse(msg, True)
self.assertEqual(str(res), EXPECTED_RESULT[i])
def testFill_CFGNMEAPARSE(
self,
): # check that raw payload is correctly populated and parses back to original message
EXPECTED_RESULT = "<UBX(CFG-NMEA, posFilt=0, mskPosFilt=0, timeFilt=0, dateFilt=0, gpsOnlyFilter=0, trackFilt=0, nmeaVersion=35, numSV=1, compat=0, consider=0, limit82=0, highPrec=0, gps=0, sbas=0, galileo=0, qzss=0, glonass=0, beidou=0, svNumbering=0, mainTalkerId=0, gsvTalkerId=0, version=0, bdsTalkerId=b'\\x00\\x00', reserved1=0)>"
res = UBXMessage("CFG", "CFG-NMEA", SET, nmeaVersion=35, numSV=1)
res2 = UBXReader.parse(res.serialize())
self.assertEqual(str(res2), EXPECTED_RESULT)
def testFill_CFGGNSS_NOBITFIELD(
self, ): # test CFG-GNSS SET with parsebitfield = False
EXPECTED_RESULT = "<UBX(CFG-GNSS, msgVer=0, numTrkChHw=2, numTrkChUse=4, numConfigBlocks=2, gnssId_01=GPS, resTrkCh_01=4, maxTrkCh_01=32, reserved0_01=0, flags_01=b'\\x01\\x00\\x04\\x00', gnssId_02=GLONASS, resTrkCh_02=3, maxTrkCh_02=24, reserved0_02=0, flags_02=b'\\x00\\x00@\\x00')>"
EXPECTED_RESULT2 = "<UBX(CFG-GNSS, msgVer=0, numTrkChHw=2, numTrkChUse=4, numConfigBlocks=2, gnssId_01=GPS, resTrkCh_01=4, maxTrkCh_01=32, reserved0_01=0, enable_01=1, sigCfMask_01=4, gnssId_02=GLONASS, resTrkCh_02=3, maxTrkCh_02=24, reserved0_02=0, enable_02=0, sigCfMask_02=64)>"
res = UBXMessage(
"CFG",
"CFG-GNSS",
SET,
parsebitfield=False,
numTrkChHw=2,
numTrkChUse=4,
numConfigBlocks=2,
gnssId_01=0,
resTrkCh_01=4,
maxTrkCh_01=32,
flags_01=b"\x01\x00\x04\x00",
gnssId_02=6,
resTrkCh_02=3,
maxTrkCh_02=24,
flags_02=b"\x00\x00\x40\x00",
)
self.assertEqual(str(res), EXPECTED_RESULT)
res2 = UBXReader.parse(res.serialize(
)) # reconstruct message and parse again with parsebitfield = True
self.assertEqual(str(res2), EXPECTED_RESULT2)
def testNavSat4(
self, ): # check X4 bitfield correctly parsed (remember little-endian)
res = UBXReader.parse(self.nav_sat4)
self.assertEqual(
str(res),
"<UBX(NAV-SAT, iTOW=23:59:42, version=1, numSvs=1, reserved0=0, gnssId_01=GPS, svId_01=0, cno_01=43, elev_01=42, azim_01=240, prRes_01=-0.3, qualityInd_01=2, svUsed_01=1, health_01=0, diffCorr_01=0, smoothed_01=0, orbitSource_01=5, ephAvail_01=0, almAvail_01=1, anoAvail_01=0, aopAvail_01=0, sbasCorrUsed_01=1, rtcmCorrUsed_01=1, slasCorrUsed_01=1, spartnCorrUsed_01=1, prCorrUsed_01=1, crCorrUsed_01=0, doCorrUsed_01=1)>",
)
def testMONSPAN2(self): # test parser of MON-SPAN message (repeating groups empty)
mon_span = b"\xb5b\x0a\x31\x04\x00\x00\x00\x01\x02"
mon_span += b"\x42\xc3"
res = UBXReader.parse(mon_span)
self.assertEqual(
str(res), "<UBX(MON-SPAN, version=0, numRfBlocks=0, reserved0=513)>"
)
def testRXMRLMS(self): # test parser of RXM-RLM-S message
rxm_rlms = b'\xb5b\x02\x59\x10\x00\x00\x01\x00\x00'
for i in range(8):
rxm_rlms += i.to_bytes(1, "little", signed=False)
rxm_rlms += b'\x00\x01\x02\x00\x8b\xbd'
res = UBXReader.parse(rxm_rlms)
self.assertEqual(str(res), "<UBX(RXM-RLM, version=0, type=1, svId=0, reserved0=0, beacon_01=0, beacon_02=1, beacon_03=2, beacon_04=3, beacon_05=4, beacon_06=5, beacon_07=6, beacon_08=7, message=0, params1=1, params2=2, reserved1=0)>")
def testESFMEAS2(
self,
): # test parser of ESF-MEAS with calibTtag data
res = UBXReader.parse(self.esf_meas2)
self.assertEqual(
str(res),
"<UBX(ESF-MEAS, timeTag=514162, timeMarkSent=0, timeMarkEdge=0, calibTtagValid=1, numMeas=3, id=0, dataField_01=16776523, dataType_01=16, dataField_02=576, dataType_02=17, dataField_03=10275, dataType_03=18, dataField_04=514162, dataType_04=0)>",
)
def testESFMEAS(
self,
): # test parser of ESF-MEAS without calibTtag data
res = UBXReader.parse(self.esf_meas)
self.assertEqual(
str(res),
"<UBX(ESF-MEAS, timeTag=514157, timeMarkSent=0, timeMarkEdge=0, calibTtagValid=1, numMeas=4, id=0, dataField_01=1741, dataType_01=14, dataField_02=16776932, dataType_02=13, dataField_03=16775683, dataType_03=5, dataField_04=2825, dataType_04=12, dataField_05=514157, dataType_05=0)>",
)
def testCFGVALGET3(
self,
): # test parse of CFG-VALGET CFG-I2C-ADDRESS, CFG-UART1-BAUDRATE, CFG-RATE-NAV
res = UBXReader.parse(self.cfg_valget3)
self.assertEqual(
str(res),
"<UBX(CFG-VALGET, version=0, layer=0, position=0, CFG_I2C_ADDRESS=85, CFG_UART1_BAUDRATE=9600, CFG_RATE_NAV=35)>",
)
def testRXMPMPV0(self): # test parser of RXM-PMP v0 message
rxm_pmpv0 = b'\xb5b\x02\x72\x0e\x02\x00\x00\x01\x02\x03\x04\x01\x02\x03\x04\x01\x02\x03\x04\x01\x02\x01\x01'
for i in range(504):
n = i % 256
rxm_pmpv0 += n.to_bytes(1, "little", signed=False)
rxm_pmpv0 += b'\x01\x02\x01\x00\xcf\xa9'
res = UBXReader.parse(rxm_pmpv0, validate=VALCKSUM)
self.assertEqual(str(res), "<UBX(RXM-PMP, version=0, reserved0=0, timeTag=67305985, uniqueWord1=67305985, uniqueWord2=67305985, serviceIdentifier=513, spare=1, uniqueWordBitErrors=1, userData_01=0, userData_02=1, userData_03=2, userData_04=3, userData_05=4, userData_06=5, userData_07=6, userData_08=7, userData_09=8, userData_10=9, userData_11=10, userData_12=11, userData_13=12, userData_14=13, userData_15=14, userData_16=15, userData_17=16, userData_18=17, userData_19=18, userData_20=19, userData_21=20, userData_22=21, userData_23=22, userData_24=23, userData_25=24, userData_26=25, userData_27=26, userData_28=27, userData_29=28, userData_30=29, userData_31=30, userData_32=31, userData_33=32, userData_34=33, userData_35=34, userData_36=35, userData_37=36, userData_38=37, userData_39=38, userData_40=39, userData_41=40, userData_42=41, userData_43=42, userData_44=43, userData_45=44, userData_46=45, userData_47=46, userData_48=47, userData_49=48, userData_50=49, userData_51=50, userData_52=51, userData_53=52, userData_54=53, userData_55=54, userData_56=55, userData_57=56, userData_58=57, userData_59=58, userData_60=59, userData_61=60, userData_62=61, userData_63=62, userData_64=63, userData_65=64, userData_66=65, userData_67=66, userData_68=67, userData_69=68, userData_70=69, userData_71=70, userData_72=71, userData_73=72, userData_74=73, userData_75=74, userData_76=75, userData_77=76, userData_78=77, userData_79=78, userData_80=79, userData_81=80, userData_82=81, userData_83=82, userData_84=83, userData_85=84, userData_86=85, userData_87=86, userData_88=87, userData_89=88, userData_90=89, userData_91=90, userData_92=91, userData_93=92, userData_94=93, userData_95=94, userData_96=95, userData_97=96, userData_98=97, userData_99=98, userData_100=99, userData_101=100, userData_102=101, userData_103=102, userData_104=103, userData_105=104, userData_106=105, userData_107=106, userData_108=107, userData_109=108, userData_110=109, userData_111=110, userData_112=111, userData_113=112, userData_114=113, userData_115=114, userData_116=115, userData_117=116, userData_118=117, userData_119=118, userData_120=119, userData_121=120, userData_122=121, userData_123=122, userData_124=123, userData_125=124, userData_126=125, userData_127=126, userData_128=127, userData_129=128, userData_130=129, userData_131=130, userData_132=131, userData_133=132, userData_134=133, userData_135=134, userData_136=135, userData_137=136, userData_138=137, userData_139=138, userData_140=139, userData_141=140, userData_142=141, userData_143=142, userData_144=143, userData_145=144, userData_146=145, userData_147=146, userData_148=147, userData_149=148, userData_150=149, userData_151=150, userData_152=151, userData_153=152, userData_154=153, userData_155=154, userData_156=155, userData_157=156, userData_158=157, userData_159=158, userData_160=159, userData_161=160, userData_162=161, userData_163=162, userData_164=163, userData_165=164, userData_166=165, userData_167=166, userData_168=167, userData_169=168, userData_170=169, userData_171=170, userData_172=171, userData_173=172, userData_174=173, userData_175=174, userData_176=175, userData_177=176, userData_178=177, userData_179=178, userData_180=179, userData_181=180, userData_182=181, userData_183=182, userData_184=183, userData_185=184, userData_186=185, userData_187=186, userData_188=187, userData_189=188, userData_190=189, userData_191=190, userData_192=191, userData_193=192, userData_194=193, userData_195=194, userData_196=195, userData_197=196, userData_198=197, userData_199=198, userData_200=199, userData_201=200, userData_202=201, userData_203=202, userData_204=203, userData_205=204, userData_206=205, userData_207=206, userData_208=207, userData_209=208, userData_210=209, userData_211=210, userData_212=211, userData_213=212, userData_214=213, userData_215=214, userData_216=215, userData_217=216, userData_218=217, userData_219=218, userData_220=219, userData_221=220, userData_222=221, userData_223=222, userData_224=223, userData_225=224, userData_226=225, userData_227=226, userData_228=227, userData_229=228, userData_230=229, userData_231=230, userData_232=231, userData_233=232, userData_234=233, userData_235=234, userData_236=235, userData_237=236, userData_238=237, userData_239=238, userData_240=239, userData_241=240, userData_242=241, userData_243=242, userData_244=243, userData_245=244, userData_246=245, userData_247=246, userData_248=247, userData_249=248, userData_250=249, userData_251=250, userData_252=251, userData_253=252, userData_254=253, userData_255=254, userData_256=255, userData_257=0, userData_258=1, userData_259=2, userData_260=3, userData_261=4, userData_262=5, userData_263=6, userData_264=7, userData_265=8, userData_266=9, userData_267=10, userData_268=11, userData_269=12, userData_270=13, userData_271=14, userData_272=15, userData_273=16, userData_274=17, userData_275=18, userData_276=19, userData_277=20, userData_278=21, userData_279=22, userData_280=23, userData_281=24, userData_282=25, userData_283=26, userData_284=27, userData_285=28, userData_286=29, userData_287=30, userData_288=31, userData_289=32, userData_290=33, userData_291=34, userData_292=35, userData_293=36, userData_294=37, userData_295=38, userData_296=39, userData_297=40, userData_298=41, userData_299=42, userData_300=43, userData_301=44, userData_302=45, userData_303=46, userData_304=47, userData_305=48, userData_306=49, userData_307=50, userData_308=51, userData_309=52, userData_310=53, userData_311=54, userData_312=55, userData_313=56, userData_314=57, userData_315=58, userData_316=59, userData_317=60, userData_318=61, userData_319=62, userData_320=63, userData_321=64, userData_322=65, userData_323=66, userData_324=67, userData_325=68, userData_326=69, userData_327=70, userData_328=71, userData_329=72, userData_330=73, userData_331=74, userData_332=75, userData_333=76, userData_334=77, userData_335=78, userData_336=79, userData_337=80, userData_338=81, userData_339=82, userData_340=83, userData_341=84, userData_342=85, userData_343=86, userData_344=87, userData_345=88, userData_346=89, userData_347=90, userData_348=91, userData_349=92, userData_350=93, userData_351=94, userData_352=95, userData_353=96, userData_354=97, userData_355=98, userData_356=99, userData_357=100, userData_358=101, userData_359=102, userData_360=103, userData_361=104, userData_362=105, userData_363=106, userData_364=107, userData_365=108, userData_366=109, userData_367=110, userData_368=111, userData_369=112, userData_370=113, userData_371=114, userData_372=115, userData_373=116, userData_374=117, userData_375=118, userData_376=119, userData_377=120, userData_378=121, userData_379=122, userData_380=123, userData_381=124, userData_382=125, userData_383=126, userData_384=127, userData_385=128, userData_386=129, userData_387=130, userData_388=131, userData_389=132, userData_390=133, userData_391=134, userData_392=135, userData_393=136, userData_394=137, userData_395=138, userData_396=139, userData_397=140, userData_398=141, userData_399=142, userData_400=143, userData_401=144, userData_402=145, userData_403=146, userData_404=147, userData_405=148, userData_406=149, userData_407=150, userData_408=151, userData_409=152, userData_410=153, userData_411=154, userData_412=155, userData_413=156, userData_414=157, userData_415=158, userData_416=159, userData_417=160, userData_418=161, userData_419=162, userData_420=163, userData_421=164, userData_422=165, userData_423=166, userData_424=167, userData_425=168, userData_426=169, userData_427=170, userData_428=171, userData_429=172, userData_430=173, userData_431=174, userData_432=175, userData_433=176, userData_434=177, userData_435=178, userData_436=179, userData_437=180, userData_438=181, userData_439=182, userData_440=183, userData_441=184, userData_442=185, userData_443=186, userData_444=187, userData_445=188, userData_446=189, userData_447=190, userData_448=191, userData_449=192, userData_450=193, userData_451=194, userData_452=195, userData_453=196, userData_454=197, userData_455=198, userData_456=199, userData_457=200, userData_458=201, userData_459=202, userData_460=203, userData_461=204, userData_462=205, userData_463=206, userData_464=207, userData_465=208, userData_466=209, userData_467=210, userData_468=211, userData_469=212, userData_470=213, userData_471=214, userData_472=215, userData_473=216, userData_474=217, userData_475=218, userData_476=219, userData_477=220, userData_478=221, userData_479=222, userData_480=223, userData_481=224, userData_482=225, userData_483=226, userData_484=227, userData_485=228, userData_486=229, userData_487=230, userData_488=231, userData_489=232, userData_490=233, userData_491=234, userData_492=235, userData_493=236, userData_494=237, userData_495=238, userData_496=239, userData_497=240, userData_498=241, userData_499=242, userData_500=243, userData_501=244, userData_502=245, userData_503=246, userData_504=247, fecBits=513, ebno=1, reserved1=0)>")
def process_data(self, data: bytes) -> UBXMessage:
"""
Process UBX message type
:param bytes data: raw data
:return: UBXMessage
:rtype: UBXMessage
"""
if data is None:
return None
parsed_data = UBXReader.parse(data, validate=VALCKSUM)
if parsed_data.identity == "ACK-ACK":
self._process_ACK_ACK(parsed_data)
if parsed_data.identity == "ACK-NAK":
self._process_ACK_NAK(parsed_data)
if parsed_data.identity == "CFG-MSG":
self._process_CFG_MSG(parsed_data)
if parsed_data.identity == "CFG-PRT":
self._process_CFG_PRT(parsed_data)
if parsed_data.identity == "CFG-RATE":
self._process_CFG_RATE(parsed_data)
if parsed_data.identity == "CFG-INF":
self._process_CFG_INF(parsed_data)
if parsed_data.identity == "CFG-VALGET":
self._process_CFG_VALGET(parsed_data)
if parsed_data.identity == "NAV-POSLLH":
self._process_NAV_POSLLH(parsed_data)
if parsed_data.identity == "NAV-PVT":
self._process_NAV_PVT(parsed_data)
if parsed_data.identity == "NAV-VELNED":
self._process_NAV_VELNED(parsed_data)
if parsed_data.identity == "NAV-SAT":
self._process_NAV_SAT(parsed_data)
if parsed_data.identity == "NAV-SVINFO":
self._process_NAV_SVINFO(parsed_data)
if parsed_data.identity == "NAV-SOL":
self._process_NAV_SOL(parsed_data)
if parsed_data.identity == "NAV-DOP":
self._process_NAV_DOP(parsed_data)
if parsed_data.identity == "HNR-PVT":
self._process_HNR_PVT(parsed_data)
if parsed_data.identity == "MON-VER":
self._process_MON_VER(parsed_data)
if parsed_data.identity == "MON-HW":
self._process_MON_HW(parsed_data)
if parsed_data.identity == "NAV-STATUS":
self._process_NAV_STATUS(parsed_data)
if parsed_data.identity == "MON-RF":
self._process_MON_RF(parsed_data)
if parsed_data.identity == "MON-SPAN":
self._process_MON_SPAN(parsed_data)
if data or parsed_data:
self._update_console(data, parsed_data)
return parsed_data
def testRXMRLML(self): # test parser of RXM-RLM-L message
rxm_rlms = b'\xb5b\x02\x59\x1c\x00\x00\x02\x00\x00'
for i in range(8):
rxm_rlms += i.to_bytes(1, "little", signed=False)
rxm_rlms += b'\x00'
for i in range(12):
rxm_rlms += i.to_bytes(1, "little", signed=False)
rxm_rlms += b'\x00\x01\x02\xda\x81'
res = UBXReader.parse(rxm_rlms)
self.assertEqual(str(res), "<UBX(RXM-RLM, version=0, type=2, svId=0, reserved0=0, beacon_01=0, beacon_02=1, beacon_03=2, beacon_04=3, beacon_05=4, beacon_06=5, beacon_07=6, beacon_08=7, message=0, params_01=0, params_02=1, params_03=2, params_04=3, params_05=4, params_06=5, params_07=6, params_08=7, params_09=8, params_10=9, params_11=10, params_12=11, reserved1=131328)>")
def testRXMRLMS(self): # test parser of RXM-RLM-S message
rxm_rlms = b"\xb5b\x02\x59\x10\x00\x00\x01\x00\x00"
for i in range(8):
rxm_rlms += i.to_bytes(1, "little", signed=False)
rxm_rlms += b"\x00\x01\x02\x00\x8b\xbd"
res = UBXReader.parse(rxm_rlms)
self.assertEqual(
str(res),
"<UBX(RXM-RLM, version=0, type=1, svId=0, reserved0=0, beacon=506097522914230528, message=0, params=513, reserved1=0)>",
)
def testMONSPAN(self): # test parser of MON-SPAN message (nested repeating groups)
mon_span = b'\xb5b\x0a\x31\x34\x03\x00\x03\x01\x02'
for i in range(3):
for s in range(256):
mon_span += s.to_bytes(1, "little", signed=False)
mon_span += b'\x01\x02\x03\x04\x01\x02\x03\x04\x01\x02\x03\x04'
mon_span += i.to_bytes(1, "little", signed=False)
mon_span += b'\x01\x02\x03'
mon_span += b'\x67\x79'
res = UBXReader.parse(mon_span)
self.assertEqual(str(res), "<UBX(MON-SPAN, version=0, numRfBlocks=3, reserved0=513, spectrum_01_01=0, spectrum_01_02=1, spectrum_01_03=2, spectrum_01_04=3, spectrum_01_05=4, spectrum_01_06=5, spectrum_01_07=6, spectrum_01_08=7, spectrum_01_09=8, spectrum_01_10=9, spectrum_01_11=10, spectrum_01_12=11, spectrum_01_13=12, spectrum_01_14=13, spectrum_01_15=14, spectrum_01_16=15, spectrum_01_17=16, spectrum_01_18=17, spectrum_01_19=18, spectrum_01_20=19, spectrum_01_21=20, spectrum_01_22=21, spectrum_01_23=22, spectrum_01_24=23, spectrum_01_25=24, spectrum_01_26=25, spectrum_01_27=26, spectrum_01_28=27, spectrum_01_29=28, spectrum_01_30=29, spectrum_01_31=30, spectrum_01_32=31, spectrum_01_33=32, spectrum_01_34=33, spectrum_01_35=34, spectrum_01_36=35, spectrum_01_37=36, spectrum_01_38=37, spectrum_01_39=38, spectrum_01_40=39, spectrum_01_41=40, spectrum_01_42=41, spectrum_01_43=42, spectrum_01_44=43, spectrum_01_45=44, spectrum_01_46=45, spectrum_01_47=46, spectrum_01_48=47, spectrum_01_49=48, spectrum_01_50=49, spectrum_01_51=50, spectrum_01_52=51, spectrum_01_53=52, spectrum_01_54=53, spectrum_01_55=54, spectrum_01_56=55, spectrum_01_57=56, spectrum_01_58=57, spectrum_01_59=58, spectrum_01_60=59, spectrum_01_61=60, spectrum_01_62=61, spectrum_01_63=62, spectrum_01_64=63, spectrum_01_65=64, spectrum_01_66=65, spectrum_01_67=66, spectrum_01_68=67, spectrum_01_69=68, spectrum_01_70=69, spectrum_01_71=70, spectrum_01_72=71, spectrum_01_73=72, spectrum_01_74=73, spectrum_01_75=74, spectrum_01_76=75, spectrum_01_77=76, spectrum_01_78=77, spectrum_01_79=78, spectrum_01_80=79, spectrum_01_81=80, spectrum_01_82=81, spectrum_01_83=82, spectrum_01_84=83, spectrum_01_85=84, spectrum_01_86=85, spectrum_01_87=86, spectrum_01_88=87, spectrum_01_89=88, spectrum_01_90=89, spectrum_01_91=90, spectrum_01_92=91, spectrum_01_93=92, spectrum_01_94=93, spectrum_01_95=94, spectrum_01_96=95, spectrum_01_97=96, spectrum_01_98=97, spectrum_01_99=98, spectrum_01_100=99, spectrum_01_101=100, spectrum_01_102=101, spectrum_01_103=102, spectrum_01_104=103, spectrum_01_105=104, spectrum_01_106=105, spectrum_01_107=106, spectrum_01_108=107, spectrum_01_109=108, spectrum_01_110=109, spectrum_01_111=110, spectrum_01_112=111, spectrum_01_113=112, spectrum_01_114=113, spectrum_01_115=114, spectrum_01_116=115, spectrum_01_117=116, spectrum_01_118=117, spectrum_01_119=118, spectrum_01_120=119, spectrum_01_121=120, spectrum_01_122=121, spectrum_01_123=122, spectrum_01_124=123, spectrum_01_125=124, spectrum_01_126=125, spectrum_01_127=126, spectrum_01_128=127, spectrum_01_129=128, spectrum_01_130=129, spectrum_01_131=130, spectrum_01_132=131, spectrum_01_133=132, spectrum_01_134=133, spectrum_01_135=134, spectrum_01_136=135, spectrum_01_137=136, spectrum_01_138=137, spectrum_01_139=138, spectrum_01_140=139, spectrum_01_141=140, spectrum_01_142=141, spectrum_01_143=142, spectrum_01_144=143, spectrum_01_145=144, spectrum_01_146=145, spectrum_01_147=146, spectrum_01_148=147, spectrum_01_149=148, spectrum_01_150=149, spectrum_01_151=150, spectrum_01_152=151, spectrum_01_153=152, spectrum_01_154=153, spectrum_01_155=154, spectrum_01_156=155, spectrum_01_157=156, spectrum_01_158=157, spectrum_01_159=158, spectrum_01_160=159, spectrum_01_161=160, spectrum_01_162=161, spectrum_01_163=162, spectrum_01_164=163, spectrum_01_165=164, spectrum_01_166=165, spectrum_01_167=166, spectrum_01_168=167, spectrum_01_169=168, spectrum_01_170=169, spectrum_01_171=170, spectrum_01_172=171, spectrum_01_173=172, spectrum_01_174=173, spectrum_01_175=174, spectrum_01_176=175, spectrum_01_177=176, spectrum_01_178=177, spectrum_01_179=178, spectrum_01_180=179, spectrum_01_181=180, spectrum_01_182=181, spectrum_01_183=182, spectrum_01_184=183, spectrum_01_185=184, spectrum_01_186=185, spectrum_01_187=186, spectrum_01_188=187, spectrum_01_189=188, spectrum_01_190=189, spectrum_01_191=190, spectrum_01_192=191, spectrum_01_193=192, spectrum_01_194=193, spectrum_01_195=194, spectrum_01_196=195, spectrum_01_197=196, spectrum_01_198=197, spectrum_01_199=198, spectrum_01_200=199, spectrum_01_201=200, spectrum_01_202=201, spectrum_01_203=202, spectrum_01_204=203, spectrum_01_205=204, spectrum_01_206=205, spectrum_01_207=206, spectrum_01_208=207, spectrum_01_209=208, spectrum_01_210=209, spectrum_01_211=210, spectrum_01_212=211, spectrum_01_213=212, spectrum_01_214=213, spectrum_01_215=214, spectrum_01_216=215, spectrum_01_217=216, spectrum_01_218=217, spectrum_01_219=218, spectrum_01_220=219, spectrum_01_221=220, spectrum_01_222=221, spectrum_01_223=222, spectrum_01_224=223, spectrum_01_225=224, spectrum_01_226=225, spectrum_01_227=226, spectrum_01_228=227, spectrum_01_229=228, spectrum_01_230=229, spectrum_01_231=230, spectrum_01_232=231, spectrum_01_233=232, spectrum_01_234=233, spectrum_01_235=234, spectrum_01_236=235, spectrum_01_237=236, spectrum_01_238=237, spectrum_01_239=238, spectrum_01_240=239, spectrum_01_241=240, spectrum_01_242=241, spectrum_01_243=242, spectrum_01_244=243, spectrum_01_245=244, spectrum_01_246=245, spectrum_01_247=246, spectrum_01_248=247, spectrum_01_249=248, spectrum_01_250=249, spectrum_01_251=250, spectrum_01_252=251, spectrum_01_253=252, spectrum_01_254=253, spectrum_01_255=254, spectrum_01_256=255, span_01=67305985, res_01=67305985, center_01=67305985, pga_01=0, reserved1_01=197121, spectrum_02_01=0, spectrum_02_02=1, spectrum_02_03=2, spectrum_02_04=3, spectrum_02_05=4, spectrum_02_06=5, spectrum_02_07=6, spectrum_02_08=7, spectrum_02_09=8, spectrum_02_10=9, spectrum_02_11=10, spectrum_02_12=11, spectrum_02_13=12, spectrum_02_14=13, spectrum_02_15=14, spectrum_02_16=15, spectrum_02_17=16, spectrum_02_18=17, spectrum_02_19=18, spectrum_02_20=19, spectrum_02_21=20, spectrum_02_22=21, spectrum_02_23=22, spectrum_02_24=23, spectrum_02_25=24, spectrum_02_26=25, spectrum_02_27=26, spectrum_02_28=27, spectrum_02_29=28, spectrum_02_30=29, spectrum_02_31=30, spectrum_02_32=31, spectrum_02_33=32, spectrum_02_34=33, spectrum_02_35=34, spectrum_02_36=35, spectrum_02_37=36, spectrum_02_38=37, spectrum_02_39=38, spectrum_02_40=39, spectrum_02_41=40, spectrum_02_42=41, spectrum_02_43=42, spectrum_02_44=43, spectrum_02_45=44, spectrum_02_46=45, spectrum_02_47=46, spectrum_02_48=47, spectrum_02_49=48, spectrum_02_50=49, spectrum_02_51=50, spectrum_02_52=51, spectrum_02_53=52, spectrum_02_54=53, spectrum_02_55=54, spectrum_02_56=55, spectrum_02_57=56, spectrum_02_58=57, spectrum_02_59=58, spectrum_02_60=59, spectrum_02_61=60, spectrum_02_62=61, spectrum_02_63=62, spectrum_02_64=63, spectrum_02_65=64, spectrum_02_66=65, spectrum_02_67=66, spectrum_02_68=67, spectrum_02_69=68, spectrum_02_70=69, spectrum_02_71=70, spectrum_02_72=71, spectrum_02_73=72, spectrum_02_74=73, spectrum_02_75=74, spectrum_02_76=75, spectrum_02_77=76, spectrum_02_78=77, spectrum_02_79=78, spectrum_02_80=79, spectrum_02_81=80, spectrum_02_82=81, spectrum_02_83=82, spectrum_02_84=83, spectrum_02_85=84, spectrum_02_86=85, spectrum_02_87=86, spectrum_02_88=87, spectrum_02_89=88, spectrum_02_90=89, spectrum_02_91=90, spectrum_02_92=91, spectrum_02_93=92, spectrum_02_94=93, spectrum_02_95=94, spectrum_02_96=95, spectrum_02_97=96, spectrum_02_98=97, spectrum_02_99=98, spectrum_02_100=99, spectrum_02_101=100, spectrum_02_102=101, spectrum_02_103=102, spectrum_02_104=103, spectrum_02_105=104, spectrum_02_106=105, spectrum_02_107=106, spectrum_02_108=107, spectrum_02_109=108, spectrum_02_110=109, spectrum_02_111=110, spectrum_02_112=111, spectrum_02_113=112, spectrum_02_114=113, spectrum_02_115=114, spectrum_02_116=115, spectrum_02_117=116, spectrum_02_118=117, spectrum_02_119=118, spectrum_02_120=119, spectrum_02_121=120, spectrum_02_122=121, spectrum_02_123=122, spectrum_02_124=123, spectrum_02_125=124, spectrum_02_126=125, spectrum_02_127=126, spectrum_02_128=127, spectrum_02_129=128, spectrum_02_130=129, spectrum_02_131=130, spectrum_02_132=131, spectrum_02_133=132, spectrum_02_134=133, spectrum_02_135=134, spectrum_02_136=135, spectrum_02_137=136, spectrum_02_138=137, spectrum_02_139=138, spectrum_02_140=139, spectrum_02_141=140, spectrum_02_142=141, spectrum_02_143=142, spectrum_02_144=143, spectrum_02_145=144, spectrum_02_146=145, spectrum_02_147=146, spectrum_02_148=147, spectrum_02_149=148, spectrum_02_150=149, spectrum_02_151=150, spectrum_02_152=151, spectrum_02_153=152, spectrum_02_154=153, spectrum_02_155=154, spectrum_02_156=155, spectrum_02_157=156, spectrum_02_158=157, spectrum_02_159=158, spectrum_02_160=159, spectrum_02_161=160, spectrum_02_162=161, spectrum_02_163=162, spectrum_02_164=163, spectrum_02_165=164, spectrum_02_166=165, spectrum_02_167=166, spectrum_02_168=167, spectrum_02_169=168, spectrum_02_170=169, spectrum_02_171=170, spectrum_02_172=171, spectrum_02_173=172, spectrum_02_174=173, spectrum_02_175=174, spectrum_02_176=175, spectrum_02_177=176, spectrum_02_178=177, spectrum_02_179=178, spectrum_02_180=179, spectrum_02_181=180, spectrum_02_182=181, spectrum_02_183=182, spectrum_02_184=183, spectrum_02_185=184, spectrum_02_186=185, spectrum_02_187=186, spectrum_02_188=187, spectrum_02_189=188, spectrum_02_190=189, spectrum_02_191=190, spectrum_02_192=191, spectrum_02_193=192, spectrum_02_194=193, spectrum_02_195=194, spectrum_02_196=195, spectrum_02_197=196, spectrum_02_198=197, spectrum_02_199=198, spectrum_02_200=199, spectrum_02_201=200, spectrum_02_202=201, spectrum_02_203=202, spectrum_02_204=203, spectrum_02_205=204, spectrum_02_206=205, spectrum_02_207=206, spectrum_02_208=207, spectrum_02_209=208, spectrum_02_210=209, spectrum_02_211=210, spectrum_02_212=211, spectrum_02_213=212, spectrum_02_214=213, spectrum_02_215=214, spectrum_02_216=215, spectrum_02_217=216, spectrum_02_218=217, spectrum_02_219=218, spectrum_02_220=219, spectrum_02_221=220, spectrum_02_222=221, spectrum_02_223=222, spectrum_02_224=223, spectrum_02_225=224, spectrum_02_226=225, spectrum_02_227=226, spectrum_02_228=227, spectrum_02_229=228, spectrum_02_230=229, spectrum_02_231=230, spectrum_02_232=231, spectrum_02_233=232, spectrum_02_234=233, spectrum_02_235=234, spectrum_02_236=235, spectrum_02_237=236, spectrum_02_238=237, spectrum_02_239=238, spectrum_02_240=239, spectrum_02_241=240, spectrum_02_242=241, spectrum_02_243=242, spectrum_02_244=243, spectrum_02_245=244, spectrum_02_246=245, spectrum_02_247=246, spectrum_02_248=247, spectrum_02_249=248, spectrum_02_250=249, spectrum_02_251=250, spectrum_02_252=251, spectrum_02_253=252, spectrum_02_254=253, spectrum_02_255=254, spectrum_02_256=255, span_02=67305985, res_02=67305985, center_02=67305985, pga_02=1, reserved1_02=197121, spectrum_03_01=0, spectrum_03_02=1, spectrum_03_03=2, spectrum_03_04=3, spectrum_03_05=4, spectrum_03_06=5, spectrum_03_07=6, spectrum_03_08=7, spectrum_03_09=8, spectrum_03_10=9, spectrum_03_11=10, spectrum_03_12=11, spectrum_03_13=12, spectrum_03_14=13, spectrum_03_15=14, spectrum_03_16=15, spectrum_03_17=16, spectrum_03_18=17, spectrum_03_19=18, spectrum_03_20=19, spectrum_03_21=20, spectrum_03_22=21, spectrum_03_23=22, spectrum_03_24=23, spectrum_03_25=24, spectrum_03_26=25, spectrum_03_27=26, spectrum_03_28=27, spectrum_03_29=28, spectrum_03_30=29, spectrum_03_31=30, spectrum_03_32=31, spectrum_03_33=32, spectrum_03_34=33, spectrum_03_35=34, spectrum_03_36=35, spectrum_03_37=36, spectrum_03_38=37, spectrum_03_39=38, spectrum_03_40=39, spectrum_03_41=40, spectrum_03_42=41, spectrum_03_43=42, spectrum_03_44=43, spectrum_03_45=44, spectrum_03_46=45, spectrum_03_47=46, spectrum_03_48=47, spectrum_03_49=48, spectrum_03_50=49, spectrum_03_51=50, spectrum_03_52=51, spectrum_03_53=52, spectrum_03_54=53, spectrum_03_55=54, spectrum_03_56=55, spectrum_03_57=56, spectrum_03_58=57, spectrum_03_59=58, spectrum_03_60=59, spectrum_03_61=60, spectrum_03_62=61, spectrum_03_63=62, spectrum_03_64=63, spectrum_03_65=64, spectrum_03_66=65, spectrum_03_67=66, spectrum_03_68=67, spectrum_03_69=68, spectrum_03_70=69, spectrum_03_71=70, spectrum_03_72=71, spectrum_03_73=72, spectrum_03_74=73, spectrum_03_75=74, spectrum_03_76=75, spectrum_03_77=76, spectrum_03_78=77, spectrum_03_79=78, spectrum_03_80=79, spectrum_03_81=80, spectrum_03_82=81, spectrum_03_83=82, spectrum_03_84=83, spectrum_03_85=84, spectrum_03_86=85, spectrum_03_87=86, spectrum_03_88=87, spectrum_03_89=88, spectrum_03_90=89, spectrum_03_91=90, spectrum_03_92=91, spectrum_03_93=92, spectrum_03_94=93, spectrum_03_95=94, spectrum_03_96=95, spectrum_03_97=96, spectrum_03_98=97, spectrum_03_99=98, spectrum_03_100=99, spectrum_03_101=100, spectrum_03_102=101, spectrum_03_103=102, spectrum_03_104=103, spectrum_03_105=104, spectrum_03_106=105, spectrum_03_107=106, spectrum_03_108=107, spectrum_03_109=108, spectrum_03_110=109, spectrum_03_111=110, spectrum_03_112=111, spectrum_03_113=112, spectrum_03_114=113, spectrum_03_115=114, spectrum_03_116=115, spectrum_03_117=116, spectrum_03_118=117, spectrum_03_119=118, spectrum_03_120=119, spectrum_03_121=120, spectrum_03_122=121, spectrum_03_123=122, spectrum_03_124=123, spectrum_03_125=124, spectrum_03_126=125, spectrum_03_127=126, spectrum_03_128=127, spectrum_03_129=128, spectrum_03_130=129, spectrum_03_131=130, spectrum_03_132=131, spectrum_03_133=132, spectrum_03_134=133, spectrum_03_135=134, spectrum_03_136=135, spectrum_03_137=136, spectrum_03_138=137, spectrum_03_139=138, spectrum_03_140=139, spectrum_03_141=140, spectrum_03_142=141, spectrum_03_143=142, spectrum_03_144=143, spectrum_03_145=144, spectrum_03_146=145, spectrum_03_147=146, spectrum_03_148=147, spectrum_03_149=148, spectrum_03_150=149, spectrum_03_151=150, spectrum_03_152=151, spectrum_03_153=152, spectrum_03_154=153, spectrum_03_155=154, spectrum_03_156=155, spectrum_03_157=156, spectrum_03_158=157, spectrum_03_159=158, spectrum_03_160=159, spectrum_03_161=160, spectrum_03_162=161, spectrum_03_163=162, spectrum_03_164=163, spectrum_03_165=164, spectrum_03_166=165, spectrum_03_167=166, spectrum_03_168=167, spectrum_03_169=168, spectrum_03_170=169, spectrum_03_171=170, spectrum_03_172=171, spectrum_03_173=172, spectrum_03_174=173, spectrum_03_175=174, spectrum_03_176=175, spectrum_03_177=176, spectrum_03_178=177, spectrum_03_179=178, spectrum_03_180=179, spectrum_03_181=180, spectrum_03_182=181, spectrum_03_183=182, spectrum_03_184=183, spectrum_03_185=184, spectrum_03_186=185, spectrum_03_187=186, spectrum_03_188=187, spectrum_03_189=188, spectrum_03_190=189, spectrum_03_191=190, spectrum_03_192=191, spectrum_03_193=192, spectrum_03_194=193, spectrum_03_195=194, spectrum_03_196=195, spectrum_03_197=196, spectrum_03_198=197, spectrum_03_199=198, spectrum_03_200=199, spectrum_03_201=200, spectrum_03_202=201, spectrum_03_203=202, spectrum_03_204=203, spectrum_03_205=204, spectrum_03_206=205, spectrum_03_207=206, spectrum_03_208=207, spectrum_03_209=208, spectrum_03_210=209, spectrum_03_211=210, spectrum_03_212=211, spectrum_03_213=212, spectrum_03_214=213, spectrum_03_215=214, spectrum_03_216=215, spectrum_03_217=216, spectrum_03_218=217, spectrum_03_219=218, spectrum_03_220=219, spectrum_03_221=220, spectrum_03_222=221, spectrum_03_223=222, spectrum_03_224=223, spectrum_03_225=224, spectrum_03_226=225, spectrum_03_227=226, spectrum_03_228=227, spectrum_03_229=228, spectrum_03_230=229, spectrum_03_231=230, spectrum_03_232=231, spectrum_03_233=232, spectrum_03_234=233, spectrum_03_235=234, spectrum_03_236=235, spectrum_03_237=236, spectrum_03_238=237, spectrum_03_239=238, spectrum_03_240=239, spectrum_03_241=240, spectrum_03_242=241, spectrum_03_243=242, spectrum_03_244=243, spectrum_03_245=244, spectrum_03_246=245, spectrum_03_247=246, spectrum_03_248=247, spectrum_03_249=248, spectrum_03_250=249, spectrum_03_251=250, spectrum_03_252=251, spectrum_03_253=252, spectrum_03_254=253, spectrum_03_255=254, spectrum_03_256=255, span_03=67305985, res_03=67305985, center_03=67305985, pga_03=2, reserved1_03=197121)>")
def testFill_ESFMEASSETCT(
self, ): # test ESF_MEAS GET constructor with calibTtagValid = 1
EXPECTED_RESULT = "<UBX(ESF-MEAS, timeTag=0, timeMarkSent=0, timeMarkEdge=0, calibTtagValid=1, numMeas=0, id=0)>"
res = UBXMessage("ESF",
"ESF-MEAS",
GET,
timeTag=0,
flags=b"\x18\x00",
parsebitfield=0)
res2 = UBXReader.parse(res.serialize())
self.assertEqual(str(res2), EXPECTED_RESULT)
def testFill_CFGDATPARSE2(
self,
): # check that raw payload is correctly populated and parses back to original message
EXPECTED_RESULT = "<UBX(CFG-DAT, majA=0.0, flat=0.0, dX=-1.2345677614212036, dY=27.406539916992188, dZ=0.0, rotX=0.0, rotY=0.0, rotZ=0.0, scale=0.0)>"
res = UBXMessage(
"CFG",
"CFG-DAT",
SET,
dX=-1.2345678,
dY=27.40654,
)
res2 = UBXReader.parse(res.serialize(), msgmode=SET)
self.assertEqual(str(res2), EXPECTED_RESULT)
def testFill_CFGDATPARSE2(
self
): # check that raw payload is correctly populated and parses back to original message
EXPECTED_RESULT = "<UBX(CFG-DAT, datumNum=4, datumName=b'WGS-84', majA=0.0, flat=0.0, dX=-1.2345677614212036, dY=27.406539916992188, dZ=0.0, rotX=0.0, rotY=0.0, rotZ=0.0, scale=0.0)>"
res = UBXMessage('CFG',
'CFG-DAT',
SET,
datumNum=4,
datumName=b'WGS-84',
dX=-1.2345678,
dY=27.40654)
res2 = UBXReader.parse(res.serialize())
self.assertEqual(str(res2), EXPECTED_RESULT)
def testRXMRLML(self): # test parser of RXM-RLM-L message
rxm_rlms = b"\xb5b\x02\x59\x1c\x00\x00\x02\x00\x00"
for i in range(8):
rxm_rlms += i.to_bytes(1, "little", signed=False)
rxm_rlms += b"\x00"
for i in range(12):
rxm_rlms += i.to_bytes(1, "little", signed=False)
rxm_rlms += b"\x00\x01\x02\xda\x81"
res = UBXReader.parse(rxm_rlms)
self.assertEqual(
str(res),
"<UBX(RXM-RLM, version=0, type=2, svId=0, reserved0=0, beacon=506097522914230528, message=0, params=3416467015609337987117220096, reserved1=131328)>",
)
def testFill_CFGDOSCPARSE(
self
): # test CFG-DOSC check that raw payload is correctly populated and parses back to original message
EXPECTED_RESULT = "<UBX(CFG-DOSC, version=37, numOsc=1, reserved1=0, oscId_01=8, reserved2_01=0, flags_01=b'\\x00\\x00', freq_01=53, phaseOffset_01=26, withTemp_01=0, withAge_01=0, timeToTemp_01=0, reserved3_01=0, gainVco_01=4, gainUncertainty_01=123, reserved4_01=0)>"
res = UBXMessage('CFG',
'CFG-DOSC',
SET,
version=37,
numOsc=1,
oscId_01=8,
freq_01=53,
phaseOffset_01=26,
gainVco_01=4,
gainUncertainty_01=123)
res2 = UBXReader.parse(res.serialize())
self.assertEqual(str(res2), EXPECTED_RESULT)
def testFill_CFGDOSCPARSE(
self,
): # test CFG-DOSC check that raw payload is correctly populated and parses back to original message
EXPECTED_RESULT = "<UBX(CFG-DOSC, version=37, numOsc=1, reserved1=0, oscId_01=8, reserved2_01=0, isCalibrated_01=0, controlIf_01=0, freq_01=53.0, phaseOffset_01=26, withTemp_01=0.0, withAge_01=0.0, timeToTemp_01=0, reserved3_01=0, gainVco_01=4.0, gainUncertainty_01=0.296875, reserved4_01=0)>"
res = UBXMessage(
"CFG",
"CFG-DOSC",
SET,
version=37,
numOsc=1,
oscId_01=8,
freq_01=53,
phaseOffset_01=26,
gainVco_01=4,
gainUncertainty_01=0.3,
)
res2 = UBXReader.parse(res.serialize())
self.assertEqual(str(res2), EXPECTED_RESULT)
def testNavSat5(self): # check message bytes match original byte stream
res = UBXReader.parse(self.nav_sat4)
self.assertEqual(res.serialize(), self.nav_sat4)
def testFill_CFGNMEAPOLL2(self): # test POLL constructor, no payload
EXPECTED_RESULT = "<UBX(CFG-NMEA)>"
res = UBXMessage("CFG", "CFG-NMEA", POLL)
res2 = UBXReader.parse(res.serialize())
self.assertEqual(str(res2), EXPECTED_RESULT)
def testNavVelNed(self):
res = UBXReader.parse(self.nav_velned, validate=VALCKSUM)
self.assertIsInstance(res, UBXMessage)
def testCfgProp2(self):
res = UBXReader.parse(self.cfg_msg)
self.assertEqual(res.rateSPI, 0)
def testCfgProp1(self):
res = UBXReader.parse(self.cfg_msg, validate=VALCKSUM)
self.assertEqual(res.rateUART1, 1)
def testCfgRepr(self):
res = UBXReader.parse(self.cfg_msg)
self.assertEqual(
repr(res),
"UBXMessage(b'\\x06', b'\\x01', 0, payload=b'\\xf0\\x01\\x00\\x01\\x01\\x01\\x00\\x00')",
)
def testCfgStr(self):
res = UBXReader.parse(self.cfg_msg, validate=VALCKSUM)
self.assertEqual(
str(res),
"<UBX(CFG-MSG, msgClass=NMEA-Standard, msgID=GLL, rateDDC=0, rateUART1=1, rateUART2=1, rateUSB=1, rateSPI=0, reserved=0)>",
)
def testCfgID(self):
res = UBXReader.parse(self.cfg_msg, validate=VALCKSUM)
self.assertEqual(res.identity, "CFG-MSG")
