diff options
| author | Gary E. Miller <gem@rellim.com> | 2018-09-24 15:21:42 -0700 |
|---|---|---|
| committer | Gary E. Miller <gem@rellim.com> | 2018-09-24 15:21:42 -0700 |
| commit | 52a27d71f19563a40270b25ac1d127529e0a2360 (patch) | |
| tree | 0c83b7d148f051bc277ba0dba79d4797f98e7d6a /contrib | |
| parent | b02507f4f5f6c5fe36e3f7609308706818e075a8 (diff) | |
| download | gpsd-52a27d71f19563a40270b25ac1d127529e0a2360.tar.gz | |
ubxtool/zerk: install these two programs by default.
Diffstat (limited to 'contrib')
| -rwxr-xr-x | contrib/ubxtool | 2377 | ||||
| -rwxr-xr-x | contrib/zerk | 1896 |
2 files changed, 0 insertions, 4273 deletions
diff --git a/contrib/ubxtool b/contrib/ubxtool deleted file mode 100755 index b8c80e95..00000000 --- a/contrib/ubxtool +++ /dev/null @@ -1,2377 +0,0 @@ -#!/usr/bin/env python -# -*- coding: UTF-8 -''' -ubxtool -- u-blox configurator and packet decoder - -usage: ubxtool [OPTIONS] [server[:port[:device]]] -''' - -# This file is Copyright (c) 2018 by the GPSD project -# BSD terms apply: see the file COPYING in the distribution root for details. -# -# This code runs compatibly under Python 2 and 3.x for x >= 2. -# Preserve this property! -# -# ENVIRONMENT: -# Options in the UBXOPTS environment variable will be parsed before -# the CLI options. A handy place to put your '-f /dev/ttyXX -s SPEED' -# -# To see what constellations are enabled: -# ubxtool -p GNSS -f /dev/ttyXX -# -# To disable GALILEO and enable GALILEO: -# ubxtool -d GLONASS -f /dev/ttyXX -# ubxtool -e GALILEO -f /dev/ttyXX -# -# To read GPS messages a log file: -# ubxtool -v 2 -f test/daemon/ublox-neo-m8n.log - -from __future__ import absolute_import, print_function, division - -import binascii # for binascii.hexlify() -import getopt # for getopt.getopt(), to parse CLI options -import os # for os.environ -import socket # for socket.error -import stat # for stat.S_ISBLK() -import struct # for pack() -import sys -import time - -PROG_NAME = 'ubxtool' - -try: - import serial -except ImportError: - # treat serial as special since it is not part of standard Python - sys.stderr.write("%s: failed to import pyserial\n" % PROG_NAME) - sys.exit(2) - -try: - import gps -except ImportError: - # PEP8 says local imports last - sys.stderr.write("%s: failed to import gps, check PYTHON_PATH\n" % - PROG_NAME) - sys.exit(2) - -gps_version = '3.18-dev' -if gps.__version__ != gps_version: - sys.stderr.write("%s: ERROR: need gps module version %s, got %s\n" % - (PROG_NAME, gps_version, gps.__version__)) - sys.exit(1) - - -VERB_QUIET = 0 # quiet -VERB_NONE = 1 # just output requested data and some info -VERB_DECODE = 2 # decode all messages -VERB_INFO = 3 # more info -VERB_RAW = 4 # raw info -VERB_PROG = 5 # program trace - -# dictionary to hold all user options -opts = { - # command to send to GPS, -c - 'command': None, - # command for -d disable - 'disable': None, - # command for -e enable - 'enable': None, - # default input -f file - 'input_file_name': None, - # default forced wait? -W - 'input_forced_wait': False, - # default port speed -s - 'input_speed': 9600, - # default input wait time -w in seconds - 'input_wait': 2.0, - # optional mode to -p P - 'mode': None, - # the name of an OAF file, extension .jpo - 'oaf_name': None, - # poll command -p - 'poll': None, - # raw log file name - 'raw_file': None, - # open port read only -r - 'read_only': False, - # speed to set GPS -S - 'set_speed': None, - # target gpsd (server:port:device) to connect to - 'target': {"server": None, "port": gps.GPSD_PORT, "device": None}, - # verbosity level, -v - 'verbosity': VERB_NONE, - # contents of environment variable UBXOPTS - 'progopts': '', -} - - -class ubx(object): - "class to hold u-blox stuff" - - # when a statement identifier is received, it is stored here - last_statement_identifier = None - # expected statement identifier. - expect_statement_identifier = False - - def __init__(self): - pass - - # allowable speeds - speeds = (460800, 230400, 153600, 115200, 57600, 38400, 19200, 9600, - 4800, 2400, 1200, 600, 300) - - # UBX Satellite Numbering - gnss_id = {0: 'GPS', - 1: 'SBAS', - 2: 'Galileo', - 3: 'BeiDou', - 4: 'IMES', - 5: 'QZSS', - 6: 'GLONASS'} - - def ack_ack(self, buf): - "UBX-ACK-ACK decode" - m_len = len(buf) - if 2 > m_len: - return "Bad Length %s" % m_len - - u = struct.unpack_from('<BB', buf, 0) - return ' ACK to: %s' % self.class_id_s(u[0], u[1]) - - ack_ids = {0: {'str': 'NAK', 'dec': ack_ack, 'name': 'UBX-ACK-NAK'}, - 1: {'str': 'ACK', 'dec': ack_ack, 'name': 'UBX-ACK-ACK'}} - - def cfg_ant(self, buf): - "UBX-CFG-ANT decode" - m_len = len(buf) - if 0 == m_len: - return "Poll request all" - - if 4 > m_len: - return "Bad Length %s" % m_len - - u = struct.unpack_from('<HH', buf, 0) - s = ' flags: %#x pins: %#x (' % u - if u[0] & 0x1: - s += 'svcs ' - if u[0] & 0x2: - s += 'scd ' - if u[0] & 0x4: - s += 'ocd ' - if u[0] & 0x8: - s += 'pdwnOnSCD ' - if u[0] & 0x10: - s += 'recovery ' - s += (')\n pinSwitch: %d, pinSCD: %d, pinOCD: %d reconfig: %d\n' % - (u[1] & 0x1f, (u[1] >> 5) & 0x1f, (u[1] >> 10) & 0x1f, - u[1] >> 15)) - return s - - def cfg_cfg_mask(self, mask): - "decode Mask in UBX-CFG-CFG, return string" - s = '' - if mask & 0x1: - s += 'ioPort ' - if mask & 0x2: - s += 'msgConf ' - if mask & 0x4: - s += 'infMsg ' - if mask & 0x8: - s += 'navConf ' - if mask & 0x10: - s += 'rxmConf ' - if mask & 0x80: - # not on M8030 - s += 'senConf ' - if mask & 0x100: - s += 'rinvConf ' - if mask & 0x200: - s += 'antConf ' - if mask & 0x800: - s += 'logConf ' - if mask & 0x1000: - s += 'ftsConf ' - - return s - - def cfg_cfg(self, buf): - "UBX-CFG-CFG decode" - m_len = len(buf) - if 12 > m_len: - return "Bad Length %s" % m_len - - if 12 == m_len: - u = struct.unpack_from('<LLL', buf, 0) - else: - u = struct.unpack_from('<LLLB', buf, 0) - - s = ' clearMask: %#x (%s)\n' % (u[0], self.cfg_cfg_mask(u[0])) - s += (' saveMask: %#x (%s)\n' % - (u[1], self.cfg_cfg_mask(u[1]))) - s += (' loadMask: %#x (%s)\n' % - (u[2], self.cfg_cfg_mask(u[2]))) - - if 13 <= m_len: - bit_str = '' - if u[3] & 0x1: - bit_str += 'devBBR ' - if u[3] & 0x2: - bit_str += 'devFlash ' - if u[3] & 0x4: - bit_str += 'devEEPROM ' - if u[3] & 0x10: - bit_str += 'devSpiFlash ' - - s += (' deviceMask: %#x (%s)\n' % (u[3], bit_str)) - - return s - - def cfg_gnss(self, buf): - "UBX-CFG-GNSS decode" - m_len = len(buf) - if 0 == m_len: - return "Poll request" - - if m_len < 4: - return "Bad Length %d" % m_len - - u = struct.unpack_from('<BBBB', buf, 0) - s = " Ver: %u ChHw; %x ChUse: %x, Blocks: %x" % u - num_blocks = u[3] - i = 0 - while i < num_blocks: - u = struct.unpack_from('<BBBBBBBB', buf, 4 + (i*8)) - sat = u[0] - if u[0] in self.gnss_id: - s_sat = self.gnss_id[u[0]] - else: - s_sat = u[0] - s += ("\n gnssId: %s TrkCh: %d maxTrCh: %d," - " Flags: %#02x %02x %02x %02x" % - (s_sat, u[1], u[2], u[7], u[6], u[5], u[4])) - if sat in (0, 1): - # gps, sbas - if u[6] & 0x1: - s += '\n L1C/A' - if 2 == sat: - # Galileo - if u[6] & 0x1: - s += '\n E1OS' - if 3 == sat: - # BeiDou - if u[6] & 0x1: - s += '\n B1I' - if 4 == sat: - # IMES - if u[6] & 0x1: - s += '\n L1' - if 5 == sat: - # QZSS - if u[6] & 0x5: - s += '\n' - if u[6] & 0x1: - s += ' L1C/A' - if u[6] & 0x4: - s += ' L1SAIF' - if 6 == sat: - # Glonass - if u[6] & 0x1: - s += '\n L1OF' - if u[4] & 0x01: - s += ' enabled' - - i += 1 - return s - - def cfg_nav5(self, buf): - "UBX-CFG-NAV5 nav Engine Settings" - m_len = len(buf) - if 36 > m_len: - return "Bad Length %s" % m_len - - u = struct.unpack_from('<HBBlLbBHHHHbbbbHHb', buf, 0) - s = (' mask %#x dynModel %u fixmode %d fixedAlt %d FixedAltVar %u\n' - ' minElev %d drLimit %u pDop %u tDop %u pAcc %u tAcc %u\n' - ' staticHoldThresh %u dgpsTimeOut %u cnoThreshNumSVs %u\n' - ' cnoThresh %u res %u staticHoldMacDist %u utcStandard %u' % u) - return s - - def cfg_msg(self, buf): - "UBX-CFG-MSG decode " - m_len = len(buf) - if 2 == m_len: - u = struct.unpack_from('<BB', buf, 0) - return ' Rate request: %s' % self.class_id_s(u[0], u[1]) - - if 3 == m_len: - u = struct.unpack_from('<BBB', buf, 0) - return (' Rate set: %s Rate:%d' % - (self.class_id_s(u[0], u[1]), u[2])) - - if 8 != m_len: - return "Bad Length %s" % m_len - - u = struct.unpack_from('<BBBBBBBB', buf, 0) - s = (' %s Rates: %u %u %u %u %u %u' % - (self.class_id_s(u[0], u[1]), u[2], u[3], u[4], u[5], u[6], u[7])) - return s - - def cfg_pms(self, buf): - "UBX-CFG-PMS decode, Power Mode Setup" - - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 8 > m_len: - return "Bad Length %s" % m_len - - values = {0: "Full power", - 1: "Balanced", - 2: "Interval", - 3: "Aggresive with 1Hz", - 4: "Aggresive with 2Hz", - 5: "Aggresive with 4Hz", - 0xff: "Invalid" - } - u = struct.unpack_from('<BBHHBB', buf, 0) - s = (' version: %u powerSetupValue: %u' - ' period: %u onTime: %#x reserved1[%u %u]' % u) - if u[0] in values: - s += "\n powerSetupValue: %s" % values[u[0]] - - return s - - def cfg_prt(self, buf): - "UBX-CFG-PRT decode" - - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 1 == m_len: - return " Poll request PortID %d" % buf[0] - - if 20 > m_len: - return "Bad Length %s" % m_len - - u = struct.unpack_from('<BBHLLHHH', buf, 0) - s = (' PortID: %u reserved1 %u\n' - ' txReady: %#x mode: %#x baudRate: %u inProtoMask: %#x' - ' outProtoMask: %#x\n flags: %#x' % u) - return s - - def cfg_sbas(self, buf): - "UBX-CFG-SBAS decode" - - m_len = len(buf) - if 8 > m_len: - return "Bad Length %s" % m_len - - u = struct.unpack_from('<BBBBL', buf, 0) - return (' mode: %#x usage: %#x maxSBAS: %u scanMode2: %#x' - ' scanMode1: %#x' % u) - - def cfg_tmode2(self, buf): - "UBX-CFG-TMODE2 decode, Time Mode Settings 2" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 28 > m_len: - return "Bad Length %s" % m_len - - u = struct.unpack_from('<BBHlllLLL', buf, 0) - s = (' timeMode: %u reserved1: %u usage: %#x\n' - ' ecefXOrLat: %d ecefYOrLon: %d ecefZOrLon: %d\n' - ' fixeedPosAcc %u svinMinDur %u svinAccLimit %u\n' % u) - return s - - def cfg_tp5(self, buf): - "UBX-CFG-TP5 decode, Time Pulse Parameters" - m_len = len(buf) - if 0 == m_len: - return " Poll request tpIdx 0" - - if 1 == m_len: - return " Poll request tpIdx %d" % buf[0] - - if 32 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<BBhhhLLLLLL', buf, 0) - s = ('tpIdx: %u, version: %u reserved1[%u %u]\n' - ' antCableDelay: %u rfGroupDelay %u freqPeriod: %u ' - 'freqPeriod %u\n' - ' pulseLenRatio: %u pulseLenRationLock %u userConfigDelay: %u\n' - 'Flags: %#x\n ' % u) - - if 0x01 & u[10]: - s += 'active, ' - else: - s += 'inactive, ' - if 0x02 & u[10]: - s += 'lockGnsFreq, ' - if 0x04 & u[10]: - s += 'lockedOtherSet, ' - if 0x08 & u[10]: - s += 'is frequency, ' - else: - s += 'is period, ' - if 0x10 & u[10]: - s += 'is pulse length\n ' - else: - s += 'is duty cycle\n ' - if 0x20 & u[10]: - s += 'alignToTow, ' - if 0x40 & u[10]: - s += 'rising, ' - else: - s += 'falling, ' - gridToGps = (u[10] >> 7) & 0x0f - gridToGpsDec = ('UTC', 'GPS', 'Glonass', 'BeiDou') - syncMode = (u[10] >> 11) & 0x03 - s += "gridToGps %s, syncMode %d " % (gridToGpsDec[gridToGps], syncMode) - - return s - - def cfg_usb(self, buf): - "UBX-CFG-USB decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 108 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<HHHHHH', buf, 0) - s = (' vendorID: %#x productID: %#x reserved1[%u %u]' - ' reserved2[%u %u]\n' - ' powerConsumption %u mA flags: %#x ' % u) - if 0x01 & u[5]: - s += "reEnum, " - if 0x02 & u[5]: - s += "self-powered" - else: - s += "bus-powered" - - s += '\nvendorString: %s\n' % gps.polystr(buf[12:43]) - s += 'productString: %s\n' % gps.polystr(buf[44:75]) - s += 'serialNumber: %s' % gps.polystr(buf[76:107]) - return s - - cfg_ids = {0: {'str': 'PRT', 'dec': cfg_prt, 'name': 'UBX-CFG-PRT'}, - 1: {'str': 'MSG', 'dec': cfg_msg, 'name': 'UBX-CFG-MSG'}, - 2: {'str': 'INF', 'name': 'UBX-CFG-INF'}, - 4: {'str': 'RST', 'name': 'UBX-CFG-RST'}, - 6: {'str': 'DAT', 'name': 'UBX-CFG-DAT'}, - 8: {'str': 'RATE', 'name': 'UBX-CFG-RATE'}, - 9: {'str': 'CFG', 'dec': cfg_cfg, 'name': 'UBX-CFG-CFG'}, - 0x11: {'str': 'RXM', 'name': 'UBX-CFG-RXM'}, - 0x13: {'str': 'ANT', 'dec': cfg_ant, 'name': 'UBX-CFG-ANT'}, - 0x16: {'str': 'SBAS', 'dec': cfg_sbas, 'name': 'UBX-CFG-SBAS'}, - 0x17: {'str': 'NMEA', 'name': 'UBX-CFG-NMEA'}, - 0x1b: {'str': 'USB', 'dec': cfg_usb, 'name': 'UBX-CFG-USB'}, - 0x1e: {'str': 'ODO', 'name': 'UBX-CFG-ODO'}, - 0x23: {'str': 'NAVX5', 'name': 'UBX-CFG-NAVX5'}, - 0x24: {'str': 'NAV5', 'dec': cfg_nav5, 'name': 'UBX-CFG-NAV5'}, - 0x31: {'str': 'TP5', 'dec': cfg_tp5, 'name': 'UBX-CFG-TP5'}, - 0x34: {'str': 'RINV', 'name': 'UBX-CFG-RINV'}, - 0x39: {'str': 'ITFM', 'name': 'UBX-CFG-ITFM'}, - 0x3b: {'str': 'PM2', 'name': 'UBX-CFG-PM2'}, - 0x3d: {'str': 'TMODE2', 'dec': cfg_tmode2, - 'name': 'UBX-CFG-TMODE2'}, - 0x3e: {'str': 'GNSS', 'dec': cfg_gnss, 'name': 'UBX-CFG-GNSS'}, - 0x47: {'str': 'LOGFILTER', 'name': 'UBX-CFG-LOGFILTER'}, - 0x53: {'str': 'TXSLOT', 'name': 'UBX-CFG-TXSLOT'}, - 0x57: {'str': 'PWR', 'name': 'UBX-CFG-PWR'}, - 0x5c: {'str': 'HNR', 'name': 'UBX-CFG-HNR'}, - 0x60: {'str': 'ESRC', 'name': 'UBX-CFG-ESRC'}, - 0x61: {'str': 'DOSC', 'name': 'UBX-CFG-OSC'}, - 0x62: {'str': 'SMGR', 'name': 'UBX-CFG-SMGR'}, - 0x69: {'str': 'GEOFENCE', 'name': 'UBX-CFG-GEOFENCE'}, - 0x70: {'str': 'DGNSS', 'name': 'UBX-CFG-DGNSS'}, - 0x71: {'str': 'TMODE3', 'name': 'UBX-CFG-TMODE3'}, - 0x84: {'str': 'FIXSEED', 'name': 'UBX-CFG-FIXSEED'}, - 0x85: {'str': 'DYNSEED', 'name': 'UBX-CFG-DYNSEED'}, - 0x86: {'str': 'PMS', 'dec': cfg_pms, 'name': 'UBX-CFG-PMS'}, - } - - def inf_debug(self, buf): - "UBX-INF-DEBUG decode" - return ' Debug: ' + gps.polystr(buf) - - def inf_error(self, buf): - "UBX-INF-ERROR decode" - return ' Error: ' + gps.polystr(buf) - - def inf_notice(self, buf): - "UBX-INF-NOTICE decode" - return ' Notice: ' + gps.polystr(buf) - - def inf_test(self, buf): - "UBX-INF-TET decode" - return ' Test: ' + gps.polystr(buf) - - def inf_warning(self, buf): - "UBX-INF-WARNING decode" - return ' Warning: ' + gps.polystr(buf) - - inf_ids = {0x0: {'str': 'ERROR', 'dec': inf_error, - 'name': 'UBX-INF-ERROR'}, - 0x1: {'str': 'WARNING', 'dec': inf_warning, - 'name': 'UBX-INF-WARNING'}, - 0x2: {'str': 'NOTICE', 'dec': inf_notice, - 'name': 'UBX-INF-NOTICE'}, - 0x3: {'str': 'TEST', 'dec': inf_test, - 'name': 'UBX-INF-TEST'}, - 0x4: {'str': 'DEBUG', 'dec': inf_debug, - 'name': 'UBX-INF-DEBUG'}, - } - - def mon_ver(self, buf): - "UBX-MON-VER decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 40 > m_len: - return " Bad Length %s" % m_len - - substr = buf.split('\0')[0] - s = ' swVersion: %s\n' % (substr) - substr = buf[30:39] - substr = substr.split('\0')[0] - s += ' hwVersion: %s' % (substr[30:39]) - # extensions?? - num_ext = int((m_len - 40) / 30) - i = 0 - while i < num_ext: - loc = 40 + (i * 30) - substr = buf[loc:] - substr = substr.split('\0')[0] - s += '\n extension: %s' % (substr) - i += 1 - return s - - mon_ids = {2: {'str': 'IO', 'name': 'UBX-MON-IO'}, - 4: {'str': 'VER', 'dec': mon_ver, 'name': 'UBX-MON-VER'}, - 6: {'str': 'MSGPP', 'name': 'UBX-MON-MSGPP'}, - 7: {'str': 'RXBUF', 'name': 'UBX-MON-RXBUF'}, - 8: {'str': 'TXBUF', 'name': 'UBX-MON-TXBUF'}, - 9: {'str': 'HW', 'name': 'UBX-MON-HW'}, - 0x0b: {'str': 'HW2', 'name': 'UBX-MON-HW2'}, - 0x21: {'str': 'RXR', 'name': 'UBX-MON-RXR'}, - 0x27: {'str': 'PATCH', 'name': 'UBX-MON-PATCH'}, - 0x28: {'str': 'GNSS', 'name': 'UBX-MON-GNSS'}, - 0x2e: {'str': 'SMGR', 'name': 'UBX-MON-SMGR'}, - } - - def nav_clock(self, buf): - "UBX-NAV-CLOCK decode, Clock Solution" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 20 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LllLL', buf, 0) - return (' iTOW:%d ms, clkB:%d ns clkD:%d ns/s tAcc:%d ns,' - 'fAcc:%d ns/s' % u) - - def nav_dgps(self, buf): - "UBX-NAV-DGPS decode, DGPS Data used for NAV" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 16 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LlhhBBBB', buf, 0) - s = (' iTOW:%d ms, age:%d ms, baseID:%d basehealth:%d numCh:%d\n' - ' status:%#x reserved1[%u %u]' % u) - - m_len -= 16 - i = 0 - while 0 < m_len: - u = struct.unpack_from('<BbHff', buf, 16 + i * 12) - # dunno how to do R4 - s += ('\n svid %3u flags %#4x ageC:%d ms prc:%f prcc:%f' % u) - m_len -= 12 - i += 1 - - return s - - def nav_dop(self, buf): - "UBX-NAV-DOP decode, Dilution of Precision" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 18 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<Lhhhhhhh', buf, 0) - s = (' iTOW:%d ms, gDOP:%.2f pDOP:%.2f tDOP:%.2f vDOP:%.2f\n' - ' hDOP:%.2f nDOP:%.2f eDOP:%.2f' % - (u[0], u[1] / 100.0, u[2] / 100.0, u[3] / 100.0, - u[4] / 100.0, u[5] / 100.0, u[6] / 100.0, u[7] / 100.0)) - return s - - def nav_navx5(self, buf): - "UBX-CFG-NAVX5 decode" - - # length == 20 case seems broken? - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 20 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<HHLHBBBBBHBH', buf, 0) - s = (' version %u mask1 %#x mask2 %#x minSVs %d maxSVs %d minCNO %u\n' - ' iniFix3D %u ackAiding %u wknRollover %u' % - (u[0], u[1], u[2], u[4], u[5], u[6], u[8], u[10], u[11])) - - if 40 <= m_len: - u = struct.unpack_from('<BBHHLHBB', buf, 20) - s = ('\n usePPP %d aopCfg %d aopOrbMaxErr %u useAdr %u' % - (u[0], u[1], u[3], u[7])) - return s - - def nav_posecef(self, buf): - "UBX-NAV-POSECEF decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 20 != m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LlllL', buf, 0) - return ' iTOW:%d ms, ecefX:%d cm Y:%d cm Z:%d cm\n pAcc:%d cm' % u - - def nav_pvt(self, buf): - "UBX-NAV-PVT decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 92 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LHBBBBBBLlBBBBllllLLlllllLLHbbbbbblhH', - buf, 0) - s = (' iTOW %d ms, time %d/%d/%d %2d:%2d:%2d valid %#x\n' - ' tAcc %d ns nano %d fixType %d flags %#x flags2 %#x\n' - ' numSV %d lon %.7f lat %.7f height %.3f\n' - ' hMSL %.3f hAcc %.3f' % - (u[0], u[1], u[2], u[3], u[4], u[5], u[6], u[7], - u[8], u[9], u[10], u[11], u[12], - u[13], u[14] * 10e-7, u[15] * 10e-7, u[16] / 1000, - u[17] / 1000, u[18] / 1000)) - return s - - def nav_sat(self, buf): - "UBX-NAV-SAT decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 8 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LBB', buf, 0) - s = ' iTOW %d ms, version %d numSvs %d' % u - - m_len -= 8 - i = 0 - while 0 < m_len: - u = struct.unpack_from('<BBBbhhL', buf, 8 + i * 12) - s += ('\n gnssd %d svid %3d cno %2d elev %3d azim %3d prRes %6d' - ' flags %#x\n' % u) - if 0 < u[6]: - s += ' ' - s += 'qualityInd %u ' % (0x07 & u[6]) - if 8 & u[6]: - s += 'svUsed ' - s += 'health %u ' % (0x03 & (u[6] >> 4)) - if 0x40 & u[6]: - s += 'diffCorr ' - if 0x80 & u[6]: - s += 'smoothed ' - s += 'orbitSource %u ' % (0x07 & (u[6] >> 8)) - if 0x800 & u[6]: - s += 'ephAvail ' - if 0x1000 & u[6]: - s += 'almAvail ' - if 0x2000 & u[6]: - s += 'anoAvail ' - if 0x4000 & u[6]: - s += 'aopAvail ' - - if 0x730000 & u[6]: - s += '\n' - if 0x10000 & u[6]: - s += 'sbasCorrused ' - if 0x20000 & u[6]: - s += 'rtcmCorrused ' - if 0x1000000 & u[6]: - s += 'prCorrused ' - if 0x2000000 & u[6]: - s += 'crCorrused ' - if 0x4000000 & u[6]: - s += 'doCorrused ' - m_len -= 12 - i += 1 - - return s - - def nav_sbas(self, buf): - "UBX-NAV-SBAS decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 12 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LBBbBb', buf, 0) - s = (' iTOW:%d ms, geo:%u mode:%#x, sys:%#x service:%#x cnt:%d' % u) - - m_len -= 12 - i = 0 - while 0 < m_len: - u = struct.unpack_from('<BBBBBBhhh', buf, 12 + (i * 12)) - s += ('\n svid %3d flags %#4x udre:%#2x svSys:%3d syService:%2d' - ' prc:%3d ic:%3d' % - (u[0], u[1], u[2], u[3], u[4], u[6], u[8])) - if 0x0f & u[4]: - s += '\n svService: ' - if 1 & u[4]: - s += 'Ranging ' - if 2 & u[4]: - s += 'Corrections ' - if 4 & u[4]: - s += 'Integrity ' - if 8 & u[4]: - s += 'Testmode' - m_len -= 12 - i += 1 - - return s - - fix_types = ('None', 'Dead Reckoning', '2D', '3D', 'GPS+DR', 'Surveyed') - - def nav_sol(self, buf): - "UBX-NAV-SOL decode deprecated by u-blox" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 52 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LlhBBlllLlllLHBBBBB', buf, 0) - s = (' iTOW:%u ms, fTOW %u ns, week:%d gpsFix:%d flags:%#x\n' - ' ECEF X:%.3f Y:%.3f Z:%.3f pAcc:%.3f\n' - ' VECEF X:%.3f Y:%.3f Z:%.3f vAcc:%.3f\n' - ' pDOP:%.2f numSV:%d' % - (u[0], u[1], u[2], u[3], u[4], - u[5] / 100.0, u[6] / 100.0, u[7] / 100.0, u[8] / 100.0, - u[9] / 100.0, u[10] / 100.0, u[11] / 100.0, u[12] / 100.0, - u[13] / 100.0, u[15])) - if u[3] < len(self.fix_types): - s += '\n gpsFix: ' + self.fix_types[u[3]] - if 0x0f & u[4]: - s += '\n flags: ' - if 1 & u[4]: - s += 'GPSfixOK ' - if 2 & u[4]: - s += 'DiffSoln ' - if 4 & u[4]: - s += 'WKNSET ' - if 8 & u[4]: - s += 'TOWSET' - return s - - def nav_status(self, buf): - "UBX-NAV-STATUS decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 16 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LBBBBLL', buf, 0) - return (' iTOW:%d ms, fix:%d flags:%#x fixstat:%#x flags2:%#x\n' - ' ttff:%d, msss:%d' % u) - - def nav_svin(self, buf): - "UBX-NAV-SVIN decode, Survey-in data" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 40 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<BBBBLLlllbbbBLLBB', buf, 0) - return (' version %u reserved1[%u %u %u] iTOW %u dur %u\n' - ' meanX %d meanY %d meanZ %d\n' - ' meanXHP %d meanYHP %d meanZHP %d reserved2 %u meanAcc %u\n' - ' obs %u valid %u active %u\n' % u) - - def nav_svinfo(self, buf): - "UBX-NAV-SVINFO decode" - m_len = len(buf) - if 0 == m_len: - return "Poll request" - - if 8 > m_len: - return "Bad Length %s" % m_len - - u = struct.unpack_from('<Lbb', buf, 0) - s = ' iTOW:%d ms, numCh:%d globalFlags:%d' % u - - m_len -= 8 - i = 0 - while 0 < m_len: - u = struct.unpack_from('<BBBBBbhl', buf, 8 + i * 12) - s += ('\n chn %3d svid %3d flags %#0.2x quality %#x cno %2d' - ' elev %3d azim %3d prRes %6d' % u) - if 0 < u[2]: - s += '\n ' - if 1 & u[2]: - s += 'svUsed ' - if 2 & u[2]: - s += 'diffCorr ' - if 4 & u[2]: - s += 'orbitAvail ' - if 8 & u[2]: - s += 'orbitEph ' - if 0x10 & u[2]: - s += 'unhealthy ' - if 0x20 & u[2]: - s += 'orbitAlm ' - if 0x40 & u[2]: - s += 'orbitAop ' - if 0x80 & u[2]: - s += 'smoothed ' - m_len -= 12 - i += 1 - - return s - - def nav_timebds(self, buf): - "UBX-NAV-TIMEBDS decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 20 > m_len: - return ".Bad Length %s" % m_len - - u = struct.unpack_from('<LLlhbBL', buf, 0) - return (' iTOW:%d ms, SOW:%d fSOW:%d week %d leapS:%d Valid:%#x\n' - 'tAcc:%d ns' % u) - - def nav_timegal(self, buf): - "UBX-NAV-TIMEGAL decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 20 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LLlhbBL', buf, 0) - return (' iTOW:%d ms, galTOW:%.9f galWno:%d leapS:%d Valid:%#x\n' - ' tAcc:%d ns' % - (u[0], u[1] + (u[2] * 10e-9), u[3], u[4], u[5], u[6])) - - def nav_timegps(self, buf): - "UBX-NAV-TIMEGPS decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 16 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LlhbBL', buf, 0) - s = (' iTOW:%u ms, fTOW:%u ns, week:%d leapS:%d valid:%#x tAcc:%d ns' % - u) - if 0x07 & u[4]: - s += '\n valid: ' - if 1 & u[4]: - s += 'towValid ' - if 2 & u[4]: - s += 'weekValid ' - if 4 & u[4]: - s += 'leapValid ' - return s - - def nav_timeutc(self, buf): - "UBX-NAV-TIMEUTC decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 20 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LLlHbbbbbb', buf, 0) - return (' iTOW:%d ms, tAcc:%d ns nano:%d ns Time: %d/%d/%d %d:%d:%d\n' - ' valid:%#x' % u) - - def nav_velecef(self, buf): - "UBX-NAV-VELECEF decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 20 != m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LlllL', buf, 0) - return (' iTOW:%d ms,' - ' ecefVX:%.2f m/s VY:%.2f m/s VZ:%.2f m/s vAcc:%.2f m/s' % - (u[0], u[1] / 100.0, u[2] / 100.0, u[3] / 100.0, - u[4] / 100.0)) - - def nav_velned(self, buf): - "UBX-NAV-VELNED decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 36 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LlllLLlLL', buf, 0) - return (' iTOW:%d ms,' - ' velN:%d cm/s velE:%d cm/s velD:%d cm/s speed:%d cm/s\n' - ' gspeed:%d cm/s heading:%f cm/s sAcc:%d cm/s cAcc:%d deg' % - (u[0], u[1], u[2], u[3], u[4], u[5], u[6] * 1e-5, - u[7], u[8] * 1e-5)) - - nav_ids = {1: {'str': 'POSECEF', 'dec': nav_posecef, - 'name': 'UBX-NAV-POSECEF'}, - 2: {'str': 'POSLLH', 'name': 'UBX-NAV-POSLLH'}, - 3: {'str': 'STATUS', 'dec': nav_status, - 'name': 'UBX-NAV-STATUS'}, - 0x4: {'str': 'DOP', 'dec': nav_dop, 'name': 'UBX-NAV-DOP'}, - 0x5: {'str': 'ATT', 'name': 'UBX-NAV-ATT'}, - 0x6: {'str': 'SOL', 'dec': nav_sol, 'name': 'UBX-NAV-SOL'}, - 0x7: {'str': 'PVT', 'dec': nav_pvt, 'name': 'UBX-NAV-PVT'}, - 0x9: {'str': 'ODO', 'name': 'UBX-NAV-ODO'}, - 0x10: {'str': 'RESETODO', 'name': 'UBX-NAV-RESETODO'}, - 0x11: {'str': 'VELECEF', 'dec': nav_velecef, - 'name': 'UBX-NAV-VELECEF'}, - 0x12: {'str': 'VELNED', 'dec': nav_velned, - 'name': 'UBX-NAV-VELNED'}, - 0x13: {'str': 'HPPOSECEF', 'name': 'UBX-NAV-HPPOSECEF'}, - 0x14: {'str': 'HPPOSLLH', 'name': 'UBX-NAV-HPPOSLLH'}, - 0x20: {'str': 'TIMEGPS', 'dec': nav_timegps, - 'name': 'UBX-NAV-TIMEGPS'}, - 0x21: {'str': 'TIMEUTC', 'dec': nav_timeutc, - 'name': 'UBX-NAV-TIMEUTC'}, - 0x22: {'str': 'CLOCK', 'dec': nav_clock, - 'name': 'UBX-NAV-CLOCK'}, - 0x23: {'str': 'NAVX5', 'dec': nav_navx5, - 'name': 'UBX-NAV-NAVX5'}, - 0x24: {'str': 'TIMEBDS', 'dec': nav_timebds, - 'name': 'UBX-NAV-TIMEBDS'}, - 0x25: {'str': 'TIMEGAL', 'dec': nav_timegal, - 'name': 'UBX-NAV-TIMEGAL'}, - 0x26: {'str': 'TIMEGLO', 'name': 'UBX-NAV-TIMEGLO'}, - 0x30: {'str': 'SVINFO', 'dec': nav_svinfo, - 'name': 'UBX-NAV-SVINFO'}, - 0x31: {'str': 'DGPS', 'dec': nav_dgps, 'name': 'UBX-NAV-DGPS'}, - 0x32: {'str': 'SBAS', 'dec': nav_sbas, 'name': 'UBX-NAV-SBAS'}, - 0x34: {'str': 'ORB', 'name': 'UBX-NAV-ORB'}, - 0x35: {'str': 'SAT', 'dec': nav_sat, 'name': 'UBX-NAV-SAT'}, - 0x39: {'str': 'GEOFENCE', 'name': 'UBX-NAV-GEOFENCE'}, - 0x3B: {'str': 'SVIN', 'dec': nav_svin, 'name': 'UBX-NAV-SVIN'}, - 0x3C: {'str': 'RELPOSNED', 'name': 'UBX-NAV-RELPOSNED'}, - 0x60: {'str': 'AOPSTATUS', 'name': 'UBX-NAV-AOPSTATUS'}, - 0x61: {'str': 'EOF', 'name': 'UBX-NAV-EOF'}, - } - - def rxm_raw(self, buf): - "UBX-RXM-RAW decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 8 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LlhhBBBB', buf, 0) - s = ' iTOW:%d ms weeks:%d numSV:%d' % u - - m_len -= 8 - i = 0 - while 0 < m_len: - u = struct.unpack_from('<ddfBbbB', buf, 8 + i * 24) - s += ('\n cpMes:%f prMes:%f doMes:%f sv:%d mesQI:%d\n' - ' eno:%d lli:%d' % u) - m_len -= 24 - i += 1 - - return s - - def rxm_rawx(self, buf): - "UBX-RXM-RAWX decode" - m_len = len(buf) - if 16 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<dHbBBB', buf, 0) - s = (' rcvTow %.3f week %u leapS %d numMeas %u recStat %#x' - ' version %u' % u) - - m_len -= 16 - i = 0 - while 0 < m_len: - u = struct.unpack_from('<ddfBBBBHBBBBB', buf, 16 + i * 32) - s += ('\n prmes %.3f cpMes %.3f doMes %f\n' - ' gnssID %u svId %u %u freqId %u locktime %u cno %u\n' - ' prStdev %u, cpStdev %u doStdev %u trkStat %u' % u) - m_len -= 32 - i += 1 - return s - - def rxm_sfrb(self, buf): - "UBX-RXM-SFRB decode, Subframe Buffer" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 42 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<BBLLLLLLLLLL', buf, 0) - s = (' chn:%d s svid %3d\n' - ' dwrd:%08x %08x %08x %08x %08x\n' - ' %08x %08x %08x %08x %08x' % u) - - return s - - def rxm_sfrbx(self, buf): - "UBX-RXM-SFRBX decode, Broadcast Navigation Data Subframe" - m_len = len(buf) - - if 8 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<BBBBBBBB', buf, 0) - s = (' gnssId:%u svId %3u reserved1 %u freqId %u numWords %u\n' - ' reserved2 %u version %u reserved3 %u\n' % u) - s += ' dwrd' - for i in range(8, m_len - 1, 4): - u = struct.unpack_from('<L', buf, i) - s += " %08x" % u - - return s - - def rxm_svsi(self, buf): - "UBX-RXM-SVSI decode, SV Status Info" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 8 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LhBB', buf, 0) - s = ' iTOW:%d ns week:%d numVis:%d numSV:%d' % u - - m_len -= 8 - i = 0 - while 0 < m_len: - u = struct.unpack_from('<BBhbB', buf, 8 + i * 6) - s += '\n svid:%3d svFlag:%#x azim:%3d elev:% 3d age:%3d' % u - m_len -= 6 - i += 1 - - return s - - rxm_ids = {0x10: {'str': 'RAW', 'dec': rxm_raw, - 'name': 'UBX-RXM-RAW'}, # obsolete - 0x11: {'str': 'SFRB', 'dec': rxm_sfrb, - 'name': 'UBX-RXM-SFRB'}, - 0x13: {'str': 'SFRBX', 'dec': rxm_sfrbx, - 'name': 'UBX-RXM-SFRBX'}, - 0x14: {'str': 'MEASX', 'name': 'UBX-RXM-MEASX'}, - 0x15: {'str': 'RAWX', 'dec': rxm_rawx, 'name': 'UBX-RXM-RAWX'}, - 0x20: {'str': 'SVSI', 'dec': rxm_svsi, 'name': 'UBX-RXM-SVSI'}, - 0x32: {'str': 'RTCM', 'name': 'UBX-RXM-RTCM'}, - 0x41: {'str': 'PMREQ', 'name': 'UBX-RXM-PMREQ'}, - 0x59: {'str': 'RLM', 'name': 'UBX-RXM-RLM'}, - 0x61: {'str': 'IMES', 'name': 'UBX-RXM-IMES'}, - } - - def tim_svin(self, buf): - "UBX-TIM-SVIN decode, Survey-in data" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 28 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LlllLLBB', buf, 0) - s = (' dur %u meanX %d meanY %d meanZ %d\n' - ' meanV %u obs %u valid %u active %u' % u) - return s - - def tim_tp(self, buf): - "UBX-TIM-TP decode" - m_len = len(buf) - if 0 == m_len: - return " Poll request" - - if 16 > m_len: - return " Bad Length %s" % m_len - - u = struct.unpack_from('<LLlHbb', buf, 0) - s = (' towMS:%u ms, towSubMS:%u qErr:%d ps, week:%d\n' - ' flags:%#x refInfo:%#x\n flags: ' % u) - - if 0x01 & u[4]: - s += "timeBase is UTC, " - else: - s += "timeBase is GNSS, " - if 0x02 & u[4]: - s += "UTC available, " - else: - s += "UTC not available, " - - raim = (u[4] >> 2) & 0x03 - if 0 == raim: - s += "RAIM not available" - elif 1 == raim: - s += "RAIM not active" - elif 2 == raim: - s += "RAIM active" - else: - s += "RAIM ??" - return s - - tim_ids = {1: {'str': 'TP', 'dec': tim_tp, 'name': 'UBX-TIM-TP'}, - 3: {'str': 'TM2', 'name': 'UBX-TIM-TM2'}, - 4: {'str': 'SVIN', 'dec': tim_svin, 'name': 'UBX-TIM-SVIN'}, - 6: {'str': 'VRFY', 'name': 'UBX-TIM-VRFY'}, - 0x11: {'str': 'DOSC', 'name': 'UBX-TIM-DOSC'}, - 0x12: {'str': 'TOS', 'name': 'UBX-TIM-TOS'}, - 0x13: {'str': 'SMEAS', 'name': 'UBX-TIM-SMEAS'}, - 0x15: {'str': 'VCOCAL', 'name': 'UBX-TIM-VCOCAL'}, - 0x16: {'str': 'FCHG', 'name': 'UBX-TIM-FCHG'}, - 0x17: {'str': 'HOC', 'name': 'UBX-TIM-HOC'}, - } - - classes = { - 0x01: {'str': 'NAV', 'ids': nav_ids}, - 0x02: {'str': 'RXM', 'ids': rxm_ids}, - 0x04: {'str': 'INF', 'ids': inf_ids}, - 0x05: {'str': 'ACK', 'ids': ack_ids}, - 0x06: {'str': 'CFG', 'ids': cfg_ids}, - 0x09: {'str': 'UPD'}, - 0x0A: {'str': 'MON', 'ids': mon_ids}, - 0x0B: {'str': 'ATD'}, - 0x0D: {'str': 'TIM', 'ids': tim_ids}, - 0x10: {'str': 'ESF'}, - 0x13: {'str': 'MGA'}, - 0x21: {'str': 'LOG'} - } - - def class_id_s(self, m_class, m_id): - "Return class and ID numbers as a string." - s = 'Class: ' - if m_class not in self.classes: - s += '%#x ID: %#x' % (m_class, m_id) - return s - - if 'str' in self.classes[m_class]: - s_class = self.classes[m_class]['str'] - s += '%s(%#x) ' % (s_class, m_class) - else: - s += '%#x ' % (m_class) - - if (('ids' in self.classes[m_class] and - m_id in self.classes[m_class]['ids'] and - 'str' in self.classes[m_class]['ids'][m_id])): - s_id = self.classes[m_class]['ids'][m_id]['str'] - s += 'ID: %s(%#x)' % (s_id, m_id) - else: - s += 'ID: %#x' % (m_id) - - return s - - def decode_msg(self, out): - "Decode one message and then return number of chars consumed" - - state = 'BASE' - consumed = 0 - - # decode state machine - for this_byte in out: - consumed += 1 - if isinstance(this_byte, str): - # a character, probably read from a file - c = ord(this_byte) - else: - # a byte, probably read from a serial port - c = int(this_byte) - - if VERB_RAW <= opts['verbosity']: - if (ord(' ') <= c) and (ord('~') >= c): - # c is printable - print("state: %s char %c (%#x)" % (state, chr(c), c)) - else: - # c is not printable - print("state: %s char %#x" % (state, c)) - - if 'BASE' == state: - # start fresh - # place to store 'comments' - comment = '' - m_class = 0 - m_id = 0 - m_len = 0 - m_raw = bytearray(0) # class, id, len, payload - m_payload = bytearray(0) # just the payload - m_ck_a = 0 - m_ck_b = 0 - - if 0xb5 == c: - # got header 1, mu - state = 'HEADER1' - - if ord('$') == c: - # got $, so NMEA? - state = 'NMEA' - comment = '$' - - if ord("{") == c: - # JSON, treat as comment line - state = 'JSON' - - # start fresh - comment = "{" - continue - - if ord("#") == c: - # comment line - state = 'COMMENT' - - # start fresh - comment = "#" - continue - - if (ord('\n') == c) or (ord('\r') == c): - # CR or LF, leftovers - return 1 - continue - - if state in ('COMMENT', 'JSON'): - # inside comment - if ord('\n') == c or ord('\r') == c: - # Got newline or linefeed - # terminate messages on <CR> or <LF> - # Done, got a full message - if gps.polystr('{"class":"ERROR"') in comment: - # always print gpsd errors - print(comment) - elif VERB_DECODE <= opts['verbosity']: - print(comment) - return consumed - else: - comment += chr(c) - continue - - if 'NMEA' == state: - # getting NMEA payload - if (ord('\n') == c) or (ord('\r') == c): - # CR or LF, done, got a full message - # terminates messages on <CR> or <LF> - if VERB_DECODE <= opts['verbosity']: - print(comment + '\n') - return consumed - else: - comment += chr(c) - continue - - if ord('b') == c and 'HEADER1' == state: - # got header 2 - state = 'HEADER2' - continue - - if 'HEADER2' == state: - # got class - state = 'CLASS' - m_class = c - m_raw.extend([c]) - continue - - if 'CLASS' == state: - # got ID - state = 'ID' - m_id = c - m_raw.extend([c]) - continue - - if 'ID' == state: - # got first length - state = 'LEN1' - m_len = c - m_raw.extend([c]) - continue - - if 'LEN1' == state: - # got second length - m_raw.extend([c]) - m_len += 256 * c - if 0 == m_len: - # no payload - state = 'CSUM1' - else: - state = 'PAYLOAD' - continue - - if 'PAYLOAD' == state: - # getting payload - m_raw.extend([c]) - m_payload.extend([c]) - if len(m_payload) == m_len: - state = 'CSUM1' - continue - - if 'CSUM1' == state: - # got ck_a - state = 'CSUM2' - m_ck_a = c - continue - - if 'CSUM2' == state: - # ck_b - state = 'BASE' - m_ck_b = c - # check checksum - chk = self.checksum(m_raw, len(m_raw)) - if (chk[0] != m_ck_a) or (chk[1] != m_ck_b): - sys.stderr.write("%s: ERROR checksum failed," - "was (%d,%d) s/b (%d, %d)\n" % - (PROG_NAME, m_ck_a, m_ck_b, - chk[0], chk[1])) - - s_payload = ''.join('{:02x} '.format(x) for x in m_payload) - x_payload = binascii.hexlify(m_payload) - - if m_class in self.classes: - this_class = self.classes[m_class] - if 'ids' in this_class: - if m_id in this_class['ids']: - if 'dec' in this_class['ids'][m_id]: - dec = this_class['ids'][m_id]['dec'] - s_payload = this_class['ids'][m_id]['name'] - s_payload += ':\n' - s_payload += dec(self, m_payload) - else: - s_payload = x_payload - - if VERB_INFO < opts['verbosity']: - print("%s, len: %#x" % - (self.class_id_s(m_class, m_id), m_len)) - if VERB_RAW < opts['verbosity']: - print("payload: %s" % x_payload) - print("%s\n" % s_payload) - return consumed - - # give up - state = 'BASE' - - # fell out of loop, no more chars to look at - return 0 - - def checksum(self, msg, m_len): - "Calculate u-blox message checksum" - # the checksum is calculated over the Message, starting and including - # the CLASS field, up until, but excluding, the Checksum Field: - - ck_a = 0 - ck_b = 0 - for c in msg[0:m_len]: - ck_a += c - ck_b += ck_a - - return [ck_a & 0xff, ck_b & 0xff] - - def make_pkt(self, m_class, m_id, m_data): - "Make a message packet" - # always little endian, leader, class, id, length - m_len = len(m_data) - - # build core message - msg = bytearray(m_len + 6) - struct.pack_into('<BBH', msg, 0, m_class, m_id, m_len) - - # copy payload into message buffer - i = 0 - while i < m_len: - msg[i + 4] = m_data[i] - i += 1 - - # add checksum - chk = self.checksum(msg, m_len + 4) - m_chk = bytearray(2) - struct.pack_into('<BB', m_chk, 0, chk[0], chk[1]) - - header = b"\xb5\x62" - return header + msg[:m_len+4] + m_chk - - def gps_send(self, m_class, m_id, m_data): - "Build, and send, a message to GPS" - m_all = self.make_pkt(m_class, m_id, m_data) - self.gps_send_raw(m_all) - - def gps_send_raw(self, m_all): - "Send a raw message to GPS" - if not opts['read_only']: - io_handle.ser.write(m_all) - if VERB_QUIET < opts['verbosity']: - sys.stdout.write("sent:\n") - if VERB_INFO < opts['verbosity']: - sys.stdout.write(binascii.hexlify(m_all)) - sys.stdout.write("\n") - self.decode_msg(m_all) - sys.stdout.flush() - - def send_able_beidou(self, able): - "dis/enable BeiDou" - # Two frequency GPS use BeiDou or GLONASS - # disable, then enable - gps_model.send_cfg_gnss1(3, able) - - def send_able_binary(self, able): - "dis/enable basic binary messages" - - rate = 1 if able else 0 - - # UBX-NAV-DOP - m_data = bytearray([0x01, 0x04, rate]) - gps_model.gps_send(6, 1, m_data) - - # UBX-NAV-SOL is ECEF. deprecated, use UBX-NAV-PVT instead? - m_data = bytearray([0x01, 0x06, rate]) - gps_model.gps_send(6, 1, m_data) - - # UBX-NAV-TIMEGPS - m_data = bytearray([0x01, 0x20, rate]) - gps_model.gps_send(6, 1, m_data) - - # UBX-NAV-SBAS - m_data = bytearray([0x01, 0x32, 10]) - gps_model.gps_send(6, 1, m_data) - - # UBX-NAV-SVINFO - m_data = bytearray([0x01, 0x30, 10]) - gps_model.gps_send(6, 1, m_data) - - def send_able_ecef(self, able): - "Enable ECEF messages" - # set NAV-POSECEF rate - gps_model.send_cfg_msg(1, 1, able) - # set NAV-VELECEF rate - gps_model.send_cfg_msg(1, 0x11, able) - - def send_able_gps(self, able): - "dis/enable GPS/QZSS" - # GPS and QZSS both on, or both off, together - # GPS - gps_model.send_cfg_gnss1(0, able) - # QZSS - gps_model.send_cfg_gnss1(5, able) - - def send_able_galileo(self, able): - "dis/enable GALILEO" - gps_model.send_cfg_gnss1(2, able) - - def send_able_glonass(self, able): - "dis/enable GLONASS" - # Two frequency GPS use BeiDou or GLONASS - # disable, then enable - gps_model.send_cfg_gnss1(6, able) - - def send_able_nmea(self, able): - "dis/enable basic NMEA messages" - - rate = 1 if able else 0 - - # xxGBS - m_data = bytearray([0xf0, 0x09, rate]) - gps_model.gps_send(6, 1, m_data) - - # xxGGA - m_data = bytearray([0xf0, 0x00, rate]) - gps_model.gps_send(6, 1, m_data) - - # xxGGL - m_data = bytearray([0xf0, 0x01, rate]) - gps_model.gps_send(6, 1, m_data) - - # xxGSA - m_data = bytearray([0xf0, 0x02, rate]) - gps_model.gps_send(6, 1, m_data) - - # xxGST - m_data = bytearray([0xf0, 0x07, rate]) - gps_model.gps_send(6, 1, m_data) - - # xxGSV - m_data = bytearray([0xf0, 0x03, rate]) - gps_model.gps_send(6, 1, m_data) - - # xxRMC - m_data = bytearray([0xf0, 0x04, rate]) - gps_model.gps_send(6, 1, m_data) - - # xxVTG - m_data = bytearray([0xf0, 0x05, rate]) - gps_model.gps_send(6, 1, m_data) - - # xxZDA - m_data = bytearray([0xf0, 0x08, rate]) - gps_model.gps_send(6, 1, m_data) - - def send_able_rawx(self, able): - "dis/enable UBX-RXM-RAWX" - - rate = 1 if able else 0 - m_data = bytearray([0x2, 0x15, rate]) - gps_model.gps_send(6, 1, m_data) - - def send_able_sbas(self, able): - "dis/enable SBAS" - gps_model.send_cfg_gnss1(1, able) - - def send_able_tmode2(self, able): - "UBX-CFG-TMODE2, set time mode 2 config" - - m_data = bytearray(28) - if able: - # enable survey-in - m_data[0] = 1 - - # Survey-in minimum duration seconds 86400 - seconds = 86400 - m_data[20] = seconds & 0x0ff - seconds >>= 8 - m_data[21] = seconds & 0x0ff - seconds >>= 8 - m_data[22] = seconds & 0x0ff - seconds >>= 8 - m_data[23] = seconds & 0x0ff - - # Survey-in position accuracy limit 500 mm - mmeters = 500 - m_data[24] = mmeters & 0x0ff - mmeters >>= 8 - m_data[25] = mmeters & 0x0ff - mmeters >>= 8 - m_data[26] = seconds & 0x0ff - seconds >>= 8 - m_data[27] = mmeters & 0x0ff - gps_model.gps_send(6, 0x3d, m_data) - - def send_able_tp(self, able): - "dis/enable UBX-TIM-TP Time Pulse" - rate = 1 if able else 0 - m_data = bytearray([0xd, 0x1, rate]) - gps_model.gps_send(6, 1, m_data) - - def send_cfg_ant(self): - "UBX-CFG-ANT, Get Antenna Control Settings" - - m_data = bytearray(0) - gps_model.gps_send(6, 0x13, m_data) - - def send_cfg_cfg(self, save_clear): - "UBX-CFG-CFG, save config" - - # Save: save_clear = 0 - # Clear: save_clear = 1 - - # basic configs alays available to change: - # ioPort, msgConf, infMsg, navConf, rxmConf, senConf - cfg1 = 0x9f - # rinvConf, antConf, logConf - cfg2 = 0x03 - - m_data = bytearray(13) - - # clear - if 0 == save_clear: - # saving - m_data[0] = 0 - m_data[1] = 0 - else: - # clearing - m_data[0] = cfg1 - m_data[1] = cfg2 - m_data[2] = 0 # - m_data[3] = 0 # - - # save - if 0 == type: - # saving - m_data[4] = cfg1 - m_data[5] = cfg2 - else: - # clearing - m_data[4] = 0 - m_data[5] = 0 - m_data[6] = 0 # - m_data[7] = 0 # - - # load - if False and 0 == type: - # saving - m_data[8] = 0 - m_data[9] = 0 - else: - # clearing, load it to save a reboot - m_data[8] = cfg1 - m_data[9] = cfg2 - m_data[10] = 0 # - m_data[11] = 0 # - - # deviceMask, where to save it, try all options - m_data[12] = 0x17 # devBBR, devFLASH devEEPROM, devSpiFlash - - gps_model.gps_send(6, 0x9, m_data) - - def send_cfg_gnss1(self, gnssId, enable): - "UBX-CFG-GNSS, set GNSS config" - m_data = bytearray(12) - m_data[0] = 0 # version 0, msgVer - m_data[1] = 0 # read only, numTrkChHw - m_data[2] = 0xFF # read only, numTrkChUse - m_data[3] = 1 # 1 block follows - # block 1 - m_data[4] = gnssId # gnssId - if 0 == gnssId: - # GPS - m_data[5] = 8 # resTrkCh - m_data[6] = 16 # maxTrkCh - if 1 == gnssId: - # SBAS - m_data[5] = 1 # resTrkCh - m_data[6] = 3 # maxTrkCh - if 2 == gnssId: - # GALILEO - m_data[5] = 4 # resTrkCh - m_data[6] = 8 # maxTrkCh - if 3 == gnssId: - # BeiDou - m_data[5] = 2 # resTrkCh - m_data[6] = 16 # maxTrkCh - if 4 == gnssId: - # IMES - m_data[5] = 0 # resTrkCh - m_data[6] = 8 # maxTrkCh - if 5 == gnssId: - # QZSS - m_data[5] = 0 # resTrkCh - m_data[6] = 3 # maxTrkCh - if 6 == gnssId: - # GLONASS - m_data[5] = 8 # resTrkCh - m_data[6] = 14 # maxTrkCh - m_data[7] = 0 # reserved1 - m_data[8] = enable # flags - m_data[9] = 0 # flagflags, unused - if 5 == gnssId: - # QZSS - m_data[10] = 5 # flags E1OS, L1SAIF - else: - m_data[10] = 1 # flags E1OS - m_data[11] = 1 # flags, unused - gps_model.gps_send(6, 0x3e, m_data) - - def send_cfg_gnss(self): - "UBX-CFG-GNSS, set Galileo config decode" - m_data = bytearray(0) - gps_model.gps_send(6, 0x3e, m_data) - - def send_cfg_nav5_model(self): - "UBX-CFG-NAV5, set dynamic platform model" - - m_data = bytearray(36) - m_data[0] = 1 # just setting dynamic model - m_data[1] = 0 # just setting dynamic model - m_data[2] = opts["mode"] - - gps_model.gps_send(6, 0x24, m_data) - - def send_cfg_msg(self, m_class, m_id, rate=None): - "UBX-CFG-MSG, poll, or set, message rates decode" - m_data = bytearray(2) - m_data[0] = m_class - m_data[1] = m_id - if rate is not None: - m_data.extend([rate]) - gps_model.gps_send(6, 1, m_data) - - def send_cfg_nav5(self): - "UBX-CFG-NAV5, get Nav Engine Settings" - m_data = bytearray(0) - gps_model.gps_send(6, 0x24, m_data) - - def send_cfg_pms(self): - "UBX-CFG-PMS, Get Power Management Settings" - - if opts["mode"] is not None: - m_data = bytearray(8) - # set powerSetupValue to mode - m_data[1] = opts["mode"] - # leave period and onTime zero, which breaks powerSetupValue = 3 - else: - m_data = bytearray(0) - - gps_model.gps_send(6, 0x86, m_data) - - def send_cfg_prt(self): - "UBX-CFG-PRT, get I/O Port" - m_data = bytearray(0) - gps_model.gps_send(6, 0x0, m_data) - - def send_set_speed(self, speed): - "UBX-CFG-PRT, set port" - - # FIXME! Poll current masks, then adjust speed - m_data = bytearray(20) - m_data[0] = 1 # port 1, UART 1 - # m_data[0] = 3 # port 3, USB - m_data[4] = 0xc0 # 8N1 - m_data[5] = 0x8 # 8N1 - - m_data[8] = speed & 0xff - m_data[9] = (speed >> 8) & 0xff - m_data[10] = (speed >> 16) & 0xff - m_data[11] = (speed >> 24) & 0xff - - m_data[12] = 3 # in, ubx and nmea - m_data[14] = 3 # out, ubx and nmea - gps_model.gps_send(6, 0, m_data) - - def send_cfg_rst(self, reset_type): - "UBX-CFG-RST, reset" - # always do a hardware reset - # if on USB, this will disconnect and reconnect, giving you - # a new tty. - m_data = bytearray(4) - m_data[0] = reset_type & 0xff - m_data[1] = (reset_type >> 8) & 0xff - gps_model.gps_send(6, 0x4, m_data) - - def send_cfg_tmode2(self): - "UBX-CFG-TMODE2, get time mode 2 configuration" - m_data = bytearray(0) - gps_model.gps_send(6, 0x3d, m_data) - - def send_cfg_tp5(self): - "UBX-CFG-TP5, get time0 decodes, timepulse 0 and 1" - m_data = bytearray(0) - gps_model.gps_send(6, 0x31, m_data) - # and timepulse 1 - m_data = bytearray(1) - m_data[0] = 1 - gps_model.gps_send(6, 0x31, m_data) - - def send_cfg_usb(self): - "UBX-CFG-USB, get USB configuration" - m_data = bytearray(0) - gps_model.gps_send(6, 0x1b, m_data) - - def send_mon_ver(self): - "UBX-MON-VER get versions" - m_data = bytearray(0) - gps_model.gps_send(0x0a, 0x04, m_data) - - def send_nav_posecef(self): - "UBX-NAV-POSECEF, poll ECEF position" - m_data = bytearray(0) - gps_model.gps_send(1, 1, m_data) - - def send_nav_velecef(self): - "UBX-NAV-VELECEF, poll ECEF velocity decode" - m_data = bytearray(0) - gps_model.gps_send(1, 0x11, m_data) - - def send_tim_svin(self): - "UBX-TIM-SVIN, get survey in data" - m_data = bytearray(0) - gps_model.gps_send(0x0d, 0x04, m_data) - - def send_tim_tp(self): - "UBX-TIM-TP, get time pulse timedata" - m_data = bytearray(0) - gps_model.gps_send(0x0d, 0x01, m_data) - - able_commands = { - # en/dis able BeiDou - "BEIDOU": {"command": send_able_beidou, - "help": "BeiDou"}, - # en/dis able basic binary messages - "BINARY": {"command": send_able_binary, - "help": "basic binary messages"}, - # en/dis able ECEF - "ECEF": {"command": send_able_ecef, - "help": "ECEF"}, - # en/dis able GPS - "GPS": {"command": send_able_gps, - "help": "GPS and QZSS"}, - # en/dis able GALILEO - "GALILEO": {"command": send_able_galileo, - "help": "GALILEO"}, - # en/dis able GLONASS - "GLONASS": {"command": send_able_glonass, - "help": "GLONASS"}, - # en/dis able basic NMEA messages - "NMEA": {"command": send_able_nmea, - "help": "basic NMEA messages"}, - # en/dis able RAWX - "RAWX": {"command": send_able_rawx, - "help": "RAWX measurements"}, - # en/dis able SBAS - "SBAS": {"command": send_able_sbas, - "help": "SBAS"}, - # en/dis able TP time pulse message - "TP": {"command": send_able_tp, - "help": "TP Time Pulse message"}, - # en/dis able TMODE2 Survey-in - "TMODE2": {"command": send_able_tmode2, - "help": "TMODE2"}, - } - commands = { - # UBX-CFG-ANT, poll antenna config decode - "ANT": {"command": send_cfg_ant, - "help": "UBX-CFG-ANT poll antenna config"}, - # UBX-CFG-RST cold boot - "COLDBOOT": {"command": send_cfg_rst, - "help": "UBS-CFG-RST coldboot the GPS", - "opt": 0xfff}, - # UBX-CFG-GNSS poll gnss config - "GNSS": {"command": send_cfg_gnss, - "help": "UBX-CFG-GNSS poll GNSS config"}, - # UBX-CFG-RST hot boot - "HOTBOOT": {"command": send_cfg_rst, - "help": "UBX-CFG-RST hotboot the GPS", - "opt": 0}, - # UBX-CFG-NAV5 set Dynamic Platform Model - "MODEL": {"command": send_cfg_nav5_model, - "help": "UBX-CFG-NAV5 set Dynamic Platform Model"}, - # UBX-CFG-NAV5, poll Nav Engine Settings - "NAV5": {"command": send_cfg_nav5, - "help": "UBX-CFG-NAV5 poll Nav Engines settings"}, - # UBX-CFG-PMS, poll power management settings - "PMS": {"command": send_cfg_pms, - "help": "UBX-CFG-PMS poll power management settings"}, - # UBX-CFG-PRT, poll I/O port number - "PRT": {"command": send_cfg_prt, - "help": "UBX-CFG-PRT poll I/O port settings"}, - # UBX-CFG-CFG reset config - "RESET": {"command": send_cfg_cfg, - "help": "UBX-CFG-CFG reset config to defaults", - "opt": 1}, - # UBX-CFG-CFG save config - "SAVE": {"command": send_cfg_cfg, - "help": "UBX-CFG-CFG save current config", - "opt": 0}, - # UBX-TIM-SVIN, get survey in data - "SVIN": {"command": send_tim_svin, - "help": "UBX-TIM-SVIN get survey in data"}, - # UBX-CFG-TMODE2, get time mode 2 config - "TMODE2": {"command": send_cfg_tmode2, - "help": "UBX-CFG-TMODE2 get time mode 2 config"}, - # UBX-TIM-TP, get time pulse timedata - "TP": {"command": send_tim_tp, - "help": "UBX-TIM-TP get time pulse timedata"}, - # UBX-CFG-TP5, get time0 decodes - "TP5": {"command": send_cfg_tp5, - "help": "UBX-TIM-TP5 get time pulse decodes"}, - # UBX-CFG-RST warm boot - "WARMBOOT": {"command": send_cfg_rst, - "help": "UBX-CFG-RST warmboot the GPS", - "opt": 1}, - # poll UBX-CFG-USB - "USB": {"command": send_cfg_usb, - "help": "UBX-CFG-USB get USB config"}, - # poll UBX-MON-VER - "VER": {"command": send_mon_ver, - "help": "UBX-MON-VER get GPS version"}, - } - # end class ubx - - -class gps_io(object): - """All the GPS I/O in one place" - - Three types of GPS I/O - 1. read only from a file - 2. read/write through a device - 3. read only from a gpsd instance - """ - - out = b'' - ser = None - input_is_device = False - - def __init__(self, serial_class): - "Initialize class" - - Serial = serial_class - # buffer to hold read data - self.out = b'' - - # open the input: device, file, or gpsd - if opts['input_file_name'] is not None: - # check if input file is a file or device - try: - mode = os.stat(opts['input_file_name']).st_mode - except OSError: - sys.stderr.write('%s: failed to open input file %s\n' % - (PROG_NAME, opts['input_file_name'])) - sys.exit(1) - - if stat.S_ISCHR(mode): - # character device, need not be read only - self.input_is_device = True - - if ((opts['disable'] or opts['enable'] or opts['poll'] or - opts['oaf_name'])): - - # check that we can write - if opts['read_only']: - sys.stderr.write('%s: read-only mode, ' - 'can not send commands\n' % PROG_NAME) - sys.exit(1) - if self.input_is_device is False: - sys.stderr.write('%s: input is plain file, ' - 'can not send commands\n' % PROG_NAME) - sys.exit(1) - - if opts['target']['server'] is not None: - # try to open local gpsd - try: - self.ser = gps.gpscommon(host=None) - self.ser.connect(opts['target']['server'], - opts['target']['port']) - - # alias self.ser.write() to self.write_gpsd() - self.ser.write = self.write_gpsd - - # ask for raw, not rare, data - data_out = b'?WATCH={' - if opts['target']['device'] is not None: - # add in the requested device - data_out += (b'"device":"' + opts['target']['device'] + - b'",') - data_out += b'"enable":true,"raw":2}\r\n' - if VERB_RAW <= opts['verbosity']: - print("sent: ", data_out) - self.ser.send(data_out) - except socket.error as err: - sys.stderr.write('%s: failed to connect to gpsd %s\n' % - (PROG_NAME, err)) - sys.exit(1) - - elif self.input_is_device: - # configure the serial connections (the parameters refer to - # the device you are connecting to) - - try: - self.ser = Serial.Serial( - baudrate=opts['input_speed'], - # 8N1 is GREIS default - bytesize=Serial.EIGHTBITS, - parity=Serial.PARITY_NONE, - port=opts['input_file_name'], - stopbits=Serial.STOPBITS_ONE, - # read timeout - timeout=0.05, - # pyserial Ver 3.0+ changes writeTimeout to write_timeout - # just set both - write_timeout=0.5, - writeTimeout=0.5, - ) - except Serial.serialutil.SerialException: - # this exception happens on bad serial port device name - sys.stderr.write('%s: failed to open serial port "%s"\n' - '%s: Your computer has the serial ports:\n' % - (PROG_NAME, opts['input_file_name'], - PROG_NAME)) - - # print out list of supported ports - import serial.tools.list_ports as List_Ports - ports = List_Ports.comports() - for port in ports: - sys.stderr.write(" %s: %s\n" % - (port.device, port.description)) - sys.exit(1) - - # flush input buffer, discarding all its contents - self.ser.flushInput() - - else: - # Read from a plain file of GREIS messages - try: - self.ser = open(opts['input_file_name'], 'rb') - except IOError: - sys.stderr.write('%s: failed to open input %s\n' % - (PROG_NAME, opts['input_file_name'])) - sys.exit(1) - - def read(self, read_opts): - "Read from device, until timeout or expected message" - - # are we expecting a certain message? - if gps_model.expect_statement_identifier: - # assume failure, until we see expected message - ret_code = 1 - else: - # not expecting anything, so OK if we did not see it. - ret_code = 0 - - try: - if read_opts['target']['server'] is not None: - # gpsd input - start = time.clock() - while read_opts['input_wait'] > (time.clock() - start): - # First priority is to be sure the input buffer is read. - # This is to prevent input buffer overuns - if 0 < self.ser.waiting(): - # We have serial input waiting, get it - # No timeout possible - # RTCM3 JSON can be over 4.4k long, so go big - new_out = self.ser.sock.recv(8192) - if raw is not None: - # save to raw file - raw.write(new_out) - self.out += new_out - - consumed = gps_model.decode_msg(self.out) - self.out = self.out[consumed:] - if ((gps_model.expect_statement_identifier and - (gps_model.expect_statement_identifier == - gps_model.last_statement_identifier))): - # Got what we were waiting for. Done? - ret_code = 0 - if not read_opts['input_forced_wait']: - # Done - break - - elif self.input_is_device: - # input is a serial device - start = time.clock() - while read_opts['input_wait'] > (time.clock() - start): - # First priority is to be sure the input buffer is read. - # This is to prevent input buffer overuns - # pyserial 3.0 replaces inWaiting() with in_waiting - if 0 < self.ser.inWaiting(): - # We have serial input waiting, get it - # 1024 is comfortably large, almost always the - # Read timeout is what causes ser.read() to return - new_out = self.ser.read(1024) - if raw is not None: - # save to raw file - raw.write(new_out) - self.out += new_out - - consumed = gps_model.decode_msg(self.out) - self.out = self.out[consumed:] - if ((gps_model.expect_statement_identifier and - (gps_model.expect_statement_identifier == - gps_model.last_statement_identifier))): - # Got what we were waiting for. Done? - ret_code = 0 - if not read_opts['input_forced_wait']: - # Done - break - else: - # ordinary file, so all read at once - self.out += self.ser.read() - if raw is not None: - # save to raw file - raw.write(self.out) - - while True: - consumed = gps_model.decode_msg(self.out) - self.out = self.out[consumed:] - if 0 >= consumed: - break - - except IOError: - # This happens on a good device name, but gpsd already running. - # or if USB device unplugged - sys.stderr.write('%s: failed to read %s\n' - '%s: Is gpsd already holding the port?\n' - % (PROG_NAME, read_opts['input_file_name'], - PROG_NAME)) - return 1 - - if 0 < ret_code: - # did not see the message we were expecting to see - sys.stderr.write('%s: waited %0.2f seconds for, ' - 'but did not get: %%%s%%\n' - % (PROG_NAME, read_opts['input_wait'], - gps_model.expect_statement_identifier)) - return ret_code - - def write_gpsd(self, data): - "write data to gpsd daemon" - - # HEXDATA_MAX = 512, from gps.h, The max hex digits can write. - # Input data is binary, converting to hex doubles its size. - # Limit binary data to length 255, so hex data length less than 510. - if 255 < len(data): - sys.stderr.write('%s: trying to send %d bytes, max is 255\n' - % (PROG_NAME, len(data))) - return 1 - - if opts['target']['device'] is not None: - # add in the requested device - data_out = b'?DEVICE={"path":"' + opts['target']['device'] + b'",' - else: - data_out = b'?DEVICE={' - - # Convert binary data to hex and build the message. - data_out += b'"hexdata":"' + binascii.hexlify(data) + b'"}\r\n' - if VERB_RAW <= opts['verbosity']: - print("sent: ", data_out) - self.ser.send(data_out) - return 0 - - -# instantiate the GPS class -gps_model = ubx() - - -def usage(): - "Ouput usage information, and exit" - print('usage: %s [-c C] [-f F] [-r] [-p P] [-s S] [-v V]\n' - ' [-hV?] [-S S]\n' - ' -c C send raw command C to GPS\n' - ' -d D disable D\n' - ' -e E enable E\n' - ' -f F open F as file/device\n' - ' default: %s\n' - ' -h print help\n' - ' -m M optional mode to -p P\n' - ' -p P send a prepackaged query P to GPS\n' - ' -R R save raw data from GPS in file R\n' - ' default: %s\n' - ' -r open file/device read only\n' - ' -S S set GPS speed to S\n' - ' -s S set port speed to S\n' - ' default: %s bps\n' - ' -w wait time\n' - ' default: %s seconds\n' - ' -V print version\n' - ' -v V Set verbosity level to V, 0 to 4\n' - ' default: %s\n' - ' -? print help\n' - '\n' - 'D and E can be one of:' % - (PROG_NAME, opts['input_file_name'], opts['raw_file'], - opts['input_speed'], opts['input_wait'], opts['verbosity']) - ) - - for item in sorted(gps_model.able_commands.keys()): - print(" %-12s %s" % (item, gps_model.able_commands[item]["help"])) - - print('\nP can be one of:') - for item in sorted(gps_model.commands.keys()): - print(" %-12s %s" % (item, gps_model.commands[item]["help"])) - print('\nOptions can be placed in the UBXOPTS environment variable.\n' - 'UBXOPTS is processed before the CLI options.') - sys.exit(0) - - -if 'UBXOPTS' in os.environ: - # grab the UBXOPTS environment variable for options - opts['progopts'] = os.environ['UBXOPTS'] - options = opts['progopts'].split(' ') + sys.argv[1:] -else: - options = sys.argv[1:] - - -try: - (options, arguments) = getopt.getopt(options, "?c:d:e:f:hm:rp:s:w:v:R:S:V") -except getopt.GetoptError as err: - sys.stderr.write("%s: %s\n" - "Try '%s -h' for more information.\n" % - (PROG_NAME, str(err), PROG_NAME)) - sys.exit(2) - -for (opt, val) in options: - if opt == '-c': - opts['command'] = val - elif opt == '-d': - opts['disable'] = val - elif opt == '-e': - opts['enable'] = val - elif opt == '-f': - opts['input_file_name'] = val - elif opt == '-h' or opt == '-?': - usage() - elif opt == '-m': - opts['mode'] = int(val) - elif opt == '-p': - opts['poll'] = val - elif opt == '-r': - opts['read_only'] = True - elif opt == '-s': - opts['input_speed'] = int(val) - if opts['input_speed'] not in gps_model.speeds: - sys.stderr.write('%s: -s invalid speed %s\n' % - (PROG_NAME, opts['input_speed'])) - sys.exit(1) - - elif opt == '-w': - opts['input_wait'] = float(val) - elif opt in '-v': - opts['verbosity'] = int(val) - elif opt in '-R': - # raw log file - opts['raw_file'] = val - elif opt in '-S': - opts['set_speed'] = int(val) - if opts['set_speed'] not in gps_model.speeds: - sys.stderr.write('%s: -S invalid speed %s\n' % - (PROG_NAME, opts['set_speed'])) - sys.exit(1) - - elif opt == '-V': - # version - sys.stderr.write('%s: Version %s\n' % (PROG_NAME, gps_version)) - sys.exit(0) - -if opts['input_file_name'] is None: - # no input file given - # default to local gpsd - opts['target']['server'] = "localhost" - opts['target']['port'] = gps.GPSD_PORT - opts['target']['device'] = None - if arguments: - # server[:port[:device]] - parts = arguments[0].split(':') - opts['target']['server'] = parts[0] - if 1 < len(parts): - opts['target']['port'] = parts[1] - if 2 < len(parts): - opts['target']['device'] = parts[2] - -elif arguments: - sys.stderr.write('%s: Both input file and server specified\n' % PROG_NAME) - sys.exit(1) - -if VERB_PROG <= opts['verbosity']: - # dump all options - print('Options:') - for option in sorted(opts): - print(" %s: %s" % (option, opts[option])) - -# done parsing arguments from environment and CLI - -try: - # raw log file requested? - raw = None - if opts['raw_file']: - try: - raw = open(opts['raw_file'], 'w') - except IOError: - sys.stderr.write('%s: failed to open raw file %s\n' % - (PROG_NAME, opts['raw_file'])) - sys.exit(1) - - # create the I/O instance - io_handle = gps_io(serial) - - sys.stdout.flush() - - if opts['disable'] is not None: - if VERB_QUIET < opts['verbosity']: - sys.stderr.write('%s: disable %s\n' % (PROG_NAME, opts['disable'])) - if opts['disable'] in gps_model.able_commands: - command = gps_model.able_commands[opts['disable']] - command["command"](gps, 0) - else: - sys.stderr.write('%s: disable %s not found\n' % - (PROG_NAME, opts['disable'])) - sys.exit(1) - - elif opts['enable'] is not None: - if VERB_QUIET < opts['verbosity']: - sys.stderr.write('%s: enable %s\n' % (PROG_NAME, opts['enable'])) - if opts['enable'] in gps_model.able_commands: - command = gps_model.able_commands[opts['enable']] - command["command"](gps, 1) - else: - sys.stderr.write('%s: enable %s not found\n' % - (PROG_NAME, opts['enable'])) - sys.exit(1) - - elif opts['poll'] is not None: - if VERB_QUIET < opts['verbosity']: - sys.stderr.write('%s: poll %s\n' % (PROG_NAME, opts['poll'])) - - if 'MODEL' == opts["poll"]: - if opts["mode"] is None: - opts["mode"] = 0 # default to portable model - - if opts['poll'] in gps_model.commands: - command = gps_model.commands[opts['poll']] - if 'opt' in command: - command["command"](gps, command["opt"]) - else: - command["command"](gps) - else: - sys.stderr.write('%s: poll %s not found\n' % - (PROG_NAME, opts['poll'])) - sys.exit(1) - - elif opts['set_speed'] is not None: - gps_model.send_set_speed(opts['set_speed']) - - elif opts['command'] is not None: - # zero length is OK to send - # add trailing new line - opts['command'] += "\n" - - if VERB_QUIET < opts['verbosity']: - sys.stderr.write('%s: command %s\n' % (PROG_NAME, opts['command'])) - gps_model.gps_send_raw(opts['command']) - - exit_code = io_handle.read(opts) - - if ((VERB_RAW <= opts['verbosity']) and io_handle.out): - # dump raw left overs - print("Left over data:") - print(io_handle.out) - - sys.stdout.flush() - io_handle.ser.close() - -except KeyboardInterrupt: - print('') - exit_code = 1 - -sys.exit(exit_code) diff --git a/contrib/zerk b/contrib/zerk deleted file mode 100755 index 848d216b..00000000 --- a/contrib/zerk +++ /dev/null @@ -1,1896 +0,0 @@ -#!/usr/bin/env python -# -*- coding: UTF-8 -''' -zerk -- GREIS configurator and packet decoder - -usage: zerk [OPTIONS] [server[:port[:device]]] -''' - -# This program conforms to the JAVAD document: -# GNSS Receiver External Interface Specification -# Revised: October 11, 2017 -# -# Hereafter referred to as "the specification" -# -# This file is Copyright (c) 2018 by the GPSD project -# BSD terms apply: see the file COPYING in the distribution root for details. -# -# This code runs compatibly under Python 2 and 3.x for x >= 2. -# Preserve this property! -# -# ENVIRONMENT: -# Options in the ZERKOPTS environment variable will be parsed before -# the CLI options. A handy place to put your '-f /dev/ttyXX -s SPEED' -# -# example usages: -# Coldboot the GPS: zerk -p COLDBOOT -# Print current serial port: zerk -c "print,/cur/term" -# Decode raw log file: zerk -r -f greis-binary.log -v 2 -# Change GPS port speed: zerk -S 230400 -# Watch entire reset cycle: zerk -p RESET -v 2 -w 20 -W -# poll SVs Status: zerk -W -w 2 -v 2 -c "out,,jps/{CS,ES,GS,Is,WS,QS}" -# dump local gpsd data zerk -v 2 -w 5 localhost -# -# TODO: no CRC16 packets handled yet -# TODO: more packet decodes - -from __future__ import absolute_import, print_function, division - -import binascii # for binascii.hexlify() -import getopt # for getopt.getopt(), to parse CLI options -import hashlib # for hashlib.sha1 -import os # for os.environ -import socket # for socket.error -import stat # for stat.S_ISBLK() -import struct # for pack() -import sys -import time -import xml.etree.ElementTree # to parse .jpo files - -PROG_NAME = 'zerk' - -try: - import serial -except ImportError: - # treat serial as special since it is not part of standard Python - sys.stderr.write("%s: failed to import pyserial\n" % PROG_NAME) - sys.exit(2) - -try: - import gps -except ImportError: - # PEP8 says local imports last - sys.stderr.write("%s: failed to import gps, check PYTHON_PATH\n" % - PROG_NAME) - sys.exit(2) - -gps_version = '3.18-dev' -if gps.__version__ != gps_version: - sys.stderr.write("%s: ERROR: need gps module version %s, got %s\n" % - (PROG_NAME, gps_version, gps.__version__)) - sys.exit(1) - - -VERB_QUIET = 0 # quiet -VERB_NONE = 1 # just output requested data and some info -VERB_DECODE = 2 # decode all messages -VERB_INFO = 3 # more info -VERB_RAW = 4 # raw info -VERB_PROG = 5 # program trace - -# dictionary to hold all user options -opts = { - # command to send to GPS, -c - 'command': None, - # command for -d disable - 'disable': None, - # command for -e enable - 'enable': None, - # default input -f file - 'input_file_name': None, - # default forced wait? -W - 'input_forced_wait': False, - # default port speed -s - 'input_speed': 115200, - # default input wait time -w in seconds - 'input_wait': 2.0, - # the name of an OAF file, extension .jpo - 'oaf_name': None, - # poll command -p - 'poll': None, - # raw log file name - 'raw_file': None, - # open port read only -r - 'read_only': False, - # speed to set GPS -S - 'set_speed': None, - # target gpsd (server:port:device) to connect to - 'target': {"server": None, "port": gps.GPSD_PORT, "device": None}, - # verbosity level, -v - 'verbosity': VERB_NONE, - # contents of environment variable ZERKOPTS - 'progopts': '', -} - - -class greis(object): - """A class for working with the GREIS GPS message formats - - This class contains functions to decode messages in the Javad GREIS - "Receiver Input Language" and "Receiver Messages" formats. - """ - - # when a statement identifier is received, it is stored here - last_statement_identifier = None - # expected statement identifier. - expect_statement_identifier = False - # ID of current message as a string - s_id = '' - - def __init__(self): - "Initialize class" - - self.last_statement_identifier = None - self.expect_statement_identifier = False - # last epoch received in [~~] - # epoch == None means never got epoch, epoch == -1 means missing. - self.epoch = None - - def f4_s(self, f): - "convert an '! f4' to a string" - - if gps.isfinite(f): - # yeah, the precision is a guess - return "%.6f" % f - return 'X' - - def f8_s(self, f): - "convert an '! f8' to a string" - - if gps.isfinite(f): - # yeah, the precision is a guess - return "%.4f" % f - return 'X' - - def i1_s(self, i): - "convert an '! i1' to a string" - return 'X' if i == 127 else str(i) - - def i2_s(self, i): - "convert an '! i2' to a string" - return 'X' if i == 32767 else str(i) - - def i4_s(self, i): - "convert an '! i4' to a string" - return 'X' if i == 2147483647 else str(i) - - def u1_s(self, u): - "convert an '! u1' to a string" - return 'X' if u == 255 else str(u) - - def u2_s(self, u): - "convert an '! u2' to a string" - return 'X' if u == 65535 else str(u) - - def u4_s(self, u): - "convert an '! u4' to a string" - return 'X' if u == 4294967295 else str(u) - - def isuchex(self, c): - "Is byte an upper case hex char?" - if 48 <= c and 57 >= c: - # 0 to 9 - return int(c) - 48 - if 65 <= c and 70 >= c: - # A to F - return int(c) - 55 - return -1 - - soltypes = {0: "None", - 1: "3D", - 2: "DGPS", - 3: "RTK float", - 4: "RTK fixed", - 5: "fixed" - } - - # allowable speeds - speeds = (460800, 230400, 153600, 115200, 57600, 38400, 19200, 9600, - 4800, 2400, 1200, 600, 300) - - def msg_c_(self, payload): - "[c?] decode, Smoothing Corrections" - - s = ' smooth' - for i in range(0, len(payload) - 1, 2): - u = struct.unpack_from('<h', payload, i) - s += " " + self.i2_s(u[0]) - - return s + '\n' - - def msg__p(self, payload): - "[?p] decode, Integer Relative Carrier Phases" - - s = ' rcp' - for i in range(0, len(payload) - 1, 4): - u = struct.unpack_from('<l', payload, i) - s += " " + self.i4_s(u[0]) - - return s + '\n' - - def msg__d(self, payload): - "[?d] decode, Relative Doppler" - - s = ' srdp' - for i in range(0, len(payload) - 1, 2): - u = struct.unpack_from('<h', payload, i) - s += " " + self.i2_s(u[0]) - - return s + '\n' - - def msg__r(self, payload): - "[?r] decode, Integer Relative Pseudo-ranges" - - s = ' srdp' - for i in range(0, len(payload) - 1, 2): - u = struct.unpack_from('<h', payload, i) - s += " " + self.i2_s(u[0]) - - return s + '\n' - - def msg__A(self, payload): - "[?A] decode, GPS, GALILEO Almanac" - m_len = len(payload) - - if ('[EA]' == self.s_id) and (49 > m_len): - return " Bad Length %s" % m_len - - u = struct.unpack_from('<BhlBBBfffffffff', payload, 0) - - s = (" sv %u wna %d toa %d healthA %u healthS %u config %u\n" - " af1 %f af0 %f rootA %f ecc %f m0 %f\n" - " omega0 %f argPer %f delf %f omegaDot %f\n" % u) - - if '[EA]' == self.s_id: - u = struct.unpack_from('<H', payload, 46) - s += (" iod %d" % (u[0])) - return s - - def msg__E(self, payload): - "[?E] decode, SNR x 4" - - s = ' cnrX4' - for i in range(0, len(payload) - 1, 1): - u = struct.unpack_from('<B', payload, i) - s += " " + self.u1_s(u[0]) - - return s + '\n' - - def msg_WE(self, payload): - "[WE] decode, SBAS Ephemeris" - - u = struct.unpack_from('<BBBBLdddffffffffLHB', payload, 0) - s = (" waasPrn %u gpsPrn %u iod %u acc %u tod %u\n" - " xg %f yg %f zg %f\n" - " vxg %f vyg %f vzg %f\n" - " vvxg %f vvyg %f vvzg %f\n" - " agf0 %f agf1 %f tow %u wn %u flags %u\n" % u) - - return s - - def msg_r(self, payload): - "[r?] decode, Integer Psudeo Ranges" - - s = ' spr' - for i in range(0, len(payload) - 1, 4): - u = struct.unpack_from('<l', payload, i) - s += " " + self.i4_s(u[0]) - - return s + '\n' - - def msg_AZ(self, payload): - "[AZ] decode, Satellite Azimuths" - - s = " azim" - for i in range(0, len(payload) - 1): - # azimuth/2, 0 to 180 degrees - s += " " + self.u1_s(payload[i]) - - return s + '\n' - - def msg_BP(self, payload): - "[BP] decode" - - u = struct.unpack_from('<f', payload, 0) - return " acc %.3e\n" % u[0] - - def msg_DC(self, payload): - "[DC] decode, P/L1 Doppler" - - s = " dp" - for i in range(0, len(payload) - 1, 4): - u = struct.unpack_from('<L', payload, i) - s += " %d" % (u[0]) - - return s + '\n' - - def msg_DO(self, payload): - "[DO] decode" - - u = struct.unpack_from('<ff', payload, 0) - return " val %.3f sval %.3f\n" % u - - def msg_DP(self, payload): - "[DP] decode" - - u = struct.unpack_from('<fffBfB', payload, 0) - return (" hdop %f vdop %f tdop %f edop %f\n" - " solType %s\n" % - (u[0], u[1], u[2], u[4], self.soltypes[u[3]])) - - def msg_E_(self, payload): - "[E?] decode, SNR" - - s = ' cnr' - for i in range(0, len(payload) - 1): - s += " " + self.u1_s(payload[i]) - - return s + '\n' - - def msg_ET(self, payload): - "[::](ET) decode, Epoch time, end of epoch" - - u = struct.unpack_from('<L', payload, 0) - if ((self.epoch is not None and self.epoch != u[0])): - if -1 == self.epoch: - print("Error: [::](ET) missing [~~](RT)\n") - else: - print("Error: [::](ET) Wrong Epoch %u, should be %u\n" % - (u[0], self.epoch)) - # reset epoch - self.epoch = -1 - return "(ET) tod %u\n" % u[0] - - def msg_EL(self, payload): - "[EL] decode, Satellite Elevations" - - s = " elev" - for i in range(0, len(payload) - 1): - # looking for integer (-90 to 90), not byte - u = struct.unpack_from('<b', payload, i) - s += " " + self.i1_s(u[0]) - - return s + '\n' - - def msg_ER(self, payload): - "[ER] decode, Error messages" - - parts = payload.split(b'%') - if 1 < len(parts): - self.last_statement_identifier = parts[1] - - s_payload = "".join(map(chr, payload)) - print("[ER] %s\n" % s_payload) - return " %s\n" % s_payload - - def msg_EU(self, payload): - "[EU] decode, GALILEO UTC and GPS Time Parameters" - - u = struct.unpack_from('<dfLHbBHbffLHH', payload, 0) - return (" ao %f a1 %f tot %u wnt %u dtls %d dn %u wnlsf %u\n" - " dtlsf %d a0g %f a1g %f t0g %u wn0g %u flags %#x\n" % u) - - def msg_FC(self, payload): - "[FC] [F1] [F2] [F3] [f5] [Fl] decode, Signal Lock Loop Flags" - - s = " flags 0x" - for i in range(0, len(payload) - 1): - u = struct.unpack_from('<H', payload, i) - s += " %2x" % (u[0]) - - return s + '\n' - - def msg__E1(self, payload): - "[?E] decode, BeiDos, GPS, GALILEO, IRNSS Ephemeris " - m_len = len(payload) - # [GE] - if ('[IE]' == self.s_id) and (124 > m_len): - return " Bad Length %s" % m_len - if ('[CN]' == self.s_id) and (132 > m_len): - return " Bad Length %s" % m_len - if ('[EN]' == self.s_id) and (145 > m_len): - return " Bad Length %s" % m_len - - u = struct.unpack_from('<BLBhlbBhfffflhddddddfffffffff', payload, 0) - s = (" sv %u tow %u flags %u iodc %d toc %d ura %d healthS %u\n" - " wn %d tgd %f af2 %f af1 %f af0 %f toe %d\n" - " iode %d rootA %f ecc %f m0 %f omega0 %f\n" - " inc0 %f argPer %f deln %f omegaDot %f\n" - " incDot %f crc %f crs %f cuc %f\n" - " cus %f cic %f cis %f\n" % u) - - if '[EN]' == self.s_id: - u = struct.unpack_from('<fffffBB', payload, 122) - s += (" bgdE1E5a %f bgdE1E5b %f aio %f ai1 %f ai2 %f\n" - " sfi %u navType %u" % u) - if 149 <= m_len: - # DAf0 added in 3.7.0 - u = struct.unpack_from('<f', payload, 144) - s += (" DAf0 %f" % u) - s += '\n' - - if ('[IE]' == self.s_id) and (124 > m_len): - u = struct.unpack_from('<B', payload, 122) - s += (" navType %u\n" % u[0]) - - if ('[CN]' == self.s_id) and (132 > m_len): - u = struct.unpack_from('<fBf', payload, 122) - s += (" tgd2 %f navType %u DAf0 %f\n" % u) - - # TODO: decode length 160 168 - - return s - - def msg_GT(self, payload): - "[GT] decode, GPS Time " - - u = struct.unpack_from('<LH', payload, 0) - return " tow %u wn %d\n" % u - - def msg_ID(self, payload): - "[ID] Ionosphere Delays" - - s = ' delay' - for i in range(0, len(payload) - 1, 4): - u = struct.unpack_from('<f', payload, i) - s += " %s" % self.f4_s(u[0]) - - return s + '\n' - - def msg_IO(self, payload): - "[IO] decode, GPS Ionospheric Parameters" - - u = struct.unpack_from('<LHffffffff', payload, 0) - - return (" tot %d wn %u alpha0 %f alpha1 %f alpha2 %f\n" - " alpha3 %f beta0 %u beta1 %d beta2 %f\n" - " beta3 %f\n" % u) - - def msg_LO(self, payload): - "[LO] decode, undocumented message" - - return " Undocumented message\n" - - def msg_MF(self, payload): - "[MF] Messages Format" - - u = struct.unpack_from('<BBBBBBB', payload, 0) - return (" id %c%c majorVer %c%c minorVer %c%c order %c\n" % - (chr(u[0]), chr(u[1]), chr(u[2]), chr(u[3]), - chr(u[4]), chr(u[5]), chr(u[6]))) - - def msg_PM(self, payload): - "[PM] parameters" - - # PM only seems to work after a coldboot, once - # zerk -v 2 -w 20 -c 'out,,jps/{PM}' -W - return " %s\n" % payload - - def msg_PV(self, payload): - "[PV] decode, Cartesian Position and Velocity" - - u = struct.unpack_from('<dddfffffBB', payload, 0) - return (" x %s y %s z %s sigma %s\n" - " vx %s vy %s vz %s\n" - " vsigma %s soltype %s\n" % - (self.f8_s(u[0]), self.f8_s(u[1]), self.f8_s(u[2]), - self.f4_s(u[3]), self.f4_s(u[4]), self.f4_s(u[5]), - self.f4_s(u[6]), self.f4_s(u[7]), self.soltypes[u[8]])) - - def msg_RD(self, payload): - "[RD] decode, Receiver Date" - - u = struct.unpack_from('<HBBB', payload, 0) - return " year %d month %d day %d base %d\n" % u - - def msg_RE(self, payload): - "[RE] decode" - - parts = payload.split(b'%') - if 1 < len(parts): - # Got a statement identifier (ID), save it? - # Multiline statement if payload ends with comma or left brace - if payload[-1] not in (ord(','), ord('{')): - # yes, this is the end - self.last_statement_identifier = parts[1] - - # Get the message body - part1 = parts[1].split(b',') - - if 'em' == parts[1]: - # Probably no parts[2] - print("Enable Messages %s" % parts[2]) - return " Enable Messages %s\n" % parts[2] - - if 'id' == parts[1]: - print("ID: %s" % parts[2]) - return " ID %s\n" % parts[2] - - if 'opts' == part1[0]: - if 1 < len(part1): - s = "OAF %s: %s" % (part1[1], parts[2]) - else: - s = " OAF: %s" % (parts[2]) - print(s) - return " %s\n" % s - - if 'serial' == parts[1]: - print("SERIAL: %s" % parts[2]) - return " SERIAL %s\n" % parts[2] - - if 'vendor' == parts[1]: - print("VENDOR: %s" % parts[2]) - return " Vendor %s\n" % parts[2] - - if 'ver' == parts[1]: - print("VER: %s" % parts[2]) - return " Version %s\n" % parts[2] - - # unknown statement identifier - s_payload = "".join(map(chr, payload)) - print("RE: %s\n" % s_payload) - - return " %s\n" % s_payload - - def msg_RT(self, payload): - "[~~](RT) decode, Receiver Time, start of epoch" - - if self.epoch is not None and -1 != self.epoch: - print("Error: [~~](RT) missing [::](ET)\n") - - u = struct.unpack_from('<L', payload, 0) - # save start of epoch - self.epoch = u[0] - return "(RT) tod %u\n" % self.epoch - - def msg_S_(self, payload): - "[CS], [ES], [GS], [Is], [WS], [NS], [QS], decode, SVs Status" - - # to poll them all: zerk -W -w 2 -v 2 -c "out,,jps/{CS,ES,GS,Is,WS,QS}" - # TODO, check @checksum - - return "%s" % payload - - def msg_SE(self, payload): - "[SE] decode" - - u = struct.unpack_from('<BBBBB', payload, 0) - return " data 0x %x %x %x %x %x\n" % u - - def msg_SG(self, payload): - "[SG] decode" - - u = struct.unpack_from('<ffffBB', payload, 0) - return (" hpos %s vpos %s hvel %s vvel %s\n" - " soltype %s\n" % - (self.f4_s(u[0]), self.f4_s(u[1]), self.f4_s(u[2]), - self.f4_s(u[3]), self.soltypes[u[4]])) - - def msg_SI(self, payload): - "[SI] decode, Satellite Index, deprecated by Javad, use [SX]" - - # [SX] require 3.7 firmware, we use [SI] to support 3.6 - s = " usi" - for i in range(0, len(payload) - 1): - s += " %d" % payload[i] - - return s + '\n' - - def msg_SP(self, payload): - "[SP] decode, Position Covariance Matrix" - - u = struct.unpack_from('<ffffffffffB', payload, 0) - return (" xx % f yy % f zz % f tt % f xy % f\n" - " xz % f xt % f yz % f yt % f zt % f\n" - " solType %s\n" % - (u[0], u[1], u[2], u[3], u[4], - u[5], u[6], u[7], u[8], u[9], - self.soltypes[u[10]])) - - def msg_SS(self, payload): - "[SS] decode, Satellite Navigation Status" - - s = " ns" - for i in range(0, len(payload) - 2): - s += " %d" % payload[i] - - return (s + '\n solType %s\n' % - self.soltypes[payload[len(payload) - 2]]) - - def msg_ST(self, payload): - "[ST] decode, Solution Time Tag" - - u = struct.unpack_from('<LBB', payload, 0) - return (" time %u ms, soltype %s\n" % - (u[0], self.soltypes[u[1]])) - - def msg_SX(self, payload): - "[SX] decode, Extended Satellite Indices" - - # [SX] require 3.7 firmware - s = " ESI" - for i in range(0, len(payload) - 2, 2): - u = struct.unpack_from('<BB', payload, i) - s += " (%u, %u)" % u - - return s + '\n' - - def msg_TC(self, payload): - "[TC] decode, CA/L1 Continous Tracking Time" - - s = " tt" - for i in range(0, len(payload) - 1, 2): - u = struct.unpack_from('<H', payload, i) - s += " %.2f" % u[0] - - return s + '\n' - - def msg_TO(self, payload): - "[TO] decode, Reference Time to Receiver Time Offset" - - u = struct.unpack_from('<dd', payload, 0) - return " val %.3f sval %.3f\n" % u - - def msg_UO(self, payload): - "[UO] decode, GPS UTC Time Parameters" - - u = struct.unpack_from('<dfLHbBHb', payload, 0) - return (" a0 %f a1 %f tot %d wnt %d dtls %d\n" - " dn %d wnlsf %d dtlsf %d\n" % u) - - def msg_WA(self, payload): - "[WA] decode" - - u = struct.unpack_from('<BBBBLdddfffLH', payload, 0) - return (" waasPrn %d gpsPrn %d if %d healthS %d tod %d\n" - " ECEF %.3f %.3f %.3f, %.3f %.3f %.3f\n" - " tow %d wn %d\n" % u) - - def msg_WU(self, payload): - "[WU] decode, SBAS UTC Time Parameters" - - u = struct.unpack_from('<dfLHbBHbfbLHB', payload, 0) - return (" ao %f a1 %f tot %u wnt %u dtls %d dn %u\n" - "wnlsf %u dtlsf %d utcsi %d tow %u wn %u flags %#x\n" % u) - - # table from message id to respective message decoder. - # Note: id (%id%) is different than ID (statement identifier) - # the id is the first two characters of a GREIS receiver Message - # see section 3.3 of the specification - messages = { - '[0d]': (msg__d, 1), - '[1d]': (msg__d, 1), - '[1E]': (msg__E, 1), - '[1p]': (msg__p, 1), - '[1r]': (msg__r, 1), - '[2d]': (msg__d, 1), - '[2E]': (msg__E, 1), - '[2p]': (msg__p, 1), - '[2r]': (msg__r, 1), - '[3d]': (msg__d, 1), - '[3E]': (msg__E, 1), - '[3p]': (msg__p, 1), - '[3r]': (msg__r, 1), - '[5d]': (msg__d, 1), - '[5E]': (msg__E, 1), - '[5p]': (msg__p, 1), - '[5r]': (msg__r, 1), - '[AZ]': (msg_AZ, 1), - '[BP]': (msg_BP, 5), - '[c1]': (msg_c_, 1), - '[c2]': (msg_c_, 1), - '[c3]': (msg_c_, 1), - '[c5]': (msg_c_, 1), - '[CA]': (msg__A, 47), - '[cc]': (msg_c_, 1), - '[CE]': (msg__E, 1), - '[cl]': (msg_c_, 1), - '[CN]': (msg__E1, 123), - '[cp]': (msg__p, 1), - '[cr]': (msg__r, 1), - '[CS]': (msg_S_, 8), - '[DC]': (msg_DC, 1), - '[DO]': (msg_DO, 6), - '[DP]': (msg_DP, 18), - '[E1]': (msg_E_, 1), - '[E2]': (msg_E_, 1), - '[E3]': (msg_E_, 1), - '[E5]': (msg_E_, 1), - '[EA]': (msg__A, 47), - '[EC]': (msg_E_, 1), - '[El]': (msg_E_, 1), - '[EL]': (msg_EL, 1), - '[EN]': (msg__E1, 123), - '[ER]': (msg_ER, 1), - '[ES]': (msg_S_, 8), - '[EU]': (msg_EU, 40), - '[F1]': (msg_FC, 1), - '[F2]': (msg_FC, 1), - '[F3]': (msg_FC, 1), - '[F5]': (msg_FC, 1), - '[FA]': (msg_FC, 1), - '[FC]': (msg_FC, 1), - '[Fl]': (msg_FC, 1), - '[GA]': (msg__A, 47), - '[GE]': (msg__E1, 123), - '[GS]': (msg_S_, 8), - '[GT]': (msg_GT, 7), - '[IA]': (msg__A, 47), - '[ID]': (msg_ID, 1), - '[IE]': (msg__E1, 123), - '[IO]': (msg_IO, 39), - '[Is]': (msg_S_, 8), - '[ld]': (msg__d, 1), - '[lE]': (msg__E, 1), - '[lp]': (msg__p, 1), - '[lr]': (msg__r, 1), - '[LO]': (msg_LO, 1), - '[MF]': (msg_MF, 9), - '[::]': (msg_ET, 4), - '[~~]': (msg_RT, 4), - '[NS]': (msg_S_, 8), - '[PM]': (msg_PM, 0), - '[PV]': (msg_PV, 46), - '[QA]': (msg__A, 47), - '[QE]': (msg__E1, 123), - '[QS]': (msg_S_, 8), - '[r1]': (msg_r, 1), - '[r2]': (msg_r, 1), - '[r3]': (msg_r, 1), - '[r5]': (msg_r, 1), - '[rc]': (msg_r, 1), - '[RD]': (msg_RD, 6), - '[RE]': (msg_RE, 1), - '[rl]': (msg_r, 1), - '[rx]': (msg_r, 1), - '[SE]': (msg_SE, 6), - '[SG]': (msg_SG, 18), - '[SI]': (msg_SI, 1), - '[SP]': (msg_SP, 42), - '[SS]': (msg_SS, 1), - '[ST]': (msg_ST, 6), - '[SX]': (msg_SX, 1), - '[TC]': (msg_TC, 1), - '[TO]': (msg_TO, 6), - '[UO]': (msg_UO, 24), - '[WA]': (msg_WA, 51), - '[WE]': (msg_WE, 73), - '[WS]': (msg_S_, 8), - '[WU]': (msg_WU, 40), - } - - def decode_msg(self, out): - "Decode one message and then return number of chars consumed" - - state = 'BASE' - consumed = 0 - # raw message, sometimes used for checksum calc - m_raw = bytearray(0) - - # decode state machine - for this_byte in out: - consumed += 1 - if isinstance(this_byte, str): - # a character, probably read from a file - c = ord(this_byte) - else: - # a byte, probably read from a serial port - c = int(this_byte) - - if VERB_RAW <= opts['verbosity']: - if (ord(' ') <= c) and (ord('~') >= c): - # c is printable - print("state: %s char %c (%#x)" % (state, chr(c), c)) - else: - # c is not printable - print("state: %s char %#x" % (state, c)) - - m_raw.extend([c]) - - # parse input stream per GREIS Ref Guide Section 3.3.3 - if 'BASE' == state: - # start fresh - # place to store 'comments' - comment = '' - # message id byte one - m_id1 = 0 - # message id byte two - m_id2 = 0 - # message length as integer - m_len = 0 - # byte array to hold payload, including possible checksum - m_payload = bytearray(0) - m_raw = bytearray(0) - m_raw.extend([c]) - - if (ord('0') <= c) and (ord('~') >= c): - # maybe id 1, '0' to '~' - state = 'ID1' - - # start the grab - m_id1 = c - continue - - if ord("%") == c: - # start of %ID%, Receiver Input Language - # per GREIS Ref Guide Section 2.2 - state = 'RIL' - - # start fresh - comment = "%" - continue - - if ord("$") == c: - # NMEA line, treat as comment - state = 'NMEA' - - # start fresh - comment = "$" - continue - - if ord("#") == c: - # comment line - state = 'COMMENT' - - # start fresh - comment = "#" - continue - - if ord('\n') == c or ord('\r') == c: - # stray newline or linefeed, eat it - return consumed - - # none of the above, stay in BASE - continue - - if state in ('COMMENT', 'JSON', 'RIL'): - # inside comment - if ord('\n') == c or ord('\r') == c: - # Got newline or linefeed - # GREIS terminates messages on <CR> or <LF> - # Done, got a full message - if b'{"class":"ERROR"' in comment: - # always print gpsd errors - print(comment) - elif VERB_DECODE <= opts['verbosity']: - print(comment) - return consumed - else: - comment += chr(c) - continue - - if 'ID1' == state: - # maybe id 2, '0' to '~' - if ord('"') == c: - # technically could be GREIS, but likely JSON - state = 'JSON' - comment += chr(m_id1) + chr(c) - elif (ord('0') <= c) and (ord('~') >= c): - state = 'ID2' - m_id2 = c - else: - state = 'BASE' - continue - - if 'ID2' == state: - # maybe len 1, 'A' to 'F' - x = self.isuchex(c) - if -1 < x: - state = 'LEN1' - m_len = x * 256 - else: - state = 'BASE' - continue - - if 'LEN1' == state: - # maybe len 2, 'A' to 'F' - x = self.isuchex(c) - if -1 < x: - state = 'LEN2' - m_len += x * 16 - else: - state = 'BASE' - continue - - if 'LEN2' == state: - # maybe len 3, 'A' to 'F' - x = self.isuchex(c) - if -1 < x: - state = 'PAYLOAD' - m_len += x - else: - state = 'BASE' - continue - - if 'NMEA' == state: - # inside NMEA - if ord('\n') == c or ord('\r') == c: - # Got newline or linefeed - # done, got a full message - # GREIS terminates messages on <CR> or <LF> - if VERB_DECODE <= opts['verbosity']: - print(comment) - return consumed - else: - comment += chr(c) - continue - - if 'PAYLOAD' == state: - # getting payload - m_payload.extend([c]) - if len(m_payload) < m_len: - continue - - # got entire payload - self.s_id = "[%c%c]" % (chr(m_id1), chr(m_id2)) - if VERB_DECODE <= opts['verbosity']: - x_payload = binascii.hexlify(m_payload) - - # [RE], [ER] and more have no 8-bit checksum - # assume the rest do - if ((self.s_id not in ('[CS]', '[ER]', '[ES]', '[GS]', '[Is]', - '[MF]', '[NS]', '[PM]', '[QS]', '[RE]', - '[WS]') and - not self.checksum_OK(m_raw))): - print("ERROR: Bad checksum\n") - if VERB_DECODE <= opts['verbosity']: - print("DECODE: id: %s len: %d\n" - "DECODE: payload: %s\n" % - (self.s_id, m_len, x_payload)) - # skip it. - return consumed - - if self.s_id in self.messages: - if VERB_INFO <= opts['verbosity']: - print("INFO: id: %s len: %d\n" - "INFO: payload: %s\n" % - (self.s_id, m_len, x_payload)) - - (decode, length) = self.messages[self.s_id] - if m_len < length: - print("DECODE: %s Bad Length %s\n" % - (self.s_id, m_len)) - else: - s = self.s_id + decode(self, m_payload) - if VERB_DECODE <= opts['verbosity']: - print(s) - else: - # unknown message - if VERB_DECODE <= opts['verbosity']: - print("DECODE: Unknown: id: %s len: %d\n" - "DECODE: payload: %s\n" % - (self.s_id, m_len, x_payload)) - return consumed - - # give up - state = 'BASE' - - # fell out of loop, no more chars to look at - return 0 - - def checksum_OK(self, raw_msg): - "Check the i8-bit checksum on a message, return True if good" - - # some packets from the GPS use CRC16, some i8-bit checksum, some none - # only 8-bit checksum done here for now - calc_checksum = self.checksum(raw_msg, len(raw_msg) - 1) - rcode = raw_msg[len(raw_msg)-1] == calc_checksum - if VERB_RAW <= opts['verbosity']: - print("Checksum was %#x, calculated %#x" % - (raw_msg[len(raw_msg)-1], calc_checksum)) - return rcode - - def _rol(self, value): - "rotate a byte left 2 bits" - return ((value << 2) | (value >> 6)) & 0x0ff - - def checksum(self, msg, m_len): - "Calculate GREIS 8-bit checksum" - - # Calculated per section A.1.1 of the specification - # msg may be bytes (incoming messages) or str (outgoing messages) - - ck = 0 - for c in msg[0:m_len]: - if isinstance(c, str): - # a string, make a byte - c = ord(c) - ck = self._rol(ck) ^ c - - return self._rol(ck) & 0x0ff - - def make_pkt(self, m_data): - "Build an output message, always ASCII, add checksum and terminator" - - # build core message - - # no leading spaces, checksum includes the @ - m_data = m_data.lstrip() + b'@' - - chk = self.checksum(m_data, len(m_data)) - - # all commands end with CR and/or LF - return m_data + (b'%02X' % chk) + b'\n' - - def gps_send(self, m_data): - "Send message to GREIS GPS" - - m_all = self.make_pkt(m_data) - if not opts['read_only']: - io_handle.ser.write(m_all) - if VERB_INFO <= opts['verbosity']: - print("sent:", m_all) - self.decode_msg(m_all) - sys.stdout.flush() - - # Table of known options. From table 4-2 of the specification. - oafs = ( - b"_AJM", - b"AUTH", - b"_BLT", - b"_CAN", - b"CDIF", - b"CMRI", - b"CMRO", - b"COMP", - b"COOP", - b"COPN", - b"CORI", - b"_CPH", - b"DEVS", - b"DIST", - b"_DTM", - b"_E5B", - b"_E6_", - b"EDEV", - b"ETHR", - b"EVNT", - b"_FRI", - b"_FRO", - b"_FTP", - b"_GAL", - b"GBAI", - b"GBAO", - b"GCLB", - b"_GEN", - b"_GEO", - b"_GLO", - b"_GPS", - b"_GSM", - b"HTTP", - b"_IMU", - b"INFR", - b"IRIG", - b"IRNS", - b"JPSI", - b"JPSO", - b"_L1C", - b"_L1_", - b"_L2C", - b"_L2_", - b"_L5_", - b"LAT1", - b"LAT2", - b"LAT3", - b"LAT4", - b"LCS2", - b"L_CS", - b"_LIM", - b"LON1", - b"LON2", - b"LON3", - b"LON4", - b"MAGN", - b"_MEM", - b"_MPR", - b"OCTO", - b"OMNI", - b"_PAR", - b"PDIF", - b"_POS", - b"_PPP", - b"_PPS", - b"PRTT", - b"_PTP", - b"QZSS", - b"RAIM", - b"_RAW", - b"RCVT", - b"RM3I", - b"RM3O", - b"RS_A", - b"RS_B", - b"RS_C", - b"RS_D", - b"RTMI", - b"RTMO", - b"SPEC", - b"TCCL", - b"_TCP", - b"TCPO", - b"_TLS", - b"TRST", - b"UDPO", - b"_UHF", - b"_USB", - b"WAAS", - b"WIFI", - b"_WPT", - ) - - def send_able_4hz(self, able): - "enable basic GREIS messages at 4Hz" - - self.expect_statement_identifier = 'greis' - - # the messages we want - # [SX] requires 3.7 firmware, we use [SI] to support 3.6 - messages = b"jps/{RT,UO,GT,PV,SG,DP,SI,EL,AZ,EC,SS,ET}" - - if able: - # Message rate must be an integer multiple of /par/raw/msint - # Default msint is 0.100 seconds, so that must be changed first - self.gps_send(b"%msint%set,/par/raw/msint,250") - - self.gps_send(b"%greis%em,," + messages + b":0.25") - else: - self.gps_send(b"%greis%dm,," + messages) - - def send_able_comp(self, able): - "dis/enable COMPASS, aka BeiDou" - self.expect_statement_identifier = 'cons' - en_dis = b'y' if 1 == able else b'n' - self.gps_send(b"%cons%set,/par/pos/sys/comp," + en_dis) - - def send_able_constellations(self, able): - "dis/enable all constellations" - self.expect_statement_identifier = 'cons7' - en_dis = b'y' if 1 == able else b'n' - self.gps_send(b"%cons1%set,/par/pos/sys/comp," + en_dis) - self.gps_send(b"%cons2%set,/par/pos/sys/gal," + en_dis) - # this will fail on TR-G2H, as it has no GLONASS - self.gps_send(b"%cons3%set,/par/pos/sys/glo," + en_dis) - self.gps_send(b"%cons4%set,/par/pos/sys/gps," + en_dis) - self.gps_send(b"%cons5%set,/par/pos/sys/irnss," + en_dis) - self.gps_send(b"%cons6%set,/par/pos/sys/sbas," + en_dis) - self.gps_send(b"%cons7%set,/par/pos/sys/qzss," + en_dis) - - def send_able_defmsg(self, able): - "dis/enable default messages at 1Hz" - self.expect_statement_identifier = 'defmsg' - if able: - self.gps_send(b"%defmsg%em,,jps/RT,/msg/def:1,jps/ET") - else: - # leave RT and ET to break less? - self.gps_send(b"%defmsg%dm,,/msg/def:1") - - def send_able_gal(self, able): - "dis/enable GALILEO" - self.expect_statement_identifier = 'cons' - en_dis = b'y' if 1 == able else b'n' - self.gps_send(b"%cons%set,/par/pos/sys/gal," + en_dis) - - def send_able_glo(self, able): - "dis/enable GLONASS" - self.expect_statement_identifier = 'cons' - en_dis = b'y' if 1 == able else b'n' - self.gps_send(b"%cons%set,/par/pos/sys/glo," + en_dis) - - def send_able_gps(self, able): - "dis/enable GPS" - self.expect_statement_identifier = 'cons' - en_dis = b'y' if 1 == able else b'n' - self.gps_send(b"%cons%set,/par/pos/sys/gps," + en_dis) - - def send_able_ipr(self, able): - "dis/enable all Integer Psuedo-Range messages" - self.expect_statement_identifier = 'em' - if able: - self.gps_send(b"%em%em,,jps/{rx,rc,r1,r2,r3,r5,rl}:0.25") - else: - self.gps_send(b"%em%dm,,jps/{rx,rc,r1,r2,r3,r5,rl}") - - def send_able_irnss(self, able): - "dis/enable IRNSS" - self.expect_statement_identifier = 'cons' - en_dis = b'y' if 1 == able else b'n' - self.gps_send(b"%cons%set,/par/pos/sys/irnss," + en_dis) - - def send_able_nmea41(self, able): - "dis/enable basic NMEA 4.1e messages at 4Hz" - - self.expect_statement_identifier = 'nmea' - - messages = b"nmea/{GBS,GGA,GSA,GST,GSV,RMC,VTG,ZDA}" - - if able: - # set NMEA version 4.1e - self.gps_send(b"%nmeaver%set,/par/nmea/ver,v4.1e") - - # Message rate must be an integer multiple of /par/raw/msint - # Default msint is 0.100 seconds, so that must be changed first - self.gps_send(b"%msint%set,/par/raw/msint,250") - - # now we can set the messages we want - self.gps_send(b"%nmea%em,," + messages + b":0.25") - else: - # disable - self.gps_send(b"%nmea%dm,," + messages) - - def send_able_sbas(self, able): - "dis/enable SBAS" - self.expect_statement_identifier = 'cons' - en_dis = b'y' if 1 == able else b'n' - self.gps_send(b"%cons%set,/par/pos/sys/sbas," + en_dis) - - def send_able_qzss(self, able): - "dis/enable QZSS" - self.expect_statement_identifier = 'cons' - en_dis = b'y' if 1 == able else b'n' - self.gps_send(b"%cons%set,/par/pos/sys/qzss," + en_dis) - - def send_able_snr(self, able): - "dis/enable all SNR messages, except [EC]" - self.expect_statement_identifier = 'em' - if able: - self.gps_send(b"%em%em,,jps/{E1,E2,E3,E5,El}:0.25") - else: - self.gps_send(b"%em%dm,,jps/{E1,E2,E3,E5,El}") - - able_commands = { - # en/disable basic GREIS messages at 4HZ - "4HZ": {"command": send_able_4hz, - "help": "basic GREIS messages at 4Hz"}, - # en/disable all constellations - "CONS": {"command": send_able_constellations, - "help": "all constellations"}, - # en/disable COMPASS, aka Beidou - "COMPASS": {"command": send_able_comp, - "help": "COMPASS"}, - # en/disable default message set. - "DEFMSG": {"command": send_able_defmsg, - "help": "default message set at 1Hz"}, - # en/disable GALILEO - "GALILEO": {"command": send_able_gal, - "help": "GALILEO"}, - # en/disable GLONASS - "GLONASS": {"command": send_able_glo, - "help": "GLONASS"}, - # en/disable GPS - "GPS": {"command": send_able_gps, - "help": "GPS"}, - # en/disable Integer Psuedo Range messages - "IPR": {"command": send_able_ipr, - "help": "all Integer Psuedo Range messages"}, - # en/disable IRNSS - "IRNSS": {"command": send_able_irnss, - "help": "IRNSS"}, - # en/disable NMEA 4.1e - "NMEA": {"command": send_able_nmea41, - "help": "basic messages NMEA 4.1 at 4Hz"}, - # en/disable SBAS - "SBAS": {"command": send_able_sbas, - "help": "SBAS"}, - # en/disable all SNRs - "SNR": {"command": send_able_snr, - "help": "all SNR messages, except [EC]"}, - # en/disable QZSS - "QZSS": {"command": send_able_qzss, - "help": "QZSS"}, - } - - def send_coldboot(self): - "Delete NVRAM (almanac, ephemeris, location) and restart" - self.expect_statement_identifier = 'coldboot' - self.gps_send(b"%coldboot%init,/dev/nvm/a") - - def send_constellations(self): - "poll all constellations" - self.expect_statement_identifier = 'cons' - self.gps_send(b"%cons%print,/par/pos/sys:on") - - def send_get_id(self): - "get receiver id" - self.expect_statement_identifier = 'id' - self.gps_send(b"%id%print,/par/rcv/id") - - def send_get_oaf(self): - "poll OAF (GPS opts)" - - self.expect_statement_identifier = 'opts,_WPT' - if VERB_RAW <= opts['verbosity']: - # get list of all opts - self.gps_send(b"%opts,list%list,/par/opts") - - # request opts one at a time from canned list - for s in self.oafs: - self.gps_send(b"%%opts,%s%%print,/par/opts/%s" % (s, s)) - - def send_get_serial(self): - "get receiver serial number" - self.expect_statement_identifier = 'serial' - self.gps_send(b"%serial%print,/par/rcv/sn") - - def send_reset(self): - "reset (reboot) the GPS" - self.expect_statement_identifier = 'reset' - self.gps_send(b"%reset%set,/par/reset,y") - - def send_set_dm(self): - "disable all messages" - self.expect_statement_identifier = 'dm' - self.gps_send(b"%dm%dm") - - def send_set_ipr(self): - "poll Integer Psuedo-Range messages" - self.expect_statement_identifier = 'out' - self.gps_send(b"%out%out,,jps/{rx,rc,r1,r2,r3,r5,rl}") - - def send_get_snr(self): - "poll all SNR messages" - # nothing we can wait on, depending on GPS model/configuration - # we may never see some of E2, E3, E5 or El - self.gps_send(b"%out%out,,jps/{EC,E1,E2,E3,E5,El}") - - def send_set_speed(self, set_speed): - "change GPS speed" - self.expect_statement_identifier = 'setspeed' - self.gps_send(b"%%setspeed%%set,/par/cur/term/rate,%d" % - set_speed) - - def send_get_vendor(self): - "get receiver vendor" - self.expect_statement_identifier = 'vendor' - self.gps_send(b"%vendor%print,/par/rcv/vendor") - - def send_get_ver(self): - "get receiver version, per section 4.4.3 of the specification" - self.expect_statement_identifier = 'ver' - self.gps_send(b"%ver%print,/par/rcv/ver") - - # list of canned commands that can be sent to the receiver - commands = { - "COLDBOOT": {"command": send_coldboot, - "help": "cold boot the GPS"}, - "CONS": {"command": send_constellations, - "help": "poll enabled constellations"}, - "DM": {"command": send_set_dm, - "help": "disable all periodic messages"}, - "ID": {"command": send_get_id, - "help": "poll receiver ID"}, - "IPR": {"command": send_set_ipr, - "help": "poll all Integer Psuedo-range messages"}, - "OAF": {"command": send_get_oaf, - "help": "poll all OAF options"}, - "RESET": {"command": send_reset, - "help": "reset (reboot) the GPS"}, - "SERIAL": {"command": send_get_serial, - "help": "poll receiver serial number"}, - "SNR": {"command": send_get_snr, - "help": "poll all SNR messages"}, - "VENDOR": {"command": send_get_vendor, - "help": "poll GPS vendor"}, - "VER": {"command": send_get_ver, - "help": "poll GPS version"}, - } - - -class gps_io(object): - """All the GPS I/O in one place" - - Three types of GPS I/O - 1. read only from a file - 2. read/write through a device - 3. read only from a gpsd instance - """ - - out = b'' - ser = None - input_is_device = False - - def __init__(self, serial_class): - "Initialize class" - - Serial = serial_class - # buffer to hold read data - self.out = b'' - - # open the input: device, file, or gpsd - if opts['input_file_name'] is not None: - # check if input file is a file or device - try: - mode = os.stat(opts['input_file_name']).st_mode - except OSError: - sys.stderr.write('%s: failed to open input file %s\n' % - (PROG_NAME, opts['input_file_name'])) - sys.exit(1) - - if stat.S_ISCHR(mode): - # character device, need not be read only - self.input_is_device = True - - if ((opts['disable'] or opts['enable'] or opts['poll'] or - opts['oaf_name'])): - - # check that we can write - if opts['read_only']: - sys.stderr.write('%s: read-only mode, ' - 'can not send commands\n' % PROG_NAME) - sys.exit(1) - if self.input_is_device is False: - sys.stderr.write('%s: input is plain file, ' - 'can not send commands\n' % PROG_NAME) - sys.exit(1) - - if opts['target']['server'] is not None: - # try to open local gpsd - try: - self.ser = gps.gpscommon(host=None) - self.ser.connect(opts['target']['server'], - opts['target']['port']) - - # alias self.ser.write() to self.write_gpsd() - self.ser.write = self.write_gpsd - # ask for raw, not rare, data - data_out = b'?WATCH={' - if opts['target']['device'] is not None: - # add in the requested device - data_out += (b'"device":"' + opts['target']['device'] + - b'",') - data_out += b'"enable":true,"raw":2}\r\n' - if VERB_RAW <= opts['verbosity']: - print("sent: ", data_out) - self.ser.send(data_out) - except socket.error as err: - sys.stderr.write('%s: failed to connect to gpsd %s\n' % - (PROG_NAME, err)) - sys.exit(1) - - elif self.input_is_device: - # configure the serial connections (the parameters refer to - # the device you are connecting to) - - try: - self.ser = Serial.Serial( - baudrate=opts['input_speed'], - # 8N1 is GREIS default - bytesize=Serial.EIGHTBITS, - parity=Serial.PARITY_NONE, - port=opts['input_file_name'], - stopbits=Serial.STOPBITS_ONE, - # read timeout - timeout=0.05, - # pyserial Ver 3.0+ changes writeTimeout to write_timeout - # just set both - write_timeout=0.5, - writeTimeout=0.5, - ) - except Serial.serialutil.SerialException: - # this exception happens on bad serial port device name - sys.stderr.write('%s: failed to open serial port "%s"\n' - ' Your computer has these serial ports:\n' - % (PROG_NAME, opts['input_file_name'])) - - # print out list of supported ports - import serial.tools.list_ports as List_Ports - ports = List_Ports.comports() - for port in ports: - sys.stderr.write(" %s: %s\n" % - (port.device, port.description)) - sys.exit(1) - - # flush input buffer, discarding all its contents - self.ser.flushInput() - - else: - # Read from a plain file of GREIS messages - try: - self.ser = open(opts['input_file_name'], 'rb') - except IOError: - sys.stderr.write('%s: failed to open input %s\n' % - (PROG_NAME, opts['input_file_name'])) - sys.exit(1) - - def read(self, read_opts): - "Read from device, until timeout or expected message" - - # are we expecting a certain message? - if gps_model.expect_statement_identifier: - # assume failure, until we see expected message - ret_code = 1 - else: - # not expecting anything, so OK if we did not see it. - ret_code = 0 - - try: - if read_opts['target']['server'] is not None: - # gpsd input - start = time.clock() - while read_opts['input_wait'] > (time.clock() - start): - # First priority is to be sure the input buffer is read. - # This is to prevent input buffer overuns - if 0 < self.ser.waiting(): - # We have serial input waiting, get it - # No timeout possible - # RTCM3 JSON can be over 4.4k long, so go big - new_out = self.ser.sock.recv(8192) - if raw is not None: - # save to raw file - raw.write(new_out) - self.out += new_out - - consumed = gps_model.decode_msg(self.out) - self.out = self.out[consumed:] - if ((gps_model.expect_statement_identifier and - (gps_model.expect_statement_identifier == - gps_model.last_statement_identifier))): - # Got what we were waiting for. Done? - ret_code = 0 - if not read_opts['input_forced_wait']: - # Done - break - - elif self.input_is_device: - # input is a serial device - start = time.clock() - while read_opts['input_wait'] > (time.clock() - start): - # First priority is to be sure the input buffer is read. - # This is to prevent input buffer overuns - # pyserial 3.0 replaces inWaiting() with in_waiting - if 0 < self.ser.inWaiting(): - # We have serial input waiting, get it - # 1024 is comfortably large, almost always the - # Read timeout is what causes ser.read() to return - new_out = self.ser.read(1024) - if raw is not None: - # save to raw file - raw.write(new_out) - self.out += new_out - - consumed = gps_model.decode_msg(self.out) - self.out = self.out[consumed:] - if ((gps_model.expect_statement_identifier and - (gps_model.expect_statement_identifier == - gps_model.last_statement_identifier))): - # Got what we were waiting for. Done? - ret_code = 0 - if not read_opts['input_forced_wait']: - # Done - break - else: - # ordinary file, so all read at once - self.out += self.ser.read() - if raw is not None: - # save to raw file - raw.write(self.out) - - while True: - consumed = gps_model.decode_msg(self.out) - self.out = self.out[consumed:] - if 0 >= consumed: - break - - except IOError: - # This happens on a good device name, but gpsd already running. - # or if USB device unplugged - sys.stderr.write('%s: failed to read %s\n' - '%s: Is gpsd already holding the port?\n' - % (PROG_NAME, PROG_NAME, - read_opts['input_file_name'])) - return 1 - - if 0 < ret_code: - # did not see the message we were expecting to see - sys.stderr.write('%s: waited %0.2f seconds for, ' - 'but did not get: %%%s%%\n' - % (PROG_NAME, read_opts['input_wait'], - gps_model.expect_statement_identifier)) - return ret_code - - def write_gpsd(self, data): - "write data to gpsd daemon" - - # HEXDATA_MAX = 512, from gps.h, The max hex digits can write. - # Input data is binary, converting to hex doubles its size. - # Limit binary data to length 255, so hex data length less than 510. - if 255 < len(data): - sys.stderr.write('%s: trying to send %d bytes, max is 255\n' - % (PROG_NAME, len(data))) - return 1 - - if opts['target']['device'] is not None: - # add in the requested device - data_out = b'?DEVICE={"path":"' + opts['target']['device'] + b'",' - else: - data_out = b'?DEVICE={' - - # Convert binary data to hex and build the message. - data_out += b'"hexdata":"' + binascii.hexlify(data) + b'"}\r\n' - if VERB_RAW <= opts['verbosity']: - print("sent: ", data_out) - self.ser.send(data_out) - return 0 - - -def usage(): - "Print usage information, and exit" - - print("usage: %s [-?hrVW] [-c C] [-d D] [-e E] [-f F] [-O O] [-p P]\n" - " [-R R] [-S S] [-s S] [-v V] [-w W]\n" - " [server[:port[:device]]]\n\n" % PROG_NAME) - print('usage: %s [options]\n' - ' -? print this help\n' - ' -c C send command C to GPS\n' - ' -d D disable D\n' - ' -e E enable E\n' - ' -f F open F as file/device\n' - ' default: %s\n' - ' -h print this help\n' - ' -O O send OAF file to GPS\n' - ' -p P send preset GPS command P\n' - ' -R R save raw data from GPS in file R\n' - ' -r open file/device read only\n' - ' default: %s\n' - ' -S S configure GPS speed to S\n' - ' -s S set port speed to S\n' - ' default: %d bps\n' - ' -V print version\n' - ' -v V Set verbosity level to V, 0 to 4\n' - ' default: %d\n' - ' -W force entire wait time, no exit early\n' - ' -w W wait time, exit early on -p result\n' - ' default: %s seconds\n' - ' [server[:port[:device]]] Connect to gpsd\n' - ' default port: 2947\n' - ' default device: None\n' - '\n' - 'D and E can be one of:' % - (PROG_NAME, opts['input_file_name'], opts['raw_file'], - opts['input_speed'], opts['verbosity'], opts['input_wait']) - ) - - # print list of enable/disable commands - for item in sorted(gps_model.able_commands.keys()): - print(" %-12s %s" % (item, gps_model.able_commands[item]["help"])) - - print('\nthe preset GPS command P can be one of:') - - # print list of possible canned commands - for item in sorted(gps_model.commands.keys()): - print(" %-12s %s" % (item, gps_model.commands[item]["help"])) - print('\nOptions can be placed in the ZERKOPTS environment variable.\n' - 'ZERKOPTS is processed before the CLI options.') - sys.exit(0) - - -# create the GREIS instance -gps_model = greis() - -if 'ZERKOPTS' in os.environ: - # grab the ZERKOPTS environment variable for options - opts['progopts'] = os.environ['ZERKOPTS'] - options = opts['progopts'].split(' ') + sys.argv[1:] -else: - options = sys.argv[1:] - -try: - (options, arguments) = getopt.getopt(options, - "?c:d:e:f:hrp:s:w:v:O:R:S:WV") -except getopt.GetoptError as err: - sys.stderr.write("%s: %s\n" - "Try '%s -h' for more information.\n" % - (PROG_NAME, str(err), PROG_NAME)) - sys.exit(2) - -for (opt, val) in options: - if opt == '-c': - # command - opts['command'] = val - elif opt == '-d': - # disable - opts['disable'] = val - elif opt == '-e': - # enable - opts['enable'] = val - elif opt == '-f': - # file input - opts['input_file_name'] = val - elif opt == '-h' or opt == '-?': - # help - usage() - elif opt == '-p': - # preprogrammed command - opts['poll'] = val - elif opt == '-r': - # read only - opts['read_only'] = True - elif opt == '-s': - # serial port speed - opts['input_speed'] = int(val) - if opts['input_speed'] not in gps_model.speeds: - sys.stderr.write('%s: -s invalid speed %s\n' % - (PROG_NAME, opts['input_speed'])) - sys.exit(1) - - elif opt == '-w': - # max wait time, seconds - opts['input_wait'] = float(val) - elif opt in '-v': - # verbosity level - opts['verbosity'] = int(val) - elif opt in '-O': - # OAF .jpo file - opts['oaf_name'] = val - elif opt in '-R': - # raw log file - opts['raw_file'] = val - elif opt in '-S': - # set GPS serial port speed - opts['set_speed'] = int(val) - if opts['set_speed'] not in gps_model.speeds: - sys.stderr.write('%s: -S invalid speed %s\n' % - (PROG_NAME, opts['set_speed'])) - sys.exit(1) - - elif opt == '-W': - # forced wait, no early exit on command completion - opts['input_forced_wait'] = True - elif opt == '-V': - # version - sys.stderr.write('zerk: Version %s\n' % gps_version) - sys.exit(0) - -if opts['input_file_name'] is None: - # no input file given - # default to local gpsd - opts['target']['server'] = "localhost" - opts['target']['port'] = gps.GPSD_PORT - opts['target']['device'] = None - if arguments: - # server[:port[:device]] - arg_parts = arguments[0].split(':') - opts['target']['server'] = arg_parts[0] - if 1 < len(arg_parts): - opts['target']['port'] = arg_parts[1] - if 2 < len(arg_parts): - opts['target']['device'] = arg_parts[2] - -elif arguments: - sys.stderr.write('%s: Both input file and server specified\n' % PROG_NAME) - sys.exit(1) - -if VERB_PROG <= opts['verbosity']: - # dump all options - print('Options:') - for option in sorted(opts): - print(" %s: %s" % (option, opts[option])) - -# done parsing arguments from environment and CLI - -try: - # raw log file requested? - raw = None - if opts['raw_file']: - try: - raw = open(opts['raw_file'], 'w') - except IOError: - sys.stderr.write('%s: failed to open raw file %s\n' % - (PROG_NAME, opts['raw_file'])) - sys.exit(1) - - # create the I/O instance - io_handle = gps_io(serial) - - # keep it simple, only one of -O, -c -d -e or -S - if opts['oaf_name'] is not None: - # parse an OAF file - try: - oaf_root = xml.etree.ElementTree.parse(opts['oaf_name']).getroot() - oaf = dict() - for tag in ('id', 'oaf', 'hash'): - oaf[tag] = oaf_root.find(tag).text - oaf['oaf'] = oaf['oaf'].split('\n') - if VERB_PROG <= opts['verbosity']: - print(oaf) - except xml.etree.ElementTree.ParseError: - sys.stderr.write('%s: failed to parse OAF "%s"\n' - % (PROG_NAME, opts['oaf_name'])) - sys.exit(1) - except IOError: - sys.stderr.write('%s: failed to read OAF "%s"\n' - % (PROG_NAME, opts['oaf_name'])) - sys.exit(1) - - # calculate hash - oaf_s = '\n'.join(oaf['oaf']) - hash_s = hashlib.sha1(oaf_s).hexdigest() - if hash_s != oaf['hash']: - sys.stderr.write('%s: OAF bad hash "%s", s/b %s\n' - % (PROG_NAME, hash_s, oaf['hash'])) - sys.exit(1) - - # TODO: probably should check the ID first... - # TODO: prolly should send one command per handshake - # blasting all commands at once, seems to not work reliably - for command in oaf['oaf']: - time.sleep(0.1) # wait 0.1 seconds each - gps_model.gps_send(command) - # this will detect when it is all done - gps_model.gps_send(b'%DONE%') - gps_model.expect_statement_identifier = 'DONE' - - elif opts['command'] is not None: - # zero length is OK to send - if 1 < len(opts['command']) and '%' != opts['command'][0]: - # add ID, if missing - gps_model.expect_statement_identifier = 'CMD' - opts['command'] = "%CMD%" + opts['command'] - - # add trailing new line - opts['command'] += "\n" - - if VERB_QUIET < opts['verbosity']: - sys.stderr.write('%s: command %s\n' % (PROG_NAME, opts['command'])) - gps_model.gps_send(opts['command']) - - elif opts['disable'] is not None: - if VERB_QUIET < opts['verbosity']: - sys.stderr.write('%s: disable %s\n' % (PROG_NAME, opts['disable'])) - if opts['disable'] in gps_model.able_commands: - command = gps_model.able_commands[opts['disable']] - command["command"](gps_model, 0) - else: - sys.stderr.write('%s: disable %s not found\n' % - (PROG_NAME, opts['disable'])) - sys.exit(1) - - elif opts['enable'] is not None: - if VERB_QUIET < opts['verbosity']: - sys.stderr.write('%s: enable %s\n' % (PROG_NAME, opts['enable'])) - if opts['enable'] in gps_model.able_commands: - command = gps_model.able_commands[opts['enable']] - command["command"](gps_model, 1) - else: - sys.stderr.write('%s: enable %s not found\n' % - (PROG_NAME, opts['enable'])) - sys.exit(1) - - elif opts['poll'] is not None: - if VERB_QUIET < opts['verbosity']: - sys.stderr.write('%s: poll %s\n' % (PROG_NAME, opts['poll'])) - if opts['poll'] in gps_model.commands: - command = gps_model.commands[opts['poll']] - command["command"](gps_model) - else: - sys.stderr.write('%s: poll %s not found\n' % - (PROG_NAME, opts['poll'])) - sys.exit(1) - - elif opts['set_speed'] is not None: - gps_model.send_set_speed(opts['set_speed']) - - exit_code = io_handle.read(opts) - - if ((VERB_RAW <= opts['verbosity']) and io_handle.out): - # dump raw left overs - print("Left over data:") - print(io_handle.out) - - sys.stdout.flush() - io_handle.ser.close() - -except KeyboardInterrupt: - print('') - exit_code = 1 - -sys.exit(exit_code) |