diff options
Diffstat (limited to 'contrib/ubxtool')
| -rwxr-xr-x | contrib/ubxtool | 2377 |
1 files changed, 0 insertions, 2377 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) |