summaryrefslogtreecommitdiff
path: root/zerk
blob: a71f2637fe3c1e7586719742242fda4df4d15c5f (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
931
932
933
934
935
936
937
938
939
940
941
942
943
944
945
946
947
948
949
950
951
952
953
954
955
956
957
958
959
960
961
962
963
964
965
966
967
968
969
970
971
972
973
974
975
976
977
978
979
980
981
982
983
984
985
986
987
988
989
990
991
992
993
994
995
996
997
998
999
1000
1001
1002
1003
1004
1005
1006
1007
1008
1009
1010
1011
1012
1013
1014
1015
1016
1017
1018
1019
1020
1021
1022
1023
1024
1025
1026
1027
1028
1029
1030
1031
1032
1033
1034
1035
1036
1037
1038
1039
1040
1041
1042
1043
1044
1045
1046
1047
1048
1049
1050
1051
1052
1053
1054
1055
1056
1057
1058
1059
1060
1061
1062
1063
1064
1065
1066
1067
1068
1069
1070
1071
1072
1073
1074
1075
1076
1077
1078
1079
1080
1081
1082
1083
1084
1085
1086
1087
1088
1089
1090
1091
1092
1093
1094
1095
1096
1097
1098
1099
1100
1101
1102
1103
1104
1105
1106
1107
1108
1109
1110
1111
1112
1113
1114
1115
1116
1117
1118
1119
1120
1121
1122
1123
1124
1125
1126
1127
1128
1129
1130
1131
1132
1133
1134
1135
1136
1137
1138
1139
1140
1141
1142
1143
1144
1145
1146
1147
1148
1149
1150
1151
1152
1153
1154
1155
1156
1157
1158
1159
1160
1161
1162
1163
1164
1165
1166
1167
1168
1169
1170
1171
1172
1173
1174
1175
1176
1177
1178
1179
1180
1181
1182
1183
1184
1185
1186
1187
1188
1189
1190
1191
1192
1193
1194
1195
1196
1197
1198
1199
1200
1201
1202
1203
1204
1205
1206
1207
1208
1209
1210
1211
1212
1213
1214
1215
1216
1217
1218
1219
1220
1221
1222
1223
1224
1225
1226
1227
1228
1229
1230
1231
1232
1233
1234
1235
1236
1237
1238
1239
1240
1241
1242
1243
1244
1245
1246
1247
1248
1249
1250
1251
1252
1253
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
1464
1465
1466
1467
1468
1469
1470
1471
1472
1473
1474
1475
1476
1477
1478
1479
1480
1481
1482
1483
1484
1485
1486
1487
1488
1489
1490
1491
1492
1493
1494
1495
1496
1497
1498
1499
1500
1501
1502
1503
1504
1505
1506
1507
1508
1509
1510
1511
1512
1513
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
1545
1546
1547
1548
1549
1550
1551
1552
1553
1554
1555
1556
1557
1558
1559
1560
1561
1562
1563
1564
1565
1566
1567
1568
1569
1570
1571
1572
1573
1574
1575
1576
1577
1578
1579
1580
1581
1582
1583
1584
1585
1586
1587
1588
1589
1590
1591
1592
1593
1594
1595
1596
1597
1598
1599
1600
1601
1602
1603
1604
1605
1606
1607
1608
1609
1610
1611
1612
1613
1614
1615
1616
1617
1618
1619
1620
1621
1622
1623
1624
1625
1626
1627
1628
1629
1630
1631
1632
1633
1634
1635
1636
1637
1638
1639
1640
1641
1642
1643
1644
1645
1646
1647
1648
1649
1650
1651
1652
1653
1654
1655
1656
1657
1658
1659
1660
1661
1662
1663
1664
1665
1666
1667
1668
1669
1670
1671
1672
1673
1674
1675
1676
1677
1678
1679
1680
1681
1682
1683
1684
1685
1686
1687
1688
1689
1690
1691
1692
1693
1694
1695
1696
1697
1698
1699
1700
1701
1702
1703
1704
1705
1706
1707
1708
1709
1710
1711
1712
1713
1714
1715
1716
1717
1718
1719
1720
1721
1722
1723
1724
1725
1726
1727
1728
1729
1730
1731
1732
1733
1734
1735
1736
1737
1738
1739
1740
1741
1742
1743
1744
1745
1746
1747
1748
1749
1750
1751
1752
1753
1754
1755
1756
1757
1758
1759
1760
1761
1762
1763
1764
1765
1766
1767
1768
1769
1770
1771
1772
1773
1774
1775
1776
1777
1778
1779
1780
1781
1782
1783
1784
1785
1786
1787
1788
1789
1790
1791
1792
1793
1794
1795
1796
1797
1798
1799
1800
1801
1802
1803
1804
1805
1806
1807
1808
1809
1810
1811
1812
1813
1814
1815
1816
1817
1818
1819
1820
1821
1822
1823
1824
1825
1826
1827
1828
1829
1830
1831
1832
1833
1834
1835
1836
1837
1838
1839
1840
1841
1842
1843
1844
1845
1846
1847
1848
1849
1850
1851
1852
1853
1854
1855
1856
1857
1858
1859
1860
1861
1862
1863
1864
1865
1866
1867
1868
1869
1870
1871
1872
1873
1874
1875
1876
1877
1878
1879
1880
1881
1882
1883
1884
1885
1886
1887
1888
1889
1890
1891
1892
1893
1894
1895
1896
1897
1898
1899
1900
1901
1902
1903
1904
1905
1906
1907
1908
1909
1910
1911
1912
1913
1914
1915
1916
1917
1918
1919
1920
1921
1922
1923
1924
1925
1926
1927
1928
1929
1930
1931
1932
1933
1934
1935
1936
1937
1938
1939
1940
1941
1942
1943
1944
1945
1946
1947
1948
1949
1950
1951
1952
1953
1954
1955
1956
1957
1958
1959
1960
1961
1962
#!/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:
    serial = None  # Defer complaining until we know we need it.

try:
    import gps
    import gps.misc      # for polybyte() polystr()
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 = '3.19-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_D_(self, payload):
        """[D?] decode, Doppler"""

        s = " dp"
        for i in range(0, len(payload) - 1, 4):
            # This is dopple in Hz * 1e4
            u = struct.unpack_from('<l', payload, i)
            s += " " + self.i4_s(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_P_(self, payload):
        "[P?] decode, Carrier Phases"

        s = " cp"
        for i in range(0, len(payload) - 1, 8):
            # carrier phases in cycles
            u = struct.unpack_from('<d', payload, i)
            s += " " + self.f8_s(u[0])

        return s + '\n'

    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_R_(self, payload):
        """[R?] decode, Pseudo-ranges"""

        s = " pr"
        for i in range(0, len(payload) - 1, 8):
            # psuedo in seconds
            u = struct.unpack_from('<d', payload, i)
            s += " %s" % self.f8_s(u[0])

        return s + '\n'

    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),
        '[D1]': (msg_D_, 1),
        '[D2]': (msg_D_, 1),
        '[D3]': (msg_D_, 1),
        '[D5]': (msg_D_, 1),
        '[DC]': (msg_D_, 1),
        '[Dl]': (msg_D_, 1),
        '[DO]': (msg_DO, 6),
        '[DP]': (msg_DP, 18),
        '[DX]': (msg_D_, 1),
        '[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),
        '[LO]': (msg_LO, 1),
        '[lp]': (msg__p, 1),
        '[lr]': (msg__r, 1),
        '[MF]': (msg_MF, 9),
        '[::]': (msg_ET, 4),
        '[~~]': (msg_RT, 4),
        '[NS]': (msg_S_, 8),
        '[P1]': (msg_P_, 1),
        '[P2]': (msg_P_, 1),
        '[P3]': (msg_P_, 1),
        '[P5]': (msg_P_, 1),
        '[PC]': (msg_P_, 1),
        '[Pl]': (msg_P_, 1),
        '[PM]': (msg_PM, 0),
        '[PV]': (msg_PV, 46),
        '[QA]': (msg__A, 47),
        '[QE]': (msg__E1, 123),
        '[QS]': (msg_S_, 8),
        '[r1]': (msg_r, 1),
        '[R1]': (msg_R_, 1),
        '[r2]': (msg_r, 1),
        '[R2]': (msg_R_, 1),
        '[r3]': (msg_r, 1),
        '[R3]': (msg_R_, 1),
        '[r5]': (msg_r, 1),
        '[R5]': (msg_R_, 1),
        '[rc]': (msg_r, 1),
        '[RC]': (msg_R_, 1),
        '[RD]': (msg_RD, 6),
        '[RE]': (msg_RE, 1),
        '[rl]': (msg_r, 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 '{"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_raw(self, able):
        """dis/enable Raw mode messages"""
        self.expect_statement_identifier = 'raw'

        messages = (b"jps/{RT,UO,GT,PV,SG,DP,SI,EL,AZ,EC,SS,"
                    b"PC,P1,P2,P3,P5,Pl,"
                    b"RC,R1,R2,R3,R5,Rl,"
                    b"DC,D1,D2,D3,D5,Dl,"
                    b"ET}")

        if able:
            self.gps_send(b"%raw%em,," + messages + b":1")
        else:
            self.gps_send(b"%raw%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 Psuedo Range, Carrier Phase and Doppler messages
        "RAW": {"command": send_able_raw,
                "help": "Raw mode messages"},
        # 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):
        "Initialize class"

        Serial = serial
        Serial_v3 = Serial and Serial.VERSION.split('.')[0] >= '3'
        # 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)

            # pyserial Ver 3.0+ changes writeTimeout to write_timeout
            # Using the wrong one causes an error
            write_timeout_arg = ('write_timeout'
                                 if Serial_v3 else 'writeTimeout')
            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,
                    **{write_timeout_arg: 0.5}
                )
            except AttributeError:
                sys.stderr.write('%s: failed to import pyserial\n' % PROG_NAME)
                sys.exit(2)
            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
            # pyserial 3.0+ deprecates flushInput() in favor of
            # reset_input_buffer(), but flushInput() is still present.
            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+ deprecates inWaiting() in favor of
                    # in_waiting, but inWaiting() is still present.
                    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()

    # 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)