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|
#!/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)
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