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54 lines
1.5 KiB
54 lines
1.5 KiB
#!/usr/bin/env python3
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# type: ignore
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import os
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from selfdrive.locationd.test import ublox
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from common import realtime
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from selfdrive.locationd.test.ubloxd import gen_raw, gen_solution
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import zmq
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import cereal.messaging as messaging
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unlogger = os.getenv("UNLOGGER") is not None # debug prints
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def main():
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poller = zmq.Poller()
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gpsLocationExternal = messaging.pub_sock('gpsLocationExternal')
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ubloxGnss = messaging.pub_sock('ubloxGnss')
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# ubloxRaw = messaging.sub_sock('ubloxRaw', poller)
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# buffer with all the messages that still need to be input into the kalman
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while 1:
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polld = poller.poll(timeout=1000)
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for sock, mode in polld:
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if mode != zmq.POLLIN:
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continue
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logs = messaging.drain_sock(sock)
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for log in logs:
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buff = log.ubloxRaw
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time = log.logMonoTime
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msg = ublox.UBloxMessage()
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msg.add(buff)
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if msg.valid():
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if msg.name() == 'NAV_PVT':
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sol = gen_solution(msg)
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if unlogger:
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sol.logMonoTime = time
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else:
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sol.logMonoTime = int(realtime.sec_since_boot() * 1e9)
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gpsLocationExternal.send(sol.to_bytes())
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elif msg.name() == 'RXM_RAW':
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raw = gen_raw(msg)
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if unlogger:
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raw.logMonoTime = time
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else:
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raw.logMonoTime = int(realtime.sec_since_boot() * 1e9)
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ubloxGnss.send(raw.to_bytes())
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else:
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print("INVALID MESSAGE")
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if __name__ == "__main__":
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main()
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