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Merge pull request #398 from Stefal/mosaic-x5
Septentrio Mosaic-x5 support
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,17 @@ | ||
| # Config file for using a Septentrio Mosaic X5 with RTKBase | ||
| setSBFOutput, Stream1, USB1 | ||
| setSBFOutput, Stream1, , , sec1 | ||
| setSBFOutput, Stream1, , MeasEpoch+MeasExtra+EndOfMeas | ||
| setSBFOutput, Stream1, , +GPSRawCA+GPSRawL2C+GPSRawL5 | ||
| setSBFOutput, Stream1, , +GLORawCA | ||
| setSBFOutput, Stream1, , +GALRawFNAV+GALRawINAV+GALRawCNAV | ||
| setSBFOutput, Stream1, , +BDSRaw+BDSRawB1C+BDSRawB2a+BDSRawB2b | ||
| setSBFOutput, Stream1, , +QZSRawL1CA+QZSRawL2C+QZSRawL5 | ||
| setSBFOutput, Stream1, , +NAVICRaw | ||
| setSBFOutput, Stream1, , +GEORawL1+GEORawL5 | ||
| setSignalTracking, GPSL1CA+GPSL1PY+GPSL2PY+GPSL2C+GPSL5+GLOL1CA+GLOL2P+GLOL2CA+GLOL3+GALL1BC+GALE6BC+GALE5a+GALE5b+GALE5+GEOL1+GEOL5+BDSB1I+BDSB2I+BDSB3I+BDSB1C+BDSB2a+BDSB2b+QZSL1CA+QZSL2C+QZSL5+QZSL1CB+NAVICL5 | ||
| setSBFOutput, Stream1, , +PVTGeodetic+ChannelStatus+ReceiverStatus+SatVisibility+ReceiverTime | ||
| setPVTMode, Static | ||
| setPPSParameters, sec1, Low2High, , UTC | ||
| setUSBInternetAccess, on | ||
| #END |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,42 @@ | ||
| #! /usr/bin/env python3 | ||
|
|
||
| import argparse | ||
| from septentrio.septentrio_cmd import * | ||
| from enum import Enum | ||
| from operator import methodcaller | ||
|
|
||
| class CmdMapping(Enum): | ||
| """Mapping human command to septentrio methods""" | ||
|
|
||
| #get_model = methodcaller('get_receiver_model') | ||
| get_model = 'get_receiver_model' | ||
| get_firmware = 'get_receiver_firmware' | ||
| get_ip = 'get_receiver_ip' | ||
| reset = 'set_factory_default' | ||
| test = 'test' | ||
| send_config_file = 'send_config_file' | ||
|
|
||
| def arg_parse(): | ||
| """ Parse the command line you use to launch the script """ | ||
|
|
||
| parser= argparse.ArgumentParser(prog='Septentrio tool', description="A tool to send comment to a Septentrio GNSS receiver") | ||
| parser.add_argument("-p", "--port", help="Port to connect to", type=str) | ||
| parser.add_argument("-b", "--baudrate", help="port baudrate", default=115200, type=int) | ||
| parser.add_argument("-c", "--command", nargs='+', help="Command to send to the gnss receiver", type=str) | ||
| parser.add_argument("-s", "--store", action='store_true', help="Store settings as permanent", default=False) | ||
| parser.add_argument("--version", action="version", version="%(prog)s 0.1") | ||
| args = parser.parse_args() | ||
| #print(args) | ||
| return args | ||
|
|
||
| if __name__ == '__main__': | ||
| args = arg_parse() | ||
| #print(args) | ||
| command = args.command[0] | ||
| with SeptGnss(args.port, baudrate=args.baudrate, timeout=30, debug=False) as gnss: | ||
| res = methodcaller(CmdMapping[command].value, *args.command[1:])(gnss) | ||
| if type(res) is str: | ||
| print(res) | ||
| if args.store: | ||
| gnss.set_config_permanent() | ||
| #methodcaller(args.command[0])(gnss) |
Empty file.
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,154 @@ | ||
| #! /usr/bin/env python3 | ||
| from . serial_comm import SerialComm | ||
| from enum import Enum | ||
| from logging import getLogger | ||
| import xml.etree.ElementTree as ET | ||
| import time | ||
| #Code inspired by https://github.com/jonamat/sim-modem | ||
|
|
||
| class SeptGnss: | ||
| """Class for sending command to Septentrio Gnss receivers""" | ||
|
|
||
| def __init__( | ||
| self, | ||
| address, | ||
| baudrate=115200, | ||
| timeout=2, | ||
| cmd_delay=0.1, | ||
| debug=False, | ||
| ): | ||
| self.comm = SerialComm( | ||
| address=address, | ||
| baudrate=baudrate, | ||
| timeout=timeout, | ||
| cmd_delay=cmd_delay, | ||
| connection_descriptor='USB2>', | ||
| ) | ||
| self.debug = debug | ||
| self.connect() | ||
|
|
||
| def connect(self) -> None: | ||
| self.comm.send('exeEchoMessage, COM1, "A:HELLO", none') | ||
| read = self.comm.read_raw(1000) | ||
| try: | ||
| check_hello = b"A:HELLO" in read | ||
| res_descriptor = read.decode().split()[-1] | ||
| check_descriptor = 'COM' in res_descriptor or 'USB' in res_descriptor or 'IP1' in res_descriptor | ||
| if check_hello and check_descriptor: | ||
| self.comm.connection_descriptor = read.decode().split()[-1] | ||
| else: | ||
| raise Exception | ||
| if self.debug: | ||
| print("GNSS receiver connected, debug mode enabled") | ||
| print("Connection descriptor: {}".format(self.comm.connection_descriptor)) | ||
| except Exception: | ||
| print("GNSS receiver did not respond correctly") | ||
| if self.debug: | ||
| print(read) | ||
| self.close() | ||
|
|
||
| def close(self) -> None: | ||
| self.comm.close() | ||
|
|
||
| def __enter__(self): | ||
| return self | ||
|
|
||
| def __exit__(self, exception_type, exception_value, exception_traceback): | ||
| self.close() | ||
|
|
||
| # --------------------------------- Common methods --------------------------------- # | ||
|
|
||
| def get_receiver_model(self) -> str: | ||
| read = self.send_read_until('lstInternalFile', 'Identification') | ||
| model = self.__parse_rcv_info(read, 'hwplatform', 'product') | ||
| return model | ||
|
|
||
| def get_receiver_firmware(self) -> str: | ||
| read = self.send_read_until('lstInternalFile', 'Identification') | ||
| firmware = self.__parse_rcv_info(read, 'firmware', 'version') | ||
| return firmware | ||
|
|
||
| def get_receiver_ip(self) -> str: | ||
| read = self.send_read_until('lstInternalFile', 'IPParameters') | ||
| ip_addr = self.__parse_rcv_info(read, 'inet', 'addr') | ||
| return ip_addr | ||
|
|
||
| def __parse_rcv_info(self, pseudo_xml, element_tag, info) -> str: | ||
| ''' | ||
| This methode will try to parse the xml file received | ||
| when we send the lstInternalFile command | ||
| ''' | ||
| pseudo_xml = [line for line in pseudo_xml[2:-1] if not (line.startswith('$') or line == '---->')] | ||
| e = ET.ElementTree(ET.fromstring(''.join(pseudo_xml))) | ||
| res_info = None | ||
| for element in e.iter(): | ||
| #print(element.tag, element.attrib, element.text) | ||
| res_info = element.get(info) if element_tag in element.tag and element.get(info) else res_info | ||
| return res_info | ||
|
|
||
| def get_port_applications(self, port) -> str: | ||
| read = self.send_read_until('getRegisteredApplications', port) | ||
| return read[-2].split(',')[-1].replace('"','').strip() | ||
|
|
||
| def set_port_applications(self, port, applications_name) -> None: | ||
| read = self.send_read_until('exeRegisteredApplications', port, applications_name) | ||
|
|
||
| def set_factory_default(self) -> None: | ||
| ''' | ||
| Reset receiver settings to factory defaults and restart it | ||
| Connection will be closed | ||
| ''' | ||
| if self.debug: | ||
| print("Sending: 'exeResetReceiver, Soft, Config'") | ||
| self.comm.send('exeResetReceiver, Soft, Config') | ||
| read = self.comm.read_until('STOP>') | ||
| if self.debug: | ||
| print("Receiving: {}".format(read)) | ||
| if read[-1] != 'STOP>' or read[0].startswith('$R?'): | ||
| raise Exception("Command failed!\nSent: 'exeResetReceiver, Soft, Config'\nReceived: {}".format(read)) | ||
| self.close() | ||
| print("Connection closed") | ||
|
|
||
| def send_config_file(self, file, perm=False) -> None: | ||
| ''' | ||
| Send user commands from a txt file, line by line | ||
| Set perm to True if you want to set these settings permanent | ||
| ''' | ||
| with open(file, 'r') as f: | ||
| for line in f: | ||
| if line.strip() != '' and not line.startswith('#'): | ||
| cmd,*args = line.split(',') | ||
| #print(cmd, args) | ||
| self.send_read_until(cmd + ', ' + ', '.join(args)) | ||
| if perm: | ||
| self.set_config_permanent() | ||
|
|
||
| def set_config_permanent(self) -> None: | ||
| ''' | ||
| Save current settings to boot config | ||
| ''' | ||
| read = self.send_read_until('exeCopyConfigFile', 'Current', 'Boot') | ||
|
|
||
| # ----------------------------------- OTHERS --------------------------------- # | ||
|
|
||
| def send_read_lines(self, cmd, *args) -> list: | ||
| if self.debug: | ||
| print("Sending: {}{}{}".format(cmd, ', ' if args else '', ', '.join(args))) | ||
| self.comm.send("{}{}{}".format(cmd, ', ' if args else '', ', '.join(args))) | ||
| read = self.comm.read_lines() | ||
| if self.debug: | ||
| print("Receiving: {}".format(read)) | ||
| if read[-1] != self.comm.connection_descriptor or read[0].startswith('$R?'): | ||
| raise Exception("Command failed!\nSent: {}\nReceived: {}".format((cmd + ', ' + ', '.join(args)), read)) | ||
| return read | ||
|
|
||
| def send_read_until(self, cmd, *args) -> list: | ||
| if self.debug: | ||
| print("Sending: {}{}{}".format(cmd, ', ' if args else '', ', '.join(args))) | ||
| self.comm.send("{}{}{}".format(cmd, ', ' if args else '', ', '.join(args))) | ||
| read = self.comm.read_until() | ||
| if self.debug: | ||
| print("Receiving: {}".format(read)) | ||
| if read[-1] != self.comm.connection_descriptor or read[0].startswith('$R?'): | ||
| raise Exception("Command failed!\nSent: {}\nReceived: {}".format((cmd + ', ' + ', '.join(args)), read)) | ||
| return read |
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