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Update UBX_Integrity_Checker.py #95

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Merged
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Dec 22, 2021
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Update UBX_Integrity_Checker.py #95

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19 changes: 14 additions & 5 deletions Utils/UBX_Integrity_Checker.py
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Original file line number Diff line number Diff line change
Expand Up @@ -102,7 +102,6 @@ def csum(byte, sum1, sum2):

processed = -1 # The number of bytes processed
messages = {} # The collected message types
longest = 0 # The length of the longest UBX message
keepGoing = True

# Sync 'state machine'
Expand Down Expand Up @@ -132,6 +131,8 @@ def csum(byte, sum1, sum2):
ubx_checksum_B = 0
ubx_expected_checksum_A = 0
ubx_expected_checksum_B = 0
longest_UBX = 0 # The length of the longest UBX message
longest_UBX_candidate = 0 # Candidate for the length of the longest valid UBX message

# Storage for NMEA messages
nmea_length = 0
Expand All @@ -145,8 +146,9 @@ def csum(byte, sum1, sum2):
nmea_csum2 = 0
nmea_expected_csum1 = 0
nmea_expected_csum2 = 0
longest_NMEA = 0 # The length of the longest valid NMEA message

max_nmea_len = 100 # Maximum length for an NMEA message: use this to detect if we have lost sync while receiving an NMEA message
max_nmea_len = 128 # Maximum length for an NMEA message: use this to detect if we have lost sync while receiving an NMEA message
sync_lost_at = -1 # Record where we lost sync
rewind_to = -1 # Keep a note of where we should rewind to if sync is lost
rewind_attempts = 0 # Keep a note of how many rewinds have been attempted
Expand Down Expand Up @@ -257,8 +259,7 @@ def csum(byte, sum1, sum2):
ubx_length = ubx_length + (c * 256) # Add the length MSB
ubx_expected_checksum_A = ubx_expected_checksum_A + c # Update the expected checksum
ubx_expected_checksum_B = ubx_expected_checksum_B + ubx_expected_checksum_A
if (ubx_length > longest): # Update the longest UBX message length
longest = ubx_length
longest_UBX_candidate = ubx_length + 8 # Update the longest UBX message length candidate. Include the header, class, ID, length and checksum bytes
rewind_to = processed # If we lose sync due to dropped bytes then rewind to here
ubx_nmea_state = processing_payload # Now look for payload bytes (length: ubx_length)
elif (ubx_nmea_state == processing_payload):
Expand Down Expand Up @@ -287,6 +288,8 @@ def csum(byte, sum1, sum2):
messages[message_type] += 1 # if we have, increment its count
else:
messages[message_type] = 1 # if we have not, set its count to 1
if (longest_UBX_candidate > longest_UBX): # Update the longest UBX message length
longest_UBX = longest_UBX_candidate
rewind_in_progress = False # Clear rewind_in_progress
rewind_to = -1
if (resync_in_progress == True): # Check if we are resyncing
Expand Down Expand Up @@ -330,6 +333,8 @@ def csum(byte, sum1, sum2):
else: # ubx_length == 5
nmea_char_5 = c
message_type = chr(nmea_char_1) + chr(nmea_char_2) + chr(nmea_char_3) + chr(nmea_char_4) + chr(nmea_char_5) # Record the message type
if (message_type == "PUBX,"): # Remove the comma from PUBX
message_type = "PUBX"
# Now check if this is an '*'
if (c == 0x2A):
# Asterix received
Expand Down Expand Up @@ -389,6 +394,8 @@ def csum(byte, sum1, sum2):
messages[message_type] += 1 # if we have, increment its count
else:
messages[message_type] = 1 # if we have not, set its count to 1
if (nmea_length > longest_NMEA): # Update the longest NMEA message length
longest_NMEA = nmea_length
# LF was received so go back to looking for B5 or a $
ubx_nmea_state = looking_for_B5_dollar
rewind_in_progress = False # Clear rewind_in_progress
Expand Down Expand Up @@ -441,7 +448,9 @@ def csum(byte, sum1, sum2):
print('File size was',filesize)
if (processed != filesize):
print('FILE SIZE MISMATCH!!')
print('Longest UBX message was %i data bytes'%longest)
print('Longest valid UBX message was %i bytes'%longest_UBX)
if (containsNMEA == True):
print('Longest valid NMEA message was %i characters'%longest_NMEA)
if len(messages) > 0:
print('Message types and totals were:')
for key in messages.keys():
Expand Down