Made command handlers talk to the serial port properly

command.py

@@ -16,12 +16,12 @@ class Command:
     def validate(self, o) -> bool:
         return self._validator.is_valid(o)
 
-    def __call__(self, args):
+    def __call__(self, handler_instance, args):
         if not self.validate(args):
             raise ValueError(f"Invalid arguments for command '{self.name}'")
         if self.handler is None:
             raise RuntimeError(f"No handler bound for command '{self.name}'")
-        return self.handler(args)
+        return self.handler(handler_instance, args)
 
 
 def command(schema, **kwargs):

handler.py

@@ -76,7 +76,7 @@ class MQTTHandler:
         try:
             command = self.get_available_commands()[command_name]
             argument = json.loads(payload)
-            result = await command(argument)
+            result = await command(self, argument)
             await respond(True, result)
 
         except json.decoder.JSONDecodeError as e:

ubxhandler.py

@@ -78,5 +78,49 @@ class UBXHandler(MQTTHandler):
                     await self.mqtt_client.publish(topic, value, qos=1, retain=True)
 
     @command({"type": "number"}, description="An example command")
-    async def example_cmd(args):
+    async def example_cmd(self, args):
         print(f"Executing command with args {args}")
+
+    @command(
+        {
+            "type": "object",
+            "properties": {
+                "portID": {
+                    "type": "integer",
+                },
+                "baudRate": {
+                    "type": "integer",
+                    "enum": [
+                        110,
+                        300,
+                        600,
+                        1200,
+                        2400,
+                        4800,
+                        9600,
+                        14400,
+                        19200,
+                        38400,
+                        57600,
+                        115200,
+                        230400,
+                        460800,
+                        921600,
+                    ],
+                },
+            },
+            "required": ["portID", "baudRate"],
+            "additionalProperties": False,
+        },
+        description="Reconfigure the serial port for the UBX simulator.",
+    )
+    async def configure_port(self, args):
+        message = pyubx2.UBXMessage(
+            "CFG",
+            "CFG-PRT",
+            pyubx2.ubxtypes_core.SET,
+            portID=args["portID"],
+            baudRate=args["baudRate"],
+        )
+        num_bytes = await self.serial_port.write_async(message.serialize())
+        return num_bytes