A bit of cleanup. StreamWrapper still isn't working properly

main.py

@@ -10,6 +10,7 @@ from ubxhandler import UBXHandler
 
 BAUD = 115200
 
+
 async def main():
     handler_id = "example-gps"
     mqtt_host = "127.0.0.1"
@@ -24,10 +25,10 @@ async def main():
     )
 
     serial_port = aioserial.AioSerial(
-            port="/tmp/ttyV0",
+        port="/tmp/ttyV0",
-            baudrate=BAUD,
+        baudrate=BAUD,
-            timeout=0.05,  # 50 ms
+        timeout=0.05,  # 50 ms
-        )
+    )
 
     handler = UBXHandler(mqtt_client, "example-gps", serial_port)
     await handler.run()

ubxhandler.py

@@ -7,36 +7,48 @@ from command import command
 from handler import MQTTHandler, task
 
 
+class StreamWrapper:
+    def __init__(self):
+        self.buffer = bytearray()
+
+    def read(self, n=1):
+        if not self.buffer:
+            raise BlockingIOError
+        out = self.buffer[:n]
+        del self.buffer[:n]
+        return bytes(out)
+
+    def readline(self):
+        """Return bytes up to and including the first newline."""
+        newline_index = self.buffer.find(b"\n")
+        if newline_index == -1:
+            # No newline yet, mimic non-blocking behavior
+            raise BlockingIOError
+        # Include the newline
+        line = self.buffer[: newline_index + 1]
+        del self.buffer[: newline_index + 1]
+        return bytes(line)
+
+    def extend(self, chunk):
+        self.buffer.extend(chunk)
+
+
 class UBXHandler(MQTTHandler):
     def __init__(
         self,
         mqtt_client: aiomqtt.Client,
         handler_id: str,
-        serial_port: aioserial.AioSerial
+        serial_port: aioserial.AioSerial,
     ):
         super().__init__(mqtt_client, handler_id)
-
         self.serial_port = serial_port
 
-    @command({"type": "number"}, description="An example command")
+    async def read_serial(self):
-    async def example_cmd(args):
+        buffer = StreamWrapper()
-        print(f"Executing command with args {args}")
+        ubr = pyubx2.UBXReader(buffer, parsing=True)
-
-    async def parse_serial(self):
-        buffer = bytearray()
-
-        class StreamWrapper:
-            def read(inner_self, n=1):
-                if not buffer:
-                    raise BlockingIOError
-                out = buffer[:n]
-                del buffer[:n]
-                return bytes(out)
-
-        ubr = pyubx2.UBXReader(StreamWrapper(), parsing=True)
 
         while True:
-            chunk = await self.serial_port.read_async(200)
+            chunk = await self.serial_port.read_async(256)
             if chunk:
                 buffer.extend(chunk)
 
@@ -45,18 +57,26 @@ class UBXHandler(MQTTHandler):
                         raw, parsed = ubr.read()
                         if raw is None:
                             break
-                        yield raw, parsed
+                        yield parsed
-                except (pyubx2.UBXStreamError, BlockingIOError, Exception):
+                except BlockingIOError:
-                    pass
+                    pass  # ordinary behaviour
+                except (pyubx2.UBXStreamError, Exception) as e:
+                    print("Some kinda error: ", type(e), e)
             else:
                 await asyncio.sleep(0)
 
     @task
-    async def serial_reader_task(self):
+    async def handle_ubx_messages(self):
-        async for raw, parsed in self.parse_serial():
+        async for message in self.read_serial():
-            if isinstance(parsed, pyubx2.UBXMessage):
+            if isinstance(message, pyubx2.UBXMessage):
-                for name, value in vars(parsed).items():
+                for name, value in vars(message).items():
+                    # Skip 'private' members
                     if name.startswith("_"):
                         continue
-                    topic = f"{self.topic_base}/{parsed.identity}/{name}"
+
+                    topic = f"{self.topic_base}/{message.identity}/{name}"
                     await self.mqtt_client.publish(topic, value, qos=1, retain=True)
+
+    @command({"type": "number"}, description="An example command")
+    async def example_cmd(args):
+        print(f"Executing command with args {args}")