From cc2e5cf613ba0f2797adf82f2e05323d6ee288d6 Mon Sep 17 00:00:00 2001
From: Jono Targett <jono.targett@gmail.com>
Date: Sat, 14 Mar 2026 23:36:24 +1030
Subject: [PATCH] messy dirty hack code

---
 ubx.py => asset.py |  0
 assethandler.py    | 59 ++++++++++++++++++++++++++++++++++++++++------
 2 files changed, 52 insertions(+), 7 deletions(-)
 rename ubx.py => asset.py (100%)

diff --git a/ubx.py b/asset.py
similarity index 100%
rename from ubx.py
rename to asset.py
diff --git a/assethandler.py b/assethandler.py
index a0341bc..b8055a1 100755
--- a/assethandler.py
+++ b/assethandler.py
@@ -4,6 +4,7 @@ import asyncio
 import uuid
 import aioserial
 import aiomqtt
+import pyubx2
 
 SERIAL_PORT = "/tmp/ttyV0"
 BAUD = 115200
@@ -12,14 +13,58 @@ SERIAL_PUBLISH_TOPIC = "serial/data"
 SERIAL_COMMAND_TOPIC = "serial/command"
 
 
-async def serial_reader(ser, client):
-    while True:
-        data = await ser.read_async(64)
-        if data:
-            await client.publish(SERIAL_PUBLISH_TOPIC, data)
-        # Hand back to event loop
-        await asyncio.sleep(0)
+async def parse_serial(ser):
+    """
+    Async generator: read raw bytes from serial and yield parsed UBX/NMEA messages.
+    """
+    buffer = bytearray()
 
+    # pyubx2 requires a file-like object, so we'll use a memoryview wrapper
+    class StreamWrapper:
+        def read(self, n=1):
+            # grab at most n bytes from buffer
+            if not buffer:
+                raise BlockingIOError
+            out = buffer[:n]
+            del buffer[:n]
+            return bytes(out)
+
+    ubr = pyubx2.UBXReader(StreamWrapper(), parsing=True)
+
+    while True:
+        # read available data from serial (small chunks)
+        chunk = await ser.read_async(200)
+        if chunk:
+            buffer.extend(chunk)
+
+            # attempt to parse as many messages as possible
+            try:
+                while True:
+                    raw, parsed = ubr.read()
+                    if raw is None:
+                        break
+                    yield raw, parsed
+            except (BlockingIOError, Exception):
+                # incomplete message; wait for more bytes
+                pass
+            except pyubx2.UBXStreamError:
+                pass  # silently ignore incomplete packets
+        else:
+            await asyncio.sleep(0)  # yield control
+
+
+async def serial_reader(ser, mqtt_client):
+    """
+    Coroutine wrapper around async generator parse_serial.
+    Feeds parsed UBX/NMEA messages to MQTT.
+    """
+    async for raw, parsed in parse_serial(ser):
+        # For example, publish raw bytes to MQTT
+        print(parsed)
+        await mqtt_client.publish("serial/parsed", str(parsed))
+        await mqtt_client.publish("serial/raw", raw)
+        # Optional: inspect parsed fields
+        # print(parsed)
 
 async def mqtt_command_writer(ser, client):
     async for message in client.messages: