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