Fix bug with non terminated line in um98x buffer input.

Faster detection and configuration

tools/install.sh

@@ -430,7 +430,7 @@ detect_gnss() {
                     detected_gnss[2]=$port_speed
                     #echo 'U-blox ZED-F9P DETECTED ON '$port $port_speed
                     break
-                elif { model=$(python3 "${rtkbase_path}"/tools/unicore_tool.py --port /dev/$port --baudrate $port_speed --command get_model --retry 2 2>/dev/null) ; [[ "${model}" == 'UM98'[0-2] ]] ;}; then
+                elif { model=$(python3 "${rtkbase_path}"/tools/unicore_tool.py --port /dev/$port --baudrate $port_speed --command get_model 2>/dev/null) ; [[ "${model}" == 'UM98'[0-2] ]] ;}; then
                     detected_gnss[0]=$port
                     detected_gnss[1]='unicore'
                     detected_gnss[2]=$port_speed
@@ -549,10 +549,10 @@ configure_gnss(){
             return $?
           fi
 
-        elif { model=$(python3 "${rtkbase_path}"/tools/unicore_tool.py --port /dev/${com_port} --baudrate ${com_port_settings%%:*} --command get_model --retry 2 2>/dev/null) ; [[ "${model}" == 'UM98'[0-2] ]] ;}
+        elif { model=$(python3 "${rtkbase_path}"/tools/unicore_tool.py --port /dev/${com_port} --baudrate ${com_port_settings%%:*} --command get_model 2>/dev/null) ; [[ "${model}" == 'UM98'[0-2] ]] ;}
           then
           #get UM98x firmware release
-          firmware="$(python3 "${rtkbase_path}"/tools/unicore_tool.py --port /dev/${com_port} --baudrate ${com_port_settings%%:*} --command get_firmware --retry 2 2>/dev/null)" || firmware='?'
+          firmware="$(python3 "${rtkbase_path}"/tools/unicore_tool.py --port /dev/${com_port} --baudrate ${com_port_settings%%:*} --command get_firmware 2>/dev/null)" || firmware='?'
           echo 'Unicore-' "${model}" 'Firmware: ' "${firmware}"
           sudo -u "${RTKBASE_USER}" sed -i s/^receiver_firmware=.*/receiver_firmware=\'${firmware}\'/ "${rtkbase_path}"/settings.conf
           #configure the UM980/UM982 for RTKBase

tools/unicore/unicore_gnss/serial_comm.py

@@ -21,7 +21,13 @@ def __init__(
             port=address,
             baudrate=baudrate,
             timeout=timeout,
-            write_timeout=write_timeout
+            write_timeout=write_timeout,
+            bytesize = serial.EIGHTBITS, 
+            parity = serial.PARITY_NONE,
+            stopbits = serial.STOPBITS_ONE, 
+            xonxoff = False,
+            rtscts = False,
+            dsrdtr = False,
         )
 
     def send(self, cmd) -> str or None:
@@ -35,15 +41,23 @@ def send_raw(self, cmd):
     def read_lines(self) -> list:
         read = self.device_serial.readlines()
         for i, line in enumerate(read):
-            read[i] = line.decode(self.byte_encoding).strip()
+            read[i] = line.decode(self.byte_encoding, errors='ignore').strip()
         return read
 
     def read_until(self, expected='\r\n') -> list:
         read = self.device_serial.read_until(expected = expected.encode())
-        read = read.decode(self.byte_encoding).strip().splitlines()
+        read = read.decode(self.byte_encoding, errors='ignore').strip().splitlines()
         read = [ val for val in read if val != '']
         return read
-
+
+    def read_until_line(self, expected='\r\n', eol='\r\n') -> str:
+        #while True:
+            read_start = self.device_serial.read_until(expected = expected.encode())
+            read_start = read_start.decode(self.byte_encoding, errors='ignore').strip().splitlines()[-1]
+            if expected in read_start:
+                read_end = self.device_serial.readline().decode(self.byte_encoding, errors='ignore')
+                return read_start + read_end
+
     def read_raw(self, size: int):
         return self.device_serial.read(size)
 

tools/unicore/unicore_gnss/test.py

@@ -13,5 +13,6 @@ def test_expected_res():
 
 def test_cmd_with_checksum():
     c = object.__new__(UnicoGnss)
-    assert c._cmd_with_checksum('VERSIONA') == '$VERSIONA*1B'     
+    assert c._cmd_with_checksum('VERSIONA') == '$VERSIONA*1B'
+    assert c._cmd_with_checksum('SAVECONFIG') == '$SAVECONFIG*0B'
 

tools/unicore/unicore_gnss/unicore_cmd.py

@@ -21,7 +21,7 @@ def __init__(
                 self,
                 address,
                 baudrate=115200,
-                timeout=4,
+                timeout=2,
                 cmd_delay=0.1,
                 debug=False,
                 ):
@@ -40,14 +40,12 @@ def connect(self) -> None:
         '''
             Connect to the Unicore receiver
         '''
-        if not self.is_open:
-            self.comm.device_serial.open()
-        #self.comm.send(self._cmd_with_checksum('UNLOG'))
-        #time.sleep(1)
-        #self.comm.device_serial.reset_input_buffer()
+        log.debug("Connecting...")
         try:
-            read = self.send_read_raw(self._cmd_with_checksum('VERSIONA'), size=5000)
-            if self._expected_res_for('VERSIONA') in read.decode(encoding='ASCII', errors='ignore'):
+            # Send a line return to clear the Unicore input buffer
+            # It was a problem when the ubxtool was sending some commands without LF just before the unicore detection script.
+            self.comm.send('\r\n')
+            if self.get_receiver_model():
                 #print("GNSS receiver connected")
                 return
             else:
@@ -58,7 +56,7 @@ def connect(self) -> None:
         except Exception as e:
             log.warning("GNSS receiver did not respond correctly. Closing serial port.")
             log.warning(e)
-            log.debug(read)
+            #log.debug(read)
             self.close()
 
     def close(self) -> None:
@@ -76,34 +74,33 @@ def get_receiver_model(self) -> str:
         '''
             Get the Unicore receiver model (UM980, UM982, ....)
         '''
-        read = self.send_read_raw(self._cmd_with_checksum('VERSIONA'), size=5000)
+        log.debug("Get receiver model")
+        read = self.send_read_until(self._cmd_with_checksum('VERSIONA'), expected=self._expected_res_for('VERSIONA'))
         #'$command,VERSIONA,response: OK*45\r\n
         # #VERSIONA,97,GPS,FINE,2343,48235000,0,0,18,813;"UM980","R4.10Build11833","HRPT00-S10C-P",
         # "2310415000001-MD22A2225022497","ff3ba396dcb0478d","2023/11/24"*270a13f7\r\n'
-        log.debug("Receive: {}".format(read))
-        if self._expected_res_for('VERSIONA') in read.decode(encoding='ASCII', errors='ignore'):
-            lines = (chain.from_iterable(x.splitlines() for x in read.decode(encoding='ASCII', errors='ignore').split('#')))
-            for line in lines:
-                if line.startswith('VERSIONA'):
-                    model = line.replace("'", "").split(";")[-1].split(",")[0].replace('"','')
-                    return model
+        log.debug("Receive ack: {}".format(read))
+        read = self.comm.read_until_line(expected='#VERSIONA')
+        log.debug("Received answer: {}".format(read))
+        if '#VERSIONA' in read:
+            model = read.replace("'", "").split(";")[-1].split(",")[0].replace('"','')
+            return model
         return None
 
     def get_receiver_firmware(self) -> str:
         '''
             Get the Unicore receiver firmware version
         '''
-        read = self.send_read_raw(self._cmd_with_checksum('VERSIONA'), size=5000)
+        read = self.send_read_until(self._cmd_with_checksum('VERSIONA'), expected=self._expected_res_for('VERSIONA'))
         #'$command,VERSIONA,response: OK*45\r\n
         # #VERSIONA,97,GPS,FINE,2343,48235000,0,0,18,813;"UM980","R4.10Build11833","HRPT00-S10C-P",
         # "2310415000001-MD22A2225022497","ff3ba396dcb0478d","2023/11/24"*270a13f7\r\n'
-        log.debug("Receive: {}".format(read))
-        if self._expected_res_for('VERSIONA') in read.decode(encoding='ASCII', errors='ignore'):
-            lines = (chain.from_iterable(x.splitlines() for x in read.decode(encoding='ASCII', errors='ignore').split('#')))
-            for line in lines:
-                if line.startswith('VERSIONA'):
-                    firmware = line.replace("'", "").split(";")[-1].split(",")[1].replace('"','')
-                    return firmware
+        log.debug("Received ack: {}".format(read))
+        read = self.comm.read_until_line(expected='#VERSIONA')
+        log.debug("Received answer: {}".format(read))
+        if '#VERSIONA' in read:
+            firmware = read.replace("'", "").split(";")[-1].split(",")[1].replace('"','')
+            return firmware
         return None
 
     def set_factory_default(self) -> None:
@@ -112,9 +109,9 @@ def set_factory_default(self) -> None:
            Connection will be closed
         '''
         log.debug("Sending: 'FRESET'")
-        read = self.send_read_raw(self._cmd_with_checksum('FRESET'), size=5000)
-        log.debug("Receiving: {}".format(read))
-        if self._expected_res_for('FRESET') not in read.decode(encoding='ASCII', errors='ignore'):
+        read = self.send_read_until(self._cmd_with_checksum('FRESET'), expected='#FRESET')
+        log.debug("Receiving ack: {}".format(read))
+        if self._expected_res_for('FRESET') not in read:
             raise Exception("Command failed! {}".format(read))
         self.close()
         print("Resetting receiver. Connection closed")
@@ -133,8 +130,11 @@ def send_config_file(self, file, perm=False) -> None:
             for line in f:
                 if line.strip() != '' and not line.startswith('#'):
                     log.debug("Sending cmd: {}".format(line.strip()))
-                    self.send_read_raw(line.strip())
+                    read = self.send_read_until(self._cmd_with_checksum(line.strip()), expected=self._expected_res_for(line.strip()))
+                    log.debug("Received answer: {}".format(read))
+                    #self.send_read_raw(line.strip())
                     if any(x in line for x in self.RESET_REQUIRED):
+                        log.info("Rebooting. Waiting for 10s...")
                         time.sleep(10)
         if perm:
             self.set_config_permanent()
@@ -143,28 +143,31 @@ def set_config_permanent(self) -> None:
         '''
             Save current settings to boot config
         '''
-        log.debug("Sending: '$SAVECONFIG*0b'")
-        read = self.send_read_raw('$SAVECONFIG*0b')
-        if '$command,SAVECONFIG,response: OK*55' not in read.decode(encoding='ASCII', errors='ignore'):
+        log.debug("Sending: 'SAVECONFIG'")
+        read = self.send_read_until(self._cmd_with_checksum('SAVECONFIG'), expected=self._expected_res_for('SAVECONFIG'))
+        log.debug("Received answer: {}".format(read))
+        if self._expected_res_for('SAVECONFIG') not in read[-1]:
             raise Exception("Command failed! {}".format(read))
         print("Settings saved")
 
     def get_agc_values(self) -> list:
         '''
             Get the automatic gain control values
         '''
-        read = self.send_read_raw(self._cmd_with_checksum('AGCA 1'))
-        if self._expected_res_for('AGCA 1') in read.decode(encoding='ASCII', errors='ignore'):
-            lines = (chain.from_iterable(x.splitlines() for x in read.decode(encoding='ASCII', errors='ignore').split('#')))
-            for line in lines:
-                if line.startswith('AGCA'):
-                    #AGCA,65,GPS,FINE,2190,375570000,0,0,18,37;44,46,63,-1,-1,41,1,0,-1,-1*634f1e4b
-                    #Antenna 1 values: 44,46,63
-                    #Antenna 2 values: 41,1,0
-                    values_list = line.replace("'", "").split(";")[-1].split(",")
-                    agc_values = values_list[:3] + values_list[5:8]
-                    agc_values = [ int(x) for x in agc_values]
-                    return agc_values
+        read = self.send_read_until(self._cmd_with_checksum('AGCA '), expected=self._expected_res_for('AGCA '))
+        log.debug("Receive ack: {}".format(read))
+        # $command,AGCA,response: OK*5A
+        # #AGCA,97,GPS,FINE,2345,328881000,0,0,18,22;40,76,65,-1,-1,-1,-1,-1,-1,-1*8c8123ba
+        read = self.comm.read_until_line(expected='#AGCA')
+        log.debug("Received answer: {}".format(read))
+        if '#AGCA' in read:
+            #AGCA,65,GPS,FINE,2190,375570000,0,0,18,37;44,46,63,-1,-1,41,1,0,-1,-1*634f1e4b
+            #Antenna 1 values: 44,46,63
+            #Antenna 2 values: 41,1,0
+            values_list = read.replace("'", "").split(";")[-1].split(",")
+            agc_values = values_list[:3] + values_list[5:8]
+            agc_values = [ int(x) for x in agc_values]
+            return agc_values
         else:
             raise Exception("Command failed! {}".format(read))
 
@@ -177,7 +180,7 @@ def get_agc_status(self) -> list:
         agc_values = self.get_agc_values()
         agc_status = []
         for i, value in enumerate(agc_values):
-            if value >= 0 and value < 10:
+            if value >= 0 and value < 10: # TODO : check real values to set the limits
                 agc_status.append('good')
             elif value >= 10:
                 agc_status.append('bad')
@@ -187,16 +190,18 @@ def get_agc_status(self) -> list:
 
     def send_read_lines(self, cmd, *args) -> list:
         log.debug("Sending: {}{}{}".format(cmd, ' ' if args else '', ' '.join(args)))
+        self.comm.device_serial.reset_input_buffer()
         self.comm.send(cmd)
         read = self.comm.read_lines()
         log.debug("Receiving: {}".format(read))
         return read
 
-    def send_read_until(self, cmd, *args) -> list:
+    def send_read_until(self, cmd, *args, expected='\n\r') -> list:
         log.debug("Sending: {}{}{}".format(cmd, ' ' if args else '', ' '.join(args)))
+        self.comm.device_serial.reset_input_buffer()
         self.comm.send("{}{}{}".format(cmd, ' ' if args else '', ' '.join(args)))
-        read = self.comm.read_until()
-        log.debug("Receiving: {}".format(read))
+        read = self.comm.read_until(expected)
+        log.debug("send_read_until>Receiving: {}".format(read))
         return read
 
     def send_read_raw(self, cmd, *args, size=10000):
@@ -256,4 +261,4 @@ def _xor8_checksum(self, data):
         for char in data:
             checksum ^= ord(char)
         checksum = checksum & 0xFF
-        return '{:x}'.format(checksum).upper()
+        return '{:x}'.format(checksum).zfill(2).upper()

tools/unicore_tool.py

@@ -42,7 +42,7 @@ def arg_parse():
         log.debug(f"Arguments: {args}")
     command = args.command[0]
     retries = 0
-    retry_delay = 10
+    retry_delay = 2
     while retries <= args.retry:
         try:
             with UnicoGnss(args.port, baudrate=args.baudrate, timeout=2, debug=False) as gnss: