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add debugging for dropped RTCM packets #54

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merged 1 commit into from
Aug 28, 2024
Merged

add debugging for dropped RTCM packets #54

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8 changes: 7 additions & 1 deletion dronecan_gui_tool/panels/rtcm3.py
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@ class RTCM3:
def __init__(self, debug=False):
self.crc_table = None
self.debug = debug
self.discarded = []
self.reset()

def get_packet(self):
Expand Down Expand Up @@ -37,6 +38,8 @@ def parse(self):
crc2 = self.crc24(self.pkt[:-3])
if crc1 != crc2:
if self.debug:
# print all the bytes in the packet
print("{",", ".join(["%02x" % b for b in self.pkt]), "}")
print("crc fail len=%u" % len(self.pkt))
# look for preamble
idx = self.pkt[1:].find(bytearray([RTCMv3_PREAMBLE]))
Expand Down Expand Up @@ -67,8 +70,11 @@ def read(self, byte):
byte = ord(byte)
if len(self.pkt) == 0 and byte != RTCMv3_PREAMBLE:
# discard
self.discarded.append(byte)
return False

if len(self.discarded) > 0:
print("{",", ".join(["%02x" % b for b in self.discarded]), "}")
self.discarded = []
self.pkt.append(byte)
if self.pkt_len == 0 and len(self.pkt) >= 3:
self.pkt_len, = struct.unpack('>H', self.pkt[1:3])
Expand Down
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