Merge pull request #448 from Stefal/unicore_um980

support for Unicore um98x (rtcm3 mode)

receiver_cfg/Unicore_UM980_rtcm3.cfg

@@ -0,0 +1,17 @@
+# Config file for using a Unicore UM980 with RTKBase (RTCM3)
+# SIGNALGROUP will reset the device
+CONFIG SIGNALGROUP 2
+CONFIG SBAS ENABLE AUTO
+MODE BASE 1 TIME 60 1
+rtcm1019 1
+rtcm1020 1
+rtcm1042 1
+rtcm1044 1
+rtcm1045 1
+rtcm1046 1
+rtcm1077 1
+rtcm1087 1
+rtcm1097 1
+rtcm1107 1
+rtcm1117 1
+rtcm1127 1

receiver_cfg/Unicore_UM982_rtcm3.cfg

@@ -0,0 +1,17 @@
+# Config file for using a Unicore UM982 with RTKBase (RTCM3)
+# SIGNALGROUP will reset the device
+CONFIG SIGNALGROUP 7 0
+CONFIG SBAS ENABLE AUTO
+MODE BASE 1 TIME 60 1
+rtcm1019 1
+rtcm1020 1
+rtcm1042 1
+rtcm1044 1
+rtcm1045 1
+rtcm1046 1
+rtcm1077 1
+rtcm1087 1
+rtcm1097 1
+rtcm1107 1
+rtcm1117 1
+rtcm1127 1

tools/install.sh

@@ -373,7 +373,7 @@ install_unit_files() {
         #Add dialout group to user
         usermod -a -G dialout "${RTKBASE_USER}"
       else
-        echo 'RtkBase not installed, use option --rtkbase-release or any other rtkbase installation option.'
+        echo 'RtkBase is not installed, use option --rtkbase-release or any other rtkbase installation option.'
       fi
 }
 
@@ -420,7 +420,8 @@ detect_gnss() {
         echo 'UART GNSS RECEIVER DETECTION'
         echo '################################'
         systemctl is-active --quiet str2str_tcp.service && sudo systemctl stop str2str_tcp.service && echo 'Stopping str2str_tcp service'
-        for port in ttyS1 serial0 ttyS2 ttyS3 ttyS0; do
+        # TODO remove port if not available in /dev/
+        for port in ttyS0 ttyUSB0 ttyUSB1 ttyUSB2 serial0 ttyS1 ttyS2 ttyS3; do
             for port_speed in 115200 57600 38400 19200 9600; do
                 echo 'DETECTION ON ' $port ' at ' $port_speed
                 if [[ $(python3 "${rtkbase_path}"/tools/ubxtool -f /dev/$port -s $port_speed -p MON-VER -w 5 2>/dev/null) =~ 'ZED-F9P' ]]; then
@@ -429,6 +430,12 @@ detect_gnss() {
                     detected_gnss[2]=$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 $port_speed --command get_model 2>/dev/null) ; [[ "${model}" == 'UM98'[0-2] ]] ;}; then
+                    detected_gnss[0]=$port
+                    detected_gnss[1]='unicore'
+                    detected_gnss[2]=$port_speed
+                    #echo 'Unicore ' "${model}" ' DETECTED ON '$port $port_speed
+                    break
                 fi
                 sleep 1
             done
@@ -530,6 +537,7 @@ configure_gnss(){
           if [[ $? -eq  0 ]]
           then
             echo 'Septentrio Mosaic-X5 successfuly configured'
+            # Enable the proxy for the Mosaic Web interface.
             systemctl list-unit-files rtkbase_gnss_web_proxy.service &>/dev/null                                                                            && \
             systemctl enable --now rtkbase_gnss_web_proxy.service                                                                                             && \
             sudo -u "${RTKBASE_USER}" sed -i s/^com_port_settings=.*/com_port_settings=\'115200:8:n:1\'/ "${rtkbase_path}"/settings.conf                      && \
@@ -539,17 +547,41 @@ configure_gnss(){
             sudo -u "${RTKBASE_USER}" sed -i s/^min_free_space=.*/min_free_space=\'1500\'/ "${rtkbase_path}"/settings.conf
 
             return $?
-          else
-            echo 'Failed to configure the Gnss receiver'
-            return 1
+          fi
+
+        elif { model=$(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 ${com_port_settings%%:*} --command get_firmware 2>/dev/null)" || firmware='?'
+          echo 'Unicore-' "${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
+          echo 'Resetting the ' "${model}" ' settings....'
+          python3 "${rtkbase_path}"/tools/unicore_tool.py --port /dev/${com_port} --baudrate ${com_port_settings%%:*} --command reset --retry 5
+          sleep_time=10 ; echo 'Waiting '$sleep_time's for ' "${model}" ' reboot' ; sleep $sleep_time
+          echo 'Sending settings....'
+          python3 "${rtkbase_path}"/tools/unicore_tool.py --port /dev/${com_port} --baudrate ${com_port_settings%%:*} --command send_config_file "${rtkbase_path}"/receiver_cfg/Unicore_"${model}"_rtcm3.cfg --store --retry 2
+          if [[ $? -eq  0 ]]
+          then
+            echo 'Unicore UM980 successfuly configured'
+            sudo -u "${RTKBASE_USER}" sed -i s/^com_port_settings=.*/com_port_settings=\'115200:8:n:1\'/ "${rtkbase_path}"/settings.conf                        && \
+            sudo -u "${RTKBASE_USER}" sed -i s/^receiver=.*/receiver=\'Unicore_$model\'/ "${rtkbase_path}"/settings.conf                                         && \
+            sudo -u "${RTKBASE_USER}" sed -i s/^receiver_format=.*/receiver_format=\'rtcm3\'/ "${rtkbase_path}"/settings.conf
+            #UM980 archives a bigger, we need more remaining space to compress archives
+            sudo -u "${RTKBASE_USER}" sed -i s/^min_free_space=.*/min_free_space=\'1500\'/ "${rtkbase_path}"/settings.conf
+
+            return $?
+            else
+              echo 'Failed to configure the Gnss receiver'
+              return 1
           fi
 
         else
           echo 'No Gnss receiver has been set. We can'\''t configure'
           return 1
         fi
       else
-        echo 'RtkBase not installed, use option --rtkbase-release'
+        echo 'RtkBase is not installed, use option --rtkbase-release'
         return 1
       fi
 }

tools/sept_tool.py

@@ -8,9 +8,8 @@
 from operator import methodcaller
 
 class CmdMapping(Enum):
-    """Mapping human command to septentrio methods"""
+    """Mapping human command to septentrio_cmd methods"""
 
-    #get_model = methodcaller('get_receiver_model')
     get_model = 'get_receiver_model'
     get_firmware = 'get_receiver_firmware'
     get_ip = 'get_receiver_ip'
@@ -21,36 +20,38 @@ def arg_parse():
     """ Parse the command line you use to launch the script """
 
     parser= argparse.ArgumentParser(prog='Septentrio tool', description="A tool to send comment to a Septentrio GNSS receiver")
+    parser = argparse.ArgumentParser(formatter_class=argparse.RawTextHelpFormatter)
     parser.add_argument("-p", "--port", help="Port to connect to", type=str)
     parser.add_argument("-b", "--baudrate", help="port baudrate", default=115200, type=int)
-    parser.add_argument("-c", "--command", nargs='+', help="Command to send to the gnss receiver", type=str)
+    parser.add_argument("-c", "--command", nargs='+', help="Command to send to the gnss receiver.\nAvailable commands are: 'get_model' 'get_firmware' 'reset' 'send_config_file'", type=str)
     parser.add_argument("-s", "--store", action='store_true', help="Store settings as permanent", default=False)
     parser.add_argument("-r", "--retry", help="set a number of retry if the command fails", default=0, type=int)
-    parser.add_argument("--version", action="version", version="%(prog)s 1.0")
+    parser.add_argument("-d", "--debug", action='store_true')
+    parser.add_argument("--version", action="version", version="%(prog)s 1.1")
     args = parser.parse_args()
-    #print(args)
     return args
 
 if __name__ == '__main__':
     args = arg_parse()
-    #print(args)
+    if args.debug:
+        print(args)
     command = args.command[0]
     retries = 0
     retry_delay = 10
     while retries <= args.retry:
         try:
-            with SeptGnss(args.port, baudrate=args.baudrate, timeout=30, debug=False) as gnss:
+            with SeptGnss(args.port, baudrate=args.baudrate, timeout=30, debug=args.debug) as gnss:
                 res = methodcaller(CmdMapping[command].value, *args.command[1:])(gnss)
                 if type(res) is str:
                     print(res)
                 if args.store:
                     gnss.set_config_permanent()
-                #methodcaller(args.command[0])(gnss)
             break
         except:
             retries += 1
-            print("Failed...retrying in {}s".format(retry_delay))
-            time.sleep(retry_delay)
+            if retries <= args.retry:
+                print("Failed...retrying in {}s".format(retry_delay))
+                time.sleep(retry_delay)
     if retries > args.retry:
         print("Command failed!")
         sys.exit(1)

tools/unicore/pyproject.toml

@@ -0,0 +1,9 @@
+
+[project]
+name = "unicore_gnss"
+version = "0.0.1"
+dependencies = ["pyserial",]
+
+[build-system]
+requires = ["setuptools"]
+build-backend = "setuptools.build_meta"

tools/unicore/unicore_gnss/serial_comm.py

@@ -0,0 +1,65 @@
+#! /usr/bin/env python3
+import serial
+import time
+
+
+class SerialComm:
+    def __init__(
+        self,
+        address,
+        baudrate=115200,
+        timeout=5,
+        write_timeout=5,
+        cmd_delay=0.1,
+        on_error=None,
+        byte_encoding="ISO-8859-1",
+    ):
+        self.cmd_delay = cmd_delay
+        self.on_error = on_error
+        self.byte_encoding = byte_encoding
+        self.device_serial = serial.Serial(
+            port=address,
+            baudrate=baudrate,
+            timeout=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:
+        self.device_serial.write(cmd.encode(self.byte_encoding) + b"\r\n")
+        time.sleep(self.cmd_delay)
+
+    def send_raw(self, cmd):
+        self.device_serial.write(cmd)
+        time.sleep(self.cmd_delay)
+
+    def read_lines(self) -> list:
+        read = self.device_serial.readlines()
+        for i, line in enumerate(read):
+            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, 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)
+
+    def close(self):
+        self.device_serial.close()

tools/unicore/unicore_gnss/test.py

@@ -0,0 +1,18 @@
+#! /usr/bin/env python3
+from . unicore_cmd import UnicoGnss
+
+def test_checksum():
+    c = object.__new__(UnicoGnss)
+    assert c._xor8_checksum('VERSIONA') == '1B'
+
+def test_expected_res():
+    c = object.__new__(UnicoGnss)
+    c.debug = False
+    assert c._expected_res_for('VERSIONA') == '$command,VERSIONA,response: OK*45'
+    assert c._expected_res_for('FRESET') == '$command,FRESET,response: OK*4D'
+
+def test_cmd_with_checksum():
+    c = object.__new__(UnicoGnss)
+    assert c._cmd_with_checksum('VERSIONA') == '$VERSIONA*1B'
+    assert c._cmd_with_checksum('SAVECONFIG') == '$SAVECONFIG*0B'
+