#!/usr/bin/env python

# Copyright (c) 2009
#      Daniel O'Connor <darius@dons.net.au>.  All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
# 1. Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
#    notice, this list of conditions and the following disclaimer in the
#    documentation and/or other materials provided with the distribution.
#
# THIS SOFTWARE IS PROVIDED BY AUTHOR AND CONTRIBUTORS ``AS IS'' AND
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED.  IN NO EVENT SHALL AUTHOR OR CONTRIBUTORS BE LIABLE
# FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
# DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
# OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
# HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
# OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
# SUCH DAMAGE.

import time, struct, os

# SiRF at 9600 baud
nmea2sirf = '$PSRF100,0,9600,8,1,0*0C\r\n'

# NMEA at 4800 baud
# Use like so
# s.write(sirf.Parser.OrdLsttoStr(sirf.Parser.Encap(sirf.sirf2nmea)))
sirf2nmea = [ 0x81, 0x02, 0x01, 0x01, 0x00, 0x00, 0x01, 0x01, 0x05, 0x01, 0x01, 0x01, 0x00, 0x00, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x00, 0x01, 0x12, 0xc0 ]

#s.write(sirf.Parser.OrdLsttoStr(sirf.Parser.Encap(sirf.getver)))
getver = [ 0x84, 0x00 ]

# Messages from engine
sirfoutpktdsc = {
    0x01 : "Reference Navigation Data",
    0x02 : "Measured Navigation Data",
    0x03 : "True Tracker Data",
    0x04 : "Measured Tracking Data",
    0x05 : "Raw Track Data",
    0x06 : "SW Version",
    0x07 : "Clock Status",
    0x08 : "50 BPS Subframe Data",
    0x09 : "Throughput",
    0x0a : "Error ID",
    0x0b : "Command Acknowledgment",
    0x0c : "Command NAcknowledgment",
    0x0d : "Visible List",
    0x0e : "Almanac Data",
    0x0f : "Ephemeris Data",
    0x10 : "Test Mode 1",
    0x11 : "Differential Corrections",
    0x12 : "OkToSend",
    0x13 : "Navigation Parameters",
    0x14 : "Test Mode 2/3/4",
    0x1b : "DGPS Status",
    0x1c : "Nav. Lib. Measurement Data",
    0x1d : "Nav. Lib. DGPS Data",
    0x1e : "Nav. Lib. SV State Data",
    0x1f : "Nav. Lib. Initialization Data",
    0x29 : "Geodetic Navigation Data",
    0x2d : "Raw DR Data",
    0x2e : "Test Mode 3",
    0x30 : "SiRFDRive-specific Class of Output Messages",
    0x31 : "Test Mode 4 for SiRFLoc v2.x only",
    0x32 : "SBAS Parameters",
    0x34 : "1 PPS Time Message",
    0x37 : "Test Mode 4",
    0x38 : "Extended Ephemeris Data",
    0xe1 : "SiRF internal message",
    0xff : "Development Data"
    }

# Messages to engine
sirfinpktdsc = {
    0x35 : "Advanced Power Management",
    0x80 : "Initialize Data Source",
    0x81 : "Switch to NMEA Protocol",
    0x82 : "Set Almanac (upload)",
    0x83 : "Handle Formatted Dump Data",
    0x84 : "Poll Software Version",
    0x85 : "DGPS Source Control",
    0x86 : "Set Main Serial Port",
    0x87 : "Switch Protocol",
    0x88 : "Mode Control",
    0x89 : "DOP Mask Control",
    0x8a : "DGPS Mode",
    0x8b : "Elevation Mask",
    0x8c : "Power Mask",
    0x8d : "Editing Residual",
    0x8e : "Steady-State Detection",
    0x8f : "Static Navigation",
    0x90 : "Poll Clock Status",
    0x91 : "Set DGPS Serial Port",
    0x92 : "Poll Almanac",
    0x93 : "Poll Ephemeris",
    0x94 : "Flash Update",
    0x95 : "Set Ephemeris (upload)",
    0x96 : "Switch Operating Mode",
    0x97 : "Set TricklePower Parameters",
    0x98 : "Poll Navigation Parameters",
    0xa5 : "Set UART Configuration",
    0xa6 : "Set Message Rate",
    0xa7 : "Set Low Power Acquisition Parameters",
    0xa8 : "Poll Command Parameters",
    0xaa : "Set SBAS Parameters",
    0xac : "SiRFDRive-specific",
    0xb4 : "Marketing Software Configuration",
    0xb6 : "Set UART Configuration",
    0xe4 : "SiRF internal message",
    0xe8 : "Extended Ephemeris Proprietary"
}

def fmtlatlong(x):
    deg = int(x)
    min = abs((x - deg) * 60)
    sec = abs((min - int(min)) * 60)

    return "%dd%dm%.3f" % (deg, int(min), sec)

class Parser(object):
    def __init__(self, s = None):
        self.buffer = []
        self.state = 'init1'

        self.fr_err = 0 # Framing error
        self.ck_err = 0 # Checksum error
        self.rx_cnt = 0 # Packet count

        self.pktq = []
        self.s = s

    def processstr(self, data):
        return self.process(map(ord, data))

    def process(self, data):
        pktcount = 0
        for d in data:
            #print "Looking at 0x%02x, state = %s" % (d, self.state)
            if (self.state == 'init1'):
                self.buffer = []
                if (d != 0xa0):
                    print "Start1 framing error, got 0x%02x, expected 0xa0" % d
                    self.fr_err += 1
                    continue

                self.state = 'init2'
            elif (self.state == 'init2'):
                if (d != 0xa2):
                    print "Start2 framing error, got 0x%02x, expected 0xa2" % d
                    self.fr_err += 1
                    self.state = 'init1'
                    continue

                self.state = 'sizemsb'
            elif (self.state == 'sizemsb'):
                #print "Size1 - 0x%02x" % (d)
                if d > 0x7f:
                    print "size msb too high (0x%02x)" % (d)
                    self.fr_err += 1
                    self.state = 'init1'
                    continue
                
                self.sizemsb = d
                self.state = 'sizelsb'
            elif (self.state == 'sizelsb'):
                #print "Size2 - 0x%02x" % (d)
                self.dataleft = self.sizemsb << 8 | d
                if self.dataleft < 1:
                    print "size is too small (0x%04x)" % (self.dataleft)
                    self.state = 'init1'
                    continue
                if self.dataleft > 1024:
                    print "size too large (0x%04x)" % (self.dataleft)
                    self.fr_err += 1
                    self.state = 'init1'
                    continue
                #print "Pkt size - 0x%04x" % (self.dataleft)
                self.state = 'data'
            elif (self.state == 'data'):
                self.buffer.append(d)
                self.dataleft = self.dataleft - 1

                if self.dataleft == 0:
                    self.state = 'cksum1'

            elif (self.state == 'cksum1'):
                self.cksummsb = d
                self.state = 'cksum2'
            elif (self.state == 'cksum2'):
                self.rxcksum = self.cksummsb << 8 | d
                self.state = 'end1'
            elif (self.state == 'end1'):
                if (d != 0xb0):
                    print "End1 framing error, got 0x%02x, expected 0xb0" % d
                    self.state = 'init1'
                    self.fr_err += 1
                    continue
                
                self.state = 'end2'
            elif (self.state == 'end2'):
                if (d != 0xb3):
                    print "End2 framing error, got 0x%02x, expected 0xb3" % d
                    self.fr_err += 1
                else:
                    pktsum = reduce(lambda x, y: x + y, self.buffer) & 0x7fff
                    if (pktsum != self.rxcksum):
                        print "Checksum error: got 0x%04x, expected 0x%04x" % \
                              (self.rxcksum, pktsum)
                        print "buffer is %s" % (str(self.buffer))
                        self.state = 'init1'
                        self.ck_err += 1
                    else:
                        p = Parser.Build(self.buffer)
                        #self.pktq.append(p)
                        pktcount += 1
                        self.rx_cnt += 1

                self.state = 'init1'
            else:
                print "Invalid state %s! Resetting" % (self.state)
                self.state = 'init1'

        return pktcount

    def dumpmsgs(self, s):
        s.setTimeout(0.1)
        while True:
            self.processstr(s.read(100))

    @classmethod
    def Encap(self, data):
        cksum = reduce(lambda x, y: x + y, data)
        dlen = len(data)
        out = [ 0xa0, 0xa2 ]
        out.append((dlen & 0xff00) >> 8)
        out.append(dlen & 0xff)
        out.extend(data)
        out.append((cksum & 0x7f00) >> 8) # 15 bit checksum
        out.append(cksum & 0xff)
        out.extend([0xb0, 0xb3])
        return out

    @classmethod
    def OrdLsttoStr(self, data):
        return reduce(lambda x, y: x + y, map(chr, data))

    @classmethod
    def Build(self, data):
        t = time.time()
        t1 = time.strftime("%Y/%m/%d %H:%M:%S", time.localtime(t))
        t2 = (t - int(t)) * 1e3
        tfmt = "%s.%03d" % (t1, t2)
        if data[0] in sirfoutpktdsc:
            print "%s: Got out packet 0x%02x : %s" % (tfmt, data[0], sirfoutpktdsc[data[0]])
        elif data[0] in sirfinpktdsc:
            print "%s: Got in packet 0x%02x : %s" % (tfmt, data[0], sirfinpktdsc[data[0]])
        else:
            print "%s: Unknown packet type 0x%02x" % (tfmt, data[0])
            print "Payload - " + str(data[1:])

        if data[0] == 0x02:
            fmt = '>iiihhhBBBhIB'
            datastr = reduce(lambda x, y: x + y, map(chr, data[1:struct.calcsize(fmt) + 1]))
            (xpos, ypos, zpos, xvel, yvel, zvel, mode1, hdop, mode2, gpsweek, gpstow, nsats) = \
                   struct.unpack(fmt, datastr)
            
            satprn = []
            for i in xrange(nsats):
                satprn.append(data[struct.calcsize(fmt) - 1 + i])

            xvel = float(xvel) / 8
            yvel = float(yvel) / 8
            zvel = float(zvel) / 8
            hdop = float(hdop) / 5
            gpstow = float(gpstow) / 100
            
            print "                          Position: X: %d m, Y: %d m, Z: %d m" % (xpos, ypos, zpos)
            print "                          Velocity: X: %.2f m/s, Y: %.2f m/s, Z: %.2f m/s" % (xvel, yvel, zvel)
            print "                          HDOP: %.1f, Week: %d, TOW: %.2f seconds" % (hdop, gpsweek, gpstow)
        elif data[0] == 0x06:
            nulidx = data.index(0)
            print "                          SW Ver : %s" % (reduce(lambda x, y: x + y, map(chr, data[1:nulidx])))
        elif data[0] == 0x0a:
            errid = data[1] << 8 | data[2]
            dlen = (data[3] << 8 | data[4]) * 4
            print "                          Error ID : 0x%04x" % (errid)
            if dlen > 0:
                print "                          Length   : 0x%04x" % (dlen)
                print "                          Payload  : %s" % (data[5:])
        elif data[0] == 0x0b:
            print "                          Cmd Ack  : 0x%02x" % (data[1])
        elif data[0] == 0x0c:
            print "                          Cmd NAck : 0x%02x" % (data[1])
        elif data[0] == 0x29:
            fixtype = {
                0 : "none",
                1 : "1-SV KF",
                2 : "2-SV KF",
                3 : "3-SV KF",
                4 : "4+-SV KF",
                5 : "2D",
                6 : "3D",
                7 : "DR"
                }
            fmt = '>HHHIHBBBBHIiiiiBHHHHHIIIHIIIIIHHBBB'
            datastr = reduce(lambda x, y: x + y, map(chr, data[1:struct.calcsize(fmt) + 1]))
            (navval, navtype, ewn, tow, year, month, day, hour, minute, second, satlst,
             latitude, longitude, alt_elip, alt_msl, datum, sog, cog, magvar, climbrate,
             headrate, estHPE, estVPE, estTE, estHVE, clockbias, CBerr, clockdrift,
             CDerr, distance, distanceErr, headErr, numsvs, hdop, addmodeinfo) = \
             struct.unpack(fmt, datastr)
            tow = float(tow) / 1e3
            second = float(second) / 1e3
            latitude = float(latitude) / 1e7
            longitude = float(longitude) / 1e7
            alt_elip = float(alt_elip) / 1e2
            alt_msl = float(alt_msl) / 1e2
            sog = float(sog) / 1e2
            cog = float(cog) / 1e2
            climbrate = float(climbrate) / 1e2
            headrate = float(headrate) / 1e2
            estHPE = float(estHPE) / 1e2
            estVPE = float(estVPE) / 1e2
            estTE = float(estTE) / 1e2
            estHVE = float(estHVE) / 1e2
            clockbias = float(clockbias) / 1e2
            CBerr = float(CBerr) / 1e2
            clockdrift = float(clockdrift) / 1e2
            CDerr = float(CDerr) / 1e2
            headErr = float(headErr) / 1e2
            hdop = float(hdop) / 5

            utctime = timegm((year, month, day, hour, minute, int(second)))
            utctime = utctime + (second - int(second))
            print "                          Fix : %s, Sats : %d, Lat: %.06f, Long: %.06f, Alt: %.02fm" % \
                  (fixtype[navtype & 0x7], numsvs, latitude, longitude, alt_msl)
            print "                          Date : %04d/%02d/%02d %02d:%02d:%02d.%03d" % \
                  (year, month, day, hour, month, int(second), int((second - int(second)) * 1000))
            print "                          Epoch time : %.3f, Delta %.3f" % (utctime, abs(time.time() - utctime))
        elif data[0] == 0x34:
            fmt = '>BBBBBHHIB'
            datastr = reduce(lambda x, y: x + y, map(chr, data[1:struct.calcsize(fmt) + 1]))
            (hour, minute, second, day, month, year, offsetint, offsetfrac, status) = \
                   struct.unpack(fmt, datastr)
            offset = offsetint + float(offsetfrac) / 1e9
            print "                          PPS : %04d/%02d/%02d %02d:%02d:%02d, Offset : %.9f, Status : 0x%02x" % \
                  (year, month, day, hour, minute, second, offset, status)
        elif data[0] == 0xa6:
            print "                          Message rate : MID 0x%02x, rate 0x%02x" % (data[2], data[3])

def enablemsgs(s):
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x02, 0x01, 0x00, 0x00, 0x00, 0x00])))
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x04, 0x01, 0x00, 0x00, 0x00, 0x00])))
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x07, 0x01, 0x00, 0x00, 0x00, 0x00])))
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x09, 0x01, 0x00, 0x00, 0x00, 0x00])))
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x0d, 0x01, 0x00, 0x00, 0x00, 0x00])))
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x29, 0x01, 0x00, 0x00, 0x00, 0x00])))
    #s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x34, 0x01, 0x00, 0x00, 0x00, 0x00])))
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x1b, 0x01, 0x00, 0x00, 0x00, 0x00])))

    
def disablemsgs(s):
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00])))
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00])))
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00])))
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x09, 0x00, 0x00, 0x00, 0x00, 0x00])))
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x0d, 0x00, 0x00, 0x00, 0x00, 0x00])))
    #s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x29, 0x00, 0x00, 0x00, 0x00, 0x00])))
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x32, 0x00, 0x00, 0x00, 0x00, 0x00])))
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x34, 0x00, 0x00, 0x00, 0x00, 0x00])))
    s.write(Parser.OrdLsttoStr(Parser.Encap([0xa6, 0x00, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00])))

    
def timegm(tuple):
    oldtz = None
    if 'TZ' in os.environ:
        oldtz = os.environ['TZ']
    os.environ['TZ'] = 'UTC'
    
    t = time.mktime(tuple + (0, 0, 0))
    if oldtz == None:
        del os.environ['TZ']
    else:
        os.environ['TZ'] = oldtz

    return t