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https://github.com/iNavFlight/inav-configurator.git
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Merge pull request #2123 from iNavFlight/mmosca-gps-assitnow
Add UBLOX AssistNow support to configurator
This commit is contained in:
Marcelo Bezerra
GitHub
commit
4f6325ae2d
10 changed files with 370 additions and 2 deletions
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@ -78,12 +78,16 @@ $(function() {
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$('a', activeTab).trigger('click');
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}
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globalSettings.store = store;
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globalSettings.unitType = store.get('unit_type', UnitType.none);
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globalSettings.mapProviderType = store.get('map_provider_type', 'osm');
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globalSettings.mapApiKey = store.get('map_api_key', '');
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globalSettings.assistnowApiKey = store.get('assistnow_api_key', '');
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globalSettings.proxyURL = store.get('proxyurl', 'http://192.168.1.222/mapproxy/service?');
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globalSettings.proxyLayer = store.get('proxylayer', 'your_proxy_layer_name');
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globalSettings.showProfileParameters = store.get('show_profile_parameters', 1);
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globalSettings.assistnowOfflineData = store.get('assistnow_offline_data', []);
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globalSettings.assistnowOfflineDate = store.get('assistnow_offline_date', 0);
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updateProfilesHighlightColours();
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var cliAutocomplete = store.get('cli_autocomplete', true);
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@ -340,6 +344,7 @@ $(function() {
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$('#proxylayer').val(globalSettings.proxyLayer);
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$('#showProfileParameters').prop('checked', globalSettings.showProfileParameters);
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$('#cliAutocomplete').prop('checked', globalSettings.cliAutocomplete);
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$('#assistnow-api-key').val(globalSettings.assistnowApiKey);
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i18n.getLanguages().forEach(lng => {
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$('#languageOption').append("<option value='{0}'>{1}</option>".format(lng, i18n.getMessage("language_" + lng)));
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@ -383,6 +388,11 @@ $(function() {
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store.set('proxylayer', $(this).val());
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globalSettings.proxyLayer = $(this).val();
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});
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$('#assistnow-api-key').on('change', function () {
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store.set('assistnow_api_key', $(this).val());
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globalSettings.assistnowApiKey = $(this).val();
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});
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$('#demoModeReset').on('click', function () {
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SITLProcess.deleteEepromFile('demo.bin');
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});
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@ -21,6 +21,14 @@ var globalSettings = {
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// tree target for documents
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docsTreeLocation: 'master',
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cliAutocomplete: true,
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assistnowApiKey: null,
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assistnowOfflineData: [],
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assistnowOfflineDate: 0,
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store: null,
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saveAssistnowData: function() {
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this.store.set('assistnow_offline_data', this.assistnowOfflineData);
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this.store.set('assistnow_offline_date', this.assistnowOfflineDate);
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}
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};
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module.exports = { globalSettings, UnitType };
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@ -225,6 +225,8 @@ var MSPCodes = {
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MSP2_INAV_FW_APPROACH: 0x204A,
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MSP2_INAV_SET_FW_APPROACH: 0x204B,
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MSP2_INAV_GPS_UBLOX_COMMAND: 0x2050,
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MSP2_INAV_RATE_DYNAMICS: 0x2060,
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MSP2_INAV_SET_RATE_DYNAMICS: 0x2061,
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@ -1588,11 +1588,14 @@ var mspHelper = (function () {
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FC.OSD_CUSTOM_ELEMENTS .items.push(customElement)
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}
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break;
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case MSPCodes.MSP2_INAV_GPS_UBLOX_COMMAND:
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// Just and ACK from the fc.
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break;
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default:
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console.log('Unknown code detected: ' + dataHandler.code);
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console.log('Unknown code detected: 0x' + dataHandler.code.toString(16));
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} else {
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console.log('FC reports unsupported message error: ' + dataHandler.code);
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console.log('FC reports unsupported message error: 0x' + dataHandler.code.toString(16));
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}
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// trigger callbacks, cleanup/remove callback after trigger
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@ -3383,6 +3386,10 @@ var mspHelper = (function () {
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MSP.send_message(MSPCodes.MSP2_SET_CF_SERIAL_CONFIG, mspHelper.crunch(MSPCodes.MSP2_SET_CF_SERIAL_CONFIG), false, callback);
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};
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self.sendUbloxCommand = function (ubloxData, callback) {
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MSP.send_message(MSPCodes.MSP2_INAV_GPS_UBLOX_COMMAND, ubloxData, false, callback);
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};
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return self;
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})();
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239
js/ublox/UBLOX.js
Normal file
239
js/ublox/UBLOX.js
Normal file
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@ -0,0 +1,239 @@
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'use strict';
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const semver = require('semver');
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require('./../injected_methods');
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const jBox = require('./../libraries/jBox/jBox.min');
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const i18n = require('./../localization');
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const { GUI } = require('./../gui');
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const { globalSettings } = require('../globalSettings');
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const Store = require('electron-store');
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var ublox = (function () {
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var self = {};
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var assistnowOnline = null;
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var assistnowOffline = null;
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// m7 = aid, not supported
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// m8+ = mga
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const fmt="mga";;
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const gnss="gps,gal,bds,glo,qzss";
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const onlineServers = [
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'online-live1.services.u-blox.com',
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'online-live2.services.u-blox.com',
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];
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const period=5
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const offline_gnss="gps,gal,bds,glo";
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const offline_alm="gps,gal,bds,glo";
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const offlineServers = [
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'offline-live1.services.u-blox.com',
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'offline-live2.services.u-blox.com'
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];
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self.init = function() {
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};
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var hasFirstHeader;
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var hasSecondHeader;
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var ubxClass;
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var ubxId;
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var lenLow;
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var lenHigh;
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var payloadLen;
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var skipped;
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var currentCommand;
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function resetUbloxState() {
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//console.log("Reset ublox state");
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hasFirstHeader = false;
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hasSecondHeader = false;
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ubxClass = false;
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ubxId = false;
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lenLow = false;
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lenHigh = false;
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payloadLen = 0;
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skipped = 0;
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currentCommand = [];
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}
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function splitUbloxData(ubxBytesBuffer) {
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//console.log("type of data: " +typeof(ubxBytesBuffer));
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//console.log("splitUbloxData: " + ubxBytesBuffer.byteLength);
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let ubxBytes = new DataView(ubxBytesBuffer);
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var ubxCommands = []
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resetUbloxState()
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for(var i = 0; i < ubxBytes.byteLength;++i) {
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let c = ubxBytes.getUint8(i);
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//console.log("byte: 0x" + c.toString(16));
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if (!hasFirstHeader) {
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if (c == 0xb5) {
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//console.log("First header");
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hasFirstHeader = true;
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currentCommand.push(c);
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continue;
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}
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else
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{
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resetUbloxState();
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continue;
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}
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}
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if (!hasSecondHeader) {
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if (c == 0x62) {
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//console.log("Second header");
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hasSecondHeader = true;
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currentCommand.push(c);
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continue;
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}
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else
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{
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resetUbloxState();
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continue;
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}
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}
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if (!ubxClass) {
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ubxClass = true;
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//console.log("ubxClass: 0x"+ (c).toString(16));
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currentCommand.push(c)
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continue;
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}
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if (!ubxId) {
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ubxId = true;
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//console.log("ubxId: 0x"+ (c).toString(16));
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currentCommand.push(c);
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continue;
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}
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if (!lenLow) {
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//console.log("Len low");
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lenLow = true;
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//(int) c
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payloadLen = c;
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currentCommand.push(c);
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continue;
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}
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if (!lenHigh) {
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//console.log("Len high");
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lenHigh = true;
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// (int)c
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payloadLen = (c << 8) | payloadLen;
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//console.log("Payload len " + payloadLen);
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payloadLen += 2; // add crc bytes;
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currentCommand.push(c);
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continue
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}
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if (skipped < payloadLen - 1) {
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//console.log("payload + crc");
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skipped = skipped + 1;
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currentCommand.push(c);
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continue;
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}
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if (skipped == payloadLen - 1) {
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skipped = skipped + 1;
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currentCommand.push(c);
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ubxCommands.push(currentCommand);
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//console.log("Adding command");
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resetUbloxState();
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continue;
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}
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}
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return ubxCommands
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}
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function getBinaryData(url, successCallback, failCallback) {
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const req = new XMLHttpRequest();
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req.open("GET", url, true);
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req.responseType = "arraybuffer";
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if (successCallback != null) {
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req.onload = (event) => {
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successCallback(req.response);
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};
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}
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if (failCallback != null) {
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req.onerror = (event) => {
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failCallback(event);
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}
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}
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req.send(null);
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}
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function loadError(event) {
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GUI.alert(i18n.getMessage("gpsAssistnowLoadDataError"));
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console.log(i18n.getMessage("gpsAssistnowLoadDataError") + ':' + event.toString());
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}
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// For more info on assistnow, check:
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// https://developer.thingstream.io/guides/location-services/assistnow-user-guide
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// Currently only supported for M8+ units
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self.loadAssistnowOffline = function(callback) {
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let url = `https://${ offlineServers[0] }/GetOfflineData.ashx?token=${globalSettings.assistnowApiKey};gnss=${offline_gnss};format=${fmt};period=${period};resolution=1;alm=${offline_alm};`
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//console.log(url);
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function processOfflineData(data) {
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if(globalSettings.assistnowOfflineData == null || ((Date.now() / 1000)-globalSettings.assistnowOfflineDate) > (60*60*24*3)) {
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console.log("AssistnowOfflineData older than 3 days, refreshing.");
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globalSettings.assistnowOfflineData = splitUbloxData(data);
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globalSettings.assistnowOfflineDate = Math.floor(Date.now() / 1000);
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globalSettings.saveAssistnowData();
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} else {
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console.log("AssitnowOfflineData newer than 3 days. Re-using.");
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}
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//console.log("Assitnow offline commands:" + globalSettings.assistnowOfflineData.length);
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callback(globalSettings.assistnowOfflineData);
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}
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getBinaryData(url, processOfflineData, loadError);
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//$.get(url, processOfflineData).fail(function() {GUI.alert("Error loading Offline data")});
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};
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self.loadAssistnowOnline = function(callback) {
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//url = "https://online-live1.services.u-blox.com/GetOnlineData.ashx?token=" + online_token + ";gnss=" + gnss + ";datatype=eph,alm,aux,pos;format=" + fmt + ";"
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let url = `https://${ onlineServers[0] }/GetOnlineData.ashx?token=${globalSettings.assistnowApiKey};gnss=${ gnss };datatype=eph,alm,aux,pos;format=${ fmt }`;
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function processOnlineData(data) {
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assistnowOnline = splitUbloxData(data);
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//console.log("Assitnow online commands:" + assistnowOnline.length);
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callback(assistnowOnline);
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}
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//$.get(url, processOnlineData).fail(function() {GUI.alert("Error loading Offline data")});
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getBinaryData(url, processOnlineData, loadError);
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}
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self.isAssistnowDataRelevant = function(ubxMessage, cy, cm, cd) {
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if ((ubxMessage[2] == 0x13 /*UBX_CLASS_MGA*/) && (ubxMessage[3] == 0x20 /*UBX_MGA_ANO*/))
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{
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// UBX-MGA-ANO
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const payloadOffset = 6;
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if (((ubxMessage[payloadOffset + 4] + 2000) == cy) && (ubxMessage[payloadOffset + 5] == cm) && (ubxMessage[payloadOffset + 6] == cd))
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{
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//console.log("UBX-MGA_ANO date matches");
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return true;
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}
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} else {
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//console.log("UBX-CMD: class: 0x" + ubxMessage[2].toString(16) + " id: 0x" + ubxMessage[3].toString(16));
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return true;
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}
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return false;
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}
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return self;
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})();
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module.exports = ublox;
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