Set the frame interval for the NEO-M8L

#!/usr/bin/python3
import sys
import logging

from ubxlib.server_tty import GnssUBlox
from ubxlib.ubx_cfg_rate import UbxCfgRate
from ubxlib.ubx_cfg_cfg import UbxCfgCfgAction

FORMAT = '%(asctime)-15s %(levelname)-8s %(message)s'
logging.basicConfig(format=FORMAT)
logger = logging.getLogger('ubxlib')
logger.setLevel(logging.INFO)

if len(sys.argv) != 2:
    print(f"Usage: {sys.argv[0]} <frame interval in Hz>   (allowed: 1-10)")
    sys.exit(1)

try:
    rate_hz = int(sys.argv[1])
    if not (1 <= rate_hz <= 10):
        raise ValueError
except ValueError:
    print("Error: frame interval must be an integer between 1 and 10")
    sys.exit(1)

ubx = GnssUBlox('/dev/ttyUSB1')
ubx.setup()

msg = UbxCfgRate()
msg.set_rate_in_hz(rate_hz)
msg.f.timeRef = 0

ack_nak = ubx.set(msg)
print(f"CFG-RATE ({rate_hz} Hz) result:", ack_nak)

# Save permanently
save_msg = UbxCfgCfgAction()
save_msg.save(UbxCfgCfgAction.MASK_All)   # includes all categories, inc RxmConf
ack_nak_save = ubx.set(save_msg)
print("CFG-CFG (save) result:", ack_nak_save)

ubx.cleanup()

#!/usr/bin/python3
"""
Establish an SSH connection (key-based) to the router, briefly disable gpsd
(wwanmd toggles the port from down to up, leaving it briefly free), and within that window
call set_cfg_rate_neom8l.py with the desired rate_hz value, and then
re-enable gpsd.

Calling the subroutine:
python3 run_set_rate.py <rate_hz>
"""
import paramiko
import subprocess
import time
import sys

HOST = "192.168.1.1"                  # The router's IP address as seen from the container
PORT = 22
USER = "root"
SSH_KEY_PATH = "/root/.ssh/id_rsa"    # Path to the private SSH key
RETRY_COUNT = 2                       # attempts
RETRY_DELAY = 0.5                     # Seconds between attempts


def run_remote2command(client, cmd):
    stdin, stdout, stderr = client.exec_command(cmd)
    out = stdout.read().decode().strip()
    err = stderr.read().decode().strip()
    status = stdout.channel.recv_exit_status()
    return status, out, err


def main():
    if len(sys.argv) != 2:
        print(f"Usage: {sys.argv[0]} <rate_hz>   (allowed: 1-10)")
        sys.exit(1)

    try:
        rate_hz = int(sys.argv[1])
        if not (1 <= rate_hz <= 10):
            raise ValueError
    except ValueError:
        print("Error: rate_hz must be an integer between 1 and 10.")
        sys.exit(1)

    # Establish an SSH Connection to the Router ''Key-Based''
    key = paramiko.RSAKey.from_private_key_file(SSH_KEY_PATH)

    client = paramiko.SSHClient()
    client.set_missing_host_key_policy(paramiko.AutoAddPolicy())
    client.connect(HOST, port=PORT, username=USER, pkey=key, timeout=10)

    try:
        # Disable gpsd -> wwanmd toggles the port; it is open for a short time
        print("Set gpsd.1.status=0 ...")
        run_remote_command(client, 'cli set -s gpsd.1.status="0"')

        success = False
        for attempt in range(1, RETRY_COUNT + 1):
            print(f"Experiment {attempt}/{RETRY_COUNT}: call set_cfg_rate_neom8l.py on...")
            result = subprocess.run(
                ["python3", "set_cfg_rate_neom8l.py", str(rate_hz)],
                capture_output=True, text=True, timeout=10
            )
            print("STDOUT:", result.stdout)
            if result.stderr:
                print("STDERR:", result.stderr)

            if result.returncode == 0 and "SerialException" not in result.stderr:
                success = True
                break

            time.sleep(RETRY_DELAY)

        if not success:
            print("Note: set_cfg_rate_neom8l.py failed to run successfully in all attempts.")

    finally:
        # Turn gpsd back on
        print("Set gpsd.0.status=1 ...")
        run_remote_command(client, 'cli set -s gpsd.1.status="1"')
        client.close()

if __name__ == "__main__":
    main()

#!/usr/bin/python3
import sys
import logging

from ubxlib.server_tty import GnssUBlox
from ubxlib.ubx_cfg_rate import UbxCfgRate
from ubxlib.ubx_cfg_cfg import UbxCfgCfgAction

FORMAT = '%(asctime)-15s %(levelname)-8s %(message)s'
logging.basicConfig(format=FORMAT)
logger = logging.getLogger('ubxlib')
logger.setLevel(logging.INFO)

if len(sys.argv) != 2:
    print(f"Usage: {sys.argv[0]} <frame interval in Hz>   (allowed: 1-10)")
    sys.exit(1)

try:
    rate_hz = int(sys.argv[1])
    if not (1 <= rate_hz <= 10):
        raise ValueErro
except ValueError:
    print("Error: frame interval must be an integer between 1 and 10")
    sys.exit(1)

ubx = GnssUBlox('/dev/ttyUSB1')
ubx.setup()

msg = UbxCfgRate()
msg.set_rate_in_hz(rate_hz)
msg.f.timeRef = 0

ack_nak = ubx.set(msg)
print(f"CFG-RATE ({rate_hz} Hz) result:", ack_nak)

# Save permanently
save_msg = UbxCfgCfgAction()
save_msg.save(UbxCfgCfgAction.MASK_All)   # includes all categories, inc RxmConf
ack_nak_save = ubx.set(save_msg)
print("CFG-CFG (save) result:", ack_nak_save)

ubx.cleanup()

#!/usr/bin/python3
"""
Establish an SSH connection (key-based) to the router, briefly disable gpsd
(wwanmd toggles the port from down to up, leaving it briefly free), and within that window
call set_cfg_rate_neom8l.py with the desired rate_hz value, and then
re-enable gpsd.

Calling the subroutine:
python3 run_set_rate.py <rate_hz>
"""
import paramiko
import subprocess
import time
import sys

HOST = "192.168.1.1"                  # The router's IP address as seen from the container
PORT = 22
USER = "root"
SSH_KEY_PATH = "/root/.ssh/id_rsa"    # Path to the private SSH key
RETRY_COUNT = 2                       # attempts
RETRY_DELAY = 0.5                     # Seconds between attempts


def run_remote_command(client, cmd):
    stdin, stdout, stderr = client.exec_command(cmd)
    out = stdout.read().decode().strip()
    err = stderr.read().decode().strip()
    status = stdout.channel.recv_exit_status()
    return status, out, err


def main():
    if len(sys.argv) != 2:
        print(f"Usage: {sys.argv[0]} <rate_hz>   (allowed: 1-10)")
        sys.exit(1)

    try:
        rate_hz = int(sys.argv[1])
        if not (1 <= rate_hz <= 10):
            raise ValueError
    except ValueError:
        print("Error: rate_hz must be an integer between 1 and 10.")
        sys.exit(1)

    # Establish an SSH Connection to the Router ''Key-Based''
    key = paramiko.RSAKey.from_private_key_file(SSH_KEY_PATH)

    client = paramiko.SSHClient()
    client.set_missing_host_key_policy(paramiko.AutoAddPolicy())
    client.connect(HOST, port=PORT, username=USER, pkey=key, timeout=10)

    try:
        # Disable gpsd -> wwanmd toggles the port; it is open for a short time
        print("Set gpsd.1.status=0 ...")
        run_remote_command(client, 'cli set -s gpsd.1.status="0"')

        success = False
        for attempt in range(1, RETRY_COUNT + 1):
            print(f"Experiment {attempt}/{RETRY_COUNT}: call set_cfg_rate_neom8l.py on...")
            result = subprocess.run(
                ["python3", "set_cfg_rate_neom8l.py", str(rate_hz)],
                capture_output=True, text=True, timeout=10
            )
            print("STDOUT:", result.stdout)
            if result.stderr:
                print("STDERR:", result.stderr)

            if result.returncode == 0 and "SerialException" not in result.stderr:
                success = True
                break

            time.sleep(RETRY_DELAY)

        if not success:
            print("Note: set_cfg_rate_neom8l.py failed to run successfully in all attempts.")

    finally:
        # Turn gpsd back on
        print("Set gpsd.0.status=1 ...")
        run_remote_command(client, 'cli set -s gpsd.1.status="1"')
        client.close()

if __name__ == "__main__":
    main()

#!/usr/bin/python3
"""
Retrieves the current UBX-CFG-RATE configuration (navigation rate) from the module
"""
import logging

from ubxlib.server_tty import GnssUBlox
from ubxlib.ubx_cfg_rate import UbxCfgRatePoll   

FORMAT = '%(asctime)-15s %(levelname)-8s %(message)s'
logging.basicConfig(format=FORMAT)
logger = logging.getLogger('ubxlib')
logger.setLevel(logging.INFO)

ubx = GnssUBlox('/dev/ttyUSB1')
ubx.setup()

poll_msg = UbxCfgRatePoll()
response = ubx.poll(poll_msg) 
print(response)

ubx.cleanup()