Added new p1_capture utility, and simplified TCP/UDP/serial example apps.

python/README.md

@@ -22,10 +22,15 @@ FusionEngine message specification.
 
 ### Applications
 
+- [p1_capture](fusion_engine_client/applications/p1_capture.py) - Connect to a FusionEngine device in real time over
+  serial, TCP, UDP, or UNIX domain socket, and display incoming FusionEngine contents and/or log the incoming data to
+  disk
 - [p1_display](fusion_engine_client/applications/p1_display.py) - Generate plots of vehicle trajectory, GNSS signal
   status, wheel speed measurements, etc. from a file of logged FusionEngine messages
 - [p1_extract](fusion_engine_client/applications/p1_extract.py) - Extract FusionEngine messages from a binary file
   containing multiple data streams (e.g., interleaved RTCM and FusionEngine messages)
+- [p1_filter](fusion_engine_client/applications/p1_filter.py) - Filter an incoming FusionEngine data stream, outputting
+  a new FusionEngine stream containing only the requested messages
 - [p1_lband_extract](fusion_engine_client/applications/p1_lband_extract.py) - Extract L-band data bits contained from a
   log of FusionEngine `LBandFrameMessage` messages
 - [p1_print](fusion_engine_client/applications/p1_print.py) - Print the contents of FusionEngine messages found in a
@@ -59,13 +64,12 @@ FusionEngine message specification.
         optionally mixed with other binary data, and decode the contents using the `FusionEngineDecoder` helper class
       - [send_command.py](examples/send_command.py) - Send a command to a device over serial or TCP, and wait for a
         response
-      - [serial_client.py](examples/serial_client.py) - Connect to a device over a local serial port and decode messages
-        in real time to be displayed and/or logged to disk using the `FusionEngineDecoder` helper class
-      - [tcp_client.py](examples/tcp_client.py) - Connect to a device over TCP and decode messages in real time to be
-        displayed and/or logged to disk using the `FusionEngineDecoder` helper class
+      - [serial_client.py](examples/serial_client.py) - Connect to a device over a local serial port and decode/print
+        incoming FusionEngine messages
+      - [tcp_client.py](examples/tcp_client.py) - Connect to a device over TCP and decode messages in real time and
+        decode/print incoming FusionEngine messages
       - [udp_client.py](examples/udp_client.py) - Connect to a device over UDP and decode/display messages in real time
-        - Unlike [tcp_client.py](examples/tcp_client.py), currently assumes all incoming UDP packets contain
-          FusionEngine messages and does not use the `FusionEngineDecoder` helper class
+        and decode/print incoming FusionEngine messages
     - `fusion_engine_client` - Top-level Python package directory
       - `analysis`
         - [analyzer.py](fusion_engine_client/analysis/analyzer.py) - `Analyzer` class, used by

python/examples/serial_client.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 
-from datetime import datetime
 import os
 import sys
 
@@ -15,115 +14,41 @@
 root_dir = os.path.normpath(os.path.join(os.path.dirname(__file__), '..'))
 sys.path.insert(0, root_dir)
 
-from fusion_engine_client.applications.p1_print import add_print_format_argument, print_message
-from fusion_engine_client.parsers import FusionEngineDecoder
-from fusion_engine_client.utils import trace as logging
 from fusion_engine_client.utils.argument_parser import ArgumentParser
+from fusion_engine_client.messages import MessagePayload
+from fusion_engine_client.parsers import FusionEngineDecoder
 
 
 if __name__ == "__main__":
+    # Parse command-line arguments.
     parser = ArgumentParser(description="""\
-Connect to an Point One device over serial and print out the incoming message
-contents and/or log the messages to disk.
+Connect to a Point One device over serial and print out the incoming message
+contents.
 """)
-
     parser.add_argument('-b', '--baud', type=int, default=460800,
                         help="The serial baud rate to be used.")
-    add_print_format_argument(parser, '--display-format')
-    parser.add_argument('-f', '--format', default='p1log', choices=('p1log', 'raw'),
-                        help="The format of the file to be generated when --output is enabled."
-                             "If 'p1log' (default), create a *.p1log file containing only FusionEngine messages."
-                             "If 'raw', create a generic binary file containing all incoming data.")
-    parser.add_argument('-n', '--no-display', dest='display', action='store_false',
-                        help="Do not display the incoming message contents.")
-    parser.add_argument('-o', '--output', type=str,
-                        help="The path to a file where incoming data will be stored.")
-    parser.add_argument('-q', '--quiet', dest='quiet', action='store_true',
-                        help="Do not print anything to the console.")
-
     parser.add_argument('port',
                         help="The serial device to use (e.g., /dev/ttyUSB0, COM1)")
     options = parser.parse_args()
 
-    if options.quiet:
-        options.display = False
-
-    logging.basicConfig(format='%(asctime)s - %(levelname)s - %(name)s:%(lineno)d - %(message)s', stream=sys.stdout)
-    logger = logging.getLogger('point_one.fusion_engine')
-    logger.setLevel(logging.INFO)
-
-    # Open the output file if logging was requested.
-    if options.output is not None:
-        if options.format == 'p1log':
-            p1i_path = os.path.splitext(options.output)[0] + '.p1i'
-            if os.path.exists(p1i_path):
-                os.remove(p1i_path)
-
-        output_file = open(options.output, 'wb')
-    else:
-        output_file = None
-
-    generating_raw_log = (output_file is not None and options.format == 'raw')
-    generating_p1log = (output_file is not None and options.format == 'p1log')
-
     # Connect to the device.
-    port = serial.Serial(port=options.port, baudrate=options.baud)
-
-    # Listen for incoming data.
-    decoder = FusionEngineDecoder(warn_on_unrecognized=not options.quiet, return_bytes=True)
-    bytes_received = 0
-    messages_received = 0
-    start_time = datetime.now()
-    last_print_time = start_time
-    while True:
-        # Read some data.
-        try:
-            received_data = port.read(1024)
-            bytes_received += len(received_data)
-
-            if not options.quiet:
-                now = datetime.now()
-                if (now - last_print_time).total_seconds() > 5.0:
-                    print('Status: [bytes_received=%d, messages_received=%d elapsed_time=%d sec]' %
-                          (bytes_received, messages_received, (now - start_time).total_seconds()))
-                    last_print_time = now
-        except serial.SerialException as e:
-            print('Unexpected error reading from device:\r%s' % str(e))
-            break
-        except KeyboardInterrupt:
-            break
-
-        # If logging in raw format, write the data to disk as is.
-        if generating_raw_log:
-            output_file.write(received_data)
-
-        # Decode the incoming data and print the contents of any complete messages.
-        #
-        # Note that we pass the data to the decoder, even if --no-display was requested, for three reasons:
-        # - So that we get a count of the number of incoming messages
-        # - So we print warnings if the CRC fails on any of the incoming data
-        # - If we are logging in *.p1log format, so the decoder can extract the FusionEngine data from any
-        #   non-FusionEngine data in the stream
-        messages = decoder.on_data(received_data)
-        messages_received += len(messages)
-
-        if options.display or generating_p1log:
-            for (header, message, raw_data) in messages:
-                if generating_p1log:
-                    output_file.write(raw_data)
-
-                if options.display:
-                    print_message(header, message, format=options.display_format)
-
-    # Close the serial port.
-    port.close()
-
-    # Close the output file.
-    if output_file is not None:
-        output_file.close()
-
-    if not options.quiet:
-        now = datetime.now()
-        elapsed_sec = (now - last_print_time).total_seconds() if last_print_time else 0.0
-        print('Status: [bytes_received=%d, messages_received=%d elapsed_time=%d sec]' %
-              (bytes_received, messages_received, elapsed_sec))
+    transport = serial.Serial(port=options.port, baudrate=options.baud)
+
+    # Listen for incoming data and parse FusionEngine messages.
+    try:
+        decoder = FusionEngineDecoder()
+        while True:
+            received_data = transport.read(1024)
+            messages = decoder.on_data(received_data)
+            for header, message in messages:
+                if isinstance(message, MessagePayload):
+                    print(str(message))
+                else:
+                    print(f'{header.message_type} message (not supported)')
+    except KeyboardInterrupt:
+        pass
+    except serial.SerialException as e:
+        print('Unexpected error reading from device:\r%s' % str(e))
+
+    # Close the transport when finished.
+    transport.close()

python/examples/tcp_client.py

@@ -1,6 +1,5 @@
 #!/usr/bin/env python3
 
-from datetime import datetime
 import os
 import socket
 import sys
@@ -10,108 +9,40 @@
 root_dir = os.path.normpath(os.path.join(os.path.dirname(__file__), '..'))
 sys.path.insert(0, root_dir)
 
-from fusion_engine_client.applications.p1_print import add_print_format_argument, print_message
-from fusion_engine_client.parsers import FusionEngineDecoder
 from fusion_engine_client.utils.argument_parser import ArgumentParser
+from fusion_engine_client.messages import MessagePayload
+from fusion_engine_client.parsers import FusionEngineDecoder
 
 
 if __name__ == "__main__":
+    # Parse command-line arguments.
     parser = ArgumentParser(description="""\
-Connect to an Point One device over TCP and print out the incoming message
-contents and/or log the messages to disk.
+Connect to a Point One device over TCP and print out the incoming message
+contents.
 """)
-
-    add_print_format_argument(parser, '--display-format')
-    parser.add_argument('-f', '--format', default='p1log', choices=('p1log', 'raw'),
-                        help="The format of the file to be generated when --output is enabled."
-                             "If 'p1log' (default), create a *.p1log file containing only FusionEngine messages."
-                             "If 'raw', create a generic binary file containing all incoming data.")
-    parser.add_argument('-n', '--no-display', dest='display', action='store_false',
-                        help="Do not display the incoming message contents.")
-    parser.add_argument('-o', '--output', type=str,
-                        help="The path to a file where incoming data will be stored.")
     parser.add_argument('-p', '--port', type=int, default=30201,
                         help="The FusionEngine TCP port on the data source.")
-    parser.add_argument('-q', '--quiet', dest='quiet', action='store_true',
-                        help="Do not print anything to the console.")
-
     parser.add_argument('hostname',
                         help="The IP address or hostname of the data source.")
     options = parser.parse_args()
 
-    if options.quiet:
-        options.display = False
-
-    # Open the output file if logging was requested.
-    if options.output is not None:
-        if options.format == 'p1log':
-            p1i_path = os.path.splitext(options.output)[0] + '.p1i'
-            if os.path.exists(p1i_path):
-                os.remove(p1i_path)
-
-        output_file = open(options.output, 'wb')
-    else:
-        output_file = None
-
-    generating_raw_log = (output_file is not None and options.format == 'raw')
-    generating_p1log = (output_file is not None and options.format == 'p1log')
-
     # Connect to the device.
-    sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
-    sock.connect((socket.gethostbyname(options.hostname), options.port))
-
-    # Listen for incoming data.
-    decoder = FusionEngineDecoder(warn_on_unrecognized=not options.quiet, return_bytes=True)
-    bytes_received = 0
-    messages_received = 0
-    start_time = datetime.now()
-    last_print_time = start_time
-    while True:
-        # Read some data.
-        try:
-            received_data = sock.recv(1024)
-            bytes_received += len(received_data)
-
-            if not options.quiet:
-                now = datetime.now()
-                if (now - last_print_time).total_seconds() > 5.0:
-                    print('Status: [bytes_received=%d, messages_received=%d elapsed_time=%d sec]' %
-                          (bytes_received, messages_received, (now - start_time).total_seconds()))
-                    last_print_time = now
-        except KeyboardInterrupt:
-            break
-
-        # If logging in raw format, write the data to disk as is.
-        if generating_raw_log:
-            output_file.write(received_data)
-
-        # Decode the incoming data and print the contents of any complete messages.
-        #
-        # Note that we pass the data to the decoder, even if --no-display was requested, for three reasons:
-        # - So that we get a count of the number of incoming messages
-        # - So we print warnings if the CRC fails on any of the incoming data
-        # - If we are logging in *.p1log format, so the decoder can extract the FusionEngine data from any
-        #   non-FusionEngine data in the stream
-        messages = decoder.on_data(received_data)
-        messages_received += len(messages)
-
-        if options.display or generating_p1log:
-            for (header, message, raw_data) in messages:
-                if generating_p1log:
-                    output_file.write(raw_data)
-
-                if options.display:
-                    print_message(header, message, format=options.display_format)
-
-    # Close the socket.
-    sock.close()
-
-    # Close the output file.
-    if output_file is not None:
-        output_file.close()
-
-    if not options.quiet:
-        now = datetime.now()
-        elapsed_sec = (now - last_print_time).total_seconds() if last_print_time else 0.0
-        print('Status: [bytes_received=%d, messages_received=%d elapsed_time=%d sec]' %
-              (bytes_received, messages_received, elapsed_sec))
+    transport = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    transport.connect((socket.gethostbyname(options.hostname), options.port))
+
+    # Listen for incoming data and parse FusionEngine messages.
+    try:
+        decoder = FusionEngineDecoder()
+        while True:
+            received_data = transport.recv(1024)
+            messages = decoder.on_data(received_data)
+            for header, message in messages:
+                if isinstance(message, MessagePayload):
+                    print(str(message))
+                else:
+                    print(f'{header.message_type} message (not supported)')
+    except KeyboardInterrupt:
+        pass
+
+    # Close the transport when finished.
+    transport.close()