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'''
     0                   1                   2                   3
    |0|1|2|3|4|5|6|7|8|9|0|1|2|3|4|5|6|7|8|9|0|1|2|3|4|5|6|7|8|9|0|1|
    +-------+-------+-------+-------+---------------+---------------+
    |       |       |       |       |     LENGTH    |               |
    | SYNC1 | SYNC2 | CLASS |   ID  | Little Endian | Payload Data  :
    |       |       |       |       |    (2 Byte)   |               |
    +-------+-------+-------+-------+---------------+ - - - - - - - +
    :                     Payload Data continued ...                :
    + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - +
    :                     Payload Data continued ...                :
    +-------+-------+-----------------------------------------------+
    | CK_A  | CK_B  |                                               |
    +-------+-------+-----------------------------------------------+

'''

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U1 = "B"        # XXX
I1 = "b"
X1 = I1
X2 = 'h'
X4 = "i"
R4 = "f"
R8 = "d"
U4 = 'L'
I4 = 'l'
I2 = X2
U2 = 'H'
XX = 's'
RAW = '%i'+XX


class Raw(object):
    __metaclass__ = _MyMetaClass # meta msg 
    __payload__ = ((RAW, 'payload', ''),)

    def __init__(self, file, *args, **kwds): pass
    def wait(self, timeout=None, exception=None): pass
    def send(self): pass

# Beispiel Navigationslösung
class NavSol(Raw):
    __whoiam__ = 0x0106 
    __payload__ = ((U4, 'iTOW', 0), (I4, 'fTOW', 0), (I2, 'week', 0), 
        (U1, 'gpsFix', 0), 	# range 0..5; see at gps fix constants
        (X1, 'flags', 0x00), # see at status flags       
        (I4, 'ecefX', 0), 
        (I4, 'ecefY', 0), 
        (I4, 'ecefZ', 0), # ECEF X,Y,Z coordinate (cm)
        (U4, 'pAcc', 0), # 3D Position Accuracy Estimate
        (I4, 'ecefVX', 0), 
        (I4, 'ecefVY', 0), 
        (I4, 'ecefVZ', 0), # ECEF X,Y,Z velocity (cm/s)        
        (U4, 'sAcc', 0), # Speed Accuracy Estimate
        (U2, 'pDOP', 0), # Position DOP       
        (U1, 'res1', 0), 
        (U1, 'numSV', 0), # Number of SV's used in Nav.-Solution
        (U4, 'res2', 0))

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# open tty com2usb
ttyACMx = open('tty/ttyACM0', 'r')

##########################
# 1: when we got the solution permanently:
##########################
# init the navigation solution:
navi = NavSol(file=ttyACMx)
while 1:
	navi.wait(timeout=1)
	print navi.ecefX, navi.ecefY, navi.ecefZ

##########################
# 2: send a message and wait for acknowledge 
##########################
# kill a config, for exampl. clear the navigation config on the battery bracket rack
cfg = CfgCfg(file=ttyACMx, clearMask=CfgCfg.NAV_CFG, devMask=CfgCfg.BBR)
cfg.send()
# wait for acknowledge in view of sent message:
ack = AckAck(file=ttyACMx)

try:
	# if the time is over then raise the given exception ...
	ack.wait(timeout=1, exception=Timeout) 
except Timeout:
	pass	# no acknowledge returned ...

# #########################
# 3: get a message with repeated blocks (get the current receiver version):
##########################
message = MonVer(file=ttyACMx)
message.send()
# wait for answering:
message.wait(timeout=1)

print message.swVersion, message.hwVersion, message.romVersion

for block in message.repeated_blocks:
	print block.extension

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class MonVer(Raw):
    __whoiam__ = 0x050A
    
    __payload__ = (('30'+XX, 'swVersion', ''), ('10'+XX, 'hwVersion', ''),
        ('30'+XX, 'romVersion', ''), 
        ('30'+XX, 'extension', '') # <--- REPEATED BLOCK !!!
        )

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    __payload__ = (('30'+XX, 'swVersion', ''), ('10'+XX, 'hwVersion', ''),
        ('30'+XX, 'romVersion', ''), 
        # START REPEATED BLOCK > :
        (U1, 'field1', ''), (U1, 'field2', '') ...
        # < END REPEATED BLOCK
        )

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for block in my_message.XXXX:
    print block.MyFieldx