From 7d45a82ce44519d7a519a2d92afe98070c56a82c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Thu, 29 Feb 2024 15:14:46 +1100
Subject: [PATCH] GPSInject: module for injecting AssistNow data

---
 MAVProxy/modules/mavproxy_GPSInject.py | 137 +++++++++++++++++++++++++
 1 file changed, 137 insertions(+)
 create mode 100644 MAVProxy/modules/mavproxy_GPSInject.py

diff --git a/MAVProxy/modules/mavproxy_GPSInject.py b/MAVProxy/modules/mavproxy_GPSInject.py
new file mode 100644
index 0000000000..4651762082
--- /dev/null
+++ b/MAVProxy/modules/mavproxy_GPSInject.py
@@ -0,0 +1,137 @@
+"""
+inject data to GPS modules from a file or URL
+primarily used to inject uBlox AssistNow data
+"""
+
+import random
+import time
+import os
+
+from MAVProxy.modules.lib import mp_module
+from MAVProxy.modules.lib import mp_settings
+import urllib.request
+
+OFFLINE_MBX = "https://firmware.ardupilot.org/AssistNow/OFFLINE.UBX"
+
+class GPSInjectModule(mp_module.MPModule):
+
+    def __init__(self, mpstate):
+        super(GPSInjectModule, self).__init__(mpstate, "gpsinject", "gpsinject", public=False)
+        self.gpsinject_settings = mp_settings.MPSettings(
+            [('source', str, OFFLINE_MBX),
+             ('send_rate_kps', float, 2.0),
+             ('repeat', int, 2),
+             ('gps_mask', int, 0)])
+        self.add_command('gpsinject', self.cmd_gpsinject, 'GPSInject control',
+                         ["<status|start|stop>",
+                          "set (GPSINJECTSETTING)"])
+        self.add_completion_function('(GPSINJECTSETTING)',
+                                     self.gpsinject_settings.completion)
+        self.buf = None
+        self.sent_bytes = 0
+        self.sent_count = 0
+        self.started = False
+        self.start_pending = False
+        self.last_send = None
+
+    def idle_task(self):
+        '''called on idle'''
+        if not self.started and not self.start_pending:
+            return
+        if self.buf is None:
+            source = self.gpsinject_settings.source
+            if source.startswith("http"):
+                req = urllib.request.urlopen(self.gpsinject_settings.source)
+                if req is not None:
+                    self.buf = req.read()
+            elif os.path.isfile(self.gpsinject_settings.source):
+                self.buf = open(self.gpsinject_settings.source,'rb').read()
+            if self.buf is None:
+                print("GPSInject: Bad source %s" % source)
+                self.started = False
+                self.start_pending = False
+                return
+            print("GPSInject: retrieved %u bytes" % len(self.buf))
+
+        if self.start_pending:
+            GPS_RAW_INT = self.master.messages.get("GPS_RAW_INT", None)
+            GPS2_RAW = self.master.messages.get("GPS2_RAW", None)
+            if GPS_RAW_INT is None and GPS2_RAW is None:
+                return
+            have_gps = False
+            have_gps = (GPS_RAW_INT is not None and GPS_RAW_INT.fix_type >= 1) or (GPS2_RAW is not None and GPS2_RAW.fix_type >= 1)
+            if have_gps:
+                self.started = True
+
+        if not self.started:
+            return
+
+        max_send = 110
+        now = time.time()
+        sec_per_byte = 1.0/(1024.0*self.gpsinject_settings.send_rate_kps)
+        if self.last_send is not None and now - self.last_send < max_send*sec_per_byte:
+            return
+        if self.last_send is None:
+            cansend = max_send
+        else:
+            cansend = int((now - self.last_send) / sec_per_byte)
+        self.last_send = now
+
+        while cansend > 0:
+            n = min(max_send, len(self.buf) - self.sent_bytes)
+            n = min(n, cansend)
+            msg = self.buf[self.sent_bytes:self.sent_bytes+n]
+            self.master.mav.gps_inject_data_send(
+                self.target_system,
+                self.target_component,
+                len(msg),
+                bytearray(msg.ljust(max_send, bytes([0]))))
+            self.sent_bytes += n
+            if self.sent_bytes == len(self.buf):
+                self.sent_bytes = 0
+                self.sent_count += 1
+                if self.sent_count == self.gpsinject_settings.repeat:
+                    print("GPSInject: done")
+                    self.started = False
+                    self.start_pending = False
+                    break
+            cansend -= n
+
+    def cmd_gpsinject(self, args):
+        '''GPSInject command handling'''
+        if len(args) <= 0:
+            print("Usage: gpsinject <start|stop|status|set>")
+            return
+        if args[0] == "start":
+            self.buf = None
+            self.sent_bytes = 0
+            self.sent_count = 0
+            self.started = False
+            self.start_pending = True
+            self.last_send = None
+        if args[0] == "stop":
+            self.start_pending = False
+            self.started = False
+        elif args[0] == "status":
+            self.gpsinject_status()
+        elif args[0] == "set":
+            self.gpsinject_settings.command(args[1:])
+
+    def gpsinject_status(self):
+        '''show GPS inject status'''
+        now = time.time()
+        if not self.started:
+            print("GPSInject: Not started")
+            return
+        if self.buf is None:
+            print("GPSInject: download pending")
+            return
+        if self.start_pending:
+            print("GPSInject: start pending GPS")
+            return
+        print("GPSInject: sent %u/%u bytes, repeat=%u" % (self.sent_bytes, len(self.buf), self.sent_count))
+
+
+def init(mpstate):
+    '''initialise module'''
+    return GPSInjectModule(mpstate)