update to 1.3.9, fixed GNSSSATINF message

MaxR-iMAR · MaxR-iMAR · commit 48652a62f1f6 · 2025-11-17T14:38:26.000+01:00
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # Changelog
 
+## [1.3.9] - 2025-11-17
+
+### Fixed
+
+- Fixed variable length message `GNSSSATINF`
+
 ## [1.3.8] - 2025-11-05
 
 ### Added
diff --git a/ixcom/grep.py b/ixcom/grep.py
@@ -288,7 +288,6 @@ def combine_callback(msg, from_device):
             _msg_length = 16
             
             buffer_view = buffer.getbuffer()
-            #buffer_view = buffer.read()
             buffer_length = len(buffer_view)
             parser = NpMessageParser()
             parser.nothrow = True
diff --git a/ixcom/messages.py b/ixcom/messages.py
@@ -598,6 +598,37 @@ class GNSSSATINFO_Payload(ProtocolPayload):
         PayloadItem(name = 'Azimuth', dimension = 1, datatype = 'f'),
     ])
 
+@message(0x51)
+class GNSSSATINF_Payload(ProtocolPayload):
+
+    _satellite_info = Message([
+            PayloadItem(name='sat_system', dimension=1, datatype='I'),
+            PayloadItem(name='sat_id', dimension=1, datatype='H'),
+            PayloadItem(name='glo_freq', dimension=1, datatype='h'),
+            PayloadItem(name='cn0', dimension=1, datatype='f'),
+            PayloadItem(name='reject', dimension=1, datatype='I'),
+            PayloadItem(name='azimuth', dimension=1, datatype='f'),
+            PayloadItem(name='elevation', dimension=1, datatype='f')
+    ])
+
+    message_description = Message([
+        PayloadItem(name = 'num_obs', dimension = 1, datatype = 'I'),
+        PayloadItem(name = 'sat_observations', dimension = 0, datatype = _satellite_info)
+    ])
+
+
+    def get_varsize_item_list(self, num_obs):
+        _item_list = [
+        PayloadItem(name = 'num_obs', dimension = 1, datatype = 'I'),
+        PayloadItem(name = 'sat_observations', dimension = num_obs, datatype = self._satellite_info)
+            ]
+        return _item_list
+
+    def get_varsize_arg_from_bytes(self, inBytes):
+        num_obs = int.from_bytes(inBytes[:3],'little')
+        return num_obs
+
+
 @message(0x45)
 class NTRIPSTAT_Payload(ProtocolPayload):
     message_description = Message([
diff --git a/ixcom/parser.py b/ixcom/parser.py
@@ -735,6 +735,24 @@ def forced_zupt(self, enable: bool):
         msgToSend.payload.data['enable'] = enable
         self.send_msg_and_waitfor_okay(msgToSend)
 
+    def forced_zupt_param(self, enable: bool):
+        '''Enables or disables forced Zero Velocity updates
+
+        Enables or disables forced Zero Velocity updates using the EKF FORCED_ZUPT parameter.
+        
+        Args:
+            enable: boolean value to enable or disable ZUPTs.
+ 
+        Raises:
+            ClientTimeoutError: Timeout while waiting for response from the XCOM server
+            ResponseError: The response from the system was not 'OK'
+        
+        '''
+        msgToSend = data.getMessageByName("PAREKF_FORCEDZUPT")
+        msgToSend.payload.data['action'] = data.ParameterAction.CHANGING
+        msgToSend.payload.data['enable'] = enable
+        self.send_msg_and_waitfor_okay(msgToSend)
+
     def save_antoffset(self, antenna: int):
         '''Saves the currently estimated GNSS antenna offset
 
diff --git a/setup.py b/setup.py
@@ -14,7 +14,7 @@
     long_description = open(readmePath, "rt").read()
 
     setup(name='ixcom',
-          version='1.3.8',
+          version='1.3.9',
           description='Library for communicating with xcom devices over network',
           author='iMAR Navigation GmbH',
           author_email='support@imar-navigation.de',
