dies und das

ExoMy_Software-master/src/gps_node.py

@@ -4,6 +4,7 @@ import json
 import os
 import select
 import termios
+from collections import deque
 from datetime import datetime
 
 import rospy
@@ -86,6 +87,7 @@ class GpsState(object):
         self.visible_satellites = {}
         self.visible_satellite_count = 0
         self._gsv_groups = {}
+        self.raw_sentences = deque(maxlen=200)
 
     def summary_text(self):
         if not self.connected:
@@ -334,6 +336,8 @@ def parse_sentence(sentence, state):
     if not verify_checksum(sentence):
         return False
 
+    state.raw_sentences.append(sentence)
+
     fields = sentence.split('*', 1)[0].split(',')
     if not fields:
         return False
@@ -379,7 +383,8 @@ def build_diagnostics_payload(state, frame_id):
         'utc_time': state.utc_datetime.strftime('%H:%M:%S') if state.utc_datetime else None,
         'utc_date': state.utc_datetime.strftime('%Y-%m-%d') if state.utc_datetime else None,
         'last_fix_age_s': last_fix_age,
-        'satellites': list(state.visible_satellites.values())
+        'satellites': list(state.visible_satellites.values()),
+        'raw_sentences': list(state.raw_sentences)
     }