From 39013ff5f494ef08533d8c14a3c31dd9b6c74ffd Mon Sep 17 00:00:00 2001 From: chriskinal <118364224+chriskinal@users.noreply.github.com> Date: Fri, 9 Oct 2026 14:59:47 -0500 Subject: [PATCH] GPS: a Unicore '#' log marks the GPS source address too MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Only '$' sentences marked where the position sentences come from, so a receiver printing only #INSPVAXA (a UM981) showed Source "—" on the System Data card and would have had its RTCM corrections broadcast instead of unicast to it on 2233. Seen on the bench. The card's sentence list now prefixes INSPVAX with '#', not '$'. Co-Authored-By: Claude Fable 5.1 --- Shared/AgOpenWeb.RemoteServer/wwwroot/app.js | 2 +- .../UdpCommunicationService.cs | 5 +- .../UdpGpsPortsTests.cs | 37 +++++++ um981-aligning.txt | 102 ++++++++++++++++++ 4 files changed, 144 insertions(+), 2 deletions(-) create mode 100644 um981-aligning.txt diff --git a/Shared/AgOpenWeb.RemoteServer/wwwroot/app.js b/Shared/AgOpenWeb.RemoteServer/wwwroot/app.js index 047d8df0..72cc12e1 100644 --- a/Shared/AgOpenWeb.RemoteServer/wwwroot/app.js +++ b/Shared/AgOpenWeb.RemoteServer/wwwroot/app.js @@ -2890,7 +2890,7 @@ function renderSystemData() { SD.hdual.classList.toggle('sd-bad', !!s.dualHeadingMissing); const ago = v => tr('{n} s ago', { n: v < 10 ? v.toFixed(1) : Math.round(v) }); const rows = (d ? d.sentences : []).map(x => - '
' + esc(tr('Not accepted', {})) : ' translate="no">$' + esc(x.type)) + + '
' + esc(tr('Not accepted', {})) : ' translate="no">' + (x.type === 'INSPVAX' ? '#' : '$') + esc(x.type)) + '' + esc(ago(x.age)) + '
' + esc(x.text) + '
'); const html = rows.length ? rows.join('') : '
' + esc(s.gpsSentence === 'SIM' ? tr('The simulator is supplying the position; no sentence is being received.', {}) diff --git a/Shared/AgOpenWeb.Services/UdpCommunicationService.cs b/Shared/AgOpenWeb.Services/UdpCommunicationService.cs index 235585ee..1770d019 100644 --- a/Shared/AgOpenWeb.Services/UdpCommunicationService.cs +++ b/Shared/AgOpenWeb.Services/UdpCommunicationService.cs @@ -419,8 +419,11 @@ private void ProcessReceivedData(byte[] data, IPEndPoint remoteEndPoint) Timestamp = DateTime.Now }); } - else if (data.Length > 0 && data[0] == (byte)'$') + else if (data.Length > 0 && (data[0] == (byte)'$' || data[0] == (byte)'#' || data[0] == (byte)'%')) { + // A '$' sentence or a Unicore '#'/'%' log: this is where the position comes + // from, so the RTCM corrections go back to this address (unicast on 2233) and + // Network IO names it. MarkSourceSeen(SourceGpsNmea, remoteEndPoint); // Text NMEA sentence (starts with $) diff --git a/Tests/AgOpenWeb.Services.Tests/UdpGpsPortsTests.cs b/Tests/AgOpenWeb.Services.Tests/UdpGpsPortsTests.cs index 38e1fa98..eea204be 100644 --- a/Tests/AgOpenWeb.Services.Tests/UdpGpsPortsTests.cs +++ b/Tests/AgOpenWeb.Services.Tests/UdpGpsPortsTests.cs @@ -39,6 +39,42 @@ public IReadOnlyList GetIPv4Addresses() => new[] { new LocalNetworkAddress(IPAddress.Loopback, 8, "lo0") }; } + /// A receiver that prints only Unicore '#' logs (a UM981) is a GPS source too. + [Test] + public async Task A_hash_log_marks_the_GPS_source_address() + { + try + { + using var probe = new Socket(AddressFamily.InterNetwork, SocketType.Dgram, ProtocolType.Udp); + probe.Bind(new IPEndPoint(IPAddress.Any, UdpCommunicationService.ModulePort)); + } + catch (SocketException) + { + Assert.Ignore("port 9999 is held by another process on this machine"); + } + + var udp = new UdpCommunicationService(new Loopback()); + await udp.StartAsync(); + try + { + const string body = "#INSPVAXA,COM3,0,80.0,FINE,2439,503918.400,0,424572,0;INS_ALIGNING,NONE,0.0,0.0,-17.0,17.0,0.0,0.0,0.0,0.0,0.0,0.0,0,0,0,0,0,0,0,0,0,0,0"; + var line = Encoding.ASCII.GetBytes(body + "*" + AgOpenWeb.Services.Gps.UnicoreCrc32.Compute(Encoding.ASCII.GetBytes(body[1..])).ToString("x8") + "\r\n"); + using var sender = new UdpClient(); + IPAddress? source = null; + for (int attempt = 0; attempt < 20 && source == null; attempt++) + { + sender.Send(line, line.Length, new IPEndPoint(IPAddress.Loopback, UdpCommunicationService.ModulePort)); + for (int wait = 0; wait < 20 && source == null; wait++) { await Task.Delay(25); source = udp.GetGpsSourceAddress(); } + } + Assert.That(source, Is.EqualTo(IPAddress.Loopback)); + } + finally + { + await udp.StopAsync(); + udp.Dispose(); + } + } + [TestCase(UdpCommunicationService.Gps1Port, GpsSource.Gps1)] [TestCase(UdpCommunicationService.Gps2Port, GpsSource.Gps2)] [TestCase(UdpCommunicationService.ModulePort, GpsSource.ModulePort)] @@ -78,6 +114,7 @@ public async Task A_sentence_on_a_GPS_port_reaches_the_parser_with_its_source(in } Assert.That(seen, Is.True, $"no fix parsed from port {port}"); Assert.That(steer.LastGpsSource, Is.EqualTo(expected)); + Assert.That(udp.GetGpsSourceAddress(), Is.EqualTo(IPAddress.Loopback), "where the corrections go back to"); } finally { diff --git a/um981-aligning.txt b/um981-aligning.txt new file mode 100644 index 00000000..292fa56a --- /dev/null +++ b/um981-aligning.txt @@ -0,0 +1,102 @@ +# nmea-capture 2026-10-09T14:59:21 ports=9999,2211,2222 +0.0338 192.168.4.226:57913 other 29 bytes d0 f2 81 f8 8b ff 9a f7 d5 ef 94 b6 d1 b4 c0 9f +0.0741 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503979.200,0,485372,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*19676fcd\r\n +0.1741 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503979.300,0,485472,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*497d198d\r\n +0.2741 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503979.400,0,485572,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*2b01c6af\r\n +0.3743 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503979.500,0,485673,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*881858c4\r\n +0.4739 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503979.600,0,485773,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*a6876590\r\n +0.5743 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503979.700,0,485873,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*282cb444\r\n +0.6741 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503979.800,0,485973,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*d397af8a\r\n +0.7742 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503979.900,0,486071,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*5e73d223\r\n +0.8739 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503980.000,0,486171,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*d613f048\r\n +0.9746 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503980.100,0,486272,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*96cd1fa0\r\n +1.0744 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503980.200,0,486372,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*b85222f4\r\n +1.1745 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503980.300,0,486472,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*e84854b4\r\n +1.2739 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503980.400,0,486572,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*8a348b96\r\n +1.3744 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503980.500,0,486673,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*292d15fd\r\n +1.4741 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503980.600,0,486773,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*07b228a9\r\n +1.5742 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503980.700,0,486873,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*8919f97d\r\n +1.6738 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503980.800,0,486973,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*72a2e2b3\r\n +1.7741 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503980.900,0,487071,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*2f112584\r\n +1.8738 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503981.000,0,487171,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*2884abc6\r\n +1.9744 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503981.100,0,487272,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*685a442e\r\n +2.0741 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503981.200,0,487372,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*46c5797a\r\n +2.1743 192.168.5.126:56785 #INSPVAXA,COM3,0,81.0,FINE,2439,503981.300,0,487472,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*491e53ae\r\n +2.2738 192.168.5.126:56785 #INSPVAXA,COM3,0,81.0,FINE,2439,503981.400,0,487572,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*2b628c8c\r\n +2.3743 192.168.5.126:56785 #INSPVAXA,COM3,0,81.0,FINE,2439,503981.500,0,487673,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*887b12e7\r\n +2.4738 192.168.5.126:56785 #INSPVAXA,COM3,0,81.0,FINE,2439,503981.600,0,487773,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*a6e42fb3\r\n +2.5741 192.168.5.126:56785 #INSPVAXA,COM3,0,81.0,FINE,2439,503981.700,0,487873,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*284ffe67\r\n +2.6738 192.168.5.126:56785 #INSPVAXA,COM3,0,81.0,FINE,2439,503981.800,0,487973,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*d3f4e5a9\r\n +2.7742 192.168.5.126:56785 #INSPVAXA,COM3,0,81.0,FINE,2439,503981.900,0,488071,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*d2720d87\r\n +2.8740 192.168.5.126:56785 #INSPVAXA,COM3,0,81.0,FINE,2439,503982.000,0,488171,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*23ef8806\r\n +2.9746 192.168.5.126:56785 #INSPVAXA,COM3,0,81.0,FINE,2439,503982.100,0,488272,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*633167ee\r\n +3.0741 192.168.5.126:56785 #INSPVAXA,COM3,0,81.0,FINE,2439,503982.200,0,488372,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*4dae5aba\r\n +3.1741 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503982.300,0,488472,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*4275706e\r\n +3.2740 192.168.5.126:56785 #INSPVAXA,COM3,0,80.0,FINE,2439,503982.400,0,488572,0;INS_ALIGNING,NONE,0.00000000000,0.00000000000,-17.0000,17.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,0.0000,0.0000,0.0000,0.0000,0.0000,0.0000,0.000000000,0.000000000,0.000000000,1,0*2009af4c\r\n +3.3741 192.168.5.126:56785 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