From 5e9a3bdd4899210b66fc1c74ce629d9844d90fe8 Mon Sep 17 00:00:00 2001
From: Mark Fine <mark.fine@gmail.com>
Date: Thu, 18 Jun 2015 22:15:53 -0700
Subject: [PATCH 1/3] UDP logger for SBP.

---
 python/sbp/client/examples/udp.py       | 19 +++--------
 python/sbp/client/loggers/udp_logger.py | 45 +++++++++++++++++++++++++
 2 files changed, 50 insertions(+), 14 deletions(-)
 create mode 100644 python/sbp/client/loggers/udp_logger.py

diff --git a/python/sbp/client/examples/udp.py b/python/sbp/client/examples/udp.py
index 2b16944d85..3472ff16fa 100644
--- a/python/sbp/client/examples/udp.py
+++ b/python/sbp/client/examples/udp.py
@@ -15,9 +15,8 @@
 
 from sbp.client.drivers.pyserial_driver import PySerialDriver
 from sbp.client.handler import Handler
+from sbp.client.loggers import UdpLogger
 
-from contextlib import closing
-import socket
 import struct
 import time
 
@@ -49,23 +48,15 @@ def get_args():
                       help="specify the baud rate to use.")
   return parser.parse_args()
 
-def send_udp_callback_generator(udp, args):
-  def send_udp_callback(msg):
-    s = ""
-    s += struct.pack("<BHHB", 0x55, msg.msg_type, msg.sender, msg.length)
-    s += msg.payload
-    s += struct.pack("<H", msg.crc)
-    udp.sendto(s, (args.address[0], args.udp_port[0]))
-
-  return send_udp_callback
-
 def main():
   args = get_args()
+  address = args.address[0]
+  udp_port = args.udp_port[0]
 
   with PySerialDriver(args.serial_port[0], args.baud[0]) as driver:
     with Handler(driver.read, driver.write) as handler:
-      with closing(socket.socket(socket.AF_INET, socket.SOCK_DGRAM)) as udp:
-        handler.add_callback(send_udp_callback_generator(udp, args))
+      with UdpLogger(address, udp_port) as udp:
+        handler.add_callback(udp)
 
         try:
           while True:
diff --git a/python/sbp/client/loggers/udp_logger.py b/python/sbp/client/loggers/udp_logger.py
new file mode 100644
index 0000000000..40bc07bd04
--- /dev/null
+++ b/python/sbp/client/loggers/udp_logger.py
@@ -0,0 +1,45 @@
+# Copyright (C) 2015 Swift Navigation Inc.
+# Contact: Mark Fine <mark@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+import socket
+import struct
+
+from .base_logger import BaseLogger
+
+class UdpLogger(BaseLogger):
+  """
+  UdpLogger
+
+  The :class:`UdpLogger` logs SBP messages over UDP.
+
+  Parameters
+  ----------
+  address : string
+    IP Address to send UDP packets to.
+  port : int
+    IP Port to send UDP packets to.
+  """
+  def __init__(self, address, port):
+    self.handle = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+    self.address = address
+    self.port = port
+
+  def __call__(self, msg):
+    self.call(msg)
+
+  def fmt_msg(self, msg):
+    s = ""
+    s += struct.pack("<BHHB", 0x55, msg.msg_type, msg.sender, msg.length)
+    s += msg.payload
+    s += struct.pack("<H", msg.crc)
+    return s
+
+  def call(self, msg):
+    self.handle.sendto(self.fmt_msg(msg), (self.address, self.port))

From 3fbfa284e2640fe6684ab2d57ced5865aefc6e13 Mon Sep 17 00:00:00 2001
From: Mark Fine <mark.fine@gmail.com>
Date: Fri, 19 Jun 2015 11:39:07 -0700
Subject: [PATCH 2/3] add a udp logger file.

---
 python/tests/sbp/client/test_udp_logger.py | 13 +++++++++++++
 1 file changed, 13 insertions(+)
 create mode 100644 python/tests/sbp/client/test_udp_logger.py

diff --git a/python/tests/sbp/client/test_udp_logger.py b/python/tests/sbp/client/test_udp_logger.py
new file mode 100644
index 0000000000..708869b100
--- /dev/null
+++ b/python/tests/sbp/client/test_udp_logger.py
@@ -0,0 +1,13 @@
+#!/usr/bin/env python
+# Copyright (C) 2015 Swift Navigation Inc.
+# Contact: Bhaskar Mookerji <mookerji@swiftnav.com>
+#
+# This source is subject to the license found in the file 'LICENSE' which must
+# be be distributed together with this source. All other rights reserved.
+#
+# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+
+def test_udp_logger():
+  pass

From 2a77058957fd5bc7ebe370208d3a9ea987397bd9 Mon Sep 17 00:00:00 2001
From: Mark Fine <mark.fine@gmail.com>
Date: Fri, 19 Jun 2015 12:25:29 -0700
Subject: [PATCH 3/3] fix things.

---
 python/sbp/client/examples/udp.py       | 4 ++--
 python/sbp/client/loggers/udp_logger.py | 3 +++
 2 files changed, 5 insertions(+), 2 deletions(-)
 mode change 100644 => 100755 python/sbp/client/examples/udp.py

diff --git a/python/sbp/client/examples/udp.py b/python/sbp/client/examples/udp.py
old mode 100644
new mode 100755
index 3472ff16fa..8f167e6954
--- a/python/sbp/client/examples/udp.py
+++ b/python/sbp/client/examples/udp.py
@@ -14,8 +14,8 @@
 """
 
 from sbp.client.drivers.pyserial_driver import PySerialDriver
-from sbp.client.handler import Handler
-from sbp.client.loggers import UdpLogger
+from sbp.client.handler            import Handler
+from sbp.client.loggers.udp_logger import UdpLogger
 
 import struct
 import time
diff --git a/python/sbp/client/loggers/udp_logger.py b/python/sbp/client/loggers/udp_logger.py
index 40bc07bd04..3aa70ee6a1 100644
--- a/python/sbp/client/loggers/udp_logger.py
+++ b/python/sbp/client/loggers/udp_logger.py
@@ -41,5 +41,8 @@ def fmt_msg(self, msg):
     s += struct.pack("<H", msg.crc)
     return s
 
+  def flush(self):
+    pass
+
   def call(self, msg):
     self.handle.sendto(self.fmt_msg(msg), (self.address, self.port))