text: #!/usr/bin/python
  # Copyright (C) 2010 Timo Juhani Lindfors <timo.lindfors@iki.fi>
  
  # Permission is hereby granted, free of charge, to any person obtaining a copy
  # of this software and associated documentation files (the "Software"), to deal
  # in the Software without restriction, including without limitation the rights
  # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  # copies of the Software, and to permit persons to whom the Software is
  # furnished to do so, subject to the following conditions:
  
  # The above copyright notice and this permission notice shall be included in
  # all copies or substantial portions of the Software.
  
  # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
  # THE SOFTWARE.
  
  
  # Set logging rate (in ms)
  
  import ubx
  import struct
  import calendar
  import os
  import gobject
  import logging
  import sys
  import socket
  import time
  
  loop = gobject.MainLoop()
  lastStateTransitionTime = None
  
  def callback(ty, packet):
      global lastStateTransitionTime
      # print("callback %s" % repr([ty, packet]))
      if ty == "ACK-ACK":
          print('\nHigh Nav Rate successfully set!')
          loop.quit()
      else:
          elapsed = time.time() - lastStateTransitionTime
          if elapsed > 1:
              print('\n*** High Nav Rate setting request not acknowledged!')
              import sys; sys.exit(1)
  
  if __name__ == "__main__":
      import argparse
      parser = argparse.ArgumentParser()
      parser.add_argument('--device', '-d', default=None)
      parser.add_argument('rate', default=1, type=int)
      args = parser.parse_args()
      
      logging.basicConfig(level=logging.ERROR)
  
      assert args.rate >= 0 and args.rate <= 30
      if args.device is not None:
          t = ubx.Parser(callback, device=args.device)
      else:
          t = ubx.Parser(callback)
      t.send("CFG-HNR", 4, {'HighNavRate': args.rate})
      lastStateTransitionTime = time.time()
      loop.run()
  