class IMUPacket(DataType):
_ID = 3
desc = pack.ComposedType([
('index', pack.IntType(64)),
('proper_acceleration', TupleType([pack.StructType('<d')] * 3)),
('angular_velocity', TupleType([pack.StructType('<d')] * 3)),
])
class GNSSCorrelationPacket(DataType):
_ID = 128
desc = pack.ComposedType([
('stream', pack.IntType(32)),
('substream', pack.IntType(32)),
('sv', pack.IntType(16)),
('center_samples', pack.IntType(64)), # XXX is signed
('center_fractional_samples', pack.StructType('<d')),
('doppler', pack.StructType('<d')),
('chip_speed', pack.StructType('<d')),
('correlations', ListType(ComplexType())),
])
class MagnetometerPacket(DataType):
_ID = 6
desc = pack.ComposedType([
('stream', pack.IntType(16)),
('index', pack.IntType(64)),
('magnetic_field', TupleType([pack.StructType('<d')] * 3)),
])
class BarometerPacket(DataType):
_ID = 4
desc = pack.ComposedType([
('stream', pack.IntType(16)),
('index', pack.IntType(64)),
('pressure', pack.StructType('<d')),
])
class ComplexType(pack.Type):
_inner = pack.StructType('<d')
def read(self, file):
real, file = self._inner.read(file)
imag, file = self._inner.read(file)
return complex(real, imag), file
def write(self, file, item):
c = complex(item)
file = self._inner.write(file, c.real)
file = self._inner.write(file, c.imag)
return file
class GNSSObservationPacket(DataType):
_ID = 192
desc = pack.ComposedType([
('stream', pack.IntType(32)),
('substream', pack.IntType(32)),
('sv', pack.IntType(16)),
('origin_time',
pack.ComposedType([
('WN', pack.StructType('<i')),
('TOW_ps', pack.StructType('<q')),
])),
('origin_position', TupleType([pack.StructType('<d')] * 3)),
('origin_velocity', TupleType([pack.StructType('<d')] * 3)),
('phase', pack.StructType('<d')),
('doppler', pack.StructType('<d')),
('center_samples', pack.IntType(64)),
('center_fractional_samples', pack.StructType('<d')),
('C_over_N_0', pack.StructType('<d')),
])