def main(args):
"""
Get configuration, get driver, get logger, and build handler and start it.
"""
port = args.port
baud = args.baud
timeout = args.timeout
log_filename = args.log_filename
append_log_filename = args.append_log_filename
tags = args.tags
# State for handling a networked base stations.
channel = args.channel_id
serial_id = int(args.serial_id) if args.serial_id is not None else None
base = args.base
use_broker = args.broker
# Driver with context
with get_driver(args.ftdi, port, baud, args.file) as driver:
# Handler with context
with Handler(Framer(driver.read, driver.write, args.verbose)) as link:
# Logger with context
with get_logger(args.log, log_filename) as logger:
with get_append_logger(append_log_filename, tags) as append_logger:
link.add_callback(printer, SBP_MSG_PRINT_DEP)
link.add_callback(log_printer, SBP_MSG_LOG)
Forwarder(link, logger).start()
Forwarder(link, append_logger).start()
if use_broker and base and serial_id:
device_id = get_uuid(channel, serial_id)
with HTTPDriver(str(device_id), base) as http:
with Handler(Framer(http.read, http.write, args.verbose)) as slink:
Forwarder(slink, swriter(link)).start()
run(args, link)
else:
run(args, link)
def connect_piksi(self):
self.piksi_driver = TCPDriver(self.piksi_host, self.piksi_port)
#self.piksi_driver = PySerialDriver(self.piksi_port, baud=1000000)
self.piksi_framer = Framer(self.piksi_driver.read,
self.piksi_driver.write,
verbose=False)
self.piksi = Handler(self.piksi_framer)
# Only setup log and settings messages
# We will wait to set up rest until piksi is configured
self.piksi.add_callback(self.callback_sbp_heartbeat,
msg_type=SBP_MSG_HEARTBEAT)
self.piksi.add_callback(self.callback_sbp_log, msg_type=SBP_MSG_LOG)
self.piksi.add_callback(self.callback_sbp_settings_read_resp,
msg_type=SBP_MSG_SETTINGS_READ_RESP)
self.piksi.add_callback(self.callback_sbp_settings_read_by_index_resp,
msg_type=SBP_MSG_SETTINGS_READ_BY_INDEX_REQ)
self.piksi.add_callback(self.callback_sbp_settings_read_by_index_resp,
msg_type=SBP_MSG_SETTINGS_READ_BY_INDEX_RESP)
self.piksi.add_callback(self.callback_sbp_settings_read_by_index_done,
msg_type=SBP_MSG_SETTINGS_READ_BY_INDEX_DONE)
self.piksi.add_callback(self.callback_sbp_startup, SBP_MSG_STARTUP)
self.piksi.start()
def __init__(self, port, baud_rate, callback):
self._callback = callback
self.driver = PySerialDriver(port, baud=baud_rate)
self.framer = Framer(self.driver.read, None, verbose=False)
self.piksi = Handler(self.framer)
self.piksi.add_callback(self.callback)
self.piksi.start()
def __init__(self, port, ext_callback):
self._callback = ext_callback
self.driver = UDPDriver(' ', port)
self.framer = Framer(self.driver.read, None, verbose=False)
self.piksi = Handler(self.framer)
self.piksi.add_callback(self.recv_callback)
self.piksi.start()
def main(args):
"""
Get configuration, get driver, get logger, and build handler and start it.
"""
timeout = args.timeout
log_filename = args.logfilename
log_dirname = args.log_dirname
if not log_filename:
log_filename = logfilename()
if log_dirname:
log_filename = os.path.join(log_dirname, log_filename)
# State for handling a networked base stations.
channel = args.channel_id
serial_id = int(args.serial_id) if args.serial_id is not None else None
base = args.base
use_broker = args.broker
# Driver with context
driver = get_base_args_driver(args)
with Handler(Framer(driver.read, driver.write, args.verbose)) as link:
# Logger with context
with get_logger(args.log, log_filename, args.expand_json) as logger:
link.add_callback(printer, SBP_MSG_PRINT_DEP)
link.add_callback(log_printer, SBP_MSG_LOG)
Forwarder(link, logger).start()
if use_broker and base and serial_id:
device_id = get_uuid(channel, serial_id)
with HTTPDriver(str(device_id), base) as http:
with Handler(Framer(http.read, http.write,
args.verbose)) as slink:
Forwarder(slink, swriter(link)).start()
run(args, link)
else:
run(args, link)
def __init__(self, host, port, callback):
self._callback = callback
self.driver = UDPDriver(host, port)
self.framer = Framer(self.driver.read, None, verbose=False)
self.piksi = Handler(self.framer)
self.piksi.add_callback(self.callback)
self.piksi.start()
class UDPReceiver(object):
def __init__(self, host, port, callback):
self._callback = callback
self.driver = UDPDriver(host, port)
self.framer = Framer(self.driver.read, None, verbose=False)
self.piksi = Handler(self.framer)
self.piksi.add_callback(self.callback)
self.piksi.start()
def callback(self, msg, **metadata):
self._callback(msg, **metadata)
class SbpUdpMulticastReceiver:
def __init__(self, port, ext_callback):
self._callback = ext_callback
self.driver = UDPDriver(' ', port)
self.framer = Framer(self.driver.read, None, verbose=False)
self.piksi = Handler(self.framer)
self.piksi.add_callback(self.recv_callback)
self.piksi.start()
def recv_callback(self, msg, **metadata):
self._callback(msg, **metadata)
class SerialReceiver(object):
def __init__(self, port, baud_rate, callback):
self._callback = callback
self.driver = PySerialDriver(port, baud=baud_rate)
self.framer = Framer(self.driver.read, None, verbose=False)
self.piksi = Handler(self.framer)
self.piksi.add_callback(self.callback)
self.piksi.start()
def callback(self, msg, **metadata):
self._callback(msg, **metadata)
def __init__(self):
self.data_lock = threading.Lock()
self.data = None
# Set up the Duro
# Assumes the Duro is plugged into the core via serial
self.d = PySerialDriver('/dev/ttyS0')
self.f = Framer(self.d.read, None, verbose=True)
self.h = Handler(self.f)
self.h.add_callback(self._update_gps_callback, SBP_MSG_POS_LLH_DEP_A)
self.h.add_callback(self._update_gps_callback, SBP_MSG_POS_LLH)
self.h.start()
class UDPReceiver(object):
def __init__(self, host, port, callback):
self._callback = callback
self.driver = UDPDriver(host, port)
self.framer = Framer(self.driver.read, None, verbose=False)
self.piksi = Handler(self.framer)
self.piksi.add_callback(self.callback)
self.piksi.start()
def callback(self, msg, **metadata):
self._callback(msg, **metadata)
class SerialReceiver(object):
def __init__(self, port, baud_rate, callback):
self._callback = callback
self.driver = PySerialDriver(port, baud=baud_rate)
self.framer = Framer(self.driver.read, None, verbose=False)
self.piksi = Handler(self.framer)
self.piksi.add_callback(self.callback)
self.piksi.start()
def callback(self, msg, **metadata):
self._callback(msg, **metadata)
def main(args):
"""
Get configuration, get driver, get logger, and build handler and start it.
"""
port = args.port
baud = args.baud
timeout = args.timeout
log_filename = args.logfilename
log_dirname = args.log_dirname
if not log_filename:
log_filename = logfilename()
if log_dirname:
log_filename = os.path.join(log_dirname, log_filename)
append_log_filename = args.append_log_filename
tags = args.tags
# State for handling a networked base stations.
channel = args.channel_id
serial_id = int(args.serial_id) if args.serial_id is not None else None
base = args.base
use_broker = args.broker
# Driver with context
if args.tcp:
try:
host, port = port.split(':')
driver = TCPDriver(host, int(port))
except: # noqa
raise Exception('Invalid host and/or port')
else:
driver = get_driver(args.ftdi,
port,
baud,
args.file,
rtscts=args.rtscts)
# Handler with context
with Handler(Framer(driver.read, driver.write, args.verbose)) as link:
# Logger with context
with get_logger(args.log, log_filename, args.expand_json) as logger:
with get_append_logger(append_log_filename, tags) as append_logger:
link.add_callback(printer, SBP_MSG_PRINT_DEP)
link.add_callback(log_printer, SBP_MSG_LOG)
Forwarder(link, logger).start()
Forwarder(link, append_logger).start()
if use_broker and base and serial_id:
device_id = get_uuid(channel, serial_id)
with HTTPDriver(str(device_id), base) as http:
with Handler(
Framer(http.read, http.write,
args.verbose)) as slink:
Forwarder(slink, swriter(link)).start()
run(args, link)
else:
run(args, link)
def radio_corrections(q_radio):
global radio_sender # get radio sender id
radio_rate = 5 #hz
with PySerialDriver(RADIO_PORT, baud=RADIO_BAUDRATE) as driver:
print(driver.read)
with Handler(Framer(driver.read, None, verbose=False)) as source:
try:
for sbp_msg, metadata in source.filter():
start_time = rospy.get_time()
if radio_sender is None:
radio_sender = sbp_msg.sender
q_radio.put(sbp_msg)
if debug and sbp_msg.msg_type == sbp.observation.SBP_MSG_OBS:
radio_txt_file.write(str(dispatch(sbp_msg)) + "\n")
end_time = rospy.get_time()
sleep_time = max(
[0, 1 / radio_rate - (end_time - start_time)])
rospy.sleep(sleep_time)
except KeyboardInterrupt:
pass
def getData(portNum):
'''
Gets NED vector from Piksi GPS located at /dev/ttyUSB[portNum].
If two Piksi GPSs are talking, NED vector is in meters.
'''
directory = '/dev/ttyUSB' + str(portNum)
north = None
east = None
down = None
# Open a connection to Piksi using the default baud rate (1Mbaud)
try:
with PySerialDriver(directory, baud=1000000) as driver:
with Handler(Framer(driver.read, None)) as source:
for msg, metadata in source.filter(SBP_MSG_BASELINE_NED):
north = msg.n * 1e-3
east = msg.e * 1e-3
down = msg.d * 1e-3
if north != None and east != None and down != None:
return north,east,down
except Exception as e:
print('Error: ' + str(e))
return
def run(self):
'''Thread loop here'''
# Problems? See: https://pylibftdi.readthedocs.org/en/latest/troubleshooting.html
# with PyFTDIDriver(self.sbp_baud) as driver:
try:
with PySerialDriver(self.sbp_port, baud=self.sbp_baud) as driver:
self.driver = driver
self.framer = Framer(driver.read, driver.write)
with Handler(self.framer) as handler:
self.handler = handler
handler.add_callback(self.handle_basestation_obs, msg_type=[SBP_MSG_OBS, SBP_MSG_BASE_POS_LLH])
self.ready()
#TODO: Get rid of "for msg, metadaya..."
try:
for msg, metadata in handler:
if self.stopped():
return
pass
except KeyboardInterrupt:
raise
except socket.error:
raise
except SystemExit:
print "Exit Forced. We're dead."
return
except:
traceback.print_exc()
self.ready()
def main(args=None):
"""
Get configuration, get driver, and build handler and start it.
"""
args = get_args(args)
command = args.command
driver = serial_link.get_base_args_driver(args)
with Handler(Framer(driver.read, driver.write,
verbose=args.verbose)) as link:
settings = Settings(link, timeout=args.timeout)
with settings:
if command == 'write':
settings.write(args.section,
args.setting,
args.value,
verbose=args.verbose)
elif command == 'read':
print(
settings.read(args.section,
args.setting,
verbose=args.verbose))
elif command == 'all':
settings.read_all(verbose=True)
elif command == 'save':
settings.save()
elif command == 'reset':
settings.reset()
elif command == 'read_to_file':
settings.read_to_file(args.output, verbose=args.verbose)
elif command == 'write_from_file':
settings.write_from_file(args.filename, verbose=args.verbose)
# If saving was requested, we have done a write command, and the write was requested, we save
if command.startswith("write") and args.save_after_write:
print("Saving Settings to Flash.")
settings.save()
def __init__(self, host, port, callback):
self._callback = callback
self.driver = UDPDriver(host, port)
self.framer = Framer(self.driver.read, None, verbose=False)
self.piksi = Handler(self.framer)
self.piksi.add_callback(self.callback)
self.piksi.start()
def __init__(self, port, baud_rate, callback):
self._callback = callback
self.driver = PySerialDriver(port, baud=baud_rate)
self.framer = Framer(self.driver.read, None, verbose=False)
self.piksi = Handler(self.framer)
self.piksi.add_callback(self.callback)
self.piksi.start()
def main():
parser = argparse.ArgumentParser(
description="Swift Navigation SBP Example.")
parser.add_argument("-a",
"--host",
default='localhost',
help="specify the host address.")
parser.add_argument("-p",
"--port",
default=55555,
help="specify the port to use.")
args = parser.parse_args()
# Open a connection to Piksi using TCP
with TCPDriver(args.host, args.port) as driver:
with Handler(Framer(driver.read, None, verbose=True)) as source:
try:
for msg, metadata in source.filter(SBP_MSG_POS_LLH):
# Print out the N, E, D coordinates of the baseline
print(
"%d,%.16f,%.16f,%.16f,%d,%d,%d,%d" %
(msg.tow, msg.lat, msg.lon, msg.height, msg.h_accuracy,
msg.v_accuracy, msg.n_sats, msg.flags))
except KeyboardInterrupt:
pass
def radio_corrections():
last_radio_epoch = None
radio_epoch = None
radio_tow = 0
with PySerialDriver(RADIO_PORT, baud=RADIO_BAUDRATE) as driver:
print(driver.read)
with Handler(Framer(driver.read, None, verbose=False)) as source:
try:
for msg, metadata in source.filter(
[SBP_MSG_OBS, SBP_MSG_GLO_BIASES, SBP_MSG_BASE_POS_ECEF]):
# change radio sender ID to ntrip to avoid temporal glitch
#msg.sender = 65202
# update epoch
if msg.msg_type == 74:
radio_epoch = radio_tow = msg.header.t.tow
rospy.loginfo("Radio, %i, %i, %s", radio_tow,
msg.msg_type, hex(msg.header.n_obs))
if msg.msg_type == 117:
rospy.loginfo("Radio, %i, %i, None", radio_tow,
msg.msg_type)
udp.call(msg)
except KeyboardInterrupt:
pass
def main():
# Initialize ROS node. We imitate node name present in
# http://github.com/ethz-asl/ethz_piksi_ros/tree/master/piksi_multi_rtk_ros
rospy.init_node('piksi')
# Initialize publisher. We imitate publisher names present in
# http://github.com/ethz-asl/ethz_piksi_ros/tree/master/piksi_multi_rtk_ros
pub = rospy.Publisher('~navsatfix_best_fix', NavSatFix, queue_size=10)
# Retrive parameters from the ROS parameter serve
# We imitate parameter names present in
# http://github.com/ethz-asl/ethz_piksi_ros/tree/master/piksi_multi_rtk_ros
host = rospy.get_param('~tcp_addr', '192.168.0.222')
port = rospy.get_param('~tcp_port', 55555)
# Start listening for GNSS data on a TCP socket with a ROS-param-provided
# host and port. This code is almost copy-pasted from examples of the sbp
# package
with TCPDriver(host, port) as driver:
with Handler(Framer(driver.read, None, verbose=True)) as source:
try:
# Filter on SBP_MSG_POS_LLH-messages (LLH stands for
# Longitude Latitude Height)
for msg, metadata in source.filter(SBP_MSG_POS_LLH):
_publish_navsatfix(pub, msg)
if rospy.is_shutdown():
break
except KeyboardInterrupt:
pass
def main():
args = get_args()
selected_driver = serial_link.get_base_args_driver(args)
# Driver with context
with selected_driver as driver:
# Handler with context
with Handler(Framer(driver.read, driver.write, args.verbose)) as link:
f = FileIO(link)
try:
if args.write:
f.write(raw_filename(args.write[1]), bytearray(open(args.write[0], 'rb').read()))
elif args.read:
if len(args.read) not in [1, 2]:
sys.stderr.write("Error: fileio read requires either 1 or 2 arguments, SOURCE and optionally DEST.")
sys.exit(1)
data = f.read(raw_filename(args.read[0]))
if len(args.read) == 2:
with open(args.read[1], ('w' if args.hex else 'wb')) as fd:
fd.write(hexdump(data) if args.hex else data)
elif args.hex:
print(hexdump(data))
else:
print(printable_text_from_device(data))
elif args.delete:
f.remove(raw_filename(args.delete[0]))
elif args.list is not None:
print_dir_listing(f.readdir(raw_filename(args.list[0])))
else:
print("No command given, listing root directory:")
print_dir_listing(f.readdir())
except KeyboardInterrupt:
pass
def main():
parser = argparse.ArgumentParser(
description="Swift Navigation SBP Example.")
parser.add_argument(
"-a",
"--host",
default='localhost',
help="specify the host address.")
parser.add_argument(
"-p",
"--port",
default=55555,
help="specify the port to use.")
args = parser.parse_args()
# Open a connection to Piksi using TCP
with TCPDriver(args.host, args.port) as driver:
with Handler(Framer(driver.read, None, verbose=True)) as source:
try:
for msg, metadata in source.filter(SBP_MSG_BASELINE_NED):
# Print out the N, E, D coordinates of the baseline
print("%.4f,%.4f,%.4f" % (msg.n * 1e-3, msg.e * 1e-3,
msg.d * 1e-3))
except KeyboardInterrupt:
pass
def write_ini_file(file_name, port='/dev/ttyUSB0', baud=115200):
'''
Write setting from an ini file to the Multi
Args:
file_name: file name of the ini file
port: serial port [default='/dev/ttyUSB0']
baud: baud rate [default=115200]
Returns:
None
'''
print('Reading from {} at {}'.format(port, baud))
with PySerialDriver(port, baud) as driver:
with Handler(Framer(driver.read, driver.write,
verbose=True)) as source:
parser = configparser.ConfigParser()
parser.optionxform = str
with open(file_name, 'r') as f:
parser.read_file(f)
source.add_callback(settings_callback, SBP_MSG_SETTINGS_READ_RESP)
for section, settings in parser.items():
print('\nSECTION: {}'.format(section))
for setting, value in settings.items():
print('{} = {}'.format(setting, value))
write(source, section, setting, value)
source(MsgSettingsSave())
def main():
with closing(socket.socket(socket.AF_INET, socket.SOCK_DGRAM)) as sbp_udp:
sbp_udp.setblocking(1)
sbp_udp.settimeout(None)
sbp_udp.bind((DEFAULT_UDP_BIND_ADDRESS, DEFAULT_UDP_RECV_PORT))
def handle_incoming(msg, **metadata):
sbp_udp.sendto(msg.pack(),
(DEFAULT_UDP_SEND_ADDRESS, DEFAULT_UDP_SEND_PORT))
with PySerialDriver(DEFAULT_SERIAL_PORT,
DEFAULT_SERIAL_BAUD) as driver:
with Handler(Framer(driver.read, driver.write)) as handler:
handler.add_callback(handle_incoming)
print "***"
print "*** Solo Relay Running"
print "***"
print "Sending to %s : %s" % (DEFAULT_UDP_SEND_ADDRESS,
DEFAULT_UDP_SEND_PORT)
print "Recving on %s : %s" % (DEFAULT_UDP_BIND_ADDRESS,
DEFAULT_UDP_RECV_PORT)
try:
while True:
data, addr = sbp_udp.recvfrom(4096)
driver.write(data)
except KeyboardInterrupt:
pass
def main():
parser = argparse.ArgumentParser(
description="Export position suitable for KML file.")
parser.add_argument("-a",
"--host",
default='192.168.5.51',
help="specify the host address.")
parser.add_argument("-p",
"--port",
default=55555,
help="specify the port to use.")
args = parser.parse_args()
prev = None
# Open a connection to Piksi using TCP
with TCPDriver(args.host, args.port) as driver:
with Handler(Framer(driver.read, None, verbose=True)) as source:
try:
for msg, metadata in source.filter(SBP_MSG_POS_LLH):
cur = (msg.lat, msg.lon)
if prev:
dist = vincenty(prev, cur).meters
#print(dist)
if dist > 0.1:
print("%.16f,%.16f,%.16f" %
(msg.lon, msg.lat, msg.height))
prev = cur
else:
prev = cur
except KeyboardInterrupt:
pass
def main():
"""
Get configuration, get driver, and build handler and start it.
"""
args = get_args()
port = args.port[0]
baud = args.baud[0]
use_ftdi = args.ftdi
# Driver with context
with serial_link.get_driver(use_ftdi, port, baud) as driver:
# Handler with context
with Handler(Framer(driver.read, driver.write)) as link:
link.add_callback(serial_link.log_printer, SBP_MSG_LOG)
link.add_callback(serial_link.printer, SBP_MSG_PRINT_DEP)
data = open(args.file, 'rb').read()
def progress_cb(size):
sys.stdout.write("\rProgress: %d%% \r" %
(100 * size / len(data)))
sys.stdout.flush()
print('Transferring image file...')
FileIO(link).write("upgrade.image_set.bin",
data,
progress_cb=progress_cb)
print('Committing file to flash...')
code = shell_command(link, "upgrade_tool upgrade.image_set.bin",
300)
if code != 0:
print('Failed to perform upgrade (code = %d)' % code)
return
print('Resetting Piksi...')
link(MsgReset(flags=0))
def test_http_test_pass():
assert is_enabled()
msg = MsgPrintDep(text='abcd')
register_uri(GET,
BASE_STATION_URI,
msg.to_binary(),
content_type="application/vnd.swiftnav.broker.v1+sbp2")
register_uri(PUT,
BASE_STATION_URI,
'',
content_type="application/vnd.swiftnav.broker.v1+sbp2")
with HTTPDriver(device_uid="Swift22", url=BASE_STATION_URI) as driver:
assert not driver.read_ok
assert driver.connect_read()
assert driver.read_ok
assert driver.read(size=255) == msg.to_binary()
with pytest.raises(IOError):
assert driver.read(size=255)
assert not driver.read_close()
assert driver.read_response is None
assert not driver.read_ok
with pytest.raises(ValueError):
driver.read(size=255)
with HTTPDriver(device_uid="Swift22", url=BASE_STATION_URI) as http:
with Handler(Framer(http.read, http.write, False)) as link:
def tester(sbp_msg, **metadata):
assert sbp_msg.payload == msg.payload
link.add_callback(SBP_MSG_PRINT_DEP, tester)
t0 = time.time()
sleep = 0.1
while True:
if time.time() - t0 < sleep:
break
def main():
"""
Get configuration, get driver, and build handler and start it.
"""
args = get_args()
driver = serial_link.get_base_args_driver(args)
# Driver with context
# Handler with context
with Handler(Framer(driver.read, driver.write,
verbose=args.verbose)) as link:
data = bytearray(open(args.firmware, 'rb').read())
def progress_cb(size, _):
sys.stdout.write("\rProgress: %d%% \r" %
(100 * size / len(data)))
sys.stdout.flush()
print('Transferring image file...')
FileIO(link).write(b"upgrade.image_set.bin",
data,
progress_cb=progress_cb)
print('Committing file to flash...')
link.add_callback(serial_link.log_printer, SBP_MSG_LOG)
link.add_callback(serial_link.printer, SBP_MSG_PRINT_DEP)
code = shell_command(link, b"upgrade_tool upgrade.image_set.bin", 300)
if code != 0:
print('Failed to perform upgrade (code = %d)' % code)
return
print('Resetting Piksi...')
link(MsgReset(flags=0))
def main():
"""
Get configuration, get driver, and build handler and start it.
"""
args = get_args()
port = args.port[0]
baud = args.baud[0]
# Driver with context
with serial_link.get_driver(args.ftdi, port, baud) as driver:
# Handler with context
with Handler(Framer(driver.read, driver.write)) as link:
print("Resetting mask to 0xff")
send_setting(link, "uart_ftdi", "sbp_message_mask", "65535")
time.sleep(0.5)
print("Resetting baudrate to 1Mbps")
send_setting(link, "uart_ftdi", "baudrate", "1000000")
time.sleep(0.5)
print("Resetting mode to SBP")
send_setting(link, "uart_ftdi", "mode", "SBP")
time.sleep(0.5)
print("Attempting to save settings")
link.send(SBP_MSG_SETTINGS_SAVE, "")
time.sleep(0.5)
link.send(SBP_MSG_SETTINGS_SAVE, "")
time.sleep(0.5)
link.send(SBP_MSG_SETTINGS_SAVE, "")
time.sleep(0.5)
link.send(SBP_MSG_SETTINGS_SAVE, "")
print("Sent Settings Reset message to return FTDI to defaults")
def test_tcp_logger():
handler = tcp_handler(MsgPrintDep(text=b'abc').to_binary())
ip, port = tcp_server(handler)
t0 = time.time()
sleep = 0.1
timeout = 5.0
cb_context = {'assert_logger_called': False}
def assert_logger(s, **metadata):
cb_context['assert_logger_called'] = True
assert s.preamble == 0x55
assert s.msg_type == 0x10
assert s.sender == 66
assert s.length == 3
assert s.payload == b'abc'
assert s.crc == 0xDAEE
with TCPDriver(ip, port) as driver:
with Handler(Framer(driver.read, None, verbose=False),
autostart=False) as link:
link.add_callback(assert_logger)
link.start()
while True:
if time.time() - t0 > timeout or cb_context[
'assert_logger_called']:
break
time.sleep(sleep)
assert cb_context[
'assert_logger_called'], "SBP msg callback function was not called"
def main():
"""
Get configuration, get driver, get logger, and build handler and start it.
Create relevant TestState object and perform associated actions.
Modeled after serial_link main function.
"""
args = get_args()
port = args.port
baud = args.baud
timeout = args.timeout[0]
log_filename = args.log_filename[0]
interval = int(args.interval[0])
minsats = int(args.minsats[0])
# Driver with context
with sl.get_driver(args.ftdi, port, baud) as driver:
# Handler with context
with Handler(Framer(driver.read, driver.write, args.verbose)) as link:
# Logger with context
with sl.get_logger(args.log, log_filename) as logger:
# print out SBP_MSG_PRINT_DEP messages
link.add_callback(sl.printer, SBP_MSG_PRINT_DEP)
link.add_callback(sl.log_printer, SBP_MSG_LOG)
# add logger callback
Forwarder(link, logger).start()
try:
# Get device info
# Diagnostics reads out the device settings and resets the Piksi
piksi_diag = ptd.Diagnostics(link)
while not piksi_diag.heartbeat_received:
time.sleep(0.1)
# add Teststates and associated callbacks
with DropSatsState(
link,
piksi_diag.sbp_version,
interval,
minsats,
debug=args.verbose) as drop:
link.add_callback(drop.process_message)
if timeout is not None:
expire = time.time() + float(args.timeout[0])
while True:
if timeout is None or time.time() < expire:
# Wait forever until the user presses Ctrl-C
time.sleep(1)
else:
print("Timer expired!")
break
if not link.is_alive():
sys.stderr.write("ERROR: link is gone!\n")
sys.exit(1)
except KeyboardInterrupt:
# Callbacks call thread.interrupt_main(), which throw a KeyboardInterrupt
# exception. To get the proper error condition, return exit code
# of 1. Note that the finally block does get caught since exit
# itself throws a SystemExit exception.
sys.exit(1)
def main():
parser = argparse.ArgumentParser(
description="Swift Navigation SBP Setting Monitor example.")
parser.add_argument("-H",
"--host",
required=True,
help="specify the host address.")
parser.add_argument("-p",
"--port",
default=55556,
help="specify the port to use.")
args = parser.parse_args()
monitor = SettingMonitor()
with TCPDriver(args.host, args.port) as driver:
with Handler(Framer(driver.read, driver.write,
verbose=True)) as link:
driver.flush()
time.sleep(2)
# Capture setting messages
link.add_callback(monitor.capture_setting,
SBP_MSG_SETTINGS_READ_RESP)
link.add_callback(print_setting, SBP_MSG_SETTINGS_READ_RESP)
# Disable spectrum analyzer
link(
MsgSettingsWrite(
setting=b'%s\0%s\0%s\0' %
(b'system_monitor', b'spectrum_analyzer', b'False')))
# Request the value of the system_monitor:spectrum_analyzer setting
link(
MsgSettingsReadReq(
setting=b'%s\0%s\0' %
(b'system_monitor', b'spectrum_analyzer')))
# Wait up to 5 seconds to see the setting we want
specan_off = monitor.wait_for_setting_value(
b'system_monitor', b'spectrum_analyzer', b'False')
assert (specan_off == True)
print("Spectrum analyzer turned off!")
# Request the value of the system_monitor:spectrum_analyzer setting
link(
MsgSettingsReadReq(
setting=b'%s\0%s\0' %
(b'system_monitor', b'spectrum_analyzer')))
# Wait up to 5 seconds to see the setting we (don't) want
specan_off = monitor.wait_for_setting_value(
b'system_monitor', b'spectrum_analyzer', b'True')
assert (specan_off == False)
print("Spectrum analyzer still off!")
def connect_piksi(self):
self.piksi_driver = PySerialDriver(self.piksi_port, baud=1000000)
self.piksi_framer = Framer(self.piksi_driver.read, self.piksi_driver.write, verbose=False)
self.piksi = Handler(self.piksi_framer)
# Only setup log and settings messages
# We will wait to set up rest until piksi is configured
self.piksi.add_callback(self.callback_sbp_heartbeat, msg_type=SBP_MSG_HEARTBEAT)
self.piksi.add_callback(self.callback_sbp_log, msg_type=SBP_MSG_LOG)
self.piksi.add_callback(self.callback_sbp_settings_read_resp, msg_type=SBP_MSG_SETTINGS_READ_RESP)
self.piksi.add_callback(self.callback_sbp_settings_read_by_index_resp, msg_type=SBP_MSG_SETTINGS_READ_BY_INDEX_REQ)
self.piksi.add_callback(self.callback_sbp_settings_read_by_index_resp, msg_type=SBP_MSG_SETTINGS_READ_BY_INDEX_RESP)
self.piksi.add_callback(self.callback_sbp_settings_read_by_index_done, msg_type=SBP_MSG_SETTINGS_READ_BY_INDEX_DONE)
self.piksi.add_callback(self.callback_sbp_startup, SBP_MSG_STARTUP)
self.piksi.start()
class PiksiROS(object):
def __init__(self):
rospy.init_node("piksi_ros")
self.send_observations = False
self.serial_number = None
self.last_baseline = None
self.last_vel = None
self.last_pos = None
self.last_dops = None
self.last_rtk_pos = None
self.last_spp_time = 0
self.last_rtk_time = 0
self.fix_mode = -1
self.rtk_fix_mode = 2
self.read_piksi_settings_info()
self.piksi_settings = tree()
self.proj = None
self.disconnect_piksi()
self.read_params()
self.setup_comms()
self.odom_msg = Odometry()
self.odom_msg.header.frame_id = self.rtk_frame_id
self.odom_msg.child_frame_id = self.child_frame_id
self.odom_msg.pose.covariance[0] = self.rtk_h_accuracy**2
self.odom_msg.pose.covariance[7] = self.rtk_h_accuracy**2
self.odom_msg.pose.covariance[14] = self.rtk_v_accuracy**2
self.odom_msg.twist.covariance[0] = self.odom_msg.pose.covariance[0] * 4
self.odom_msg.twist.covariance[7] = self.odom_msg.pose.covariance[7] * 4
self.odom_msg.twist.covariance[14] = self.odom_msg.pose.covariance[14] * 4
self.odom_msg.pose.covariance[21] = COV_NOT_MEASURED
self.odom_msg.pose.covariance[28] = COV_NOT_MEASURED
self.odom_msg.pose.covariance[35] = COV_NOT_MEASURED
self.odom_msg.twist.covariance[21] = COV_NOT_MEASURED
self.odom_msg.twist.covariance[28] = COV_NOT_MEASURED
self.odom_msg.twist.covariance[35] = COV_NOT_MEASURED
self.transform = TransformStamped()
self.transform.header.frame_id = self.utm_frame_id
self.transform.child_frame_id = self.rtk_frame_id
self.transform.transform.rotation = Quaternion(x=0,y=0,z=0,w=1)
# Used to publish transform from rtk_frame_id -> child_frame_id
self.base_link_transform = TransformStamped()
self.base_link_transform.header.frame_id = self.rtk_frame_id
self.base_link_transform.child_frame_id = self.child_frame_id
self.base_link_transform.transform.rotation = Quaternion(x=0,y=0,z=0,w=1)
self.diag_updater = diagnostic_updater.Updater()
self.heartbeat_diag = diagnostic_updater.FrequencyStatus(diagnostic_updater.FrequencyStatusParam({'min':self.diag_heartbeat_freq, 'max':self.diag_heartbeat_freq}, self.diag_freq_tolerance, self.diag_window_size))
self.diag_updater.add("Piksi status", self.diag)
self.diag_updater.add(self.heartbeat_diag)
self.setup_pubsub()
def read_piksi_settings_info(self):
self.piksi_settings_info = tree()
settings_info = yaml.load(open(os.path.join(PKG_PATH, 'piksi_settings.yaml'), 'r'))
for s in settings_info:
if s['type'].lower() == 'boolean':
s['parser'] = lambda x: x.lower()=='true'
elif s['type'].lower() in ('float', 'double','int'):
s['parser'] = ast.literal_eval
elif s['type'] == 'enum':
s['parser'] = s['enum'].index
else:
s['parser'] = lambda x: x
self.piksi_settings_info[s['group']][s['name']] = s
def init_proj(self, latlon):
self.proj = Proj(proj='utm',zone=calculate_utm_zone(*latlon)[0],ellps='WGS84')
def reconfig_callback(self, config, level):
for p,v in config.iteritems():
if p=='groups':
continue
n = p.split('__')
if self.piksi_settings[n[1]][n[2]] != v:
i = self.piksi_settings_info[n[1]][n[2]]
p_val = v
if i['type'] == 'enum':
try:
p_val = i['enum'][v]
except:
p_val = i['enum'][0]
self.piksi_set(n[1],n[2],p_val)
self.piksi_settings[n[1]][n[2]] = v
return config
def read_params(self):
self.debug = rospy.get_param('~debug', False)
self.frame_id = rospy.get_param('~frame_id', "piksi")
self.rtk_frame_id = rospy.get_param('~rtk_frame_id', "rtk_gps")
self.utm_frame_id = rospy.get_param('~utm_frame_id', "utm")
self.child_frame_id = rospy.get_param('~child_frame_id', "base_link")
self.piksi_port = rospy.get_param('~port', "/dev/ttyUSB0")
self.publish_utm_rtk_tf = rospy.get_param('~publish_utm_rtk_tf', False)
self.publish_rtk_child_tf = rospy.get_param('~publish_rtk_child_tf', False)
self.diag_heartbeat_freq = rospy.get_param('~diag/heartbeat_freq', 1.0)
self.diag_update_freq = rospy.get_param('~diag/update_freq', 10.0)
self.diag_freq_tolerance = rospy.get_param('~diag/freq_tolerance', 0.1)
self.diag_window_size = rospy.get_param('~diag/window_size', 10)
self.diag_min_delay = rospy.get_param('~diag/min_delay', 0.0)
self.diag_max_delay = rospy.get_param('~diag/max_delay', 0.2)
# Send/receive observations through udp
self.obs_udp_send = rospy.get_param('~obs/udp/send', False)
self.obs_udp_recv = rospy.get_param('~obs/udp/receive', False)
self.obs_udp_host = rospy.get_param('~obs/udp/host', "")
self.obs_udp_port = rospy.get_param('~obs/udp/port', 50785)
# Send/receive observations through serial port
self.obs_serial_send = rospy.get_param('~obs/serial/send', False)
self.obs_serial_recv = rospy.get_param('~obs/serial/receive', False)
self.obs_serial_port = rospy.get_param('~obs/serial/port', None)
self.obs_serial_baud_rate = rospy.get_param('~obs/serial/baud_rate', 115200)
self.rtk_h_accuracy = rospy.get_param("~rtk_h_accuracy", 0.04)
self.rtk_v_accuracy = rospy.get_param("~rtk_v_accuracy", self.rtk_h_accuracy*3)
self.sbp_log = rospy.get_param('~sbp_log_file', None)
self.rtk_fix_timeout = rospy.get_param('~rtk_fix_timeout', 0.2)
self.spp_fix_timeout = rospy.get_param('~spp_fix_timeout', 1.0)
self.publish_ephemeris = rospy.get_param('~publish_ephemeris', False)
self.publish_observations = rospy.get_param('~publish_observations', False)
self.piksi_update_settings = rospy.get_param('~piksi',{})
self.piksi_save_settings = rospy.get_param('~piksi_save_settings', False)
def setup_comms(self):
self.obs_senders = []
self.obs_receivers = []
if self.obs_udp_send or self.obs_serial_send:
self.send_observations = True
if self.obs_udp_send:
self.obs_senders.append(UDPSender(self.obs_udp_host, self.obs_udp_port))
if self.obs_serial_send:
self.obs_senders.append(SerialSender(self.obs_serial_port, self.obs_serial_baud_rate))
if self.obs_udp_recv:
self.obs_receivers.append(UDPReceiver(self.obs_udp_host, self.obs_udp_port, self.callback_external))
if self.obs_serial_recv:
self.obs_receivers.append(SerialReceiver(self.obs_serial_port, self.obs_serial_baud_rate, self.callback_external))
def callback_external(self, msg, **metadata):
if self.debug:
rospy.loginfo("Received external SBP msg.")
if self.piksi_framer:
self.piksi_framer(msg, **metadata)
else:
rospy.logwarn("Received external SBP msg, but Piksi not connected.")
def setup_pubsub(self):
freq_params = diagnostic_updater.FrequencyStatusParam({'min':self.diag_update_freq, 'max':self.diag_update_freq}, self.diag_freq_tolerance, self.diag_window_size)
time_params = diagnostic_updater.TimeStampStatusParam(self.diag_min_delay, self.diag_max_delay)
self.pub_fix = rospy.Publisher("~fix", NavSatFix, queue_size=1000)
self.pub_spp_fix = diagnostic_updater.DiagnosedPublisher(rospy.Publisher("~spp_fix", NavSatFix, queue_size=1000), self.diag_updater, freq_params, time_params)
self.pub_rtk_fix = diagnostic_updater.DiagnosedPublisher(rospy.Publisher("~rtk_fix", NavSatFix, queue_size=1000), self.diag_updater, freq_params, time_params)
#self.pub_rtk = diagnostic_updater.DiagnosedPublisher(rospy.Publisher("~rtk_odom", Odometry, queue_size=1000), self.diag_updater, freq_params, time_params)
self.pub_odom = diagnostic_updater.DiagnosedPublisher(rospy.Publisher("~odom", Odometry, queue_size=1000), self.diag_updater, freq_params, time_params)
self.pub_time = diagnostic_updater.DiagnosedPublisher(rospy.Publisher("~time", TimeReference, queue_size=1000), self.diag_updater, freq_params, time_params)
if self.publish_utm_rtk_tf or self.publish_rtk_child_tf:
self.tf_br = tf2_ros.TransformBroadcaster()
if self.publish_ephemeris:
self.pub_eph = rospy.Publisher("~ephemeris", Ephemeris, queue_size=1000)
if self.publish_observations:
self.pub_obs = rospy.Publisher('~observations', Observations, queue_size=1000)
def piksi_start(self):
self.dr_srv = GroupServer(PiksiDriverConfig, self.reconfig_callback, ns_prefix=('dynamic_reconfigure',), nest_groups=False)
self.piksi.add_callback(self.callback_sbp_gps_time, msg_type=SBP_MSG_GPS_TIME)
self.piksi.add_callback(self.callback_sbp_dops, msg_type=SBP_MSG_DOPS)
self.piksi.add_callback(self.callback_sbp_pos, msg_type=SBP_MSG_POS_LLH)
self.piksi.add_callback(self.callback_sbp_baseline, msg_type=SBP_MSG_BASELINE_NED)
self.piksi.add_callback(self.callback_sbp_vel, msg_type=SBP_MSG_VEL_NED)
#if self.send_observations:
self.piksi.add_callback(self.callback_sbp_obs, msg_type=SBP_MSG_OBS)
self.piksi.add_callback(self.callback_sbp_base_pos, msg_type=SBP_MSG_BASE_POS)
if self.publish_ephemeris:
self.piksi.add_callback(self.callback_sbp_ephemeris, msg_type=SBP_MSG_EPHEMERIS)
if self.sbp_log is not None:
self.sbp_logger = RotatingFileLogger(self.sbp_log, when='M', interval=60, backupCount=0)
self.piksi.add_callback(self.sbp_logger)
def connect_piksi(self):
self.piksi_driver = PySerialDriver(self.piksi_port, baud=1000000)
self.piksi_framer = Framer(self.piksi_driver.read, self.piksi_driver.write, verbose=False)
self.piksi = Handler(self.piksi_framer)
# Only setup log and settings messages
# We will wait to set up rest until piksi is configured
self.piksi.add_callback(self.callback_sbp_heartbeat, msg_type=SBP_MSG_HEARTBEAT)
self.piksi.add_callback(self.callback_sbp_log, msg_type=SBP_MSG_LOG)
self.piksi.add_callback(self.callback_sbp_settings_read_resp, msg_type=SBP_MSG_SETTINGS_READ_RESP)
self.piksi.add_callback(self.callback_sbp_settings_read_by_index_resp, msg_type=SBP_MSG_SETTINGS_READ_BY_INDEX_REQ)
self.piksi.add_callback(self.callback_sbp_settings_read_by_index_resp, msg_type=SBP_MSG_SETTINGS_READ_BY_INDEX_RESP)
self.piksi.add_callback(self.callback_sbp_settings_read_by_index_done, msg_type=SBP_MSG_SETTINGS_READ_BY_INDEX_DONE)
self.piksi.add_callback(self.callback_sbp_startup, SBP_MSG_STARTUP)
self.piksi.start()
def disconnect_piksi(self):
try:
self.piksi.stop()
self.piksi.remove_callback()
except:
pass
self.piksi = None
self.piksi_framer = None
self.piksi_driver = None
def set_serial_number(self, serial_number):
rospy.loginfo("Connected to piksi #%d" % serial_number)
self.serial_number = serial_number
self.diag_updater.setHardwareID("Piksi %d" % serial_number)
def read_piksi_settings(self):
self.settings_index = 0
self.piksi_framer(MsgSettingsReadByIndexReq(index=self.settings_index))
#self.piksi_framer(MsgSettingsReadReq(setting='simulator\0enabled\0'))
def piksi_set(self, section, setting, value):
m = MsgSettingsWrite(setting="%s\0%s\0%s\0" % (section, setting, value))
self.piksi_framer(m)
def update_dr_param(self, section, name, value):
#print 'set %s:%s to %s' % (section, name, value)
#print '~dynamic_reconfigure/piksi__%s__%s' % (section, name), value
rospy.set_param('~dynamic_reconfigure/piksi__%s__%s' % (section, name), value)
def set_piksi_settings(self):
save_needed = False
for s in nested_dict_iter(self.piksi_update_settings):
cval = self.piksi_settings[s[0][0]][s[0][1]]
if len(cval) != 0:
if cval != str(s[1]):
rospy.loginfo('Updating piksi setting %s:%s to %s.' % (s[0][0], s[0][1], s[1]))
self.piksi_set(s[0][0], s[0][1], s[1])
self.update_dr_param(s[0][0], s[0][1], s[1])
save_needed = True
else:
rospy.loginfo('Piksi setting %s:%s already set to %s.' % (s[0][0], s[0][1], s[1]))
else:
rospy.logwarn('Invalid piksi setting: %s' % ':'.join(s[0]))
if self.piksi_save_settings and save_needed:
rospy.loginfo('Saving piksi settings to flash')
m = MsgSettingsSave()
self.piksi_framer(m)
def callback_sbp_startup(self, msg, **metadata):
rospy.loginfo('Piksi startup packet received: %s' % repr(msg))
def callback_sbp_gps_time(self, msg, **metadata):
if self.debug:
rospy.loginfo("Received SBP_MSG_GPS_TIME (Sender: %d): %s" % (msg.sender, repr(msg)))
out = TimeReference()
out.header.frame_id = self.frame_id
out.header.stamp = rospy.Time.now()
out.time_ref = ros_time_from_sbp_time(msg)
out.source = "gps"
self.pub_time.publish(out)
def callback_sbp_heartbeat(self, msg, **metadata):
if self.debug:
rospy.loginfo("Received SBP_MSG_HEARTBEAT (Sender: %d): %s" % (msg.sender, repr(msg)))
self.heartbeat_diag.tick()
if self.serial_number is None:
self.set_serial_number(msg.sender)
self.read_piksi_settings()
def callback_sbp_dops(self, msg, **metadata):
if self.debug:
rospy.loginfo("Received SBP_MSG_DOPS (Sender: %d): %s" % (msg.sender, repr(msg)))
self.last_dops = msg
def callback_sbp_pos(self, msg, **metadata):
if self.debug:
rospy.loginfo("Received SBP_MSG_POS_LLH (Sender: %d): %s" % (msg.sender, repr(msg)))
out = NavSatFix()
out.header.frame_id = self.frame_id
out.header.stamp = rospy.Time.now()
out.status.service = NavSatStatus.SERVICE_GPS
out.latitude = msg.lat
out.longitude = msg.lon
out.altitude = msg.height
out.position_covariance_type = NavSatFix.COVARIANCE_TYPE_APPROXIMATED
if msg.flags & 0x03:
self.last_rtk_time = time.time()
self.rtk_fix_mode = msg.flags & 0x03
out.status.status = NavSatStatus.STATUS_GBAS_FIX
# TODO this should probably also include covariance of base fix?
out.position_covariance[0] = self.rtk_h_accuracy**2
out.position_covariance[4] = self.rtk_h_accuracy**2
out.position_covariance[8] = self.rtk_v_accuracy**2
pub = self.pub_rtk_fix
self.last_rtk_pos = msg
# If we are getting this message, RTK is our best fix, so publish this as our best fix.
self.pub_fix.publish(out)
else:
self.last_spp_time = time.time()
out.status.status = NavSatStatus.STATUS_FIX
# TODO hack, piksi should provide these numbers
if self.last_dops:
out.position_covariance[0] = (self.last_dops.hdop * 1E-2)**2
out.position_covariance[4] = (self.last_dops.hdop * 1E-2)**2
out.position_covariance[8] = (self.last_dops.vdop * 1E-2)**2
else:
out.position_covariance[0] = COV_NOT_MEASURED
out.position_covariance[4] = COV_NOT_MEASURED
out.position_covariance[8] = COV_NOT_MEASURED
pub = self.pub_spp_fix
self.last_pos = msg
# Check if SPP is currently our best available fix
if self.rtk_fix_mode <= 0:
self.pub_fix.publish(out)
pub.publish(out)
def publish_odom(self):
if self.last_baseline is None or self.last_vel is None:
return
if self.last_baseline.tow == self.last_vel.tow:
self.odom_msg.header.stamp = rospy.Time.now()
self.odom_msg.pose.pose.position.x = self.last_baseline.e/1000.0
self.odom_msg.pose.pose.position.y = self.last_baseline.n/1000.0
self.odom_msg.pose.pose.position.z = -self.last_baseline.d/1000.0
self.odom_msg.twist.twist.linear.x = self.last_vel.e/1000.0
self.odom_msg.twist.twist.linear.y = self.last_vel.n/1000.0
self.odom_msg.twist.twist.linear.z = -self.last_vel.d/1000.0
self.pub_odom.publish(self.odom_msg)
def callback_sbp_vel(self, msg, **metadata):
if self.debug:
rospy.loginfo("Received SBP_MSG_VEL_NED (Sender: %d): %s" % (msg.sender, repr(msg)))
self.last_vel = msg
self.publish_odom()
def callback_sbp_baseline(self, msg, **metadata):
if self.debug:
rospy.loginfo("Received SBP_MSG_BASELINE_NED (Sender: %d): %s" % (msg.sender, repr(msg)))
if self.publish_rtk_child_tf:
self.base_link_transform.header.stamp = rospy.Time.now()
self.base_link_transform.transform.translation.x = msg.e/1000.0
self.base_link_transform.transform.translation.y = msg.n/1000.0
self.base_link_transform.transform.translation.z = -msg.d/1000.0
self.tf_br.sendTransform(self.base_link_transform)
self.last_baseline = msg
self.publish_odom()
def callback_sbp_ephemeris(self, msg, **metadata):
if self.debug:
rospy.loginfo("Received SBP_MSG_EPHEMERIS (Sender: %d): %s" % (msg.sender, repr(msg)))
if not hasattr(self, 'eph_msg'):
self.eph_msg = Ephemeris()
self.eph_msg.header.stamp = rospy.Time.now()
self.eph_msg.header.frame_id = self.frame_id
self.eph_msg.tgd = msg.tgd
self.eph_msg.c_rs = msg.c_rs
self.eph_msg.c_rc = msg.c_rc
self.eph_msg.c_uc = msg.c_uc
self.eph_msg.c_us = msg.c_us
self.eph_msg.c_ic = msg.c_ic
self.eph_msg.c_is = msg.c_is
self.eph_msg.dn = msg.dn
self.eph_msg.m0 = msg.m0
self.eph_msg.ecc = msg.ecc
self.eph_msg.sqrta = msg.sqrta
self.eph_msg.omega0 = msg.omega0
self.eph_msg.omegadot = msg.omegadot
self.eph_msg.w = msg.w
self.eph_msg.inc = msg.inc
self.eph_msg.inc_dot = msg.inc_dot
self.eph_msg.af0 = msg.af0
self.eph_msg.af1 = msg.af1
self.eph_msg.af2 = msg.af2
self.eph_msg.toe_tow = msg.toe_tow
self.eph_msg.toe_wn = msg.toe_wn
self.eph_msg.toc_tow = msg.toc_tow
self.eph_msg.toc_wn = msg.toc_wn
self.eph_msg.valid = msg.valid
self.eph_msg.healthy = msg.healthy
self.eph_msg.sid.sat = msg.sid.sat
self.eph_msg.sid.band = msg.sid.band
self.eph_msg.sid.constellation = msg.sid.constellation
self.eph_msg.iode = msg.iode
self.eph_msg.iodc = msg.iodc
self.pub_eph.publish(m)
def callback_sbp_obs(self, msg, **metadata):
if self.debug:
rospy.loginfo("Received SBP_MSG_OBS (Sender: %d): %s" % (msg.sender, repr(msg)))
if self.send_observations:
for s in self.obs_senders:
s.send(msg)
if self.publish_observations:
if not hasattr(self, 'obs_msg'):
self.obs_msg = Observations()
# Need to do some accounting to figure out how many sbp packets to expect
num_packets = (msg.header.n_obs >> 4) & 0x0F
packet_no = msg.header.n_obs & 0x0F
if self.obs_msg.tow != msg.header.t.tow:
self.obs_msg.header.stamp = rospy.Time.now()
self.obs_msg.header.frame_id = self.frame_id
self.obs_msg.tow = msg.header.t.tow
self.obs_msg.wn = msg.header.t.wn
self.obs_msg.n_obs = 0
self.obs_msg.obs = []
# lets use this field to count how many packets we have so far
self.obs_msg.n_obs += 1
for obs in msg.obs:
x = Obs()
x.P = obs.P
x.L.i = obs.L.i
x.L.f = obs.L.f
x.cn0 = obs.cn0
x.lock = obs.lock
x.sid.sat = obs.sid.sat
x.sid.band = obs.sid.band
x.sid.constellation = obs.sid.constellation
self.obs_msg.obs.append(x)
if num_packets == self.obs_msg.n_obs:
# Now use the field to indicate how many observations we have
self.obs_msg.n_obs = len(self.obs_msg.obs)
self.pub_obs.publish(self.obs_msg)
def callback_sbp_base_pos(self, msg, **metadata):
if self.debug:
rospy.loginfo("Received SBP_MSG_BASE_POS (Sender: %d): %s" % (msg.sender, repr(msg)))
if self.send_observations:
for s in self.obs_senders:
s.send(msg)
# publish tf for rtk frame
if self.publish_utm_rtk_tf:
if not self.proj:
self.init_proj((msg.lat, msg.lon))
E,N = self.proj(msg.lon,msg.lat, inverse=False)
self.transform.header.stamp = rospy.Time.now()
self.transform.transform.translation.x = E
self.transform.transform.translation.y = N
self.transform.transform.translation.z = -msg.height
self.tf_br.sendTransform(self.transform)
def callback_sbp_settings_read_resp(self, msg, **metadata):
pass
def callback_sbp_settings_read_by_index_resp(self, msg, **metadata):
p = msg.setting.split('\0')
try:
i = self.piksi_settings_info[p[0]][p[1]]
p[2] = i['parser'](p[2])
except:
pass
rospy.set_param('~piksi_original_settings/%s/%s' % (p[0],p[1]), p[2])
self.piksi_settings[p[0]][p[1]] = p[2]
self.update_dr_param(p[0], p[1], p[2])
self.settings_index += 1
self.piksi_framer(MsgSettingsReadByIndexReq(index=self.settings_index))
def callback_sbp_settings_read_by_index_done(self, msg, **metadata):
self.set_piksi_settings()
self.piksi_start()
def callback_sbp_log(self, msg, **metadata):
PIKSI_LOG_LEVELS_TO_ROS[msg.level]("Piksi LOG: %s" % msg.text)
def check_timeouts(self):
if time.time() - self.last_rtk_time > self.rtk_fix_timeout:
if time.time() - self.last_spp_time > self.spp_fix_timeout:
self.fix_mode = -1
else:
self.fix_mode = 0
else:
self.fix_mode = self.rtk_fix_mode
def diag(self, stat):
fix_mode = self.fix_mode
num_sats = 0
last_pos = None
if self.last_rtk_pos is not None:
last_pos = self.last_rtk_pos
elif self.last_pos is not None:
last_pos = self.last_pos
if last_pos:
stat.add("GPS latitude", last_pos.lat)
stat.add("GPS longitude", last_pos.lon)
stat.add("GPS altitude", last_pos.height)
stat.add("GPS #sats", last_pos.n_sats)
num_sats = last_pos.n_sats
stat.add("Height mode", HEIGHT_MODE[(last_pos.n_sats & 0x04) >> 2])
stat.add("RAIM availability", RAIM_AVAILABILITY[(last_pos.n_sats & 0x08) >> 3])
stat.add("RAIM repair", RAIM_REPAIR[(last_pos.n_sats & 0x10) >> 4])
stat.add("Fix mode", FIX_MODE[self.fix_mode])
if self.last_vel:
stat.add("Velocity N", self.last_vel.n * 1E-3)
stat.add("Velocity E", self.last_vel.e * 1E-3)
stat.add("Velocity D", self.last_vel.d * 1E-3)
stat.add("Velocity #sats", self.last_vel.n_sats)
if self.last_baseline:
stat.add("Baseline N", self.last_baseline.n * 1E-3)
stat.add("Baseline E", self.last_baseline.e * 1E-3)
stat.add("Baseline D", self.last_baseline.d * 1E-3)
stat.add("Baseline #sats", self.last_baseline.n_sats)
stat.add("Baseline fix mode", FIX_MODE[self.last_baseline.flags & 0x03])
if self.last_dops:
stat.add("GDOP", self.last_dops.gdop * 1E-2)
stat.add("PDOP", self.last_dops.pdop * 1E-2)
stat.add("TDOP", self.last_dops.tdop * 1E-2)
stat.add("HDOP", self.last_dops.hdop * 1E-2)
stat.add("VDOP", self.last_dops.vdop * 1E-2)
if not self.piksi:
stat.summary(DiagnosticStatus.ERROR, "Piksi not connected")
elif fix_mode < 0:
stat.summary(DiagnosticStatus.ERROR, "No fix")
elif fix_mode < 1:
stat.summary(DiagnosticStatus.WARN, "No RTK fix")
elif num_sats < 5:
stat.summary(DiagnosticStatus.WARN, "Low number of satellites in view")
else:
stat.summary(DiagnosticStatus.OK, "Piksi connected")
def spin(self):
reconnect_delay = 1.0
while not rospy.is_shutdown():
try:
rospy.loginfo("Connecting to SwiftNav Piksi on port %s" % self.piksi_port)
self.connect_piksi()
while not rospy.is_shutdown():
rospy.sleep(0.05)
if not self.piksi.is_alive():
raise IOError
self.diag_updater.update()
self.check_timeouts()
break # should only happen if rospy is trying to shut down
except IOError as e:
rospy.logerr("IOError")
self.disconnect_piksi()
except SystemExit as e:
rospy.logerr("Unable to connect to Piksi on port %s" % self.piksi_port)
self.disconnect_piksi()
except: # catch *all* exceptions
e = sys.exc_info()[0]
rospy.logerr("Uncaught error: %s" % repr(e))
self.disconnect_piksi()
rospy.loginfo("Attempting to reconnect in %fs" % reconnect_delay)
rospy.sleep(reconnect_delay)