def decode(self,length,data):
if (length < 1):
return Decode_Error
else :
self.SV_Details=[]
self.SVs=0
wb = RTCM2.word_bit(3,1)
finished=False
while not finished:
self.Beacons+=1
Latitude=RTCM2.twos_comp(wb.extract_rtcm_data_and_move(data,16),16);
Longitude=RTCM2.twos_comp(wb.extract_rtcm_data_and_move(data,16),16);
Range=wb.extract_rtcm_data_and_move(data,10);
Freq=wb.extract_rtcm_data_and_move(data,12)*100 + 190;
Health=wb.extract_rtcm_data_and_move(data,2);
Station_ID=wb.extract_rtcm_data_and_move(data,10);
Bit_Rate=wb.extract_rtcm_data_and_move(data,3);
Datum=wb.extract_rtcm_data_and_move(data,1);
Sync_type=wb.extract_rtcm_data_and_move(data,1);
Coding=wb.extract_rtcm_data_and_move(data,1);
Name=""
for i in range(9): # 72/8
c =wb.extract_rtcm_data_and_move(data,8)
if c != 0 :
Name+=chr(c)
finished=wb.word()==(length+2)
self.SV_Details.append({'Beacon': Station_ID,'Lat': Latitude, 'Long':Longitude,'Range':Range, 'Freq':Freq,'Health':Health,'BitRate':Bit_Rate,'Datum':Datum,'Sync_type':Sync_type,'Coding':Coding,'Name':Name})
return Got_Packet
def decode(self,length,data):
if (length < 1):
return Decode_Error
else :
self.SV_Details=[]
self.SVs=0
wb = RTCM2.word_bit(3,1)
finished=False
while not finished:
self.SVs+=1
Scale_Factor=wb.extract_rtcm_data_and_move(data,1);
UDRE=wb.extract_rtcm_data_and_move(data,2);
SV_ID=wb.extract_rtcm_data_and_move(data,5);
if SV_ID == 0 :
SV_ID=32
DPRC=RTCM2.twos_comp(wb.extract_rtcm_data_and_move(data,24),24)
if Scale_Factor == 0:
DPRC*=0.02
else:
DPRC*=0.32
IOD=wb.extract_rtcm_data_and_move(data,8)
finished=wb.word()==(length+2)
self.SV_Details.append({'SV': SV_ID,'UDRE': UDRE, 'IOD':IOD,'DPRC':DPRC, 'Scale_Factor': Scale_Factor})
return Got_Packet
def decode(self, length, data):
if (length < 1):
return Decode_Error
else:
self.SV_Details = []
self.SVs = 0
wb = RTCM2.word_bit(3, 1)
finished = False
# pprint.pprint(data)
# print "Length: " + str(length+2)
while not finished:
self.SVs += 1
# print "SV: " + str(self.SVs)
Scale_Factor = wb.extract_rtcm_data_and_move(data, 1)
UDRE = wb.extract_rtcm_data_and_move(data, 2)
SV_ID = wb.extract_rtcm_data_and_move(data, 5)
if SV_ID == 0:
SV_ID = 32
PRC = wb.extract_rtcm_data_and_move(data, 16)
PRC = RTCM2.twos_comp(PRC, 16)
RRC = RTCM2.twos_comp(wb.extract_rtcm_data_and_move(data, 8),
8)
if Scale_Factor == 0:
PRC *= 0.02
RRC *= 0.02
else:
PRC *= 0.32
RRC *= 0.32
Change = wb.extract_rtcm_data_and_move(data, 1)
TOD = wb.extract_rtcm_data_and_move(data, 7)
finished = wb.word() >= (length + 2)
# print "Word: " +str(wb.word()) + " Bit: " + str(wb.bit())
self.SV_Details.append({
'SV': SV_ID,
'UDRE': UDRE,
'Change': Change,
'TOD': TOD,
'PRC': PRC,
'RRC': RRC,
'Scale_Factor': Scale_Factor
})
return Got_Packet
def decode(self, length, data):
if (length < 1):
return Decode_Error
else:
self.SV_Details = []
self.SVs = 0
wb = RTCM2.word_bit(3, 1)
finished = False
while not finished:
self.Beacons += 1
Latitude = RTCM2.twos_comp(
wb.extract_rtcm_data_and_move(data, 16), 16)
Longitude = RTCM2.twos_comp(
wb.extract_rtcm_data_and_move(data, 16), 16)
Range = wb.extract_rtcm_data_and_move(data, 10)
Freq = wb.extract_rtcm_data_and_move(data, 12) * 100 + 190
Health = wb.extract_rtcm_data_and_move(data, 2)
Station_ID = wb.extract_rtcm_data_and_move(data, 10)
Bit_Rate = wb.extract_rtcm_data_and_move(data, 3)
Datum = wb.extract_rtcm_data_and_move(data, 1)
Sync_type = wb.extract_rtcm_data_and_move(data, 1)
Coding = wb.extract_rtcm_data_and_move(data, 1)
Name = ""
for i in range(9): # 72/8
c = wb.extract_rtcm_data_and_move(data, 8)
if c != 0:
Name += chr(c)
finished = wb.word() == (length + 2)
self.SV_Details.append({
'Beacon': Station_ID,
'Lat': Latitude,
'Long': Longitude,
'Range': Range,
'Freq': Freq,
'Health': Health,
'BitRate': Bit_Rate,
'Datum': Datum,
'Sync_type': Sync_type,
'Coding': Coding,
'Name': Name
})
return Got_Packet
def decode(self,length,data):
if (length < 1):
return Decode_Error
else :
self.SV_Details=[]
self.GNSS_System=RTCM2.extract_rtcm_bits(data[3],1,4)
self.GNSS_Signal=RTCM2.extract_rtcm_bits(data[3],5,8)
self.SV_Ephemeris=RTCM2.extract_rtcm_bits(data[3],9,10)
self.Use=RTCM2.extract_rtcm_bits(data[3],11,12)
self.Iono_Included=RTCM2.extract_rtcm_bits(data[3],13,13)
self.SVs=0
wb = RTCM2.word_bit(3,14)
finished=False
while not finished:
self.SVs+=1
SV_ID=wb.extract_rtcm_data_and_move(data,6);
UDRE=wb.extract_rtcm_data_and_move(data,4);
if self.GNSS_System == 3 :
# print "GNSS_System: Galileo"
IOD=wb.extract_rtcm_data_and_move(data,10);
else:
IOD=wb.extract_rtcm_data_and_move(data,8);
PRC=RTCM2.twos_comp(wb.extract_rtcm_data_and_move(data,14),14)/50.0
if self.Iono_Included :
IONO=wb.twos_comp(wb.extract_rtcm_data_and_move(data,12),12)/50.0
else:
IONO=None
finished=wb.word()==(length+2)
self.SV_Details.append({'SV': SV_ID,'UDRE': UDRE, 'IOD':IOD,'PRC':PRC, 'IONO':IONO})
return Got_Packet
def decode(self, length, data):
if (length < 3):
return Decode_Error
else:
self.ARP_Ant_Height_Following = RTCM2.extract_rtcm_bits(
data[3], 2, 2)
self.Serial_Included = RTCM2.extract_rtcm_bits(data[3], 3, 3)
self.Antenna_Length = RTCM2.extract_rtcm_bits(data[3], 4, 8)
current_word = 3
chars_in_word = 2
chars_left = self.Antenna_Length
self.Antenna_Name = ""
while chars_left > 0:
self.Antenna_Name += chr(
RTCM2.extract_rtcm_bits(data[current_word],
25 - (chars_in_word * 8),
25 - (chars_in_word * 8) + 7))
chars_in_word -= 1
if chars_in_word == 0:
chars_in_word = 3
current_word += 1
chars_left -= 1
self.Setup_ID = RTCM2.extract_rtcm_bits(
data[current_word], 25 - (chars_in_word * 8),
25 - (chars_in_word * 8) + 7)
chars_in_word -= 1
if chars_in_word == 0:
chars_in_word = 3
current_word += 1
self.Serial_Length = RTCM2.extract_rtcm_bits(
data[current_word], 25 - (chars_in_word * 8) + 3,
25 - (chars_in_word * 8) + 4)
chars_in_word -= 1
if chars_in_word == 0:
chars_in_word = 3
current_word += 1
self.Serial = ""
chars_left = self.Serial_Length
while chars_left > 0:
self.Serial += chr(
RTCM2.extract_rtcm_bits(data[current_word],
25 - (chars_in_word * 8),
25 - (chars_in_word * 8) + 7))
chars_in_word -= 1
if chars_in_word == 0:
chars_in_word = 3
current_word += 1
chars_left -= 1
return Got_Packet
def decode(self,length,data):
if (length < 1):
return Decode_Error
else :
self.SV_Details=[]
self.SVs=0
wb = RTCM2.word_bit(3,1)
finished=False
# pprint.pprint(data)
# print "Length: " + str(length+2)
while not finished:
self.SVs+=1
# print "SV: " + str(self.SVs)
Scale_Factor=wb.extract_rtcm_data_and_move(data,1);
UDRE=wb.extract_rtcm_data_and_move(data,2);
SV_ID=wb.extract_rtcm_data_and_move(data,5);
if SV_ID == 0 :
SV_ID=32
PRC=wb.extract_rtcm_data_and_move(data,16)
PRC=RTCM2.twos_comp(PRC,16)
RRC=RTCM2.twos_comp(wb.extract_rtcm_data_and_move(data,8),8)
if Scale_Factor == 0:
PRC*=0.02
RRC*=0.02
else:
PRC*=0.32
RRC*=0.32
Change=wb.extract_rtcm_data_and_move(data,1)
TOD=wb.extract_rtcm_data_and_move(data,7)
finished=wb.word()>=(length+2)
# print "Word: " +str(wb.word()) + " Bit: " + str(wb.bit())
self.SV_Details.append({'SV': SV_ID,'UDRE': UDRE, 'Change' : Change,'TOD':TOD,'PRC':PRC, 'RRC':RRC, 'Scale_Factor': Scale_Factor})
return Got_Packet
def decode(self, length, data):
if (length < 1):
return Decode_Error
else:
self.SV_Details = []
self.SVs = 0
wb = RTCM2.word_bit(3, 1)
finished = False
while not finished:
self.SVs += 1
Scale_Factor = wb.extract_rtcm_data_and_move(data, 1)
UDRE = wb.extract_rtcm_data_and_move(data, 2)
SV_ID = wb.extract_rtcm_data_and_move(data, 5)
if SV_ID == 0:
SV_ID = 32
DPRC = RTCM2.twos_comp(wb.extract_rtcm_data_and_move(data, 24),
24)
if Scale_Factor == 0:
DPRC *= 0.02
else:
DPRC *= 0.32
IOD = wb.extract_rtcm_data_and_move(data, 8)
finished = wb.word() == (length + 2)
self.SV_Details.append({
'SV': SV_ID,
'UDRE': UDRE,
'IOD': IOD,
'DPRC': DPRC,
'Scale_Factor': Scale_Factor
})
return Got_Packet
def decode(self,length,data):
if (length != 4):
return Decode_Error
else :
ECF=RTCM2.extract_rtcm_bits(data[3],1,24)
ECF<<=8
ECF|=RTCM2.extract_rtcm_bits(data[4],1,8)
self.ECF_X=RTCM2.twos_comp(ECF,32)/100.0
ECF=RTCM2.extract_rtcm_bits(data[4],9,24)
ECF<<=16
ECF|=RTCM2.extract_rtcm_bits(data[5],1,16)
self.ECF_Y=int(ECF)/100.0
self.ECF_Y=RTCM2.twos_comp(ECF,32)/100.0
ECF=RTCM2.extract_rtcm_bits(data[5],17,24)
ECF<<=24
ECF|=RTCM2.extract_rtcm_bits(data[6],1,24)
self.ECF_Z=RTCM2.twos_comp(ECF,32)/100.0
return Got_Packet
def decode(self, length, data):
if (length < 1):
return Decode_Error
else:
self.SV_Details = []
self.GNSS_System = RTCM2.extract_rtcm_bits(data[3], 1, 4)
self.GNSS_Signal = RTCM2.extract_rtcm_bits(data[3], 5, 8)
self.SV_Ephemeris = RTCM2.extract_rtcm_bits(data[3], 9, 10)
self.Use = RTCM2.extract_rtcm_bits(data[3], 11, 12)
self.Iono_Included = RTCM2.extract_rtcm_bits(data[3], 13, 13)
self.SVs = 0
wb = RTCM2.word_bit(3, 14)
finished = False
while not finished:
self.SVs += 1
SV_ID = wb.extract_rtcm_data_and_move(data, 6)
UDRE = wb.extract_rtcm_data_and_move(data, 4)
if self.GNSS_System == 3:
# print "GNSS_System: Galileo"
IOD = wb.extract_rtcm_data_and_move(data, 10)
else:
IOD = wb.extract_rtcm_data_and_move(data, 8)
PRC = RTCM2.twos_comp(wb.extract_rtcm_data_and_move(data, 14),
14) / 50.0
if self.Iono_Included:
IONO = wb.twos_comp(
wb.extract_rtcm_data_and_move(data, 12), 12) / 50.0
else:
IONO = None
finished = wb.word() == (length + 2)
self.SV_Details.append({
'SV': SV_ID,
'UDRE': UDRE,
'IOD': IOD,
'PRC': PRC,
'IONO': IONO
})
return Got_Packet
def decode(self,length,data):
if (length < 1):
return Decode_Error
else :
self.SV_Details=[]
self.Freq=RTCM2.extract_rtcm_bits(data[3],1,2)
self.GNSS_Time=RTCM2.extract_rtcm_bits(data[3],5,24)
self.SVs=(length-1)/2 # 3=0, 5=1, 7=2
for SV in range (self.SVs):
word=SV*2+4 # 4,6,8..
Last_Message=RTCM2.extract_rtcm_bits(data[word],1,1)==1
Pcode=RTCM2.extract_rtcm_bits(data[word],2,2)==1
Glonass=RTCM2.extract_rtcm_bits(data[word],3,3)==1
SV_ID=int(RTCM2.extract_rtcm_bits(data[word],4,8))
if SV_ID == 0 :
SV_ID=32
Quailty=int(RTCM2.extract_rtcm_bits(data[word],9,11))
Slips=int(RTCM2.extract_rtcm_bits(data[word],12,16))
Phase=RTCM2.extract_rtcm_bits(data[word],17,24)
Phase<<=24
Phase|=RTCM2.extract_rtcm_bits(data[word+1],1,24)
Phase=RTCM2.twos_comp(Phase,32)/256.0
self.SV_Details.append({'SV': SV_ID,'Pcode': Pcode, 'Last_Message':Last_Message,'GLONASS':Glonass, 'Quailty': Quailty,'Slips':Slips,'Phase':Phase})
return Got_Packet
def decode(self,length,data):
if (length < 1):
return Decode_Error
else :
self.SV_Details=[]
self.Freq=RTCM2.extract_rtcm_bits(data[3],1,2)
self.Smoothed=RTCM2.extract_rtcm_bits(data[3],3,4)
self.GNSS_Time=RTCM2.extract_rtcm_bits(data[3],5,24)
self.SVs=(length-1)/2 # 3=0, 5=1, 7=2
for SV in range (self.SVs):
word=SV*2+4 # 4,6,8..
Last_Message=RTCM2.extract_rtcm_bits(data[word],1,1)==1
Pcode=RTCM2.extract_rtcm_bits(data[word],2,2)==1
Glonass=RTCM2.extract_rtcm_bits(data[word],3,3)==1
SV_ID=int(RTCM2.extract_rtcm_bits(data[word],4,8))
if SV_ID == 0 :
SV_ID=32
Quailty=int(RTCM2.extract_rtcm_bits(data[word],9,12))
Multipath=int(RTCM2.extract_rtcm_bits(data[word],13,16))
Range=RTCM2.extract_rtcm_bits(data[word],17,24)
Range<<=24
Range|=RTCM2.extract_rtcm_bits(data[word+1],1,24)
Range=RTCM2.twos_comp(Range,32)/50.0 # 0.02cm
self.SV_Details.append({'SV': SV_ID,'Pcode': Pcode, 'Last_Message':Last_Message,'GLONASS':Glonass, 'Multipath':Multipath, 'Quailty': Quailty,'Range':Range})
return Got_Packet
parser.add_argument("-I", "--ID", nargs='+', help="Packets that should have there ID dumped only")
parser.add_argument("-S", "--Summary", nargs='+', help="Packets that should have a Summary dumped")
parser.add_argument("-F", "--Full", nargs='+', help="Packets that should be dumped Fully")
parser.add_argument("-V", "--Verbose", nargs='+', help="Packets that should be dumped Verbosely")
parser.add_argument("-E", "--Explain", action="store_true", help="System Should Explain what is is doing, AKA Verbose")
parser.add_argument("-W", "--Time", action="store_true", help="Report the time when the packet was received")
args=parser.parse_args()
#print args
Dump_Undecoded = args.Undecoded
Dump_Decoded = args.Decoded
Dump_TimeStamp = args.Time
rtcm2=RTCM2.RTCM2(default_output_level=args.Level);
if args.None:
for id in args.None:
if args.Explain:
print "Decode Level None: " + hex(int(id,0))
rtcm2.Dump_Levels[int(id,0)]=Dump_None
if args.ID:
for id in args.ID:
if args.Explain:
print "Decode Level ID: " + hex(int(id,0))
rtcm2.Dump_Levels[int(id,0)]=Dump_ID
if args.Summary:
for id in args.Summary:
def decode(self, length, data):
if (length < 1):
return Decode_Error
else:
self.SV_Details = []
self.Freq = RTCM2.extract_rtcm_bits(data[3], 1, 2)
self.GNSS_Time = RTCM2.extract_rtcm_bits(data[3], 5, 24)
self.SVs = (length - 1) / 2 # 3=0, 5=1, 7=2
for SV in range(self.SVs):
word = SV * 2 + 4 # 4,6,8..
Last_Message = RTCM2.extract_rtcm_bits(data[word], 1, 1) == 1
Pcode = RTCM2.extract_rtcm_bits(data[word], 2, 2) == 1
Glonass = RTCM2.extract_rtcm_bits(data[word], 3, 3) == 1
SV_ID = int(RTCM2.extract_rtcm_bits(data[word], 4, 8))
if SV_ID == 0:
SV_ID = 32
Quailty = int(RTCM2.extract_rtcm_bits(data[word], 9, 11))
Slips = int(RTCM2.extract_rtcm_bits(data[word], 12, 16))
Phase = RTCM2.extract_rtcm_bits(data[word], 17, 24)
Phase <<= 24
Phase |= RTCM2.extract_rtcm_bits(data[word + 1], 1, 24)
Phase = RTCM2.twos_comp(Phase, 32) / 256.0
self.SV_Details.append({
'SV': SV_ID,
'Pcode': Pcode,
'Last_Message': Last_Message,
'GLONASS': Glonass,
'Quailty': Quailty,
'Slips': Slips,
'Phase': Phase
})
return Got_Packet
def decode(self,length,data):
if (length < 5) or (length > 6):
return Decode_Error
else :
ECF=RTCM2.extract_rtcm_bits(data[3],1,24)
ECF<<=14
ECF|=RTCM2.extract_rtcm_bits(data[4],1,14)
self.ECF_X=RTCM2.twos_comp(ECF,38)/10000.0
ECF=RTCM2.extract_rtcm_bits(data[4],17,24)
ECF<<=24
ECF|=RTCM2.extract_rtcm_bits(data[5],1,24)
ECF<<=6
ECF|=RTCM2.extract_rtcm_bits(data[6],1,6)
self.ECF_Y=RTCM2.twos_comp(ECF,38)/10000.0
ECF=RTCM2.extract_rtcm_bits(data[6],9,24)
ECF<<=22
ECF|=RTCM2.extract_rtcm_bits(data[7],1,22)
self.ECF_Z=RTCM2.twos_comp(ECF,38)/10000.0
self.GLONASS=RTCM2.extract_rtcm_bits(data[7],23,23)==1
self.Ant_Height_Included=RTCM2.extract_rtcm_bits(data[7],24,24)==1
if self.Ant_Height_Included:
self.Ant_Height=int(RTCM2.extract_rtcm_bits(data[8],1,18))/10000.0
else :
self.Ant_Height=None
return Got_Packet
def decode(self,length,data):
if (length < 1) or (length > 3):
return Decode_Error
else :
ECF=RTCM2.extract_rtcm_bits(data[3],1,8)
self.dECF_X=RTCM2.twos_comp(ECF,8)/256.0
ECF=RTCM2.extract_rtcm_bits(data[3],9,16)
self.dECF_Y=RTCM2.twos_comp(ECF,8)/256.0
ECF=RTCM2.extract_rtcm_bits(data[3],17,24)
self.dECF_Z=RTCM2.twos_comp(ECF,8)/256.0
if length >= 2 :
self.Antenna_Info=True
self.System=RTCM2.extract_rtcm_bits(data[4],3,3)
self.Antenna_Type_Inc=RTCM2.extract_rtcm_bits(data[4],4,4)==1
self.Antenna_ARP_Inc=RTCM2.extract_rtcm_bits(data[4],5,5)==1
self.Antenna_Height_Inc=RTCM2.extract_rtcm_bits(data[4],6,6)==0
if self.Antenna_Height_Inc :
self.Antenna_Height=RTCM2.extract_rtcm_bits(data[4],5,24)/256
else:
self.Antenna_Height=None
else :
self.Antenna_Info=False
self.System=None
self.Antenna_Type_Inc=None
self.Antenna_ARP_Inc=None
self.Antenna_Height_Inc=None
self.Antenna_Height=None
if length >= 3 :
self.L2_Offsets=True
ECF=RTCM2.extract_rtcm_bits(data[5],1,8)
self.L2_DECF_X=RTCM2.twos_comp(ECF,8)/16.0
ECF=RTCM2.extract_rtcm_bits(data[5],9,16)
self.L2_DECF_Y=RTCM2.twos_comp(ECF,8)/16.0
ECF=RTCM2.extract_rtcm_bits(data[5],17,24)
self.L2_DECF_Z=RTCM2.twos_comp(ECF,8)/16.0
else:
self.L2_Offsets=False
self.L2_dECF_X=None
self.L2_dECF_Y=None
self.L2_dECF_Z=None
return Got_Packet
def decode(self, length, data):
if (length < 1) or (length > 3):
return Decode_Error
else:
ECF = RTCM2.extract_rtcm_bits(data[3], 1, 8)
self.dECF_X = RTCM2.twos_comp(ECF, 8) / 256.0
ECF = RTCM2.extract_rtcm_bits(data[3], 9, 16)
self.dECF_Y = RTCM2.twos_comp(ECF, 8) / 256.0
ECF = RTCM2.extract_rtcm_bits(data[3], 17, 24)
self.dECF_Z = RTCM2.twos_comp(ECF, 8) / 256.0
if length >= 2:
self.Antenna_Info = True
self.System = RTCM2.extract_rtcm_bits(data[4], 3, 3)
self.Antenna_Type_Inc = RTCM2.extract_rtcm_bits(data[4], 4,
4) == 1
self.Antenna_ARP_Inc = RTCM2.extract_rtcm_bits(data[4], 5,
5) == 1
self.Antenna_Height_Inc = RTCM2.extract_rtcm_bits(
data[4], 6, 6) == 0
if self.Antenna_Height_Inc:
self.Antenna_Height = RTCM2.extract_rtcm_bits(
data[4], 5, 24) / 256
else:
self.Antenna_Height = None
else:
self.Antenna_Info = False
self.System = None
self.Antenna_Type_Inc = None
self.Antenna_ARP_Inc = None
self.Antenna_Height_Inc = None
self.Antenna_Height = None
if length >= 3:
self.L2_Offsets = True
ECF = RTCM2.extract_rtcm_bits(data[5], 1, 8)
self.L2_DECF_X = RTCM2.twos_comp(ECF, 8) / 16.0
ECF = RTCM2.extract_rtcm_bits(data[5], 9, 16)
self.L2_DECF_Y = RTCM2.twos_comp(ECF, 8) / 16.0
ECF = RTCM2.extract_rtcm_bits(data[5], 17, 24)
self.L2_DECF_Z = RTCM2.twos_comp(ECF, 8) / 16.0
else:
self.L2_Offsets = False
self.L2_dECF_X = None
self.L2_dECF_Y = None
self.L2_dECF_Z = None
return Got_Packet