def update_on_heartbeat(self, sbp_msg, **metadata):
self.heartbeat_count += 1
# --- determining which mode, llh or baseline, to show in the status bar ---
llh_display_mode = "None"
llh_num_sats = 0
llh_is_differential = False
baseline_display_mode = "None"
baseline_num_sats = 0
baseline_is_differential = False
# determine the latest llh solution mode
if self.solution_view:
llh_solution_mode = self.solution_view.last_pos_mode
llh_display_mode = mode_dict.get(llh_solution_mode, EMPTY_STR)
if llh_solution_mode > 0 and self.solution_view.last_soln:
llh_num_sats = self.solution_view.last_soln.n_sats
llh_is_differential = (llh_solution_mode in DIFFERENTIAL_MODES)
if getattr(self.solution_view, 'ins_used',
False) and llh_solution_mode != DR_MODE:
llh_display_mode += "+INS"
# determine the latest baseline solution mode
if self.baseline_view:
baseline_solution_mode = self.baseline_view.last_mode
baseline_display_mode = mode_dict.get(baseline_solution_mode,
EMPTY_STR)
if baseline_solution_mode > 0 and self.baseline_view.last_soln:
baseline_num_sats = self.baseline_view.last_soln.n_sats
baseline_is_differential = (baseline_solution_mode
in DIFFERENTIAL_MODES)
# select the solution mode displayed in the status bar:
# * baseline if it's a differential solution but llh isn't
# * otherwise llh (also if there is no solution, in which both are "None")
if baseline_is_differential and not (llh_is_differential):
self.mode = baseline_display_mode
self.num_sats = baseline_num_sats
else:
self.mode = llh_display_mode
self.num_sats = llh_num_sats
# --- end of status bar mode determination section ---
if self.settings_view: # for auto populating surveyed fields
self.settings_view.lat = self.solution_view.latitude
self.settings_view.lon = self.solution_view.longitude
self.settings_view.alt = self.solution_view.altitude
if self.baseline_view:
if self.baseline_view.age_corrections is not None:
self.age_of_corrections = "{0} s".format(
self.baseline_view.age_corrections)
else:
self.age_of_corrections = EMPTY_STR
def update_on_heartbeat(self, sbp_msg, **metadata):
self.heartbeat_count += 1
# --- determining which mode, llh or baseline, to show in the status bar ---
llh_display_mode = "None"
llh_num_sats = 0
llh_is_differential = False
baseline_display_mode = "None"
baseline_num_sats = 0
baseline_is_differential = False
# determine the latest llh solution mode
if self.solution_view:
llh_solution_mode = self.solution_view.last_pos_mode
llh_display_mode = mode_dict.get(llh_solution_mode, EMPTY_STR)
if llh_solution_mode > 0 and self.solution_view.last_soln:
llh_num_sats = self.solution_view.last_soln.n_sats
llh_is_differential = (llh_solution_mode in DIFFERENTIAL_MODES)
if getattr(self.solution_view, 'ins_used', False) and llh_solution_mode != DR_MODE:
llh_display_mode += "+INS"
# determine the latest baseline solution mode
if self.baseline_view:
baseline_solution_mode = self.baseline_view.last_mode
baseline_display_mode = mode_dict.get(baseline_solution_mode, EMPTY_STR)
if baseline_solution_mode > 0 and self.baseline_view.last_soln:
baseline_num_sats = self.baseline_view.last_soln.n_sats
baseline_is_differential = (baseline_solution_mode in DIFFERENTIAL_MODES)
# select the solution mode displayed in the status bar:
# * baseline if it's a differential solution but llh isn't
# * otherwise llh (also if there is no solution, in which both are "None")
if baseline_is_differential and not(llh_is_differential):
self.mode = baseline_display_mode
self.num_sats = baseline_num_sats
else:
self.mode = llh_display_mode
self.num_sats = llh_num_sats
# --- end of status bar mode determination section ---
if self.settings_view: # for auto populating surveyed fields
self.settings_view.lat = self.solution_view.latitude
self.settings_view.lon = self.solution_view.longitude
self.settings_view.alt = self.solution_view.altitude
if self.baseline_view:
if self.baseline_view.age_corrections is not None:
self.age_of_corrections = "{0} s".format(
self.baseline_view.age_corrections)
else:
self.age_of_corrections = EMPTY_STR
def update_on_heartbeat(self, sbp_msg, **metadata):
self.heartbeat_count += 1
# First initialize the state to nothing, if we can't update, it will be none
temp_mode = "None"
temp_num_sats = 0
view = None
if self.baseline_view and self.solution_view:
# If we have a recent baseline update, we use the baseline info
if time.time() - self.baseline_view.last_btime_update < 10:
view = self.baseline_view
# Otherwise, if we have a recent SPP update, we use the SPP
elif time.time() - self.solution_view.last_stime_update < 10:
view = self.solution_view
if view:
if view.last_soln:
# if all is well we update state
temp_mode = mode_dict.get(get_mode(view.last_soln),
EMPTY_STR)
temp_num_sats = view.last_soln.n_sats
self.mode = temp_mode
self.num_sats = temp_num_sats
if self.settings_view: # for auto populating surveyed fields
self.settings_view.lat = self.solution_view.latitude
self.settings_view.lon = self.solution_view.longitude
self.settings_view.alt = self.solution_view.altitude
if self.system_monitor_view:
if self.system_monitor_view.msg_obs_window_latency_ms != -1:
self.latency = "{0} ms".format(
self.system_monitor_view.msg_obs_window_latency_ms)
else:
self.latency = EMPTY_STR
def update_on_heartbeat(self, sbp_msg, **metadata):
self.heartbeat_count += 1
# First initialize the state to nothing, if we can't update, it will be none
temp_mode = "None"
temp_num_sats = 0
view = None
if self.baseline_view and self.solution_view:
# If we have a recent baseline update, we use the baseline info
if time.time() - self.baseline_view.last_btime_update < 10:
view = self.baseline_view
# Otherwise, if we have a recent SPP update, we use the SPP
elif time.time() - self.solution_view.last_stime_update < 10:
view = self.solution_view
if view:
if view.last_soln:
# if all is well we update state
temp_mode = mode_dict.get(
get_mode(view.last_soln), EMPTY_STR)
temp_num_sats = view.last_soln.n_sats
if getattr(view, 'ins_used', False):
temp_mode += "+INS"
self.mode = temp_mode
self.num_sats = temp_num_sats
if self.settings_view: # for auto populating surveyed fields
self.settings_view.lat = self.solution_view.latitude
self.settings_view.lon = self.solution_view.longitude
self.settings_view.alt = self.solution_view.altitude
if self.baseline_view:
if self.baseline_view.age_corrections is not None:
self.age_of_corrections = "{0} s".format(
self.baseline_view.age_corrections)
else:
self.age_of_corrections = EMPTY_STR
def update_on_heartbeat(self, sbp_msg, **metadata):
self.heartbeat_count += 1
# First initialize the state to nothing, if we can't update, it will be none
temp_mode = "None"
temp_num_sats = 0
view = None
if self.baseline_view and self.solution_view:
# If we have a recent baseline update, we use the baseline info
if time.time() - self.baseline_view.last_btime_update < 10:
view = self.baseline_view
# Otherwise, if we have a recent SPP update, we use the SPP
elif time.time() - self.solution_view.last_stime_update < 10:
view = self.solution_view
if view:
if view.last_soln:
# if all is well we update state
temp_mode = mode_dict.get(
get_mode(view.last_soln), EMPTY_STR)
temp_num_sats = view.last_soln.n_sats
self.mode = temp_mode
self.num_sats = temp_num_sats
if self.settings_view: # for auto populating surveyed fields
self.settings_view.lat = self.solution_view.latitude
self.settings_view.lon = self.solution_view.longitude
self.settings_view.alt = self.solution_view.altitude
if self.system_monitor_view:
if self.system_monitor_view.msg_obs_window_latency_ms != -1:
self.latency = "{0} ms".format(
self.system_monitor_view.msg_obs_window_latency_ms)
else:
self.latency = EMPTY_STR
def update_on_heartbeat(self, sbp_msg, **metadata):
self.heartbeat_count += 1
# --- determining which mode, llh or baseline, to show in the status bar ---
llh_display_mode = "None"
llh_num_sats = 0
llh_is_differential = False
baseline_display_mode = "None"
baseline_num_sats = 0
baseline_is_differential = False
# determine the latest llh solution mode
if self.solution_view:
llh_solution_mode = self.solution_view.last_pos_mode
llh_display_mode = mode_dict.get(llh_solution_mode, EMPTY_STR)
if llh_solution_mode > 0 and self.solution_view.last_soln:
llh_num_sats = self.solution_view.last_soln.n_sats
llh_is_differential = (llh_solution_mode in DIFFERENTIAL_MODES)
if getattr(self.solution_view, 'ins_used', False) and llh_solution_mode != DR_MODE:
llh_display_mode += "+INS"
# determine the latest baseline solution mode
if self.baseline_view and self.settings_view and self.settings_view.dgnss_enabled():
baseline_solution_mode = self.baseline_view.last_mode
baseline_display_mode = mode_dict.get(baseline_solution_mode, EMPTY_STR)
if baseline_solution_mode > 0 and self.baseline_view.last_soln:
baseline_num_sats = self.baseline_view.last_soln.n_sats
baseline_is_differential = (baseline_solution_mode in DIFFERENTIAL_MODES)
# determine the latest INS mode
if self.solution_view and (monotonic() -
self.solution_view.last_ins_status_receipt_time) < 1:
ins_flags = self.solution_view.ins_status_flags
ins_mode = ins_flags & 0x7
ins_type = (ins_flags >> 29) & 0x7
odo_status = (ins_flags >> 8) & 0x3
ins_error = (ins_flags >> 4) & 0xF
if ins_error != 0:
ins_status_string = ins_error_dict.get(ins_error, "Unk Error")
else:
ins_status_string = ins_type_dict.get(ins_type, "unk") + "-"
ins_status_string += ins_mode_dict.get(ins_mode, "unk")
if odo_status == 1:
ins_status_string += "+Odo"
self.ins_status_string = ins_status_string
# select the solution mode displayed in the status bar:
# * baseline if it's a differential solution but llh isn't
# * otherwise llh (also if there is no solution, in which both are "None")
if baseline_is_differential and not(llh_is_differential):
self.mode = baseline_display_mode
self.num_sats_str = "{}".format(baseline_num_sats)
else:
self.mode = llh_display_mode
self.num_sats_str = "{}".format(llh_num_sats)
# --- end of status bar mode determination section ---
if self.settings_view: # for auto populating surveyed fields
self.settings_view.lat = self.solution_view.latitude
self.settings_view.lon = self.solution_view.longitude
self.settings_view.alt = self.solution_view.altitude
if self.baseline_view:
if self.baseline_view.age_corrections is not None:
self.age_of_corrections = "{0} s".format(
self.baseline_view.age_corrections)
else:
self.age_of_corrections = EMPTY_STR
