def __init__(self):
super().__init__()
self.f.add(U1('PortId'))
self.f.add(Padding(1, 'res1'))
self.f.add(X2('txReady'))
self.f.add(X4_Mode('mode'))
self.f.add(U4('baudRate'))
self.f.add(X2_Proto('inProtoMask'))
self.f.add(X2_Proto('outProtoMask'))
self.f.add(X2('flags'))
self.f.add(Padding(2, 'res2'))
def __init__(self):
super().__init__()
self.f.add(U1('version'))
self.f.add(U1('numConfigs'))
self.f.add(Padding(2, 'res1'))
self.f.add(U1_LeverArmType('leverArmType'))
self.f.add(Padding(1, 'res2'))
self.f.add(I2('leverArmX'))
self.f.add(I2('leverArmY'))
self.f.add(I2('leverArmZ'))
self.f.version = 0
self.f.numConfigs = 1
def unpack(self):
# Dynamically build fields based on message length
self.f = Fields()
self.f.add(U1('msgVer'))
self.f.add(U1('numTrkChHw'))
self.f.add(U1('numTrkChUse'))
self.f.add(U1('numConfigBlocks'))
# Extract upto this place to read number of config blocks
super().unpack()
# TODO: Check extra length against numConfigBlocks
# TODO: raise on mismatch
"""
extra_length = len(self.data) - 40
extra_info = int(extra_length / 30)
"""
# TODO: check nested fields -> unit test
for i in range(self.f.numConfigBlocks):
self.f.add(U1(f'gnssId_{i}'))
self.f.add(U1(f'resTrkCh_{i}'))
self.f.add(U1(f'maxTrkCh_{i}'))
self.f.add(Padding(1, f'res1_{i}'))
self.f.add(X4(f'flags_{i}')) # Bit 0: enable
super().unpack()
def __init__(self):
super().__init__()
self.f.add(U1('type'))
self.f.add(U1('version'))
self.f.add(X1('ref'))
self.f.add(I1('leapSecs'))
self.f.add(U2('year'))
self.f.add(U1('month'))
self.f.add(U1('day'))
self.f.add(U1('hour'))
self.f.add(U1('minute'))
self.f.add(U1('second'))
self.f.add(Padding(1, 'res1'))
self.f.add(U4('ns'))
self.f.add(U2('tAccS'))
self.f.add(Padding(2, 'res2'))
self.f.add(U4('tAccNs'))
def __init__(self):
super().__init__()
self.f = Fields()
self.f.add(U4('iTow'))
self.f.add(U1('version'))
self.f.add(X1('bitfield0'))
self.f.add(Padding(2, 'res1'))
self.f.add(I4('yaw')) # 1e-1 -> more likely 1e-2
self.f.add(I2('pitch')) # 1e-1
self.f.add(I2('roll')) # 1e-1
def test_pack2(self):
u = Fields()
u.add(I4('test'))
u.add(U1('val'))
u.add(Padding(2, 'res1'))
u.test = 0x76543210
u.val = 0xAF
data = u.pack()
assert data == bytearray.fromhex('10 32 54 76 AF 00 00')
def __init__(self):
super().__init__()
self.f = Fields()
self.f.add(U4('iTow'))
self.f.add(U1('version'))
self.f.add(U1_Flags('flags'))
self.f.add(U1('error'))
self.f.add(Padding(1, 'res1'))
self.f.add(U4('yaw')) # 1e-2, 0..+360
self.f.add(I2('pitch')) # 1e-2, -90..+90
self.f.add(I2('roll')) # 1e-2, -180..180
def unpack(self):
# Dynamically build fields based on message length
self.f = Fields()
self.f.add(U1('version'))
self.f.add(U1('numConfigs'))
self.f.add(Padding(2, 'res1'))
# Extract upto this place to read number of level arm configurations
super().unpack()
assert self.f.numConfigs <= 5
# Build final list
for lever in range(self.f.numConfigs):
self.f.add(U1_LeverArmType(f'leverArmType_{lever}'))
self.f.add(Padding(1, f'res2_{lever}'))
self.f.add(I2(f'leverArmX_{lever}'))
self.f.add(I2(f'leverArmY_{lever}'))
self.f.add(I2(f'leverArmZ_{lever}'))
super().unpack()
def __init__(self):
super().__init__()
self.f.add(X1('filter'))
self.f.add(U1('nmeaVersion'))
self.f.add(U1('numSV'))
self.f.add(X1('flags'))
self.f.add(X4('gnssToFilter'))
self.f.add(U1('svNumbering'))
self.f.add(U1('mainTalkerId'))
self.f.add(U1('gsvTalkerId'))
self.f.add(U1('version'))
self.f.add(CH(2, 'bdsTalkerId'))
self.f.add(Padding(6, 'res1'))
def test_pack1(self):
u = Fields()
u.add(I4('test'))
u.add(U1('val'))
u.add(Padding(3, 'res1'))
u.add(U4('test2'))
u.test = 0x76543210
u.val = 0xAF
u.test2 = 0xcafebabe
data = u.pack()
print(data)
assert data == bytearray.fromhex('10 32 54 76 AF 00 00 00 be ba fe ca')
def unpack(self):
# Dynamically build fields based on message length
self.f = Fields()
self.f.add(U4('iTow'))
self.f.add(U1('version'))
self.f.add(X1_InitStatus1('initStatus1'))
self.f.add(X1_InitStatus2('initStatus2'))
self.f.add(Padding(5, 'res1'))
self.f.add(U1_FusionMode('fusionMode'))
self.f.add(Padding(2, 'res2'))
self.f.add(U1('numSens'))
# Extract upto this place to read number of sensors
super().unpack()
# Build final list
for sensor in range(self.f.numSens):
self.f.add(X1_SensStatus1(f'sensStatus1_{sensor}'))
self.f.add(X1_SensStatus2(f'sensStatus2_{sensor}'))
self.f.add(U1(f'freq_{sensor}'))
self.f.add(X1(f'faults_{sensor}'))
super().unpack()
def __init__(self):
super().__init__()
self.f.add(U1('tpIdx'))
self.f.add(U1('version'))
self.f.add(Padding(2, 'res1'))
self.f.add(I2('antCableDelay'))
self.f.add(I2('rfGroupDelay'))
self.f.add(I4('freqPeriod'))
self.f.add(I4('freqPeriodLock'))
self.f.add(I4('pulseLenRatio'))
self.f.add(I4('pulseLenRatioLock'))
self.f.add(I4('userConfigDelay'))
self.f.add(X4('flags'))
def __init__(self):
super().__init__()
self.f.add(X2('mask'))
self.f.add(U1('dynModel'))
self.f.add(U1('fixMode'))
self.f.add(I4('fixedAlt'))
self.f.add(U4('fixedAltVar'))
self.f.add(I1('minElev'))
self.f.add(U1('drLimit')) # reserved
self.f.add(U2('pDop'))
self.f.add(U2('tDop'))
self.f.add(U2('pAcc'))
self.f.add(U2('tAcc'))
self.f.add(U1('staticHoldThresh'))
self.f.add(U1('dgpsTimeOut'))
self.f.add(U1('cnoThreshNumSVs'))
self.f.add(U1('cnoThresh'))
self.f.add(U2('pAccAdr'))
self.f.add(U2('staticHoldMaxDist'))
self.f.add(U1('utcStandard'))
self.f.add(Padding(5, 'res1'))
def __init__(self):
super().__init__()
self.f.add(X2('navBbrMask'))
self.f.add(U1('resetMode'))
self.f.add(Padding(1, 'res1'))
def __init__(self):
super().__init__()
self.f.add(U2('version'))
self.f.add(X2('mask1'))
self.f.add(X4('mask2'))
self.f.add(Padding(2, 'res1'))
self.f.add(U1('minSVs'))
self.f.add(U1('maxSVs'))
self.f.add(U1('minCN0'))
self.f.add(Padding(1, 'res2'))
self.f.add(U1('iniFix3D'))
self.f.add(Padding(2, 'res3'))
self.f.add(U1('ackAiding'))
self.f.add(U2('wknRollover'))
self.f.add(U1('sigAttenCompMode'))
self.f.add(Padding(1, 'res4'))
self.f.add(Padding(2, 'res5'))
self.f.add(Padding(2, 'res6'))
self.f.add(U1('usePPP'))
self.f.add(U1('aopCfg'))
self.f.add(Padding(2, 'res7'))
self.f.add(U2('aopOrbMaxErr'))
self.f.add(Padding(4, 'res8'))
self.f.add(Padding(3, 'res9'))
self.f.add(U1('useAdr'))
self.f.add(Padding(2, 'res10'))
self.f.add(Padding(2, 'res11'))