def test_rsh_16(self):
k = bf(0xFFF,length=16)
self.assertEqual(int(k), 0xFFF)
k >>= 1
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x7FF)
k >>= 1
self.assertEqual(int(k), 0x3FF)
k >>= 4
self.assertEqual(int(k), 0x03F)
k >>= 4
self.assertEqual(int(k), 0x003)
k >>= 4
self.assertEqual(int(k), 0x000)
k = bf(0xFFFFF,16)
self.assertEqual(int(k), 0xFFFF)
k >>= 1
self.assertEqual(int(k), 0x7FFF)
k >>= 1
self.assertEqual(int(k), 0x3FFF)
k >>= 4
self.assertEqual(int(k), 0x03FF)
k >>= 4
self.assertEqual(int(k), 0x003F)
#Check to make sure that the length has been remembered
k = k | 0xFFFF
self.assertEqual(int(k), 0xFFFF)
#Check to make sure that the length has been remembered
k = k | 0xFFFFFFFF
self.assertEqual(int(k), 0xFFFF)
def test_rsh_16(self):
k = bf(0xFFF, length=16)
self.assertEqual(int(k), 0xFFF)
k >>= 1
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x7FF)
k >>= 1
self.assertEqual(int(k), 0x3FF)
k >>= 4
self.assertEqual(int(k), 0x03F)
k >>= 4
self.assertEqual(int(k), 0x003)
k >>= 4
self.assertEqual(int(k), 0x000)
k = bf(0xFFFFF, 16)
self.assertEqual(int(k), 0xFFFF)
k >>= 1
self.assertEqual(int(k), 0x7FFF)
k >>= 1
self.assertEqual(int(k), 0x3FFF)
k >>= 4
self.assertEqual(int(k), 0x03FF)
k >>= 4
self.assertEqual(int(k), 0x003F)
#Check to make sure that the length has been remembered
k = k | 0xFFFF
self.assertEqual(int(k), 0xFFFF)
#Check to make sure that the length has been remembered
k = k | 0xFFFFFFFF
self.assertEqual(int(k), 0xFFFF)
def test_rsh(self):
k = bf(0xFF)
self.assertEqual(int(k), 0xFF)
k >>= 1
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x7F)
k >>= 1
self.assertEqual(int(k), 0x3F)
k >>= 4
self.assertEqual(int(k), 0x03)
k >>= 4
self.assertEqual(int(k), 0x00)
k = bf(0xFFFF)
self.assertEqual(int(k), 0xFFFF)
k >>= 1
self.assertEqual(int(k), 0x7FFF)
k >>= 1
self.assertEqual(int(k), 0x3FFF)
k >>= 4
self.assertEqual(int(k), 0x03FF)
k >>= 4
self.assertEqual(int(k), 0x003F)
k = bf(0xFFFFFFFF)
self.assertEqual(int(k), 0xFFFFFFFF)
k >>= 1
self.assertEqual(int(k), 0x7FFFFFFF)
k >>= 1
self.assertEqual(int(k), 0x3FFFFFFF)
k >>= 4
self.assertEqual(int(k), 0x03FFFFFF)
k >>= 4
self.assertEqual(int(k), 0x003FFFFF)
def test_full_assign_8bit(self):
# make sure the shuffled sequence does not lose any elements
k = bf(0x1,8)
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 1)
self.assertTrue(int(k)==1)
self.assertTrue(k)
self.assertEqual(len(k), 8)
k = bf(0xFF,8)
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0xFF)
self.assertTrue(int(k)==0xFF)
self.assertTrue(k)
k = bf(0xFFFF,8)
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0xFF)
self.assertTrue(int(k)==0xFF)
self.assertTrue(k)
k = bf(0xFFFFFFFF,8)
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0xFF)
self.assertTrue(int(k)==0xFF)
self.assertTrue(k)
def test_full_assign_8bit(self):
# make sure the shuffled sequence does not lose any elements
k = bf(0x1, 8)
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 1)
self.assertTrue(int(k) == 1)
self.assertTrue(k)
self.assertEqual(len(k), 8)
k = bf(0xFF, 8)
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0xFF)
self.assertTrue(int(k) == 0xFF)
self.assertTrue(k)
k = bf(0xFFFF, 8)
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0xFF)
self.assertTrue(int(k) == 0xFF)
self.assertTrue(k)
k = bf(0xFFFFFFFF, 8)
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0xFF)
self.assertTrue(int(k) == 0xFF)
self.assertTrue(k)
def test_full_assign_16(self):
# make sure the shuffled sequence does not lose any elements
k = bf(0x1, length=16)
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 1)
self.assertTrue(int(k) == 1)
self.assertTrue(k)
self.assertEqual(len(k), 16)
k = bf(0xFF, length=16)
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0xFF)
self.assertTrue(int(k) == 0xFF)
self.assertTrue(k)
k = bf(0xFFFF, length=16)
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0xFFFF)
self.assertTrue(int(k) == 0xFFFF)
self.assertTrue(k)
k = bf(0xFFFFFFFF, length=16)
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0xFFFF)
self.assertTrue(int(k) == 0xFFFF)
print int(k)
k = bf(0x8000, length=16)
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x8000)
self.assertTrue(int(k) == 0x8000)
print int(k)
def test_rsh(self):
k = bf(0xFF)
self.assertEqual(int(k), 0xFF)
k >>= 1
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x7F)
k >>= 1
self.assertEqual(int(k), 0x3F)
k >>= 4
self.assertEqual(int(k), 0x03)
k >>= 4
self.assertEqual(int(k), 0x00)
k = bf(0xFFFF)
self.assertEqual(int(k), 0xFFFF)
k >>= 1
self.assertEqual(int(k), 0x7FFF)
k >>= 1
self.assertEqual(int(k), 0x3FFF)
k >>= 4
self.assertEqual(int(k), 0x03FF)
k >>= 4
self.assertEqual(int(k), 0x003F)
k = bf(0xFFFFFFFF)
self.assertEqual(int(k), 0xFFFFFFFF)
k >>= 1
self.assertEqual(int(k), 0x7FFFFFFF)
k >>= 1
self.assertEqual(int(k), 0x3FFFFFFF)
k >>= 4
self.assertEqual(int(k), 0x03FFFFFF)
k >>= 4
self.assertEqual(int(k), 0x003FFFFF)
def test_full_assign_16(self):
# make sure the shuffled sequence does not lose any elements
k = bf(0x1,length=16)
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 1)
self.assertTrue(int(k)==1)
self.assertTrue(k)
self.assertEqual(len(k), 16)
k = bf(0xFF,length=16)
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0xFF)
self.assertTrue(int(k)==0xFF)
self.assertTrue(k)
k = bf(0xFFFF,length=16)
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0xFFFF)
self.assertTrue(int(k)==0xFFFF)
self.assertTrue(k)
k = bf(0xFFFFFFFF,length=16)
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0xFFFF)
self.assertTrue(int(k)==0xFFFF)
print int(k)
k = bf(0x8000,length=16)
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x8000)
self.assertTrue(int(k)==0x8000)
print int(k)
def test_str(self):
k = bf(0x6)
self.assertEqual(str(k),"110")
k = bf(0)
self.assertEqual(str(k),"0")
k = bf(0x6,8)
self.assertEqual(str(k),"00000110")
k = bf(0,8)
self.assertEqual(str(k),"00000000")
def setUp(self):
self.data_zero = []
self.data_1 = []
for i in range(10):
self.data_zero.append(bf(0, 32))
self.data_1.append(bf(0, 32))
self.data_1[5] = bf(0x123456 << 6, 30)
self.data_1[6] = bf(0x345678 << 6, 30)
def test_str(self):
k = bf(0x6)
self.assertEqual(str(k), "110")
k = bf(0)
self.assertEqual(str(k), "0")
k = bf(0x6, 8)
self.assertEqual(str(k), "00000110")
k = bf(0, 8)
self.assertEqual(str(k), "00000000")
def setUp(self):
self.data_zero=[]
self.data_1=[]
for i in range(10):
self.data_zero.append(bf(0,32))
self.data_1.append(bf(0,32))
self.data_1[5]=bf(0x123456<<6,30)
self.data_1[6]=bf(0x345678<<6,30)
def test_or_16(self):
k = bf(0x3,16)
k=k | 0x300
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x303)
k = bf(0x3,16)
k=k | 0x30
self.assertEqual(int(k), 0x033)
k=k | 0xF30
self.assertEqual(int(k), 0xF33)
k=k | 0xFFF00
self.assertEqual(int(k), 0xFF33)
def test_or_16(self):
k = bf(0x3, 16)
k = k | 0x300
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x303)
k = bf(0x3, 16)
k = k | 0x30
self.assertEqual(int(k), 0x033)
k = k | 0xF30
self.assertEqual(int(k), 0xF33)
k = k | 0xFFF00
self.assertEqual(int(k), 0xFF33)
def dump(self,
dump_undecoded=False,
dump_decoded=False,
dump_timestamp=False,
dump_header=False):
if self.Dump_Levels[self.packet_ID]:
print "***********************************************************"
if dump_timestamp:
print datetime.now()
print RTCM2_Message_Names[self.packet_ID] + " (" + str(
self.packet_ID) + ")"
if dump_header:
print(' Zcount : ' + str(self.zcount))
print(' Length : ' + str(self.length))
print(' Sequence : ' + str(self.sqn_num))
print(' Health : ' + RTCM2_Health_Names[self.health])
if self.Handler[self.packet_ID]:
self.Handler[self.packet_ID].dump(
self.Dump_Levels[self.packet_ID])
else:
print "!Undecoded packet"
if dump_undecoded:
for word in range(3, self.length + 3):
print "{:2} ".format(word) + str(
bf(extract_rtcm_bits(self.data[word], 1, 24), 24))
def test_zero_default(self):
# make sure the shuffled sequence does not lose any elements
k = bf()
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0)
self.assertEqual(len(k), 0)
self.assertFalse(k)
def test_lsh_rsh_16(self):
k = bf(0x0F,16)
self.assertEqual(int(k), 0x0F)
k <<= 1
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x1E)
k <<= 1
self.assertEqual(int(k), 0x3C)
k <<= 4
self.assertEqual(int(k), 0x3C0)
k >>= 4
self.assertEqual(int(k), 0x3C)
k <<= 8
self.assertEqual(int(k), 0x3C00)
k <<= 4
self.assertEqual(int(k), 0xC000)
k <<= 4
self.assertEqual(int(k), 0x0000)
k >>= 4
self.assertEqual(int(k), 0x0000)
#Check to make sure that the length has been remembered
k = k | 0xFFFF
self.assertEqual(int(k), 0xFFFF)
#Check to make sure that the length has been remembered
k = k | 0xFFFFFFFF
self.assertEqual(int(k), 0xFFFF)
def test_lsh_rsh_16(self):
k = bf(0x0F, 16)
self.assertEqual(int(k), 0x0F)
k <<= 1
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x1E)
k <<= 1
self.assertEqual(int(k), 0x3C)
k <<= 4
self.assertEqual(int(k), 0x3C0)
k >>= 4
self.assertEqual(int(k), 0x3C)
k <<= 8
self.assertEqual(int(k), 0x3C00)
k <<= 4
self.assertEqual(int(k), 0xC000)
k <<= 4
self.assertEqual(int(k), 0x0000)
k >>= 4
self.assertEqual(int(k), 0x0000)
#Check to make sure that the length has been remembered
k = k | 0xFFFF
self.assertEqual(int(k), 0xFFFF)
#Check to make sure that the length has been remembered
k = k | 0xFFFFFFFF
self.assertEqual(int(k), 0xFFFF)
def test_zero_default(self):
# make sure the shuffled sequence does not lose any elements
k = bf()
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0)
self.assertEqual(len(k), 0)
self.assertFalse(k)
def test_read_bit(self):
k = bf(0x6)
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x006)
self.assertEqual(k[0], 0x0)
self.assertEqual(k[1], 0x1)
self.assertEqual(k[2], 0x1)
self.assertEqual(k[3], 0x0)
def test_or_8(self):
k = bf(0x3, 8)
k = k | 0x300
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x003)
k = k | 0x30
self.assertEqual(int(k), 0x033)
def test_read_bit(self):
k = bf(0x6)
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x006)
self.assertEqual(k[0], 0x0)
self.assertEqual(k[1], 0x1)
self.assertEqual(k[2], 0x1)
self.assertEqual(k[3], 0x0)
def test_or_8(self):
k = bf(0x3,8)
k=k | 0x300
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x003)
k=k | 0x30
self.assertEqual(int(k), 0x033)
def test_or_32(self):
k = bf(0x3,32)
k=k | 0x300
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x303)
k = bf(0x3,32)
k=k | 0x30
self.assertEqual(int(k), 0x033)
k=k | 0xF30
self.assertEqual(int(k), 0xF33)
k=k | 0xFFF00
self.assertEqual(int(k), 0xFFF33)
k=k | 0x12300000
self.assertEqual(int(k), 0x123FFF33)
def test_or_32(self):
k = bf(0x3, 32)
k = k | 0x300
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x303)
k = bf(0x3, 32)
k = k | 0x30
self.assertEqual(int(k), 0x033)
k = k | 0xF30
self.assertEqual(int(k), 0xF33)
k = k | 0xFFF00
self.assertEqual(int(k), 0xFFF33)
k = k | 0x12300000
self.assertEqual(int(k), 0x123FFF33)
def test_slice_assign(self):
k = bf()
self.assertIsInstance(k,bf)
k[3:7]=5
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x28)
k = bf()
k[3:7]=7
self.assertEqual(int(k), 0x38)
k = bf()
k[3:7]=15
self.assertEqual(int(k), 0x78)
#This test is to make sure we do not assign more than the slice
k = bf()
k[3:7]=0xFF
self.assertEqual(int(k), 0x78)
k = bf(0x0000)
k[3:7]=0xF
self.assertEqual(int(k), 0x78)
k = bf(0x0000)
k[4:8]=0xF
self.assertEqual(int(k), 0xF0)
k = bf(0xFFFF)
k[4:8]=0x0
self.assertEqual(int(k), 0x0FF0F)
k = bf(0xFFFF)
k[0:8]=0x0
self.assertEqual(int(k), 0x0FF00)
k = bf(0xFFFF)
k[0:1]=0x0
self.assertEqual(int(k), 0x0FFFE)
k = bf(0xFFFF)
k[15:16]=0x0
self.assertEqual(int(k), 0x07FFF)
def test_slice_assign(self):
k = bf()
self.assertIsInstance(k, bf)
k[3:7] = 5
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x28)
k = bf()
k[3:7] = 7
self.assertEqual(int(k), 0x38)
k = bf()
k[3:7] = 15
self.assertEqual(int(k), 0x78)
#This test is to make sure we do not assign more than the slice
k = bf()
k[3:7] = 0xFF
self.assertEqual(int(k), 0x78)
k = bf(0x0000)
k[3:7] = 0xF
self.assertEqual(int(k), 0x78)
k = bf(0x0000)
k[4:8] = 0xF
self.assertEqual(int(k), 0xF0)
k = bf(0xFFFF)
k[4:8] = 0x0
self.assertEqual(int(k), 0x0FF0F)
k = bf(0xFFFF)
k[0:8] = 0x0
self.assertEqual(int(k), 0x0FF00)
k = bf(0xFFFF)
k[0:1] = 0x0
self.assertEqual(int(k), 0x0FFFE)
k = bf(0xFFFF)
k[15:16] = 0x0
self.assertEqual(int(k), 0x07FFF)
def test_lsh(self):
k = bf(1)
self.assertEqual(int(k), 0x01)
k <<= 1
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x02)
k <<= 1
self.assertEqual(int(k), 0x04)
k <<= 4
self.assertEqual(int(k), 0x40)
k = bf(0x0F)
self.assertEqual(int(k), 0x0F)
k <<= 1
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x1E)
k <<= 1
self.assertEqual(int(k), 0x3C)
k <<= 4
self.assertEqual(int(k), 0x3C0)
k <<= 4
self.assertEqual(int(k), 0x3C00)
def test_lsh(self):
k = bf(1)
self.assertEqual(int(k), 0x01)
k <<= 1
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x02)
k <<= 1
self.assertEqual(int(k), 0x04)
k <<= 4
self.assertEqual(int(k), 0x40)
k = bf(0x0F)
self.assertEqual(int(k), 0x0F)
k <<= 1
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x1E)
k <<= 1
self.assertEqual(int(k), 0x3C)
k <<= 4
self.assertEqual(int(k), 0x3C0)
k <<= 4
self.assertEqual(int(k), 0x3C00)
def test_lsh_8(self):
k = bf(1,8)
self.assertEqual(int(k), 0x01)
k <<= 1
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x02)
k <<= 1
self.assertEqual(int(k), 0x04)
k <<= 4
self.assertEqual(int(k), 0x40)
k <<= 4
self.assertEqual(int(k), 0x00)
#Check to make sure that the length has been remembered
k = k | 0xFFFF
self.assertEqual(int(k), 0xFF)
def test_lsh_8(self):
k = bf(1, 8)
self.assertEqual(int(k), 0x01)
k <<= 1
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x02)
k <<= 1
self.assertEqual(int(k), 0x04)
k <<= 4
self.assertEqual(int(k), 0x40)
k <<= 4
self.assertEqual(int(k), 0x00)
#Check to make sure that the length has been remembered
k = k | 0xFFFF
self.assertEqual(int(k), 0xFF)
def test_set_bit(self):
k = bf(0x6)
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x006)
self.assertEqual(k[0], 0x0)
self.assertEqual(k[1], 0x1)
self.assertEqual(k[2], 0x1)
self.assertEqual(k[3], 0x0)
k[0]=1
k[1]=0
k[2]=0
k[3]=1
self.assertEqual(k[0], 0x1)
self.assertEqual(k[1], 0x0)
self.assertEqual(k[2], 0x0)
self.assertEqual(k[3], 0x1)
def test_set_bit(self):
k = bf(0x6)
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x006)
self.assertEqual(k[0], 0x0)
self.assertEqual(k[1], 0x1)
self.assertEqual(k[2], 0x1)
self.assertEqual(k[3], 0x0)
k[0] = 1
k[1] = 0
k[2] = 0
k[3] = 1
self.assertEqual(k[0], 0x1)
self.assertEqual(k[1], 0x0)
self.assertEqual(k[2], 0x0)
self.assertEqual(k[3], 0x1)
def __init__(self, default_output_level):
self.undecoded = bytearray("")
self.buffer = bytearray("")
self.default_output_level = default_output_level
self.packet_ID = None
self.packet_Length = None
self.Dump_Levels = array("I")
self.Handler = []
self.commands = {}
self.last_32_bits = bf(0x00, width=32)
self.bit_count = 0
self.framing_mode = HDR_WORD1_SRCH
self.frame_locked = False
self.data = []
for i in range(RTCM2_Max_Words):
self.data.append(0)
self.word_count = 0
for i in range(RTCM2_Min_Message_ID, RTCM2_Max_Message_ID):
self.Dump_Levels.append(default_output_level)
self.Handler.append(None)
self.Handler[1] = RTCM2_Type1.Type1()
self.Handler[2] = RTCM2_Type2.Type2()
self.Handler[3] = RTCM2_Type3.Type3()
self.Handler[7] = RTCM2_Type7.Type7()
self.Handler[9] = RTCM2_Type1.Type1(
) # Type 9 is just type 1 but without all the SV information
self.Handler[18] = RTCM2_Type18.Type18()
self.Handler[19] = RTCM2_Type19.Type19()
self.Handler[22] = RTCM2_Type22.Type22()
self.Handler[23] = RTCM2_Type23.Type23()
self.Handler[24] = RTCM2_Type24.Type24()
self.Handler[27] = RTCM2_Type27.Type27()
self.Handler[31] = RTCM2_Type31.Type31()
self.Handler[41] = RTCM2_Type41.Type41()
def dump (self,dump_undecoded=False,dump_decoded=False,dump_timestamp=False,dump_header=False):
if self.Dump_Levels[self.packet_ID] :
print "***********************************************************"
if dump_timestamp :
print datetime.now()
print RTCM2_Message_Names[self.packet_ID] + " ("+ str(self.packet_ID) +")"
if dump_header:
print(' Zcount : '+ str(self.zcount));
print(' Length : '+ str(self.length));
print(' Sequence : '+ str(self.sqn_num));
print(' Health : '+ RTCM2_Health_Names[self.health])
if self.Handler[self.packet_ID]:
self.Handler[self.packet_ID].dump(self.Dump_Levels[self.packet_ID])
else :
print "!Undecoded packet"
if dump_undecoded:
for word in range (3,self.length+3):
print "{:2} ".format(word) + str(bf(extract_rtcm_bits(self.data[word],1,24),24))
def __init__ (self,default_output_level):
self.undecoded=bytearray("")
self.buffer=bytearray("")
self.default_output_level=default_output_level
self.packet_ID=None
self.packet_Length=None
self.Dump_Levels=array("I")
self.Handler=[]
self.commands={}
self.last_32_bits=bf(length=32)
self.bit_count=0
self.framing_mode = HDR_WORD1_SRCH
self.frame_locked=False
self.data=[]
for i in range(RTCM2_Max_Words):
self.data.append(0)
self.word_count=0
for i in range (RTCM2_Min_Message_ID,RTCM2_Max_Message_ID):
self.Dump_Levels.append(default_output_level)
self.Handler.append(None)
self.Handler[1]=RTCM2_Type1.Type1()
self.Handler[2]=RTCM2_Type2.Type2()
self.Handler[3]=RTCM2_Type3.Type3()
self.Handler[7]=RTCM2_Type7.Type7()
self.Handler[9]=RTCM2_Type1.Type1() # Type 9 is just type 1 but without all the SV information
self.Handler[18]=RTCM2_Type18.Type18()
self.Handler[19]=RTCM2_Type19.Type19()
self.Handler[22]=RTCM2_Type22.Type22()
self.Handler[23]=RTCM2_Type23.Type23()
self.Handler[24]=RTCM2_Type24.Type24()
self.Handler[27]=RTCM2_Type27.Type27()
self.Handler[31]=RTCM2_Type31.Type31()
self.Handler[41]=RTCM2_Type41.Type41()
def process_rtcm_byte (self, rtcm_byte):
good_parity=False;
format_status=NO_INFO
# OutputDebugString("Process RTCM Byte Start: " + "{:02X}".format(rtcm_byte))
# OutputDebugString('Process RTCM Byte: ' + str(self.framing_mode)+ ' ' + str(self.frame_locked))
if ((rtcm_byte & 0xC0) <> 0x40) :
OutputDebugString('Not 6 of 8');
return NO_INFO; # Invalid 6 of 8 byte, so give up
rtcm_byte &= 0x3F
# OutputDebugString("Process RTCM Start: " + "{:06b}".format(rtcm_byte))
for Count in range(6,0,-1): # The low 6 Bits in the byte we care about, we have to make this into a bit stream
#OutputDebugString("Process RTCM Byte: " + "{:02X}".format(rtcm_byte) + " " + str(Count))
self.last_32_bits<<=1; #always shift left 1
if rtcm_byte & 1 :
self.last_32_bits[0]=1; #Had a 1 in the byte add to the last_32_bits
self.bit_count+=1
#OutputDebugString(str(self.last_32_bits)+ " " + str(self.bit_count));
rtcm_byte >>=1
if self.bit_count >= 30:
self.bit_count=0; # Not convinced that we should reset this here, since it seems wrong in the case that we have a bit stream and are trying to sync
# In practice though we are only working with byte aligned streams, since we bail if the byte doesn't start with 0x40
self.word_boundary=True;
good_parity=self.check_gps_parity(self.last_32_bits)
# OutputDebugString("word_boundary: " + str(good_parity))
#Need to check if we should bail here or if we have to keep going for the headers
# if not good_parity:
# continue
else:
self.word_boundary=False;
if( self.frame_locked ) :
# In an effort to save throughput, we make use of the
# fact that the switch statement below need only be
# executed on a non-word boundary when frame_locked is FALSE.
continue;
if self.framing_mode == HDR_WORD1_SRCH:
# If last msg ok, then wait for next word boundary
if( (not self.frame_locked ) or self.word_boundary ):
#OutputDebugString("HDR_WORD1_SRCH");
# Look for a valid preamble bit sequence. If one is found, overwrite B30 with the assumed value *)
# preamble = self.last_32_bits & 0x3fc00000;
preamble = extract_rtcm_bits(self.last_32_bits,1,8)
# print preamble, POS_VER2_PREAMBLE, NEG_VER2_PREAMBLE
# print preamble==POS_VER2_PREAMBLE, preamble==NEG_VER2_PREAMBLE
# print int(preamble)==int(POS_VER2_PREAMBLE), int(preamble)==int(NEG_VER2_PREAMBLE)
if( preamble == POS_VER2_PREAMBLE ) :
self.last_32_bits[30]=0 # &= (not 0x40000000); # Clear D30* *)
# OutputDebugString('Pos Ver Preamble');
self.found_RTCMV2_header=True
elif( preamble == NEG_VER2_PREAMBLE ) :
self.last_32_bits[30]=1 # |= 0x40000000; # Set D30* *)
# OutputDebugString('Neg Ver Preamble');
self.found_RTCMV2_header=True
else :
self.found_RTCMV2_header=False
if self.found_RTCMV2_header:
# OutputDebugString('Found Header');
# received_checksum=self.last_32_bits[0:6] # & $3F
received_checksum=extract_rtcm_bits(self.last_32_bits,25,30)
calced_checksum=self.compute_gps_parity(self.last_32_bits)
xor_checksum=received_checksum ^ calced_checksum
# OutputDebugString("Checksum: " + "{:02X}".format(xor_checksum))
if (xor_checksum == 0x29) :
self.last_32_bits ^= 0x80000000; #Don't understand this one at all.
# OutputDebugString('Checksum 29 hack used');
xor_checksum=0
if (xor_checksum == 0 ):
self.bit_count=0;
self.framing_mode=HDR_WORD2_CONFIRM;
self.format_status=GOOD_HDR1
self.hdr_word=self.extract_data(self.last_32_bits)
self.stn_id = extract_rtcm_bits(self.hdr_word, 15, 24);
# print " Stn Id : " + str(self.stn_id);
self.packet_ID = extract_rtcm_bits(self.hdr_word,9,14);
# print " Type : " + str(self.packet_ID)
else :
self.format_status = ERROR_DETECTED;
self.frame_locked = False
elif self.framing_mode == HDR_WORD2_CONFIRM:
if ( self.word_boundary ) :
if( good_parity ) :
self.hdr_word=bf(self.extract_data(self.last_32_bits),30)
# OutputDebugString('HDR Word2 CONFIRM Good Parity');
self.frame_locked = True;
# Extract fields for word 2 of the message header *)
self.zcount = int(extract_rtcm_bits( self.hdr_word, 1, 13 ));
self.sqn_num = int(extract_rtcm_bits( self.hdr_word, 14, 16 ));
self.length = int(extract_rtcm_bits( self.hdr_word, 17, 21 ));
self.health = int(extract_rtcm_bits( self.hdr_word, 22, 24 ));
# Handle the 0 length message case eg :- Type 6 *)
if( self.length == 0 ) :
self.framing_mode = HDR_WORD1_SRCH;
format_status = MESSAGE_COMPLETE_GOOD_ID;
else:
self.framing_mode = DATA_COLLECT;
# OutputDebugString('HDR Word2 going to Data Collect');
format_status = GOOD_HDR2;
self.word_count = 0;
else :
self.frame_locked = False;
self.framing_mode = HDR_WORD1_SRCH;
format_status = ERROR_DETECTED;
elif self.framing_mode == DATA_COLLECT:
if ( self.word_boundary ) :
if( good_parity ) :
# OutputDebugString('Data Collect: ' + str(self.word_count) + " " + str(self.length));
self.data[self.word_count+3] = self.extract_data(self.last_32_bits)
self.word_count+=1
if( self.word_count >= self.length ):
# This word completes the message. Perform the message termination work. *)
self.framing_mode = HDR_WORD1_SRCH;
self.bit_count = 0;
format_status = MESSAGE_COMPLETE_GOOD_ID;
# OutputDebugString("Message Complete")
return format_status
else:
# A bad data word has been received. Reset data collection. *)
self.framing_mode = HDR_WORD1_SRCH;
self.frame_locked = False;
format_status = ERROR_DETECTED;
return format_status
def test_full_assign_fail(self):
# make sure the shuffled sequence does not lose any elements
k = bf(2)
self.assertIsInstance(k, bf)
self.assertFalse(int(k) == 1)
self.assertNotEqual(int(k), 1)
def test_zero_default_length(self):
k8 = bf(length=8)
self.assertIsInstance(k8, bf)
self.assertEqual(int(k8), 0)
self.assertFalse(k8)
def test_and(self):
k = bf(1)
k = k & 0x3
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x001)
def test_or(self):
k = bf(1)
k = k | 0x3
self.assertIsInstance(k, bf)
self.assertEqual(int(k), 0x003)
def process_rtcm_byte(self, rtcm_byte):
good_parity = False
format_status = NO_INFO
# OutputDebugString("Process RTCM Byte Start: " + "{:02X}".format(rtcm_byte))
# OutputDebugString('Process RTCM Byte: ' + str(self.framing_mode)+ ' ' + str(self.frame_locked))
if ((rtcm_byte & 0xC0) <> 0x40):
OutputDebugString('Not 6 of 8')
return NO_INFO
# Invalid 6 of 8 byte, so give up
rtcm_byte &= 0x3F
# OutputDebugString("Process RTCM Start: " + "{:06b}".format(rtcm_byte))
for Count in range(
6, 0, -1
): # The low 6 Bits in the byte we care about, we have to make this into a bit stream
#OutputDebugString("Process RTCM Byte: " + "{:02X}".format(rtcm_byte) + " " + str(Count))
self.last_32_bits <<= 1
#always shift left 1
if rtcm_byte & 1:
self.last_32_bits[0] = 1
#Had a 1 in the byte add to the last_32_bits
self.bit_count += 1
#OutputDebugString(str(self.last_32_bits)+ " " + str(self.bit_count));
rtcm_byte >>= 1
if self.bit_count >= 30:
self.bit_count = 0
# Not convinced that we should reset this here, since it seems wrong in the case that we have a bit stream and are trying to sync
# In practice though we are only working with byte aligned streams, since we bail if the byte doesn't start with 0x40
self.word_boundary = True
good_parity = self.check_gps_parity(self.last_32_bits)
# OutputDebugString("word_boundary: " + str(good_parity))
#Need to check if we should bail here or if we have to keep going for the headers
# if not good_parity:
# continue
else:
self.word_boundary = False
if (self.frame_locked):
# In an effort to save throughput, we make use of the
# fact that the switch statement below need only be
# executed on a non-word boundary when frame_locked is FALSE.
continue
if self.framing_mode == HDR_WORD1_SRCH:
# If last msg ok, then wait for next word boundary
if ((not self.frame_locked) or self.word_boundary):
#OutputDebugString("HDR_WORD1_SRCH");
# Look for a valid preamble bit sequence. If one is found, overwrite B30 with the assumed value *)
# preamble = self.last_32_bits & 0x3fc00000;
preamble = extract_rtcm_bits(self.last_32_bits, 1, 8)
# print preamble, POS_VER2_PREAMBLE, NEG_VER2_PREAMBLE
# print preamble==POS_VER2_PREAMBLE, preamble==NEG_VER2_PREAMBLE
# print int(preamble)==int(POS_VER2_PREAMBLE), int(preamble)==int(NEG_VER2_PREAMBLE)
if (preamble == POS_VER2_PREAMBLE):
self.last_32_bits[
30] = 0 # &= (not 0x40000000); # Clear D30* *)
# OutputDebugString('Pos Ver Preamble');
self.found_RTCMV2_header = True
elif (preamble == NEG_VER2_PREAMBLE):
self.last_32_bits[
30] = 1 # |= 0x40000000; # Set D30* *)
# OutputDebugString('Neg Ver Preamble');
self.found_RTCMV2_header = True
else:
self.found_RTCMV2_header = False
if self.found_RTCMV2_header:
# OutputDebugString('Found Header');
# received_checksum=self.last_32_bits[0:6] # & $3F
received_checksum = extract_rtcm_bits(
self.last_32_bits, 25, 30)
calced_checksum = self.compute_gps_parity(
self.last_32_bits)
xor_checksum = received_checksum ^ calced_checksum
# OutputDebugString("Checksum: " + "{:02X}".format(xor_checksum))
if (xor_checksum == 0x29):
self.last_32_bits ^= 0x80000000
#Don't understand this one at all.
# OutputDebugString('Checksum 29 hack used');
xor_checksum = 0
if (xor_checksum == 0):
self.bit_count = 0
self.framing_mode = HDR_WORD2_CONFIRM
self.format_status = GOOD_HDR1
self.hdr_word = self.extract_data(self.last_32_bits)
self.stn_id = extract_rtcm_bits(self.hdr_word, 15, 24)
# print " Stn Id : " + str(self.stn_id);
self.packet_ID = extract_rtcm_bits(
self.hdr_word, 9, 14)
# print " Type : " + str(self.packet_ID)
else:
self.format_status = ERROR_DETECTED
self.frame_locked = False
elif self.framing_mode == HDR_WORD2_CONFIRM:
if (self.word_boundary):
if (good_parity):
self.hdr_word = bf(
self.extract_data(self.last_32_bits), 30)
# OutputDebugString('HDR Word2 CONFIRM Good Parity');
self.frame_locked = True
# Extract fields for word 2 of the message header *)
self.zcount = int(
extract_rtcm_bits(self.hdr_word, 1, 13))
self.sqn_num = int(
extract_rtcm_bits(self.hdr_word, 14, 16))
self.length = int(
extract_rtcm_bits(self.hdr_word, 17, 21))
self.health = int(
extract_rtcm_bits(self.hdr_word, 22, 24))
# Handle the 0 length message case eg :- Type 6 *)
if (self.length == 0):
self.framing_mode = HDR_WORD1_SRCH
format_status = MESSAGE_COMPLETE_GOOD_ID
else:
self.framing_mode = DATA_COLLECT
# OutputDebugString('HDR Word2 going to Data Collect');
format_status = GOOD_HDR2
self.word_count = 0
else:
self.frame_locked = False
self.framing_mode = HDR_WORD1_SRCH
format_status = ERROR_DETECTED
elif self.framing_mode == DATA_COLLECT:
if (self.word_boundary):
if (good_parity):
# OutputDebugString('Data Collect: ' + str(self.word_count) + " " + str(self.length));
self.data[self.word_count + 3] = self.extract_data(
self.last_32_bits)
self.word_count += 1
if (self.word_count >= self.length):
# This word completes the message. Perform the message termination work. *)
self.framing_mode = HDR_WORD1_SRCH
self.bit_count = 0
format_status = MESSAGE_COMPLETE_GOOD_ID
# OutputDebugString("Message Complete")
return format_status
else:
# A bad data word has been received. Reset data collection. *)
self.framing_mode = HDR_WORD1_SRCH
self.frame_locked = False
format_status = ERROR_DETECTED
return format_status
def test_or(self):
k = bf(1)
k=k | 0x3
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x003)
def test_and(self):
k = bf(1)
k=k & 0x3
self.assertIsInstance(k,bf)
self.assertEqual(int(k), 0x001)
def test_full_assign_fail(self):
# make sure the shuffled sequence does not lose any elements
k = bf(2)
self.assertIsInstance(k,bf)
self.assertFalse(int(k)==1)
self.assertNotEqual(int(k), 1)
def test_zero_default_length(self):
k8 = bf(length=8)
self.assertIsInstance(k8,bf)
self.assertEqual(int(k8), 0)
self.assertFalse(k8)
