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(X4('bitfield')) # u-blox describes as U4, bit is X4
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 __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'))
def __init__(self):
super().__init__()
self.f.add(U1('type'))
self.f.add(U1('version'))
self.f.add(U1('infoCode'))
self.f.add(U1('msgId'))
self.f.add(X4('msgPayloadStart'))
def __init__(self):
super().__init__()
self.f = Fields()
self.f.add(U4('timeTag'))
self.f.add(X2('flags'))
self.f.add(U2('id'))
self.f.add(X4('data'))
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 __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(X4('clearMask'))
self.f.add(X4('saveMask'))
self.f.add(X4('loadMask'))