def static_build_gps_raw_info_message():
message_header = ROSLinkBridgeGapter.static_build_roslink_header_message(
MESSAGE_TYPE.ROSLINK_MESSAGE_GPS_RAW_INFO)
s = ROSLinkBridgeGapter.SRTLines[ROSLinkBridgeGapter.SRTLines_counter]
s = s.split("(")
gps = s[1].split(",")
# print(s)
ROSLinkBridgeGapter.SRTLines_counter += 6
if ROSLinkBridgeGapter.SRTLines_counter > 500:
ROSLinkBridgeGapter.SRTLines_counter = 3
ROSLinkStateVariables.lat = gps[0]
ROSLinkStateVariables.lon = gps[1]
alt = s[1].split(":")[1][0:4]
ROSLinkStateVariables.alt = alt
print(ROSLinkStateVariables.alt)
global_motion_message = GPSRawInfo(
message_header, ROSLinkStateVariables.time_boot_ms,
ROSLinkStateVariables.fix_type, ROSLinkStateVariables.lat,
ROSLinkStateVariables.lon, ROSLinkStateVariables.altitude,
ROSLinkStateVariables.eph, ROSLinkStateVariables.epv,
ROSLinkStateVariables.vel, ROSLinkStateVariables.cog,
ROSLinkStateVariables.satellites_visible)
return global_motion_message.__dict__
def static_build_gps_raw_info_message():
message_header = ROSLinkBridgeTurtlebot.static_build_roslink_header_message(
MESSAGE_TYPE.ROSLINK_MESSAGE_GPS_RAW_INFO)
global_motion_message = GPSRawInfo(
message_header, ROSLinkStateVariables.time_boot_ms,
ROSLinkStateVariables.fix_type, ROSLinkStateVariables.lat,
ROSLinkStateVariables.lon, ROSLinkStateVariables.alt,
ROSLinkStateVariables.eph, ROSLinkStateVariables.epv,
ROSLinkStateVariables.vel, ROSLinkStateVariables.cog,
ROSLinkStateVariables.satellites_visible)
return global_motion_message.__dict__