mapping.py
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00001 #! /usr/bin/env python
00002 # -*- coding: utf-8 -*-
00003 #     _____
00004 #    /  _  \
00005 #   / _/ \  \
00006 #  / / \_/   \
00007 # /  \_/  _   \  ___  _    ___   ___   ____   ____   ___   _____  _   _
00008 # \  / \_/ \  / /  _\| |  | __| / _ \ | ┌┐ \ | ┌┐ \ / _ \ |_   _|| | | |
00009 #  \ \_/ \_/ /  | |  | |  | └─┐| |_| || └┘ / | └┘_/| |_| |  | |  | └─┘ |
00010 #   \  \_/  /   | |_ | |_ | ┌─┘|  _  || |\ \ | |   |  _  |  | |  | ┌─┐ |
00011 #    \_____/    \___/|___||___||_| |_||_| \_\|_|   |_| |_|  |_|  |_| |_|
00012 #            ROBOTICS™
00013 #
00014 #
00015 #  Copyright © 2012 Clearpath Robotics, Inc. 
00016 #  All Rights Reserved
00017 #  
00018 # Redistribution and use in source and binary forms, with or without
00019 # modification, are permitted provided that the following conditions are met:
00020 #     * Redistributions of source code must retain the above copyright
00021 #       notice, this list of conditions and the following disclaimer.
00022 #     * Redistributions in binary form must reproduce the above copyright
00023 #       notice, this list of conditions and the following disclaimer in the
00024 #       documentation and/or other materials provided with the distribution.
00025 #     * Neither the name of Clearpath Robotics, Inc. nor the
00026 #       names of its contributors may be used to endorse or promote products
00027 #       derived from this software without specific prior written permission.
00028 # 
00029 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00030 # ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00031 # WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00032 # DISCLAIMED. IN NO EVENT SHALL CLEARPATH ROBOTICS, INC. BE LIABLE FOR ANY
00033 # DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00034 # (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00035 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00036 # ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00037 # (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00038 # SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00039 #
00040 # Please send comments, questions, or patches to skynet@clearpathrobotics.com
00041 #
00042 import roslib; roslib.load_manifest('applanix_msgs')
00043 from applanix_msgs.msg import *
00044 
00045 
00046 # applanix group number : ( topic name, ROS message class, [opts] )
00047 groups = {
00048       1: ("nav", NavigationSolution),
00049       2: ("status/perf", NavigationPerformance),
00050       3: ("status/gnss/primary", GNSSStatus),
00051       4: ("imu", IMUData),
00052       5: ("events/1", Event),
00053       6: ("events/2", Event),
00054       7: ("status/pps", PPSStatus),
00055       8: ("status/logging", LoggingStatus),
00056       9: ("gams", GAMS),
00057       10: ("status/general", GeneralStatus),
00058       11: ("status/gnss/secondary", GNSSStatus),
00059       12: ("status/gnss/aux_1", GNSSAuxStatus),
00060       13: ("status/gnss/aux_2", GNSSAuxStatus),
00061       14: ("status/installation", CalibratedInstallationParameters),
00062       15: ("dmi", DMIData),
00063       17: ("status/user_time", UserTimeStatus),
00064       20: ("status/iin", IINSolutionStatus),
00065       21: ("status/base_gnss/1/modem", BaseGNSSModemStatus),
00066       22: ("status/base_gnss/2/modem", BaseGNSSModemStatus),
00067       23: ("raw/gnss/aux_1_display", RawData),
00068       24: ("raw/gnss/aux_2_display", RawData),
00069       25: ("status/dgps", GNSSDGPSStatus),
00070       26: ("status/dgps_stations", GNSSDGPSStationDatabase),
00071       30: ("events/3", Event),
00072       31: ("events/4", Event),
00073       32: ("events/5", Event),
00074       33: ("events/6", Event),
00075       99: ("status/version", Version),
00076       10001: ("raw/gnss/primary", RawData),
00077       10002: ("raw/imu", RawData),
00078       10003: ("raw/pps", RawPPS),
00079       10004: ("events/1", Event),
00080       10005: ("events/2", Event),
00081       10006: ("raw/dmi", RawDMI),
00082       10007: ("raw/gnss/aux_1", RawData),
00083       10008: ("raw/gnss/aux_2", RawData),
00084       10009: ("raw/gnss/secondary", RawData),
00085       10011: ("raw/base_gnss/1", RawData),
00086       10012: ("raw/base_gnss/2", RawData),
00087       }
00088 
00089 msgs = {
00090       0: ("ack", Ack),
00091       20: ("general", GeneralParams),
00092       21: ("gams", GAMSParams),
00093       22: ("aiding_sensors", AidingSensorParams),
00094       24: ("user_accuracy", UserAccuracySpecs),
00095       30: ("primary_gnss_setup", GNSSSetup),
00096       31: ("secondary_gnss_setup", GNSSSetup),
00097       32: ("ip_address", IPAddress),
00098       33: ("event_setup", EventSetup),
00099       34: ("com_port_setup", COMPortSetup),
00100       35: ("nmea_message_select", NMEAMessageSelect),
00101       36: ("binary_message_select", BinaryMessageSelect),
00102       37: ("base_gnss_1_setup", BaseGNSSSetup),
00103       38: ("base_gnss_2_setup", BaseGNSSSetup),
00104       40: ("precise_gravity", PreciseGravitySpecs),
00105       41: ("primary_dgps_source", DGPSSourceControl),
00106       50: ("nav_mode", NavModeControl),
00107       51: ("display_port", PortControl),
00108       52: ("primary_data_port", PortControl),
00109       53: ("logging_port", LoggingControl),
00110       54: ("save_restore", SaveRestoreControl),
00111       55: ("time_sync", TimeSyncControl),
00112       57: ("installation_calibration", InstallationCalibrationControl),
00113       58: ("gams_calibration", GAMSCalibrationControl),
00114       61: ("secondary_data_port", PortControl),
00115       90: ("program", ProgramControl),
00116       91: ("gnss", GNSSControl),
00117       92: ("integration_diagnostics", IntegrationDiagnosticsControl),
00118       93: ("aiding_sensor_integration", AidingSensorIntegrationControl),
00119     }
00120 
00121 
00122 # Message excluded from the generated AllMsgs aggregate message.
00123 all_msgs_exclude = set([Ack, SaveRestoreControl, InstallationCalibrationControl, 
00124     GAMSCalibrationControl, ProgramControl, GNSSControl])
00125 for name, msg in msgs.values():
00126   if msg in all_msgs_exclude:
00127     msg.in_all_msgs = False
00128   else:
00129     msg.in_all_msgs = True
00130 
00131 
00132 if __name__ == '__main__':
00133   from pprint import pprint
00134   pprint((groups, msgs))


applanix_msgs
Author(s): Mike Purvis
autogenerated on Thu Jan 2 2014 11:04:51