sbp_messages.py

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import struct

# Automatically generated from sbp.yaml with generate.py, do not hand edit!



SBP_STARTUP = 0xFF00
class Startup:
  """
  SBP class for message STARTUP (0xFF00)

  The system start-up message is sent once on system start-up. It is
intended to be used to notify the host or other attached devices that
the system has started and is now ready to respond to commands or
configuration requests.

  """

  def __init__(self, d):
    self.from_binary(d)

  def from_binary(self, d):
    (
      self.reserved,
    ) = struct.unpack('<I', d)

  def to_binary(self, d):
    return struct.pack('<I', (
      self.reserved,
    ))


SBP_HEARTBEAT = 0xFFFF
class Heartbeat:
  """
  SBP class for message HEARTBEAT (0xFFFF)

  The heartbeat message is sent periodically to inform the host or
other attached devices that the system is running. It is intended to
be used to monitor for system malfunctions and also contains
status flags that indicate to the host the status of the system and
if it is operating correctly.

The system error flag is used to indicate that an error has occurred in
the system. To determine the source of the error the remaining error
flags should be inspected.

  """

  def __init__(self, d):
    self.from_binary(d)

  def from_binary(self, d):
    (
      self.flags,
    ) = struct.unpack('<I', d)

  def to_binary(self, d):
    return struct.pack('<I', (
      self.flags,
    ))


SBP_GPS_TIME = 0x0100
class GPSTime:
  """
  SBP class for message GPS_TIME (0x0100)

  GPS Time.

  """

  def __init__(self, d):
    self.from_binary(d)

  def from_binary(self, d):
    (
      self.wn,
      self.tow,
      self.ns,
      self.flags,
    ) = struct.unpack('<HIiB', d)

  def to_binary(self, d):
    return struct.pack('<HIiB', (
      self.wn,
      self.tow,
      self.ns,
      self.flags,
    ))


SBP_DOPS = 0x0206
class Dops:
  """
  SBP class for message DOPS (0x0206)

  Dilution of Precision.

  """

  def __init__(self, d):
    self.from_binary(d)

  def from_binary(self, d):
    (
      self.tow,
      self.gdop,
      self.pdop,
      self.tdop,
      self.hdop,
      self.vdop,
    ) = struct.unpack('<IHHHHH', d)

  def to_binary(self, d):
    return struct.pack('<IHHHHH', (
      self.tow,
      self.gdop,
      self.pdop,
      self.tdop,
      self.hdop,
      self.vdop,
    ))


SBP_POS_ECEF = 0x0200
class PosECEF:
  """
  SBP class for message POS_ECEF (0x0200)

  Position solution in absolute Earth Centered Earth Fixed (ECEF) coordinates.

  """

  def __init__(self, d):
    self.from_binary(d)

  def from_binary(self, d):
    (
      self.tow,
      self.x,
      self.y,
      self.z,
      self.accuracy,
      self.n_sats,
      self.flags,
    ) = struct.unpack('<IdddHBB', d)

  def to_binary(self, d):
    return struct.pack('<IdddHBB', (
      self.tow,
      self.x,
      self.y,
      self.z,
      self.accuracy,
      self.n_sats,
      self.flags,
    ))


SBP_POS_LLH = 0x0201
class PosLLH:
  """
  SBP class for message POS_LLH (0x0201)

  Geodetic position solution.

  """

  def __init__(self, d):
    self.from_binary(d)

  def from_binary(self, d):
    (
      self.tow,
      self.lat,
      self.lon,
      self.height,
      self.h_accuracy,
      self.v_accuracy,
      self.n_sats,
      self.flags,
    ) = struct.unpack('<IdddHHBB', d)

  def to_binary(self, d):
    return struct.pack('<IdddHHBB', (
      self.tow,
      self.lat,
      self.lon,
      self.height,
      self.h_accuracy,
      self.v_accuracy,
      self.n_sats,
      self.flags,
    ))


SBP_BASELINE_ECEF = 0x0202
class BaselineECEF:
  """
  SBP class for message BASELINE_ECEF (0x0202)

  Baseline in Earth Centered Earth Fixed (ECEF) coordinates.

  """

  def __init__(self, d):
    self.from_binary(d)

  def from_binary(self, d):
    (
      self.tow,
      self.x,
      self.y,
      self.z,
      self.accuracy,
      self.n_sats,
      self.flags,
    ) = struct.unpack('<IiiiHBB', d)

  def to_binary(self, d):
    return struct.pack('<IiiiHBB', (
      self.tow,
      self.x,
      self.y,
      self.z,
      self.accuracy,
      self.n_sats,
      self.flags,
    ))


SBP_BASELINE_NED = 0x0203
class BaselineNED:
  """
  SBP class for message BASELINE_NED (0x0203)

  Baseline in local North East Down (NED) coordinates.

  """

  def __init__(self, d):
    self.from_binary(d)

  def from_binary(self, d):
    (
      self.tow,
      self.n,
      self.e,
      self.d,
      self.h_accuracy,
      self.v_accuracy,
      self.n_sats,
      self.flags,
    ) = struct.unpack('<IiiiHHBB', d)

  def to_binary(self, d):
    return struct.pack('<IiiiHHBB', (
      self.tow,
      self.n,
      self.e,
      self.d,
      self.h_accuracy,
      self.v_accuracy,
      self.n_sats,
      self.flags,
    ))


SBP_VEL_ECEF = 0x0204
class VelECEF:
  """
  SBP class for message VEL_ECEF (0x0204)

  Velocity in Earth Centered Earth Fixed (ECEF) coordinates.

  """

  def __init__(self, d):
    self.from_binary(d)

  def from_binary(self, d):
    (
      self.tow,
      self.x,
      self.y,
      self.z,
      self.accuracy,
      self.n_sats,
      self.flags,
    ) = struct.unpack('<IiiiHBB', d)

  def to_binary(self, d):
    return struct.pack('<IiiiHBB', (
      self.tow,
      self.x,
      self.y,
      self.z,
      self.accuracy,
      self.n_sats,
      self.flags,
    ))


SBP_VEL_NED = 0x0205
class VelNED:
  """
  SBP class for message VEL_NED (0x0205)

  Velocity in local North East Down (NED) coordinates.

  """

  def __init__(self, d):
    self.from_binary(d)

  def from_binary(self, d):
    (
      self.tow,
      self.n,
      self.e,
      self.d,
      self.h_accuracy,
      self.v_accuracy,
      self.n_sats,
      self.flags,
    ) = struct.unpack('<IiiiHHBB', d)

  def to_binary(self, d):
    return struct.pack('<IiiiHHBB', (
      self.tow,
      self.n,
      self.e,
      self.d,
      self.h_accuracy,
      self.v_accuracy,
      self.n_sats,
      self.flags,
    ))



msg_classses = {
  0xFF00: Startup,
  0xFFFF: Heartbeat,
  0x0100: GPSTime,
  0x0206: Dops,
  0x0200: PosECEF,
  0x0201: PosLLH,
  0x0202: BaselineECEF,
  0x0203: BaselineNED,
  0x0204: VelECEF,
  0x0205: VelNED,
}

def sbp_decode(t, d):
  return msg_classses[t](d)