Go to the documentation of this file.00001 __author__ = 'tom1231'
00002 import struct
00003 from BAL.Header.Response.ParamBuildResponse import ParamBuildResponse,IMU
00004
00005 RES_LEN = 21
00006
00007 class IMUParamResponse(ParamBuildResponse):
00008
00009 def __init__(self, param):
00010 ParamBuildResponse.__init__(self, IMU, 0, param.getIMUPubHz())
00011 self._length = RES_LEN
00012 self._checkSum = 0
00013
00014 self._camp = param.getIMUCamp()
00015 self._fusionHz = param.getIMUFusionHz()
00016 self._enableFuseGyro = param.isIMUFuseGyro()
00017
00018 self._checkSum = self.calCheckSum(self.dataTosend())
00019
00020 def dataTosend(self):
00021 return ParamBuildResponse.dataTosend(self)\
00022 + struct.pack('<f', self._camp) \
00023 + struct.pack('<H', self._fusionHz)\
00024 + struct.pack('<?', self._enableFuseGyro)
00025
00026