piksi_multi_rtk.piksi_multi.PiksiMulti Class Reference

Public Member Functions
def	__init__ (self)
def	advertise_services (self)
def	advertise_topics (self)
def	cb_sbp_base_pos_ecef (self, msg_raw, metadata)
def	cb_sbp_base_pos_llh (self, msg_raw, metadata)
def	cb_sbp_glonass_biases (self, msg_raw, metadata)
def	cb_sbp_heartbeat (self, msg_raw, metadata)
def	cb_sbp_obs (self, msg_raw, metadata)
def	cb_sbp_pos_llh (self, msg_raw, metadata)
def	cb_sbp_settings_read_by_index_resp (self, msg_raw, metadata)
def	cb_sbp_tracking_state (self, msg_raw, metadata)
def	cb_sbp_uart_state (self, msg_raw, metadata)
def	cb_settings_read_resp (self, msg_raw, metadata)
def	cb_watchdog (self, event)
def	clear_last_setting_read (self)
def	create_topic_callbacks (self)
def	ecef_to_ned (self, x, y, z)
def	enu_to_point_msg (self, east, north, up)
def	enu_to_pose_msg (self, east, north, up, variance)
def	enu_to_transform_msg (self, east, north, up)
def	geodetic_to_ecef (self, latitude, longitude, altitude)
def	geodetic_to_enu (self, latitude, longitude, altitude)
def	get_installed_sbp_version (self)
def	init_callback (self, topic_name, ros_datatype, sbp_msg_type, callback_data_type, attrs)
def	init_geodetic_reference (self, latitude, longitude, altitude)
def	init_num_corrections_msg (self)
def	init_receiver_state_msg (self)
def	make_callback (self, sbp_type, ros_message, pub, attrs)
def	multicast_callback (self, msg, metadata)
def	n_re (self, lat_radians, lon_radians)
def	ping_base_station_over_wifi (self)
def	publish_receiver_state_msg (self)
def	publish_rtk_fix (self, latitude, longitude, height)
def	publish_rtk_float (self, latitude, longitude, height)
def	publish_spp (self, latitude, longitude, height, variance, navsatstatus_fix)
def	publish_wgs84_point (self, latitude, longitude, height, variance, navsat_status, pub_navsatfix, pub_pose, pub_point, pub_transform, pub_navsatfix_best_pose, pub_pose_best_fix)
def	reset_piksi_service_callback (self, request)
def	settings_read_by_index_req (self, index)
def	settings_read_req (self, section_setting, setting)
def	settings_read_req_server (self, request)
def	settings_read_resp_server (self, request)
def	settings_save (self)
def	settings_save_callback (self, request)
def	settings_write (self, section_setting, setting, value)
def	settings_write_server (self, request)

Public Attributes
	altitude0
	base_station_ip_for_latency_estimation
	base_station_mode
	debug_mode
	driver
	driver_verbose
	ecef_to_ned_matrix
	enu_frame_id
	framer
	handler
	initial_ecef_x
	initial_ecef_y
	initial_ecef_z
	last_section_setting_read
	last_setting_read
	last_value_read
	latitude0
	longitude0
	messages_started
	multicast_recv
	multicaster
	navsatfix_frame_id
	num_wifi_corrections
	origin_enu_set
	publish_raw_imu_and_mag
	publishers
	receiver_state_msg
	service_servers
	transform_child_frame_id
	udp_broadcast_addr
	udp_port
	var_rtk_fix
	var_rtk_float
	var_spp
	var_spp_sbas
	watchdog_time

Static Public Attributes
float	kFirstEccentricitySquared = 6.69437999014
int	kFlattening = 1
float	kSecondEccentricitySquared = 6.73949674228
int	kSemimajorAxis = 6378137
float	kSemiminorAxis = 6356752.3142
string	LIB_SBP_VERSION_MULTI = '2.3.15'

Detailed Description

Definition at line 53 of file piksi_multi.py.

Constructor & Destructor Documentation

def piksi_multi_rtk.piksi_multi.PiksiMulti.__init__

(

self

)

Definition at line 63 of file piksi_multi.py.

Member Function Documentation

def piksi_multi_rtk.piksi_multi.PiksiMulti.advertise_services

(

self

)

Advertise service servers.
:return: python dictionary, with service names used as keys and servers as values.

Definition at line 387 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.advertise_topics

(

self

)

Advertise topics.
:return: python dictionary, with topic names used as keys and publishers as values.

Definition at line 294 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.cb_sbp_base_pos_ecef	(		self,
			msg_raw,
			metadata
	)

Definition at line 551 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.cb_sbp_base_pos_llh	(		self,
			msg_raw,
			metadata
	)

Definition at line 538 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.cb_sbp_glonass_biases	(		self,
			msg_raw,
			metadata
	)

Definition at line 608 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.cb_sbp_heartbeat	(		self,
			msg_raw,
			metadata
	)

Definition at line 750 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.cb_sbp_obs	(		self,
			msg_raw,
			metadata
	)

Definition at line 498 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.cb_sbp_pos_llh	(		self,
			msg_raw,
			metadata
	)

Definition at line 619 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.cb_sbp_settings_read_by_index_resp	(		self,
			msg_raw,
			metadata
	)

Response to a settings_read_by_index_req.

Definition at line 1114 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.cb_sbp_tracking_state	(		self,
			msg_raw,
			metadata
	)

Definition at line 782 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.cb_sbp_uart_state	(		self,
			msg_raw,
			metadata
	)

Definition at line 567 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.cb_settings_read_resp	(		self,
			msg_raw,
			metadata
	)

Response to a settings_read_req.

Definition at line 1097 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.cb_watchdog	(		self,
			event
	)

Definition at line 612 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.clear_last_setting_read

(

self

)

Definition at line 1124 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.create_topic_callbacks

(

self

)

Definition at line 196 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.ecef_to_ned	(		self,
			x,
			y,
			z
	)

Definition at line 889 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.enu_to_point_msg	(		self,
			east,
			north,
			up
	)

Definition at line 951 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.enu_to_pose_msg	(		self,
			east,
			north,
			up,
			variance
	)

Definition at line 930 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.enu_to_transform_msg	(		self,
			east,
			north,
			up
	)

Definition at line 961 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.geodetic_to_ecef	(		self,
			latitude,
			longitude,
			altitude
	)

Definition at line 877 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.geodetic_to_enu	(		self,
			latitude,
			longitude,
			altitude
	)

Definition at line 903 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.get_installed_sbp_version

(

self

)

Definition at line 1054 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.init_callback	(		self,
			topic_name,
			ros_datatype,
			sbp_msg_type,
			callback_data_type,
			attrs
	)

Initializes the callback function  for an SBP
message type.
Inputs: 'topic_name' name of ROS topic for publisher
'ros_datatype' ROS custom message type
'sbp_msg_type' name of SBP message type for callback function
'callback_data_type' name of SBP message type for SBP library
'*attrs' array of attributes in ROS/SBP message

Definition at line 479 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.init_geodetic_reference	(		self,
			latitude,
			longitude,
			altitude
	)

Definition at line 858 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.init_num_corrections_msg

(

self

)

Definition at line 266 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.init_receiver_state_msg

(

self

)

Definition at line 274 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.make_callback	(		self,
			sbp_type,
			ros_message,
			pub,
			attrs
	)

Dynamic generator for callback functions for message types from
the SBP library.
Inputs: 'sbp_type' name of SBP message type.
'ros_message' ROS message type with SBP format.
'pub' ROS publisher for ros_message.
'attrs' array of attributes in SBP/ROS message.
Returns: callback function 'callback'.

Definition at line 454 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.multicast_callback	(		self,
			msg,
			metadata
	)

Definition at line 582 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.n_re	(		self,
			lat_radians,
			lon_radians
	)

Definition at line 911 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.ping_base_station_over_wifi

(

self

)

Ping base station periodically without blocking the driver.

Definition at line 421 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.publish_receiver_state_msg

(

self

)

Definition at line 854 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.publish_rtk_fix	(		self,
			latitude,
			longitude,
			height
	)

Definition at line 698 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.publish_rtk_float	(		self,
			latitude,
			longitude,
			height
	)

Definition at line 691 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.publish_spp	(		self,
			latitude,
			longitude,
			height,
			variance,
			navsatstatus_fix
	)

Definition at line 684 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.publish_wgs84_point	(		self,
			latitude,
			longitude,
			height,
			variance,
			navsat_status,
			pub_navsatfix,
			pub_pose,
			pub_point,
			pub_transform,
			pub_navsatfix_best_pose,
			pub_pose_best_fix
	)

Definition at line 706 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.reset_piksi_service_callback	(		self,
			request
	)

Definition at line 977 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.settings_read_by_index_req	(		self,
			index
	)

Request a configuration value to Swift receiver by parameter index number.

Definition at line 1107 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.settings_read_req	(		self,
			section_setting,
			setting
	)

Request a configuration value to Swift receiver.

Definition at line 1089 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.settings_read_req_server	(		self,
			request
	)

Definition at line 1010 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.settings_read_resp_server	(		self,
			request
	)

Definition at line 1021 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.settings_save

(

self

)

Save settings message persists the device's current settings
configuration to its on-board flash memory file system.

Definition at line 1081 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.settings_save_callback	(		self,
			request
	)

Definition at line 1041 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.settings_write	(		self,
			section_setting,
			setting,
			value
	)

Write the defined configuration to Swift receiver.

Definition at line 1073 of file piksi_multi.py.

def piksi_multi_rtk.piksi_multi.PiksiMulti.settings_write_server	(		self,
			request
	)

Definition at line 1001 of file piksi_multi.py.

Member Data Documentation

piksi_multi_rtk.piksi_multi.PiksiMulti.altitude0

Definition at line 140 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.base_station_ip_for_latency_estimation

Definition at line 123 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.base_station_mode

Definition at line 120 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.debug_mode

Definition at line 109 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.driver

Definition at line 91 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.driver_verbose

Definition at line 105 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.ecef_to_ned_matrix

Definition at line 144 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.enu_frame_id

Definition at line 145 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.framer

Definition at line 106 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.handler

Definition at line 107 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.initial_ecef_x

Definition at line 141 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.initial_ecef_y

Definition at line 142 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.initial_ecef_z

Definition at line 143 of file piksi_multi.py.

float piksi_multi_rtk.piksi_multi.PiksiMulti.kFirstEccentricitySquared = 6.69437999014

static

Definition at line 59 of file piksi_multi.py.

int piksi_multi_rtk.piksi_multi.PiksiMulti.kFlattening = 1

static

Definition at line 61 of file piksi_multi.py.

float piksi_multi_rtk.piksi_multi.PiksiMulti.kSecondEccentricitySquared = 6.73949674228

static

Definition at line 60 of file piksi_multi.py.

int piksi_multi_rtk.piksi_multi.PiksiMulti.kSemimajorAxis = 6378137

static

Definition at line 57 of file piksi_multi.py.

float piksi_multi_rtk.piksi_multi.PiksiMulti.kSemiminorAxis = 6356752.3142

static

Definition at line 58 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.last_section_setting_read

Definition at line 184 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.last_setting_read

Definition at line 185 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.last_value_read

Definition at line 186 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.latitude0

Definition at line 138 of file piksi_multi.py.

string piksi_multi_rtk.piksi_multi.PiksiMulti.LIB_SBP_VERSION_MULTI = '2.3.15'

static

Definition at line 54 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.longitude0

Definition at line 139 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.messages_started

Definition at line 160 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.multicast_recv

Definition at line 127 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.multicaster

Definition at line 126 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.navsatfix_frame_id

Definition at line 134 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.num_wifi_corrections

Definition at line 174 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.origin_enu_set

Definition at line 137 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.publish_raw_imu_and_mag

Definition at line 163 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.publishers

Definition at line 166 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.receiver_state_msg

Definition at line 173 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.service_servers

Definition at line 167 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.transform_child_frame_id

Definition at line 146 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.udp_broadcast_addr

Definition at line 121 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.udp_port

Definition at line 122 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.var_rtk_fix

Definition at line 132 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.var_rtk_float

Definition at line 131 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.var_spp

Definition at line 130 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.var_spp_sbas

Definition at line 133 of file piksi_multi.py.

piksi_multi_rtk.piksi_multi.PiksiMulti.watchdog_time

Definition at line 159 of file piksi_multi.py.

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The documentation for this class was generated from the following file:

• piksi_multi.py