00001 """autogenerated by genmsg_py from NavSOL.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005
00006 class NavSOL(roslib.message.Message):
00007 _md5sum = "1cf640142041f69c0d0e9f5d8a03729e"
00008 _type = "ublox_msgs/NavSOL"
00009 _has_header = False
00010 _full_text = """# NAV-SOL (0x01 0x06)
00011 # Navigation Solution Information
00012 #
00013 # This message combines Position, velocity and time solution in ECEF, including accuracy
00014 # figures
00015 #
00016
00017 uint8 CLASS_ID = 1
00018 uint8 MESSAGE_ID = 6
00019
00020 uint32 iTOW # GPS Millisecond time of week [ms]
00021 int32 fTOW # Fractional Nanoseconds remainder of rounded
00022 # ms above, range -500000 .. 500000 [ns]
00023 int16 week # GPS week (GPS time)
00024
00025 uint8 gpsFix # GPSfix Type, range 0..5
00026 uint8 GPS_NO_FIX = 0
00027 uint8 GPS_DEAD_RECKONING_ONLY = 1
00028 uint8 GPS_2D_FIX = 2
00029 uint8 GPS_3D_FIX = 3
00030 uint8 GPS_GPS_DEAD_RECKONING_COMBINED = 4
00031 uint8 GPS_TIME_ONLY_FIX = 6
00032
00033 uint8 flags # Fix Status Flags
00034 uint8 FLAGS_GPSFIXOK = 1 # i.e. within DOP & ACC Masks
00035 uint8 FLAGS_DIFFSOLN = 2 # DGPS used
00036 uint8 FLAGS_WKNSET = 4 # Week Number valid
00037 uint8 FLAGS_TOWSET = 8 # Time of Week valid
00038
00039 int32 ecefX # ECEF X coordinate [cm]
00040 int32 ecefY # ECEF Y coordinate [cm]
00041 int32 ecefZ # ECEF Z coordinate [cm]
00042 uint32 pAcc # 3D Position Accuracy Estimate [cm]
00043 int32 ecefVX # ECEF X velocity [cm/s]
00044 int32 ecefVY # ECEF Y velocity [cm/s]
00045 int32 ecefVZ # ECEF Z velocity [cm/s]
00046 uint32 sAcc # Speed Accuracy Estimate [cm/s]
00047 uint16 pDOP # Position DOP [cm]
00048 uint8 reserved1 # Reserved
00049 uint8 numSV # Number of SVs used in Nav Solution
00050 uint32 reserved2 # Reserved
00051
00052 """
00053
00054 CLASS_ID = 1
00055 MESSAGE_ID = 6
00056 GPS_NO_FIX = 0
00057 GPS_DEAD_RECKONING_ONLY = 1
00058 GPS_2D_FIX = 2
00059 GPS_3D_FIX = 3
00060 GPS_GPS_DEAD_RECKONING_COMBINED = 4
00061 GPS_TIME_ONLY_FIX = 6
00062 FLAGS_GPSFIXOK = 1
00063 FLAGS_DIFFSOLN = 2
00064 FLAGS_WKNSET = 4
00065 FLAGS_TOWSET = 8
00066
00067 __slots__ = ['iTOW','fTOW','week','gpsFix','flags','ecefX','ecefY','ecefZ','pAcc','ecefVX','ecefVY','ecefVZ','sAcc','pDOP','reserved1','numSV','reserved2']
00068 _slot_types = ['uint32','int32','int16','uint8','uint8','int32','int32','int32','uint32','int32','int32','int32','uint32','uint16','uint8','uint8','uint32']
00069
00070 def __init__(self, *args, **kwds):
00071 """
00072 Constructor. Any message fields that are implicitly/explicitly
00073 set to None will be assigned a default value. The recommend
00074 use is keyword arguments as this is more robust to future message
00075 changes. You cannot mix in-order arguments and keyword arguments.
00076
00077 The available fields are:
00078 iTOW,fTOW,week,gpsFix,flags,ecefX,ecefY,ecefZ,pAcc,ecefVX,ecefVY,ecefVZ,sAcc,pDOP,reserved1,numSV,reserved2
00079
00080 @param args: complete set of field values, in .msg order
00081 @param kwds: use keyword arguments corresponding to message field names
00082 to set specific fields.
00083 """
00084 if args or kwds:
00085 super(NavSOL, self).__init__(*args, **kwds)
00086
00087 if self.iTOW is None:
00088 self.iTOW = 0
00089 if self.fTOW is None:
00090 self.fTOW = 0
00091 if self.week is None:
00092 self.week = 0
00093 if self.gpsFix is None:
00094 self.gpsFix = 0
00095 if self.flags is None:
00096 self.flags = 0
00097 if self.ecefX is None:
00098 self.ecefX = 0
00099 if self.ecefY is None:
00100 self.ecefY = 0
00101 if self.ecefZ is None:
00102 self.ecefZ = 0
00103 if self.pAcc is None:
00104 self.pAcc = 0
00105 if self.ecefVX is None:
00106 self.ecefVX = 0
00107 if self.ecefVY is None:
00108 self.ecefVY = 0
00109 if self.ecefVZ is None:
00110 self.ecefVZ = 0
00111 if self.sAcc is None:
00112 self.sAcc = 0
00113 if self.pDOP is None:
00114 self.pDOP = 0
00115 if self.reserved1 is None:
00116 self.reserved1 = 0
00117 if self.numSV is None:
00118 self.numSV = 0
00119 if self.reserved2 is None:
00120 self.reserved2 = 0
00121 else:
00122 self.iTOW = 0
00123 self.fTOW = 0
00124 self.week = 0
00125 self.gpsFix = 0
00126 self.flags = 0
00127 self.ecefX = 0
00128 self.ecefY = 0
00129 self.ecefZ = 0
00130 self.pAcc = 0
00131 self.ecefVX = 0
00132 self.ecefVY = 0
00133 self.ecefVZ = 0
00134 self.sAcc = 0
00135 self.pDOP = 0
00136 self.reserved1 = 0
00137 self.numSV = 0
00138 self.reserved2 = 0
00139
00140 def _get_types(self):
00141 """
00142 internal API method
00143 """
00144 return self._slot_types
00145
00146 def serialize(self, buff):
00147 """
00148 serialize message into buffer
00149 @param buff: buffer
00150 @type buff: StringIO
00151 """
00152 try:
00153 _x = self
00154 buff.write(_struct_Iih2B3iI3iIH2BI.pack(_x.iTOW, _x.fTOW, _x.week, _x.gpsFix, _x.flags, _x.ecefX, _x.ecefY, _x.ecefZ, _x.pAcc, _x.ecefVX, _x.ecefVY, _x.ecefVZ, _x.sAcc, _x.pDOP, _x.reserved1, _x.numSV, _x.reserved2))
00155 except struct.error as se: self._check_types(se)
00156 except TypeError as te: self._check_types(te)
00157
00158 def deserialize(self, str):
00159 """
00160 unpack serialized message in str into this message instance
00161 @param str: byte array of serialized message
00162 @type str: str
00163 """
00164 try:
00165 end = 0
00166 _x = self
00167 start = end
00168 end += 52
00169 (_x.iTOW, _x.fTOW, _x.week, _x.gpsFix, _x.flags, _x.ecefX, _x.ecefY, _x.ecefZ, _x.pAcc, _x.ecefVX, _x.ecefVY, _x.ecefVZ, _x.sAcc, _x.pDOP, _x.reserved1, _x.numSV, _x.reserved2,) = _struct_Iih2B3iI3iIH2BI.unpack(str[start:end])
00170 return self
00171 except struct.error as e:
00172 raise roslib.message.DeserializationError(e)
00173
00174
00175 def serialize_numpy(self, buff, numpy):
00176 """
00177 serialize message with numpy array types into buffer
00178 @param buff: buffer
00179 @type buff: StringIO
00180 @param numpy: numpy python module
00181 @type numpy module
00182 """
00183 try:
00184 _x = self
00185 buff.write(_struct_Iih2B3iI3iIH2BI.pack(_x.iTOW, _x.fTOW, _x.week, _x.gpsFix, _x.flags, _x.ecefX, _x.ecefY, _x.ecefZ, _x.pAcc, _x.ecefVX, _x.ecefVY, _x.ecefVZ, _x.sAcc, _x.pDOP, _x.reserved1, _x.numSV, _x.reserved2))
00186 except struct.error as se: self._check_types(se)
00187 except TypeError as te: self._check_types(te)
00188
00189 def deserialize_numpy(self, str, numpy):
00190 """
00191 unpack serialized message in str into this message instance using numpy for array types
00192 @param str: byte array of serialized message
00193 @type str: str
00194 @param numpy: numpy python module
00195 @type numpy: module
00196 """
00197 try:
00198 end = 0
00199 _x = self
00200 start = end
00201 end += 52
00202 (_x.iTOW, _x.fTOW, _x.week, _x.gpsFix, _x.flags, _x.ecefX, _x.ecefY, _x.ecefZ, _x.pAcc, _x.ecefVX, _x.ecefVY, _x.ecefVZ, _x.sAcc, _x.pDOP, _x.reserved1, _x.numSV, _x.reserved2,) = _struct_Iih2B3iI3iIH2BI.unpack(str[start:end])
00203 return self
00204 except struct.error as e:
00205 raise roslib.message.DeserializationError(e)
00206
00207 _struct_I = roslib.message.struct_I
00208 _struct_Iih2B3iI3iIH2BI = struct.Struct("<Iih2B3iI3iIH2BI")
