mtdef.py

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"""Constant and messages definition for MT communication."""


class MID:
        """Values for the message id (MID)"""
        ## Error message, 1 data byte
        Error = 0x42
        ErrorCodes = {
                0x03: "Invalid period",
                0x04: "Invalid message",
                0x1E: "Timer overflow",
                0x20: "Invalid baudrate",
                0x21: "Invalid parameter"
        }

        # State MID
        ## Wake up procedure
        WakeUp = 0x3E
        ## Switch to config state
        GoToConfig = 0x30
        ## Switch to measurement state
        GoToMeasurement = 0x10
        ## Reset device
        Reset = 0x40

        # Informational messages
        ## Request device id
        ReqDID = 0x00
        ## DeviceID, 4 bytes: HH HL LH LL
        DeviceID = 0x01
        ## Compatibility for XBus Master users
        InitMT = 0x02
        InitMTResults = 0x03
        ## Request product code in plain text
        ReqProductCode = 0x1C
        ## Product code (max 20 bytes data)
        ProductCode = 0x1D
        ## Request firmware revision
        ReqFWRev = 0x12
        ## Firmware revision, 3 bytes: major minor rev
        FirmwareRev = 0x13
        ## Request data length according to current configuration
        ReqDataLength = 0x0A
        ## Data Length, 2 bytes
        DataLength = 0x0B
        ## Request GPS status (MTi-G only)
        ReqGPSStatus = 0xA6
        ## GPS status (MTi-G only)
        GPSStatus = 0xA7

        # Device specific messages
        ## Baudrate, 1 byte
        SetBaudrate = 0x18
        ## Error mode, 2 bytes, 0000, 0001, 0002, 0003 (default 0001)
        SetErrorMode = 0xDA
        ## Location ID, 2 bytes, arbitrary, default is 0
        SetLocationID = 0x84
        ## Restore factory defaults
        RestoreFactoryDef = 0x0E
        ## Transmit delay (RS485), 2 bytes, number of clock ticks (1/29.4912 MHz)
        SetTransmitDelay = 0xDC

        # Synchronization messages
        ## Synchronization settings (MTi-10/100 series only), N*12 bytes
        SetSyncSettings = 0x2C
        ## SyncIn setting (MTi only), (1+) 2 or 4 bytes depending on request
        SetSyncInSettings = 0xD6
        ## SyncOut setting (MTi/MTi-G only), (1+) 2 or 4 bytes depending on request
        SetSyncOutSettings = 0xD8

        # Configuration messages
        ## Request configuration
        ReqConfiguration = 0x0C
        ## Configuration, 118 bytes
        Configuration = 0x0D
        ## Output configuration (MTi-10/100 series only), N*4 bytes
        SetOutputConfiguration = 0xC0
        ## Sampling period (MTi/MTi-G only), 2 bytes
        SetPeriod = 0x04
        ## Skip factor (MTi/MTi-G only), 2 bytes
        SetOutputSkipFactor = 0xD4
        ## Object alignment matrix, 9*4 bytes
        SetObjectAlignment = 0xE0
        ## Output mode (MTi/MTi-G only), 2 bytes
        SetOutputMode = 0xD0
        ## Output settings (MTi/MTi-G only), 4 bytes
        SetOutputSettings = 0xD2

        # Data messages
        ## Request MTData message (for 65535 skip factor)
        ReqData = 0x34
        ## Legacy data packet
        MTData = 0x32
        ## Newer data packet (MTi-10/100 series only)
        MTData2 = 0x36

        # XKF Filter messages
        ## Heading (MTi only), 4 bytes
        SetHeading = 0x82
        ## Reset orientation, 2 bytes
        ResetOrientation = 0xA4
        ## Request UTC time from sensor (MTI-G and MTi-10/100 series)
        ReqUTCTime = 0x60
        ## UTC Time (MTI-G and MTi-10/100 series), 12 bytes
        UTCTime = 0x61
        ## Request the available XKF scenarios on the device
        ReqAvailableScenarios = 0x62
        ## Available Scenarios
        AvailableScenarios = 0x63
        ## Current XKF scenario, 2 bytes
        SetCurrentScenario = 0x64
        ## Magnitude of the gravity used for the sensor fusion mechanism, 4 bytes
        SetGravityMagnitude = 0x66
        ## Lever arm of the GPSin sensor coordinates (MTi-G and MTi-700 only), 3*4 bytes
        SetLeverArmGPS = 0x68
        ## Magnetic declination (MTi-G only), 4 bytes
        SetMagneticDeclination = 0x6A
        ## Latitude, Longitude and Altitude for local declination and gravity
        # (MTi-10/100 series only), 24 bytes
        SetLatLonAlt = 0x6E
        ## Processing flags (not on firmware 2.2 or lower for MTi/MTi-g), 1 byte
        SetProcessingFlags = 0x20
        ## Initiate No Rotation procedure (not on MTi-G), 2 bytes
        SetNoRotation = 0x22



def getName(cls, value):
        '''Return the name of the first found member of class cls with given
        value.'''
        for k, v in cls.__dict__.iteritems():
                if v==value:
                        return k
        return ''


def getMIDName(mid):
        '''Return the name of a message given the message id.'''
        name = getName(MID, mid)
        if name:
                return name
        if mid&1:
                name = getName(MID, mid-1)
                if name:
                        return name+'Ack'
        return 'unknown MID'


class Baudrates(object):
        """Baudrate information and conversion."""
        ## Baudrate mapping between ID and value
        Baudrates = [
                (0x80, 921600),
                (0x0A, 921600),
                (0x00, 460800),
                (0x01, 230400),
                (0x02, 115200),
                (0x03,  76800),
                (0x04,  57600),
                (0x05,  38400),
                (0x06,  28800),
                (0x07,  19200),
                (0x08,  14400),
                (0x09,   9600),
                (0x0B,   4800),
                (0x80, 921600)]
        @classmethod
        def get_BRID(cls, baudrate):
                """Get baudrate id for a given baudrate."""
                for brid, br in cls.Baudrates:
                        if baudrate==br:
                                return brid
                raise MTException("unsupported baudrate.")
        @classmethod
        def     get_BR(cls, baudrate_id):
                """Get baudrate for a given baudrate id."""
                for brid, br in cls.Baudrates:
                        if baudrate_id==brid:
                                return br
                raise MTException("unknown baudrate id.")
        

class OutputMode:
        """Values for the output mode."""
        Temp            = 0x0001
        Calib           = 0x0002
        Orient          = 0x0004
        Auxiliary       = 0x0008
        Position        = 0x0010
        Velocity        = 0x0020
        Status          = 0x0800
        RAWGPS          = 0x1000        # supposed to be incompatible with previous
        RAW             = 0x4000        # incompatible with all except RAWGPS


class OutputSettings:
        """Values for the output settings."""
        Timestamp_None                  = 0x00000000
        Timestamp_SampleCnt     = 0x00000001
        OrientMode_Quaternion   = 0x00000000
        OrientMode_Euler                = 0x00000004
        OrientMode_Matrix               = 0x00000008
        CalibMode_AccGyrMag     = 0x00000000
        CalibMode_GyrMag                = 0x00000010
        CalibMode_AccMag                = 0x00000020
        CalibMode_Mag                   = 0x00000030
        CalibMode_AccGyr                = 0x00000040
        CalibMode_Gyr                   = 0x00000050
        CalibMode_Acc                   = 0x00000060
        CalibMode_Mask                  = 0x00000070
        DataFormat_Float                = 0x00000000
        DataFormat_12_20                = 0x00000100    # not supported yet
        DataFormat_16_32                = 0x00000200    # not supported yet
        DataFormat_Double               = 0x00000300    # not supported yet
        AuxiliaryMode_NoAIN1    = 0x00000400
        AuxiliaryMode_NoAIN2    = 0x00000800
        PositionMode_LLA_WGS84  = 0x00000000
        VelocityMode_MS_XYZ     = 0x00000000
        Coordinates_NED                 = 0x80000000


class XDIGroup:
        """Values for the XDI groups."""
        Temperature                             = 0x0800
        Timestamp                               = 0x1000
        OrientationData                 = 0x2000
        Pressure                                = 0x3000
        Acceleration                    = 0x4000
        Position                                = 0x5000
        AngularVelocity                 = 0x8000
        GPS                                             = 0x8800
        SensorComponentReadout  = 0xA000
        AnalogIn                                = 0xB000
        Magnetic                                = 0xC000
        Velocity                                = 0xD000
        Status                                  = 0xE000


class MTException(Exception):
        def __init__(self, message):
                self.message = message
        def __str__(self):
                return "MT error: " + self.message