mtdevice.py

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#!/usr/bin/env python
import serial
import struct

import sys, getopt, time, glob#, traceback

from mtdef import MID, OutputMode, OutputSettings, MTException, Baudrates, XDIGroup, getName, getMIDName

# Verbose flag for debugging
verbose = False

################################################################
# MTDevice class
################################################################
## XSens MT device communication object.
class MTDevice(object):
        """XSens MT device communication object."""

        def __init__(self, port, baudrate=115200, timeout=0.001, autoconf=True,
                        config_mode=False):
                """Open device."""
                ## serial interface to the device
                self.device = serial.Serial(port, baudrate, timeout=timeout,
                                writeTimeout=timeout)
                self.device.flushInput()        # flush to make sure the port is ready TODO
                self.device.flushOutput()       # flush to make sure the port is ready TODO
                ## timeout for communication
                self.timeout = 100*timeout
                if autoconf:
                        self.auto_config()
                else:
                        ## mode parameter of the IMU
                        self.mode = None
                        ## settings parameter of the IMU
                        self.settings = None
                        ## length of the MTData message
                        self.length = None
                        ## header of the MTData message
                        self.header = None
                if config_mode:
                        self.GoToConfig()

        ############################################################
        # Low-level communication
        ############################################################

        ## Low-level message sending function.
        def write_msg(self, mid, data=[]):
                """Low-level message sending function."""
                length = len(data)
                if length>254:
                        lendat = [0xFF, 0xFF&length, 0xFF&(length>>8)]
                else:
                        lendat = [length]
                packet = [0xFA, 0xFF, mid] + lendat + list(data)
                packet.append(0xFF&(-(sum(packet[1:]))))
                msg = struct.pack('%dB'%len(packet), *packet)
                while self.device.read():
                        #print ".",
                        pass
                self.device.write(msg)
                if verbose:
                        print "MT: Write message id 0x%02X (%s) with %d data bytes: [%s]"%(mid, getMIDName(mid), length,
                                                        ' '.join("%02X"% v for v in data))

        ## Low-level MTData receiving function.
        # Take advantage of known message length.
        def read_data_msg(self, buf=bytearray()):
                """Low-level MTData receiving function.
                Take advantage of known message length."""
                start = time.time()
                if self.length>254:
                        totlength = 7 + self.length
                else:
                        totlength = 5 + self.length
                while (time.time()-start)<self.timeout:
                        while len(buf)<totlength:
                                buf.extend(self.device.read(totlength-len(buf)))
                        preamble_ind = buf.find(self.header)
                        if preamble_ind==-1:    # not found
                                # discard unexploitable data
                                #sys.stderr.write("MT: discarding (no preamble).\n")
                                del buf[:-3]
                                continue
                        elif preamble_ind:      # found but not at start
                                # discard leading bytes
                                #sys.stderr.write("MT: discarding (before preamble).\n")
                                del buf[:preamble_ind]
                                # complete message for checksum
                                while len(buf)<totlength:
                                        buf.extend(self.device.read(totlength-len(buf)))
                        if 0xFF&sum(buf[1:]):
                                #sys.stderr.write("MT: invalid checksum; discarding data and "\
                                #               "waiting for next message.\n")
                                del buf[:buf.find(self.header)-2]
                                continue
                        data = str(buf[-self.length-1:-1])
                        del buf[:]
                        return data
                else:
                        raise MTException("could not find MTData message.")

        ## Low-level message receiving function.
        def read_msg(self):
                """Low-level message receiving function."""
                start = time.time()
                while (time.time()-start)<self.timeout:
                        new_start = time.time()

                        # Makes sure the buffer has 'size' bytes.
                        def waitfor(size=1):
                                while self.device.inWaiting() < size:
                                        if time.time()-new_start >= self.timeout:
                                                raise MTException("timeout waiting for message.")

                        c = self.device.read()
                        while (not c) and ((time.time()-new_start)<self.timeout):
                                c = self.device.read()
                        if not c:
                                raise MTException("timeout waiting for message.")
                        if ord(c)<>0xFA:
                                continue
                        # second part of preamble
                        waitfor(3)
                        if ord(self.device.read())<>0xFF:       # we assume no timeout anymore
                                continue
                        # read message id and length of message
                        #msg = self.device.read(2)
                        mid, length = struct.unpack('!BB', self.device.read(2))
                        if length==255: # extended length
                                waitfor(2)
                                length, = struct.unpack('!H', self.device.read(2))
                        # read contents and checksum

                        waitfor(length+1)
                        buf = self.device.read(length+1)
                        while (len(buf)<length+1) and ((time.time()-start)<self.timeout):
                                buf+= self.device.read(length+1-len(buf))
                        if (len(buf)<length+1):
                                continue
                        checksum = ord(buf[-1])
                        data = struct.unpack('!%dB'%length, buf[:-1])
                        if mid == MID.Error:
                                sys.stderr.write("MT error 0x%02X: %s."%(data[0],
                                                MID.ErrorCodes[data[0]]))
                        if verbose:
                                print "MT: Got message id 0x%02X (%s) with %d data bytes: [%s]"%(mid, getMIDName(mid), length,
                                                                ' '.join("%02X"% v for v in data))
                        if 0xFF&sum(data, 0xFF+mid+length+checksum):
                                sys.stderr.write("invalid checksum; discarding data and "\
                                                "waiting for next message.\n")
                                continue
                        return (mid, buf[:-1])
                else:
                        raise MTException("could not find message.")

        ## Send a message and read confirmation
        def write_ack(self, mid, data=[]):
                """Send a message a read confirmation."""
                self.write_msg(mid, data)
                for tries in range(100):
                        mid_ack, data_ack = self.read_msg()
                        if mid_ack==(mid+1):
                                break
                else:
                        raise MTException("Ack (0x%X) expected, MID 0x%X received instead"\
                                        " (after 100 tries)."%(mid+1, mid_ack))
                return data_ack



        ############################################################
        # High-level functions
        ############################################################
        ## Reset MT device.
        def Reset(self):
                """Reset MT device."""
                self.write_ack(MID.Reset)


        ## Place MT device in configuration mode.
        def GoToConfig(self):
                """Place MT device in configuration mode."""
                self.write_ack(MID.GoToConfig)


        ## Place MT device in measurement mode.
        def GoToMeasurement(self):
                """Place MT device in measurement mode."""
                self.write_ack(MID.GoToMeasurement)


        ## Restore MT device configuration to factory defaults (soft version).
        def RestoreFactoryDefaults(self):
                """Restore MT device configuration to factory defaults (soft version).
                """
                self.GoToConfig()
                self.write_ack(MID.RestoreFactoryDef)


        ## Get current output mode.
        # Assume the device is in Config state.
        def GetOutputMode(self):
                """Get current output mode.
                Assume the device is in Config state."""
                data = self.write_ack(MID.SetOutputMode)
                self.mode, = struct.unpack('!H', data)
                return self.mode


        ## Select which information to output.
        # Assume the device is in Config state.
        def SetOutputMode(self, mode):
                """Select which information to output.
                Assume the device is in Config state."""
                H, L = (mode&0xFF00)>>8, mode&0x00FF
                self.write_ack(MID.SetOutputMode, (H, L))
                self.mode = mode


        ## Get current output mode.
        # Assume the device is in Config state.
        def GetOutputSettings(self):
                """Get current output mode.
                Assume the device is in Config state."""
                data = self.write_ack(MID.SetOutputSettings)
                self.settings, = struct.unpack('!I', data)
                return self.settings


        ## Select how to output the information.
        # Assume the device is in Config state.
        def SetOutputSettings(self, settings):
                """Select how to output the information.
                Assume the device is in Config state."""
                HH, HL = (settings&0xFF000000)>>24, (settings&0x00FF0000)>>16
                LH, LL = (settings&0x0000FF00)>>8, settings&0x000000FF
                self.write_ack(MID.SetOutputSettings, (HH, HL, LH, LL))
                self.settings = settings


        ## Set the period of sampling.
        # Assume the device is in Config state.
        def SetPeriod(self, period):
                """Set the period of sampling.
                Assume the device is in Config state."""
                H, L = (period&0xFF00)>>8, period&0x00FF
                self.write_ack(MID.SetPeriod, (H, L))


        ## Set the output skip factor.
        # Assume the device is in Config state.
        def SetOutputSkipFactor(self, skipfactor):
                """Set the output skip factor.
                Assume the device is in Config state."""
                H, L = (skipfactor&0xFF00)>>8, skipfactor&0x00FF
                self.write_ack(MID.SetOutputSkipFactor, (H, L))


        ## Get data length.
        # Assume the device is in Config state.
        def ReqDataLength(self):
                """Get data length.
                Assume the device is in Config state."""
                data = self.write_ack(MID.ReqDataLength)
                self.length, = struct.unpack('!H', data)
                self.header = '\xFA\xFF\x32'+chr(self.length)
                return self.length


        ## Ask for the current configuration of the MT device.
        # Assume the device is in Config state.
        def ReqConfiguration(self):
                """Ask for the current configuration of the MT device.
                Assume the device is in Config state."""
                config = self.write_ack(MID.ReqConfiguration)
                try:
                        masterID, period, skipfactor, _, _, _, date, time, num, deviceID,\
                                        length, mode, settings =\
                                        struct.unpack('!IHHHHI8s8s32x32xHIHHI8x', config)
                except struct.error:
                        raise MTException("could not parse configuration.")
                self.mode = mode
                self.settings = settings
                self.length = length
                self.header = '\xFA\xFF\x32'+chr(length)
                conf = {'output-mode': mode,
                                'output-settings': settings,
                                'length': length,
                                'period': period,
                                'skipfactor': skipfactor,
                                'Master device ID': masterID,
                                'date': date,
                                'time': time,
                                'number of devices': num,
                                'device ID': deviceID}
                return conf


        ## Set the baudrate of the device using the baudrate id.
        # Assume the device is in Config state.
        def SetBaudrate(self, brid):
                """Set the baudrate of the device using the baudrate id.
                Assume the device is in Config state."""
                self.write_ack(MID.SetBaudrate, (brid,))


        ## Request the available XKF scenarios on the device.
        # Assume the device is in Config state.
        def ReqAvailableScenarios(self):
                """Request the available XKF scenarios on the device.
                Assume the device is in Config state."""
                scenarios_dat = self.write_ack(MID.ReqAvailableScenarios)
                scenarios = []
                try:
                        for i in range(len(scenarios_dat)/22):
                                scenario_type, version, label =\
                                                struct.unpack('!BB20s', scenarios_dat[22*i:22*(i+1)])
                                scenarios.append((scenario_type, version, label.strip()))
                        ## available XKF scenarios
                        self.scenarios = scenarios
                except struct.error:
                        raise MTException("could not parse the available XKF scenarios.")
                return scenarios


        ## Request the ID of the currently used XKF scenario.
        # Assume the device is in Config state.
        def ReqCurrentScenario(self):
                """Request the ID of the currently used XKF scenario.
                Assume the device is in Config state."""
                data = self.write_ack(MID.SetCurrentScenario)
                ## current XKF id
                self.scenario_id, = struct.unpack('!H', data)
                try:
                        scenarios = self.scenarios
                except AttributeError:
                        scenarios = self.ReqAvailableScenarios()
                for t, _, label in scenarios:
                        if t==self.scenario_id:
                                ## current XKF label
                                self.scenario_label = label
                                break
                else:
                        self.scenario_label = ""
                return self.scenario_id, self.scenario_label


        ## Sets the XKF scenario to use.
        # Assume the device is in Config state.
        def SetCurrentScenario(self, scenario_id):
                """Sets the XKF scenario to use.
                Assume the device is in Config state."""
                self.write_ack(MID.SetCurrentScenario, (0x00, scenario_id&0xFF))


        ############################################################
        # High-level utility functions
        ############################################################
        ## Configure the mode and settings of the MT device.
        def configure(self, mode, settings, period=None, skipfactor=None):
                """Configure the mode and settings of the MT device."""
                self.GoToConfig()
                self.SetOutputMode(mode)
                self.SetOutputSettings(settings)
                if period is not None:
                        self.SetPeriod(period)
                if skipfactor is not None:
                        self.SetOutputSkipFactor(skipfactor)

                self.GetOutputMode()
                self.GetOutputSettings()
                self.ReqDataLength()
                self.GoToMeasurement()


        ## Read configuration from device.
        def auto_config(self):
                """Read configuration from device."""
                self.GoToConfig()
                self.ReqConfiguration()
                self.GoToMeasurement()
                return self.mode, self.settings, self.length
                #self.GoToConfig()
                #mode = self.GetOutputMode()
                #settings = self.GetOutputSettings()
                #length = self.ReqDataLength()
                #self.GoToMeasurement()
                #return mode, settings, length

        ## Read and parse a measurement packet
        def read_measurement(self, mode=None, settings=None):
                # getting data
                #data = self.read_data_msg()
                mid, data = self.read_msg()
                if mid==MID.MTData:
                        return self.parse_MTData(data, mode, settings)
                elif mid==MID.MTData2:
                        return self.parse_MTData2(data)
                else:
                        raise MTException("unknown data message: mid=0x%02X (%s)."%     (mid, getMIDName(mid)))

        ## Parse a new MTData2 message
        def parse_MTData2(self, data):
                # Functions to parse each type of packet
                def parse_temperature(data_id, content, ffmt):
                        o = {}
                        if (data_id&0x00F0) == 0x10:    # Temperature
                                o['Temp'], = struct.unpack('!'+ffmt, content)
                        else:
                                raise MTException("unknown packet: 0x%04X."%data_id)
                        return o
                def parse_timestamp(data_id, content, ffmt):
                        o = {}
                        if (data_id&0x00F0) == 0x10:    # UTC Time
                                o['ns'], o['Year'], o['Month'], o['Day'], o['Hour'],\
                                                o['Minute'], o['Second'], o['Flags'] =\
                                                struct.unpack('!LHBBBBBB', content)
                        elif (data_id&0x00F0) == 0x20:  # Packet Counter
                                o['PacketCounter'], = struct.unpack('!H', content)
                        elif (data_id&0x00F0) == 0x30:  # Integer Time of Week
                                o['TimeOfWeek'], = struct.unpack('!L', content)
                        elif (data_id&0x00F0) == 0x40:  # GPS Age
                                o['gpsAge'], = struct.unpack('!B', content)
                        elif (data_id&0x00F0) == 0x50:  # Pressure Age
                                o['pressureAge'], = struct.unpack('!B', content)
                        elif (data_id&0x00F0) == 0x60:  # Sample Time Fine
                                o['SampleTimeFine'], = struct.unpack('!L', content)
                        elif (data_id&0x00F0) == 0x70:  # Sample Time Coarse
                                o['SampleTimeCoarse'], = struct.unpack('!L', content)
                        elif (data_id&0x00F0) == 0x80:  # Frame Range
                                o['startFrame'], o['endFrame'] = struct.unpack('!HH', content)
                        else:
                                raise MTException("unknown packet: 0x%04X."%data_id)
                        return o
                def parse_orientation_data(data_id, content, ffmt):
                        o = {}
                        if (data_id&0x00F0) == 0x10:    # Quaternion
                                o['Q0'], o['Q1'], o['Q2'], o['Q3'] = struct.unpack('!'+4*ffmt,
                                                content)
                        elif (data_id&0x00F0) == 0x20:  # Rotation Matrix
                                o['a'], o['b'], o['c'], o['d'], o['e'], o['f'], o['g'], o['h'],\
                                                o['i'] = struct.unpack('!'+9*ffmt, content)
                        elif (data_id&0x00F0) == 0x30:  # Euler Angles
                                o['Roll'], o['Pitch'], o['Yaw'] = struct.unpack('!'+3*ffmt,
                                                content)
                        else:
                                raise MTException("unknown packet: 0x%04X."%data_id)
                        return o
                def parse_pressure(data_id, content, ffmt):
                        o = {}
                        if (data_id&0x00F0) == 0x10:    # Baro pressure
                                # FIXME is it really U4 as in the doc and not a float/double?
                                o['Pressure'], = struct.unpack('!L', content)
                        else:
                                raise MTException("unknown packet: 0x%04X."%data_id)
                        return o
                def parse_acceleration(data_id, content, ffmt):
                        o = {}
                        if (data_id&0x00F0) == 0x10:    # Delta V
                                o['Delta v.x'], o['Delta v.y'], o['Delta v.z'] = \
                                                struc.unpack('!'+3*ffmt, content)
                        elif (data_id&0x00F0) == 0x20:  # Acceleration
                                o['accX'], o['accY'], o['accZ'] = \
                                                struc.unpack('!'+3*ffmt, content)
                        elif (data_id&0x00F0) == 0x30:  # Free Acceleration
                                o['freeAccX'], o['freeAccY'], o['freeAccZ'] = \
                                                struc.unpack('!'+3*ffmt, content)
                        else:
                                raise MTException("unknown packet: 0x%04X."%data_id)
                        return o
                def parse_position(data_id, content, ffmt):
                        o = {}
                        if (data_id&0x00F0) == 0x10:    # Altitude MSL
                                o['altMsl'], = struct.unpack('!'+ffmt, content)
                        elif (data_id&0x00F0) == 0x20:  # Altitude Ellipsoid
                                o['altEllipsoid'], = struct.unpack('!'+ffmt, content)
                        elif (data_id&0x00F0) == 0x30:  # Position ECEF
                                o['ecefX'], o['ecefY'], o['ecefZ'] = \
                                                struct.unpack('!'+3*ffmt, content)
                        elif (data_id&0x00F0) == 0x40:  # LatLon
                                o['lat'], o['lon'] = struct.unpack('!'+2*ffmt, content)
                        else:
                                raise MTException("unknown packet: 0x%04X."%data_id)
                        return o
                def parse_angular_velocity(data_id, content, ffmt):
                        o = {}
                        # FIXME is it really 802y and 803y as in the doc?
                        if (data_id&0x00F0) == 0x20:    # Rate of Turn
                                o['gyrX'], o['gyrY'], o['gyrZ'] = \
                                                struct.unpack('!'+3*ffmt, content)
                        elif (data_id&0x00F0) == 0x30:  # Delta Q
                                o['Delta q0'], o['Delta q1'], o['Delta q2'], o['Delta q3'] = \
                                                struct.unpack('!'+4*ffmt, content)
                        else:
                                raise MTException("unknown packet: 0x%04X."%data_id)
                        return o
                def parse_GPS(data_id, content, ffmt):
                        o = {}
                        if (data_id&0x00F0) == 0x30:    # DOP
                                o['iTOW'], g, p, t, v, h, n, e = \
                                                struct.unpack('!LHHHHHHH', content)
                                o['gDOP'], o['pDOP'], o['tDOP'], o['vDOP'], o['hDOP'], \
                                                o['nDOP'], o['eDOP'] = 0.01*g, 0.01*p, 0.01*t, \
                                                0.01*v, 0.01*h, 0.01*n, 0.01*e
                        elif (data_id&0x00F0) == 0x40:  # SOL
                                o['iTOW'], o['fTOW'], o['Week'], o['gpsFix'], o['Flags'], \
                                                o['ecefX'], o['ecefY'], o['ecefZ'], o['pAcc'], \
                                                o['ecefVX'], o['ecefVY'], o['ecefVZ'], o['sAcc'], \
                                                o['pDOP'], o['numSV'] = \
                                                struct.unpack('!LlhBBlllLlllLHxBx', content)
                        elif (data_id&0x00F0) == 0x80:  # Time UTC
                                o['iTOW'], o['tAcc'], o['nano'], o['year'], o['month'], \
                                                o['day'], o['hour'], o['min'], o['sec'], o['valid'] = \
                                                struct.unpack('!LLlHBBBBBB', content)
                        elif (data_id&0x00F0) == 0xA0:  # SV Info
                                o['iTOW'], o['numCh'] = struct.unpack('!LBxx', content[:8])
                                channels = []
                                for i in range(numCh):
                                        ch['chn'], ch['svid'], ch['flags'], ch['quality'], \
                                                        ch['cno'], ch['elev'], ch['azim'], ch['prRes'] = \
                                                        struct.unpack('!BBBBBbhl', content[8+12*i:20+12*i])
                                        channels.append(ch)
                                o['channels'] = channels
                        else:
                                raise MTException("unknown packet: 0x%04X."%data_id)
                        return o
                def parse_SCR(data_id, content, ffmt):
                        o = {}
                        if (data_id&0x00F0) == 0x10:    # ACC+GYR+MAG+Temperature
                                o['accX'], o['accY'], o['accZ'], o['gyrX'], o['gyrY'], \
                                                o['gyrZ'], o['magX'], o['magY'], o['magZ'], o['Temp']=\
                                                struct.unpack("!9Hh", content)
                        elif (data_id&0x00F0) == 0x20:  # Gyro Temperature
                                o['tempGyrX'], o['tempGyrY'], o['tempGyrZ'] = \
                                                struct.unpack("!hhh", content)
                        else:
                                raise MTException("unknown packet: 0x%04X."%data_id)
                        return o
                def parse_analog_in(data_id, content, ffmt):
                        o = {}
                        if (data_id&0x00F0) == 0x10:    # Analog In 1
                                o['analogIn1'], = struct.unpack("!H", content)
                        elif (data_id&0x00F0) == 0x20:  # Analog In 2
                                o['analogIn2'], = struct.unpack("!H", content)
                        else:
                                raise MTException("unknown packet: 0x%04X."%data_id)
                        return o
                def parse_magnetic(data_id, content, ffmt):
                        o = {}
                        if (data_id&0x00F0) == 0x20:    # Magnetic Field
                                o['magX'], o['magY'], o['magZ'] = \
                                                struct.unpack("!3"+ffmt, content)
                        else:
                                raise MTException("unknown packet: 0x%04X."%data_id)
                        return o
                def parse_velocity(data_id, content, ffmt):
                        o = {}
                        if (data_id&0x00F0) == 0x10:    # Velocity XYZ
                                o['velX'], o['velY'], o['velZ'] = \
                                                struct.unpack("!3"+ffmt, content)
                        else:
                                raise MTException("unknown packet: 0x%04X."%data_id)
                        return o
                def parse_status(data_id, content, ffmt):
                        o = {}
                        if (data_id&0x00F0) == 0x10:    # Status Byte
                                o['StatusByte'], = struct.unpack("!B", content)
                        elif (data_id&0x00F0) == 0x20:  # Status Word
                                o['StatusWord'], = struct.unpack("!L", content)
                        elif (data_id&0x00F0) == 0x40:  # RSSI
                                o['RSSI'], = struct.unpack("!b", content)
                        else:
                                raise MTException("unknown packet: 0x%04X."%data_id)
                        return o

                # data object
                output = {}
                while data:
                        try:
                                data_id, size = struct.unpack('!HB', data[:3])
                                if (data_id&0x0003) == 0x3:
                                        float_format = 'd'
                                elif (data_id&0x0003) == 0x0:
                                        float_format = 'f'
                                else:
                                        raise MTException("fixed point precision not supported.")
                                content = data[3:3+size]
                                data = data[3+size]
                                group = data_id&0xFF00
                                if group == XDIGroup.Temperature:
                                        output['Temperature'] = parse_temperature(data_id, content, ffmt)
                                elif group == XDIGroup.Timestamp:
                                        output['Timestamp'] = parse_timestamp(data_id, content, ffmt)
                                elif group == XDIGroup.OrientationData:
                                        output['Orientation Data'] = parse_orientation_data(data_id, content, ffmt)
                                elif group == XDIGroup.Pressure:
                                        output['Pressure'] = parse_pressure(data_id, content, ffmt)
                                elif group == XDIGroup.Acceleration:
                                        output['Acceleration'] = parse_acceleration(data_id, content, ffmt)
                                elif group == XDIGroup.Position:
                                        output['Position'] = parse_position(data_id, content, ffmt)
                                elif group == XDIGroup.AngularVelocity:
                                        output['Angular Velocity'] = parse_angular_velocity(data_id, content, ffmt)
                                elif group == XDIGroup.GPS:
                                        output['GPS'] = parse_GPS(data_id, content, ffmt)
                                elif group == XDIGroup.SensorComponentReadout:
                                        output['SCR'] = parse_SCR(data_id, content, ffmt)
                                elif group == XDIGroup.AnalogIn:
                                        output['Analog In'] = parse_analog_in(data_id, content, ffmt)
                                elif group == XDIGroup.Magnetic:
                                        output['Magnetic'] = parse_magnetic(data_id, content, ffmt)
                                elif group == XDIGroup.Velocity:
                                        output['Velocity'] = parse_velocity(data_id, content, ffmt)
                                elif group == XDIGroup.Status:
                                        output['Status'] = parse_status(data_id, content, ffmt)
                                else:
                                        raise MTException("unknown XDI group: 0x%04X."%group)
                        except struct.error, e:
                                raise MTException("couldn't parse MTData2 message.")
                return output

        ## Parse a legacy MTData message
        def parse_MTData(self, data, mode=None, settings=None):
                """Read and parse a measurement packet."""
                # getting mode
                if mode is None:
                        mode = self.mode
                if settings is None:
                        settings = self.settings
                # data object
                output = {}
                try:
                        # raw IMU first
                        if mode & OutputMode.RAW:
                                o = {}
                                o['accX'], o['accY'], o['accZ'], o['gyrX'], o['gyrY'], o['gyrZ'],\
                                                o['magX'], o['magY'], o['magZ'], o['temp'] =\
                                                struct.unpack('!10H', data[:20])
                                data = data[20:]
                                output['RAW'] = o
                        # raw GPS second
                        if mode & OutputMode.RAWGPS:
                                o = {}
                                o['Press'], o['bPrs'], o['ITOW'], o['LAT'], o['LON'], o['ALT'],\
                                                o['VEL_N'], o['VEL_E'], o['VEL_D'], o['Hacc'], o['Vacc'],\
                                                o['Sacc'], o['bGPS'] = struct.unpack('!HBI6i3IB', data[:44])
                                data = data[44:]
                                output['RAWGPS'] = o
                        # temperature
                        if mode & OutputMode.Temp:
                                temp, = struct.unpack('!f', data[:4])
                                data = data[4:]
                                output['Temp'] = temp
                        # calibrated data
                        if mode & OutputMode.Calib:
                                o = {}
                                if not (settings&OutputSettings.CalibMode_GyrMag):
                                        o['accX'], o['accY'], o['accZ'] = struct.unpack('!3f',\
                                                         data[:12])
                                        data = data[12:]
                                if not (settings&OutputSettings.CalibMode_AccMag):
                                        o['gyrX'], o['gyrY'], o['gyrZ'] = struct.unpack('!3f',\
                                                         data[:12])
                                        data = data[12:]
                                if not (settings&OutputSettings.CalibMode_AccGyr):
                                        o['magX'], o['magY'], o['magZ'] = struct.unpack('!3f',\
                                                         data[:12])
                                        data = data[12:]
                                output['Calib'] = o
                        # orientation
                        if mode & OutputMode.Orient:
                                o = {}
                                if settings & OutputSettings.OrientMode_Euler:
                                        o['roll'], o['pitch'], o['yaw'] = struct.unpack('!3f', data[:12])
                                        data = data[12:]
                                elif settings & OutputSettings.OrientMode_Matrix:
                                        a, b, c, d, e, f, g, h, i = struct.unpack('!9f', data[:36])
                                        data = data[36:]
                                        o['matrix'] = ((a, b, c), (d, e, f), (g, h, i))
                                else: # OutputSettings.OrientMode_Quaternion:
                                        q0, q1, q2, q3 = struct.unpack('!4f', data[:16])
                                        data = data[16:]
                                        o['quaternion'] = (q0, q1, q2, q3)
                                output['Orient'] = o
                        # auxiliary
                        if mode & OutputMode.Auxiliary:
                                o = {}
                                if not (settings&OutputSettings.AuxiliaryMode_NoAIN1):
                                        o['Ain_1'], = struct.unpack('!H', data[:2])
                                        data = data[2:]
                                if not (settings&OutputSettings.AuxiliaryMode_NoAIN2):
                                        o['Ain_2'], = struct.unpack('!H', data[:2])
                                        data = data[2:]
                                output['Auxiliary'] = o
                        # position
                        if mode & OutputMode.Position:
                                o = {}
                                o['Lat'], o['Lon'], o['Alt'] = struct.unpack('!3f', data[:12])
                                data = data[12:]
                                output['Pos'] = o
                        # velocity
                        if mode & OutputMode.Velocity:
                                o = {}
                                o['Vel_X'], o['Vel_Y'], o['Vel_Z'] = struct.unpack('!3f', data[:12])
                                data = data[12:]
                                output['Vel'] = o
                        # status
                        if mode & OutputMode.Status:
                                status, = struct.unpack('!B', data[:1])
                                data = data[1:]
                                output['Stat'] = status
                        # sample counter
                        if settings & OutputSettings.Timestamp_SampleCnt:
                                TS, = struct.unpack('!H', data[:2])
                                data = data[2:]
                                output['Sample'] = TS
                except struct.error, e:
                        raise MTException("could not parse MTData message.")
                if data <> '':
                        raise MTException("could not parse MTData message (too long).")
                return output


        ## Change the baudrate, reset the device and reopen communication.
        def ChangeBaudrate(self, baudrate):
                """Change the baudrate, reset the device and reopen communication."""
                self.GoToConfig()
                brid = Baudrates.get_BRID(baudrate)
                self.SetBaudrate(brid)
                self.Reset()
                #self.device.flush()
                self.device.baudrate=baudrate
                #self.device.flush()
                time.sleep(0.01)
                self.read_msg()
                self.write_msg(0x3f)




################################################################
# Auto detect port
################################################################
def find_devices():
        mtdev_list = []
        for port in glob.glob("/dev/tty*S*"):
                try:
                        br = find_baudrate(port)
                        if br:
                                mtdev_list.append((port, br))
                except MTException:
                        pass
        return mtdev_list


################################################################
# Auto detect baudrate
################################################################
def find_baudrate(port):
        baudrates = (115200, 460800, 921600, 230400, 57600, 38400, 19200, 9600)
        for br in baudrates:
                try:
                        mt = MTDevice(port, br)
                except serial.SerialException:
                        raise MTException("unable to open %s"%port)
                try:
                        mt.GoToConfig()
                        mt.GoToMeasurement()
                        return br
                except MTException:
                        pass



################################################################
# Documentation for stand alone usage
################################################################
def usage():
                print """MT device driver.
Usage:
        ./mtdevice.py [commands] [opts]

Commands:
        -h, --help
                Print this help and quit.
        -r, --reset
                Reset device to factory defaults.
        -a, --change-baudrate=NEW_BAUD
                Change baudrate from BAUD (see below) to NEW_BAUD.
        -c, --configure
                Configure the device (needs MODE and SETTINGS arguments below).
        -e, --echo
                Print MTData. It is the default if no other command is supplied.
        -i, --inspect
                Print current MT device configuration.
        -x, --xkf-scenario=ID
                Change the current XKF scenario.


Options:
        -d, --device=DEV
                Serial interface of the device (default: /dev/ttyUSB0). If 'auto', then
                all serial ports are tested at all baudrates and the first
                suitable device is used.
        -b, --baudrate=BAUD
                Baudrate of serial interface (default: 115200). If 0, then all
                rates are tried until a suitable one is found.
        -m, --output-mode=MODE
                Mode of the device selecting the information to output.
                This is required for 'configure' command. If it is not present
                in 'echo' command, the configuration will be read from the
                device.
                MODE can be either the mode value in hexadecimal, decimal or
                binary form, or a string composed of the following characters
                (in any order):
                        t       temperature, [0x0001]
                        c       calibrated data, [0x0002]
                        o       orientation data, [0x0004]
                        a       auxiliary data, [0x0008]
                        p       position data (requires MTi-G), [0x0010]
                        v       velocity data (requires MTi-G), [0x0020]
                        s       status data, [0x0800]
                        g       raw GPS mode (requires MTi-G), [0x1000]
                        r       raw (incompatible with others except raw GPS),
                                [0x4000]
                For example, use "--output-mode=so" to have status and
                orientation data.
        -s, --output-settings=SETTINGS
                Settings of the device.
                This is required for 'configure' command. If it is not present
                in 'echo' command, the configuration will be read from the
                device.
                SETTINGS can be either the settings value in hexadecimal,
                decimal or binary form, or a string composed of the following
                characters (in any order):
                        t       sample count (excludes 'n')
                        n       no sample count (excludes 't')
                        q       orientation in quaternion (excludes 'e' and 'm')
                        e       orientation in Euler angles (excludes 'm' and
                                'q')
                        m       orientation in matrix (excludes 'q' and 'e')
                        A       acceleration in calibrated data
                        G       rate of turn in calibrated data
                        M       magnetic field in calibrated data
                        i       only analog input 1 (excludes 'j')
                        j       only analog input 2 (excludes 'i')
                        N       North-East-Down instead of default: X North Z up
                For example, use "--output-settings=tqMAG" for all calibrated
                data, sample counter and orientation in quaternion.
        -p, --period=PERIOD
                Sampling period in (1/115200) seconds (default: 1152).
                Minimum is 225 (1.95 ms, 512 Hz), maximum is 1152
                (10.0 ms, 100 Hz).
                Note that it is the period at which sampling occurs, not the
                period at which messages are sent (see below).
        -f, --skip-factor=SKIPFACTOR
                Number of samples to skip before sending MTData message
                (default: 0).
                The frequency at which MTData message is send is:
                        115200/(PERIOD * (SKIPFACTOR + 1))
                If the value is 0xffff, no data is send unless a ReqData request
                is made.
"""


################################################################
# Main function
################################################################
def main():
        # parse command line
        shopts = 'hra:ceid:b:m:s:p:f:x:'
        lopts = ['help', 'reset', 'change-baudrate=', 'configure', 'echo',
                        'inspect', 'device=', 'baudrate=', 'output-mode=',
                        'output-settings=', 'period=', 'skip-factor=', 'xkf-scenario=']
        try:
                opts, args = getopt.gnu_getopt(sys.argv[1:], shopts, lopts)
        except getopt.GetoptError, e:
                print e
                usage()
                return 1
        # default values
        device = '/dev/ttyUSB0'
        baudrate = 115200
        mode = None
        settings = None
        period = None
        skipfactor = None
        new_baudrate = None
        new_xkf = None
        actions = []
        # filling in arguments
        for o, a in opts:
                if o in ('-h', '--help'):
                        usage()
                        return
                if o in ('-r', '--reset'):
                        actions.append('reset')
                if o in ('-a', '--change-baudrate'):
                        try:
                                new_baudrate = int(a)
                        except ValueError:
                                print "change-baudrate argument must be integer."
                                return 1
                        actions.append('change-baudrate')
                if o in ('-c', '--configure'):
                        actions.append('configure')
                if o in ('-e', '--echo'):
                        actions.append('echo')
                if o in ('-i', '--inspect'):
                        actions.append('inspect')
                if o in ('-x', '--xkf-scenario'):
                        try:
                                new_xkf = int(a)
                        except ValueError:
                                print "xkf-scenario argument must be integer."
                                return 1
                        actions.append('xkf-scenario')
                if o in ('-d', '--device'):
                        device = a
                if o in ('-b', '--baudrate'):
                        try:
                                baudrate = int(a)
                        except ValueError:
                                print "baudrate argument must be integer."
                                return 1
                if o in ('-m', '--output-mode'):
                        mode = get_mode(a)
                        if mode is None:
                                return 1
                if o in ('-s', '--output-settings'):
                        settings = get_settings(a)
                        if settings is None:
                                return 1
                if o in ('-p', '--period'):
                        try:
                                period = int(a)
                        except ValueError:
                                print "period argument must be integer."
                                return 1
                if o in ('-f', '--skip-factor'):
                        try:
                                skipfactor = int(a)
                        except ValueError:
                                print "skip-factor argument must be integer."
                                return 1
        # if nothing else: echo
        if len(actions) == 0:
                actions.append('echo')
        try:
                if device=='auto':
                        devs = find_devices()
                        if devs:
                                print "Detected devices:","".join('\n\t%s @ %d'%(d,p) for d,p in
                                                devs)
                                print "Using %s @ %d"%devs[0]
                                device, baudrate = devs[0]
                        else:
                                print "No suitable device found."
                                return 1
                # find baudrate
                if not baudrate:
                        baudrate = find_baudrate(device)
                if not baudrate:
                        print "No suitable baudrate found."
                        return 1
                # open device
                try:
                        mt = MTDevice(device, baudrate)
                except serial.SerialException:
                        raise MTException("unable to open %s"%device)
                # execute actions
                if 'inspect' in actions:
                        mt.GoToConfig()
                        print "Device: %s at %d Bd:"%(device, baudrate)
                        print "General configuration:", mt.ReqConfiguration()
                        print "Available scenarios:", mt.ReqAvailableScenarios()
                        print "Current scenario: %s (id: %d)"%mt.ReqCurrentScenario()[::-1]
                        mt.GoToMeasurement()
                if 'change-baudrate' in actions:
                        print "Changing baudrate from %d to %d:"%(baudrate, new_baudrate),
                        sys.stdout.flush()
                        mt.ChangeBaudrate(new_baudrate)
                        print " Ok"             # should we test it was actually ok?
                if 'reset' in actions:
                        print "Restoring factory defaults",
                        sys.stdout.flush()
                        mt.RestoreFactoryDefaults()
                        print " Ok"             # should we test it was actually ok?
                if 'configure' in actions:
                        if mode is None:
                                print "output-mode is require to configure the device."
                                return 1
                        if settings is None:
                                print "output-settings is required to configure the device."
                                return 1
                        print "Configuring mode and settings",
                        sys.stdout.flush()
                        mt.configure(mode, settings, period, skipfactor)
                        print " Ok"             # should we test it was actually ok?
                if 'xkf-scenario' in actions:
                        print "Changing XKF scenario",
                        sys.stdout.flush()
                        mt.GoToConfig()
                        mt.SetCurrentScenario(new_xkf)
                        mt.GoToMeasurement()
                        print "Ok"
                if 'echo' in actions:
#                       if (mode is None) or (settings is None):
#                               mode, settings, length = mt.auto_config()
#                               print mode, settings, length
                        try:
                                while True:
                                        print mt.read_measurement(mode, settings)
                        except KeyboardInterrupt:
                                pass
        except MTException as e:
                #traceback.print_tb(sys.exc_info()[2])
                print e



def get_mode(arg):
        """Parse command line output-mode argument."""
        try:    # decimal
                mode = int(arg)
                return mode
        except ValueError:
                pass
        if arg[0]=='0':
                try:    # binary
                        mode = int(arg, 2)
                        return mode
                except ValueError:
                        pass
                try:    # hexadecimal
                        mode = int(arg, 16)
                        return mode
                except ValueError:
                        pass
        # string mode specification
        mode = 0
        for c in arg:
                if c=='t':
                        mode |= OutputMode.Temp
                elif c=='c':
                        mode |= OutputMode.Calib
                elif c=='o':
                        mode |= OutputMode.Orient
                elif c=='a':
                        mode |= OutputMode.Auxiliary
                elif c=='p':
                        mode |= OutputMode.Position
                elif c=='v':
                        mode |= OutputMode.Velocity
                elif c=='s':
                        mode |= OutputMode.Status
                elif c=='g':
                        mode |= OutputMode.RAWGPS
                elif c=='r':
                        mode |= OutputMode.RAW
                else:
                        print "Unknown output-mode specifier: '%s'"%c
                        return
        return mode

def get_settings(arg):
        """Parse command line output-settings argument."""
        try:    # decimal
                settings = int(arg)
                return settings
        except ValueError:
                pass
        if arg[0]=='0':
                try:    # binary
                        settings = int(arg, 2)
                        return settings
                except ValueError:
                        pass
                try:    # hexadecimal
                        settings = int(arg, 16)
                        return settings
                except ValueError:
                        pass
        # strings settings specification
        timestamp = 0
        orient_mode = 0
        calib_mode = OutputSettings.CalibMode_Mask
        NED = 0
        for c in arg:
                if c=='t':
                        timestamp = OutputSettings.Timestamp_SampleCnt
                elif c=='n':
                        timestamp = OutputSettings.Timestamp_None
                elif c=='q':
                        orient_mode = OutputSettings.OrientMode_Quaternion
                elif c=='e':
                        orient_mode = OutputSettings.OrientMode_Euler
                elif c=='m':
                        orient_mode = OutputSettings.OrientMode_Matrix
                elif c=='A':
                        calib_mode &= OutputSettings.CalibMode_Acc
                elif c=='G':
                        calib_mode &= OutputSettings.CalibMode_Gyr
                elif c=='M':
                        calib_mode &= OutputSettings.CalibMode_Mag
                elif c=='i':
                        calib_mode &= OutputSettings.AuxiliaryMode_NoAIN2
                elif c=='j':
                        calib_mode &= OutputSettings.AuxiliaryMode_NoAIN1
                elif c=='N':
                        NED = OutputSettings.Coordinates_NED
                else:
                        print "Unknown output-settings specifier: '%s'"%c
                        return
        settings = timestamp|orient_mode|calib_mode|NED
        return settings


if __name__=='__main__':
        main()