"""LCM type definitions This file automatically generated by lcm. DO NOT MODIFY BY HAND!!!! """ """ kearfott_t.lcm lcm definition that matches the binary data output message generated by the PCDAS software that interfaces the kearfott INS with the rest of the OI subsystem. Copyright 2019 MBARI """ from io import BytesIO import struct import oi class kearfott_t(object): __slots__ = ["time_unix_sec", "count_publish", "sender_id", "cycles_uint", "mode", "monitor", "latitude_rad", "longitude_rad", "northing_m", "easting_m", "depth_m", "bheight_m", "roll_rad", "pitch_rad", "heading_rad", "vbodyx_ms", "vbodyy_ms", "vbodyz_ms", "accelx_ms2", "accely_ms2", "accelz_ms2", "prate_rads", "qrate_rads", "rrate_rads", "utcTime", "sampleTime", "num_doubles", "doubles"] __typenames__ = ["double", "int64_t", "string", "int16_t", "byte", "byte", "double", "double", "double", "double", "float", "float", "float", "float", "float", "float", "float", "float", "float", "float", "float", "float", "float", "float", "float", "float", "int16_t", "oi.double_t"] __dimensions__ = [None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, None, ["num_doubles"]] def __init__(self): self.time_unix_sec = 0.0 """ Time since Unix Epoch LCM Type: double """ self.count_publish = 0 """ LCM publish count LCM Type: int64_t """ self.sender_id = "" """ Self identifier for sender. LCM Type: string """ self.cycles_uint = 0 """ Start Message Specific data items. LCM Type: int16_t """ self.mode = 0 """ incrementing counter Note: D3 - MODE – SYSTEM MODE - CODED HEXIDECIMAL definition (Figure 19) MODE SYSTEM MODE 00H = IDLE 01H = COARSE STATIONARY ALIGN 02H = FINE STATIONARY ALIGN - NOT COMPLETE 03H = FINE STATIONARY ALIGN - COMPLETE 04H = COARSE GPS ALIGN 05H = FINE GPS ALIGN - NOT COMPLETE 06H = FINE GPS ALIGN - COMPLETE 07H = DOPPLER/EM LOG ALIGN - NOT COMPLETE 08H = SPARE 09H = AIDED NAVIGATION 0AH = NO/GO (SYSTEM FAILURE) NOTE: All other states are invalid. LCM Type: byte """ self.monitor = 0 """ Status Byte NAVIGATION MONITOR BINARY * DISCRETES BIT # DEFINITION 7 DEPTH LOOP OPEN > 1 MINUTE TRUE 1, FALSE 0 6 GPS DATA PROCESSED TRUE 1, FALSE 0 5 GPS DATA REJECTED TRUE 1, FALSE 0 4 DOPPLER/EM-LOG DATA PROCESSED TRUE 1, FALSE 0 3 DOPPLER/EM-LOG DATA REJECTED TRUE 1, FALSE 0 2 ZUPT PROCESSED TRUE 1, FALSE 0 1 ALIGN WITHOUT POSITION TRUE 1, FALSE 0 0 VALID DVL HEIGHT TRUE 1, FALSE 0 LCM Type: byte """ self.latitude_rad = 0.0 """ Mode Status Byte LCM Type: double """ self.longitude_rad = 0.0 """ radians, positive is north LCM Type: double """ self.northing_m = 0.0 """ radians, positive is east LCM Type: double """ self.easting_m = 0.0 """ meters from current datum LCM Type: double """ self.depth_m = 0.0 """ meters from current datum LCM Type: float """ self.bheight_m = 0.0 """ meters LCM Type: float """ self.roll_rad = 0.0 """ meters, altitude LCM Type: float """ self.pitch_rad = 0.0 """ radians LCM Type: float """ self.heading_rad = 0.0 """ radians LCM Type: float """ self.vbodyx_ms = 0.0 """ radians LCM Type: float """ self.vbodyy_ms = 0.0 """ m/s LCM Type: float """ self.vbodyz_ms = 0.0 """ m/s LCM Type: float """ self.accelx_ms2 = 0.0 """ m/s LCM Type: float """ self.accely_ms2 = 0.0 """ m/s^2 LCM Type: float """ self.accelz_ms2 = 0.0 """ m/s^2 LCM Type: float """ self.prate_rads = 0.0 """ m/s^2 LCM Type: float """ self.qrate_rads = 0.0 """ rad/s LCM Type: float """ self.rrate_rads = 0.0 """ rad/s LCM Type: float """ self.utcTime = 0.0 """ rad/s LCM Type: float """ self.sampleTime = 0.0 """ LCM Type: float """ self.num_doubles = 0 """ LCM Type: int16_t """ self.doubles = [] """ LCM Type: oi.double_t[num_doubles] """ def encode(self): buf = BytesIO() buf.write(kearfott_t._get_packed_fingerprint()) self._encode_one(buf) return buf.getvalue() def _encode_one(self, buf): buf.write(struct.pack(">dq", self.time_unix_sec, self.count_publish)) __sender_id_encoded = self.sender_id.encode('utf-8') buf.write(struct.pack('>I', len(__sender_id_encoded)+1)) buf.write(__sender_id_encoded) buf.write(b"\0") buf.write(struct.pack(">hBBddddffffffffffffffffh", self.cycles_uint, self.mode, self.monitor, self.latitude_rad, self.longitude_rad, self.northing_m, self.easting_m, self.depth_m, self.bheight_m, self.roll_rad, self.pitch_rad, self.heading_rad, self.vbodyx_ms, self.vbodyy_ms, self.vbodyz_ms, self.accelx_ms2, self.accely_ms2, self.accelz_ms2, self.prate_rads, self.qrate_rads, self.rrate_rads, self.utcTime, self.sampleTime, self.num_doubles)) for i0 in range(self.num_doubles): assert self.doubles[i0]._get_packed_fingerprint() == oi.double_t._get_packed_fingerprint() self.doubles[i0]._encode_one(buf) @staticmethod def decode(data: bytes): if hasattr(data, 'read'): buf = data else: buf = BytesIO(data) if buf.read(8) != kearfott_t._get_packed_fingerprint(): raise ValueError("Decode error") return kearfott_t._decode_one(buf) @staticmethod def _decode_one(buf): self = kearfott_t() self.time_unix_sec, self.count_publish = struct.unpack(">dq", buf.read(16)) __sender_id_len = struct.unpack('>I', buf.read(4))[0] self.sender_id = buf.read(__sender_id_len)[:-1].decode('utf-8', 'replace') self.cycles_uint, self.mode, self.monitor, self.latitude_rad, self.longitude_rad, self.northing_m, self.easting_m, self.depth_m, self.bheight_m, self.roll_rad, self.pitch_rad, self.heading_rad, self.vbodyx_ms, self.vbodyy_ms, self.vbodyz_ms, self.accelx_ms2, self.accely_ms2, self.accelz_ms2, self.prate_rads, self.qrate_rads, self.rrate_rads, self.utcTime, self.sampleTime, self.num_doubles = struct.unpack(">hBBddddffffffffffffffffh", buf.read(102)) self.doubles = [] for i0 in range(self.num_doubles): self.doubles.append(oi.double_t._decode_one(buf)) return self @staticmethod def _get_hash_recursive(parents): if kearfott_t in parents: return 0 newparents = parents + [kearfott_t] tmphash = (0xb3fe10b7f94bb7a6+ oi.double_t._get_hash_recursive(newparents)) & 0xffffffffffffffff tmphash = (((tmphash<<1)&0xffffffffffffffff) + (tmphash>>63)) & 0xffffffffffffffff return tmphash _packed_fingerprint = None @staticmethod def _get_packed_fingerprint(): if kearfott_t._packed_fingerprint is None: kearfott_t._packed_fingerprint = struct.pack(">Q", kearfott_t._get_hash_recursive([])) return kearfott_t._packed_fingerprint def get_hash(self): """Get the LCM hash of the struct""" return struct.unpack(">Q", kearfott_t._get_packed_fingerprint())[0]