"""LCM type definitions This file automatically generated by lcm. DO NOT MODIFY BY HAND!!!! """ """ rdi_pd4_t.lcm lcm definition that matches the binary data output message generated by the PCDAS software that interfaces the rdi dvl with the rest of the OI subsystem. http://www.teledynemarine.com/Documents/Brand%20Support/RD%20INSTRUMENTS/Technical%20Resources/Manuals%20and%20Guides/Workhorse/WorkHorse%20Commands%20and%20Output%20Data%20Format_Jun18.pdf Copyright 2019 MBARI """ from io import BytesIO import struct import oi class rdi_pd4_t(object): __slots__ = ["time_unix_sec", "count_publish", "sender_id", "dvl_id", "datstr", "num_bytes_uint", "sysconfig", "xvelbtm_mms", "yvelbtm_mms", "zvelbtm_mms", "evelbtm_mms", "beam1_cm_uint", "beam2_cm_uint", "beam3_cm_uint", "beam4_cm_uint", "bottom_stat", "xvel_ref_mms", "yvel_ref_mms", "zvel_ref_mms", "evel_ref_mms", "ref_layer_start_dm_uint", "ref_layer_end_dm_uint", "ref_layer_status", "time_of_ping_hr", "time_of_ping_min", "time_of_ping_sec", "time_of_ping_hun", "built_in_test_uint", "speed_of_sound_ms_uint", "temperature_cdegC", "checksum_uint", "ktnav_uint", "num_doubles", "doubles"] __typenames__ = ["double", "int64_t", "string", "byte", "byte", "int16_t", "byte", "int16_t", "int16_t", "int16_t", "int16_t", "int16_t", "int16_t", "int16_t", "int16_t", "byte", "int16_t", "int16_t", "int16_t", "int16_t", "int16_t", "int16_t", "byte", "byte", "byte", "byte", "byte", "int16_t", "int16_t", "int16_t", "int16_t", "int16_t", "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, 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.dvl_id = 0 """ LCM Type: byte """ self.datstr = 0 """ DVL id LCM Type: byte """ self.num_bytes_uint = 0 """ data structure 0 = PD4, 1 = PD5 Contains the number of bytes sent in this data structure, not including the final check- sum. LCM Type: int16_t """ self.sysconfig = 0 """ number of ytes in this structure BIT 76543210 00xxxxxx BEAM-COORDINATE VELOCITIES 01xxxxxx INSTRUMENT-COORDINATE VELOCITIES 10xxxxxx SHIP-COORDINATE VELOCITIES 11xxxxxx EARTH-COORDINATE VELOCITIES xx0xxxxx TILT INFORMATION NOT USED IN CALCULATIONS xx1xxxxx TILT INFORMATION USED IN CALCULATIONS xxx0xxxx 3-BEAM SOLUTIONS NOT COMPUTED xxx1xxxx 3-BEAM SOLUTIONS COMPUTED xxxxx010 300-kHz DVL xxxxx011 600-kHz DVL xxxxx100 1200-kHz DVL LCM Type: byte """ self.xvelbtm_mms = 0 """ These fields contain the velocity of the vessel in relation to the bottom in mm/s. Positive values indicate vessel motion to east (X), north (Y), and up (Z). LSD = 1 mm/s (see NOTES at end of this table) LCM Type: int16_t """ self.yvelbtm_mms = 0 """ LCM Type: int16_t """ self.zvelbtm_mms = 0 """ LCM Type: int16_t """ self.evelbtm_mms = 0 """ LCM Type: int16_t """ self.beam1_cm_uint = 0 """ These fields contain the vertical range from the ADCP to the bottom as determined by each beam. This vertical range does not compensate for the effects of pitch and roll. When a bottom detection is bad, the field is set to zero. Scaling: LSD = 1 centimeter; Range = 0 to 65535 cm LCM Type: int16_t """ self.beam2_cm_uint = 0 """ LCM Type: int16_t """ self.beam3_cm_uint = 0 """ LCM Type: int16_t """ self.beam4_cm_uint = 0 """ LCM Type: int16_t """ self.bottom_stat = 0 """ This field shows the status of bottom-referenced correlation and echo amplitude data. Convert to binary and interpret as follows. A zero code indicates status is OK. BIT 76543210 1xxxxxxx BEAM 4 LOW ECHO AMPLITUDE x1xxxxxx BEAM 4 LOW CORRELATION xx1xxxxx BEAM 3 LOW ECHO AMPLITUDE xxx1xxxx BEAM 3 LOW CORRELATION xxxx1xxx BEAM 2 LOW ECHO AMPLITUDE xxxxx1xx BEAM 2 LOW CORRELATION xxxxxx1x BEAM 1 LOW ECHO AMPLITUDE xxxxxxx1 BEAM 1 LOW CORRELATION LCM Type: byte """ self.xvel_ref_mms = 0 """ These fields contain the velocity of the vessel in relation to the water-mass reference layer in mm/s. The setting of the EX-command (Coordinate Transformation) determines how the WorkHorse references the velocity data. LCM Type: int16_t """ self.yvel_ref_mms = 0 """ LCM Type: int16_t """ self.zvel_ref_mms = 0 """ LCM Type: int16_t """ self.evel_ref_mms = 0 """ LCM Type: int16_t """ self.ref_layer_start_dm_uint = 0 """ These fields contain the starting boundary (near surface) and the ending boundary (near bottom) of the water-mass reference layer (BL command). If the minimum size field is zero, the ADCP does not calculate reference-layer data. Scaling: LSD = 1 dm; Range = 0-9999 dm LCM Type: int16_t """ self.ref_layer_end_dm_uint = 0 """ decimeters LCM Type: int16_t """ self.ref_layer_status = 0 """ decimeters This field shows the status of reference layer depth and correlation data. Convert to bi- nary and interpret as follows. A zero code indicates status is OK. BIT 76543210 xxx1xxxx ALTITUDE IS TOO SHALLOW xxxx1xxx BEAM 4 LOW CORRELATION xxxxx1xx BEAM 3 LOW CORRELATION xxxxxx1x BEAM 2 LOW CORRELATION xxxxxxx1 BEAM 1 LOW CORRELATION LCM Type: byte """ self.time_of_ping_hr = 0 """ These fields contain the time of the first ping of the current ensemble LCM Type: byte """ self.time_of_ping_min = 0 """ LCM Type: byte """ self.time_of_ping_sec = 0 """ LCM Type: byte """ self.time_of_ping_hun = 0 """ LCM Type: byte """ self.built_in_test_uint = 0 """ These fields contain the results of the ADCP’s Built-in Test function. A zero code indicates a successful BIT result. BYTE 40 BYTE 41 (BYTE 41 RESERVED FOR FUTURE USE) 1xxxxxxx xxxxxxxx = RESERVED x1xxxxxx xxxxxxxx = RESERVED xx1xxxxx xxxxxxxx = RESERVED xxx1xxxx xxxxxxxx = DEMOD 1 ERROR xxxx1xxx xxxxxxxx = DEMOD 0 ERROR xxxxx1xx xxxxxxxx = RESERVED xxxxxx1x xxxxxxxx = DSP ERROR xxxxxxx1 xxxxxxxx = RESERVED LCM Type: int16_t """ self.speed_of_sound_ms_uint = 0 """ LCM Type: int16_t """ self.temperature_cdegC = 0 """ meters per second LCM Type: int16_t """ self.checksum_uint = 0 """ centidegrees Celsius This field contains a modulo 65536 checksum. The ADCP computes the checksum by sum- ming all the bytes in the output buffer excluding the checksum. NOTE: This field contains the checksum only when the PD4 command is used. If PD5 is used, the remaining bytes are explained in Table 44. LCM Type: int16_t """ self.ktnav_uint = 0 """ LCM Type: int16_t """ self.num_doubles = 0 """ LCM Type: int16_t """ self.doubles = [] """ LCM Type: oi.double_t[num_doubles] """ def encode(self): buf = BytesIO() buf.write(rdi_pd4_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(">BBhBhhhhhhhhBhhhhhhBBBBBhhhhhh", self.dvl_id, self.datstr, self.num_bytes_uint, self.sysconfig, self.xvelbtm_mms, self.yvelbtm_mms, self.zvelbtm_mms, self.evelbtm_mms, self.beam1_cm_uint, self.beam2_cm_uint, self.beam3_cm_uint, self.beam4_cm_uint, self.bottom_stat, self.xvel_ref_mms, self.yvel_ref_mms, self.zvel_ref_mms, self.evel_ref_mms, self.ref_layer_start_dm_uint, self.ref_layer_end_dm_uint, self.ref_layer_status, self.time_of_ping_hr, self.time_of_ping_min, self.time_of_ping_sec, self.time_of_ping_hun, self.built_in_test_uint, self.speed_of_sound_ms_uint, self.temperature_cdegC, self.checksum_uint, self.ktnav_uint, 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) != rdi_pd4_t._get_packed_fingerprint(): raise ValueError("Decode error") return rdi_pd4_t._decode_one(buf) @staticmethod def _decode_one(buf): self = rdi_pd4_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.dvl_id, self.datstr, self.num_bytes_uint, self.sysconfig, self.xvelbtm_mms, self.yvelbtm_mms, self.zvelbtm_mms, self.evelbtm_mms, self.beam1_cm_uint, self.beam2_cm_uint, self.beam3_cm_uint, self.beam4_cm_uint, self.bottom_stat, self.xvel_ref_mms, self.yvel_ref_mms, self.zvel_ref_mms, self.evel_ref_mms, self.ref_layer_start_dm_uint, self.ref_layer_end_dm_uint, self.ref_layer_status, self.time_of_ping_hr, self.time_of_ping_min, self.time_of_ping_sec, self.time_of_ping_hun, self.built_in_test_uint, self.speed_of_sound_ms_uint, self.temperature_cdegC, self.checksum_uint, self.ktnav_uint, self.num_doubles = struct.unpack(">BBhBhhhhhhhhBhhhhhhBBBBBhhhhhh", buf.read(51)) 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 rdi_pd4_t in parents: return 0 newparents = parents + [rdi_pd4_t] tmphash = (0xfb158a278c08889d+ 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 rdi_pd4_t._packed_fingerprint is None: rdi_pd4_t._packed_fingerprint = struct.pack(">Q", rdi_pd4_t._get_hash_recursive([])) return rdi_pd4_t._packed_fingerprint def get_hash(self): """Get the LCM hash of the struct""" return struct.unpack(">Q", rdi_pd4_t._get_packed_fingerprint())[0]