46 lines
1.5 KiB
Python
46 lines
1.5 KiB
Python
import struct
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import ubx.msg
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class RawX(ubx.msg.UbxMsg):
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class Group1:
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@classmethod
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def from_bytes(cls, data: bytes):
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obj = RawX.Group1()
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obj.pr_mes = struct.unpack("<d", data[0:8])[0]
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obj.cp_mes = struct.unpack("<d", data[8:16])[0]
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obj.do_mes = struct.unpack("<f", data[16:20])[0]
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obj.gnss_id = struct.unpack("B", data[20:21])[0]
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obj.sv_id = struct.unpack("B", data[21:22])[0]
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obj.sig_id = struct.unpack("B", data[22:23])[0]
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obj.freq_id = struct.unpack("B", data[23:24])[0]
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obj.lock_time = struct.unpack("<H", data[24:26])[0]
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obj.cno = struct.unpack("B", data[26:27])[0]
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obj.pr_std_dev = struct.unpack("B", data[27:28])[0]
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obj.cp_std_dev = struct.unpack("B", data[28:29])[0]
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obj.do_std_dev = struct.unpack("B", data[29:30])[0]
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obj.do_trk_stat = struct.unpack("B", data[30:31])[0]
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obj.reserved1 = struct.unpack("B", data[31:32])[0]
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return obj.__dict__
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@classmethod
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def from_bytes(cls, data: bytes):
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obj = RawX()
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obj.rcv_tow = struct.unpack("<d", data[0:8])[0]
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obj.week = struct.unpack("<H", data[8:10])[0]
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obj.leap_s = struct.unpack("b", data[10:11])[0]
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obj.num_meas = struct.unpack("B", data[11:12])[0]
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obj.rec_stat = struct.unpack("B", data[12:13])[0]
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obj.version = struct.unpack("B", data[13:14])[0]
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obj.reserved0 = struct.unpack("BB", data[14:16])[0]
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obj.meas = []
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offset = 16
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remain = len(data) - offset
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group_size = 32
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n = offset
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while remain:
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group = cls.Group1.from_bytes(data[n:n + 32])
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n += group_size
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remain -= group_size
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obj.meas.append(group)
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return obj.__dict__
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