73 lines
2.2 KiB
Python
73 lines
2.2 KiB
Python
import struct
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import ubx.msg
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class Sig(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 = Sig.Group1()
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obj.gnss_id = struct.unpack("B", data[0:1])[0]
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obj.sv_id = struct.unpack("B", data[1:2])[0]
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obj.sig_id = struct.unpack("B", data[2:3])[0]
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obj.freq_id = struct.unpack("B", data[3:4])[0]
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obj.pr_res = struct.unpack("<H", data[4:6])[0]
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obj.cno = struct.unpack("B", data[6:7])[0]
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obj.quality_ind = struct.unpack("B", data[7:8])[0]
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obj.corr_source = struct.unpack("B", data[8:9])[0]
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obj.iono_model = struct.unpack("B", data[9:10])[0]
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obj.sig_flags = struct.unpack("<H", data[10:12])[0]
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obj.reserved1 = struct.unpack("BBBB", data[12:16])[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 = Sig()
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obj.iTOW = struct.unpack("<L", data[0:4])[0]
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obj.version = struct.unpack("B", data[4:5])[0]
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obj.num_signals = struct.unpack("B", data[5:6])[0]
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obj.reserved = struct.unpack("BB", data[6:8])[0]
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obj.signals = []
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offset = 8
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remain = len(data) - offset
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group_size = 16
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n = offset
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while remain:
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signal = cls.Group1.from_bytes(data[n:n + group_size])
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n += group_size
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remain -= group_size
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obj.signals.append(signal)
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return obj.__dict__
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class Sat(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 = Sat.Group1()
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obj.gnss_id = struct.unpack("B", data[0:1])[0]
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obj.sv_id = struct.unpack("B", data[1:2])[0]
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obj.cno = struct.unpack("B", data[2:3])[0]
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obj.elev = struct.unpack("B", data[3:4])[0]
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obj.azim = struct.unpack("<h", data[4:6])[0]
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obj.pr_res = struct.unpack("<h", data[6:8])[0]
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obj.flags = struct.unpack("<I", data[8:12])[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 = Sat()
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obj.iTOW = struct.unpack("<L", data[0:4])[0]
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obj.version = struct.unpack("B", data[4:5])[0]
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obj.num_sv = struct.unpack("B", data[5:6])[0]
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obj.reserved0 = struct.unpack("BB", data[6:8])[0]
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obj.satellites = []
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offset = 8
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remain = len(data) - offset
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group_size = 12
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n = offset
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while remain:
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satellite = cls.Group1.from_bytes(data[n:n + group_size])
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n += group_size
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remain -= group_size
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obj.satellites.append(satellite)
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return obj.__dict__
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