sensord: add support for Quectel raw gps (#24027)
* connecting to rawgps * dumping rawfps packets * this works, but it might be useless * fix parsing * parsing 0x1476 * compare * compare better * refactoring * parsing and broadcasting GPS packet * glonass support * compare using submaster * fix compare for glonass * update cereal * make linter happy * other linter issue * last mypy complaints * add support for publishing gpsLocationExternal * set flags to 1 to match ubloxd * ready to ship * qcomdiag * use unused variables * last one Co-authored-by: Comma Device <device@comma.ai> Co-authored-by: Adeeb Shihadeh <adeebshihadeh@gmail.com>pull/24002/merge
George Hotz
GitHub
parent
ea74a90ca0
commit
1df3c86999
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@ -42,6 +42,9 @@ procs = [
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PythonProcess("rtshield", "selfdrive.rtshield", enabled=EON),
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PythonProcess("shutdownd", "selfdrive.hardware.eon.shutdownd", enabled=EON),
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PythonProcess("androidd", "selfdrive.hardware.eon.androidd", enabled=EON, persistent=True),
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# Experimental
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PythonProcess("rawgpsd", "selfdrive.sensord.rawgps.rawgpsd", enabled=os.path.isfile("/persist/comma/use-quectel-rawgps")),
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]
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managed_processes = {p.name: p for p in procs}
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@ -0,0 +1,66 @@
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#!/usr/bin/env python3
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import cereal.messaging as messaging
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from laika import constants
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if __name__ == "__main__":
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sm = messaging.SubMaster(['ubloxGnss', 'qcomGnss'])
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meas = None
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while 1:
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sm.update()
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if sm['ubloxGnss'].which() == "measurementReport":
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meas = sm['ubloxGnss'].measurementReport.measurements
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if not sm.updated['qcomGnss'] or meas is None:
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continue
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report = sm['qcomGnss'].measurementReport
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if report.source not in [0, 1]:
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continue
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GLONASS = report.source == 1
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recv_time = report.milliseconds / 1000
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car = []
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print("qcom has ", list(sorted([x.svId for x in report.sv])))
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print("ublox has", list(sorted([x.svId for x in meas if x.gnssId == (6 if GLONASS else 0)])))
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for i in report.sv:
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# match to ublox
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tm = None
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for m in meas:
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if i.svId == m.svId and m.gnssId == 0 and m.sigId == 0 and not GLONASS:
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tm = m
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if (i.svId-64) == m.svId and m.gnssId == 6 and m.sigId == 0 and GLONASS:
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tm = m
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if tm is None:
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continue
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if not i.measurementStatus.measurementNotUsable and i.measurementStatus.satelliteTimeIsKnown:
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sat_time = (i.unfilteredMeasurementIntegral + i.unfilteredMeasurementFraction + i.latency) / 1000
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ublox_psuedorange = tm.pseudorange
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qcom_psuedorange = (recv_time - sat_time)*constants.SPEED_OF_LIGHT
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if GLONASS:
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glonass_freq = tm.glonassFrequencyIndex - 7
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ublox_speed = -(constants.SPEED_OF_LIGHT / (constants.GLONASS_L1 + glonass_freq*constants.GLONASS_L1_DELTA)) * (tm.doppler)
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else:
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ublox_speed = -(constants.SPEED_OF_LIGHT / constants.GPS_L1) * tm.doppler
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qcom_speed = i.unfilteredSpeed
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car.append((i.svId, tm.pseudorange, ublox_speed, qcom_psuedorange, qcom_speed, tm.cno))
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if len(car) == 0:
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print("nothing to compare")
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continue
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pr_err, speed_err = 0., 0.
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for c in car:
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ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed = c[1:5]
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pr_err += ublox_psuedorange - qcom_psuedorange
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speed_err += ublox_speed - qcom_speed
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pr_err /= len(car)
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speed_err /= len(car)
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print("avg psuedorange err %f avg speed err %f" % (pr_err, speed_err))
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for c in sorted(car, key=lambda x: abs(x[1] - x[3] - pr_err)):
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svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed, cno = c
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print("svid: %3d pseudorange: %10.2f m speed: %8.2f m/s meas: %12.2f speed: %10.2f meas_err: %10.3f speed_err: %8.3f cno: %d" %
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(svid, ublox_psuedorange, ublox_speed, qcom_psuedorange, qcom_speed,
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ublox_psuedorange - qcom_psuedorange - pr_err, ublox_speed - qcom_speed - speed_err, cno))
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@ -0,0 +1,101 @@
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import os
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import time
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from serial import Serial
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from crcmod import mkCrcFun
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from struct import pack, unpack_from, calcsize
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class ModemDiag:
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def __init__(self):
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self.serial = self.open_serial()
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def open_serial(self):
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def op():
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return Serial("/dev/ttyUSB0", baudrate=115200, rtscts=True, dsrdtr=True)
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try:
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serial = op()
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except Exception:
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# TODO: this is a hack to get around modemmanager's exclusive open
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print("unlocking serial...")
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os.system('sudo su -c \'echo "1-1.1:1.0" > /sys/bus/usb/drivers/option/unbind\'')
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os.system('sudo su -c \'echo "1-1.1:1.0" > /sys/bus/usb/drivers/option/bind\'')
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time.sleep(0.5)
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os.system("sudo chmod 666 /dev/ttyUSB0")
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serial = op()
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serial.flush()
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return serial
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ccitt_crc16 = mkCrcFun(0x11021, initCrc=0, xorOut=0xffff)
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ESCAPE_CHAR = b'\x7d'
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TRAILER_CHAR = b'\x7e'
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def hdlc_encapsulate(self, payload):
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payload += pack('<H', ModemDiag.ccitt_crc16(payload))
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payload = payload.replace(self.ESCAPE_CHAR, bytes([self.ESCAPE_CHAR[0], self.ESCAPE_CHAR[0] ^ 0x20]))
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payload = payload.replace(self.TRAILER_CHAR, bytes([self.ESCAPE_CHAR[0], self.TRAILER_CHAR[0] ^ 0x20]))
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payload += self.TRAILER_CHAR
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return payload
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def hdlc_decapsulate(self, payload):
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assert len(payload) >= 3
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assert payload[-1:] == self.TRAILER_CHAR
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payload = payload[:-1]
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payload = payload.replace(bytes([self.ESCAPE_CHAR[0], self.TRAILER_CHAR[0] ^ 0x20]), self.TRAILER_CHAR)
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payload = payload.replace(bytes([self.ESCAPE_CHAR[0], self.ESCAPE_CHAR[0] ^ 0x20]), self.ESCAPE_CHAR)
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assert payload[-2:] == pack('<H', ModemDiag.ccitt_crc16(payload[:-2]))
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return payload[:-2]
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def recv(self):
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raw_payload = []
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while 1:
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char_read = self.serial.read()
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raw_payload.append(char_read)
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if char_read.endswith(self.TRAILER_CHAR):
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break
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raw_payload = b''.join(raw_payload)
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unframed_message = self.hdlc_decapsulate(raw_payload)
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return unframed_message[0], unframed_message[1:]
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def send(self, packet_type, packet_payload):
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self.serial.write(self.hdlc_encapsulate(bytes([packet_type]) + packet_payload))
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# *** end class ***
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DIAG_LOG_F = 16
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DIAG_LOG_CONFIG_F = 115
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LOG_CONFIG_RETRIEVE_ID_RANGES_OP = 1
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LOG_CONFIG_SET_MASK_OP = 3
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LOG_CONFIG_SUCCESS_S = 0
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def send_recv(diag, packet_type, packet_payload):
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diag.send(packet_type, packet_payload)
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while 1:
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opcode, payload = diag.recv()
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if opcode != DIAG_LOG_F:
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break
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return opcode, payload
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def setup_logs(diag, types_to_log):
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opcode, payload = send_recv(diag, DIAG_LOG_CONFIG_F, pack('<3xI', LOG_CONFIG_RETRIEVE_ID_RANGES_OP))
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header_spec = '<3xII'
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operation, status = unpack_from(header_spec, payload)
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assert operation == LOG_CONFIG_RETRIEVE_ID_RANGES_OP
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assert status == LOG_CONFIG_SUCCESS_S
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log_masks = unpack_from('<16I', payload, calcsize(header_spec))
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for log_type, log_mask_bitsize in enumerate(log_masks):
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if log_mask_bitsize:
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log_mask = [0] * ((log_mask_bitsize+7)//8)
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for i in range(log_mask_bitsize):
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if ((log_type<<12)|i) in types_to_log:
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log_mask[i//8] |= 1 << (i%8)
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opcode, payload = send_recv(diag, DIAG_LOG_CONFIG_F, pack('<3xIII',
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LOG_CONFIG_SET_MASK_OP,
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log_type,
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log_mask_bitsize
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) + bytes(log_mask))
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assert opcode == DIAG_LOG_CONFIG_F
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operation, status = unpack_from(header_spec, payload)
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assert operation == LOG_CONFIG_SET_MASK_OP
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assert status == LOG_CONFIG_SUCCESS_S
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@ -0,0 +1,201 @@
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#!/usr/bin/env python3
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import os
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import sys
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import signal
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import itertools
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import math
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from typing import NoReturn
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from struct import unpack_from, calcsize
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import cereal.messaging as messaging
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from cereal import log
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from selfdrive.swaglog import cloudlog
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from selfdrive.sensord.rawgps.modemdiag import ModemDiag, DIAG_LOG_F, setup_logs
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from selfdrive.sensord.rawgps.structs import dict_unpacker
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from selfdrive.sensord.rawgps.structs import gps_measurement_report, gps_measurement_report_sv
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from selfdrive.sensord.rawgps.structs import glonass_measurement_report, glonass_measurement_report_sv
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from selfdrive.sensord.rawgps.structs import LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT
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from selfdrive.sensord.rawgps.structs import position_report, LOG_GNSS_POSITION_REPORT
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miscStatusFields = {
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"multipathEstimateIsValid": 0,
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"directionIsValid": 1,
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}
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measurementStatusFields = {
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"subMillisecondIsValid": 0,
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"subBitTimeIsKnown": 1,
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"satelliteTimeIsKnown": 2,
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"bitEdgeConfirmedFromSignal": 3,
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"measuredVelocity": 4,
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"fineOrCoarseVelocity": 5,
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"lockPointValid": 6,
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"lockPointPositive": 7,
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"lastUpdateFromDifference": 9,
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"lastUpdateFromVelocityDifference": 10,
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"strongIndicationOfCrossCorelation": 11,
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"tentativeMeasurement": 12,
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"measurementNotUsable": 13,
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"sirCheckIsNeeded": 14,
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"probationMode": 15,
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"multipathIndicator": 24,
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"imdJammingIndicator": 25,
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"lteB13TxJammingIndicator": 26,
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"freshMeasurementIndicator": 27,
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}
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measurementStatusGPSFields = {
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"gpsRoundRobinRxDiversity": 18,
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"gpsRxDiversity": 19,
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"gpsLowBandwidthRxDiversityCombined": 20,
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"gpsHighBandwidthNu4": 21,
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"gpsHighBandwidthNu8": 22,
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"gpsHighBandwidthUniform": 23,
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}
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measurementStatusGlonassFields = {
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"glonassMeanderBitEdgeValid": 16,
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"glonassTimeMarkValid": 17
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}
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def main() -> NoReturn:
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unpack_gps_meas, size_gps_meas = dict_unpacker(gps_measurement_report, True)
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unpack_gps_meas_sv, size_gps_meas_sv = dict_unpacker(gps_measurement_report_sv, True)
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unpack_glonass_meas, size_glonass_meas = dict_unpacker(glonass_measurement_report, True)
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unpack_glonass_meas_sv, size_glonass_meas_sv = dict_unpacker(glonass_measurement_report_sv, True)
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log_types = [
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LOG_GNSS_GPS_MEASUREMENT_REPORT,
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LOG_GNSS_GLONASS_MEASUREMENT_REPORT,
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]
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pub_types = ['qcomGnss']
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if int(os.getenv("PUBLISH_EXTERNAL", "0")) == 1:
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unpack_position, _ = dict_unpacker(position_report)
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log_types.append(LOG_GNSS_POSITION_REPORT)
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pub_types.append("gpsLocationExternal")
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os.system("mmcli -m 0 --location-enable-gps-raw --location-enable-gps-nmea")
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diag = ModemDiag()
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def try_setup_logs(diag, log_types):
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for _ in range(5):
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try:
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setup_logs(diag, log_types)
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break
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except Exception:
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pass
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def disable_logs(sig, frame):
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os.system("mmcli -m 0 --location-disable-gps-raw --location-disable-gps-nmea")
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cloudlog.warning("rawgpsd: shutting down")
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try_setup_logs(diag, [])
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cloudlog.warning("rawgpsd: logs disabled")
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sys.exit(0)
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signal.signal(signal.SIGINT, disable_logs)
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try_setup_logs(diag, log_types)
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cloudlog.warning("rawgpsd: setup logs done")
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pm = messaging.PubMaster(pub_types)
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while 1:
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opcode, payload = diag.recv()
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assert opcode == DIAG_LOG_F
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(pending_msgs, log_outer_length), inner_log_packet = unpack_from('<BH', payload), payload[calcsize('<BH'):]
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if pending_msgs > 0:
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cloudlog.debug("have %d pending messages" % pending_msgs)
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assert log_outer_length == len(inner_log_packet)
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(log_inner_length, log_type, log_time), log_payload = unpack_from('<HHQ', inner_log_packet), inner_log_packet[calcsize('<HHQ'):]
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assert log_inner_length == len(inner_log_packet)
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if log_type not in log_types:
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continue
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#print("got log: %x" % log_type)
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if log_type == LOG_GNSS_POSITION_REPORT:
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report = unpack_position(log_payload)
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if report["u_PosSource"] != 2:
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continue
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vNED = [report["q_FltVelEnuMps[1]"], report["q_FltVelEnuMps[0]"], -report["q_FltVelEnuMps[2]"]]
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vNEDsigma = [report["q_FltVelSigmaMps[1]"], report["q_FltVelSigmaMps[0]"], -report["q_FltVelSigmaMps[2]"]]
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msg = messaging.new_message('gpsLocationExternal')
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gps = msg.gpsLocationExternal
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gps.flags = 1
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gps.latitude = report["t_DblFinalPosLatLon[0]"] * 180/math.pi
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gps.longitude = report["t_DblFinalPosLatLon[1]"] * 180/math.pi
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gps.altitude = report["q_FltFinalPosAlt"]
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gps.speed = math.sqrt(sum([x**2 for x in vNED]))
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gps.bearingDeg = report["q_FltHeadingRad"] * 180/math.pi
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# TODO: this probably isn't right, use laika for this
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gps.timestamp = report['w_GpsWeekNumber']*604800*1000 + report['q_GpsFixTimeMs']
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gps.source = log.GpsLocationData.SensorSource.qcomdiag
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gps.vNED = vNED
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gps.verticalAccuracy = report["q_FltVdop"]
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gps.bearingAccuracyDeg = report["q_FltHeadingUncRad"] * 180/math.pi
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gps.speedAccuracy = math.sqrt(sum([x**2 for x in vNEDsigma]))
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pm.send('gpsLocationExternal', msg)
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if log_type in [LOG_GNSS_GPS_MEASUREMENT_REPORT, LOG_GNSS_GLONASS_MEASUREMENT_REPORT]:
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msg = messaging.new_message('qcomGnss')
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gnss = msg.qcomGnss
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gnss.logTs = log_time
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gnss.init('measurementReport')
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report = gnss.measurementReport
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if log_type == LOG_GNSS_GPS_MEASUREMENT_REPORT:
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dat = unpack_gps_meas(log_payload)
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sats = log_payload[size_gps_meas:]
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unpack_meas_sv, size_meas_sv = unpack_gps_meas_sv, size_gps_meas_sv
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report.source = 0 # gps
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measurement_status_fields = (measurementStatusFields.items(), measurementStatusGPSFields.items())
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elif log_type == LOG_GNSS_GLONASS_MEASUREMENT_REPORT:
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dat = unpack_glonass_meas(log_payload)
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sats = log_payload[size_glonass_meas:]
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unpack_meas_sv, size_meas_sv = unpack_glonass_meas_sv, size_glonass_meas_sv
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report.source = 1 # glonass
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measurement_status_fields = (measurementStatusFields.items(), measurementStatusGlonassFields.items())
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else:
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assert False
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for k,v in dat.items():
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if k == "version":
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assert v == 0
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elif k == "week":
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report.gpsWeek = v
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elif k == "svCount":
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pass
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else:
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setattr(report, k, v)
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assert len(sats)//dat['svCount'] == size_meas_sv
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report.init('sv', dat['svCount'])
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for i in range(dat['svCount']):
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sv = report.sv[i]
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sv.init('measurementStatus')
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sat = unpack_meas_sv(sats[size_meas_sv*i:size_meas_sv*(i+1)])
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for k,v in sat.items():
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if k == "parityErrorCount":
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sv.gpsParityErrorCount = v
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elif k == "frequencyIndex":
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sv.glonassFrequencyIndex = v
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elif k == "hemmingErrorCount":
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sv.glonassHemmingErrorCount = v
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elif k == "measurementStatus":
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for kk,vv in itertools.chain(*measurement_status_fields):
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setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
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elif k == "miscStatus":
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for kk,vv in miscStatusFields.items():
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setattr(sv.measurementStatus, kk, bool(v & (1<<vv)))
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elif k == "pad":
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pass
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else:
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setattr(sv, k, v)
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pm.send('qcomGnss', msg)
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if __name__ == "__main__":
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main()
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@ -0,0 +1,224 @@
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from struct import unpack_from, calcsize
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LOG_GNSS_POSITION_REPORT = 0x1476
|
||||
LOG_GNSS_GPS_MEASUREMENT_REPORT = 0x1477
|
||||
LOG_GNSS_CLOCK_REPORT = 0x1478
|
||||
LOG_GNSS_GLONASS_MEASUREMENT_REPORT = 0x1480
|
||||
LOG_GNSS_BDS_MEASUREMENT_REPORT = 0x1756
|
||||
LOG_GNSS_GAL_MEASUREMENT_REPORT = 0x1886
|
||||
|
||||
LOG_GNSS_OEMDRE_MEASUREMENT_REPORT = 0x14DE
|
||||
LOG_GNSS_OEMDRE_SVPOLY_REPORT = 0x14E1
|
||||
|
||||
LOG_GNSS_ME_DPO_STATUS = 0x1838
|
||||
LOG_GNSS_CD_DB_REPORT = 0x147B
|
||||
LOG_GNSS_PRX_RF_HW_STATUS_REPORT = 0x147E
|
||||
LOG_CGPS_SLOW_CLOCK_CLIB_REPORT = 0x1488
|
||||
LOG_GNSS_CONFIGURATION_STATE = 0x1516
|
||||
|
||||
glonass_measurement_report = """
|
||||
uint8_t version;
|
||||
uint32_t f_count;
|
||||
uint8_t glonass_cycle_number;
|
||||
uint16_t glonass_number_of_days;
|
||||
uint32_t milliseconds;
|
||||
float time_bias;
|
||||
float clock_time_uncertainty;
|
||||
float clock_frequency_bias;
|
||||
float clock_frequency_uncertainty;
|
||||
uint8_t sv_count;
|
||||
"""
|
||||
|
||||
glonass_measurement_report_sv = """
|
||||
uint8_t sv_id;
|
||||
int8_t frequency_index;
|
||||
uint8_t observation_state; // SVObservationStates
|
||||
uint8_t observations;
|
||||
uint8_t good_observations;
|
||||
uint8_t hemming_error_count;
|
||||
uint8_t filter_stages;
|
||||
uint16_t carrier_noise;
|
||||
int16_t latency;
|
||||
uint8_t predetect_interval;
|
||||
uint16_t postdetections;
|
||||
uint32_t unfiltered_measurement_integral;
|
||||
float unfiltered_measurement_fraction;
|
||||
float unfiltered_time_uncertainty;
|
||||
float unfiltered_speed;
|
||||
float unfiltered_speed_uncertainty;
|
||||
uint32_t measurement_status;
|
||||
uint8_t misc_status;
|
||||
uint32_t multipath_estimate;
|
||||
float azimuth;
|
||||
float elevation;
|
||||
int32_t carrier_phase_cycles_integral;
|
||||
uint16_t carrier_phase_cycles_fraction;
|
||||
float fine_speed;
|
||||
float fine_speed_uncertainty;
|
||||
uint8_t cycle_slip_count;
|
||||
uint32_t pad;
|
||||
"""
|
||||
|
||||
gps_measurement_report = """
|
||||
uint8_t version;
|
||||
uint32_t f_count;
|
||||
uint16_t week;
|
||||
uint32_t milliseconds;
|
||||
float time_bias;
|
||||
float clock_time_uncertainty;
|
||||
float clock_frequency_bias;
|
||||
float clock_frequency_uncertainty;
|
||||
uint8_t sv_count;
|
||||
"""
|
||||
|
||||
gps_measurement_report_sv = """
|
||||
uint8_t sv_id;
|
||||
uint8_t observation_state; // SVObservationStates
|
||||
uint8_t observations;
|
||||
uint8_t good_observations;
|
||||
uint16_t parity_error_count;
|
||||
uint8_t filter_stages;
|
||||
uint16_t carrier_noise;
|
||||
int16_t latency;
|
||||
uint8_t predetect_interval;
|
||||
uint16_t postdetections;
|
||||
uint32_t unfiltered_measurement_integral;
|
||||
float unfiltered_measurement_fraction;
|
||||
float unfiltered_time_uncertainty;
|
||||
float unfiltered_speed;
|
||||
float unfiltered_speed_uncertainty;
|
||||
uint32_t measurement_status;
|
||||
uint8_t misc_status;
|
||||
uint32_t multipath_estimate;
|
||||
float azimuth;
|
||||
float elevation;
|
||||
int32_t carrier_phase_cycles_integral;
|
||||
uint16_t carrier_phase_cycles_fraction;
|
||||
float fine_speed;
|
||||
float fine_speed_uncertainty;
|
||||
uint8_t cycle_slip_count;
|
||||
uint32_t pad;
|
||||
"""
|
||||
|
||||
position_report = """
|
||||
uint8 u_Version; /* Version number of DM log */
|
||||
uint32 q_Fcount; /* Local millisecond counter */
|
||||
uint8 u_PosSource; /* Source of position information */ /* 0: None 1: Weighted least-squares 2: Kalman filter 3: Externally injected 4: Internal database */
|
||||
uint32 q_Reserved1; /* Reserved memory field */
|
||||
uint16 w_PosVelFlag; /* Position velocity bit field: (see DM log 0x1476 documentation) */
|
||||
uint32 q_PosVelFlag2; /* Position velocity 2 bit field: (see DM log 0x1476 documentation) */
|
||||
uint8 u_FailureCode; /* Failure code: (see DM log 0x1476 documentation) */
|
||||
uint16 w_FixEvents; /* Fix events bit field: (see DM log 0x1476 documentation) */
|
||||
uint32 _fake_align_week_number;
|
||||
uint16 w_GpsWeekNumber; /* GPS week number of position */
|
||||
uint32 q_GpsFixTimeMs; /* GPS fix time of week of in milliseconds */
|
||||
uint8 u_GloNumFourYear; /* Number of Glonass four year cycles */
|
||||
uint16 w_GloNumDaysInFourYear; /* Glonass calendar day in four year cycle */
|
||||
uint32 q_GloFixTimeMs; /* Glonass fix time of day in milliseconds */
|
||||
uint32 q_PosCount; /* Integer count of the number of unique positions reported */
|
||||
uint64 t_DblFinalPosLatLon[2]; /* Final latitude and longitude of position in radians */
|
||||
uint32 q_FltFinalPosAlt; /* Final height-above-ellipsoid altitude of position */
|
||||
uint32 q_FltHeadingRad; /* User heading in radians */
|
||||
uint32 q_FltHeadingUncRad; /* User heading uncertainty in radians */
|
||||
uint32 q_FltVelEnuMps[3]; /* User velocity in east, north, up coordinate frame. In meters per second. */
|
||||
uint32 q_FltVelSigmaMps[3]; /* Gaussian 1-sigma value for east, north, up components of user velocity */
|
||||
uint32 q_FltClockBiasMeters; /* Receiver clock bias in meters */
|
||||
uint32 q_FltClockBiasSigmaMeters; /* Gaussian 1-sigma value for receiver clock bias in meters */
|
||||
uint32 q_FltGGTBMeters; /* GPS to Glonass time bias in meters */
|
||||
uint32 q_FltGGTBSigmaMeters; /* Gaussian 1-sigma value for GPS to Glonass time bias uncertainty in meters */
|
||||
uint32 q_FltGBTBMeters; /* GPS to BeiDou time bias in meters */
|
||||
uint32 q_FltGBTBSigmaMeters; /* Gaussian 1-sigma value for GPS to BeiDou time bias uncertainty in meters */
|
||||
uint32 q_FltBGTBMeters; /* BeiDou to Glonass time bias in meters */
|
||||
uint32 q_FltBGTBSigmaMeters; /* Gaussian 1-sigma value for BeiDou to Glonass time bias uncertainty in meters */
|
||||
uint32 q_FltFiltGGTBMeters; /* Filtered GPS to Glonass time bias in meters */
|
||||
uint32 q_FltFiltGGTBSigmaMeters; /* Filtered Gaussian 1-sigma value for GPS to Glonass time bias uncertainty in meters */
|
||||
uint32 q_FltFiltGBTBMeters; /* Filtered GPS to BeiDou time bias in meters */
|
||||
uint32 q_FltFiltGBTBSigmaMeters; /* Filtered Gaussian 1-sigma value for GPS to BeiDou time bias uncertainty in meters */
|
||||
uint32 q_FltFiltBGTBMeters; /* Filtered BeiDou to Glonass time bias in meters */
|
||||
uint32 q_FltFiltBGTBSigmaMeters; /* Filtered Gaussian 1-sigma value for BeiDou to Glonass time bias uncertainty in meters */
|
||||
uint32 q_FltSftOffsetSec; /* SFT offset as computed by WLS in seconds */
|
||||
uint32 q_FltSftOffsetSigmaSec; /* Gaussian 1-sigma value for SFT offset in seconds */
|
||||
uint32 q_FltClockDriftMps; /* Clock drift (clock frequency bias) in meters per second */
|
||||
uint32 q_FltClockDriftSigmaMps; /* Gaussian 1-sigma value for clock drift in meters per second */
|
||||
uint32 q_FltFilteredAlt; /* Filtered height-above-ellipsoid altitude in meters as computed by WLS */
|
||||
uint32 q_FltFilteredAltSigma; /* Gaussian 1-sigma value for filtered height-above-ellipsoid altitude in meters */
|
||||
uint32 q_FltRawAlt; /* Raw height-above-ellipsoid altitude in meters as computed by WLS */
|
||||
uint32 q_FltRawAltSigma; /* Gaussian 1-sigma value for raw height-above-ellipsoid altitude in meters */
|
||||
uint32 align_Flt[14];
|
||||
uint32 q_FltPdop; /* 3D position dilution of precision as computed from the unweighted
|
||||
uint32 q_FltHdop; /* Horizontal position dilution of precision as computed from the unweighted least-squares covariance matrix */
|
||||
uint32 q_FltVdop; /* Vertical position dilution of precision as computed from the unweighted least-squares covariance matrix */
|
||||
uint8 u_EllipseConfidence; /* Statistical measure of the confidence (percentage) associated with the uncertainty ellipse values */
|
||||
uint32 q_FltEllipseAngle; /* Angle of semimajor axis with respect to true North, with increasing angles moving clockwise from North. In units of degrees. */
|
||||
uint32 q_FltEllipseSemimajorAxis; /* Semimajor axis of final horizontal position uncertainty error ellipse. In units of meters. */
|
||||
uint32 q_FltEllipseSemiminorAxis; /* Semiminor axis of final horizontal position uncertainty error ellipse. In units of meters. */
|
||||
uint32 q_FltPosSigmaVertical; /* Gaussian 1-sigma value for final position height-above-ellipsoid altitude in meters */
|
||||
uint8 u_HorizontalReliability; /* Horizontal position reliability 0: Not set 1: Very Low 2: Low 3: Medium 4: High */
|
||||
uint8 u_VerticalReliability; /* Vertical position reliability */
|
||||
uint16 w_Reserved2; /* Reserved memory field */
|
||||
uint32 q_FltGnssHeadingRad; /* User heading in radians derived from GNSS only solution */
|
||||
uint32 q_FltGnssHeadingUncRad; /* User heading uncertainty in radians derived from GNSS only solution */
|
||||
uint32 q_SensorDataUsageMask; /* Denotes which additional sensor data were used to compute this position fix. BIT[0] 0x00000001 <96> Accelerometer BIT[1] 0x00000002 <96> Gyro 0x0000FFFC - Reserved A bit set to 1 indicates that certain fields as defined by the SENSOR_AIDING_MASK were aided with sensor data*/
|
||||
uint32 q_SensorAidMask; /* Denotes which component of the position report was assisted with additional sensors defined in SENSOR_DATA_USAGE_MASK BIT[0] 0x00000001 <96> Heading aided with sensor data BIT[1] 0x00000002 <96> Speed aided with sensor data BIT[2] 0x00000004 <96> Position aided with sensor data BIT[3] 0x00000008 <96> Velocity aided with sensor data 0xFFFFFFF0 <96> Reserved */
|
||||
uint8 u_NumGpsSvsUsed; /* The number of GPS SVs used in the fix */
|
||||
uint8 u_TotalGpsSvs; /* Total number of GPS SVs detected by searcher, including ones not used in position calculation */
|
||||
uint8 u_NumGloSvsUsed; /* The number of Glonass SVs used in the fix */
|
||||
uint8 u_TotalGloSvs; /* Total number of Glonass SVs detected by searcher, including ones not used in position calculation */
|
||||
uint8 u_NumBdsSvsUsed; /* The number of BeiDou SVs used in the fix */
|
||||
uint8 u_TotalBdsSvs; /* Total number of BeiDou SVs detected by searcher, including ones not used in position calculation */
|
||||
"""
|
||||
|
||||
def name_to_camelcase(nam):
|
||||
ret = []
|
||||
i = 0
|
||||
while i < len(nam):
|
||||
if nam[i] == "_":
|
||||
ret.append(nam[i+1].upper())
|
||||
i += 2
|
||||
else:
|
||||
ret.append(nam[i])
|
||||
i += 1
|
||||
return ''.join(ret)
|
||||
|
||||
def parse_struct(ss):
|
||||
st = "<"
|
||||
nams = []
|
||||
for l in ss.strip().split("\n"):
|
||||
typ, nam = l.split(";")[0].split()
|
||||
#print(typ, nam)
|
||||
if typ == "float" or '_Flt' in nam:
|
||||
st += "f"
|
||||
elif typ == "double" or '_Dbl' in nam:
|
||||
st += "d"
|
||||
elif typ in ["uint8", "uint8_t"]:
|
||||
st += "B"
|
||||
elif typ in ["int8", "int8_t"]:
|
||||
st += "b"
|
||||
elif typ in ["uint32", "uint32_t"]:
|
||||
st += "I"
|
||||
elif typ in ["int32", "int32_t"]:
|
||||
st += "i"
|
||||
elif typ in ["uint16", "uint16_t"]:
|
||||
st += "H"
|
||||
elif typ in ["int16", "int16_t"]:
|
||||
st += "h"
|
||||
elif typ == "uint64":
|
||||
st += "Q"
|
||||
else:
|
||||
print("unknown type", typ)
|
||||
assert False
|
||||
if '[' in nam:
|
||||
cnt = int(nam.split("[")[1].split("]")[0])
|
||||
st += st[-1]*(cnt-1)
|
||||
for i in range(cnt):
|
||||
nams.append("%s[%d]" % (nam.split("[")[0], i))
|
||||
else:
|
||||
nams.append(nam)
|
||||
return st, nams
|
||||
|
||||
def dict_unpacker(ss, camelcase = False):
|
||||
st, nams = parse_struct(ss)
|
||||
if camelcase:
|
||||
nams = [name_to_camelcase(x) for x in nams]
|
||||
sz = calcsize(st)
|
||||
return lambda x: dict(zip(nams, unpack_from(st, x))), sz
|
||||
Loading…
Reference in New Issue