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Receiving and decoding GPS and VELOCITY packets #1

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b74170b
Receiving and decoding GPS and VELOCITY packets
Sawy7 Sep 6, 2023
6b65695
Unified dataclass for UM7HealthPacket
Sawy7 Sep 6, 2023
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48 changes: 38 additions & 10 deletions rsl_comm_py/um7_broadcast_packets.py
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Original file line number Diff line number Diff line change
Expand Up @@ -81,20 +81,30 @@ def __repr__(self):
@dataclass
class UM7HealthPacket:
health: int
sats_used: int
hdop: int
sats_in_view: int
ovf: bool
mg_n: bool
acc_n: bool
accel: bool
gyro: bool
mag: bool
gps: bool

def __repr__(self):
return f"HealthPacket("\
f"raw_value=0x{self.health:04X} -> " \
f"SATS_USED={(self.health >> 26) & 0x3F}, " \
f"HDOP={(self.health >> 16) & 0x7F}, " \
f"SATS_IN_VIEW={(self.health >> 10) & 0x3F}, " \
f"OVF={bool((self.health >> 8) & 0x01)}, " \
f"MG_N={bool((self.health >> 5) & 0x01)}, " \
f"ACC_N={bool((self.health >> 4) & 0x01)}, " \
f"ACCEL={bool((self.health >> 3) & 0x01)}, "\
f"GYRO={bool((self.health >> 2) & 0x01)}, " \
f"MAG={bool((self.health >> 1) & 0x01)}, " \
f"GPS={bool((self.health >> 0) & 0x01)})"
f"SATS_USED={self.sats_used}, " \
f"HDOP={self.hdop}, " \
f"SATS_IN_VIEW={self.sats_in_view}, " \
f"OVF={self.ovf}, " \
f"MG_N={self.mg_n}, " \
f"ACC_N={self.acc_n}, " \
f"ACCEL={self.accel}, "\
f"GYRO={self.gyro}, " \
f"MAG={self.mag}, " \
f"GPS={self.gps})"


@dataclass
Expand Down Expand Up @@ -202,6 +212,24 @@ def __repr__(self):
f"gyro_bias=[{self.gyro_bias_x:>+8.3f}, {self.gyro_bias_y:>+8.3f}, {self.gyro_bias_z:>+8.3f}])"


@dataclass
class UM7GPSPacket:
gps_latitude: float
gps_longitude: float
gps_altitude: float
gps_course: float
gps_speed: float
gps_time: float

def __repr__(self):
return f"GPSPacket("\
f"latitude={self.gps_latitude}, " \
f"longitude={self.gps_longitude}, " \
f"course={self.gps_course}, " \
f"speed={self.gps_speed}, " \
f"time_stamp={self.gps_time})"


if __name__ == '__main__':
pass

41 changes: 38 additions & 3 deletions rsl_comm_py/um7_serial.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@

from rsl_comm_py.um7_broadcast_packets import UM7AllRawPacket, UM7HealthPacket, UM7GyroBiasPacket, UM7ProcMagPacket, \
UM7ProcGyroPacket, UM7ProcAccelPacket, UM7RawMagPacket, UM7RawGyroPacket, UM7RawAccelPacket, UM7QuaternionPacket, \
UM7EulerPacket, UM7AllProcPacket
UM7EulerPacket, UM7AllProcPacket, UM7GPSPacket, UM7VelocityPacket
from rsl_comm_py.um7_registers import UM7Registers


Expand Down Expand Up @@ -389,6 +389,8 @@ def recv_broadcast(self, num_packets: int = -1, flush_buffer_on_start: bool = F
mag_raw_start_addr = self.svd_parser.find_register_by(name='DREG_MAG_RAW_XY').address
gyro_bias_start_addr = self.svd_parser.find_register_by(name='DREG_GYRO_BIAS_X').address
quat_addr = self.svd_parser.find_register_by(name='DREG_QUAT_AB').address
gps_addr = self.svd_parser.find_register_by(name='DREG_GPS_LATITUDE').address
velocity_addr = self.svd_parser.find_register_by(name='DREG_VELOCITY_NORTH').address

if packet_addr == health_start_addr:
if len(packet) == 11:
Expand All @@ -398,7 +400,7 @@ def recv_broadcast(self, num_packets: int = -1, flush_buffer_on_start: bool = F
else:
logging.error(f"[HEALTH]: invalid packet length, got {len(packet)}, packet: {packet}!")
elif packet_addr == euler_start_addr:
if len(packet) == 27:
if len(packet) == 43:
logging.info("[EULER]: broadcast packet found!")
yield self.decode_euler_broadcast(packet)
received_packets += 1
Expand Down Expand Up @@ -468,6 +470,20 @@ def recv_broadcast(self, num_packets: int = -1, flush_buffer_on_start: bool = F
received_packets += 1
else:
logging.error(f"[GYRO_1_BIAS]: invalid packet length, got {len(packet)}, packet: {packet}!")
elif packet_addr == gps_addr:
if len(packet) == 31:
logging.info("[GPS]: broadcast packet found!")
yield self.decode_gps_broadcast(packet)
received_packets += 1
else:
logging.error(f"[GPS]: invalid packet length, got {len(packet)}, packet: {packet}!")
elif packet_addr == velocity_addr:
if len(packet) == 23:
logging.info("[VELOCITY]: broadcast packet found!")
yield self.decode_velocity_broadcast(packet)
received_packets += 1
else:
logging.error(f"[VELOCITY]: invalid packet length, got {len(packet)}, packet: {packet}!")
else:
logging.error(f"[BROADCAST ERROR]: packet with addr {packet_addr}, reg: {start_reg.name} found "
f"of length: {len(packet)} bytes, "
Expand Down Expand Up @@ -545,10 +561,29 @@ def decode_gyro_bias_broadcast(self, packet) -> UM7GyroBiasPacket:
gyro_bias_x, gyro_bias_y, gyro_bias_z, = struct.unpack('>fff', payload[0:12])
return UM7GyroBiasPacket(gyro_bias_x=gyro_bias_x, gyro_bias_y=gyro_bias_y, gyro_bias_z=gyro_bias_z)

def decode_gps_broadcast(self, packet) -> UM7GPSPacket:
payload = packet[5:-2]
gps_latitude, gps_longitude, gps_altitude, gps_course, gps_speed, gps_time = struct.unpack('>ffffff', payload[0:24])
return UM7GPSPacket(
gps_latitude=gps_latitude, gps_longitude=gps_longitude, gps_altitude=gps_altitude, gps_course=gps_course, gps_speed=gps_speed, gps_time=gps_time
)

def decode_velocity_broadcast(self, packet) -> UM7VelocityPacket:
payload = packet[5:-2]
velocity_north, velocity_east, velocity_up, velocity_time = struct.unpack('>ffff', payload[0:16])
return UM7VelocityPacket(
velocity_north=velocity_north, velocity_east=velocity_east, velocity_up=velocity_up, velocity_time=velocity_time
)

def decode_health_broadcast(self, packet) -> UM7HealthPacket:
payload = packet[5:-2]
health, = struct.unpack('>I', payload[0:4])
return UM7HealthPacket(health=health)
return UM7HealthPacket(
health=health, sats_used=(health >> 26) & 0x3F, hdop=(health >> 16) & 0x7F, sats_in_view=(health >> 10) & 0x3F,
ovf=bool((health >> 8) & 0x01), mg_n=bool((health >> 5) & 0x01), acc_n=bool((health >> 4) & 0x01),
accel=bool((health >> 3) & 0x01), gyro=bool((health >> 2) & 0x01), mag=bool((health >> 1) & 0x01),
gps=bool((health >> 0) & 0x01)
)

def hidden_regs_values(self) -> List[Dict]:
hidden_regs_as_json = []
Expand Down