Remove third_party/twisted_8_1

third_party/twisted_8_1/twisted/protocols/gps/rockwell.py

-# Copyright (c) 2001-2004 Twisted Matrix Laboratories.
-# See LICENSE for details.
- 
-
-"""Rockwell Semiconductor Zodiac Serial Protocol
-Coded from official protocol specs (Order No. GPS-25, 09/24/1996, Revision 11)
-
-Maintainer: U{Bob Ippolito<mailto:bob@redivi.com>}
-
-The following Rockwell Zodiac messages are currently understood::
-    EARTHA\\r\\n (a hack to "turn on" a DeLorme Earthmate)
-    1000 (Geodesic Position Status Output)
-    1002 (Channel Summary)
-    1003 (Visible Satellites)
-    1011 (Receiver ID)
-
-The following Rockwell Zodiac messages require implementation::
-    None really, the others aren't quite so useful and require bidirectional communication w/ the device
-
-Other desired features::
-    - Compatability with the DeLorme Tripmate and other devices with this chipset (?)
-"""
-
-import struct, operator, math
-from twisted.internet import protocol
-from twisted.python import log
-
-DEBUG = 1
-
-class ZodiacParseError(ValueError):
-  pass
-
-class Zodiac(protocol.Protocol):
-  dispatch = {
-    # Output Messages (* means they get sent by the receiver by default periodically)
-    1000: 'fix',          # *Geodesic Position Status Output
-    1001: 'ecef',         # ECEF Position Status Output
-    1002: 'channels',     # *Channel Summary
-    1003: 'satellites',   # *Visible Satellites
-    1005: 'dgps',         # Differential GPS Status
-    1007: 'channelmeas',  # Channel Measurement
-    1011: 'id',           # *Receiver ID
-    1012: 'usersettings', # User-Settings Output
-    1100: 'testresults',  # Built-In Test Results
-    1102: 'meastimemark', # Measurement Time Mark
-    1108: 'utctimemark',  # UTC Time Mark Pulse Output
-    1130: 'serial',       # Serial Port Communication Parameters In Use
-    1135: 'eepromupdate', # EEPROM Update
-    1136: 'eepromstatus', # EEPROM Status
-  }
-  # these aren't used for anything yet, just sitting here for reference
-  messages = {
-    # Input Messages
-    'fix':      1200,     # Geodesic Position and Velocity Initialization
-    'udatum':   1210,     # User-Defined Datum Definition
-    'mdatum':   1211,     # Map Datum Select
-    'smask':    1212,     # Satellite Elevation Mask Control
-    'sselect':  1213,     # Satellite Candidate Select
-    'dgpsc':    1214,     # Differential GPS Control
-    'startc':   1216,     # Cold Start Control
-    'svalid':   1217,     # Solution Validity Control
-    'antenna':  1218,     # Antenna Type Select
-    'altinput': 1219,     # User-Entered Altitude Input
-    'appctl':   1220,     # Application Platform Control
-    'navcfg':   1221,     # Nav Configuration
-    'test':     1300,     # Perform Built-In Test Command
-    'restart':  1303,     # Restart Command
-    'serial':   1330,     # Serial Port Communications Parameters
-    'msgctl':   1331,     # Message Protocol Control
-    'dgpsd':    1351,     # Raw DGPS RTCM SC-104 Data
-  }  
-  MAX_LENGTH = 296
-  allow_earthmate_hack = 1
-  recvd = ""
-  
-  def dataReceived(self, recd):
-    self.recvd = self.recvd + recd
-    while len(self.recvd) >= 10:
-
-      # hack for DeLorme EarthMate
-      if self.recvd[:8] == 'EARTHA\r\n':
-        if self.allow_earthmate_hack:
-          self.allow_earthmate_hack = 0
-          self.transport.write('EARTHA\r\n')
-        self.recvd = self.recvd[8:]
-        continue
-      
-      if self.recvd[0:2] != '\xFF\x81':
-        if DEBUG:
-          raise ZodiacParseError('Invalid Sync %r' % self.recvd)
-        else:
-          raise ZodiacParseError
-      sync, msg_id, length, acknak, checksum = struct.unpack('<HHHHh', self.recvd[:10])
-      
-      # verify checksum
-      cksum = -(reduce(operator.add, (sync, msg_id, length, acknak)) & 0xFFFF)
-      cksum, = struct.unpack('<h', struct.pack('<h', cksum))
-      if cksum != checksum:
-        if DEBUG:
-          raise ZodiacParseError('Invalid Header Checksum %r != %r %r' % (checksum, cksum, self.recvd[:8]))
-        else:
-          raise ZodiacParseError
-      
-      # length was in words, now it's bytes
-      length = length * 2
-
-      # do we need more data ?
-      neededBytes = 10
-      if length:
-        neededBytes += length + 2
-      if len(self.recvd) < neededBytes:
-        break
-      
-      if neededBytes > self.MAX_LENGTH:
-        raise ZodiacParseError("Invalid Header??")
-
-      # empty messages pass empty strings
-      message = ''
-
-      # does this message have data ?
-      if length:
-        message, checksum = self.recvd[10:10+length], struct.unpack('<h', self.recvd[10+length:neededBytes])[0]
-        cksum = 0x10000 - (reduce(operator.add, struct.unpack('<%dH' % (length/2), message)) & 0xFFFF)
-        cksum, = struct.unpack('<h', struct.pack('<h', cksum))
-        if cksum != checksum:
-          if DEBUG:
-            log.dmsg('msg_id = %r length = %r' % (msg_id, length), debug=True)
-            raise ZodiacParseError('Invalid Data Checksum %r != %r %r' % (checksum, cksum, message))
-          else:
-            raise ZodiacParseError
-      
-      # discard used buffer, dispatch message
-      self.recvd = self.recvd[neededBytes:]
-      self.receivedMessage(msg_id, message, acknak)
-  
-  def receivedMessage(self, msg_id, message, acknak):
-    dispatch = self.dispatch.get(msg_id, None)
-    if not dispatch:
-      raise ZodiacParseError('Unknown msg_id = %r' % msg_id)
-    handler = getattr(self, 'handle_%s' % dispatch, None)
-    decoder = getattr(self, 'decode_%s' % dispatch, None)
-    if not (handler and decoder):
-      # missing handler or decoder
-      #if DEBUG:
-      #  log.msg('MISSING HANDLER/DECODER PAIR FOR: %r' % (dispatch,), debug=True)
-      return
-    decoded = decoder(message)
-    return handler(*decoded)
-  
-  def decode_fix(self, message):
-    assert len(message) == 98, "Geodesic Position Status Output should be 55 words total (98 byte message)"
-    (ticks, msgseq, satseq, navstatus, navtype, nmeasure, polar, gpswk, gpses, gpsns, utcdy, utcmo, utcyr, utchr, utcmn, utcsc, utcns, latitude, longitude, height, geoidalsep, speed, course, magvar, climb, mapdatum, exhposerr, exvposerr, extimeerr, exphvelerr, clkbias, clkbiasdev, clkdrift, clkdriftdev) = struct.unpack('<LhhHHHHHLLHHHHHHLlllhLHhhHLLLHllll', message)
-
-    # there's a lot of shit in here.. 
-    # I'll just snag the important stuff and spit it out like my NMEA decoder
-    utc = (utchr * 3600.0) + (utcmn * 60.0) + utcsc + (float(utcns) * 0.000000001)
-    
-    log.msg('utchr, utcmn, utcsc, utcns = ' + repr((utchr, utcmn, utcsc, utcns)), debug=True)
-    
-    latitude = float(latitude)   * 0.00000180 / math.pi
-    longitude = float(longitude) * 0.00000180 / math.pi
-    posfix = not (navstatus & 0x001c)
-    satellites = nmeasure
-    hdop = float(exhposerr) * 0.01
-    altitude = float(height) * 0.01, 'M'
-    geoid = float(geoidalsep) * 0.01, 'M'
-    dgps = None
-    return (
-      # seconds since 00:00 UTC
-      utc,                 
-      # latitude (degrees)
-      latitude,
-      # longitude (degrees)
-      longitude,
-      # position fix status (invalid = False, valid = True)
-      posfix,
-      # number of satellites [measurements] used for fix 0 <= satellites <= 12 
-      satellites,
-      # horizontal dilution of precision
-      hdop,
-      # (altitude according to WGS-84 ellipsoid, units (always 'M' for meters)) 
-      altitude,
-      # (geoid separation according to WGS-84 ellipsoid, units (always 'M' for meters))
-      geoid,
-      # None, for compatability w/ NMEA code
-      dgps,
-    )
-
-  def decode_id(self, message):
-    assert len(message) == 106, "Receiver ID Message should be 59 words total (106 byte message)"
-    ticks, msgseq, channels, software_version, software_date, options_list, reserved = struct.unpack('<Lh20s20s20s20s20s', message)
-    channels, software_version, software_date, options_list = map(lambda s: s.split('\0')[0], (channels, software_version, software_date, options_list))
-    software_version = float(software_version)
-    channels = int(channels) # 0-12 .. but ALWAYS 12, so we ignore.
-    options_list = int(options_list[:4], 16) # only two bitflags, others are reserved
-    minimize_rom = (options_list & 0x01) > 0
-    minimize_ram = (options_list & 0x02) > 0
-    # (version info), (options info)
-    return ((software_version, software_date), (minimize_rom, minimize_ram))
-
-  def decode_channels(self, message):
-    assert len(message) == 90, "Channel Summary Message should be 51 words total (90 byte message)"
-    ticks, msgseq, satseq, gpswk, gpsws, gpsns = struct.unpack('<LhhHLL', message[:18])
-    channels = []
-    message = message[18:]
-    for i in range(12):
-      flags, prn, cno = struct.unpack('<HHH', message[6 * i:6 * (i + 1)])
-      # measurement used, ephemeris available, measurement valid, dgps corrections available
-      flags = (flags & 0x01, flags & 0x02, flags & 0x04, flags & 0x08)
-      channels.append((flags, prn, cno))
-    # ((flags, satellite PRN, C/No in dbHz)) for 12 channels
-    # satellite message sequence number
-    # gps week number, gps seconds in week (??), gps nanoseconds from Epoch
-    return (tuple(channels),) #, satseq, (gpswk, gpsws, gpsns))
-
-  def decode_satellites(self, message):
-    assert len(message) == 90, "Visible Satellites Message should be 51 words total (90 byte message)"
-    ticks, msgseq, gdop, pdop, hdop, vdop, tdop, numsatellites = struct.unpack('<LhhhhhhH', message[:18])
-    gdop, pdop, hdop, vdop, tdop = map(lambda n: float(n) * 0.01, (gdop, pdop, hdop, vdop, tdop))
-    satellites = []
-    message = message[18:]
-    for i in range(numsatellites):
-      prn, azi, elev = struct.unpack('<Hhh', message[6 * i:6 * (i + 1)])
-      azi, elev = map(lambda n: (float(n) * 0.0180 / math.pi), (azi, elev))
-      satellites.push((prn, azi, elev))
-    # ((PRN [0, 32], azimuth +=[0.0, 180.0] deg, elevation +-[0.0, 90.0] deg)) satellite info (0-12)
-    # (geometric, position, horizontal, vertical, time) dilution of precision 
-    return (tuple(satellites), (gdop, pdop, hdop, vdop, tdop))
-
-  def decode_dgps(self, message):
-    assert len(message) == 38, "Differential GPS Status Message should be 25 words total (38 byte message)"
-    raise NotImplementedError
-
-  def decode_ecef(self, message):
-    assert len(message) == 96, "ECEF Position Status Output Message should be 54 words total (96 byte message)"
-    raise NotImplementedError
-
-  def decode_channelmeas(self, message):
-    assert len(message) == 296, "Channel Measurement Message should be 154 words total (296 byte message)"
-    raise NotImplementedError
-
-  def decode_usersettings(self, message):
-    assert len(message) == 32, "User-Settings Output Message should be 22 words total (32 byte message)"
-    raise NotImplementedError
-
-  def decode_testresults(self, message):
-    assert len(message) == 28, "Built-In Test Results Message should be 20 words total (28 byte message)"
-    raise NotImplementedError
-
-  def decode_meastimemark(self, message):
-    assert len(message) == 494, "Measurement Time Mark Message should be 253 words total (494 byte message)"
-    raise NotImplementedError
-
-  def decode_utctimemark(self, message):
-    assert len(message) == 28, "UTC Time Mark Pulse Output Message should be 20 words total (28 byte message)"
-    raise NotImplementedError
-
-  def decode_serial(self, message):
-    assert len(message) == 30, "Serial Port Communication Paramaters In Use Message should be 21 words total (30 byte message)"
-    raise NotImplementedError
-
-  def decode_eepromupdate(self, message):
-    assert len(message) == 8, "EEPROM Update Message should be 10 words total (8 byte message)"
-    raise NotImplementedError
-
-  def decode_eepromstatus(self, message):
-    assert len(message) == 24, "EEPROM Status Message should be 18 words total (24 byte message)"
-    raise NotImplementedError