Index: third_party/twisted_8_1/twisted/protocols/gps/rockwell.py |
diff --git a/third_party/twisted_8_1/twisted/protocols/gps/rockwell.py b/third_party/twisted_8_1/twisted/protocols/gps/rockwell.py |
deleted file mode 100644 |
index e94699585d9db2b65b69dd479f39fbafa25a9938..0000000000000000000000000000000000000000 |
--- a/third_party/twisted_8_1/twisted/protocols/gps/rockwell.py |
+++ /dev/null |
@@ -1,268 +0,0 @@ |
-# 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 |