#!/usr/bin/env python
# Copyright (C) 2015-2018 Swift Navigation Inc.
# Contact: Swift Navigation <dev@swiftnav.com>
#
# This source is subject to the license found in the file 'LICENSE' which must
# be be distributed together with this source. All other rights reserved.
#
# THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
# EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
# WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
"""
Logging and debugging messages from the device.
"""
import json
import construct
from sbp.msg import SBP, SENDER_ID
from sbp.utils import fmt_repr, exclude_fields, walk_json_dict, containerize
# Automatically generated from piksi/yaml/swiftnav/sbp/logging.yaml with generate.py.
# Please do not hand edit!
SBP_MSG_LOG = 0x0401
[docs]class MsgLog(SBP):
"""SBP class for message MSG_LOG (0x0401).
You can have MSG_LOG inherit its fields directly
from an inherited SBP object, or construct it inline using a dict
of its fields.
This message contains a human-readable payload string from the
device containing errors, warnings and informational messages at
ERROR, WARNING, DEBUG, INFO logging levels.
Parameters
----------
sbp : SBP
SBP parent object to inherit from.
level : int
Logging level
text : string
Human-readable string
sender : int
Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).
"""
_parser = construct.Struct(
'level' / construct.Int8ul,
'text' / construct.GreedyBytes,)
__slots__ = [
'level',
'text',
]
def __init__(self, sbp=None, **kwargs):
if sbp:
super( MsgLog,
self).__init__(sbp.msg_type, sbp.sender, sbp.length,
sbp.payload, sbp.crc)
self.from_binary(sbp.payload)
else:
super( MsgLog, self).__init__()
self.msg_type = SBP_MSG_LOG
self.sender = kwargs.pop('sender', SENDER_ID)
self.level = kwargs.pop('level')
self.text = kwargs.pop('text')
def __repr__(self):
return fmt_repr(self)
@staticmethod
[docs] def from_json(s):
"""Given a JSON-encoded string s, build a message object.
"""
d = json.loads(s)
return MsgLog.from_json_dict(d)
@staticmethod
[docs] def from_json_dict(d):
sbp = SBP.from_json_dict(d)
return MsgLog(sbp, **d)
[docs] def from_binary(self, d):
"""Given a binary payload d, update the appropriate payload fields of
the message.
"""
p = MsgLog._parser.parse(d)
for n in self.__class__.__slots__:
setattr(self, n, getattr(p, n))
[docs] def to_binary(self):
"""Produce a framed/packed SBP message.
"""
c = containerize(exclude_fields(self))
self.payload = MsgLog._parser.build(c)
return self.pack()
[docs] def to_json_dict(self):
self.to_binary()
d = super( MsgLog, self).to_json_dict()
j = walk_json_dict(exclude_fields(self))
d.update(j)
return d
SBP_MSG_FWD = 0x0402
[docs]class MsgFwd(SBP):
"""SBP class for message MSG_FWD (0x0402).
You can have MSG_FWD inherit its fields directly
from an inherited SBP object, or construct it inline using a dict
of its fields.
This message provides the ability to forward messages over SBP. This may take the form
of wrapping up SBP messages received by Piksi for logging purposes or wrapping
another protocol with SBP.
The source identifier indicates from what interface a forwarded stream derived.
The protocol identifier identifies what the expected protocol the forwarded msg contains.
Protocol 0 represents SBP and the remaining values are implementation defined.
Parameters
----------
sbp : SBP
SBP parent object to inherit from.
source : int
source identifier
protocol : int
protocol identifier
fwd_payload : string
variable length wrapped binary message
sender : int
Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).
"""
_parser = construct.Struct(
'source' / construct.Int8ul,
'protocol' / construct.Int8ul,
'fwd_payload' / construct.GreedyBytes,)
__slots__ = [
'source',
'protocol',
'fwd_payload',
]
def __init__(self, sbp=None, **kwargs):
if sbp:
super( MsgFwd,
self).__init__(sbp.msg_type, sbp.sender, sbp.length,
sbp.payload, sbp.crc)
self.from_binary(sbp.payload)
else:
super( MsgFwd, self).__init__()
self.msg_type = SBP_MSG_FWD
self.sender = kwargs.pop('sender', SENDER_ID)
self.source = kwargs.pop('source')
self.protocol = kwargs.pop('protocol')
self.fwd_payload = kwargs.pop('fwd_payload')
def __repr__(self):
return fmt_repr(self)
@staticmethod
[docs] def from_json(s):
"""Given a JSON-encoded string s, build a message object.
"""
d = json.loads(s)
return MsgFwd.from_json_dict(d)
@staticmethod
[docs] def from_json_dict(d):
sbp = SBP.from_json_dict(d)
return MsgFwd(sbp, **d)
[docs] def from_binary(self, d):
"""Given a binary payload d, update the appropriate payload fields of
the message.
"""
p = MsgFwd._parser.parse(d)
for n in self.__class__.__slots__:
setattr(self, n, getattr(p, n))
[docs] def to_binary(self):
"""Produce a framed/packed SBP message.
"""
c = containerize(exclude_fields(self))
self.payload = MsgFwd._parser.build(c)
return self.pack()
[docs] def to_json_dict(self):
self.to_binary()
d = super( MsgFwd, self).to_json_dict()
j = walk_json_dict(exclude_fields(self))
d.update(j)
return d
SBP_MSG_TWEET = 0x0012
SBP_MSG_PRINT_DEP = 0x0010
[docs]class MsgPrintDep(SBP):
"""SBP class for message MSG_PRINT_DEP (0x0010).
You can have MSG_PRINT_DEP inherit its fields directly
from an inherited SBP object, or construct it inline using a dict
of its fields.
Deprecated.
Parameters
----------
sbp : SBP
SBP parent object to inherit from.
text : string
Human-readable string
sender : int
Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).
"""
_parser = construct.Struct(
'text' / construct.GreedyBytes,)
__slots__ = [
'text',
]
def __init__(self, sbp=None, **kwargs):
if sbp:
super( MsgPrintDep,
self).__init__(sbp.msg_type, sbp.sender, sbp.length,
sbp.payload, sbp.crc)
self.from_binary(sbp.payload)
else:
super( MsgPrintDep, self).__init__()
self.msg_type = SBP_MSG_PRINT_DEP
self.sender = kwargs.pop('sender', SENDER_ID)
self.text = kwargs.pop('text')
def __repr__(self):
return fmt_repr(self)
@staticmethod
[docs] def from_json(s):
"""Given a JSON-encoded string s, build a message object.
"""
d = json.loads(s)
return MsgPrintDep.from_json_dict(d)
@staticmethod
[docs] def from_json_dict(d):
sbp = SBP.from_json_dict(d)
return MsgPrintDep(sbp, **d)
[docs] def from_binary(self, d):
"""Given a binary payload d, update the appropriate payload fields of
the message.
"""
p = MsgPrintDep._parser.parse(d)
for n in self.__class__.__slots__:
setattr(self, n, getattr(p, n))
[docs] def to_binary(self):
"""Produce a framed/packed SBP message.
"""
c = containerize(exclude_fields(self))
self.payload = MsgPrintDep._parser.build(c)
return self.pack()
[docs] def to_json_dict(self):
self.to_binary()
d = super( MsgPrintDep, self).to_json_dict()
j = walk_json_dict(exclude_fields(self))
d.update(j)
return d
msg_classes = {
0x0401: MsgLog,
0x0402: MsgFwd,
0x0012: MsgTweet,
0x0010: MsgPrintDep,
}