sbp.piksi module

System health, configuration, and diagnostic messages specific to the Piksi L1 receiver, including a variety of legacy messages that may no longer be used.

class sbp.piksi.Latency(payload=None, **kwargs)

Bases: object

Latency.

Statistics on the latency of observations received from the base

station. As observation packets are received their GPS time is compared to the current GPS time calculated locally by the receiver to give a precise measurement of the end-to-end communication latency in the system.

avg

: int

Average latency

lmin

: int

Minimum latency

lmax

: int

Maximum latency

current

: int

Smoothed estimate of the current latency

avg

current

from_binary(d)

lmax

lmin

to_binary()

class sbp.piksi.MsgAlmanac(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_ALMANAC (0x0069).

You can have MSG_ALMANAC inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

This is a legacy message for sending and loading a satellite

alamanac onto the Piksi’s flash memory from the host.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

class sbp.piksi.MsgCellModemStatus(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_CELL_MODEM_STATUS (0x00BE).

You can have MSG_CELL_MODEM_STATUS inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

If a cell modem is present on a piksi device, this message

will be send periodically to update the host on the status of the modem and its various parameters.

sbp

: SBP

SBP parent object to inherit from.

signal_strength

: int

Received cell signal strength in dBm, zero translates to unknown

signal_error_rate

: float

BER as reported by the modem, zero translates to unknown

reserved

: array

Unspecified data TBD for this schema

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

reserved

signal_error_rate

signal_strength

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgCommandOutput(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_COMMAND_OUTPUT (0x00BC).

You can have MSG_COMMAND_OUTPUT inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

Returns the standard output and standard error of the

command requested by MSG_COMMAND_REQ. The sequence number can be used to filter for filtering the correct command.

sbp

: SBP

SBP parent object to inherit from.

sequence

: int

Sequence number

line

: string

Line of standard output or standard error

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

line

sequence

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgCommandReq(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_COMMAND_REQ (0x00B8).

You can have MSG_COMMAND_REQ inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

Request the recipient to execute an command.

Output will be sent in MSG_LOG messages, and the exit code will be returned with MSG_COMMAND_RESP.

sbp

: SBP

SBP parent object to inherit from.

sequence

: int

Sequence number

command

: string

Command line to execute

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

command

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

sequence

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgCommandResp(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_COMMAND_RESP (0x00B9).

You can have MSG_COMMAND_RESP inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

The response to MSG_COMMAND_REQ with the return code of

the command. A return code of zero indicates success.

sbp

: SBP

SBP parent object to inherit from.

sequence

: int

Sequence number

code

: int

Exit code

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

code

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

sequence

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgCwResults(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_CW_RESULTS (0x00C0).

You can have MSG_CW_RESULTS inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

This is an unused legacy message for result reporting from the

CW interference channel on the SwiftNAP. This message will be removed in a future release.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

class sbp.piksi.MsgCwStart(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_CW_START (0x00C1).

You can have MSG_CW_START inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

This is an unused legacy message from the host for starting

the CW interference channel on the SwiftNAP. This message will be removed in a future release.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

class sbp.piksi.MsgDeviceMonitor(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_DEVICE_MONITOR (0x00B5).

You can have MSG_DEVICE_MONITOR inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

This message contains temperature and voltage level measurements from the

processor’s monitoring system and the RF frontend die temperature if available.

sbp

: SBP

SBP parent object to inherit from.

dev_vin

: int

Device V_in

cpu_vint

: int

Processor V_int

cpu_vaux

: int

Processor V_aux

cpu_temperature

: int

Processor temperature

fe_temperature

: int

Frontend temperature (if available)

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

cpu_temperature

cpu_vaux

cpu_vint

dev_vin

fe_temperature

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgIarState(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_IAR_STATE (0x0019).

You can have MSG_IAR_STATE inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

This message reports the state of the Integer Ambiguity

Resolution (IAR) process, which resolves unknown integer ambiguities from double-differenced carrier-phase measurements from satellite observations.

sbp

: SBP

SBP parent object to inherit from.

num_hyps

: int

Number of integer ambiguity hypotheses remaining

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

num_hyps

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgInitBase(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_INIT_BASE (0x0023).

You can have MSG_INIT_BASE inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

This message initializes the integer ambiguity resolution (IAR)

process on the Piksi to use an assumed baseline position between the base station and rover receivers. Warns via MSG_PRINT if there aren’t a shared minimum number (4) of satellite observations between the two.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

class sbp.piksi.MsgMaskSatellite(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_MASK_SATELLITE (0x002B).

You can have MSG_MASK_SATELLITE inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

This message allows setting a mask to prevent a particular satellite

from being used in various Piksi subsystems.

sbp

: SBP

SBP parent object to inherit from.

mask

: int

Mask of systems that should ignore this satellite.

sid

: GnssSignal

GNSS signal for which the mask is applied

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

mask

sid

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgMaskSatelliteDep(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_MASK_SATELLITE_DEP (0x001B).

You can have MSG_MASK_SATELLITE_DEP inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

Deprecated.

sbp

: SBP

SBP parent object to inherit from.

mask

: int

Mask of systems that should ignore this satellite.

sid

: GnssSignalDep

GNSS signal for which the mask is applied

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

mask

sid

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgNetworkBandwidthUsage(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_NETWORK_BANDWIDTH_USAGE (0x00BD).

You can have MSG_NETWORK_BANDWIDTH_USAGE inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

The bandwidth usage, a list of usage by interface.

sbp

: SBP

SBP parent object to inherit from.

interfaces

: array

Usage measurement array

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

interfaces

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgNetworkStateReq(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_NETWORK_STATE_REQ (0x00BA).

You can have MSG_NETWORK_STATE_REQ inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

Request state of Piksi network interfaces.

Output will be sent in MSG_NETWORK_STATE_RESP messages

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

class sbp.piksi.MsgNetworkStateResp(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_NETWORK_STATE_RESP (0x00BB).

You can have MSG_NETWORK_STATE_RESP inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

The state of a network interface on the Piksi.

Data is made to reflect output of ifaddrs struct returned by getifaddrs in c.

sbp

: SBP

SBP parent object to inherit from.

ipv4_address

: array

IPv4 address (all zero when unavailable)

ipv4_mask_size

: int

IPv4 netmask CIDR notation

ipv6_address

: array

IPv6 address (all zero when unavailable)

ipv6_mask_size

: int

IPv6 netmask CIDR notation

rx_bytes

: int

Number of Rx bytes

tx_bytes

: int

Number of Tx bytes

interface_name

: string

Interface Name

flags

: int

Interface flags from SIOCGIFFLAGS

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

interface_name

ipv4_address

ipv4_mask_size

ipv6_address

ipv6_mask_size

rx_bytes

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

tx_bytes

class sbp.piksi.MsgReset(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_RESET (0x00B6).

You can have MSG_RESET inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

This message from the host resets the Piksi back into the

bootloader.

sbp

: SBP

SBP parent object to inherit from.

flags

: int

Reset flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

flags

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgResetDep(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_RESET_DEP (0x00B2).

You can have MSG_RESET_DEP inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

This message from the host resets the Piksi back into the

bootloader.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

class sbp.piksi.MsgResetFilters(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_RESET_FILTERS (0x0022).

You can have MSG_RESET_FILTERS inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

This message resets either the DGNSS Kalman filters or Integer

Ambiguity Resolution (IAR) process.

sbp

: SBP

SBP parent object to inherit from.

filter

: int

Filter flags

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

filter

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgSetTime(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_SET_TIME (0x0068).

You can have MSG_SET_TIME inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

This message sets up timing functionality using a coarse GPS

time estimate sent by the host.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

class sbp.piksi.MsgSpecan(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_SPECAN (0x0051).

You can have MSG_SPECAN inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

Spectrum analyzer packet.

sbp

: SBP

SBP parent object to inherit from.

channel_tag

: int

Channel ID

t

: GPSTime

Receiver time of this observation

freq_ref

: float

Reference frequency of this packet

freq_step

: float

Frequency step of points in this packet

amplitude_ref

: float

Reference amplitude of this packet

amplitude_unit

: float

Amplitude unit value of points in this packet

amplitude_value

: array

Amplitude values (in the above units) of points in this packet

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

amplitude_ref

amplitude_unit

amplitude_value

channel_tag

freq_ref

freq_step

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

t

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgSpecanDep(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_SPECAN_DEP (0x0050).

You can have MSG_SPECAN_DEP inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

Deprecated.

sbp

: SBP

SBP parent object to inherit from.

channel_tag

: int

Channel ID

t

: GPSTimeDep

Receiver time of this observation

freq_ref

: float

Reference frequency of this packet

freq_step

: float

Frequency step of points in this packet

amplitude_ref

: float

Reference amplitude of this packet

amplitude_unit

: float

Amplitude unit value of points in this packet

amplitude_value

: array

Amplitude values (in the above units) of points in this packet

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

amplitude_ref

amplitude_unit

amplitude_value

channel_tag

freq_ref

freq_step

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

t

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgThreadState(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_THREAD_STATE (0x0017).

You can have MSG_THREAD_STATE inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

The thread usage message from the device reports real-time

operating system (RTOS) thread usage statistics for the named thread. The reported percentage values must be normalized.

sbp

: SBP

SBP parent object to inherit from.

name

: string

Thread name (NULL terminated)

cpu

: int

Percentage cpu use for this thread. Values range from 0

• 1000 and needs to be renormalized to 100

  stack_free

  : int

  Free stack space for this thread

  sender

  : int

  Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

cpu

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

name

stack_free

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

class sbp.piksi.MsgUartState(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_UART_STATE (0x001D).

You can have MSG_UART_STATE inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

The UART message reports data latency and throughput of the UART

channels providing SBP I/O. On the default Piksi configuration, UARTs A and B are used for telemetry radios, but can also be host access ports for embedded hosts, or other interfaces in future. The reported percentage values must be normalized. Observations latency and period can be used to assess the health of the differential corrections link. Latency provides the timeliness of received base observations while the period indicates their likelihood of transmission.

sbp

: SBP

SBP parent object to inherit from.

uart_a

: UARTChannel

State of UART A

uart_b

: UARTChannel

State of UART B

uart_ftdi

: UARTChannel

State of UART FTDI (USB logger)

latency

: Latency

UART communication latency

obs_period

: Period

Observation receipt period

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

latency

obs_period

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

uart_a

uart_b

uart_ftdi

class sbp.piksi.MsgUartStateDepa(sbp=None, **kwargs)

Bases: sbp.msg.SBP

SBP class for message MSG_UART_STATE_DEPA (0x0018).

You can have MSG_UART_STATE_DEPA inherit its fields directly from an inherited SBP object, or construct it inline using a dict of its fields.

Deprecated

sbp

: SBP

SBP parent object to inherit from.

uart_a

: UARTChannel

State of UART A

uart_b

: UARTChannel

State of UART B

uart_ftdi

: UARTChannel

State of UART FTDI (USB logger)

latency

: Latency

UART communication latency

sender

: int

Optional sender ID, defaults to SENDER_ID (see sbp/msg.py).

from_binary(d)

Given a binary payload d, update the appropriate payload fields of the message.

static from_json(s)

Given a JSON-encoded string s, build a message object.

static from_json_dict(d)

latency

to_binary()

Produce a framed/packed SBP message.

to_json_dict()

uart_a

uart_b

uart_ftdi

class sbp.piksi.NetworkUsage(payload=None, **kwargs)

Bases: object

NetworkUsage.

The bandwidth usage for each interface can be reported

within this struct and utilize multiple fields to fully specify the type of traffic that is being tracked. As either the interval of collection or the collection time may vary, both a timestamp and period field is provided, though may not necessarily be populated with a value.

duration

: int

Duration over which the measurement was collected

total_bytes

: int

Number of bytes handled in total within period

rx_bytes

: int

Number of bytes transmitted within period

tx_bytes

: int

Number of bytes received within period

interface_name

: string

Interface Name

duration

from_binary(d)

interface_name

rx_bytes

to_binary()

total_bytes

tx_bytes

class sbp.piksi.Period(payload=None, **kwargs)

Bases: object

Period.

Statistics on the period of observations received from the base

station. As complete observation sets are received, their time of reception is compared with the prior set’’s time of reception. This measurement provides a proxy for link quality as incomplete or missing sets will increase the period. Long periods can cause momentary RTK solution outages.

avg

: int

Average period

pmin

: int

Minimum period

pmax

: int

Maximum period

current

: int

Smoothed estimate of the current period

avg

current

from_binary(d)

pmax

pmin

to_binary()

class sbp.piksi.UARTChannel(payload=None, **kwargs)

Bases: object

UARTChannel.

Throughput, utilization, and error counts on the RX/TX buffers

of this UART channel. The reported percentage values must be normalized.

tx_throughput

: float

UART transmit throughput

rx_throughput

: float

UART receive throughput

crc_error_count

: int

UART CRC error count

io_error_count

: int

UART IO error count

tx_buffer_level

: int

UART transmit buffer percentage utilization (ranges from

0 to 255)

rx_buffer_level

: int

UART receive buffer percentage utilization (ranges from

0 to 255)

crc_error_count

from_binary(d)

io_error_count

rx_buffer_level

rx_throughput

to_binary()

tx_buffer_level

tx_throughput