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'''
Support for proprietary messages from Ashtech receivers.
'''
# pylint: disable=wildcard-import,unused-wildcard-import
from decimal import Decimal
import re
from ... import nmea
from ...nmea_utils import *
class ASH(nmea.ProprietarySentence):
'''
Generic Ashtech Response Message
'''
sentence_types = {}
def __new__(_cls, manufacturer, data):
'''
Return the correct sentence type based on the first field
'''
sentence_type = data[1]
name = manufacturer + 'R' + sentence_type
if name not in _cls.sentence_types:
# ASHRATT does not have a sentence type
if ASHRATT.match(data):
return super(ASH, ASHRATT).__new__(ASHRATT)
cls = _cls.sentence_types.get(name, ASH)
return super(ASH, cls).__new__(cls)
class ASHRATT(ASH):
'''
RT300 proprietary attitude sentence
'''
@staticmethod
def match(data):
return re.match(r'^\d{6}\.\d{2,3}$', data[1])
def __init__(self, *args, **kwargs):
self.subtype = 'ATT'
super(ASHRATT, self).__init__(*args, **kwargs)
fields = (
('R', '_r'),
('Timestamp', 'timestamp', timestamp),
('Heading Angle', 'true_heading', float),
('Is True Heading', 'is_true_heading'),
('Roll Angle', 'roll', float),
('Pitch Angle', 'pitch', float),
('Heave', 'heave', float),
('Roll Accuracy Estimate', 'roll_accuracy', float),
('Pitch Accuracy Estimate', 'pitch_accuracy', float),
('Heading Accuracy Estimate', 'heading_accuracy', float),
('Aiding Status', 'aiding_status', Decimal),
('IMU Status', 'imu_status', Decimal),
)
class ASHRHPR(ASH):
'''
Ashtech HPR Message
'''
fields = (
('R', '_r'),
('Subtype', 'subtype'),
('Timestamp', 'timestamp', timestamp),
('Heading Angle', 'heading', Decimal),
('Pitch Angle', 'pitch', Decimal),
('Roll Angle', 'roll', Decimal),
('Carrier measurement RMS', 'carrier_rms', Decimal),
('Baseline measurement RMS', 'baseline_rms', Decimal),
('Integer Ambiguity', 'integer_ambiguity'),
('Mode', 'mode'),
('Status', 'status'),
('PDOP', 'pdop', float),
)
class ASHRLTN(ASH):
'''
Ashtech LTN Message
'''
fields = (
('R', '_r'),
('Subtype', 'subtype'),
('Latency (ms)', 'latency', int),
)
class ASHRPOS(ASH, LatLonFix):
'''
Ashtech POS Message
'''
fields = (
('R', '_r'),
('Subtype', 'subtype'),
('Solution Type', 'mode', int),
('Satellites used in Solution', 'sat_count', int),
('Timestamp', 'timestamp', timestamp),
('Latitude', 'lat'),
('Latitude Direction', 'lat_dir'),
('Longitude', 'lon'),
('Longitude Direction', 'lon_dir'),
('Altitude above WGS84 ellipsoid, meters', 'altitude'),
('Empty', '__'),
("True Track/Course Over Ground", "course", float),
("Speed Over Ground", "spd_over_grnd", float),
('Vertical Velocity', 'vertical_velocity', Decimal),
('PDOP', 'pdop', float),
('HDOP', 'hdop', float),
('VDOP', 'vdop', float),
('TDOP', 'tdop', float),
('Base station ID', 'station_id', int)
)
class ASHRVEL(ASH):
'''
Ashtech VEL Message
'''
fields = (
('R', '_r'),
('Subtype', 'subtype'),
('ENU', 'enu', int),
('Timestamp', 'timestamp', timestamp),
('Easting', 'easting', Decimal),
('Northing', 'northing', Decimal),
('Vertical Velocity', 'vertical', Decimal),
('Easting RMS', 'easting_rms', Decimal),
('Northing RMS', 'northing_rms', Decimal),
('Vertical RMS', 'vertical_rms', Decimal),
('Applied effective velocity smoothing interval (ms)', 'smoothing', Decimal),
)
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