Added stubs for orientation and image telemetry packets.

rx/WenetPackets.py

@@ -14,8 +14,7 @@ WENET_TELEMETRY_UDP_PORT 	= 7891
 class WENET_PACKET_TYPES:
 	TEXT_MESSAGE			= 0x00
 	GPS_TELEMETRY 			= 0x01
-	IMU_TELEMETRY			= 0x02
-	# Your packet types here!
+	ORIENTATION_TELEMETRY	= 0x02
 	IMAGE_TELEMETRY			= 0x54
 	SSDV 					= 0x55
 	IDLE					= 0x56
@@ -36,8 +35,8 @@ def packet_to_string(packet):
 		return text_message_string(packet)
 	elif packet_type == WENET_PACKET_TYPES.GPS_TELEMETRY:
 		return gps_telemetry_string(packet)
-	elif packet_type == WENET_PACKET_TYPES.IMU_TELEMETRY:
-		return imu_telemetry_string(packet)
+	elif packet_type == WENET_PACKET_TYPES.ORIENTATION_TELEMETRY:
+		return orientation_telemetry_string(packet)
 	elif packet_type == WENET_PACKET_TYPES.IMAGE_TELEMETRY:
 		return image_telemetry_string(packet)
 	elif packet_type == WENET_PACKET_TYPES.SSDV:
@@ -139,8 +138,23 @@ def gps_weeksecondstoutc(gpsweek, gpsseconds, leapseconds):
     return timestamp.isoformat()
 
 def gps_telemetry_decoder(packet):
-	""" Extract GPS telemetry data from a packet, and return it as a python dictionary. """
-	# We need the packet as a string, convert to a string in case we were passed a list of bytes.
+	""" Extract GPS telemetry data from a packet, and return it as a dictionary. 
+
+	Keyword Arguments:
+	packet:	A GPS telemetry packet, as per https://docs.google.com/document/d/12230J1X3r2-IcLVLkeaVmIXqFeo3uheurFakElIaPVo/edit?usp=sharing
+			This can be provided as either a string, or a list of integers, which will be converted
+			to a string prior to decoding.
+
+	Return value:
+			A dictionary containing the decoded packet data. 
+			If the decode failed for whatever reason, a dictionary will still be returned, but will 
+			contain the field 'error' with the decode fault description.
+			This field (error) will be set to 'None' if decoding was successful.
+
+	"""
+
+	# We need the packet as a string - convert to a string in case we were passed a list of bytes,
+	# which occurs when we are decoding a packet that has arrived via a UDP-broadcast JSON blob.
 	packet = str(bytearray(packet))
 	gps_data = {}
 
@@ -221,7 +235,12 @@ def gps_telemetry_decoder(packet):
 
 
 def gps_telemetry_string(packet):
+	""" Produce a String representation of a GPS Telemetry packet"""
+
+	# Decode packet to a dictionary 
 	gps_data = gps_telemetry_decoder(packet)
+
+	# Check if there was a decode error. If not, produce a string.
 	if gps_data['error'] != 'None':
 		return "GPS: ERROR Could not decode."
 	else:
@@ -237,23 +256,70 @@ def gps_telemetry_string(packet):
 			gps_data['numSV'],
 			gps_data['dynamic_model_str']
 			)
+
 		return gps_data_string
 
 #
-# IMU Telemetry Decoder
+# Orientation Telemetry Decoder
 #
-def imu_telemetry_decoder(packet):
-	return "Not Implemented."
+def orientation_telemetry_decoder(packet):
+	""" Extract Orientation Telemetry data from a supplied packet, and return it as a dictionary.
 
-def imu_telemetry_string(packet):
-	return "IMU: Not Implemented Yet."
+	Keyword Arguments:
+	packet:	An Orientation telemetry packet, as per https://docs.google.com/document/d/12230J1X3r2-IcLVLkeaVmIXqFeo3uheurFakElIaPVo/edit?usp=sharing
+			This can be provided as either a string, or a list of integers, which will be converted
+			to a string prior to decoding.
+
+	Return value:
+			A dictionary containing the decoded packet data. 
+			If the decode failed for whatever reason, a dictionary will still be returned, but will 
+			contain the field 'error' with the decode fault description.
+			This field (error) will be set to 'None' if decoding was successful.
+
+	"""
+
+	# We need the packet as a string - convert to a string in case we were passed a list of bytes,
+	# which occurs when we are decoding a packet that has arrived via a UDP-broadcast JSON blob.
+	packet = str(bytearray(packet))
+
+	# SHSSP Code goes here.
+
+	return {'error': "Orientation: Not Implemented."}
+
+def orientation_telemetry_string(packet):
+	""" Produce a String representation of an Orientation Telemetry packet"""
+
+	return "Orientation: Not Implemented Yet."
 
 
 #
-# Image (Combined GPS/IMU) Telemetry Decoder
+# Image (Combined GPS/Orientation + Image ID) Telemetry Decoder
 #
 def image_telemetry_decoder(packet):
-	return "Not Implemented."
+	""" Extract Image Telemetry data from a supplied packet, and return it as a dictionary.
+
+	Keyword Arguments:
+	packet:	An Image telemetry packet, as per https://docs.google.com/document/d/12230J1X3r2-IcLVLkeaVmIXqFeo3uheurFakElIaPVo/edit?usp=sharing
+			This can be provided as either a string, or a list of integers, which will be converted
+			to a string prior to decoding.
+
+	Return value:
+			A dictionary containing the decoded packet data. 
+			If the decode failed for whatever reason, a dictionary will still be returned, but will 
+			contain the field 'error' with the decode fault description.
+			This field (error) will be set to 'None' if decoding was successful.
+
+	"""
+
+	# We need the packet as a string - convert to a string in case we were passed a list of bytes,
+	# which occurs when we are decoding a packet that has arrived via a UDP-broadcast JSON blob.
+	packet = str(bytearray(packet))
+
+	# SHSSP Code goes here.
+
+	return {'error': "Image Telemetry: Not Implemented."}
 
 def image_telemetry_string(packet):
+	""" Produce a String representation of an Image Telemetry packet"""
+	
 	return "Image Telemetry: Not Implemented Yet."

tx/PacketTX.py

@@ -217,7 +217,7 @@ class PacketTX(object):
 		print("TXing Text Message #%d: %s" % (self.text_message_count,message))
 
 	def transmit_gps_telemetry(self, gps_data):
-		""" Generate and Transmit a GPS Telemetry Packet
+		""" Generate and Transmit a GPS Telemetry Packet.
 
 		Keyword Arguments:
 		gps_data: A dictionary, as produced by the UBloxGPS class. It must have the following fields:
@@ -253,6 +253,57 @@ class PacketTX(object):
 		except:
 			traceback.print_exc()
 
+	def transmit_orientation_telemetry(self, week, iTOW, leapS, orientation_data):
+		""" Generate and Transmit an Payload Orientation telemetry packet.
+
+		Keyword Arguments:
+		week: GPS week number
+		iTOW: GPS time-of-week (Seconds)
+		leapS: GPS leap-seconds value (necessary to convert GPS time to UTC time)
+
+		orientation_data: A dictionary, as produced by the BNO055 Class. It must have the following fields:
+
+
+		The generated packet format is in accordance with the specification in 
+		https://docs.google.com/document/d/12230J1X3r2-IcLVLkeaVmIXqFeo3uheurFakElIaPVo/edit?usp=sharing
+
+		The corresponding decoder for this packet format is within rx/WenetPackets.py, in the function
+		orientation_telemetry_decoder
+
+		"""
+
+		# SHSSP Code goes here...
+
+		return
+
+	def transmit_image_telemetry(self, gps_data, orientation_data, image_id):
+		""" Generate and Transmit an Image telemetry packet.
+
+		Keyword Arguments:
+		gps_data: A dictionary, as produced by the UBloxGPS class. It must have the following fields:
+				  latitude, longitude, altitude, ground_speed, ascent_rate, heading, gpsFix, numSV,
+				  week, iTOW, leapS, dynamic_model.
+
+		orientation_data: A dictionary, as produced by the BNO055 Class. It must have the following fields:
+
+
+		image_id: The ID of the image related to the above position and orientation data.
+
+		The generated packet format is in accordance with the specification in 
+		https://docs.google.com/document/d/12230J1X3r2-IcLVLkeaVmIXqFeo3uheurFakElIaPVo/edit?usp=sharing
+
+		The corresponding decoder for this packet format is within rx/WenetPackets.py, in the function
+		image_telemetry_decoder
+
+		"""
+
+		# SHSSP Code goes here...
+
+		return
+
+
+
+
 
 class BinaryDebug(object):
 	""" Debug binary 'transmitter' Class