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Copy pathhesai_pandar_64_packets.py
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hesai_pandar_64_packets.py
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# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild
from pkg_resources import parse_version
import kaitaistruct
from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO
if parse_version(kaitaistruct.__version__) < parse_version('0.9'):
raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__))
class HesaiPandar64Packets(KaitaiStruct):
def __init__(self, _io, _parent=None, _root=None):
self._io = _io
self._parent = _parent
self._root = _root if _root else self
self._read()
def _read(self):
self.header = HesaiPandar64Packets.Header(self._io, self, self._root)
self.blocks = [None] * (self.header.n_blocks)
for i in range(self.header.n_blocks):
self.blocks[i] = HesaiPandar64Packets.Block(self._io, self, self._root)
self.tail = HesaiPandar64Packets.Tail(self._io, self, self._root)
class Channel(KaitaiStruct):
def __init__(self, i, _io, _parent=None, _root=None):
self._io = _io
self._parent = _parent
self._root = _root if _root else self
self.i = i
self._read()
def _read(self):
self.distance_value_raw = self._io.read_u2le()
self.reflectance_value = self._io.read_u1()
@property
def distance_value(self):
if hasattr(self, '_m_distance_value'):
return self._m_distance_value if hasattr(self, '_m_distance_value') else None
self._m_distance_value = (self.distance_value_raw * self._parent._parent.header.distance_unit)
return self._m_distance_value if hasattr(self, '_m_distance_value') else None
class Tail(KaitaiStruct):
def __init__(self, _io, _parent=None, _root=None):
self._io = _io
self._parent = _parent
self._root = _root if _root else self
self._read()
def _read(self):
self._raw_dummy3 = self._io.read_bytes(5)
_io__raw_dummy3 = KaitaiStream(BytesIO(self._raw_dummy3))
self.dummy3 = HesaiPandar64Packets.Dummy(_io__raw_dummy3, self, self._root)
self.high_tmp_flag = self._io.read_u1()
self._raw_dummy4 = self._io.read_bytes(2)
_io__raw_dummy4 = KaitaiStream(BytesIO(self._raw_dummy4))
self.dummy4 = HesaiPandar64Packets.Dummy(_io__raw_dummy4, self, self._root)
self.motor_speed = self._io.read_u2le()
self.gps_timestamp = self._io.read_u4le()
self.return_mode = self._io.read_u1()
self.factory_info = self._io.read_u1()
self.date_time = HesaiPandar64Packets.DateTime(self._io, self, self._root)
class Dummy(KaitaiStruct):
"""Empty."""
def __init__(self, _io, _parent=None, _root=None):
self._io = _io
self._parent = _parent
self._root = _root if _root else self
self._read()
def _read(self):
pass
class Block(KaitaiStruct):
def __init__(self, _io, _parent=None, _root=None):
self._io = _io
self._parent = _parent
self._root = _root if _root else self
self._read()
def _read(self):
self.azimuth_raw = self._io.read_u2le()
self.channel = [None] * (self._parent.header.n_lasers)
for i in range(self._parent.header.n_lasers):
self.channel[i] = HesaiPandar64Packets.Channel(i, self._io, self, self._root)
@property
def azimuth_deg(self):
if hasattr(self, '_m_azimuth_deg'):
return self._m_azimuth_deg if hasattr(self, '_m_azimuth_deg') else None
self._m_azimuth_deg = (self.azimuth_raw / 100)
return self._m_azimuth_deg if hasattr(self, '_m_azimuth_deg') else None
class DateTime(KaitaiStruct):
def __init__(self, _io, _parent=None, _root=None):
self._io = _io
self._parent = _parent
self._root = _root if _root else self
self._read()
def _read(self):
self.year_raw = self._io.read_u1()
self.month = self._io.read_u1()
self.day = self._io.read_u1()
self.hour = self._io.read_u1()
self.minute = self._io.read_u1()
self.second = self._io.read_u1()
@property
def year(self):
if hasattr(self, '_m_year'):
return self._m_year if hasattr(self, '_m_year') else None
self._m_year = (self.year_raw + 2000)
return self._m_year if hasattr(self, '_m_year') else None
class Header(KaitaiStruct):
def __init__(self, _io, _parent=None, _root=None):
self._io = _io
self._parent = _parent
self._root = _root if _root else self
self._read()
def _read(self):
self.start_of_packet = self._io.read_bytes(2)
self.n_lasers = self._io.read_u1()
self.n_blocks = self._io.read_u1()
self._raw_dummy1 = self._io.read_bytes(1)
_io__raw_dummy1 = KaitaiStream(BytesIO(self._raw_dummy1))
self.dummy1 = HesaiPandar64Packets.Dummy(_io__raw_dummy1, self, self._root)
self.distance_unit = self._io.read_u1()
self._raw_dummy2 = self._io.read_bytes(2)
_io__raw_dummy2 = KaitaiStream(BytesIO(self._raw_dummy2))
self.dummy2 = HesaiPandar64Packets.Dummy(_io__raw_dummy2, self, self._root)