gps_pvt 0.10.1 → 0.10.3

data/lib/gps_pvt/asn1/asn1.y

@@ -46,10 +46,10 @@ rule
   DefinitiveNameAndNumberForm : identifier LCBRACE DefinitiveNumberForm RCBRACE
   
   TagDefault :
-      EXPLICIT TAGS {raise} # not supported
-      | IMPLICIT TAGS {raise} # not supported
-      | AUTOMATIC TAGS
-      | {raise} # not supported
+      EXPLICIT TAGS {@tags = val[0]}
+      | IMPLICIT TAGS {@tags = val[0]}
+      | AUTOMATIC TAGS {@tags = val[0]} # 12.3
+      | {@tags = :EXPLICIT} # 12.2
   
   ExtensionDefault :
       EXTENSIBILITY IMPLIED
@@ -179,8 +179,8 @@ rule
       #| RelativeOIDType
       | SequenceType
       | SequenceOfType
-      #| SetType
-      #| SetOfType
+      | SetType
+      | SetOfType
       | TaggedType
       | UTCTime # 43. Universal time
 
@@ -199,32 +199,34 @@ rule
       | ObjectClassFieldValue
 
   BuiltinValue : # 16.9
-      BitStringValue
-      | BooleanValue
-      | CharacterStringValue
-      | ChoiceValue
+      BitStringValue # String, Array, Hash (possible returned value, same below)
+      | BooleanValue # true/false
+      | CharacterStringValue # String, Array, Hash
+      | ChoiceValue # Hash
       #| EmbeddedPDVValue
-      | EnumeratedValue
+      | EnumeratedValue # String
       #| ExternalValue
       #| InstanceOfValue
-      | IntegerValue
-      | NullValue
-      | ObjectIdentifierValue
-      | OctetStringValue
-      | RealValue
+      | IntegerValue # Number, String
+      | NullValue # nil
+      | ObjectIdentifierValue # Array
+      | OctetStringValue # String, Hash
+      | RealValue # Number, Hash(M * B^E), String([PLUS|MINUS]_INFINITY)
       #| RelativeOIDValue
-      | SequenceValue
-      | SequenceOfValue
-      #| SetValue
-      #| SetOfValue
+      | SequenceValue # Hash
+      | SequenceOfValue # Array, Hash
+      | SetValue # Hash
+      | SetOfValue # Array, Hash
       #| TaggedValue
 
   #ReferencedValue : DefinedValue | ValueFromObject # 16.11
   #ReferencedValue : identifier
   
+  NamedValue : identifier Value {result = {val[0] => val[1]}} # 16.13
+  
   # 17. Notation for the boolean type
   BooleanType : BOOLEAN
-  BooleanValue : TRUE | FALSE
+  BooleanValue : TRUE {result = true} | FALSE {result = false}
   
   # 18. Notation for the integer type
   IntegerType :
@@ -240,7 +242,7 @@ rule
       number
       | MINUS number {result = -val[1]}
       
-  IntegerValue :
+  IntegerValue : # returning Number or String
       SignedNumber
       | identifier
 
@@ -299,13 +301,13 @@ rule
   # 20. Notation for the real type
   RealType : REAL
   
-  RealValue :
+  RealValue : # returning Number, Hash (M * B^E) or String ([PLUS|MINUS]_INFINITY)
       NumericRealValue
       | SpecialRealValue
   NumericRealValue :
       realnumber 
-      | MINUS realnumber
-      | SequenceValue
+      | MINUS realnumber {result = -val[1]}
+      | SequenceValue # 20.3 in M * B^E format
   SpecialRealValue : PLUS_INFINITY | MINUS_INFINITY
   
   # 21. Notation for the bitstring
@@ -319,22 +321,22 @@ rule
       identifier LCBRACE number RCBRACE {result = {val[0] => val[2]}}
       | identifier LCBRACE DefinedValue RCBRACE {result = {val[0] => val[2]}}
   
-  BitStringValue :
+  BitStringValue : # returning String, Array or Hash
       bstring
       | hstring
-      | LBRACE IdentifierList RBRACE
-      | LBRACE RBRACE
-      | CONTAINING Value
+      | LBRACE IdentifierList RBRACE {result = val[1]}
+      | LBRACE RBRACE {result = []}
+      | CONTAINING Value {result = {:containing => val[1]}}
   IdentifierList :
-      identifier
-      | IdentifierList COMMA identifier
+      identifier {result = [val[0]]}
+      | IdentifierList COMMA identifier  {result << val[2]}
   
   # 22. Notation for the octetstring type
   OctetStringType : OCTET STRING {result = {:type => :OCTET_STRING}}
-  OctetStringValue :
+  OctetStringValue : # returning String or Hash
       bstring
       | hstring
-      | CONTAINING Value
+      | CONTAINING Value {result = {:containing => val[1]}}
   
   # 23. Notation for the null type
   NullType : NULL
@@ -409,12 +411,12 @@ rule
       | NamedType DEFAULT Value {result = val[0].merge({:default => val[2]})}
       | COMPONENTS OF Type {result = val[2]; raise} /* TODO 24.4 says only root components of SEQUENCE are included */
   
-  SequenceValue :
-      LBRACE ComponentValueList RBRACE
-      | LBRACE RBRACE
+  SequenceValue : # returning Hash
+      LBRACE ComponentValueList RBRACE {result = val[1]}
+      | LBRACE RBRACE {result = {}}
   ComponentValueList :
-      NamedValue
-      | ComponentValueList COMMA NamedValue
+      NamedValue {result = val[0]}
+      | ComponentValueList COMMA NamedValue {result = val[0].merge(val[2])}
 
   # 25 Notation for sequence-of types
   SequenceOfType :
@@ -423,19 +425,50 @@ rule
       }
   SequenceOfType_t : Type | NamedType
   
-  SequenceOfValue :
-      LBRACE ValueList RBRACE 
-      | LBRACE NamedValueList RBRACE
-      | LBRACE RBRACE
+  SequenceOfValue : # returning Array or Hash
+      LBRACE ValueList RBRACE {result = val[1]}
+      | LBRACE NamedValueList RBRACE {result = val[1]}
+      | LBRACE RBRACE {result = {}}
   ValueList :
-      Value 
-      | ValueList COMMA Value
+      Value {result = [val[0]]}
+      | ValueList COMMA Value {result << val[2]}
   NamedValueList :
-      NamedValue
-      | NamedValueList COMMA NamedValue
+      NamedValue {result = val[0]}
+      | NamedValueList COMMA NamedValue {result = val[0].merge(val[2])}
+
+  # 26. Notation for set types
+  SetType :
+      /*SET LBRACE RBRACE
+      | SET LBRACE ExtensionAndException OptionalExtensionMarker RBRACE
+      |*/ SET LBRACE ComponentTypeLists RBRACE {
+        # 26.3
+        val[2].merge!({:automatic_tagging => false}) \
+            if (@tags != :AUTOMATIC) \
+              || (val[2][:root] + (val[2][:extension] || [])).any?{|v|
+                v[:type][1][:tag] rescue false
+              }
+        result = {:type => [val[0], val[2]]}
+      }
+
+  SetValue : SequenceValue # returning Hash
+
+  # 27. Notation for set-of types
+  SetOfType :
+      SET OF SetOfType_t {
+        result = {:type => ["#{val[0]}_#{val[1]}".to_sym, val[2]]}
+      }
+  SetOfType_t : Type | NamedType
+  
+  SetOfValue : SequenceOfValue # returning Array or Hash
 
   # 28. Notation for choice types
   ChoiceType : CHOICE LBRACE AlternativeTypeLists RBRACE {
+    # 28.2
+    val[2].merge!({:automatic_tagging => false}) \
+        if (@tags != :AUTOMATIC) \
+          || (val[2][:root] + (val[2][:extension] || [])).any?{|v|
+            v[:type][1][:tag] rescue false
+          }
     result = {:type => [val[0], val[2]]}
   }
   /*
@@ -472,14 +505,30 @@ rule
       NamedType {result = [val[0]]}
       | AlternativeTypeList COMMA NamedType {result << val[2]}
   
-  ChoiceValue : identifier COLON Value
+  ChoiceValue : # returning Hash
+      identifier COLON Value {result = {val[0] => val[2]}}
   
   # 30. Notation for tagged types
-  TaggedType :
+  /*TaggedType :
       Tag Type
       | Tag IMPLICIT Type
-      | Tag EXPLICIT Type
-  Tag : LBRACKET Class ClassNumber RBRACKET
+      | Tag EXPLICIT Type*/
+  TaggedType :
+      Tag TaggingConstruction Type {
+        result = val[2] # => {} having :type or :typeref keys
+        result[:type] = [result[:type]].flatten(1)
+        (result[:type][1] ||= {}).merge!({:tag => val[0]})
+        # TODO 30.6 c) to check whether Type is an untagged CHOICE after extraction of ReferencedType 
+        result[:type][1].merge!({:tag_cnstr => val[1]}) if val[1]
+      }
+  TaggingConstruction :
+      IMPLICIT {result = nil}
+      | EXPLICIT # 30.6 a)
+      | {result = :EXPLICIT if @tags == :EXPLICIT} # 30.6 b)
+  Tag : 
+      LBRACKET Class ClassNumber RBRACKET
+          {result = val[1] ? val[1..2] : val[2]}
+          # if class specified, array is returned; otherwise, integer.
   ClassNumber :
       number
       | DefinedValue
@@ -494,12 +543,12 @@ rule
   # 31. Notation for the object identifier type
   ObjectIdentifierType : OBJECT IDENTIFIER
   
-  ObjectIdentifierValue :
-      LBRACE ObjIdComponentsList RBRACE
-      | LBRACKET DefinedValue ObjIdComponentsList RBRACKET
+  ObjectIdentifierValue : # returning Array
+      LBRACE ObjIdComponentsList RBRACE {result = val[1]}
+      | LBRACKET DefinedValue ObjIdComponentsList RBRACKET {result = [val[1]] + val[2]}
   ObjIdComponentsList :
-      ObjIdComponents
-      | ObjIdComponentsList ObjIdComponents
+      ObjIdComponents {result = [val[0]]}
+      | ObjIdComponentsList ObjIdComponents {result << val[1]}
   ObjIdComponents :
       NameForm
       | NumberForm
@@ -509,13 +558,13 @@ rule
   NumberForm :
       number
       | DefinedValue
-  NameAndNumberForm : identifier LCBRACE NumberForm RCBRACE
+  NameAndNumberForm : identifier LCBRACE NumberForm RCBRACE {result = val.values_at(0, 2)}
   
   # 36. Notation for character string types
   CharacterStringType :
       RestrictedCharacterStringType
       | UnrestrictedCharacterStringType
-  CharacterStringValue :
+  CharacterStringValue : # returning String, Array or Hash
       RestrictedCharacterStringValue
       | UnrestrictedCharacterStringValue
   
@@ -535,26 +584,26 @@ rule
       | VideotexString*/
       | VisibleString
       
-  RestrictedCharacterStringValue :
+  RestrictedCharacterStringValue : # returning String or Array
       cstring
       | CharacterStringList
       | Quadruple
       | Tuple
-  CharacterStringList : LBRACE CharSyms RBRACE
+  CharacterStringList : LBRACE CharSyms RBRACE {result = val[1]}
   CharSyms :
-      CharsDefn
-      | CharSyms COMMA CharsDefn
+      CharsDefn {result = [val[0]]}
+      | CharSyms COMMA CharsDefn {result << val[2]}
   CharsDefn :
       cstring
       | Quadruple
       | Tuple
       | DefinedValue
-  Quadruple : LBRACE Group COMMA Plane COMMA Row COMMA Cell RBRACE
+  Quadruple : LBRACE Group COMMA Plane COMMA Row COMMA Cell RBRACE {result = val.values_at(1, 3, 5, 7)}
   Group : number
   Plane : number
   Row : number
   Cell : number
-  Tuple : LBRACE TableColumn COMMA TableRow RBRACE
+  Tuple : LBRACE TableColumn COMMA TableRow RBRACE {result = val.values_at(1, 3)}
   TableColumn : number
   TableRow : number
   

data/lib/gps_pvt/ntrip.rb

@@ -129,13 +129,16 @@ OpenURI.class_eval{
   def OpenURI.open_ntrip(buf, target, proxy, options) # :nodoc:
     GPS_PVT::Ntrip.start(target.host, target.port){|ntrip|
       # get source table
-      tbl = ntrip.get_source_table(options){|str| str}
+      tbl_str = ntrip.get_source_table(options){|str| str}
       if target.root? then
-        buf << tbl
+        buf << tbl_str
         buf.io.rewind
+        buf.io.define_singleton_method(:source_table){
+          GPS_PVT::Ntrip::parse_source_table(tbl_str)
+        }
         next
       end
-      tbl = GPS_PVT::Ntrip::parse_source_table(tbl)
+      tbl = GPS_PVT::Ntrip::parse_source_table(tbl_str)
       
       # check mount point
       mnt_pt = target.mount_point

data/lib/gps_pvt/receiver/almanac.rb

@@ -0,0 +1,137 @@
+=begin
+Additional Almanac handler for receiver
+=end
+
+module GPS_PVT
+class Receiver
+  def correct_week_sem_yuma_almanac(src, week_rem = 0)
+    t_ref = case src.to_s
+    when /www\.navcen\.uscg\.gov\/.*\/(\d{4})\//
+      # ex) https://www.navcen.uscg.gov/sites/default/files/gps/almanac/20XX/(Sem|Yuma)/003.(al3|alm)
+      GPS_PVT::GPS::Time::new(Time::new($1.to_i).to_a.slice(0, 6).reverse)
+    when /www\.navcen\.uscg\.gov\/.*\/current_(sem|yuma)/
+      GPS_PVT::GPS::Time::now
+    else
+      raise
+    end
+    q, rem = t_ref.week.divmod(1024)
+    delta = rem - (week_rem % 1024)
+    if delta <= -512 then
+      q -= 1
+    elsif delta > 512 then
+      q += 1
+    end
+    q * 1024 + week_rem
+  end
+  
+  def parse_sem_almanac(src)
+    src_io = open(Util::get_txt(src))
+    raise unless src_io.readline =~ /(\d+)\s+(\S+)/ # line 1
+    num, name = [$1.to_i, $2]
+    raise unless src_io.readline =~ /(\d+)\s+(\d+)/ # line 2
+    week, t_oa = [$1.to_i, $2.to_i]
+    week = correct_week_sem_yuma_almanac(src, week)
+    src_io.readline # line 3
+    
+    num.times.each{
+      eph = GPS::Ephemeris::new
+      9.times{|i| # line R-1..9
+        case i
+        when 0, 1, 2, 6, 7
+          # N/A items; 1 => SV reference number, 7 => configuration code
+          k = {0 => :svid, 2 => :URA_index, 6 => :SV_health}[i]
+          v = Integer(src_io.readline)
+          eph.send("#{k}=".to_sym, v) if k
+        when 3..5
+          res = src_io.readline.scan(/[+-]?\d+(?:\.\d+)?(?:E[+-]\d+)?/).collect{|s| Float(s)}
+          raise unless res.size == 3
+          res.zip({
+            3 => [:e, [:i0, GPS::GPS_SC2RAD], [:dot_Omega0, GPS::GPS_SC2RAD]],
+            4 => [:sqrt_A, [:Omega0, GPS::GPS_SC2RAD], [:omega, GPS::GPS_SC2RAD]],
+            5 => [[:M0, GPS::GPS_SC2RAD], :a_f0, :a_f1],
+          }[i]).each{|v, (k, sf)|
+            eph.send("#{k}=".to_sym, sf ? (sf * v) : v)
+          }
+        when 8
+          src_io.readline
+        end
+      }
+      eph.i0 = GPS::GPS_SC2RAD * 0.3 + eph.i0
+      eph.WN = week
+      eph.t_oc = eph.t_oe = t_oa
+      [:iodc, :t_GD, :a_f2, :iode, :c_rs, :delta_n,
+          :c_uc, :c_us, :c_ic, :c_is, :c_rc, :dot_i0, :iode_subframe3].each{|k|
+        eph.send("#{k}=", 0)
+      }
+      critical{@solver.gps_space_node.register_ephemeris(eph.svid, eph)}
+    }
+    
+    $stderr.puts "Read SEM Almanac file (%s): %d items."%[src, num]
+  end
+  
+  YUMA_ITEMS = [
+    [proc{|s| s.to_i}, {
+      :ID => :svid,
+      :Health => :SV_health,
+      :week => :WN,
+    }],
+    [proc{|s| Float(s)}, {
+      :Eccentricity => :e,
+      "Time of Applicability" => [:t_oc, :t_oe],
+      "Orbital Inclination" => :i0,
+      "Rate of Right Ascen" => :dot_Omega0,
+      'SQRT\(A\)' => :sqrt_A,
+      "Right Ascen at Week" => :Omega0,
+      "Argument of Perigee" => :omega,
+      "Mean Anom" => :M0,
+      "Af0" => :a_f0,
+      "Af1" => :a_f1,
+    }],
+  ].collect{|cnv, key_list|
+    key_list.collect{|k1, k2_list|
+      [/#{k1}[^:]*:/, cnv,
+          *([k2_list].flatten(1).collect{|k2|
+            "#{k2}=".to_sym
+          })]
+    }
+  }.flatten(1)
+  
+  def parse_yuma_almanac(src)
+    src_io = open(Util::get_txt(src))
+    num = 0
+    
+    idx_line = -1
+    eph, items = nil
+    while !src_io.eof?
+      line = src_io.readline.chomp
+      if idx_line < 0 then
+        if line =~ /^\*{8}/ then
+          eph = GPS::Ephemeris::new
+          items = YUMA_ITEMS.clone
+          idx_line = 0
+        end
+        next
+      end
+      raise unless i = items.index{|re, cnv, *k_list|
+        next false unless re =~ line
+        v = cnv.call($')
+        k_list.each{|k| eph.send(k, v)}
+        true
+      }
+      items.delete_at(i)
+      next unless items.empty?
+
+      [:iodc, :t_GD, :a_f2, :iode, :c_rs, :delta_n,
+          :c_uc, :c_us, :c_ic, :c_is, :c_rc, :dot_i0, :iode_subframe3].each{|k|
+        eph.send("#{k}=", 0)
+      }
+      eph.WN = correct_week_sem_yuma_almanac(src, eph.WN)
+      critical{@solver.gps_space_node.register_ephemeris(eph.svid, eph)}
+      num += 1
+      idx_line = -1
+    end
+    
+    $stderr.puts "Read YUMA Almanac file (%s): %d items."%[src, num]
+  end
+end
+end

data/lib/gps_pvt/receiver/extension.rb

@@ -58,13 +58,11 @@ class Receiver
   end
 end
 
-module GPS
-
 [
-  Ionospheric_UTC_Parameters,
-  Ephemeris, Ephemeris_SBAS, Ephemeris_GLONASS,
+  :Ionospheric_UTC_Parameters,
+  :Ephemeris, :Ephemeris_SBAS, :Ephemeris_GLONASS,
 ].each{|cls|
-  cls.class_eval{
+  GPS.const_get(cls).class_eval{
     proc{|func_list|
       func_list.select!{|func|
         (/=$/ !~ func.to_s) && func_list.include?("#{func}=".to_sym)
@@ -78,4 +76,3 @@ module GPS
   }
 }
 end
-end

data/lib/gps_pvt/receiver.rb

@@ -732,4 +732,5 @@ end
 
 require_relative 'receiver/rtcm3'
 require_relative 'receiver/agps'
+require_relative 'receiver/almanac'
 require_relative 'receiver/extension'