gps_pvt 0.10.2 → 0.10.4

checksums.yaml

@@ -1,7 +1,7 @@
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+  data.tar.gz: 457d23f7e4032549961e499638403b3d01d681a8051231616ee2dde5183967c119028bd2a4475f2fe1c1e3ae2ffda61729162ced5d30b33113bfe21c161c188e

data/README.md

@@ -43,7 +43,7 @@ The format of file is automatically determined with its extension, such as .ubx
 | --antex=file_or_URI | [Antenna Exchange Format](https://igs.org/wg/antenna#files) (supported gps_pvt version >= 0.6.0) |
 | --rinex_clk=file_or_URI | [RINEX clock](https://files.igs.org/pub/data/format/rinex_clock304.txt) file (supported gps_pvt version >= 0.7.0) |
 | <a name=opt_rtcm3>--rtcm3=file_or_URI</a> | [RTCM 10403.x](https://rtcm.myshopify.com/collections/differential-global-navigation-satellite-dgnss-standards). (supported gps_pvt version >= 0.9.0) The latest version uses message type Observation(GPS: 1001..1004; GLONASS: 1009..1012), Epehemris(GPS: 1019; GLOANSS: 1020; SBAS: 1043; QZSS: 1044), MSM(GPS: 1071..1077; GLONASS: 1081..1087; SBAS: 1101..1107; QZSS: 1111..1117) |
-| <a name=opt_supl>--supl=URI</a> | [SUPL, secure user plane location](https://www.openmobilealliance.org/release/SUPL/). (supported gps_pvt version >= 0.10.0) Both [LPP](https://portal.3gpp.org/desktopmodules/Specifications/SpecificationDetails.aspx?specificationId=3710)(default) and [RRLP](https://portal.3gpp.org/desktopmodules/Specifications/SpecificationDetails.aspx?specificationId=2688) are internally used, which can be manually selected by adding ```?protocol=lpp_or_rrlp``` URI query string. |
+| <a name=opt_supl>--supl=URI</a> | [SUPL, secure user plane location](https://www.openmobilealliance.org/release/SUPL/). (supported gps_pvt version >= 0.10.0) Whether [LPP(default)](https://portal.3gpp.org/desktopmodules/Specifications/SpecificationDetails.aspx?specificationId=3710) or [RRLP](https://portal.3gpp.org/desktopmodules/Specifications/SpecificationDetails.aspx?specificationId=2688) are internally used, which can be manually selected by adding ```?protocol=lpp_or_rrlp``` URI query string. |
 
 Since version 0.2.0, SBAS and QZSS are supported in addition to GPS. Since version 0.4.0, GLONASS is also available. QZSS ranging is activated in default, however, SBAS is just utilized for ionospheric correction. GLONASS is also turned off by default. If you want to activate SBAS or GLONASS ranging, "--with=(system or PRN)" options are used with gps_pvt executable like
 

data/Rakefile

@@ -11,6 +11,14 @@ Rake::ExtensionTask.new("gps_pvt") do |ext|
   ext.lib_dir = "lib/gps_pvt"
 end
 
+require "yard"
+
+YARD::Rake::YardocTask.new do |t|
+  #t.files = ['lib/**/*.rb', 'ext/**/*_wrap.cxx']
+  t.options = ['--embed-mixins']
+  #t.stats_options = ['--list-undoc']
+end
+
 namespace :git do
   task :version do
     @git_version ||= proc{
@@ -83,25 +91,28 @@ end
 
 desc "Generate SWIG wrapper codes"
 task :swig do
-  swig_dir = File::join(File::dirname(__FILE__), 'ext', 'ninja-scan-light', 'tool', 'swig')
   out_base_dir = File::join(File::dirname(__FILE__), 'ext', 'gps_pvt')
-  Dir::chdir(swig_dir){
-    Dir::glob("*.i"){|src|
-      mod_name = File::basename(src, '.*')
-      out_dir = File::join(out_base_dir, mod_name)
-      sh "mkdir -p #{out_dir}"
-      wrapper = File::join(out_dir, "#{mod_name}_wrap.cxx")
-      sh [:make, :clean, wrapper,
-          "BUILD_DIR=#{out_dir}",
-          "SWIGFLAGS='-c++ -ruby -prefix \"GPS_PVT::\"#{" -D__MINGW__" if ENV["MSYSTEM"]}'"].join(' ')
-      open(wrapper, 'r+'){|io|
-        lines = io.read.lines.collect{|line|
-          line.sub(/rb_require\(\"([^\"]+)\"\)/){ # from camel to underscore downcase style
-            "rb_require(\"#{$1.sub('GPS_PVT', 'gps_pvt')}\")"
+  [
+    File::join(File::dirname(__FILE__), 'ext', 'ninja-scan-light', 'tool', 'swig'),
+  ].each{|swig_dir|
+    Dir::chdir(swig_dir){
+      Dir::glob("*.i"){|src|
+        mod_name = File::basename(src, '.*')
+        out_dir = File::join(out_base_dir, mod_name)
+        sh "mkdir -p #{out_dir}"
+        wrapper = File::join(out_dir, "#{mod_name}_wrap.cxx")
+        sh [:make, :clean, wrapper,
+            "BUILD_DIR=#{out_dir}",
+            "SWIGFLAGS='-c++ -ruby -prefix \"GPS_PVT::\"#{" -D__MINGW__" if ENV["MSYSTEM"]}'"].join(' ')
+        open(wrapper, 'r+'){|io|
+          lines = io.read.lines.collect{|line|
+            line.sub(/rb_require\(\"([^\"]+)\"\)/){ # from camel to underscore downcase style
+              "rb_require(\"#{$1.sub('GPS_PVT', 'gps_pvt')}\")"
+            }
           }
+          io.rewind
+          io.write(lines.join)
         }
-        io.rewind
-        io.write(lines.join)
       }
     }
   }

data/exe/gps2ubx

@@ -3,6 +3,7 @@
 require 'gps_pvt'
 require 'uri'
 require 'gps_pvt/ubx'
+require 'gps_pvt/pvt'
 
 # Convert file(s) to ubx format
 # TODO currently only RINEX observation file is supported.
@@ -25,6 +26,7 @@ options = []
 misc_options = {
   :broadcast_data => false,
   :ubx_rawx => false,
+  :ubx_nav => false,
   :eph_interval => 60 * 5,
 }
 
@@ -32,7 +34,7 @@ misc_options = {
 files = ARGV.collect{|arg|
   next [arg, nil] unless arg =~ /^--([^=]+)=?/
   k, v = [$1.downcase.to_sym, $']
-  next [v, k] if [:rinex_nav, :rinex_obs, :ubx, :rtcm3].include?(k) # file type
+  next [v, k] if [:rinex_nav, :rinex_obs, :ubx, :rtcm3, :pvt_csv].include?(k) # file type
   options << [$1.to_sym, $']
   nil
 }.compact
@@ -43,6 +45,7 @@ files.collect!{|fname, ftype|
   when /\.\d{2}[nhqg](?:\.gz)?$/; :rinex_nav
   when /\.\d{2}o(?:\.gz)?$/; :rinex_obs
   when /\.ubx$/; :ubx
+  when /\.csv$/; misc_options[:ubx_nav] = true; :pvt_csv
   end
   if (!(uri = URI::parse(fname)).instance_of?(URI::Generic) rescue false) then
     ftype ||= case uri
@@ -57,7 +60,7 @@ files.collect!{|fname, ftype|
 
 options.reject!{|opt|
   case opt[0]
-  when :ubx_rawx, :broadcast_data, :eph_interval
+  when :ubx_rawx, :ubx_nav, :broadcast_data, :eph_interval
     misc_options[opt[0]] = opt[1]
     true
   when :online_ephemeris
@@ -70,10 +73,13 @@ options.reject!{|opt|
 
 rcv = GPS_PVT::Receiver::new(options)
 
-obs = Queue::new
-rcv.define_singleton_method(:run){|meas, t_meas, *args|
-  obs << [t_meas, meas]
-  nil
+outputs = Queue::new # [[time, item1, item2, ...], ...]
+rcv.instance_eval{
+  nav_task = misc_options[:ubx_nav] ? method(:run) : proc{}
+  define_singleton_method(:run){|meas, t_meas, *args|
+    outputs << [t_meas, meas, nav_task.call(meas, t_meas, *args)].compact
+    nil
+  }
 }
 
 proc{|src|
@@ -106,6 +112,9 @@ threads = files.collect{|fname, ftype|
   when :rtcm3; proc{rcv.parse_rtcm3(fname){}}
   when :supl; proc{rcv.parse_supl(fname)}
   when :rinex_nav; proc{}
+  when :pvt_csv; proc{GPS_PVT::GPS::PVT_minimal::parse_csv(fname){|t, pvt|
+    outputs << [t, pvt]
+  }}
   end
   case fname
   when URI::Ntrip, URI::Supl; Thread::new(&task)
@@ -113,9 +122,9 @@ threads = files.collect{|fname, ftype|
   end
 }.compact
 
-obs = proc{
+outputs = proc{
   tmp = []
-  tmp << obs.pop until obs.empty?
+  tmp << outputs.pop until outputs.empty?
   tmp
 }.call.sort!{|a, b| b[0] <=> a[0]} if threads.empty? # Sort by measurement time
 
@@ -124,7 +133,7 @@ gen_gpstime = proc{
   tmpl = [0xB5, 0x62, 0x01, 0x20, 16, 0]
   gpst = GPS_PVT::GPS::Time
   t_next = gpst::new(*gpst::leap_second_events.find{|wn, sec, leap| leap == 1}[0..1])
-  proc{|t_meas, meas|
+  proc{|t_meas|
     next nil if t_meas < t_next
     t_next = t_meas + 60 # 1 min. interval
     ubx = tmpl.clone
@@ -374,17 +383,102 @@ gen_rawx = proc{|t_meas, meas| # Convert to RXM-RAWX(0x15)
   GPS_PVT::UBX::update(ubx).pack("C*")
 }
 
-gen_list = []
-gen_list << gen_gpstime unless misc_options[:ubx_rawx]
-gen_list << (misc_options[:ubx_rawx] ? gen_sfrbx : gen_sfrb) if misc_options[:broadcast_data]
-gen_list << (misc_options[:ubx_rawx] ? gen_rawx : gen_raw)
+gen_nav = proc{|t_meas, pvt|
+  t_msec = (t_meas.seconds * 1E3).round
+  packet = []
+  
+  proc{ # Convert to NAV-SOL (0x01-0x06)
+    ubx_sol = [0xB5, 0x62, 0x01, 0x06, 52, 0]
+    ubx_sol += [
+        t_msec,
+        0, # frac
+        t_meas.week, # week
+        if (pvt.position_solved? and pvt.velocity_solved?) then
+          [
+            0x03, # 3D-Fix
+            0x0D, # GPSfixOK, WKNSET, TOWSET
+            pvt.xyz.to_a.collect{|v| (v * 1E2).to_i}, # ECEF_XYZ [cm]
+            (Math::sqrt((pvt.hsigma ** 2) + (pvt.vsigma ** 2)) * 1E2).to_i, # 3D pos accuracy [cm]
+            (pvt.velocity.absolute(pvt.xyz) - pvt.xyz).to_a.collect{|v| (v * 1E2).to_i}, # ECEF_VXYZ [cm/s]
+            (pvt.vel_sigma * 1E2).to_i, # Speed accuracy [cm/s]
+            (pvt.pdop * 1E2).to_i, # PDOP [0.01]
+          ]
+        else
+          [
+            0, # 3D-Fix
+            0x08, # TOWSET
+            [0] * 3, # ECEF_XYZ [cm]
+            0, # 3D pos accuracy [cm]
+            [0] * 3, # ECEF_VXYZ [cm/s]
+            0, # Speed accuracy [cm/s]
+            0, # PDOP
+          ]
+        end,
+        0,
+        pvt.used_satellites,
+        0].flatten.pack('V2vc2l<3Vl<3VvC2V').unpack('C*')
+    packet += GPS_PVT::UBX::update(ubx_sol + [0, 0])
+  }.call
+    
+  # Convert to NAV-POSLLH (0x01-0x02)
+  if pvt.position_solved? then
+    llh = pvt.llh
+    ubx_posllh = [0xB5, 0x62, 0x01, 0x02, 28, 0]
+    ubx_posllh += [
+        t_msec,
+        (llh.lng / Math::PI * 180 * 1E7).to_i, # Longitude [1E-7 deg]
+        (llh.lat / Math::PI * 180 * 1E7).to_i, # Latitude [1E-7 deg]
+        (llh.alt * 1E3).to_i, # WGS-84 altitude [mm]
+        (llh.alt * 1E3).to_i, # mean sea level TODO fix
+        (pvt.hsigma * 1E3).to_i, # HAcc [mm]
+        (pvt.vsigma * 1E3).to_i, # VAcc [mm]
+        ].pack('V*').unpack("C*")
+    packet += GPS_PVT::UBX::update(ubx_posllh + [0, 0])
+  end
+
+  # Convert to NAV-VELNED (0x01-0x12)
+  if pvt.velocity_solved? then
+    vel = pvt.velocity
+    ubx_velned = [0xB5, 0x62, 0x01, 0x12, 36, 0]
+    ubx_velned += [
+        t_msec,
+        (vel.n * 1E2).to_i, # N speed [cm/s]
+        (vel.e * 1E2).to_i, # E speed [cm/s]
+        (vel.d * 1E2).to_i, # D speed [cm/s]
+        (vel.distance * 1E2).to_i, # 3D speed [cm/s]
+        (vel.horizontal * 1E2).to_i, # 2D speed [cm/s]
+        (vel.azimuth / Math::PI * 180 * 1E5).to_i, # Heading [1E-5 deg]
+        (pvt.vel_sigma * 1E2).to_i, # sAcc speed accuracy [cm/s]
+        (2 * 1E5).to_i, # cAcc heading accuracy [1E-5 deg] TODO
+        ].pack('V*').unpack("C*")
+    packet += GPS_PVT::UBX::update(ubx_velned + [0, 0])
+  end
+  
+  (gen_gpstime.call(t_meas) || '') + packet.pack('C*')
+}
+
+gen_list = Hash[*({
+  :Measurement => proc{
+    gen_ary = []
+    gen_ary << gen_gpstime unless misc_options[:ubx_rawx]
+    gen_ary << (misc_options[:ubx_rawx] ? gen_sfrbx : gen_sfrb) if misc_options[:broadcast_data]
+    gen_ary << (misc_options[:ubx_rawx] ? gen_rawx : gen_raw)
+    proc{|t_meas, meas|
+      meas = meas.to_hash
+      gen_ary.collect{|gen| gen.call(t_meas, meas)}.join
+    }
+  }.call,
+  :PVT => gen_nav,
+  :PVT_minimal => gen_nav,
+}.collect{|k, v| [GPS_PVT::GPS.const_get(k), v]}.flatten(1))]
 STDOUT.binmode
 
 task_dump = proc{
-  until obs.empty? do
-    t_meas, meas = obs.pop
-    meas2 = meas.to_hash
-    gen_list.each{|gen| print gen.call(t_meas, meas2)}
+  until outputs.empty? do
+    t_meas, *items = outputs.pop
+    items.each{|item|
+      print gen_list[item.class].call(t_meas, item)
+    }
   end
 }
 if threads.empty? then

data/ext/gps_pvt/SylphideMath/SylphideMath_wrap.cxx

@@ -8495,7 +8495,7 @@ _wrap_Matrix_FrozenD_each__SWIG_0(int argc, VALUE *argv, VALUE self) {
     (&_e)->regenerate();
     SWIG_fail;
   }
-  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_Matrix_FrozenT_double_Array2D_DenseT_double_t_MatrixViewBaseT_t_t, 0 |  0 );
+  vresult = self;
   return vresult;
 fail:
   return Qnil;
@@ -8531,7 +8531,7 @@ _wrap_Matrix_FrozenD_each__SWIG_1(int argc, VALUE *argv, VALUE self) {
     (&_e)->regenerate();
     SWIG_fail;
   }
-  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_Matrix_FrozenT_double_Array2D_DenseT_double_t_MatrixViewBaseT_t_t, 0 |  0 );
+  vresult = self;
   return vresult;
 fail:
   return Qnil;
@@ -11940,7 +11940,7 @@ _wrap_Matrix_FrozenD_f_each__SWIG_0(int argc, VALUE *argv, VALUE self) {
     (&_e)->regenerate();
     SWIG_fail;
   }
-  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_Matrix_FrozenT_double_Array2D_DenseT_double_t_MatrixViewFilterT_MatrixViewBaseT_t_t_t, 0 |  0 );
+  vresult = self;
   return vresult;
 fail:
   return Qnil;
@@ -11976,7 +11976,7 @@ _wrap_Matrix_FrozenD_f_each__SWIG_1(int argc, VALUE *argv, VALUE self) {
     (&_e)->regenerate();
     SWIG_fail;
   }
-  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_Matrix_FrozenT_double_Array2D_DenseT_double_t_MatrixViewFilterT_MatrixViewBaseT_t_t_t, 0 |  0 );
+  vresult = self;
   return vresult;
 fail:
   return Qnil;
@@ -13956,7 +13956,7 @@ _wrap_MatrixD_resizeN___(int argc, VALUE *argv, VALUE self) {
     }
   }
   result = (Matrix< double,Array2D_Dense< double > > *) &Matrix_Sl_double_Sc_Array2D_Dense_Sl_double_Sg__Sg__resize(arg1,(unsigned int const *)arg2,(unsigned int const *)arg3);
-  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_MatrixT_double_Array2D_DenseT_double_t_MatrixViewBaseT_t_t, 0 |  0 );
+  vresult = self;
   return vresult;
 fail:
   return Qnil;
@@ -16448,7 +16448,7 @@ _wrap_Matrix_FrozenComplexD_each__SWIG_0(int argc, VALUE *argv, VALUE self) {
     (&_e)->regenerate();
     SWIG_fail;
   }
-  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_Matrix_FrozenT_ComplexT_double_t_Array2D_DenseT_ComplexT_double_t_t_MatrixViewBaseT_t_t, 0 |  0 );
+  vresult = self;
   return vresult;
 fail:
   return Qnil;
@@ -16484,7 +16484,7 @@ _wrap_Matrix_FrozenComplexD_each__SWIG_1(int argc, VALUE *argv, VALUE self) {
     (&_e)->regenerate();
     SWIG_fail;
   }
-  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_Matrix_FrozenT_ComplexT_double_t_Array2D_DenseT_ComplexT_double_t_t_MatrixViewBaseT_t_t, 0 |  0 );
+  vresult = self;
   return vresult;
 fail:
   return Qnil;
@@ -19891,7 +19891,7 @@ _wrap_Matrix_FrozenComplexD_f_each__SWIG_0(int argc, VALUE *argv, VALUE self) {
     (&_e)->regenerate();
     SWIG_fail;
   }
-  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_Matrix_FrozenT_ComplexT_double_t_Array2D_DenseT_ComplexT_double_t_t_MatrixViewFilterT_MatrixViewBaseT_t_t_t, 0 |  0 );
+  vresult = self;
   return vresult;
 fail:
   return Qnil;
@@ -19927,7 +19927,7 @@ _wrap_Matrix_FrozenComplexD_f_each__SWIG_1(int argc, VALUE *argv, VALUE self) {
     (&_e)->regenerate();
     SWIG_fail;
   }
-  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_Matrix_FrozenT_ComplexT_double_t_Array2D_DenseT_ComplexT_double_t_t_MatrixViewFilterT_MatrixViewBaseT_t_t_t, 0 |  0 );
+  vresult = self;
   return vresult;
 fail:
   return Qnil;
@@ -21903,7 +21903,7 @@ _wrap_MatrixComplexD_resizeN___(int argc, VALUE *argv, VALUE self) {
     }
   }
   result = (Matrix< Complex< double >,Array2D_Dense< Complex< double > > > *) &Matrix_Sl_Complex_Sl_double_Sg__Sc_Array2D_Dense_Sl_Complex_Sl_double_Sg__Sg__Sg__resize(arg1,(unsigned int const *)arg2,(unsigned int const *)arg3);
-  vresult = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_MatrixT_ComplexT_double_t_Array2D_DenseT_ComplexT_double_t_t_MatrixViewBaseT_t_t, 0 |  0 );
+  vresult = self;
   return vresult;
 fail:
   return Qnil;

data/ext/ninja-scan-light/tool/navigation/GPS.h

@@ -95,6 +95,11 @@ class GPS_Signal {
           PRN::content <<= 1;
           PRN::content[0] = tmp;
         }
+        void previous(){
+          bool tmp(PRN::content[3] ^ PRN::content[0]);
+          PRN::content >>= 1;
+          PRN::content[9] = tmp;
+        }
     };
     
     class G2 : public PRN {
@@ -114,6 +119,16 @@ class GPS_Signal {
           PRN::content <<= 1;
           PRN::content[0] = tmp;
         }
+        void previous(){
+          bool tmp(PRN::content[2]
+                     ^ PRN::content[3]
+                     ^ PRN::content[6]
+                     ^ PRN::content[8]
+                     ^ PRN::content[9]
+                     ^ PRN::content[0]);
+          PRN::content >>= 1;
+          PRN::content[9] = tmp;
+        }
         static G2 get_G2(const int &prn){
           switch(prn){
             case  1: return G2(1, 5);
@@ -160,9 +175,9 @@ class GPS_Signal {
     class CA_Code {
       public:
         typedef FloatT float_t;
-        static const float_t FREQENCY;
+        static const float_t FREQUENCY;
         static const float_t length_1chip() {
-          static const float_t res(1. / FREQENCY);
+          static const float_t res(1. / FREQUENCY);
           return res;
         }
       protected:
@@ -177,11 +192,15 @@ class GPS_Signal {
           g1.next();
           g2.next();
         }
+        void previous(){
+          g1.previous();
+          g2.previous();
+        }
     };
 };
 
 template <class FloatT>
-const typename GPS_Signal<FloatT>::float_t GPS_Signal<FloatT>::CA_Code::FREQENCY = 1.023E6;
+const typename GPS_Signal<FloatT>::float_t GPS_Signal<FloatT>::CA_Code::FREQUENCY = 1.023E6;
 
 template <class FloatT = double>
 struct GPS_Time {

data/ext/ninja-scan-light/tool/swig/Coordinate.i

@@ -73,6 +73,8 @@ struct native_exception : public std::exception {
       values[i] = (*self)[i];
     }
   }
+  %typemap(in) FloatT values[3];
+  %typemap(argout) FloatT values[3];
 #endif
   %typemap(in,numinputs=0) const void *check_block {
 #ifdef SWIGRUBY
@@ -98,6 +100,7 @@ struct native_exception : public std::exception {
 #endif
     }
   }
+  %clear const void *check_block;
 };
 #ifdef SWIGRUBY
 %mixin System_3D "Enumerable";
@@ -170,6 +173,9 @@ struct native_exception : public std::exception {
 %template(XYZ) System_XYZ<type, WGS84>;
 %template(LLH) System_LLH<type, WGS84>;
 %template(ENU) System_ENU<type, WGS84>;
+%typemap(out) FloatT &;
+%typemap(in) (type (&res)[3][3]);
+%typemap(argout) (type (&res)[3][3]);
 %enddef
 
 CONCRETIZE(double);

data/ext/ninja-scan-light/tool/swig/SylphideMath.i

@@ -960,6 +960,7 @@ struct MatrixUtil {
           std::string("Unknown enumerate direction: ").append(inspect_str($1)).c_str());
     }
   }
+  %typemap(out) const Matrix_Frozen<T, Array2D_Type, ViewType> & "$result = self;"
   %catches(native_exception) each;
   const Matrix_Frozen<T, Array2D_Type, ViewType> &each(
       void (*each_func)(
@@ -970,6 +971,7 @@ struct MatrixUtil {
     return *$self;
   }
   %alias each "each_with_index";
+  %typemap(out) const Matrix_Frozen<T, Array2D_Type, ViewType> &;
   
   %catches(native_exception, std::invalid_argument) map;
   Matrix<T, Array2D_Dense<T> > map(
@@ -1005,6 +1007,7 @@ struct MatrixUtil {
         (RTEST(idx_selector) ? 1 : 0), &idx_selector,
         (rb_block_call_func_t)rb_equal, value);
   }
+  %typemap(check) VALUE idx_selector;
   %alias index "find_index";
   
   SWIG_Object to_a() const {
@@ -1020,6 +1023,20 @@ struct MatrixUtil {
     return res;
   }
 #endif
+  %typemap(in)
+      Matrix<T, Array2D_Dense<T> > &output_L,
+      Matrix<T, Array2D_Dense<T> > &output_U,
+      Matrix<T, Array2D_Dense<T> > &output_P,
+      Matrix<T, Array2D_Dense<T> > &output_D,
+      Matrix<T, Array2D_Dense<T> > &output_Q,
+      Matrix<T, Array2D_Dense<T> > &output_R;
+  %typemap(argout)
+      Matrix<T, Array2D_Dense<T> > &output_L,
+      Matrix<T, Array2D_Dense<T> > &output_U,
+      Matrix<T, Array2D_Dense<T> > &output_P,
+      Matrix<T, Array2D_Dense<T> > &output_D,
+      Matrix<T, Array2D_Dense<T> > &output_Q,
+      Matrix<T, Array2D_Dense<T> > &output_R;
 };
 
 #if defined(SWIGRUBY)
@@ -1171,6 +1188,15 @@ MAKE_TO_S(Matrix_Frozen)
   %rename("map!") map_bang;
   %alias map_bang "collect!,map_with_index!,collect_with_index!";
 #endif
+
+  %typemap(in)
+      void (*each_func)(const T &src, T *dst, const unsigned int &i, const unsigned int &j);
+  %typemap(typecheck) const typename MatrixUtil::each_which_t each_which;
+  %typemap(in) const typename MatrixUtil::each_which_t each_which;
+  %typemap(typecheck) const void *replacer;
+  %typemap(in) const void *replacer;
+  %typemap(in) self_t *self_p;
+  %typemap(argout) self_t *self_p;
 };
 
 %define INSTANTIATE_MATRIX_TRANSPOSE(type, storage, view_from, view_to)
@@ -1251,6 +1277,12 @@ MAKE_TO_S(Matrix_Frozen)
     }
     output_D = D;
   }
+  %typemap(in)
+      Matrix<ctype, Array2D_Dense<ctype > > &output_D,
+      Matrix<ctype, Array2D_Dense<ctype > > &output_V;
+  %typemap(argout)
+      Matrix<ctype, Array2D_Dense<ctype > > &output_D,
+      Matrix<ctype, Array2D_Dense<ctype > > &output_V;
 };
 %enddef
 %define INSTANTIATE_MATRIX_EIGEN(type, ctype)
@@ -1366,6 +1398,7 @@ INSTANTIATE_MATRIX_PARTIAL(type, Array2D_Dense<type >, MatView_pt, MatView_pt);
 #endif
     else{SWIG_exception(SWIG_TypeError, "$*1_ltype is expected");}
   }
+  %typemap(out) Matrix<type, Array2D_Dense<type > > & "$result = self;"
   Matrix<type, Array2D_Dense<type > > &resize(
       const unsigned int *r_p, const unsigned int *c_p){
     unsigned int r(r_p ? *r_p : $self->rows()), c(c_p ? *c_p : $self->columns());
@@ -1376,6 +1409,10 @@ INSTANTIATE_MATRIX_PARTIAL(type, Array2D_Dense<type >, MatView_pt, MatView_pt);
     mat_new.partial(r_min, c_min).replace($self->partial(r_min, c_min), false);
     return (*($self) = mat_new);
   }
+  %clear Matrix<type, Array2D_Dense<type > > &;
+
+  //%typemap(in) unsigned int *r_p, unsigned int *c_p; // NG; remove custom typemap before Matrix::resize! generation
+  %clear unsigned int *r_p, unsigned int *c_p; // OK, work around version
 };
 
 %template(Matrix ## suffix) Matrix<type, Array2D_Dense<type > >;

data/ext/ninja-scan-light/tool/swig/spec/SylphideMath_spec.rb

@@ -286,7 +286,7 @@ shared_examples 'Matrix' do
       ].each{|arg|
         mat_orig = mat[0].copy
         mat_replaced = arg.kind_of?(Proc) ? mat_orig.send(:replace!, &arg) : mat_orig.send(:replace!, arg)
-        expect(mat_replaced).to equal(mat_orig)
+        expect(mat_replaced).to be(mat_orig)
         expect(mat_replaced).not_to equal(mat[1])
         expect(mat_replaced.to_a).to eq(mat[1].to_a)
       }
@@ -306,7 +306,7 @@ shared_examples 'Matrix' do
             idxs[a], idxs[b] = [b, a]
             mat_builtin = Matrix::columns(mat_builtin.column_vectors.values_at(*idxs))
           end
-          expect(mat_mod).to equal(mat[0])
+          expect(mat_mod).to be(mat[0])
           expect(mat[0].to_a).to eq(mat_builtin.to_a)
         }
       }
@@ -391,11 +391,12 @@ shared_examples 'Matrix' do
           candidates = (func.to_s =~ /with_index$/) \
               ? indices.collect{|i, j| [compare_with[i][j], i, j]} \
               : indices.collect{|i, j| [compare_with[i][j]]}
-          mat.send(*[func, k].compact){|*v|
+          mat2 = mat.send(*[func, k].compact){|*v|
             i = candidates.find_index(v)
             expect(i).not_to be(nil)
             candidates.delete_at(i)
           }
+          expect(mat2).to be(mat)
           expect(candidates.empty?).to be(true)
         }
       }
@@ -449,7 +450,7 @@ shared_examples 'Matrix' do
             v[0] * 2
           }
           expect(candidates.empty?).to be(true)
-          expect(mat2.to_a).to eq(mat.to_a)
+          expect(mat2).to be(mat)
           expect(mat2.to_a).to eq(compare_with.collect.with_index{|values, i|
                 values.collect.with_index{|v, j|
                   indices.include?([i, j]) ? (v * 2) : v
@@ -541,6 +542,7 @@ shared_examples 'Matrix' do
       }
       mat_orig = mat[0].to_a
       r, c = [:rows, :columns].collect{|f| mat[0].send(f)}
+      expect(mat[0].resize!(r, c)).to be(mat[0])
       expect(mat[0].resize!(r, c).to_a).to eq(mat_orig)
       expect(mat[0].resize!(r, nil).to_a).to eq(mat_orig)
       expect(mat[0].resize!(nil, c).to_a).to eq(mat_orig)

data/gps_pvt.gemspec

@@ -64,6 +64,7 @@ Gem::Specification.new do |spec|
   spec.add_development_dependency "rspec", "~> 3.0"
   spec.add_development_dependency "matrix" if GPS_PVT::version_compare(RUBY_VERSION, "3.1") >= 0
   spec.add_development_dependency "racc"
+  spec.add_development_dependency "yard"
   spec.add_development_dependency "github_changelog_generator" unless ((Gem::Platform.local.os =~ /mingw/) && (GPS_PVT::version_compare(RUBY_VERSION, "3.1") >= 0))
 
   # For more information and examples about making a new gem, checkout our

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/pvt.rb

@@ -0,0 +1,83 @@
+require 'gps_pvt/GPS'
+require 'gps_pvt/Coordinate'
+
+module GPS_PVT
+class GPS::PVT_minimal
+  def initialize
+    # GLOBAL POSITIONING SYSTEM STANDARD POSITIONING SERVICE
+    # PERFORMANCE STANDARD 5th edition (Apr. 2020) 3.8
+    @hsigma = 8.0 # 95%
+    @vsigma = 13.0 # 95%
+    @pdop = 6.0 # 98% global
+    @vel_sigma = 0.2 # 85%
+    @use_satellites = 0 # unknown
+  end
+  def position_solved?; @xyz || @llh; end
+  def velocity_solved?; @velocity; end
+  def xyz; @xyz || @llh.xyz; end
+  def llh; @xyz ? @xyz.llh : @llh; end
+  def xyz=(args); @xyz = Coordinate::XYZ::new(*args); end
+  def llh=(args); @llh = Coordinate::LLH::new(*args); end
+  def velocity=(args); @velocity = Coordinate::ENU::new(*args); end
+  attr_reader :velocity
+  attr_accessor :hsigma, :vsigma, :pdop, :vel_sigma, :used_satellites
+  class <<self
+    def parse_csv(csv_fname, &b)
+      require_relative 'util'
+      $stderr.puts "Reading CSV file (%s) "%[csv_fname]
+      io = open(Util::get_txt(csv_fname), 'r')
+      
+      header = io.readline.chomp.split(/ *, */)
+      idx_table = [
+        :week, [:tow, /^i?t(?:ime_)?o(?:f_)?w(?:eek)?/],
+        :year, :month, :mday, :hour, :min, [:sec, /^sec/],
+        [:lng, /^(?:long(?:itude)?|lng)/], [:lat, /^lat(?:itude)/],
+              [:alt, /^(?:alt(?:itude)?|h(?:$|eight|_))/], # assumption: [deg], [deg], [m]
+        :x, :y, :z, # ECEF xyz
+        :hsigma, :vsigma, :pdop,
+        [:vn, /^v(?:el)?_?n(?:orth)?/], [:ve, /^v(?:el)?_?e(?:ast)?/],
+            [:vd, /^v(?:el)?_?d(?:own)?/], [:vu, /^v(?:el)?_?u(?:p)?/],
+        :vx, :vy, :vz, # ECEF xyz
+        [:vel_sigma, /^v(?:el)?_sigma/],
+        [:used_satellites, /^(?:used_)?sat(?:ellite)?s/],
+      ].collect{|k, re|
+        re ||= k.to_s
+        idx = header.find_index{|str| re === str}
+        idx && [k, idx]
+      }.compact
+      enum = Enumerator::new{|y|
+        io.each_line{|line|
+          values = line.chomp.split(/ *, */)
+          items = Hash[*(idx_table.collect{|k, idx|
+            v = values[idx]
+            (v == '') ? nil : [k, (Integer(v) rescue Float(v))]
+          }.compact.flatten(1))]
+          if items.include?(:week) then
+            t = GPS::Time::new(items[:week], items[:tow])
+          else
+            # UTC assumption, thus leap seconds must be added.
+            t = GPS::Time::new([:year, :month, :mday, :hour, :min, :sec].collect{|k| items[k]})
+            t += GPS::Time::guess_leap_seconds(t)
+          end
+          pvt = GPS::PVT_minimal::new
+          if items.include?(:lat) then
+            pvt.llh = ([:lat, :lng].collect{|k| Math::PI / 180 * items[k]} + [items[:alt]])
+          elsif items.include?(:xyz) then
+            pvt.xyz = [:x, :y, :z].collect{|k| items[k]}
+          end
+          if items.include?(:vn) then
+            pvt.velocity = ([:vn, :ve].collect{|k| items[k]} + [items[:vu] || -items[:vd]])
+          elsif items.include?(:vx) then
+            pvt.velocity = Coordinate::ENU::relative_rel(
+                Coordinate::XYZ::new(*([:vx, :vy, :vz].collect{|k| items[k]})),
+                pvt.llh)
+          end
+          [:pdop, :hsigma, :vsigma, :vel_sigma, :used_satellites].each{|k| pvt.send("#{k}=", items[k])}
+          y.yield(t, pvt)
+        }
+      }
+      b ? enum.each{|*res| b.call(*res)} : enum
+    end
+  end
+end
+end

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

@@ -50,7 +50,7 @@ class Receiver
     }.call] + [[
       [:v_north, :v_east, :v_down, :receiver_clock_error_dot_ms, :vel_sigma],
       proc{|pvt|
-        next [nil] * 4 unless pvt.velocity_solved?
+        next [nil] * 5 unless pvt.velocity_solved?
         [:north, :east, :down].collect{|k| pvt.velocity.send(k)} \
             + [pvt.receiver_error_rate, pvt.vel_sigma] 
       }
@@ -732,4 +732,5 @@ end
 
 require_relative 'receiver/rtcm3'
 require_relative 'receiver/agps'
+require_relative 'receiver/almanac'
 require_relative 'receiver/extension'

data/lib/gps_pvt/supl.rb

@@ -16,6 +16,7 @@ class SUPL_Client
       :port => 7275,
       :debug => 0,
       :protocol => [:lpp, :rrlp],
+      :req_data => [:ephemeris], # :almanac
     }.merge(opts)
   end
 
@@ -152,6 +153,16 @@ class SUPL_Client
     cmd[:sessionID] = @session_id
     proc{|posinit|
       posinit[:sETCapabilities] = @capability
+      req_data = [
+        @opts[:req_data].find_index(:almanac) && :almanacRequested,
+        :utcModelRequested,
+        :ionosphericModelRequested,
+        :referenceLocationRequested,
+        :referenceTimeRequested,
+        :acquisitionAssistanceRequested,
+        :realTimeIntegrityRequested,
+        @opts[:req_data].find_index(:ephemeris) && :navigationModelRequested,
+      ].compact
       posinit[:requestedAssistData] = Hash[*([
         :almanacRequested,
         :utcModelRequested,
@@ -163,15 +174,7 @@ class SUPL_Client
         :realTimeIntegrityRequested,
         :navigationModelRequested,
       ].collect{|k|
-        [k, [
-              :utcModelRequested,
-              :ionosphericModelRequested,
-              :referenceLocationRequested,
-              :referenceTimeRequested,
-              :acquisitionAssistanceRequested,
-              :realTimeIntegrityRequested,
-              :navigationModelRequested,
-            ].include?(k)]
+        [k, req_data.include?(k)]
       }.flatten(1))]
       posinit[:requestedAssistData][:"ver2-RequestedAssistData-extension"] = {
         :ganssRequestedCommonAssistanceDataList => {
@@ -185,18 +188,21 @@ class SUPL_Client
         :ganssRequestedGenericAssistanceDataList => [
           # SBAS
           {:ganssId => 1, :ganssSBASid => [0, 1, 0], # MSAS
-              :ganssRealTimeIntegrity => true, :ganssAlmanac => false,
-              :ganssNavigationModelData => {:ganssWeek => 0, :ganssToe => 0, :"t-toeLimit" => 0},
+              :ganssRealTimeIntegrity => true,
               :ganssReferenceMeasurementInfo => false, :ganssUTCModel => true, :ganssAuxiliaryInformation => false},
           # QZSS
-          {:ganssId => 3, :ganssRealTimeIntegrity => true, :ganssAlmanac => false,
-              :ganssNavigationModelData => {:ganssWeek => 0, :ganssToe => 0, :"t-toeLimit" => 0},
+          {:ganssId => 3, :ganssRealTimeIntegrity => true,
               :ganssReferenceMeasurementInfo => false, :ganssUTCModel => true, :ganssAuxiliaryInformation => false},
           # GLONASS
-          {:ganssId => 4, :ganssRealTimeIntegrity => true, :ganssAlmanac => false,
-              :ganssNavigationModelData => {:ganssWeek => 0, :ganssToe => 0, :"t-toeLimit" => 0},
+          {:ganssId => 4, :ganssRealTimeIntegrity => true,
               :ganssReferenceMeasurementInfo => false, :ganssUTCModel => true, :ganssAuxiliaryInformation => false},
-        ],
+        ].collect{|items|
+          items[:ganssAlmanac] = @opts[:req_data].include?(:almanac)
+          items[:ganssNavigationModelData] = {
+            :ganssWeek => 0, :ganssToe => 0, :"t-toeLimit" => 0
+          } if @opts[:req_data].include?(:ephemeris)
+          items
+        },
       }
       posinit[:requestedAssistData][:navigationModelData] = {
         :gpsWeek => 0,
@@ -302,7 +308,25 @@ class SUPL_Client
 :ephemL2Pflag
 :ephemAODA
 =end
-  
+
+  ALM_KEY_TBL_RRLP = Hash[*({
+    :e => [:almanacE, -21],
+    :i0 => [:almanacKsii, -19, true],
+    :dot_Omega0 => [:almanacOmegaDot, -38, true],
+    :SV_health => :almanacSVhealth,
+    :sqrt_A => [:almanacAPowerHalf, -11],
+    :Omega0 => [:almanacOmega0, -23, true],
+    :omega => [:almanacW, -23, true],
+    :M0 => [:almanacM0, -23, true],
+    :a_f0 => [:almanacAF0, -20], 
+    :a_f1 => [:almanacAF1, -38],
+  }.collect{|dst_k, (src_k, sf_pow2, sc2rad)|
+    sf_pow2 ||= 0
+    sf = sf_pow2 < 0 ? Rational(1, 1 << -sf_pow2) : (1 << sf_pow2)
+    sf = sf.to_f * GPS::GPS_SC2RAD if sc2rad
+    ["#{dst_k}=".to_sym, [src_k, sf]]
+  }.flatten(1))]
+
   def attach_rrlp(msg)
     t_gps = proc{
       week_rem, sec008 = [:gpsWeek, :gpsTOW23b].collect{|k| msg[:referenceTime][:gpsTime][k]}
@@ -337,10 +361,11 @@ class SUPL_Client
       params
     }
     msg.define_singleton_method(:ephemeris){
-      self[:navigationModel][:navModelList].collect{|v|
+      next [] unless (model = self[:navigationModel])
+      model[:navModelList].collect{|sat|
         eph = GPS::Ephemeris::new
-        eph.svid = v[:satelliteID] + 1
-        eph_src = v[:satStatus][:newSatelliteAndModelUC]
+        eph.svid = sat[:satelliteID] + 1
+        eph_src = sat[:satStatus][:newSatelliteAndModelUC]
         EPH_KEY_TBL_RRLP.each{|dst_k, (src_k, sf)|
           v = sf * eph_src[src_k]
           eph.send(dst_k, v.kind_of?(Rational) ? v.to_f : v)
@@ -357,6 +382,30 @@ class SUPL_Client
         eph
       }
     }
+    msg.define_singleton_method(:almanac){
+      next [] unless (model = self[:almanac])
+      week = self[:almanac][:alamanacWNa]
+      week += (t_gps.week >> 8) << 8
+      model[:almanacList].collect{|sat|
+        eph = GPS::Ephemeris::new
+        eph.svid = sat[:satelliteID] + 1
+        ALM_KEY_TBL_RRLP.each{|dst_k, (src_k, sf)|
+          v = sf * sat[src_k]
+          eph.send(dst_k, v.kind_of?(Rational) ? v.to_f : v)
+        }
+        eph.i0 = GPS::GPS_SC2RAD * 0.3 + eph.i0
+        eph.WN = week
+        eph.t_oc = eph.t_oe = sat[:alamanacToa] << 12
+        [: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.URA_index = -1
+        #eph.fit_interval
+        eph
+      }
+    }
+    :alamanacToa # typo in TS
     msg
   end
 
@@ -412,6 +461,25 @@ class SUPL_Client
 :N_T=, :p=, :delta_tau_n=, :P4=,
 :tau_GPS=, :tau_c=, :day_of_year=, :year=, :n=, :freq_ch=
 =end
+
+  ALM_KEY_TBL_LPP = Hash[*({
+    :e => [:E, -21],
+    :i0 => [:DeltaI, -19, true],
+    :dot_Omega0 => [:OMEGADOT, -38, true],
+    :SV_health => :SVHealth,
+    :sqrt_A => [:SqrtA, -11],
+    :Omega0 => [:OMEGAo, -23, true],
+    :omega => [:Omega, -23, true],
+    :M0 => [:Mo, -23, true],
+    :a_f0 => [:af0, -20], 
+    :a_f1 => [:af1, -38],
+  }.collect{|dst_k, (src_k, sf_pow2, sc2rad)|
+    sf_pow2 ||= 0
+    sf = sf_pow2 < 0 ? Rational(1, 1 << -sf_pow2) : (1 << sf_pow2)
+    sf = sf.to_f * GPS::GPS_SC2RAD if sc2rad
+    ["#{dst_k}=".to_sym,
+        [(src_k.kind_of?(Symbol) ? "navAlm#{src_k}" : src_k).to_sym, sf]]
+  }.flatten(1))]
   
   def attach_lpp(msg)
     t_gps = proc{|data|
@@ -460,9 +528,9 @@ class SUPL_Client
     }.call
     leap_seconds = iono_utc.delta_t_LS rescue t_gps.leap_seconds
     msg.define_singleton_method(:iono_utc){iono_utc}
-    extract_gps_ephemeris = proc{|sat_list, sys|
+    extract_gps_ephemeris = proc{|model, sys|
       offset = {:gps => 1, :qzss => 193}[sys]
-      sat_list.collect{|v|
+      model[:"gnss-SatelliteList"].collect{|v|
         eph = GPS::Ephemeris::new
         eph.svid = v[:svID][:"satellite-id"] + offset
         eph_src = v[:"gnss-ClockModel"][:"nav-ClockModel"].merge(v[:"gnss-OrbitModel"][:"nav-KeplerianSet"])
@@ -489,42 +557,81 @@ class SUPL_Client
           [:"provideAssistanceData-r9"][:"a-gnss-ProvideAssistanceData"] \
           [:"gnss-GenericAssistData"]
       res = [:gps, :qzss].collect{|k|
-        extract_gps_ephemeris.call(
-            assist_data.select{|v| v[:"gnss-ID"][:"gnss-id"] == k}[0] \
-              [:"gnss-NavigationModel"][:"gnss-SatelliteList"], k)
+        model = assist_data.find{|v| v[:"gnss-ID"][:"gnss-id"] == k}[:"gnss-NavigationModel"] rescue nil
+        next [] unless model
+        extract_gps_ephemeris.call(model, k)
       }.flatten(1)
-      assist_data_glo = assist_data.select{|v| v[:"gnss-ID"][:"gnss-id"] == :glonass}[0]
-      utc_params_glo = {
-        :tau_c= => [:tauC, Rational(1, 1 << 31)],
-      }.collect{|dst_k, (src_k, sf)|
-        [dst_k, sf * assist_data_glo[:"gnss-UTC-Model"][:utcModel3][src_k]]
-      }
-      res += assist_data_glo[:"gnss-NavigationModel"][:"gnss-SatelliteList"].collect{|sat|
-        eph = GPS::Ephemeris_GLONASS::new
-        eph.svid = sat[:svID][:"satellite-id"] + 1
-        eph_src = sat[:"gnss-ClockModel"][:"glonass-ClockModel"].merge(
-            sat[:"gnss-OrbitModel"][:"glonass-ECEF"])
-        (EPH_KEY_TBL_LPP_GLO.collect{|dst_k, (src_k, sf)|
-          v = eph_src[src_k]
-          [dst_k, sf.send(sf.kind_of?(Proc) ? :call : :*, case v
-              when Array; Integer(v.join, 2)
-              when true; 1
-              when false; 0
-              else; v
-              end)]
-        } + utc_params_glo).each{|dst_k, v|
-          eph.send(dst_k, v.kind_of?(Rational) ? v.to_f : v)
+      proc{|assist_data_glo|
+        next unless assist_data_glo
+        next unless nav_model = assist_data_glo[:"gnss-NavigationModel"]
+        utc_params_glo = {
+          :tau_c= => [:tauC, Rational(1, 1 << 31)],
+        }.collect{|dst_k, (src_k, sf)|
+          [dst_k, sf * assist_data_glo[:"gnss-UTC-Model"][:utcModel3][src_k]]
         }
-        eph.B_n = sat[:svHealth][0]
-        eph.F_T_index = Integer(sat[:svHealth][1..4].join, 2)
-        eph.t_b = Integer(sat[:iod][4..-1].join, 2) * 15 * 60
-        eph.set_date((t_gps + 3 * 60 * 60).c_tm(leap_seconds)) # UTC -> Moscow time
-        eph.N_T = eph.NA
-        eph.rehash(leap_seconds)
-        eph
-      }
+        res += nav_model[:"gnss-SatelliteList"].collect{|sat|
+          eph = GPS::Ephemeris_GLONASS::new
+          eph.svid = sat[:svID][:"satellite-id"] + 1
+          eph_src = sat[:"gnss-ClockModel"][:"glonass-ClockModel"].merge(
+              sat[:"gnss-OrbitModel"][:"glonass-ECEF"])
+          (EPH_KEY_TBL_LPP_GLO.collect{|dst_k, (src_k, sf)|
+            v = eph_src[src_k]
+            [dst_k, sf.send(sf.kind_of?(Proc) ? :call : :*, case v
+                when Array; Integer(v.join, 2)
+                when true; 1
+                when false; 0
+                else; v
+                end)]
+          } + utc_params_glo).each{|dst_k, v|
+            eph.send(dst_k, v.kind_of?(Rational) ? v.to_f : v)
+          }
+          eph.B_n = sat[:svHealth][0]
+          eph.F_T_index = Integer(sat[:svHealth][1..4].join, 2)
+          eph.t_b = Integer(sat[:iod][4..-1].join, 2) * 15 * 60
+          eph.set_date((t_gps + 3 * 60 * 60).c_tm(leap_seconds)) # UTC -> Moscow time
+          eph.N_T = eph.NA
+          eph.rehash(leap_seconds)
+          eph
+        }
+      }.call(assist_data.find{|v| v[:"gnss-ID"][:"gnss-id"] == :glonass})
       res
     }
+    extract_gps_almanac = proc{|alm, sys|
+      next [] unless alm
+      offset = {:gps => 1, :qzss => 193}[sys]
+      week = alm[:weekNumber] # optional but required for non-GLONASS
+      week += (t_gps.week >> 8) << 8
+      t_oa = alm[:toa] << 12 # optional but required for non-GLONASS
+      alm[:"gnss-AlmanacList"].collect{|v|
+        next unless v = v[:"keplerianNAV-Almanac"]
+        eph = GPS::Ephemeris::new
+        eph.svid = v[:svID][:"satellite-id"] + offset
+        ALM_KEY_TBL_LPP.each{|dst_k, (src_k, sf)|
+          v2 = sf * v[src_k]
+          eph.send(dst_k, v2.kind_of?(Rational) ? v2.to_f : v2)
+        }
+        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)
+        }
+        eph.URA_index = -1
+        #eph.fit_interval
+        eph
+      }.compact
+    }
+    msg.define_singleton_method(:almanac){
+      assist_data = self[:c1][:provideAssistanceData][:criticalExtensions][:c1] \
+          [:"provideAssistanceData-r9"][:"a-gnss-ProvideAssistanceData"] \
+          [:"gnss-GenericAssistData"]
+      [:gps, :qzss].collect{|k|
+        model = assist_data.find{|v| v[:"gnss-ID"][:"gnss-id"] == k}[:"gnss-Almanac"] rescue nil
+        next [] unless model
+        extract_gps_almanac.call(model, k)
+      }.flatten(1)
+    }
     msg
   end
 end
@@ -537,7 +644,7 @@ OpenURI.class_eval{
     options[:port] = target.port
     URI.decode_www_form(target.query || "").each{|k, v|
       case k = k.to_sym
-      when :protocol
+      when :protocol, :req_data
         (options[k] ||= []) << v.to_sym
       end
     }

data/lib/gps_pvt/util.rb

@@ -88,9 +88,15 @@ module Util
           end
           nil
         }.call
-        is_file = src.kind_of?(File) || src.kind_of?(Tempfile)
 
-        return src.path if ((!compressed) and is_file)
+        case src
+        when File
+          next src.path
+        when Tempfile
+          # Preserve tempfile after leaving open-uri block
+          src.define_singleton_method(:close!){close(false)}
+          next src # Kernel.open(obj) redirects to obj.open if obj responds to :open
+        end unless compressed
 
         Tempfile::open(File::basename($0, '.*')){|dst|
           dst.binmode

data/lib/gps_pvt/version.rb

@@ -1,7 +1,7 @@
 # frozen_string_literal: true
 
 module GPS_PVT
-  VERSION = "0.10.2"
+  VERSION = "0.10.4"
   
   def GPS_PVT.version_compare(a, b)
     Gem::Version::new(a) <=> Gem::Version::new(b)

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: gps_pvt
 version: !ruby/object:Gem::Version
-  version: 0.10.2
+  version: 0.10.4
 platform: ruby
 authors:
 - fenrir(M.Naruoka)
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2024-04-02 00:00:00.000000000 Z
+date: 2024-12-15 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rubyserial
@@ -80,6 +80,20 @@ dependencies:
     - - ">="
       - !ruby/object:Gem::Version
         version: '0'
+- !ruby/object:Gem::Dependency
+  name: yard
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
 - !ruby/object:Gem::Dependency
   name: github_changelog_generator
   requirement: !ruby/object:Gem::Requirement
@@ -166,8 +180,10 @@ files:
 - lib/gps_pvt/asn1/asn1.y
 - lib/gps_pvt/asn1/per.rb
 - lib/gps_pvt/ntrip.rb
+- lib/gps_pvt/pvt.rb
 - lib/gps_pvt/receiver.rb
 - lib/gps_pvt/receiver/agps.rb
+- lib/gps_pvt/receiver/almanac.rb
 - lib/gps_pvt/receiver/extension.rb
 - lib/gps_pvt/receiver/rtcm3.rb
 - lib/gps_pvt/rtcm3.rb