gps_pvt 0.2.1 → 0.3.3

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

@@ -238,6 +238,23 @@ INSTANTIATE_COMPLEX(double, D);
 
 #undef INSTANTIATE_COMPLEX
 
+#if defined(SWIGRUBY)
+/* Work around of miss detection of negative value on Windows Ruby (devkit). 
+ * This results from SWIG_AsVal(unsigned int) depends on SWIG_AsVal(unsigned long), 
+ * and sizeof(long) == sizeof(int).
+ */
+%fragment("check_value"{unsigned int}, "header"){
+  inline bool is_lt_zero_after_asval(const unsigned int &i){
+    return ((sizeof(unsigned int) == sizeof(unsigned long)) && ((UINT_MAX >> 1) <= i));
+  }
+  void raise_if_lt_zero_after_asval(const unsigned int &i){
+    if(is_lt_zero_after_asval(i)){
+      SWIG_exception(SWIG_ValueError, "Expected positive value.");
+    }
+  } 
+}
+#endif
+
 #define DO_NOT_INSTANTIATE_SCALAR_MATRIX
 #define USE_MATRIX_VIEW_FILTER
 
@@ -420,8 +437,6 @@ class Matrix : public Matrix_Frozen<T, Array2D_Type, ViewType> {
 #endif
 
     typedef Matrix<T, Array2D_Type, ViewType> self_t;
-    self_t &swapRows(const unsigned int &row1, const unsigned int &row2);
-    self_t &swapColumns(const unsigned int &column1, const unsigned int &column2);
 };
 
 %inline {
@@ -949,6 +964,7 @@ MAKE_TO_S(Matrix_Frozen)
   }
 #if defined(SWIGRUBY)
   %fragment(SWIG_AsVal_frag(unsigned int));
+  %fragment("check_value"{unsigned int});
   Matrix(const void *replacer){
     const SWIG_Object *value(static_cast<const SWIG_Object *>(replacer));
     static const ID id_r(rb_intern("row_size")), id_c(rb_intern("column_size"));
@@ -959,13 +975,10 @@ MAKE_TO_S(Matrix_Frozen)
       MatrixUtil::replace(res, replacer);
       return new Matrix<T, Array2D_Type, ViewType>(res);
     }else if(value && rb_respond_to(*value, id_r) && rb_respond_to(*value, id_c)){
-      /* "unsigned" is remove because SWIG_AsVal(unsigned int)
-       * can not detect less than zero in Windows Ruby devkit.
-       */
-      int r, c; 
+      unsigned int r, c; 
       VALUE v_r(rb_funcall(*value, id_r, 0, 0)), v_c(rb_funcall(*value, id_c, 0, 0));
-      if(!SWIG_IsOK(SWIG_AsVal(int)(v_r, &r)) || (r < 0)
-          || !SWIG_IsOK(SWIG_AsVal(int)(v_c, &c)) || (c < 0)){
+      if(!SWIG_IsOK(SWIG_AsVal(unsigned int)(v_r, &r)) || is_lt_zero_after_asval(r)
+          || !SWIG_IsOK(SWIG_AsVal(unsigned int)(v_c, &c)) || is_lt_zero_after_asval(c)){
         throw std::runtime_error(
             std::string("Unexpected length [")
               .append(inspect_str(v_r)).append(", ")
@@ -980,7 +993,23 @@ MAKE_TO_S(Matrix_Frozen)
   }
 #endif
 
-  %typemap(out) self_t & "$result = self;"
+  /*
+   * Returning (*this) requires special care;
+   * "self_t &func(){return (*this);}" in a C++ file may generate
+   * a new wrapped object deleted by GC in the target language
+   * unless the care.
+   * 
+   * Work around 1)
+   *   %typemap(in, numinputs=0) self_t *self_p "";
+   *   %typemap(argout) self_t *self_p "$result = self;";
+   *   void func(self_t *self_p){...}
+   *
+   * Work around 2) (useful without overwrite of the original source, but may overfit)
+   *   %typemap(out) self_t & "$result = self;"
+   *   self_t &func(){...; return *$self;}
+   */
+  %typemap(in, numinputs=0) self_t *self_p "";
+  %typemap(argout) self_t *self_p "$result = self;";
 
   T &__setitem__(const unsigned int &row, const unsigned int &column, const T &value) {
     return (($self)->operator()(row, column) = value);
@@ -997,41 +1026,50 @@ MAKE_TO_S(Matrix_Frozen)
 #endif
   %rename("scalar") getScalar;
   %rename("I") getI;
-  %rename("swap_rows") swapRows;
-  %rename("swap_columns") swapColumns;
+
+  void swap_rows(
+      self_t *self_p,
+      const unsigned int &r1, const unsigned int &r2){
+    $self->swapRows(r1, r2);
+  }
+  void swap_columns(
+      self_t *self_p,
+      const unsigned int &c1, const unsigned int &c2){
+    $self->swapColumns(c1, c2);
+  }
 
   template <class T2, class Array2D_Type2, class ViewType2>
-  self_t &replace(const Matrix_Frozen<T2, Array2D_Type2, ViewType2> &matrix){
-    return $self->replace(matrix);
+  void replace(
+      self_t *self_p,
+      const Matrix_Frozen<T2, Array2D_Type2, ViewType2> &matrix){
+    $self->replace(matrix);
   }
   INSTANTIATE_MATRIX_FUNC(replace, replace);
 
-  self_t &replace(const void *replacer = NULL){
+  void replace(self_t *self_p, const void *replacer = NULL){
     if(!MatrixUtil::replace(*$self, replacer)){
       throw std::runtime_error("Unsupported replacement");
     }
-    return *$self;
   }
 
-  self_t &replace(const T *serialized){
+  void replace(self_t *self_p, const T *serialized){
     if(!MatrixUtil::replace(*$self, serialized)){
       throw std::runtime_error("Unsupported replacement");
     }
-    return *$self;
   }
   
 #ifdef SWIGRUBY
-  %bang swapRows(const unsigned int &, const unsigned int &);
-  %bang swapColumns(const unsigned int &, const unsigned int &);
+  %bang swap_rows;
+  %bang swap_columns;
   %rename("replace!") replace;
   
-  self_t &map_bang(
+  void map_bang(
+      self_t *self_p,
       void (*each_func)(
         const T &src, T *dst,
         const unsigned int &i, const unsigned int &j), 
       const typename MatrixUtil::each_which_t &each_which = MatrixUtil::EACH_ALL){
     MatrixUtil::each(*$self, each_func, each_which, $self);
-    return *$self;
   }
   %rename("map!") map_bang;
   %alias map_bang "collect!,map_with_index!,collect_with_index!";
@@ -1147,6 +1185,8 @@ INSTANTIATE_MATRIX_EIGEN2(type, ctype, Array2D_Dense<type >, MatView_pt);
 #endif
 
 %define INSTANTIATE_MATRIX(type, suffix)
+%typemap(check, fragment="check_value"{unsigned int})
+    const unsigned int & "raise_if_lt_zero_after_asval(*$1);"
 #if !defined(DO_NOT_INSTANTIATE_SCALAR_MATRIX)
 %extend Matrix_Frozen<type, Array2D_ScaledUnit<type >, MatViewBase> {
   const Matrix_Frozen<type, Array2D_ScaledUnit<type >, MatViewBase> &transpose() const {
@@ -1200,6 +1240,35 @@ INSTANTIATE_MATRIX_PARTIAL(type, Array2D_Dense<type >, MatView_pt, MatView_pt);
 %template(Matrix_Frozen ## suffix ## _pt) Matrix_Frozen<type, Array2D_Dense<type >, MatView_pt>;
 #endif
 
+%extend Matrix<type, Array2D_Dense<type > > {
+#if defined(SWIGRUBY)
+  %bang resize;
+#endif
+  %typemap(in, fragment="check_value"{unsigned int}) 
+      unsigned int *r_p (unsigned int temp), unsigned int *c_p (unsigned int temp) {
+    if(SWIG_IsOK(SWIG_AsVal(unsigned int)($input, &temp))){
+#if defined(SWIGRUBY)
+      raise_if_lt_zero_after_asval(temp);
+#endif
+      $1 = &temp;
+    }
+#if defined(SWIGRUBY)
+    else if(NIL_P($input)){$1 = NULL;}
+#endif
+    else{SWIG_exception(SWIG_TypeError, "$*1_ltype is expected");}
+  }
+  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());
+    Matrix<type, Array2D_Dense<type > > mat_new(r, c);
+    unsigned int r_min(r), c_min(c);
+    if(r_min > $self->rows()){r_min = $self->rows();}
+    if(c_min > $self->columns()){c_min = $self->columns();}
+    mat_new.partial(r_min, c_min).replace($self->partial(r_min, c_min), false);
+    return (*($self) = mat_new);
+  }
+};
+
 %template(Matrix ## suffix) Matrix<type, Array2D_Dense<type > >;
 #if defined(SWIGRUBY)
 %fragment("init"{Matrix<type, Array2D_Dense<type > >}, "init") {
@@ -1212,6 +1281,7 @@ INSTANTIATE_MATRIX_PARTIAL(type, Array2D_Dense<type >, MatView_pt, MatView_pt);
 }
 %fragment("init"{Matrix<type, Array2D_Dense<type > >});
 #endif
+%typemap(check) const unsigned int &;
 %enddef
 
 INSTANTIATE_MATRIX(double, D);

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

@@ -221,7 +221,11 @@ __RINEX_OBS_TEXT__
       f.path
     },
   }}
-  let(:solver){GPS::Solver::new}
+  let(:solver){
+    res = GPS::Solver::new
+    res.correction = {:gps_ionospheric => :klobuchar, :gps_tropospheric => :hopfield}
+    res
+  }
   
   describe 'demo' do
     it 'calculates position without any error' do
@@ -249,13 +253,13 @@ __RINEX_OBS_TEXT__
       t_meas = GPS::Time::new(1849, 172413)
       puts "Measurement time: #{t_meas.to_a} (a.k.a #{"%d/%d/%d %02d:%02d:%02d UTC"%[*t_meas.c_tm]})"
       expect(t_meas.c_tm).to eq([2015, 6, 15, 23, 53, 33])
+      expect(GPS::Time::new(0, t_meas.serialize)).to eq(t_meas)
       
       sn.update_all_ephemeris(t_meas)
       
       [:alpha, :beta].each{|k|
         puts "Iono #{k}: #{sn.iono_utc.send(k)}"
       }
-      puts solver.gps_options.ionospheric_models
       
       meas.each{|prn, k, v|
         eph = sn.ephemeris(prn)
@@ -336,6 +340,20 @@ __RINEX_OBS_TEXT__
     
     it 'can be modified through hooks' do
       sn = solver.gps_space_node
+      expect(solver.correction[:gps_ionospheric]).to include(:klobuchar)
+      expect(solver.correction[:gps_tropospheric]).to include(:hopfield)
+      expect{solver.correction = nil}.to raise_error(RuntimeError)
+      expect{solver.correction = {
+        :gps_ionospheric => [proc{|t, usr_pos, sat_pos|
+              expect(t).to be_a_kind_of(GPS::Time)
+              expect(usr_pos).to be_a_kind_of(Coordinate::XYZ) unless usr_pos
+              expect(sat_pos).to be_a_kind_of(Coordinate::ENU) unless sat_pos
+              false
+            }, :klobuchar, :no_correction],
+        :options => {:f_10_7 => 10},
+      }}.not_to raise_error
+      expect(solver.correction[:gps_ionospheric]).to include(:no_correction)
+      expect(solver.correction[:options][:f_10_7]).to eq(10)
       sn.read(input[:rinex_nav])
       t_meas = GPS::Time::new(1849, 172413)
       sn.update_all_ephemeris(t_meas)
@@ -349,11 +367,13 @@ __RINEX_OBS_TEXT__
         weight = 1
         [weight, range_c, range_r, rate_rel_neg] + los_neg
       }
-      solver.hooks[:update_position_solution] = proc{|*mats|
-        mats.each{|mat|
+      solver.hooks[:update_position_solution] = proc{|mat_G, mat_W, mat_delta_r, temp_pvt|
+        expect(temp_pvt).to be_a_kind_of(GPS::PVT)
+        [mat_G, mat_W, mat_delta_r].each{|mat|
           expect(mat).to be_a_kind_of(SylphideMath::MatrixD)
+          expect(mat.rows).to be >= temp_pvt.used_satellites
+          expect(mat).to respond_to(:resize!)
         }
-        mat_G, mat_W, mat_delta_r = mats
       }
       solver.hooks[:satellite_position] = proc{
         i = 0

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

@@ -19,6 +19,12 @@ shared_examples 'Matrix' do
       expect( mat_type::new(*params[:rc]).rows ).to equal(params[:rc][0])
       expect( mat_type::new(*params[:rc]).columns ).to equal(params[:rc][1])
     end
+    it 'declines negative number argument' do
+      [[-1, 1], [1, -1]].each{|sf|
+        r, c = params[:rc].zip(sf).collect{|v1, v2| v1 * v2}
+        expect{ mat_type::new(r, c) }.to raise_error(ArgumentError)
+      }
+    end
     it 'accepts ([[]])' do
       expect{ mat_type::new(compare_with) }.not_to raise_error
       expect( mat_type::new(compare_with).rows ).to equal(params[:rc][0])
@@ -44,9 +50,11 @@ shared_examples 'Matrix' do
       a.define_singleton_method(:[]){|i, j| raise(IndexError) if i != j; 0}
       expect{ mat_type::new(a) }.to raise_error(IndexError)
 
-      a = a_gen.call
-      a.define_singleton_method(:row_size){-1}
-      expect{ mat_type::new(a) }.to raise_error(RuntimeError)
+      [:row_size, :column_size].each{|f|
+        a = a_gen.call
+        a.define_singleton_method(f){-1}
+        expect{ mat_type::new(a) }.to raise_error(RuntimeError)
+      }
     end
     it 'is invoked with I, identity, unit' do
       [:I, :identity, :unit].each{|f|
@@ -132,7 +140,7 @@ shared_examples 'Matrix' do
         expect(mat[:square].sum).to eq(Matrix[*mat[:square].to_a].sum)
         expect(mat[:not_square].sum).to eq(Matrix[*mat[:not_square].to_a].sum)
       end
-      it 'determinat, det' do
+      it 'determinant, det' do
         [:determinant, :det].each{|f|
           #expect(mat[:square].send(f)).to eq(Matrix[*mat[:square].to_a].det)
           expect{mat[:not_square].send(f)}.to raise_error(RuntimeError)
@@ -163,6 +171,15 @@ shared_examples 'Matrix' do
         }
       }
     end
+    it 'is inaccessible and unchangeable with negative number arguments' do
+      [[-1, 0], [0, -1]].each{|i, j|
+        [[:[], i, j], [:[]=, i, j, 0]].each{|args|
+          expect{ mat[0].send(*args) }.to raise_error{|err|
+            expect(err).to be_a(RangeError).or be_a(ArgumentError)
+          }
+        }
+      }
+    end
   end
   
   describe 'elements' do
@@ -197,9 +214,19 @@ shared_examples 'Matrix' do
     it 'is swappable with swap_rows! or swap_cloumns!' do
       mat_builtin = Matrix[*compare_with[0]]
       [:swap_rows!, :swap_columns!].each.with_index{|func, i|
-        params[:rc][i].times.to_a.combination(2).to_a{|a, b|
-          mat[0].send(func, a, b)
-          mat_builtin.send(func, a, b)
+        params[:rc][i].times.to_a.combination(2).to_a.each{|a, b|
+          mat_mod = mat[0].send(func, a, b)
+          case func
+          when :swap_rows!
+            idxs = mat_builtin.row_count.times.to_a
+            idxs[a], idxs[b] = [b, a]
+            mat_builtin = Matrix::rows(mat_builtin.row_vectors.values_at(*idxs))
+          when :swap_columns!
+            idxs = mat_builtin.column_count.times.to_a
+            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[0].to_a).to eq(mat_builtin.to_a)
         }
       }
@@ -394,6 +421,23 @@ shared_examples 'Matrix' do
       }
       expect{mat[2] / mat[3]}.to raise_error(RuntimeError)
     end
+    it 'have resize!' do
+      [-1, :sym].each{|arg|
+        [[arg, nil], [nil, arg]].each{|args|
+          expect{mat[0].resize!(*args)}.to raise_error{|err|
+            expect(err).to be_a(TypeError).or be_a(ArgumentError)
+          }
+        }
+      }
+      mat_orig = mat[0].to_a
+      r, c = [:rows, :columns].collect{|f| mat[0].send(f)}
+      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)
+      expect(mat[0].resize!(nil, nil).to_a).to eq(mat_orig)
+      expect(mat[0].resize!(r * 2, c * 2).to_a).to \
+          eq(Matrix::build(r * 2, c * 2){|i, j| (i < r && j < c) ? mat_orig[i][j] : 0}.to_a)
+    end
   end
   
   describe 'decomposition' do

data/gps_pvt.gemspec

@@ -0,0 +1,63 @@
+# frozen_string_literal: true
+
+require_relative "lib/gps_pvt/version"
+
+Gem::Specification.new do |spec|
+  spec.name = "gps_pvt"
+  spec.version = GPS_PVT::VERSION
+  spec.authors = ["fenrir(M.Naruoka)"]
+  spec.email = ["fenrir.naru@gmail.com"]
+
+  spec.summary = "GPS position, velocity, and time (PVT) solver"
+  spec.description = "This module calculate PVT by using raw observation obtained from a GPS receiver"
+  spec.homepage = "https://github.com/fenrir-naru/gps_pvt"
+  spec.required_ruby_version = ">= 2.3.0"
+
+  #spec.metadata["allowed_push_host"] = "TODO: Set to your gem server 'https://example.com'"
+
+  spec.metadata["homepage_uri"] = spec.homepage
+  spec.metadata["source_code_uri"] = spec.homepage
+  #spec.metadata["changelog_uri"] = "TODO: Put your gem's CHANGELOG.md URL here."
+    
+  spec.extensions = ["ext/gps_pvt/extconf.rb"]
+
+  # Specify which files should be added to the gem when it is released.
+  # The `git ls-files -z` loads the files in the RubyGem that have been added into git.
+  spec.files = Dir.chdir(File.expand_path(__dir__)) do
+    `git ls-files -z`.split("\x0").reject do |f|
+      (f == __FILE__) || f.match(%r{\A(?:(?:test|spec|features)/|\.(?:git|travis|circleci)|appveyor)})
+    end
+  end
+  spec.bindir = "exe"
+  spec.executables = spec.files.grep(%r{\Aexe/}) { |f| File.basename(f) }
+  spec.require_paths = ["lib"]
+  
+  spec.files += proc{
+    require 'pathname'
+    base_dir = Pathname::new(File::absolute_path(File.dirname(__FILE__)))
+    # get an array of submodule dirs by executing 'pwd' inside each submodule
+    `git submodule --quiet foreach pwd`.split($/).collect{|dir|
+      # issue git ls-files in submodule's directory
+      `git -C #{dir} ls-files -v`.split($/).collect{|f|
+        next nil unless f =~ /^H */ # consider git sparse checkout
+        # get relative path
+        f = Pathname::new(File::join(dir, $'))
+        begin
+          (f.relative? ? f : f.relative_path_from(base_dir)).to_s
+        rescue
+          # Patch for Windows drive letter problem
+          base_dir = Pathname::new(base_dir.to_s.sub(/^([^\/])+:\//){"/#{$1}/"})
+          f.relative_path_from(base_dir).to_s
+        end
+      }.compact
+    }.flatten
+  }.call
+
+  # Uncomment to register a new dependency of your gem
+  # spec.add_dependency "example-gem", "~> 1.0"
+  spec.add_development_dependency "rake"
+  spec.add_development_dependency "rake-compiler"
+
+  # For more information and examples about making a new gem, checkout our
+  # guide at: https://bundler.io/guides/creating_gem.html
+end

data/lib/gps_pvt/receiver.rb

@@ -7,15 +7,22 @@ require_relative 'GPS'
 
 module GPS_PVT
 class Receiver
+
+  GPS::Time.send(:define_method, :utc){ # send as work around of old Ruby
+    res = c_tm(GPS::Time::guess_leap_seconds(self))
+    res[-1] += (seconds % 1)
+    res
+  }
+
   def self.pvt_items(opt = {})
     opt = {
       :system => [[:GPS, 1..32]],
       :satellites => (1..32).to_a,
     }.merge(opt)
     [[
-      [:week, :itow_rcv, :year, :month, :mday, :hour, :min, :sec],
+      [:week, :itow_rcv, :year, :month, :mday, :hour, :min, :sec_rcv_UTC],
       proc{|pvt|
-        [:week, :seconds, :c_tm].collect{|f| pvt.receiver_time.send(f)}.flatten
+        [:week, :seconds, :utc].collect{|f| pvt.receiver_time.send(f)}.flatten
       }
     ]] + [[
       [:receiver_clock_error_meter, :longitude, :latitude, :height, :rel_E, :rel_N, :rel_U],
@@ -47,23 +54,31 @@ class Receiver
     ]] + [
       [:used_satellites, proc{|pvt| pvt.used_satellites}],
     ] + opt[:system].collect{|sys, range|
-      bit_flip = if range.kind_of?(Array) then
-        proc{|res, i|
+      range = range.kind_of?(Array) ? proc{
+        # check whether inputs can be converted to Range
+        next nil if range.empty?
+        a, b = range.minmax
+        ((b - a) == (range.length - 1)) ? (a..b) : range
+      }.call : range
+      next nil unless range
+      bit_flip, label = case range
+      when Array
+        [proc{|res, i|
           res[i] = "1" if i = range.index(i)
           res
-        }
-      else # expect Range
+        }, range.collect{|pen| pen & 0xFF}.reverse.join('+')]
+      when Range
         base_prn = range.min
-        proc{|res, i|
+        [proc{|res, i|
           res[i - base_prn] = "1" if range.include?(i)
           res
-        }
+        }, [:max, :min].collect{|f| range.send(f) & 0xFF}.join('..')]
       end
-      ["#{sys}_PRN", proc{|pvt|
+      ["#{sys}_PRN(#{label})", proc{|pvt|
         pvt.used_satellite_list.inject("0" * range.size, &bit_flip) \
             .scan(/.{1,8}/).join('_').reverse
       }]
-    } + [[
+    }.compact + [[
       opt[:satellites].collect{|prn, label|
         [:range_residual, :weight, :azimuth, :elevation, :slopeH, :slopeV].collect{|str|
           "#{str}(#{label || prn})"
@@ -73,12 +88,12 @@ class Receiver
         next ([nil] * 6 * opt[:satellites].size) unless pvt.position_solved?
         sats = pvt.used_satellite_list
         r, w = [:delta_r, :W].collect{|f| pvt.send(f)}
-        opt[:satellites].collect{|i|
-          next ([nil] * 6) unless i2 = sats.index(i)
+        opt[:satellites].collect{|prn, label|
+          next ([nil] * 6) unless i2 = sats.index(prn)
           [r[i2, 0], w[i2, i2]] +
               [:azimuth, :elevation].collect{|f|
-                pvt.send(f)[i] / Math::PI * 180
-              } + [pvt.slopeH[i], pvt.slopeV[i]]
+                pvt.send(f)[prn] / Math::PI * 180
+              } + [pvt.slopeH[prn], pvt.slopeV[prn]]
         }.flatten
       },
     ]] + [[
@@ -106,16 +121,19 @@ class Receiver
     opt = {
       :satellites => (1..32).to_a,
     }.merge(opt)
+    keys = [:PSEUDORANGE, :RANGE_RATE, :DOPPLER, :FREQUENCY].collect{|k|
+      GPS::Measurement.const_get("L1_#{k}".to_sym)
+    }
     [[
       opt[:satellites].collect{|prn, label|
         [:L1_range, :L1_rate].collect{|str| "#{str}(#{label || prn})"}
       }.flatten,
       proc{|meas|
-        meas_hash = Hash[*(meas.collect{|prn, k, v| [[prn, k], v]}.flatten(1))]
-        opt[:satellites].collect{|prn|
-          [:L1_PSEUDORANGE, [:L1_DOPPLER, GPS::SpaceNode.L1_WaveLength]].collect{|k, sf|
-            meas_hash[[prn, GPS::Measurement.const_get(k)]] * (sf || 1) rescue nil
-          }
+        meas_hash = meas.to_hash
+        opt[:satellites].collect{|prn, label|
+          pr, rate, doppler, freq = keys.collect{|k| meas_hash[prn][k] rescue nil}
+          freq ||= GPS::SpaceNode.L1_Frequency
+          [pr, rate || ((doppler * GPS::SpaceNode::light_speed / freq) rescue nil)]
         }
       }
     ]]
@@ -135,6 +153,14 @@ class Receiver
       rel_prop
     }
     @debug = {}
+    solver_opts = [:gps_options, :sbas_options].collect{|target|
+      @solver.send(target)
+    }
+    solver_opts.each{|opt|
+      # default solver options
+      opt.elevation_mask = 0.0 / 180 * Math::PI # 0 deg (use satellite over horizon)
+      opt.residual_mask = 1E4 # 10 km (without residual filter, practically)
+    }
     output_options = {
       :system => [[:GPS, 1..32], [:QZSS, 193..202]],
       :satellites => (1..32).to_a + (193..202).to_a, # [idx, ...] or [[idx, label], ...] is acceptable
@@ -160,6 +186,13 @@ class Receiver
         when :identical # same as default
           next true
         end
+      when :elevation_mask_deg
+        raise "Unknown elevation mask angle: #{v}" unless elv_deg = (Float(v) rescue nil)
+        $stderr.puts "Elevation mask: #{elv_deg} deg"
+        solver_opts.each{|opt|
+          opt.elevation_mask = elv_deg / 180 * Math::PI # 0 deg (use satellite over horizon)
+        }
+        next true
       when :base_station
         crd, sys = v.split(/ *, */).collect.with_index{|item, i|
           case item
@@ -193,9 +226,9 @@ class Receiver
           sys, svid = case spec
           when Integer
             [nil, spec]
-          when /([a-zA-Z]+)(?::(-?\d+))?/
-            [$1.upcase.to_sym, (Integre($2) rescue nil)]
-          when /-?\d+/
+          when /^([a-zA-Z]+)(?::(-?\d+))?$/
+            [$1.upcase.to_sym, (Integer($2) rescue nil)]
+          when /^-?\d+$/
             [nil, $&.to_i]
           else
             next false
@@ -206,27 +239,37 @@ class Receiver
           else
             (k == :with) ? :include : :exclude
           end
-          if (sys == :GPS) || (sys == :QZSS) \
-              || (svid && ((1..32).include?(svid) || (193..202).include?(svid))) then
-            [svid || ((1..32).to_a + (193..202).to_a)].flatten.each{
-              @solver.gps_options.send(mode, svid)
-            }
-          elsif (sys == :SBAS) || (svid && (120..158).include?(svid)) then
-            prns = [svid || (120..158).to_a].flatten
-            unless (i = output_options[:system].index{|sys, range| sys == :SBAS}) then
+          update_output = proc{|sys_target, prns, labels|
+            unless (i = output_options[:system].index{|sys, range| sys == sys_target}) then
               i = -1
-              output_options[:system] << [:SBAS, []]
+              output_options[:system] << [sys_target, []]
             else
-              output_options[:system][i].reject!{|prn| prns.include?(prn)}
+              output_options[:system][i][1].reject!{|prn| prns.include?(prn)}
             end
             output_options[:satellites].reject!{|prn, label| prns.include?(prn)}
             if mode == :include then
               output_options[:system][i][1] += prns
-              output_options[:satellites] += prns
+              output_options[:system][i][1].sort!
+              output_options[:satellites] += (labels ? prns.zip(labels) : prns)
+              output_options[:satellites].sort!{|a, b| [a].flatten[0] <=> [b].flatten[0]}
             end
+          }
+          check_sys_svid = proc{|sys_target, range_in_sys, offset|
+            next range_in_sys.include?(svid - (offset || 0)) unless sys # svid is specified without system
+            next false unless sys == sys_target
+            next true unless svid # All satellites in a target system (svid == nil)
+            range_in_sys.include?(svid)
+          }
+          if check_sys_svid.call(:GPS, 1..32) then
+            [svid || (1..32).to_a].flatten.each{|prn| @solver.gps_options.send(mode, prn)}
+          elsif check_sys_svid.call(:SBAS, 120..158) then
+            prns = [svid || (120..158).to_a].flatten
+            update_output.call(:SBAS, prns)
             prns.each{|prn| @solver.sbas_options.send(mode, prn)}
+          elsif check_sys_svid.call(:QZSS, 193..202) then
+            [svid || (193..202).to_a].flatten.each{|prn| @solver.gps_options.send(mode, prn)}
           else
-            next false  
+            raise "Unknown satellite: #{spec}"
           end
           $stderr.puts "#{mode.capitalize} satellite: #{[sys, svid].compact.join(':')}"
         }
@@ -235,10 +278,6 @@ class Receiver
       false
     }
     raise "Unknown receiver options: #{options.inspect}" unless options.empty?
-    proc{|opt|
-      opt.elevation_mask = 0.0 / 180 * Math::PI # 0 deg
-      opt.residual_mask = 1E4 # 10 km
-    }.call(@solver.gps_options)
     @output = {
       :pvt => Receiver::pvt_items(output_options),
       :meas => Receiver::meas_items(output_options),
@@ -316,6 +355,11 @@ class Receiver
     [:azimuth, :elevation, :slopeH, :slopeV].each{|k|
       eval("define_method(:#{k}){@#{k} || self.post_solution(:@#{k})}")
     }
+    define_method(:other_state){
+      # If a design matrix G has columns larger than 4, 
+      # other states excluding position and time are estimated.
+      (self.G.rows <= 4) ? [] : (self.S * self.delta_r).transpose.to_a[0][4..-1]
+    }
   }
   
   proc{
@@ -365,7 +409,7 @@ class Receiver
     ubx = UBX::new(open(ubx_fname))  
     ubx_kind = Hash::new(0)
     
-    after_run = b || proc{|pvt| puts pvt.to_s}
+    after_run = b || proc{|pvt| puts pvt.to_s if pvt}
     
     gnss_serial = proc{|svid, sys|
       if sys then # new numbering
@@ -489,7 +533,7 @@ class Receiver
   end
   
   def parse_rinex_obs(fname, &b)
-    after_run = b || proc{|pvt| puts pvt.to_s}
+    after_run = b || proc{|pvt| puts pvt.to_s if pvt}
     $stderr.print "Reading RINEX observation file (%s)"%[fname]
     types = nil
     count = 0

data/lib/gps_pvt/version.rb

@@ -1,5 +1,5 @@
 # frozen_string_literal: true
 
 module GPS_PVT
-  VERSION = "0.2.1"
+  VERSION = "0.3.3"
 end