gps_pvt 0.6.4 → 0.7.0

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

@@ -22,6 +22,7 @@
 #include "navigation/QZSS.h"
 #include "navigation/GLONASS.h"
 #include "navigation/RINEX.h"
+#include "navigation/RINEX_Clock.h"
 #include "navigation/SP3.h"
 #include "navigation/ANTEX.h"
 
@@ -228,12 +229,10 @@ struct GPS_Ionospheric_UTC_Parameters : public GPS_SpaceNode<FloatT>::Ionospheri
 %}
 %extend GPS_Ionospheric_UTC_Parameters {
   %fragment(SWIG_Traits_frag(FloatT));
-  %typemap(in,numinputs=0) FloatT values[4] (FloatT temp[4]) %{
-    $1 = temp;
-  %}
-  %typemap(argout) FloatT values[4] {
+  %typemap(in,numinputs=0) const FloatT *values[4] (FloatT *temp) "$1 = &temp;"
+  %typemap(argout) const FloatT *values[4] {
     for(int i(0); i < 4; ++i){
-      %append_output(swig::from($1[i]));
+      %append_output(swig::from((*$1)[i]));
     }
   }
   MAKE_ARRAY_INPUT(const FloatT, values, swig::asval);
@@ -245,11 +244,7 @@ struct GPS_Ionospheric_UTC_Parameters : public GPS_SpaceNode<FloatT>::Ionospheri
     } 
   }
   %rename("alpha") get_alpha;
-  void get_alpha(FloatT values[4]) const {
-    for(int i(0); i < 4; ++i){
-      values[i] = self->alpha[i];
-    }
-  }
+  void get_alpha(const FloatT *values[4]) const {*values = self->alpha;}
   %rename("beta=") set_beta;
   void set_beta(const FloatT values[4]){
     for(int i(0); i < 4; ++i){
@@ -257,11 +252,7 @@ struct GPS_Ionospheric_UTC_Parameters : public GPS_SpaceNode<FloatT>::Ionospheri
     }
   }
   %rename("beta") get_beta;
-  void get_beta(FloatT values[4]) const {
-    for(int i(0); i < 4; ++i){
-      values[i] = self->beta[i];
-    }
-  }
+  void get_beta(const FloatT *values[4]) const {*values = self->beta;}
   MAKE_ACCESSOR(A1, FloatT);
   MAKE_ACCESSOR(A0, FloatT);
   MAKE_ACCESSOR(t_ot, unsigned int);
@@ -1006,6 +997,7 @@ const type &get_ ## name () const {
 %inline %{
 template <class FloatT>
 struct GPS_SolverOptions_Common {
+  virtual ~GPS_SolverOptions_Common() {}
   virtual GPS_Solver_GeneralOptions<FloatT> *cast_general() = 0;
   virtual const GPS_Solver_GeneralOptions<FloatT> *cast_general() const = 0;
 };
@@ -1206,7 +1198,10 @@ struct GPS_RangeCorrector
       if(!res.is_available()){
         static const VALUE key(ID2SYM(rb_intern("relative_property")));
         VALUE hook(rb_hash_lookup(hooks, key));
-        if(!NIL_P(hook)){res.impl = this;}
+        if(!NIL_P(hook)){
+          if(!res.impl_xyz){res.impl_xyz = this;}
+          if(!res.impl_t){res.impl_t = this;}
+        }
       }
 #endif
       return res;
@@ -1653,31 +1648,8 @@ template <class FloatT>
 struct RINEX_Observation {};
 }
 
-%extend SP3 {
-  %typemap(in,numinputs=0) int count[ANY] (int temp[$1_dim0]) "$1 = temp;"
-  %typemap(argout) int count[ANY] {
-    for(int i(0); i < $1_dim0; ++i){
-      %append_output(SWIG_From(int)($1[i]));
-    }
-  }
-  void satellites(int count[SP3::SYS_SYSTEMS]) const {
-    typename SP3_Product<FloatT>::satellite_count_t x(self->satellite_count());
-    count[SP3<FloatT>::SYS_GPS] = x.gps;
-    count[SP3<FloatT>::SYS_SBAS] = x.sbas;
-    count[SP3<FloatT>::SYS_QZSS] = x.qzss;
-    count[SP3<FloatT>::SYS_GLONASS] = x.glonass;
-    count[SP3<FloatT>::SYS_GALILEO] = x.galileo;
-    count[SP3<FloatT>::SYS_BEIDOU] = x.beidou;
-  }
-
-} 
 %inline {
-template <class FloatT>
-struct SP3 : public SP3_Product<FloatT> {
-  int read(const char *fname) {
-    std::fstream fin(fname, std::ios::in | std::ios::binary);
-    return SP3_Reader<FloatT>::read_all(fin, *this);
-  }
+struct PushableData {
   enum system_t {
     SYS_GPS,
     SYS_SBAS,
@@ -1687,20 +1659,21 @@ struct SP3 : public SP3_Product<FloatT> {
     SYS_BEIDOU,
     SYS_SYSTEMS,
   };
-  bool push(GPS_Solver<FloatT> &solver, const system_t &sys) const {
+  template <class DataT, class FloatT>
+  static bool push(DataT &data, GPS_Solver<FloatT> &solver, const system_t &sys){
     switch(sys){
       case SYS_GPS:
-        return SP3_Product<FloatT>::push(
-            solver.gps.ephemeris_proxy.gps, SP3_Product<FloatT>::SYSTEM_GPS);
+        return data.push(
+            solver.gps.ephemeris_proxy.gps, DataT::SYSTEM_GPS);
       case SYS_SBAS:
-        return SP3_Product<FloatT>::push(
-            solver.sbas.solver.satellites, SP3_Product<FloatT>::SYSTEM_SBAS);
+        return data.push(
+            solver.sbas.solver.satellites, DataT::SYSTEM_SBAS);
       case SYS_QZSS:
-        return SP3_Product<FloatT>::push(
-            solver.gps.ephemeris_proxy.qzss, SP3_Product<FloatT>::SYSTEM_QZSS);
+        return data.push(
+            solver.gps.ephemeris_proxy.qzss, DataT::SYSTEM_QZSS);
       case SYS_GLONASS:
-        return SP3_Product<FloatT>::push(
-            solver.glonass.solver.satellites, SP3_Product<FloatT>::SYSTEM_GLONASS);
+        return data.push(
+            solver.glonass.solver.satellites, DataT::SYSTEM_GLONASS);
       case SYS_GALILEO:
       case SYS_BEIDOU:
       default:
@@ -1708,7 +1681,8 @@ struct SP3 : public SP3_Product<FloatT> {
     }
     return false;
   }
-  bool push(GPS_Solver<FloatT> &solver) const {
+  template <class DataT, class FloatT>
+  static bool push(DataT &data, GPS_Solver<FloatT> &solver){
     system_t target[] = {
       SYS_GPS,
       SYS_SBAS,
@@ -1718,10 +1692,39 @@ struct SP3 : public SP3_Product<FloatT> {
       //SYS_BEIDOU,
     };
     for(std::size_t i(0); i < sizeof(target) / sizeof(target[0]); ++i){
-      if(!push(solver, target[i])){return false;}
+      if(!push(data, solver, target[i])){return false;}
     }
     return true;
   }
+};
+}
+
+%extend SP3 {
+  %typemap(out) typename SP3_Product<FloatT>::satellite_count_t {
+    %append_output(SWIG_From(int)($1.gps));
+    %append_output(SWIG_From(int)($1.sbas));
+    %append_output(SWIG_From(int)($1.qzss));
+    %append_output(SWIG_From(int)($1.glonass));
+    %append_output(SWIG_From(int)($1.galileo));
+    %append_output(SWIG_From(int)($1.beidou));
+  }
+}
+%inline {
+template <class FloatT>
+struct SP3 : public SP3_Product<FloatT>, PushableData {
+  int read(const char *fname) {
+    std::fstream fin(fname, std::ios::in | std::ios::binary);
+    return SP3_Reader<FloatT>::read_all(fin, *this);
+  }
+  typename SP3_Product<FloatT>::satellite_count_t satellites() const {
+    return SP3_Product<FloatT>::satellite_count();
+  }
+  bool push(GPS_Solver<FloatT> &solver, const PushableData::system_t &sys) const {
+    return PushableData::push((SP3_Product<FloatT> &)*this, solver, sys);
+  }
+  bool push(GPS_Solver<FloatT> &solver) const {
+    return PushableData::push((SP3_Product<FloatT> &)*this, solver);
+  }
   System_XYZ<FloatT, WGS84> position(
       const int &sat_id, const GPS_Time<FloatT> &t) const {
     return SP3_Product<FloatT>::select(sat_id, t).position(t);
@@ -1748,6 +1751,46 @@ struct SP3 : public SP3_Product<FloatT> {
 };
 }
 
+%extend RINEX_Clock {
+  %typemap(out) typename RINEX_CLK<FloatT>::satellites_t::count_t {
+    %append_output(SWIG_From(int)($1.gps));
+    %append_output(SWIG_From(int)($1.sbas));
+    %append_output(SWIG_From(int)($1.qzss));
+    %append_output(SWIG_From(int)($1.glonass));
+    %append_output(SWIG_From(int)($1.galileo));
+    %append_output(SWIG_From(int)($1.beidou));
+  }
+}
+%inline {
+template <class FloatT>
+struct RINEX_Clock : public RINEX_CLK<FloatT>::satellites_t, PushableData {
+  typedef typename RINEX_CLK<FloatT>::satellites_t super_t;
+  int read(const char *fname) {
+    std::fstream fin(fname, std::ios::in | std::ios::binary);
+    return RINEX_CLK_Reader<FloatT>::read_all(fin, *this);
+  }
+  typename RINEX_CLK<FloatT>::satellites_t::count_t satellites() const {
+    return RINEX_CLK<FloatT>::satellites_t::count();
+  }
+  bool push(GPS_Solver<FloatT> &solver, const PushableData::system_t &sys) const {
+    return PushableData::push((typename RINEX_CLK<FloatT>::satellites_t &)*this, solver, sys);
+  }
+  bool push(GPS_Solver<FloatT> &solver) const {
+    return PushableData::push((typename RINEX_CLK<FloatT>::satellites_t &)*this, solver);
+  }
+  FloatT clock_error(const int &sat_id, const GPS_Time<FloatT> &t) const {
+    typename super_t::buf_t::const_iterator it(this->buf.find(sat_id));
+    if(it == this->buf.end()){return super_t::sat_t::unavailable().clock_error(t);}
+    return it->second.clock_error(t);
+  }
+  FloatT clock_error_dot(const int &sat_id, const GPS_Time<FloatT> &t) const {
+    typename super_t::buf_t::const_iterator it(this->buf.find(sat_id));
+    if(it == this->buf.end()){return super_t::sat_t::unavailable().clock_error(t);}
+    return it->second.clock_error_dot(t);
+  }
+};
+}
+
 #undef MAKE_ACCESSOR
 #undef MAKE_VECTOR2ARRAY
 #undef MAKE_ARRAY_INPUT
@@ -1776,6 +1819,7 @@ struct SP3 : public SP3_Product<FloatT> {
 
 %template(RINEX_Observation) RINEX_Observation<type>;
 %template(SP3) SP3<type>;
+%template(RINEX_Clock) RINEX_Clock<type>;
 %enddef
 
 CONCRETIZE(double);

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

@@ -592,7 +592,6 @@ struct MatrixUtil {
       }
       static VALUE read(
           const VALUE &v, const unsigned int &row = 0, const unsigned int &column = 0) {
-        int state;
         VALUE values[3] = {v, UINT2NUM(row), UINT2NUM(column)};
         return funcall_throw_if_error(run, reinterpret_cast<VALUE>(values));
       }
@@ -865,7 +864,7 @@ struct MatrixUtil {
         static const ID with_index[] = {
             rb_intern("map_with_index"), rb_intern("map_with_index!"), 
             rb_intern("collect_with_index"), rb_intern("collect_with_index!")};
-        for(int i(0); i < sizeof(with_index) / sizeof(with_index[0]); ++i){
+        for(std::size_t i(0); i < sizeof(with_index) / sizeof(with_index[0]); ++i){
           if(id_callee == with_index[i]){
             return matrix_yield_get_with_index;
           }

data/lib/gps_pvt/receiver.rb

@@ -651,5 +651,21 @@ class Receiver
     raise "Format error! (Not ANTEX) #{src}" unless applied_items >= 0
     $stderr.puts "SP3 correction with ANTEX file (%s): %d items have been processed."%[src, applied_items]
   end
+  
+  def attach_rinex_clk(src)
+    fname = Util::get_txt(src)
+    @clk ||= GPS::RINEX_Clock::new
+    read_items = @clk.read(fname)
+    raise "Format error! (Not RINEX clock) #{src}" if read_items < 0
+    $stderr.puts "Read RINEX clock file (%s): %d items."%[src, read_items]
+    sats = @clk.satellites
+    @clk.class.constants.each{|sys|
+      next unless /^SYS_(?!SYSTEMS)(.*)/ =~ sys.to_s
+      idx, sys_name = [@clk.class.const_get(sys), $1]
+      next unless sats[idx] > 0
+      next unless @clk.push(@solver, idx)
+      $stderr.puts "Change clock error source of #{sys_name} to RINEX clock" 
+    }
+  end
 end
 end

data/lib/gps_pvt/version.rb

@@ -1,5 +1,5 @@
 # frozen_string_literal: true
 
 module GPS_PVT
-  VERSION = "0.6.4"
+  VERSION = "0.7.0"
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: gps_pvt
 version: !ruby/object:Gem::Version
-  version: 0.6.4
+  version: 0.7.0
 platform: ruby
 authors:
 - fenrir(M.Naruoka)
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2022-08-19 00:00:00.000000000 Z
+date: 2022-08-24 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rake
@@ -78,6 +78,7 @@ files:
 - ext/ninja-scan-light/tool/navigation/NTCM.h
 - ext/ninja-scan-light/tool/navigation/QZSS.h
 - ext/ninja-scan-light/tool/navigation/RINEX.h
+- ext/ninja-scan-light/tool/navigation/RINEX_Clock.h
 - ext/ninja-scan-light/tool/navigation/SBAS.h
 - ext/ninja-scan-light/tool/navigation/SBAS_Solver.h
 - ext/ninja-scan-light/tool/navigation/SP3.h