gps_pvt 0.7.0 → 0.8.0

data/lib/gps_pvt/receiver.rb

@@ -19,6 +19,7 @@ class Receiver
     opt = {
       :system => [[:GPS, 1..32]],
       :satellites => (1..32).to_a,
+      :FDE => true,
     }.merge(opt)
     [[
       [:week, :itow_rcv, :year, :month, :mday, :hour, :min, :sec_rcv_UTC],
@@ -106,7 +107,7 @@ class Receiver
         el_deg = [4, 6].collect{|i| pvt.elevation[fd[i]] / Math::PI * 180}
         fd[0..4] + [el_deg[0]] + fd[5..6] + [el_deg[1]]
       }
-    ]] + [[
+    ]] + (opt[:FDE] ? [[
       [:wssr_FDE_min, :wssr_FDE_min_PRN, :wssr_FDE_2nd, :wssr_FDE_2nd_PRN],
       proc{|pvt|
         [:fde_min, :fde_2nd].collect{|f|
@@ -115,7 +116,7 @@ class Receiver
           [info[0], info[-3]] 
         }.flatten
       }
-    ]]
+    ]] : [])
   end
 
   def self.meas_items(opt = {})
@@ -149,11 +150,11 @@ class Receiver
 
   def initialize(options = {})
     @solver = GPS::Solver::new
-    @solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, rcv_e, t_arv, usr_pos, usr_vel|
-      rel_prop[0] = 1 if rel_prop[0] > 0 # weight = 1
-      rel_prop
+    @solver.options = {
+      :skip_exclusion => true, # default is to skip fault exclusion calculation
     }
     @debug = {}
+    @semaphore = Mutex::new
     solver_opts = [:gps_options, :sbas_options, :glonass_options].collect{|target|
       @solver.send(target)
     }
@@ -165,8 +166,10 @@ class Receiver
     output_options = {
       :system => [[:GPS, 1..32], [:QZSS, 193..202]],
       :satellites => (1..32).to_a + (193..202).to_a, # [idx, ...] or [[idx, label], ...] is acceptable
+      :FDE => false,
     }
     options = options.reject{|k, v|
+      def v.to_b; !(self =~ /^(?:false|0|f|off)$/i); end
       case k
       when :debug
         v = v.split(/,/)
@@ -174,7 +177,7 @@ class Receiver
         next true
       when :weight
         case v.to_sym
-        when :elevation # (same as underneath C++ library)
+        when :elevation # (same as underneath C++ library except for ignoring broadcasted/calculated URA)
           @solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, rcv_e, t_arv, usr_pos, usr_vel|
             if rel_prop[0] > 0 then
               elv = Coordinate::ENU::relative_rel(
@@ -184,7 +187,11 @@ class Receiver
             rel_prop
           }
           next true
-        when :identical # same as default
+        when :identical # treat each satellite range having same accuracy
+          @solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, rcv_e, t_arv, usr_pos, usr_vel|
+            rel_prop[0] = 1 if rel_prop[0] > 0 # weight = 1
+            rel_prop
+          }
           next true
         end
       when :elevation_mask_deg
@@ -280,6 +287,9 @@ class Receiver
           $stderr.puts "#{mode.capitalize} satellite: #{[sys, svid].compact.join(':')}"
         }
         next true
+      when :fault_exclusion
+        @solver.options = {:skip_exclusion => !(output_options[:FDE] = v.to_b)}
+        next true
       end
       false
     }
@@ -289,6 +299,24 @@ class Receiver
       :meas => Receiver::meas_items(output_options),
     }
   end
+  
+  def critical(&b)
+    begin
+      @semaphore.synchronize{b.call}
+    rescue ThreadError # recovery from deadlock
+      b.call
+    end
+  end
+  
+  class << self
+    def make_critical(fname)
+      f_orig = instance_method(fname)
+      define_method(fname){|*args, &b|
+        critical{f_orig.bind(self).call(*args, &b)}
+      }
+    end
+    private :make_critical
+  end
 
   GPS::Measurement.class_eval{
     proc{
@@ -322,7 +350,7 @@ class Receiver
 =end
 
     #@solver.gps_space_node.update_all_ephemeris(t_meas) # internally called in the following solver.solve
-    pvt = @solver.solve(meas, t_meas)
+    pvt = critical{@solver.solve(meas, t_meas)}
     pvt.define_singleton_method(:rel_ENU){
       Coordinate::ENU::relative(xyz, ref_pos)
     } if (ref_pos && pvt.position_solved?)
@@ -369,60 +397,59 @@ class Receiver
     }
   }
   
-  proc{
-    eph_list = Hash[*((1..32).to_a + (193..202).to_a).collect{|prn|
+  def register_ephemeris(t_meas, sys, prn, bcast_data, *options)
+    @eph_list ||= Hash[*((1..32).to_a + (193..202).to_a).collect{|prn|
       eph = GPS::Ephemeris::new
       eph.svid = prn
       [prn, eph]
     }.flatten(1)]
-    eph_glonass_list = Hash[*(1..24).collect{|num|
+    @eph_glonass_list ||= Hash[*(1..24).collect{|num|
       eph = GPS::Ephemeris_GLONASS::new
       eph.svid = num
       [num, eph]
     }.flatten(1)]
-    define_method(:register_ephemeris){|t_meas, sys, prn, bcast_data, *options|
-      opt = options[0] || {}
-      case sys
-      when :GPS, :QZSS
-        next unless eph = eph_list[prn]
-        sn = @solver.gps_space_node
-        subframe, iodc_or_iode = eph.parse(bcast_data)
-        if iodc_or_iode < 0 then
-          begin
-            sn.update_iono_utc(
-                GPS::Ionospheric_UTC_Parameters::parse(bcast_data))
-            [:alpha, :beta].each{|k|
-              $stderr.puts "Iono #{k}: #{sn.iono_utc.send(k)}"
-            } if false
-          rescue
-          end
-          next
+    opt = options[0] || {}
+    case sys
+    when :GPS, :QZSS
+      return unless eph = @eph_list[prn]
+      sn = @solver.gps_space_node
+      subframe, iodc_or_iode = eph.parse(bcast_data)
+      if iodc_or_iode < 0 then
+        begin
+          sn.update_iono_utc(
+              GPS::Ionospheric_UTC_Parameters::parse(bcast_data))
+          [:alpha, :beta].each{|k|
+            $stderr.puts "Iono #{k}: #{sn.iono_utc.send(k)}"
+          } if false
+        rescue
         end
-        if t_meas and eph.consistent? then
-          eph.WN = ((t_meas.week / 1024).to_i * 1024) + (eph.WN % 1024)
-          sn.register_ephemeris(prn, eph)
-          eph.invalidate
-        end
-      when :SBAS
-        case @solver.sbas_space_node.decode_message(bcast_data[0..7], prn, t_meas)
-        when 26
-          ['', "IGP broadcasted by PRN#{prn} @ #{Time::utc(*t_meas.c_tm)}",
-              @solver.sbas_space_node.ionospheric_grid_points(prn)].each{|str|
-            $stderr.puts str
-          } if @debug[:SBAS_IGP] 
-        end if t_meas
-      when :GLONASS
-        next unless eph = eph_glonass_list[prn]
-        leap_sec = @solver.gps_space_node.is_valid_utc ? 
-            @solver.gps_space_node.iono_utc.delta_t_LS :
-            GPS::Time::guess_leap_seconds(t_meas)
-        next unless eph.parse(bcast_data[0..3], leap_sec)
-        eph.freq_ch = opt[:freq_ch] || 0
-        @solver.glonass_space_node.register_ephemeris(prn, eph)
+        return
+      end
+      if t_meas and eph.consistent? then
+        eph.WN = ((t_meas.week / 1024).to_i * 1024) + (eph.WN % 1024)
+        sn.register_ephemeris(prn, eph)
         eph.invalidate
       end
-    }
-  }.call
+    when :SBAS
+      case @solver.sbas_space_node.decode_message(bcast_data[0..7], prn, t_meas)
+      when 26
+        ['', "IGP broadcasted by PRN#{prn} @ #{Time::utc(*t_meas.c_tm)}",
+            @solver.sbas_space_node.ionospheric_grid_points(prn)].each{|str|
+          $stderr.puts str
+        } if @debug[:SBAS_IGP]
+      end if t_meas
+    when :GLONASS
+      return unless eph = @eph_glonass_list[prn]
+      leap_sec = @solver.gps_space_node.is_valid_utc ? 
+          @solver.gps_space_node.iono_utc.delta_t_LS :
+          GPS::Time::guess_leap_seconds(t_meas)
+      return unless eph.parse(bcast_data[0..3], leap_sec)
+      eph.freq_ch = opt[:freq_ch] || 0
+      @solver.glonass_space_node.register_ephemeris(prn, eph)
+      eph.invalidate
+    end
+  end
+  make_critical :register_ephemeris
   
   def parse_ubx(ubx_fname, &b)
     $stderr.print "Reading UBX file (%s) "%[ubx_fname]
@@ -555,7 +582,7 @@ class Receiver
       @solver.sbas_space_node,
       @solver.glonass_space_node,
     ].inject(0){|res, sn|
-      loaded_items = sn.send(:read, fname)
+      loaded_items = critical{sn.send(:read, fname)}
       raise "Format error! (Not RINEX) #{src}" if loaded_items < 0
       res + loaded_items
     }
@@ -639,7 +666,7 @@ class Receiver
       next unless /^SYS_(?!SYSTEMS)(.*)/ =~ sys.to_s
       idx, sys_name = [@sp3.class.const_get(sys), $1]
       next unless sats[idx] > 0
-      next unless @sp3.push(@solver, idx)
+      next unless critical{@sp3.push(@solver, idx)}
       $stderr.puts "Change ephemeris source of #{sys_name} to SP3" 
     }
   end
@@ -647,7 +674,7 @@ class Receiver
   def attach_antex(src)
     fname = Util::get_txt(src)
     raise "Specify SP3 before ANTEX application!" unless @sp3
-    applied_items = @sp3.apply_antex(fname)
+    applied_items = critical{@sp3.apply_antex(fname)}
     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
@@ -663,7 +690,7 @@ class Receiver
       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)
+      next unless critical{@clk.push(@solver, idx)}
       $stderr.puts "Change clock error source of #{sys_name} to RINEX clock" 
     }
   end

data/lib/gps_pvt/util.rb

@@ -1,7 +1,39 @@
-require 'open-uri'
 require 'tempfile'
 require 'uri'
 
+proc{
+  # port[:baudrate], baudrate default is 115200
+  Serial.class_eval{
+    const_set(:SPEC, 
+        if RubySerial::ON_WINDOWS then
+          %r{^(?:\\\\.\\)?(COM\d+)(?::(\d+))?$}
+        elsif RubySerial::ON_LINUX then
+          %r{^(/dev/tty[^:]+)(?::(\d+))?$}
+        else
+          nil
+        end)
+  }
+  Serial.class_eval{
+    read_orig = instance_method(:read)
+    define_method(:read){|len|
+      buf = ''
+      f = read_orig.bind(self)
+      buf += f.call(len - buf.size) while buf.size < len
+      buf
+    }
+    def eof?; false; end
+  }
+  Kernel.instance_eval{
+    open_orig = method(:open)
+    define_method(:open){|*args, &b|
+      return open_orig.call(*args, &b) unless Serial::SPEC =~ args[0]
+      Serial::new($1, $2 ? $2.to_i : 115200)
+    }
+  }
+}.call if require 'rubyserial'
+
+require 'open-uri'
+
 module GPS_PVT
 module Util
   class << self

data/lib/gps_pvt/version.rb

@@ -1,5 +1,5 @@
 # frozen_string_literal: true
 
 module GPS_PVT
-  VERSION = "0.7.0"
+  VERSION = "0.8.0"
 end

metadata

@@ -1,15 +1,29 @@
 --- !ruby/object:Gem::Specification
 name: gps_pvt
 version: !ruby/object:Gem::Version
-  version: 0.7.0
+  version: 0.8.0
 platform: ruby
 authors:
 - fenrir(M.Naruoka)
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2022-08-24 00:00:00.000000000 Z
+date: 2022-09-13 00:00:00.000000000 Z
 dependencies:
+- !ruby/object:Gem::Dependency
+  name: rubyserial
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
 - !ruby/object:Gem::Dependency
   name: rake
   requirement: !ruby/object:Gem::Requirement