gps_pvt 0.8.0 → 0.8.2

data/lib/gps_pvt/receiver/extension.rb

@@ -0,0 +1,51 @@
+=begin
+Receiver extension
+=end
+
+module GPS_PVT
+class Receiver
+  
+  # shortcut to access ephemeris registered in receiver 
+  def ephemeris(t, sys, prn)
+    eph = case sys
+    when :GPS, :QZSS
+      critical{
+        @solver.gps_space_node.update_all_ephemeris(t)
+        @solver.gps_space_node.ephemeris(prn)
+      }
+    when :SBAS
+      critical{
+        @solver.sbas_space_node.update_all_ephemeris(t)
+        @solver.sbas_space_node.ephemeris(prn)
+      }
+    when :GLONASS
+      critical{
+        @solver.glonass_space_node.update_all_ephemeris(t)
+        @solver.glonass_space_node.ephemeris(prn)
+      }
+    else
+      return nil
+    end
+    return (eph.valid?(t) ? eph : nil)
+  end
+
+  def attach_online_ephemeris(uri_template = nil)
+    if (!uri_template) || (uri_template =~ /^\s*$/) then
+      uri_template = "ftp://gssc.esa.int/gnss/data/daily/%Y/brdc/BRDC00IGS_R_%Y%j0000_01D_MN.rnx.gz"
+    end
+    loader = proc{|t_meas|
+      utc = Time::utc(*t_meas.c_tm)
+      uri = URI::parse(utc.strftime(uri_template))
+      self.parse_rinex_nav(uri)
+      uri
+    }
+    run_orig = self.method(:run)
+    eph_list = {}
+    self.define_singleton_method(:run){|meas, t_meas, *args|
+      w_d = [t_meas.week, (t_meas.seconds.to_i / 86400)]
+      eph_list[w_d] ||= loader.call(t_meas)
+      run_orig.call(meas, t_meas, *args)
+    }
+  end
+end
+end

data/lib/gps_pvt/receiver.rb

@@ -3,7 +3,7 @@ Receiver class to be an top level interface to a user
 (The origin is ninja-scan-light/tool/misc/receiver_debug.rb)
 =end
 
-require_relative 'GPS'
+require 'gps_pvt/GPS' # in case GPS.so is generated under ext/gps_pvt
 require_relative 'util'
 
 module GPS_PVT
@@ -290,6 +290,11 @@ class Receiver
       when :fault_exclusion
         @solver.options = {:skip_exclusion => !(output_options[:FDE] = v.to_b)}
         next true
+      when :use_signal
+        {
+          :GPS_L2C => proc{@solver.gps_options.exclude_L2C = false},
+        }[v.to_sym].call rescue next false
+        next true
       end
       false
     }
@@ -334,9 +339,9 @@ class Receiver
         }.flatten(1))]
       }
     }.call
-    alias_method(:add_orig, :add)
+    add_orig = instance_method(:add)
     define_method(:add){|prn, key, value|
-      add_orig(prn, key.kind_of?(Symbol) ? GPS::Measurement.const_get(key) : key, value)
+      add_orig.bind(self).call(prn, key.kind_of?(Symbol) ? GPS::Measurement.const_get(key) : key, value)
     }
   }
 
@@ -523,31 +528,39 @@ class Receiver
             v
           }
           sys, svid = gnss_serial.call(*loader.call(36, 2).reverse)
+          sigid = (packet[6 + 13] != 0) ? loader.call(38, 1, "C") : 0 # sigID if version(>0); @see UBX-18010854 
           case sys
-          when :GPS, :SBAS, :QZSS;
+          when :GPS
+            sigid = {0 => :L1, 3 => :L2CL, 4 => :L2CM}[sigid]
+          when :SBAS
+            sigid = :L1
+          when :QZSS
+            sigid = {0 => :L1, 5 => :L2CL, 4 => :L2CM}[sigid]
           when :GLONASS
             svid += 0x100
+            sigid = {0 => :L1}[sigid] # TODO: to support {2 -> :L2}
             meas.add(svid, :L1_FREQUENCY, 
                 GPS::SpaceNode_GLONASS::L1_frequency(loader.call(39, 1, "C") - 7))
           else; next
           end
+          next unless sigid
           trk_stat = loader.call(46, 1)[0]
           {
-            :L1_PSEUDORANGE => [16, 8, "E", proc{|v| (trk_stat & 0x1 == 0x1) ? v : nil}],
-            :L1_PSEUDORANGE_SIGMA => [43, 1, nil, proc{|v|
+            :PSEUDORANGE => [16, 8, "E", proc{|v| (trk_stat & 0x1 == 0x1) ? v : nil}],
+            :PSEUDORANGE_SIGMA => [43, 1, nil, proc{|v|
               (trk_stat & 0x1 == 0x1) ? (1E-2 * (1 << (v[0] & 0xF))) : nil
             }],
-            :L1_DOPPLER => [32, 4, "e"],
-            :L1_DOPPLER_SIGMA => [45, 1, nil, proc{|v| 2E-3 * (1 << (v[0] & 0xF))}],
-            :L1_CARRIER_PHASE => [24, 8, "E", proc{|v| (trk_stat & 0x2 == 0x2) ? v : nil}],
-            :L1_CARRIER_PHASE_SIGMA => [44, 1, nil, proc{|v|
+            :DOPPLER => [32, 4, "e"],
+            :DOPPLER_SIGMA => [45, 1, nil, proc{|v| 2E-3 * (1 << (v[0] & 0xF))}],
+            :CARRIER_PHASE => [24, 8, "E", proc{|v| (trk_stat & 0x2 == 0x2) ? v : nil}],
+            :CARRIER_PHASE_SIGMA => [44, 1, nil, proc{|v|
               (trk_stat & 0x2 == 0x2) ? (0.004 * (v[0] & 0xF)) : nil
             }],
-            :L1_SIGNAL_STRENGTH_dBHz => [42, 1, "C"],
-            :L1_LOCK_SEC => [40, 2, "v", proc{|v| 1E-3 * v}],
+            :SIGNAL_STRENGTH_dBHz => [42, 1, "C"],
+            :LOCK_SEC => [40, 2, "v", proc{|v| 1E-3 * v}],
           }.each{|k, prop|
             next unless v = loader.call(*prop)
-            meas.add(svid, k, v)
+            meas.add(svid, "#{sigid}_#{k}".to_sym, v) rescue nil # unsupported signal
           }
         }
         after_run.call(run(meas, t_meas), [meas, t_meas])
@@ -556,10 +569,13 @@ class Receiver
         register_ephemeris(
             t_meas,
             sys, svid,
-            packet.slice(6 + 2, 40).each_slice(4).collect{|v|
-              res = v.pack("C*").unpack("V")[0]
-              (sys == :GPS) ? ((res & 0xFFFFFF) << 6) : res
-            })
+            proc{|data|
+              case sys # adjust padding
+              when :GPS; data.collect!{|v| (v & 0xFFFFFF) << 6}
+              when :SBAS; data[7] <<= 6
+              end
+              data
+            }.call(packet.slice(6 + 2, 40).pack("C*").unpack("V*")))
       when [0x02, 0x13] # RXM-SFRBX
         sys, svid = gnss_serial.call(packet[6 + 1], packet[6])
         opt = {}
@@ -567,9 +583,7 @@ class Receiver
         register_ephemeris(
             t_meas,
             sys, svid,
-            packet.slice(6 + 8, 4 * packet[6 + 4]).each_slice(4).collect{|v|
-              v.pack("C*").unpack("V")[0]
-            }, opt)
+            packet.slice(6 + 8, 4 * packet[6 + 4]).pack("C*").unpack("V*"), opt)
       end
     }
     $stderr.puts ", found packets are %s"%[ubx_kind.inspect]
@@ -602,18 +616,19 @@ class Receiver
 
       types ||= Hash[*(item[:meas_types].collect{|sys, values|
         [sys, values.collect.with_index{|type_, i|
-          case type_
-          when "C1", "C1C"
-            [i, :L1_PSEUDORANGE]
-          when "L1", "L1C"
-            [i, :L1_CARRIER_PHASE]
-          when "D1", "D1C"
-            [i, :L1_DOPPLER]
-          when "S1", "S1C"
-            [i, :L1_SIGNAL_STRENGTH_dBHz]
-          else
-            nil 
-          end
+          sig_obs_type = [case type_[1..-1]
+            when /^1C?$/; :L1
+            when /^2[XL]$/; :L2CL
+            when /^2S$/; :L2CM
+            else; nil
+          end, {
+            'C' => :PSEUDORANGE,
+            'L' => :CARRIER_PHASE,
+            'D' => :DOPPLER,
+            'S' => :SIGNAL_STRENGTH_dBHz,
+          }[type_[0]]]
+          next nil unless sig_obs_type.all?
+          [i, sig_obs_type.join('_').to_sym]
         }.compact]
       }.flatten(1))]
 
@@ -696,3 +711,5 @@ class Receiver
   end
 end
 end
+
+require_relative 'receiver/extension'

data/lib/gps_pvt/version.rb

@@ -1,5 +1,5 @@
 # frozen_string_literal: true
 
 module GPS_PVT
-  VERSION = "0.8.0"
+  VERSION = "0.8.2"
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: gps_pvt
 version: !ruby/object:Gem::Version
-  version: 0.8.0
+  version: 0.8.2
 platform: ruby
 authors:
 - fenrir(M.Naruoka)
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2022-09-13 00:00:00.000000000 Z
+date: 2022-11-20 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rubyserial
@@ -112,11 +112,13 @@ files:
 - ext/ninja-scan-light/tool/swig/makefile
 - ext/ninja-scan-light/tool/swig/spec/GPS_spec.rb
 - ext/ninja-scan-light/tool/swig/spec/SylphideMath_spec.rb
+- ext/ninja-scan-light/tool/util/bit_counter.h
 - ext/ninja-scan-light/tool/util/text_helper.h
 - gps_pvt.gemspec
 - gps_pvt.rbs
 - lib/gps_pvt.rb
 - lib/gps_pvt/receiver.rb
+- lib/gps_pvt/receiver/extension.rb
 - lib/gps_pvt/ubx.rb
 - lib/gps_pvt/util.rb
 - lib/gps_pvt/version.rb