gps_pvt 0.8.5 → 0.9.1
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- checksums.yaml +4 -4
- data/README.md +3 -2
- data/exe/gps2ubx +39 -22
- data/exe/gps_get +15 -24
- data/exe/gps_pvt +14 -17
- data/ext/gps_pvt/GPS/GPS_wrap.cxx +615 -84
- data/ext/ninja-scan-light/tool/navigation/GLONASS.h +24 -10
- data/ext/ninja-scan-light/tool/navigation/GPS_Solver_Base.h +2 -1
- data/ext/ninja-scan-light/tool/navigation/RINEX.h +1 -1
- data/ext/ninja-scan-light/tool/swig/GPS.i +32 -23
- data/ext/ninja-scan-light/tool/swig/spec/GPS_spec.rb +2 -0
- data/lib/gps_pvt/ntrip.rb +23 -4
- data/lib/gps_pvt/receiver/rtcm3.rb +110 -0
- data/lib/gps_pvt/receiver.rb +2 -1
- data/lib/gps_pvt/rtcm3.rb +364 -0
- data/lib/gps_pvt/util.rb +63 -9
- data/lib/gps_pvt/version.rb +1 -1
- metadata +4 -2
@@ -0,0 +1,364 @@
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# RTCM3 parser
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require_relative 'util'
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module GPS_PVT
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class RTCM3
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def initialize(io)
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@io = io
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@buf = []
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end
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def RTCM3.checksum(packet, range = 0..-4)
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GPS_PVT::Util::CRC24Q::checksum(packet[range])
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end
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module Packet
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def decode(bits_list, offset = nil)
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Util::BitOp::extract(self, bits_list, offset || 24)
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end
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def message_number
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decode([12]).first
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end
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DataFrame = proc{
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unum_gen = proc{|n, sf|
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next [n, proc{|v| v}] unless sf
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[n, sf.kind_of?(Rational) ? proc{|v| (sf * v).to_f} : proc{|v| sf * v}]
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}
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num_gen = proc{|n, sf|
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lim = 1 << (n - 1)
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lim2 = lim << 1
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next [n, proc{|v| v >= lim ? v - lim2 : v}] unless sf
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[n, sf.kind_of?(Rational) ?
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proc{|v| v -= lim2 if v >= lim; (sf * v).to_f} :
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proc{|v| v -= lim2 if v >= lim; sf * v}]
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}
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num_sign_gen = proc{|n, sf|
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lim = 1 << (n - 1)
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next [n, proc{|v| v >= lim ? lim - v : v}] unless sf
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[n, sf.kind_of?(Rational) ?
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proc{|v| v = lim - v if v >= lim; (sf * v).to_f} :
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proc{|v| v = lim - v if v >= lim; sf * v}]
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}
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invalidate = proc{|orig, err|
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[orig[0], proc{|v| v == err ? nil : orig[1].call(v)}]
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}
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idx_list_gen = proc{|n, start|
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start ||= 0
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idx_list = (start...(start+n)).to_a.reverse
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[n, proc{|v| idx_list.inject([]){|res, idx|
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res.unshift(idx) if (v & 0x1) > 0
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break res unless (v >>= 1) > 0
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res
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} }]
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}
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sc2rad = 3.1415926535898
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df = { # {df_num => [bits, post_process] or generator_proc, ...}
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1 => proc{|n| n},
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2 => 12,
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3 => 12,
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4 => unum_gen.call(30, Rational(1, 1000)), # [sec]
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9 => 6,
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21 => 6,
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22 => 1,
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23 => 1,
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24 => 1,
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25 => num_gen.call(38, Rational(1, 10000)), # [m]
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34 => unum_gen.call(27, Rational(1, 1000)), # [sec]
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38 => 6,
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40 => 5,
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71 => 8,
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76 => 10,
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77 => proc{
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idx2meter = [
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2.40, 3.40, 4.85, 6.85, 9.65, 13.65, 24.00, 48.00,
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96.00, 192.00, 384.00, 768.00, 1536.00, 3072.00, 6144.00]
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[4, proc{|v| (v >= idx2meter.size) ? (idx2meter[-1] * 2) : idx2meter[v]}]
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}.call, # [m]
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76
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78 => 2,
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79 => num_gen.call(14, Rational(sc2rad, 1 << 43)), # [rad/s]
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78
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81 => unum_gen.call(16, 1 << 4), # [sec]
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79
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82 => num_gen.call(8, Rational(1, 1 << 55)), # [s/s^2]
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80
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83 => num_gen.call(16, Rational(1, 1 << 43)), # [s/s]
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81
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84 => num_gen.call(22, Rational(1, 1 << 31)), # [sec]
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85 => 10,
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86 => num_gen.call(16, Rational(1, 1 << 5)), # [m]
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87 => num_gen.call(16, Rational(sc2rad, 1 << 43)), # [rad/s]
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85
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88 => num_gen.call(32, Rational(sc2rad, 1 << 31)), # [rad/s]
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86
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89 => num_gen.call(16, Rational(1, 1 << 29)), # [rad]
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87
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90 => unum_gen.call(32, Rational(1, 1 << 33)),
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91 => num_gen.call(16, Rational(1, 1 << 29)), # [rad]
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92 => unum_gen.call(32, Rational(1, 1 << 19)), # [m^1/2]
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90
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93 => unum_gen.call(16, 1 << 4), # [sec]
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94 => num_gen.call(16, Rational(1, 1 << 29)), # [rad]
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95 => num_gen.call(32, Rational(sc2rad, 1 << 31)), # [rad/s]
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96 => num_gen.call(16, Rational(1, 1 << 29)), # [rad]
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97 => num_gen.call(32, Rational(sc2rad, 1 << 31)), # [rad/s]
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98 => num_gen.call(16, Rational(1, 1 << 5)), # [m]
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96
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99 => num_gen.call(32, Rational(sc2rad, 1 << 31)), # [rad]
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100 => num_gen.call(24, Rational(sc2rad, 1 << 43)), # [rad/s]
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101 => num_gen.call(8, Rational(1, 1 << 31)), # [sec]
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102 => 6,
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103 => 1,
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104 => 1,
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105 => 1,
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106 => [2, proc{|v| [0, 30, 45, 60][v] * 60}], # [s]
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104
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107 => [12, proc{|v|
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hh, mm, ss = [v >> 7, (v & 0x7E) >> 1, (v & 0x1) > 0 ? 30 : 0]
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hh * 3600 + mm * 60 + ss # [sec]
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}],
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108 => 1,
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109 => 1,
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110 => unum_gen.call(7, 15 * 60), # [sec]
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111 => num_sign_gen.call(24, Rational(1000, 1 << 20)), # [m/s]
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112 => num_sign_gen.call(27, Rational(1000, 1 << 11)), # [m]
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113 => num_sign_gen.call(5, Rational(1000, 1 << 30)), # [m/s^2]
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120 => 1,
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121 => num_sign_gen.call(11, Rational(1, 1 << 40)),
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122 => 2, # (M)
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123 => 1, # (M)
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124 => num_sign_gen.call(22, Rational(1, 1 << 30)), # [sec]
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125 => num_sign_gen.call(5, Rational(1, 1 << 30)), # [sec], (M)
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126 => 5, # [day]
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127 => 1, # (M)
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128 => [4, proc{|v|
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[1, 2, 2.5, 4, 5, 7, 10, 12, 14, 16, 32, 64, 128, 256, 512, 1024][v]
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}], # [m] (M)
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129 => 11, # [day]
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130 => 2, # 1 => GLONASS-M, (M) fields are active
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131 => 1,
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132 => 11, # [day]
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133 => num_sign_gen.call(32, Rational(1, 1 << 31)), # [sec]
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134 => 5, # [4year], (M)
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135 => num_sign_gen.call(22, Rational(1, 1 << 30)), # [sec], (M)
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136 => 1, # (M)
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137 => 1,
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141 => 1,
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142 => 1,
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248 => 30,
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364 => 2,
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393 => 1,
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394 => idx_list_gen.call(64, 1),
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395 => idx_list_gen.call(32, 1),
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396 => proc{|df394, df395|
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x_list = df394.product(df395)
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idx_list = idx_list_gen.call(x_list.size)[1]
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[x_list.size, proc{|v| x_list.values_at(*idx_list.call(v))}]
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},
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397 => invalidate.call(unum_gen.call(8, Rational(1, 1000)), 0xFF), # [sec]
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398 => unum_gen.call(10, Rational(1, 1000 << 10)), # [sec]
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399 => invalidate.call(num_gen.call(14), 0x2000), # [m/s]
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404 => invalidate.call(num_gen.call(15, Rational(1, 10000)), 0x4000), # [m/s]
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405 => invalidate.call(num_gen.call(20, Rational(1, 1000 << 29)), 0x80000), # [sec]
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406 => invalidate.call(num_gen.call(24, Rational(1, 1000 << 31)), 0x800000), # [sec]
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407 => 10,
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408 => unum_gen.call(10, Rational(1, 1 << 4)), # [dB-Hz]
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409 => 3,
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411 => 2,
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412 => 2,
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416 => 3,
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417 => 1,
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418 => 3,
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420 => 1,
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429 => 4,
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:uint => proc{|n| n},
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}
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df[27] = df[26] = df[25]
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df[117] = df[114] = df[111]
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df[118] = df[115] = df[112]
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df[119] = df[116] = df[113]
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{430..433 => 81..84, 434 => 71, 435..449 => 86..100, 450 => 79, 451 => 78,
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452 => 76, 453 => 77, 454 => 102, 455 => 101, 456 => 85, 457 => 137}.each{|dst, src|
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# QZSS ephemeris => GPS
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src = (src.to_a rescue [src]).flatten
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(dst.to_a rescue ([dst] * src.size)).flatten.zip(src).each{|i, j| df[i] = df[j]}
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}
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df.define_singleton_method(:generate_prop){|idx_list|
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hash = Hash[*([:bits, :op].collect.with_index{|k, i|
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[k, idx_list.collect{|idx, *args|
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case prop = self[idx]
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when Proc; prop = prop.call(*args)
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end
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[prop].flatten(1)[i]
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}]
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}.flatten(1))].merge({:df => idx_list})
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hash[:bits_total] = hash[:bits].inject{|a, b| a + b}
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hash
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}
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df
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}.call
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MessageType = Hash[*({
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1005 => [2, 3, 21, 22, 23, 24, 141, 25, 142, [1, 1], 26, 364, 27],
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1019 => [2, 9, (76..79).to_a, 71, (81..103).to_a, 137].flatten, # 488 bits @see Table 3.5-21
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1020 => [2, 38, 40, (104..136).to_a].flatten, # 360 bits @see Table 3.5-21
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1044 => [2, (429..457).to_a].flatten, # 485 bits
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1077 => [2, 3, 4, 393, 409, [1, 7], 411, 412, 417, 418, 394, 395], # 169 bits @see Table 3.5-78
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1087 => [2, 3, 416, 34, 393, 409, [1, 7], 411, 412, 417, 418, 394, 395], # 169 bits @see Table 3.5-93
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1097 => [2, 3, 248, 393, 409, [1, 7], 411, 412, 417, 418, 394, 395], # 169 bits @see Table 3.5-98
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1117 => [2, 3, 4, 393, 409, [1, 7], 411, 412, 417, 418, 394, 395], # 169 bits
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}.collect{|mt, df_list| [mt, DataFrame.generate_prop(df_list)]}.flatten(1))]
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module GPS_Ephemeris
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KEY2IDX = {:svid => 1, :WN => 2, :URA => 3, :dot_i0 => 5, :iode => 6, :t_oc => 7,
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:a_f2 => 8, :a_f1 => 9, :a_f0 => 10, :iodc => 11, :c_rs => 12, :delta_n => 13,
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:M0 => 14, :c_uc => 15, :e => 16, :c_us => 17, :sqrt_A => 18, :t_oe => 19, :c_ic => 20,
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:Omega0 => 21, :c_is => 22, :i0 => 23, :c_rc => 24, :omega => 25, :dot_Omega0 => 26,
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:t_GD => 27, :SV_health => 28}
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def params
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# TODO WN is truncated to 0-1023
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res = Hash[*(KEY2IDX.collect{|k, i| [k, self[i][0]]}.flatten(1))]
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res[:fit_interval] = ((self[29] == 0) ? 4 : case res[:iodc]
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when 240..247; 8
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when 248..255, 496; 14
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when 497..503; 26
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when 504..510; 50
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when 511, 752..756; 74
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when 757..763; 98
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when 764..767, 1088..1010; 122
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when 1011..1020; 146
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else; 6
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end) * 60 * 60
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res
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end
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end
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module GLONASS_Ephemeris
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def params
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# TODO insufficient: :n => ?(String4); extra: :P3
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# TODO generate time with t_b, N_T, NA, N_4
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# TODO GPS.i is required to modify to generate EPhemeris_with_GPS_Time
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k_i = {:svid => 1, :freq_ch => 2, :P1 => 5, :t_k => 6, :B_n => 7, :P2 => 8, :t_b => 9,
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:xn_dot => 10, :xn => 11, :xn_ddot => 12,
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228
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:yn_dot => 13, :yn => 14, :yn_ddot => 15,
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:zn_dot => 16, :zn => 17, :zn_ddot => 18,
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:P3 => 19, :gamma_n => 20, :p => 21, :tau_n => 23, :delta_tau_n => 24, :E_n => 25,
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:P4 => 26, :F_T => 27, :N_T => 28, :M => 29}
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k_i.merge!({:NA => 31, :tau_c => 32, :N_4 => 33, :tau_GPS => 34}) if self[30][0] == 1 # check DF131
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res = Hash[*(k_i.collect{|k, i| [k, self[i][0]]}.flatten(1))]
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res.reject!{|k, v|
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case k
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when :N_T; v == 0
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when :p, :delta_tau_n, :P4, :F_T, :N_4, :tau_GPS; true # TODO sometimes delta_tau_n is valid?
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else; false
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end
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240
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} if (res[:M] != 1) # check DF130
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241
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res
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242
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end
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243
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end
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244
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module QZSS_Ephemeris
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245
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KEY2IDX = {:svid => 1, :t_oc => 2, :a_f2 => 3, :a_f1 => 4, :a_f0 => 5,
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246
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:iode => 6, :c_rs => 7, :delta_n => 8, :M0 => 9, :c_uc => 10, :e => 11,
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247
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:c_us => 12, :sqrt_A => 13, :t_oe => 14, :c_ic => 15, :Omega0 => 16,
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248
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:c_is => 17, :i0 => 18, :c_rc => 19, :omega => 20, :dot_Omega0 => 21,
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249
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:dot_i0 => 22, :WN => 24, :URA => 25, :SV_health => 26,
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250
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:t_GD => 27, :iodc => 28}
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251
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def params
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252
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# TODO PRN = svid + 192, WN is truncated to 0-1023
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253
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res = Hash[*(KEY2IDX.collect{|k, i| [k, self[i][0]]}.flatten(1))]
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254
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res[:fit_interval] = (self[29] == 0) ? 2 * 60 * 60 : nil # TODO how to treat fit_interval > 2 hrs
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255
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res
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256
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end
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257
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end
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258
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module MSM_Header
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259
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def more_data?
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260
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self.find{|v| v[1] == 393}[0] == 1
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261
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end
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262
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end
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263
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module MSM7
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264
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SPEED_OF_LIGHT = 299_792_458
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265
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def ranges
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266
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idx_sat = self.find_index{|v| v[1] == 394}
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sats = self[idx_sat][0]
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268
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nsat = sats.size
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269
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cells = self[idx_sat + 2][0] # DF396
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270
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ncell = cells.size
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271
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offset = idx_sat + 3
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range_rough = self[offset, nsat] # DF397
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|
+
range_rough2 = self[offset + (nsat * 2), nsat] # DF398
|
274
|
+
delta_rough = self[offset + (nsat * 3), nsat] # DF399
|
275
|
+
range_fine = self[offset + (nsat * 4), ncell] # DF405
|
276
|
+
phase_fine = self[offset + (nsat * 4) + (ncell * 1), ncell] # DF406
|
277
|
+
delta_fine = self[offset + (nsat * 4) + (ncell * 5), ncell] # DF404
|
278
|
+
Hash[*([:pseudo_range, :phase_range, :phase_range_rate, :sat_sig].zip(
|
279
|
+
cells.collect.with_index{|(sat, sig), i|
|
280
|
+
i2 = sats.find_index(sat)
|
281
|
+
rough_ms = (range_rough2[i2][0] + range_rough[i2][0]) rescue nil
|
282
|
+
[(((range_fine[i][0] + rough_ms) * SPEED_OF_LIGHT) rescue nil),
|
283
|
+
(((phase_fine[i][0] + rough_ms) * SPEED_OF_LIGHT) rescue nil),
|
284
|
+
((delta_fine[i][0] + delta_rough[i2][0]) rescue nil)]
|
285
|
+
}.transpose + [cells]).flatten(1))]
|
286
|
+
end
|
287
|
+
end
|
288
|
+
def parse
|
289
|
+
msg_num = message_number
|
290
|
+
return nil unless (mt = MessageType[msg_num])
|
291
|
+
# return [[value, df], ...]
|
292
|
+
values, df_list, attributes = [[], [], []]
|
293
|
+
add_proc = proc{|target, offset|
|
294
|
+
values += decode(target[:bits], offset).zip(target[:op]).collect{|v, op|
|
295
|
+
op ? op.call(v) : v
|
296
|
+
}
|
297
|
+
df_list += target[:df]
|
298
|
+
}
|
299
|
+
add_proc.call(mt)
|
300
|
+
case msg_num
|
301
|
+
when 1019
|
302
|
+
attributes << GPS_Ephemeris
|
303
|
+
when 1020
|
304
|
+
attributes << GLONASS_Ephemeris
|
305
|
+
when 1044
|
306
|
+
attributes << QZSS_Ephemeris
|
307
|
+
when 1077, 1087, 1097, 1117
|
308
|
+
# 1077(GPS), 1087(GLONASS), 1097(GALILEO), 1117(QZSS)
|
309
|
+
attributes << MSM7
|
310
|
+
nsat, nsig = [-2, -1].collect{|i| values[i].size}
|
311
|
+
offset = 24 + mt[:bits_total]
|
312
|
+
df396 = DataFrame.generate_prop([[396, values[-2], values[-1]]])
|
313
|
+
add_proc.call(df396, offset)
|
314
|
+
ncell = values[-1].size
|
315
|
+
offset += df396[:bits_total]
|
316
|
+
msm7_sat = DataFrame.generate_prop(
|
317
|
+
([[397, [:uint, 4], 398, 399]] * nsat).transpose.flatten(1))
|
318
|
+
add_proc.call(msm7_sat, offset)
|
319
|
+
offset += msm7_sat[:bits_total]
|
320
|
+
msm7_sig = DataFrame.generate_prop(
|
321
|
+
([[405, 406, 407, 420, 408, 404]] * ncell).transpose.flatten(1))
|
322
|
+
add_proc.call(msm7_sig, offset)
|
323
|
+
end
|
324
|
+
attributes << MSM_Header if (1070..1229).include?(msg_num)
|
325
|
+
res = values.zip(df_list)
|
326
|
+
attributes.empty? ? res : res.extend(*attributes)
|
327
|
+
end
|
328
|
+
end
|
329
|
+
def read_packet
|
330
|
+
while !@io.eof?
|
331
|
+
if @buf.size < 6 then
|
332
|
+
@buf += @io.read(6 - @buf.size).unpack('C*')
|
333
|
+
return nil if @buf.size < 6
|
334
|
+
end
|
335
|
+
|
336
|
+
if @buf[0] != 0xD3 then
|
337
|
+
@buf.shift
|
338
|
+
next
|
339
|
+
elsif (@buf[1] & 0xFC) != 0x0 then
|
340
|
+
@buf = @buf[2..-1]
|
341
|
+
next
|
342
|
+
end
|
343
|
+
|
344
|
+
len = ((@buf[1] & 0x3) << 8) + @buf[2]
|
345
|
+
if @buf.size < len + 6 then
|
346
|
+
@buf += @io.read(len + 6 - @buf.size).unpack('C*')
|
347
|
+
return nil if @buf.size < len + 6
|
348
|
+
end
|
349
|
+
|
350
|
+
#p (((["%02X"] * 3) + ["%06X"]).join(', '))%[*(@buf[(len + 3)..(len + 5)]) + [RTCM3::checksum(@buf)]]
|
351
|
+
if "\0#{@buf[(len + 3)..(len + 5)].pack('C3')}".unpack('N')[0] != RTCM3::checksum(@buf) then
|
352
|
+
@buf = @buf[2..-1]
|
353
|
+
next
|
354
|
+
end
|
355
|
+
|
356
|
+
packet = @buf[0..(len + 5)]
|
357
|
+
@buf = @buf[(len + 6)..-1]
|
358
|
+
|
359
|
+
return packet.extend(Packet)
|
360
|
+
end
|
361
|
+
return nil
|
362
|
+
end
|
363
|
+
end
|
364
|
+
end
|
data/lib/gps_pvt/util.rb
CHANGED
@@ -23,22 +23,43 @@ proc{
|
|
23
23
|
}
|
24
24
|
def eof?; false; end
|
25
25
|
}
|
26
|
-
module Kernel
|
27
|
-
open_orig = instance_method(:open)
|
28
|
-
define_method(:open){|*args, &b|
|
29
|
-
return open_orig.bind(self).call(*args, &b) unless Serial::SPEC =~ args[0]
|
30
|
-
Serial::new($1, $2 ? $2.to_i : 115200)
|
31
|
-
}
|
32
|
-
module_function(:open)
|
33
|
-
end
|
34
26
|
}.call if require 'rubyserial'
|
35
27
|
|
36
28
|
require 'open-uri'
|
37
29
|
require_relative 'ntrip'
|
38
30
|
|
31
|
+
class URI::Ntrip
|
32
|
+
def read_format(options = {})
|
33
|
+
pnt_list = self.read_source_table(options).mount_points
|
34
|
+
case pnt_list[self.mount_point][:format]
|
35
|
+
when /u-?b(?:lo)?x/i; :ubx
|
36
|
+
when /RTCM ?3/i; :rtcm3
|
37
|
+
else; nil
|
38
|
+
end
|
39
|
+
end
|
40
|
+
end
|
41
|
+
|
39
42
|
module GPS_PVT
|
40
43
|
module Util
|
41
44
|
class << self
|
45
|
+
def special_stream?(spec)
|
46
|
+
['-', (Serial::SPEC rescue nil)].compact.any?{|v| v === spec}
|
47
|
+
end
|
48
|
+
def open(*args, &b)
|
49
|
+
return args[0].open(*args[1..-1], &b) if args[0].respond_to?(:open)
|
50
|
+
case args[0].to_str
|
51
|
+
when (Serial::SPEC rescue nil)
|
52
|
+
return ((@serial_ports ||= {})[$1] ||= Serial::new($1, $2 ? $2.to_i : 115200))
|
53
|
+
when '-'
|
54
|
+
if (/^[wa]/ === args[1]) \
|
55
|
+
|| (args[1].kind_of?(Integer) && ((File::Constants::WRONLY & args[1]) > 0)) then
|
56
|
+
return STDOUT
|
57
|
+
else
|
58
|
+
return STDIN
|
59
|
+
end
|
60
|
+
end rescue nil
|
61
|
+
super
|
62
|
+
end
|
42
63
|
def inflate(src, type = :gz)
|
43
64
|
case type
|
44
65
|
when :gz
|
@@ -55,7 +76,7 @@ module Util
|
|
55
76
|
end
|
56
77
|
def get_txt(fname_or_uri)
|
57
78
|
is_uri = fname_or_uri.kind_of?(URI)
|
58
|
-
(
|
79
|
+
open(fname_or_uri){|src|
|
59
80
|
compressed = proc{
|
60
81
|
case src.content_type
|
61
82
|
when /gzip/; next :gz
|
@@ -79,5 +100,38 @@ module Util
|
|
79
100
|
}
|
80
101
|
end
|
81
102
|
end
|
103
|
+
module CRC24Q
|
104
|
+
POLY = 0x1864CFB
|
105
|
+
TABLE = 0x100.times.collect{|i|
|
106
|
+
res = i << 16
|
107
|
+
8.times{
|
108
|
+
res <<= 1
|
109
|
+
res ^= POLY if (res & 0x1000000) > 0
|
110
|
+
}
|
111
|
+
res
|
112
|
+
}
|
113
|
+
def CRC24Q.checksum(bytes)
|
114
|
+
bytes.inject(0){|crc, byte|
|
115
|
+
((crc << 8) & 0xFFFF00) ^ TABLE[byte ^ ((crc >> 16) & 0xFF)]
|
116
|
+
}
|
117
|
+
end
|
118
|
+
end
|
119
|
+
module BitOp
|
120
|
+
MASK = (1..8).collect{|i| (1 << i) - 1}.reverse
|
121
|
+
def BitOp.extract(src_bytes, bits_list, offset = 0)
|
122
|
+
res = []
|
123
|
+
bits_list.inject(offset.divmod(8) + [offset]){|(qM, rM, skip), bits|
|
124
|
+
qL, rL = (skip += bits).divmod(8)
|
125
|
+
v = src_bytes[qM] & MASK[rM]
|
126
|
+
res << if rL > 0 then
|
127
|
+
src_bytes[(qM+1)..qL].inject(v){|v2, b| (v2 << 8) | b} >> (8 - rL)
|
128
|
+
else
|
129
|
+
src_bytes[(qM+1)..(qL-1)].inject(v){|v2, b| (v2 << 8) | b}
|
130
|
+
end
|
131
|
+
[qL, rL, skip]
|
132
|
+
}
|
133
|
+
res
|
134
|
+
end
|
135
|
+
end
|
82
136
|
end
|
83
137
|
end
|
data/lib/gps_pvt/version.rb
CHANGED
metadata
CHANGED
@@ -1,14 +1,14 @@
|
|
1
1
|
--- !ruby/object:Gem::Specification
|
2
2
|
name: gps_pvt
|
3
3
|
version: !ruby/object:Gem::Version
|
4
|
-
version: 0.
|
4
|
+
version: 0.9.1
|
5
5
|
platform: ruby
|
6
6
|
authors:
|
7
7
|
- fenrir(M.Naruoka)
|
8
8
|
autorequire:
|
9
9
|
bindir: exe
|
10
10
|
cert_chain: []
|
11
|
-
date:
|
11
|
+
date: 2023-01-27 00:00:00.000000000 Z
|
12
12
|
dependencies:
|
13
13
|
- !ruby/object:Gem::Dependency
|
14
14
|
name: rubyserial
|
@@ -137,6 +137,8 @@ files:
|
|
137
137
|
- lib/gps_pvt/ntrip.rb
|
138
138
|
- lib/gps_pvt/receiver.rb
|
139
139
|
- lib/gps_pvt/receiver/extension.rb
|
140
|
+
- lib/gps_pvt/receiver/rtcm3.rb
|
141
|
+
- lib/gps_pvt/rtcm3.rb
|
140
142
|
- lib/gps_pvt/ubx.rb
|
141
143
|
- lib/gps_pvt/util.rb
|
142
144
|
- lib/gps_pvt/version.rb
|