gps_pvt 0.8.3 → 0.8.4

checksums.yaml

@@ -1,7 +1,7 @@
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data/Gemfile

@@ -4,7 +4,3 @@ source "https://rubygems.org"
 
 # Specify your gem's dependencies in gps_pvt.gemspec
 gemspec
-
-gem "rake", "~> 13.0"
-
-gem "rspec", "~> 3.0"

data/LICENSE

@@ -0,0 +1,30 @@
+(The following license is applied to each file in which there is no license statement.)
+
+BSD 3-Clause License
+
+Copyright (c) 2022, M.Naruoka (fenrir)
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

data/README.md

@@ -2,14 +2,18 @@
 
 GPS_PVT is a Ruby GPS (Global positioning system) PVT (position, velocity and time) solver. It accepts RINEX NAV and OBS files in addition to u-blox ubx format. Its significant features are easy to use with highly flexibility to customize internal solver behavior such as weight for each available satellite.
 
-The PVT solution is obtained with a stand alone positioning (i.e. neither differential nor kinematic) with application of least square to each snapshot. Its main internal codes are derived from ones of [ninja-scan-light](https://github.com/fenrir-naru/ninja-scan-light) having capability to calculate tightly-coupled GNSS/INS integrated solution. These codes are written by C++, and wrapped by [SWIG](http://www.swig.org/).
+The PVT solution is obtained with a stand alone positioning (i.e. neither differential nor kinematic) with application of least square to each snapshot. Its main internal codes are derived from ones of [ninja-scan-light](https://github.com/fenrir-naru/ninja-scan-light) having capability to calculate tightly-coupled GNSS/INS integrated solution. These codes are written in C++, and wrapped by [SWIG](http://www.swig.org/).
 
 [![Gem Version](https://badge.fury.io/rb/gps_pvt.svg)](https://badge.fury.io/rb/gps_pvt)
 [![Ruby](https://github.com/fenrir-naru/gps_pvt/actions/workflows/main.yml/badge.svg)](https://github.com/fenrir-naru/gps_pvt/actions/workflows/main.yml)
 
 ## Installation
 
-Add this line to your application's Gemfile:
+Install it yourself as:
+
+    $ gem install gps_pvt
+
+Or add this line to your Ruby application's Gemfile:
 
 ```ruby
 gem 'gps_pvt'
@@ -19,11 +23,7 @@ And then execute:
 
     $ bundle install
 
-Or install it yourself as:
-
-    $ gem install gps_pvt
-
-For Windows users, this gem requires Devkit because of native compilation.
+For Windows users, this gem requires Devkit because of compilation of native shared library.
 
 ## Usage
 
@@ -32,7 +32,7 @@ An attached executable is useful. After installation, type
 
     $ gps_pvt file_or_URI(s)
 
-The format of file is automatically determined with its extension, such as .ubx will be treated as UBX format. A compressed file of .gz or .Z can be specified directly (decompression is internally performed). URI such as http(s)://... and ftp://, and serial port (COMn for Windows and /dev/tty* for *NIX, version >= 0.8.0) are also acceptable. If you want to specify the file format, instead of file_or_URI(s), use the following arguments:
+The format of file is automatically determined with its extension, such as .ubx will be treated as UBX format. A compressed file of .gz or .Z can be specified directly (decompression is internally performed). URI such as http(s)://... and ftp://, and serial port (COMn for Windows and /dev/tty* for *NIX, version >= 0.8.0) are also acceptable. Moreover, Ntrip URI of ntrip://(username):(password)@(caster_host):(port)/(mount_point), for exmaple, ```ntrip://test%40example.com:none@rtk2go.com:2101/NAIST-UBX``` (%40 is recognized as '@') is supported (version >= 0.8.4). If you want to specify the file format, instead of file_or_URI(s), use the following arguments:
 
 | specification | recoginized as |
 ----|----
@@ -57,7 +57,7 @@ Additionally, the following command options *--key=value* are available.
 | end_time | time string | end time to perform solution. Its format is the same as start_time. | v0.3.3 |
 | <a name=opt_online_ephemeris>online_ephemeris</a> | URL string | based on observation, ephemeris which is previously broadcasted from satellite and currently published online will automatically be loaded. If value is not given, the default source "ftp://gssc.esa.int/gnss/data/daily/%Y/brdc/BRDC00IGS_R_%Y%j0000_01D_MN.rnx.gz" is used. The value string is converted with [strftime](https://docs.ruby-lang.org/en/master/strftime_formatting_rdoc.html) before actual use. | v0.8.1 |
 
-### For developer
+### For advanced user
 
 This library will be used like:
 
@@ -136,14 +136,14 @@ receiver.solver.correction = { # provide by using a Hash
 
 # Dynamic customization of weight for each epoch
 (class << receiver; self; end).instance_eval{ # do before parse_XXX
-  alias_method(:run_orig, :run)
+  run_orig = instance_method(:run)
   define_method(:run){|meas, t_meas, &b|
     meas # observation, same as the 2nd argument of parse_XXX
     receiver.solver.hooks[:relative_property] = proc{|prn, rel_prop, meas, rcv_e, t_arv, usr_pos, usr_vel|
       # Do something based on meas, t_meas.
       rel_prop
     }
-    run_orig(meas, t_meas, &b)
+    run_orig.bind(self).call(meas, t_meas, &b)
   }
 }
 ```

data/gps_pvt.gemspec

@@ -59,8 +59,10 @@ Gem::Specification.new do |spec|
   # Uncomment to register a new dependency of your gem
   # spec.add_dependency "example-gem", "~> 1.0"
   spec.add_dependency "rubyserial"
-  spec.add_development_dependency "rake"
+  spec.add_development_dependency "rake", "~> 13.0"
   spec.add_development_dependency "rake-compiler"
+  spec.add_development_dependency "rspec", "~> 3.0"
+  spec.add_development_dependency "matrix" if GPS_PVT::version_compare(RUBY_VERSION, "3.1") >= 0
 
   # For more information and examples about making a new gem, checkout our
   # guide at: https://bundler.io/guides/creating_gem.html

data/lib/gps_pvt/ntrip.rb

@@ -0,0 +1,153 @@
+# Ntrip (Networked Transport of RTCM via Internet Protocol)
+
+require 'net/http'
+require 'uri'
+require_relative 'version'
+
+module GPS_PVT
+class Ntrip < Net::HTTP
+  Net::HTTPResponse.class_eval{
+    orig = singleton_method(:read_new)
+    define_singleton_method(:read_new){|sock|
+      # handle Ntrip(rev1), which does not comply with HTTP
+      unless sock.respond_to?(:ntrip) then
+        orig.call(sock)
+      else
+        str = sock.readline
+        case str
+        when /\A(?:(?:HTTP(?:\/(\d+\.\d+))?|([^\d\s]+))\s+)?(\d\d\d)(?:\s+(.*))?\z/in
+          res = response_class($3).new($1 || '1.1', $3, $2 || $4)
+          each_response_header(sock){|k,v|
+            res.add_field k, v
+          } unless res.message == 'ICY' # or 'SOURCETABLE' for Ntrip(rev1)
+          res
+        else
+          raise Net::HTTPBadResponse, "wrong status line: #{str.dump}"
+        end
+      end
+    }
+  }
+  def on_connect
+    super
+    @socket.define_singleton_method(:ntrip){true}
+  end
+  
+  SOURCE_TBL_ITEMS = {
+    :STR => [
+        :type, :mountpoint, :identifier, :format, :format_details,
+        :carrier, :nav_system, :network, :country, :latitude, :longitude,
+        :nmea, :solution, :generator, :compression, :authentication, :fee, :bitrate],
+    :CAS => [
+        :type, :host, :port, :identifier, :operator,
+        :nmea, :country, :latitude, :longitude, :fallback_host, :fallback_ip],
+    :NET => [
+        :type, :identifier, :operator, :authentication, :fee,
+        :web_net, :web_str, :web_reg],
+  }
+  def Ntrip.parse_source_table(str)
+    res = {}
+    str.lines.each{|line|
+      values = line.chomp.split(/\s*;\s*/)
+      type = values[0].to_sym
+      next unless keys = SOURCE_TBL_ITEMS[type]
+      next unless (values.size >= keys.size)
+      entry = Hash[*(keys.zip(values).flatten(1))]
+      entry[:misc] = values[(keys.size)..-1] if values.size > keys.size
+      (res[type] ||= []) << entry
+    }
+    res.define_singleton_method(:mount_points){
+      Hash[*((self[:STR] || []).collect{|entry|
+        [entry[:mountpoint], entry]
+      }.flatten(1))]
+    }
+    res
+  end
+  def generate_request(path, header)
+    req = Net::HTTP::Get.new(path, {
+      'User-Agent' => "GPS_PVT NTRIP client/#{GPS_PVT::VERSION}",
+      'Accept' => '*/*',
+      'Ntrip-Version' => 'Ntrip/2.0',
+    }.merge(header.select{|k, v| k.kind_of?(String)}))
+    header.each{|k, v|
+      next unless k.kind_of?(Symbol)
+      req.send(k, *v)
+    }
+    req
+  end
+  def get_source_table(header = {})
+    Ntrip.parse_source_table(request(generate_request('/', header)).read_body)
+  end
+  def get_data(mount_point, header = {}, &b)
+    request(generate_request("/#{mount_point}", header)){|res|
+      res.read_body(&b)
+    }
+  end
+end
+end
+
+require 'open-uri'
+
+OpenURI.class_eval{
+  check_options_orig = singleton_method(:check_options)
+  define_singleton_method(:check_options){|options|
+    uri = options.delete(:uri)
+    case uri
+    when URI::Ntrip
+      options[:basic_auth] ||=
+          options.delete(:http_basic_authentication) ||
+          ([:user, :password].collect{|k|
+            URI::decode_www_form_component(uri.send(k))
+          } rescue nil)
+      options['Ntrip-Version'] ||= "Ntrip/%3.1f"%[options.delete(:version)] if options[:version]
+      options['User-Agent'] ||= options[:user_agent]
+      options.select!{|k, v| v} #compact! Ruby >= 2.4.0
+      true
+    else
+      check_options_orig.call(options)
+    end
+  }
+  open_uri_orig = singleton_method(:open_uri)
+  define_singleton_method(:open_uri){|name, *rest, &b|
+    uri = URI::Generic === name ? name : URI.parse(name)
+    (rest[-1].kind_of?(Hash) ? rest : (rest << {}))[-1][:uri] = uri
+    open_uri_orig.call(uri, *rest, &b)
+  }
+  def OpenURI.open_ntrip(buf, target, proxy, options) # :nodoc:
+    GPS_PVT::Ntrip.start(target.host, target.port){|ntrip|
+      # get source table
+      tbl = ntrip.get_source_table(options)
+      
+      # check mount point
+      mnt_pt = target.path.sub(%r|^/|, '')
+      prop = tbl.mount_points[mnt_pt]
+      raise Net::ProtocolError::new("Mount point(#{mnt_pt}) not found") unless prop
+      
+      # set stream
+      buf.instance_eval{
+        @io, w = IO::pipe
+        @io.define_singleton_method(:property){prop}
+        Thread::new{
+          begin
+            ntrip.get_data(mnt_pt, options){|data| w << data}
+          rescue Errno::EPIPE;
+          rescue; raise
+          ensure; w.close
+          end
+        }
+      }
+    }
+  end
+}
+module URI
+  class Ntrip < HTTP
+    def buffer_open(buf, proxy, options)
+      OpenURI.open_ntrip(buf, self, proxy, options)
+    end
+    include OpenURI::OpenRead
+  end
+  if respond_to?(:register_scheme) then
+    register_scheme('NTRIP', Ntrip)
+  else
+    @@schemes['NTRIP'] = Ntrip
+  end
+end

data/lib/gps_pvt/util.rb

@@ -23,16 +23,18 @@ proc{
     }
     def eof?; false; end
   }
-  Kernel.instance_eval{
-    open_orig = method(:open)
+  module Kernel
+    open_orig = instance_method(:open)
     define_method(:open){|*args, &b|
-      return open_orig.call(*args, &b) unless Serial::SPEC =~ args[0]
+      return open_orig.bind(self).call(*args, &b) unless Serial::SPEC =~ args[0]
       Serial::new($1, $2 ? $2.to_i : 115200)
     }
-  }
+    module_function(:open)
+  end
 }.call if require 'rubyserial'
 
 require 'open-uri'
+require_relative 'ntrip'
 
 module GPS_PVT
 module Util
@@ -53,8 +55,7 @@ module Util
     end
     def get_txt(fname_or_uri)
       is_uri = fname_or_uri.kind_of?(URI)
-      ((is_uri && (RUBY_VERSION >= "2.5.0")) ? URI : Kernel) \
-          .send(:open, fname_or_uri){|src|
+      (is_uri ? URI : Kernel).send(:open, fname_or_uri){|src|
         compressed = proc{
           case src.content_type
           when /gzip/; next :gz

data/lib/gps_pvt/version.rb

@@ -1,5 +1,9 @@
 # frozen_string_literal: true
 
 module GPS_PVT
-  VERSION = "0.8.3"
+  VERSION = "0.8.4"
+  
+  def GPS_PVT.version_compare(a, b)
+    Gem::Version::new(a) <=> Gem::Version::new(b)
+  end
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: gps_pvt
 version: !ruby/object:Gem::Version
-  version: 0.8.3
+  version: 0.8.4
 platform: ruby
 authors:
 - fenrir(M.Naruoka)
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2022-11-30 00:00:00.000000000 Z
+date: 2022-12-19 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: rubyserial
@@ -28,16 +28,16 @@ dependencies:
   name: rake
   requirement: !ruby/object:Gem::Requirement
     requirements:
-    - - ">="
+    - - "~>"
       - !ruby/object:Gem::Version
-        version: '0'
+        version: '13.0'
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - ">="
+    - - "~>"
       - !ruby/object:Gem::Version
-        version: '0'
+        version: '13.0'
 - !ruby/object:Gem::Dependency
   name: rake-compiler
   requirement: !ruby/object:Gem::Requirement
@@ -52,6 +52,20 @@ dependencies:
     - - ">="
       - !ruby/object:Gem::Version
         version: '0'
+- !ruby/object:Gem::Dependency
+  name: rspec
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '3.0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '3.0'
 description: This module calculate PVT by using raw observation obtained from a GPS
   receiver
 email:
@@ -67,6 +81,7 @@ files:
 - CHANGELOG.md
 - CODE_OF_CONDUCT.md
 - Gemfile
+- LICENSE
 - README.md
 - Rakefile
 - bin/console
@@ -117,6 +132,7 @@ files:
 - gps_pvt.gemspec
 - gps_pvt.rbs
 - lib/gps_pvt.rb
+- lib/gps_pvt/ntrip.rb
 - lib/gps_pvt/receiver.rb
 - lib/gps_pvt/receiver/extension.rb
 - lib/gps_pvt/ubx.rb