gnss-js 1.21.0 → 1.22.0

package/dist/{chunk-DLXTTHRK.js → chunk-MCAVU3XL.js}

@@ -1,3 +1,11 @@
+import {
+  BdsAssembler,
+  GalInavAssembler,
+  GloStringAssembler,
+  bdsSubframeParityOk,
+  galInavPageCrcOk,
+  testGloString
+} from "./chunk-VTX3VCL4.js";
 import {
   CnavAssembler,
   cnavCrcOk,
@@ -180,8 +188,108 @@ function parseUbxCnav(data) {
   return { ephemerides, badCrc, messages };
 }
 
-// src/ubx/index.ts
+// src/ubx/rawnav.ts
 var GPS_EPOCH_MS = Date.UTC(1980, 0, 6);
+var SEC_PER_WEEK = 7 * 86400;
+var two = (n) => String(n).padStart(2, "0");
+function parseUbxRawNav(data, opts = {}) {
+  const view = new DataView(data.buffer, data.byteOffset, data.byteLength);
+  const ephemerides = [];
+  const counts = { gal: 0, bds: 0, glo: 0 };
+  let badParity = 0;
+  const inav = new GalInavAssembler();
+  const bds = new BdsAssembler();
+  const glo = new GloStringAssembler();
+  let refDate = null;
+  for (const f of ubxFrames(data)) {
+    if (f.msgClass !== 2) continue;
+    if (f.msgId === 21 && f.payload.length >= 16) {
+      const rcvTow = view.getFloat64(f.payloadStart, true);
+      let week = view.getUint16(f.payloadStart + 8, true);
+      if (week === 0 && opts.refWeek !== void 0) week = opts.refWeek;
+      if (week > 0) {
+        refDate = new Date(
+          GPS_EPOCH_MS + (week * SEC_PER_WEEK + rcvTow) * 1e3
+        );
+      }
+      continue;
+    }
+    if (f.msgId !== 19) continue;
+    const p = f.payload;
+    if (p.length < 8) continue;
+    const gnssId = p[0];
+    const svId = p[1];
+    const sigId = p[2];
+    const base = f.payloadStart + 8;
+    if (gnssId === 2) {
+      if (sigId === 3 || sigId === 8) continue;
+      if (p.length < 8 + 32) continue;
+      counts.gal++;
+      if (svId < 1 || svId > 36) continue;
+      const buff = new Uint8Array(32);
+      for (let k = 0; k < 8; k++) {
+        const w = view.getUint32(base + 4 * k, true);
+        buff[4 * k] = w >>> 24;
+        buff[4 * k + 1] = w >>> 16 & 255;
+        buff[4 * k + 2] = w >>> 8 & 255;
+        buff[4 * k + 3] = w & 255;
+      }
+      const page = new Uint8Array(30);
+      for (let k = 0; k < 14; k++) page[k] = buff[k];
+      setBitU(page, 112, 2, getBitU(buff, 112, 2));
+      for (let k = 0; k < 15; k++) {
+        setBitU(page, 114 + 8 * k, 8, getBitU(buff, 128 + 8 * k, 8));
+      }
+      if (getBitU(page, 0, 1) !== 0 || getBitU(page, 114, 1) !== 1) continue;
+      if (getBitU(page, 1, 1) === 1 || getBitU(page, 115, 1) === 1) continue;
+      if (!galInavPageCrcOk(page)) {
+        badParity++;
+        continue;
+      }
+      const eph = inav.push(svId, page);
+      if (eph) ephemerides.push(eph);
+    } else if (gnssId === 3) {
+      if (sigId === 6 || sigId === 8) continue;
+      if (p.length < 8 + 40) continue;
+      counts.bds++;
+      if (svId < 1 || svId > 63) continue;
+      const sf = new Uint8Array(38);
+      for (let k = 0; k < 10; k++) {
+        const w = view.getUint32(base + 4 * k, true);
+        setBitU(sf, 30 * k, 30, w & 1073741823);
+      }
+      if (!bdsSubframeParityOk(sf)) {
+        badParity++;
+        continue;
+      }
+      const eph = bds.push(`C${two(svId)}`, sf);
+      if (eph) ephemerides.push(eph);
+    } else if (gnssId === 6) {
+      if (p.length < 8 + 16) continue;
+      counts.glo++;
+      if (svId < 1 || svId > 32) continue;
+      const str = new Uint8Array(16);
+      for (let k = 0; k < 4; k++) {
+        const w = view.getUint32(base + 4 * k, true);
+        str[4 * k] = w >>> 24;
+        str[4 * k + 1] = w >>> 16 & 255;
+        str[4 * k + 2] = w >>> 8 & 255;
+        str[4 * k + 3] = w & 255;
+      }
+      if (!testGloString(str)) {
+        badParity++;
+        continue;
+      }
+      if (!refDate) continue;
+      const eph = glo.push(`R${two(svId)}`, str, refDate, p[3] - 7);
+      if (eph) ephemerides.push(eph);
+    }
+  }
+  return { ephemerides, counts, badParity };
+}
+
+// src/ubx/index.ts
+var GPS_EPOCH_MS2 = Date.UTC(1980, 0, 6);
 var MS_PER_WEEK = 7 * 864e5;
 var SIGNALS = {
   0: { 0: ["G", "1C"], 3: ["G", "2X"], 4: ["G", "2X"] },
@@ -198,20 +306,20 @@ var SIGNALS = {
   // GLONASS L1OF, L2OF
 };
 function prnFor(gnssId, svId) {
-  const two = (n) => String(n).padStart(2, "0");
+  const two2 = (n) => String(n).padStart(2, "0");
   switch (gnssId) {
     case 0:
-      return svId >= 1 && svId <= 32 ? `G${two(svId)}` : null;
+      return svId >= 1 && svId <= 32 ? `G${two2(svId)}` : null;
     case 1:
-      return svId >= 120 && svId <= 158 ? `S${two(svId - 100)}` : null;
+      return svId >= 120 && svId <= 158 ? `S${two2(svId - 100)}` : null;
     case 2:
-      return svId >= 1 && svId <= 36 ? `E${two(svId)}` : null;
+      return svId >= 1 && svId <= 36 ? `E${two2(svId)}` : null;
     case 3:
-      return svId >= 1 && svId <= 63 ? `C${two(svId)}` : null;
+      return svId >= 1 && svId <= 63 ? `C${two2(svId)}` : null;
     case 5:
-      return svId >= 1 && svId <= 10 ? `J${two(svId)}` : null;
+      return svId >= 1 && svId <= 10 ? `J${two2(svId)}` : null;
     case 6:
-      return svId >= 1 && svId <= 32 ? `R${two(svId)}` : null;
+      return svId >= 1 && svId <= 32 ? `R${two2(svId)}` : null;
     default:
       return null;
   }
@@ -264,7 +372,7 @@ function parseUbxRawx(data) {
         if (!codes.includes(sig[1])) codes.push(sig[1]);
       }
       epochs.push({
-        timeMs: GPS_EPOCH_MS + week * MS_PER_WEEK + Math.round(rcvTow * 1e3),
+        timeMs: GPS_EPOCH_MS2 + week * MS_PER_WEEK + Math.round(rcvTow * 1e3),
         leapS: leapValid ? leapS : null,
         meas
       });
@@ -278,5 +386,6 @@ export {
   parseUbxNav,
   parseUbxIonoUtc,
   parseUbxCnav,
+  parseUbxRawNav,
   parseUbxRawx
 };