def fixes_to_numpy(gps_filename):
""" The main fixes generator. """
logging.info("Retrieving fixes")
source = gps.open_gps(gps_filename)
return numpy.fromiter(
(
(msg.latitude, msg.longitude, msg.hdop)
for msg in source.filtered_messages([gps.sirf_messages.GeodeticNavigationData])
),
dtype=[('lat', numpy.float), ('lon', numpy.float), ('hdop', numpy.float)])
arg_parser = argparse.ArgumentParser(
description="(Re)Records a GPS data stream to a file.")
arg_parser.add_argument('sources', nargs='+',
help="Source GPS or one or more recordings.")
arg_parser.add_argument('--output',
help="Target recording.")
arg_parser.add_argument('--verbose', action = 'store_true',
help="Print status of the GPS roughly every 10 seconds.")
arguments = arg_parser.parse_args()
saver = gps.gps_saver.GpsSaver(arguments.output)
try:
for source_file in arguments.sources:
source = gps.open_gps(source_file)
saver.init_source(source)
try:
if arguments.verbose:
geodetic_nav_data_id = gps.sirf_messages.GeodeticNavigationData.get_message_id()
counter = 0
while True:
msg = saver.save_message();
if gps.sirf.bytes_to_message_id(msg) == geodetic_nav_data_id:
counter += 1
if counter == 10:
msg = gps.sirf.from_bytes(msg)
print(msg.status_line())
counter = 0
def setup_logging():
logging.basicConfig(
format = "%(asctime)s - %(name)s - %(levelname)s - %(message)s",
level = logging.INFO
)
setup_logging()
logger = logging.getLogger('main')
logger.setLevel(logging.DEBUG)
arg_parser = argparse.ArgumentParser(
description="Calculate crc32 checksum from recorded messages' payloads.")
arg_parser.add_argument('gps',
help="Gps port or recording.")
arguments = arg_parser.parse_args()
x = gps.open_gps(arguments.gps)
checksum = crc32(b'')
try:
while True:
checksum = crc32(x._read_binary_sirf_msg(), checksum)
except StopIteration:
pass
print("checksum: {:#08x}".format(checksum & 0xffffffff))
def do(self, source_filename, receiver_pos, fit_window, outlier_threshold):
""" Initialize the state, parse all samples and convert to numpy arrays """
self._outlier_threshold = outlier_threshold
source = gps.open_gps(source_filename)
self.receiver_state = gps.StationState(
pos = receiver_pos,
velocity = numpy.matrix([[0, 0, 0]]),
clock_offset = 0,
clock_drift = 0)
self.ephemeris = gps.BroadcastEphemeris()
self.measurements = gps.MessageCollector(gps.sirf_messages.NavigationLibraryMeasurementData)
self.clock_corrections = []
self.times = [] # Measurement times in receiver time frame
self.sv_ids = []
self.measurement_errors = []
self.clock_correction_values = []
self.doppler_errors = []
self.last_avg_error = None
self.last_derivation = None
self.last_time = None
self.unmodified_last_time = None
self.week_offset = 0 # offset of the current gps week from the first recorded one
logging.info("Reading measurements...")
try:
source.loop([self.ephemeris, self.measurements], self.cycle_end_callback)
except KeyboardInterrupt:
pass
self.cycle_end_callback() # Last cycle doesn't end, so this wouldn't be otherwise called.
logging.info("Processing...")
logging.info("- Convert to arrays...")
self.times = numpy.array(self.times, dtype=numpy.float)
self.measurement_errors = numpy.array(self.measurement_errors, dtype=numpy.float)
self.clock_correction_values = numpy.array(self.clock_correction_values, dtype=numpy.float)
logging.info("- Fit clock offset...")
clock_drifts, clock_offsets = self.fit_clock_offsets(self.times,
self.measurement_errors + self.clock_correction_values,
fit_window)
clock_offsets -= self.clock_correction_values
return numpy.fromiter(
itertools.izip(
self.times,
self.sv_ids,
self.measurement_errors,
self.doppler_errors,
clock_offsets,
clock_drifts,
self.clock_correction_values
),
dtype=[
('times', numpy.float),
('sv_ids', numpy.uint8),
('errors', numpy.float),
('velocity_errors', numpy.float),
('clock_offsets', numpy.float),
('clock_drifts', numpy.float),
('clock_corrections', numpy.float)])
replay.setLevel(logging.INFO)
setup_logging()
logger = logging.getLogger('main')
arg_parser = argparse.ArgumentParser(
description="Calculate the average ECEF and WGS84 positions as reported"
"by the receiver's software.")
arg_parser.add_argument('gps',
help="GPS port or recording file.")
arguments = arg_parser.parse_args()
gps_dev = gps.open_gps(arguments.gps)
logger.info("Starting.")
count = 0
x = stats.Stats(1000)
y = stats.Stats(1000)
z = stats.Stats(1000)
geod_count = 0
lat = stats.Stats(1000)
lon = stats.Stats(1000)
try:
for msg in gps_dev:
if isinstance(msg, MeasureNavigationDataOut):
