def update_plot(self):
plot_labels = []
plots = []
self.plot_data.set_data('t', self.time)
# Remove any stale plots that got removed from the dictionary
for each in self.plot_data.list_data():
if each not in [str(a) for a in self.CN0_dict.keys()] and each != 't':
try:
self.plot_data.del_data(each)
self.plot.delplot(each)
except KeyError:
pass
for k, cno_array in self.CN0_dict.iteritems():
key = str(k)
# set plot data and create plot for any selected for display
if ((self.show_l2 and int(k[0]) in L2_CODES) or
(self.show_l1 and int(k[0]) in L1_CODES)):
self.plot_data.set_data(key, cno_array)
if key not in self.plot.plots.keys():
pl = self.plot.plot(('t', key), type='line', color=get_color(k),
name=key)
else:
pl = self.plot.plots[key]
# if channel is still active:
plots.append(pl)
plot_labels.append('Ch %02d (PRN%02d (%s))' %
(k[2], k[1], code_to_str(k[0])))
# Remove plot data and plots not selected
else:
if key in self.plot_data.list_data():
self.plot_data.del_data(key)
if key in self.plot.plots.keys():
self.plot.delplot(key)
plots = dict(zip(plot_labels, plots))
self.plot.legend.plots = plots
def update_obs(self):
self._obs_table_list = [
('{} ({})'.format(svid[0], code_to_str(svid[1])), ) + obs
for svid, obs in sorted(self.obs.items())
if getattr(self, 'show_{}'.format(svid[1]))
]
for code in SUPPORTED_CODES:
setattr(self, 'count_{}'.format(code),
len([key for key in self.obs.keys() if key[1] == code]))
def get_label(key, extra):
code, sat, ch = key
lbl = 'Ch {ch:02d}: {code} '.format(ch=ch, code=code_to_str(code))
if code_is_gps(code):
lbl += 'PRN {sat:02d}'.format(sat=sat)
elif code_is_glo(code):
lbl += 'FCN {sat:0=+3d}'.format(sat=sat)
if sat in extra:
lbl += ' Slot: {slot:02d}'.format(slot=extra[sat])
return lbl
def update_obs(self, obs_update):
self.traits_obs_count = len(obs_update)
self.traits_obs_table_list = [
('{} ({})'.format(svid[0], code_to_str(svid[1])),) + obs
for svid, obs in sorted(obs_update.items())
if getattr(self, 'show_{}'.format(svid[1]), True)
]
for code in SUPPORTED_CODES:
setattr(self, 'count_{}'.format(code),
len([key for key in obs_update.keys() if key[1] == code]))
if getattr(self, 'count_{}'.format(code)) != 0 and code not in self.received_codes:
self.received_codes.append(code)
def get_label(key, extra):
code, sat, ch = key
lbl = 'Ch {ch:02d}: {code} '.format(ch=ch, code=code_to_str(code))
if code_is_gps(code):
lbl += 'PRN {sat:02d}'.format(sat=sat)
elif code_is_glo(code):
lbl += 'FCN {sat:0=+3d}'.format(sat=sat)
if sat in extra:
lbl += ' Slot: {slot:02d}'.format(slot=extra[sat])
return lbl
def trait_view(self, view):
info = HGroup(
Spring(width=4, springy=False),
Item(
'',
label='Week:',
emphasized=True,
tooltip='GPS Week Number (since 1980'),
Item('gps_week', style='readonly', show_label=False),
Item(
'',
label='TOW:',
emphasized=True,
tooltip='GPS milliseconds in week'),
Item(
'gps_tow',
style='readonly',
show_label=False,
format_str='%.3f'),
Item(
'',
label='Total obs:',
emphasized=True,
tooltip='Total observation count'),
Item('obs_count', style='readonly', show_label=False), )
for code in SUPPORTED_CODES:
code_str = code_to_str(code)
info.content.append(
Item(
'',
label='{}:'.format(code_str),
emphasized=True,
tooltip='{} observation count'.format(code_str)))
info.content.append(
Item(
'count_{}'.format(code),
style='readonly',
show_label=False))
return View(
VGroup(
info,
CodeFiltered.get_filter_group(),
HGroup(
Item(
'_obs_table_list',
style='readonly',
editor=TabularEditor(adapter=SimpleAdapter()),
show_label=False), ),
label=self.name,
show_border=True))
def get_filter_group():
'''
Return horizontal tick box group.
'''
hgroup = HGroup()
for code in SUPPORTED_CODES:
hgroup.content.append(Spring(width=8, springy=False))
hgroup.content.append(
Item('show_{}'.format(code),
label="{}:".format(code_to_str(code))))
return hgroup
def update_obs(self, obs_update):
self.traits_obs_count = len(obs_update)
self.traits_obs_table_list = [
('{} ({})'.format(svid[0], code_to_str(svid[1])), ) + obs
for svid, obs in sorted(obs_update.items())
if getattr(self, 'show_{}'.format(svid[1]), True)
]
for code in SUPPORTED_CODES:
setattr(self, 'count_{}'.format(code),
len([key for key in obs_update.keys() if key[1] == code]))
if getattr(self, 'count_{}'.format(
code)) != 0 and code not in self.received_codes:
self.received_codes.append(code)
def get_filter_group():
'''
Return horizontal tick box group.
'''
hgroup = HGroup()
for code in SUPPORTED_CODES:
hgroup.content.append(Spring(width=8, springy=False))
hgroup.content.append(
Item(
'show_{}'.format(code),
label="{}:".format(code_to_str(code))))
return hgroup
def update_plot(self):
self.cn0_history.append([s.cn0 for s in self.states])
self.cn0_history = self.cn0_history[-1000:]
chans = np.transpose(self.cn0_history[-NUM_POINTS:])
plot_labels = []
for n in range(self.n_channels):
self.plot_data.set_data('ch' + str(n), chans[n])
if self.states[n].state == 0:
plot_labels.append('Ch %02d (Disabled)' % n)
else:
plot_labels.append('Ch %02d (PRN%02d (%s))' %
(n, self.states[n].prn, code_to_str(self.states[n].code)))
plots = dict(zip(plot_labels, self.plots))
self.plot.legend.plots = plots
def get_filter_group():
'''
Return horizontal tick box group.
'''
hgroup = HGroup()
for prefix, code_list in sorted(GUI_CODES.items(), key=lambda x: x[1][0] if x[0] != 'SBAS' else 100):
vgroup = VGroup()
for code in code_list:
vgroup.content.append(
Item(
'show_{}'.format(code),
label="{}:".format(code_to_str(code)),
visible_when="{} in received_codes".format(code)))
hgroup.content.append(vgroup)
return hgroup
def get_filter_group():
'''
Return horizontal tick box group.
'''
hgroup = HGroup()
for prefix, code_list in sorted(GUI_CODES.items(), key=lambda x: x[1][0] if x[0] != 'SBAS' else 100):
vgroup = VGroup()
for code in code_list:
vgroup.content.append(
Item(
'show_{}'.format(code),
label="{}:".format(code_to_str(code)),
visible_when="{} in received_codes".format(code)))
hgroup.content.append(vgroup)
return hgroup
def get_label(key, extra):
code, sat, ch = key
lbl = 'Ch {ch:02d}: {code} '.format(ch=ch, code=code_to_str(code))
if code_is_glo(code):
lbl += 'F{sat:0=+3d}'.format(sat=sat)
if ch in extra:
lbl += ' R{slot:02d}'.format(slot=extra[ch])
elif code_is_sbas(code):
lbl += 'S{sat:3d}'.format(sat=sat)
elif code_is_bds2(code):
lbl += 'C{sat:02d}'.format(sat=sat)
elif code_is_qzss(code):
lbl += 'J{sat:3d}'.format(sat=sat)
else:
lbl += 'G{sat:02d}'.format(sat=sat)
return lbl
def update_plot(self):
plot_labels = []
plots = []
self.plot_data.set_data('t', self.time)
# Remove any stale plots that got removed from the dictionary
for each in self.plot_data.list_data():
if each not in [str(a)
for a in self.CN0_dict.keys()] and each != 't':
try:
self.plot_data.del_data(each)
self.plot.delplot(each)
except KeyError:
pass
for k, cno_array in self.CN0_dict.items():
if int(k[0]) not in SUPPORTED_CODES:
continue
key = str(k)
# set plot data and create plot for any selected for display
if (getattr(self, 'show_{}'.format(int(k[0])))):
self.plot_data.set_data(key, cno_array)
if key not in self.plot.plots.keys():
pl = self.plot.plot(('t', key),
type='line',
color=get_color(k),
name=key)
else:
pl = self.plot.plots[key]
# if channel is still active:
if cno_array[-1] != 0:
plots.append(pl)
svid_label = 'FCN' if code_is_glo(int(k[0])) else 'PRN'
plot_labels.append(
'Ch %02d (%s%02d (%s))' %
(k[2], svid_label, k[1], code_to_str(k[0])))
# Remove plot data and plots not selected
else:
if key in self.plot_data.list_data():
self.plot_data.del_data(key)
if key in self.plot.plots.keys():
self.plot.delplot(key)
plots = dict(zip(plot_labels, plots))
self.plot.legend.plots = plots
def get_label(key, extra):
code, sat = key
lbl = '{code} '.format(code=code_to_str(code))
if code_is_glo(code):
lbl += 'F{sat:0=+3d}'.format(sat=sat)
if sat in extra:
lbl += ' R{slot:02d}'.format(slot=extra[sat])
elif code_is_sbas(code):
lbl += 'S{sat:3d}'.format(sat=sat)
elif code_is_bds(code):
lbl += 'C{sat:02d}'.format(sat=sat)
elif code_is_qzss(code):
lbl += 'J{sat:3d}'.format(sat=sat)
elif code_is_galileo(code):
lbl += 'E{sat:02d}'.format(sat=sat)
else:
lbl += 'G{sat:02d}'.format(sat=sat)
return lbl
def update_plot(self):
plot_labels = []
plots = []
self.plot_data.set_data('t', self.time)
# Remove any stale plots that got removed from the dictionary
for each in self.plot_data.list_data():
if each not in [str(a)
for a in self.CN0_dict.keys()] and each != 't':
try:
self.plot_data.del_data(each)
self.plot.delplot(each)
except KeyError:
pass
for k, cno_array in self.CN0_dict.iteritems():
key = str(k)
# set plot data and create plot for any selected for display
if ((self.show_l2 and int(k[0]) in L2_CODES)
or (self.show_l1 and int(k[0]) in L1_CODES)):
self.plot_data.set_data(key, cno_array)
if key not in self.plot.plots.keys():
pl = self.plot.plot(('t', key),
type='line',
color=get_color(k),
name=key)
else:
pl = self.plot.plots[key]
# if channel is still active:
plots.append(pl)
plot_labels.append('Ch %02d (PRN%02d (%s))' %
(k[2], k[1], code_to_str(k[0])))
# Remove plot data and plots not selected
else:
if key in self.plot_data.list_data():
self.plot_data.del_data(key)
if key in self.plot.plots.keys():
self.plot.delplot(key)
plots = dict(zip(plot_labels, plots))
self.plot.legend.plots = plots
def obs_packed_callback(self, sbp_msg, **metadata):
if (sbp_msg.sender is not None
and (self.relay ^ (sbp_msg.sender == 0))):
return
tow = sbp_msg.header.t.tow
wn = sbp_msg.header.t.wn
seq = sbp_msg.header.n_obs
tow = float(tow) / 1000.0
total = seq >> 4
count = seq & ((1 << 4) - 1)
# Confirm this packet is good.
# Assumes no out-of-order packets
if count == 0:
self.old_tow = self.gps_tow
self.gps_tow = tow
self.gps_week = wn
self.prev_obs_total = total
self.prev_obs_count = 0
self.old_cp = self.new_cp
self.new_cp = {}
self.obs = {}
elif self.gps_tow != tow or\
self.gps_week != wn or\
self.prev_obs_count + 1 != count or\
self.prev_obs_total != total:
print "We dropped a packet. Skipping this observation sequence"
self.prev_obs_count = -1
return
else:
self.prev_obs_count = count
# Save this packet
# See sbp_piksi.h for format
for o in sbp_msg.obs:
# Handle all the message specific stuff
prn = o.sid.sat
flags = 0
msdopp = 0
# Old PRN values had to add one for GPS
if (code_is_gps(o.sid.code) and sbp_msg.msg_type in [
SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B, SBP_MSG_OBS_DEP_C
]):
prn += 1
prn = '{} ({})'.format(prn, code_to_str(o.sid.code))
# DEP_B and DEP_A obs had different pseudorange scaling
if sbp_msg.msg_type in [SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B]:
divisor = 1e2
else:
divisor = 5e1
if sbp_msg.msg_type not in [
SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B, SBP_MSG_OBS_DEP_C
]:
flags = o.flags
msdopp = float(o.D.i) + float(o.D.f) / (1 << 8)
self.gps_tow += sbp_msg.header.t.ns_residual * 1e-9
try:
ocp = self.old_cp[prn]
except:
ocp = 0
cp = float(o.L.i) + float(o.L.f) / (1 << 8)
# Compute time difference of carrier phase for display, but only if carrier phase is valid
if ocp != 0 and ((sbp_msg.msg_type in [
SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B, SBP_MSG_OBS_DEP_C
]) or (flags & 0x3) == 0x3):
# Doppler per RINEX has opposite sign direction to carrier phase
if self.gps_tow != self.old_tow:
cpdopp = (ocp - cp) / float(self.gps_tow - self.old_tow)
else:
print "Received two complete observation sets with identical TOW"
cpdopp = 0
# Older messages had flipped sign carrier phase values
if sbp_msg.msg_type in [SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B]:
cpdopp = -cpdopp
else:
cpdopp = 0
# Save carrier phase value, but only if value is valid
if (sbp_msg.msg_type in [
SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B, SBP_MSG_OBS_DEP_C
]) or (flags & 0x3) == 0x3:
self.new_cp[prn] = cp
flags_str = "0x{:04X} = ".format(flags)
# Add some indicators to help understand the flags values
# Bit 0 is Pseudorange valid
if (flags & 0x01):
flags_str += "PR "
# Bit 1 is Carrier phase valid
if (flags & 0x02):
flags_str += "CP "
# Bit 2 is Half-cycle ambiguity
if (flags & 0x04):
flags_str += "1/2C "
# Bit 3 is Measured Doppler Valid
if (flags & 0x08):
flags_str += "MD "
pr_str = "{:11.2f}".format(float(o.P) / divisor)
cp_str = "{:13.2f}".format(cp)
cn0_str = "{:2.1f}".format(float(o.cn0) / 4)
msdopp_str = "{:9.2f}".format(msdopp)
cpdopp_str = "{:9.2f}".format(cpdopp)
lock_str = "{:5d}".format(o.lock)
# Sets invalid values to zero
if sbp_msg.msg_type not in [
SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B, SBP_MSG_OBS_DEP_C
]:
if not (flags & 0x01):
pr_str = EMPTY_STR
if not (flags & 0x02):
cp_str = EMPTY_STR
if not (flags & 0x08):
msdopp_str = EMPTY_STR
if (cpdopp == 0):
cpdopp_str = EMPTY_STR
self.obs[prn] = (pr_str, cp_str, cn0_str, msdopp_str, cpdopp_str,
lock_str, flags_str)
if (count == total - 1):
self.t = datetime.datetime(1980, 1, 6) + \
datetime.timedelta(weeks=self.gps_week) + \
datetime.timedelta(seconds=self.gps_tow)
return
def trait_view(self, view):
info = HGroup(Spring(width=4, springy=False, height=-1),
Item('Label',
label='Week:',
style='readonly',
emphasized=True,
width=-1,
padding=-1,
height=-1,
style_sheet='*{font-size:1px}',
tooltip='GPS Week Number (since 1980'),
Item('traits_gps_week',
style='readonly',
show_label=False),
Item('Label',
label=' TOW:',
style='readonly',
width=-1,
padding=-1,
height=-1,
style_sheet='*{font-size:1px}',
emphasized=True,
tooltip='GPS milliseconds in week'),
Item('traits_gps_tow',
style='readonly',
show_label=False,
height=-1,
format_str='%.3f'),
Item('Label',
label=' Total:',
style='readonly',
emphasized=True,
width=-1,
height=-1,
padding=-1,
style_sheet='*{font-size:1px}',
tooltip='Total observation count'),
Item('traits_obs_count',
style='readonly',
show_label=False),
padding=0,
springy=False)
filters = HGroup(padding=0, springy=False)
for prefix, code_list in sorted(GUI_CODES.items(),
key=lambda x: x[1][0]
if x[0] != 'SBAS' else 100):
vgroup1 = VGroup(
) # two groups are needed to combat silly spacing in Traitsui
vgroup2 = VGroup()
for code in code_list:
code_str = code_to_str(code)
vgroup1.content.append(
Item('count_{}'.format(code),
label='{}:'.format(code_str),
style='readonly',
tooltip='{} observation count'.format(code_str),
visible_when="{} in received_codes".format(code)))
vgroup2.content.append(
UItem(
'show_{}'.format(code),
tooltip='show {} observations'.format(code_str),
visible_when="{} in received_codes".format(code),
height=-16 # this make GUI align better
), )
filters.content.append(vgroup1)
filters.content.append(vgroup2)
return View(
VGroup(info,
filters,
Item('traits_obs_table_list',
style='readonly',
editor=TabularEditor(adapter=SimpleAdapter()),
show_label=False),
label=self.name,
padding=0,
show_border=True))
def obs_packed_callback(self, sbp_msg, **metadata):
if (sbp_msg.sender is not None and
(self.relay ^ (sbp_msg.sender == 0))):
return
tow = sbp_msg.header.t.tow
wn = sbp_msg.header.t.wn
seq = sbp_msg.header.n_obs
tow = float(tow) / 1000.0
total = seq >> 4
count = seq & ((1 << 4) - 1)
# Confirm this packet is good.
# Assumes no out-of-order packets
if count == 0:
self.old_tow = self.gps_tow
self.gps_tow = tow
self.gps_week = wn
self.prev_obs_total = total
self.prev_obs_count = 0
self.old_obs = copy.deepcopy(self.obs)
self.obs = {}
elif self.gps_tow != tow or\
self.gps_week != wn or\
self.prev_obs_count + 1 != count or\
self.prev_obs_total != total:
print "We dropped a packet. Skipping this observation sequence"
self.prev_obs_count = -1
return
else:
self.prev_obs_count = count
# Save this packet
# See sbp_piksi.h for format
for o in sbp_msg.obs:
prn = o.sid.sat
# compute time difference of carrier phase for display
cp = float(o.L.i) + float(o.L.f) / (1 << 8)
if o.sid.code == 0 or o.sid.code == 1:
prn += 1
prn = '{} ({})'.format(prn, code_to_str(o.sid.code))
if sbp_msg.msg_type == SBP_MSG_OBS_DEP_A or\
sbp_msg.msg_type == SBP_MSG_OBS_DEP_B:
divisor = 1e2
else:
divisor = 5e1
try:
ocp = self.old_obs[prn][1]
except:
ocp = 0
cf = (cp - ocp) / (self.gps_tow - self.old_tow)
self.obs[prn] = (float(o.P) / divisor,
float(o.L.i) + float(o.L.f) / (1 << 8),
float(o.cn0) / 4,
cf)
if (count == total - 1):
self.t = datetime.datetime(1980, 1, 6) + \
datetime.timedelta(weeks=self.gps_week) + \
datetime.timedelta(seconds=self.gps_tow)
self.update_obs()
self.rinex_save()
return
def trait_view(self, view):
info = HGroup(
Spring(width=4, springy=False, height=-1),
Item(
'Label',
label='Week:',
style='readonly',
emphasized=True,
width=-1, padding=-1, height=-1, style_sheet='*{font-size:1px}',
tooltip='GPS Week Number (since 1980'),
Item('traits_gps_week', style='readonly', show_label=False),
Item(
'Label',
label=' TOW:',
style='readonly',
width=-1, padding=-1, height=-1, style_sheet='*{font-size:1px}',
emphasized=True,
tooltip='GPS milliseconds in week'),
Item(
'traits_gps_tow',
style='readonly',
show_label=False,
height=-1,
format_str='%.3f'),
Item(
'Label',
label=' Total:',
style='readonly',
emphasized=True,
width=-1, height=-1, padding=-1, style_sheet='*{font-size:1px}',
tooltip='Total observation count'),
Item('traits_obs_count', style='readonly', show_label=False),
padding=0, springy=False
)
filters = HGroup(padding=0, springy=False)
for prefix, code_list in sorted(
GUI_CODES.items(), key=lambda x: x[1][0] if x[0] != 'SBAS' else 100):
vgroup1 = VGroup() # two groups are needed to combat silly spacing in Traitsui
vgroup2 = VGroup()
for code in code_list:
code_str = code_to_str(code)
vgroup1.content.append(
Item('count_{}'.format(code),
label='{}:'.format(code_str),
style='readonly',
tooltip='{} observation count'.format(code_str),
visible_when="{} in received_codes".format(code)
)
)
vgroup2.content.append(
UItem(
'show_{}'.format(code),
tooltip='show {} observations'.format(code_str),
visible_when="{} in received_codes".format(code),
height=-16 # this make GUI align better
),
)
filters.content.append(vgroup1)
filters.content.append(vgroup2)
return View(
VGroup(
info,
filters,
Item(
'traits_obs_table_list',
style='readonly',
editor=TabularEditor(adapter=SimpleAdapter()),
show_label=False),
label=self.name,
padding=0,
show_border=True))
def obs_packed_callback(self, sbp_msg, **metadata):
if (sbp_msg.sender is not None and
(self.relay ^ (sbp_msg.sender == 0))):
return
tow = sbp_msg.header.t.tow
wn = sbp_msg.header.t.wn
seq = sbp_msg.header.n_obs
tow = float(tow) / 1000.0
total = seq >> 4
count = seq & ((1 << 4) - 1)
# Confirm this packet is good.
# Assumes no out-of-order packets
if count == 0:
self.old_tow = self.gps_tow
self.gps_tow = tow
self.gps_week = wn
self.prev_obs_total = total
self.prev_obs_count = 0
self.old_cp = self.new_cp
self.new_cp = {}
self.obs = {}
elif self.gps_tow != tow or\
self.gps_week != wn or\
self.prev_obs_count + 1 != count or\
self.prev_obs_total != total:
print "We dropped a packet. Skipping this observation sequence"
self.prev_obs_count = -1
return
else:
self.prev_obs_count = count
# Save this packet
# See sbp_piksi.h for format
for o in sbp_msg.obs:
# Handle all the message specific stuff
prn = o.sid.sat
flags = 0
msdopp = 0
# Old PRN values had to add one for GPS
if (code_is_gps(o.sid.code)
and sbp_msg.msg_type in [SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B, SBP_MSG_OBS_DEP_C]):
prn += 1
prn = '{} ({})'.format(prn, code_to_str(o.sid.code))
# DEP_B and DEP_A obs had different pseudorange scaling
if sbp_msg.msg_type in [SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B] :
divisor = 1e2
else:
divisor = 5e1
if sbp_msg.msg_type not in [SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B, SBP_MSG_OBS_DEP_C]:
flags = o.flags
msdopp = float(o.D.i) + float(o.D.f) / (1 << 8)
self.gps_tow += sbp_msg.header.t.ns * 1e-9
try:
ocp = self.old_cp[prn]
except:
ocp = 0
cp = float(o.L.i) + float(o.L.f) / (1 << 8)
# Compute time difference of carrier phase for display, but only if carrier phase is valid
if ocp != 0 and ((sbp_msg.msg_type in [SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B, SBP_MSG_OBS_DEP_C]) or (flags & 0x3) == 0x3):
# Doppler per RINEX has opposite sign direction to carrier phase
cpdopp = (ocp - cp) / float(self.gps_tow - self.old_tow)
# Older messages had flipped sign carrier phase values
if sbp_msg.msg_type in [SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B]:
cpdopp = -cpdopp
else:
cpdopp = 0
# Save carrier phase value, but only if value is valid
if (sbp_msg.msg_type in [SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B, SBP_MSG_OBS_DEP_C]) or (flags & 0x3) == 0x3:
self.new_cp[prn] = cp
flags_str = "0x{:04X} = ".format(flags)
# Add some indicators to help understand the flags values
# Bit 0 is Pseudorange valid
if (flags & 0x01):
flags_str += "PR "
# Bit 1 is Carrier phase valid
if (flags & 0x02):
flags_str += "CP "
# Bit 2 is Half-cycle ambiguity
if (flags & 0x04):
flags_str += "1/2C "
# Bit 3 is Measured Doppler Valid
if (flags & 0x08):
flags_str += "MD "
pr_str = "{:11.2f}".format(float(o.P) / divisor)
cp_str = "{:13.2f}".format(cp)
cn0_str = "{:2.1f}".format(float(o.cn0) / 4)
msdopp_str = "{:9.2f}".format(msdopp)
cpdopp_str = "{:9.2f}".format(cpdopp)
lock_str = "{:5d}".format(o.lock)
# Sets invalid values to zero
if sbp_msg.msg_type not in [SBP_MSG_OBS_DEP_A, SBP_MSG_OBS_DEP_B, SBP_MSG_OBS_DEP_C]:
if not (flags & 0x01):
pr_str = EMPTY_STR
if not (flags & 0x02):
cp_str = EMPTY_STR
if not (flags & 0x08):
msdopp_str = EMPTY_STR
if (cpdopp == 0):
cpdopp_str = EMPTY_STR
self.obs[prn] = (pr_str, cp_str, cn0_str, msdopp_str, cpdopp_str, lock_str, flags_str)
if (count == total - 1):
self.t = datetime.datetime(1980, 1, 6) + \
datetime.timedelta(weeks=self.gps_week) + \
datetime.timedelta(seconds=self.gps_tow)
self.update_obs()
return
def obs_packed_callback(self, sbp_msg, **metadata):
if (sbp_msg.sender is not None
and (self.relay ^ (sbp_msg.sender == 0))):
return
tow = sbp_msg.header.t.tow
wn = sbp_msg.header.t.wn
seq = sbp_msg.header.n_obs
tow = float(tow) / 1000.0
total = seq >> 4
count = seq & ((1 << 4) - 1)
# Confirm this packet is good.
# Assumes no out-of-order packets
if count == 0:
self.old_tow = self.gps_tow
self.gps_tow = tow
self.gps_week = wn
self.prev_obs_total = total
self.prev_obs_count = 0
self.old_obs = copy.deepcopy(self.obs)
self.obs = {}
elif self.gps_tow != tow or\
self.gps_week != wn or\
self.prev_obs_count + 1 != count or\
self.prev_obs_total != total:
print "We dropped a packet. Skipping this observation sequence"
self.prev_obs_count = -1
return
else:
self.prev_obs_count = count
# Save this packet
# See sbp_piksi.h for format
for o in sbp_msg.obs:
prn = o.sid.sat
# compute time difference of carrier phase for display
cp = float(o.L.i) + float(o.L.f) / (1 << 8)
if o.sid.code == 0 or o.sid.code == 1:
prn += 1
prn = '{} ({})'.format(prn, code_to_str(o.sid.code))
if sbp_msg.msg_type == SBP_MSG_OBS_DEP_A or\
sbp_msg.msg_type == SBP_MSG_OBS_DEP_B:
divisor = 1e2
else:
divisor = 5e1
try:
ocp = self.old_obs[prn][1]
except:
ocp = 0
cf = (cp - ocp) / (self.gps_tow - self.old_tow)
self.obs[prn] = (float(o.P) / divisor,
float(o.L.i) + float(o.L.f) / (1 << 8),
float(o.cn0) / 4, cf)
if (count == total - 1):
self.t = datetime.datetime(1980, 1, 6) + \
datetime.timedelta(weeks=self.gps_week) + \
datetime.timedelta(seconds=self.gps_tow)
self.update_obs()
self.rinex_save()
return
