update sample for QZNMA/OSNMA.

samples/test_osnma.py

@@ -33,7 +33,7 @@
 v = v[v['type'] == 0]  # E1 only
 tow = np.unique(v['tow'])
 ntow = len(tow)
-nsat = np.zeros((ntow, 2), dtype=int)
+nsat = np.zeros((ntow, 3), dtype=int)
 vstatus = np.zeros(ntow, dtype=int)
 
 # nep = 90
@@ -51,9 +51,10 @@
         nma.load_nav(nav, prn, tow_)
         if nma_b[0] != 0:  # for connected satellite
             nma.decode(nma_b, int(vn['wn']), tow_, prn)
+            nsat[i, 1] += 1
 
     nsat[i, 0] = len(vi)
-    nsat[i, 1] = nma.nsat
+    nsat[i, 2] = nma.nsat  # authenticated sat
     vstatus[i] = nma.status
 
 
@@ -63,7 +64,8 @@
 
     fig, ax = plt.subplots()
     plt.plot(tow-tow[0], nsat[:, 0], label='tracked')
-    plt.plot(tow-tow[0], nsat[:, 1], label='authenticated')
+    plt.plot(tow-tow[0], nsat[:, 1], label='connected')
+    plt.plot(tow-tow[0], nsat[:, 2], label='authenticated')
     plt.grid()
     plt.legend()
     plt.xlim([0, tmax])

samples/test_qznma.py

@@ -7,23 +7,39 @@
 
 from binascii import unhexlify
 import numpy as np
-from cssrlib.qznma import qznma
+from cssrlib.gnss import prn2sat, uGNSS
+from cssrlib.qznma import qznma, uNavId
 import matplotlib.pyplot as plt
 
+dtype = [('wn', 'int'), ('tow', 'float'), ('prn', 'int'),
+         ('type', 'int'), ('len', 'int'), ('nav', 'S512')]
+msg_nav_t = {uNavId.GPS_LNAV: 'LNAV', uNavId.GPS_CNAV: 'CNAV',
+             uNavId.GPS_CNAV2: 'CNAV2',
+             uNavId.GAL_FNAV: 'F/NAV', uNavId.GAL_INAV: 'I/NAV'}
+
+# prn_ref = -1
 prn_ref = 199
-navmode = 4  # 1:LNAV, 2:CNAV, 3:CNAV2, 4:L6
+navmode = uNavId.GPS_LNAV  # 1:LNAV, 2:CNAV, 3:CNAV2
 doy = 305
+flg_gnss = True
 
-qz = qznma(prn_ref=prn_ref)
+qz = qznma()
+qz.monlevel = 1
 
-if navmode == 1:
+if navmode == uNavId.GPS_LNAV:
     navfile = '../data/doy2024-305/305a_qzslnav.txt'
-elif navmode == 2:
+elif navmode == uNavId.GPS_CNAV:
     navfile = '../data/doy2024-305/305a_qzscnav.txt'
-elif navmode == 3:
+elif navmode == uNavId.GPS_CNAV2:
     navfile = '../data/doy2024-305/305a_qzscnav2.txt'
-elif navmode == 4:
-    navfile = '../data/doy2024-305/305a_qzsl6.txt'
+
+v = np.genfromtxt(navfile, dtype=dtype)
+
+if navmode == uNavId.GPS_CNAV:
+    v = v[v['type'] == 26]  # L5 CNAV only
+
+if flg_gnss:
+    navfile_n = '../data/doy2024-305/305a_qzsl6.txt'
     navfile_gpslnav = '../data/doy2024-305/305a_gpslnav.txt'
     navfile_gpscnav = '../data/doy2024-305/305a_gpscnav.txt'
     # navfile_gpscnav2 = '../data/doy2024-305/305a_gpscnav2.txt'
@@ -36,42 +52,48 @@
     qz.load_navmsg_inav(navfile_galinav)
     qz.load_navmsg_fnav(navfile_galfnav)
 
-dtype = [('wn', 'int'), ('tow', 'float'), ('prn', 'int'),
-         ('type', 'int'), ('len', 'int'), ('nav', 'S512')]
-v = np.genfromtxt(navfile, dtype=dtype)
+    vn = np.genfromtxt(navfile_n, dtype=dtype)
 
-tow_ = np.unique(v['tow'])
+
+# tow_ = np.unique(v['tow'])
+tow_ = np.arange(v['tow'][0], v['tow'][-1])
 nep = len(tow_)
 # nep = 1200
 
-nsat = np.zeros((nep, 2), dtype=int)
+nsat = np.zeros((nep, 4), dtype=int)
 vstatus = np.zeros(nep, dtype=int)
 
 for k in range(nep):
-    if navmode != 4:
-        vi = v[(v['tow'] == tow_[k]) & (v['prn'] == prn_ref)]
-    else:  # L6E
-        vi = v[(v['tow'] == tow_[k]) &
-               (v['prn'] == prn_ref) & (v['type'] == 1)]
-    if len(vi) == 0:
-        qz.flag_e = 0
-        continue
-    msg = unhexlify(vi['nav'][0])
-    prn = vi['prn'][0]
-    tow = vi['tow'][0]
-
-    qz.decode(tow, msg, navmode)
-
-    nsat[k, 0] = qz.count_tracked_sat(tow)
-    nsat[k, 1] = qz.nsat
+    vi_ = v[v['tow'] == tow_[k]]
+
+    for vi in vi_:
+        msg = unhexlify(vi['nav'])
+        sat = prn2sat(uGNSS.QZS, vi['prn'])
+        qz.decode(tow_[k], msg, None, sat, navmode)
+
+    if flg_gnss:
+        vin_ = vn[(vn['tow'] == tow_[k]) & (vn['type'] == 1)]
+        if prn_ref > 0:
+            vin_ = vin_[vin_['prn'] == prn_ref]
+
+        for vin in vin_:
+            msg_n = unhexlify(vin['nav'])
+            qz.decode(tow_[k], None, msg_n, sat, navmode)
+
+    nsat[k, 0] = qz.count_tracked_sat(tow_[k])
+    nsat[k, 1:] = np.array([qz.nsat[d] for d in qz.nsat])
 
 if True:
 
-    tmax = 900
+    tmax = 500
 
     fig, ax = plt.subplots()
-    plt.plot(tow_-tow_[0], nsat[:, 0], label='tracked')
-    plt.plot(tow_-tow_[0], nsat[:, 1], label='authenticated')
+    # plt.plot(tow_-tow_[0], nsat[:, 0], label='tracked')
+    plt.plot(tow_-tow_[0], nsat[:, 1], label='GPS ' +
+             msg_nav_t[qz.navmode[uGNSS.GPS]])
+    plt.plot(tow_-tow_[0], nsat[:, 2], label='GAL ' +
+             msg_nav_t[qz.navmode[uGNSS.GAL]])
+    plt.plot(tow_-tow_[0], nsat[:, 3], label='QZS '+msg_nav_t[navmode])
     plt.grid()
     plt.legend()
     plt.xlim([0, tmax])