- added test script for SC-134 draft standard (experimental)

samples/test_integ.py

@@ -0,0 +1,152 @@
+"""
+ interopetabity test for SSR Integrity messages MT11,12,13
+
+ @author Rui Hirokawa
+"""
+
+import os
+import copy
+from cssrlib.gnss import uGNSS
+from cssrlib.rtcm import rtcm, rtcme, Integrity
+from random import randint, seed, sample
+
+
+def gen_data(mt, sys_t, svid_t, s=1):
+    """ generate random message data """
+    seed(s)
+    intr = Integrity()
+
+    if mt in (11, 12, 13):  # SSR integrity messages
+
+        for sys in sys_t:
+            intr.iod_sys[sys] = randint(0, 3)
+            intr.nid[sys] = randint(0, 255)  # network id DFi071 0-255
+            intr.flag[sys] = {}
+            for svid in svid_t[sys]:
+                intr.flag[sys][svid] = randint(0, 2)
+                # integrity flag DFi068 0:use,1:DNU,2:not monitored,3:reserved
+
+        # issue of GNSS satellite mask DFi010
+        intr.pid = randint(0, 4095)  # provider id DFi027 (0-4095)
+        intr.tow = randint(0, 604799)  # tow
+        intr.vp = randint(0, 15)  # validity period DFi065 (0-15)
+        intr.uri = randint(0, 65535)  # update rate interval DFi067
+
+    return intr
+
+
+def gen_sat_list(sys_t, prn_rng_t):
+    prn_t = {}
+    for sys in sys_t:
+        nsat = randint(1, nsatmax)
+        prn_t[sys] = []
+        smin = prn_rng_t[sys][0]
+        smax = prn_rng_t[sys][1]
+        prn_t[sys] = sample(range(smin, smax), nsat)
+        prn_t[sys].sort()
+    return prn_t
+
+
+def write_rtcm(file_rtcm, msg_t, intr, nep=1):
+
+    cs = rtcme()
+    cs.integ = copy.deepcopy(intr)
+
+    fc = open(file_rtcm, 'wb')
+    if not fc:
+        print("RTCM messsage file cannot open.")
+    k = 0
+    msg = bytearray(maxlen)
+    buff = bytearray(1024)
+
+    for ne in range(nep):
+        cs.msgtype = msg_t[ne % len(msg_t)]
+        i = cs.encode(buff)
+
+        len_ = (i+7)//8
+        if k+len_+6 >= maxlen:
+            break
+
+        cs.set_body(msg, buff, k, len_)
+        cs.set_sync(msg, k)
+        cs.set_len(msg, k, len_)
+        cs.set_checksum(msg, k)
+        k += cs.dlen
+
+    fc.write(msg[:k])
+    fc.close()
+
+
+def read_rtcm(file_rtcm, intr, nep=1):
+
+    cs = rtcm()
+    cs.monlevel = 2
+
+    fc = open(file_rtcm, 'rb')
+    if not fc:
+        print("RTCM messsage file cannot open.")
+
+    blen = os.path.getsize(file_rtcm)
+    msg = fc.read(blen)
+    maxlen = len(msg)-5
+    fc.close()
+    k = 0
+    for ne in range(nep):
+
+        # loop for RTCM
+        while k < maxlen:
+            stat = cs.sync(msg, k)
+            if stat is False:
+                k += 1
+                continue
+            if not cs.checksum(msg, k, maxlen):
+                print("checksum failed.")
+                k += 1
+                continue
+
+            cs.decode(msg[k:k+cs.len+3])
+            k += cs.dlen
+
+            print(cs.integ.pid == intr.pid)
+            print(cs.integ.tow == intr.tow)
+            print(cs.integ.flag == intr.flag)
+            print(cs.integ.nid == intr.nid)
+            print(cs.integ.iod_sys == intr.iod_sys)
+
+            if cs.msgtype == 11:
+                print(cs.integ.vp == intr.vp)
+                print(cs.integ.uri == intr.uri)
+
+    return cs
+
+
+if __name__ == "__main__":
+    file_rtcm = '../data/sample.rtcm'
+    nep = 1
+    maxlen = 1024
+    nsatmax = 10
+
+    seed_ = 1
+    # parameters
+    # msg_t = [11, 12, 13]
+    msg_t = [11]
+    # msg_t = [12]
+    # msg_t = [13]
+
+    # 0:GPS,1:GLO,2:GAL,3:BDS,4:QZS,5:IRN
+    sys_t = [uGNSS.GPS, uGNSS.GLO, uGNSS.GAL, uGNSS.QZS]
+
+    # GNSS satellite mask DFi009
+    prn_rng_t = {uGNSS.GPS: [1, 63],  # Table 8.5-1
+                 uGNSS.GLO: [1, 24],  # Table 8.5-3
+                 uGNSS.GAL: [1, 52],  # Table 8.5-5
+                 uGNSS.BDS: [1, 63],
+                 uGNSS.QZS: [193, 202],
+                 uGNSS.IRN: [1, 10]}
+
+    mt = msg_t[0]
+
+    prn_t = gen_sat_list(sys_t, prn_rng_t)  # generate random sat list
+    intr = gen_data(mt, sys_t, prn_t, s=seed_)  # generate random message data
+    write_rtcm(file_rtcm, msg_t, intr, nep)
+    cs = read_rtcm(file_rtcm, intr, nep)