Implement Novatel GALCNAVRAWPAGE reader in ASCII format.

HAS_Converter.py

@@ -10,7 +10,7 @@ def printHelp():
     print("-t arg : Target stream to decode messages to")
     print("-f opt : Format to convert HAS messages to. Options are [1:IGS, 2:RTCM3]")
     print("-i opt : Input mode, specifying the type of input stream. Options are :",
-        "\n         [1:SBF File, 2:BINEX File, 3:SBF Serial, 4:BINEX Serial, 5:SBF TCP, 6:BINEX TCP]")
+        "\n         [1:SBF File, 2:BINEX File, 3:SBF Serial, 4:BINEX Serial, 5:SBF TCP, 6:BINEX TCP, 7:NOV-A File]")
     print("-o opt : Output mode, specifying the type of output stream. Options are:",
         "\n         [1:TCP, 2:File, 3:PPPWiz File, 4:PPPWiz Stream]")
     print("-p arg : Optional for TCP output. If not set, uses port 6947")

README.md

@@ -39,7 +39,7 @@ Parameters for the `HAS_Converter` are as follows:
 * `source`: The source. Can be a filename/path or portname.  
 * `target`: The output target. Can be a filename/path or an IP address for a TCP server.  
 * `out_format`: The format of the output. Options are [1:IGS, 2:RTCM3]  
-* `modeIn`: Optional. Determining the mode of input. If not set, looks for file endings.  Options are [1:SBF File, 2:BINEX File, 3:SBF Serial, 4:BINEX Serial, 5:SBF TCP, 6:BINEX TCP]  
+* `modeIn`: Optional. Determining the mode of input. If not set, looks for file endings.  Options are [1:SBF File, 2:BINEX File, 3:SBF Serial, 4:BINEX Serial, 5:SBF TCP, 6:BINEX TCP, 7:Novatel ASCII]  
 * `modeOut`: Optional. Determining the mode of output. If not set, decides based on all-numeric IP addresses (excl. dots)/localhost or not. Options are: [1:TCP, 2:File, 3:PPPWiz File, 4:PPPWiz Stream]  
 * `x`: Optional parameter. Used to indicate a maximum number of navigation messages to read. This includes all GNSS messages and is not limited to Galileo HAS messages.  
 * `port`: Optional parameter for TCP output. If not set, uses port 6947  
@@ -64,7 +64,7 @@ This command sets up a decoder with exactly the same settings as shown in the pr
 * -s arg    : Source stream to decode messages from  
 * -t arg : Target stream to decode messages to  
 * -f opt : Format to convert HAS messages to. Options are [1:IGS, 2:RTCM3]  
-* -i opt : Input mode, specifying the type of input stream. Options are : [1:SBF File, 2:BINEX File, 3:SBF Serial, 4:BINEX Serial, 5:SBF TCP, 6:BINEX TCP]  
+* -i opt : Input mode, specifying the type of input stream. Options are : [1:SBF File, 2:BINEX File, 3:SBF Serial, 4:BINEX Serial, 5:SBF TCP, 6:BINEX TCP, 7:Novatel ASCII]  
 * -o opt : Output mode, specifying the type of output stream. Options are: [1:TCP, 2:File, 3:PPPWiz File, 4:PPPWiz Stream]  
 * -p arg : Optional for TCP output. If not set, uses port 6947  
 * -b arg : Optional for serial input, specifying the baudrate of the stream. If not set, uses 115200  

Tests/ReadMe.md

@@ -10,3 +10,7 @@ True location (converted from DMS) for FGI-Otaniemi Septentrio Antenna:
 * trueLat =  60.182260;
 * trueLong =  24.828537;
 * trueHeight = 47.248;
+
+NovAsciiTestRecordings.zip contains two test recordings that were collected at University of Vaasa campus with Novatel PwrPak7 receiver.
+- gal_e6_raw_cnav_pages_2023-09-22_093700_UTC.txt with receiver firmware 7.08.10
+- gal_e6_raw_cnav_pages_2023-10-04_071500_UTC.txt with receiver firmware 7.09.00

galileo_has_decoder/conv.py

@@ -5,13 +5,15 @@
 
 VER   DATE        AUTHOR
 1.0   09/12/2021  Oliver Horst / FGI
+Modified 2023-09-29  Jaakko Yliaho / Uwasa to add NOV_Reader
 '''
 
 from galileo_has_decoder.sbf_reading import SBF_Reader
 from galileo_has_decoder.binex_reading import Binex_Reader
 from galileo_has_decoder.tcp_sbf_reading import TCP_SBF_Reader
 from galileo_has_decoder.tcp_binex_reading import TCP_Binex_Reader
 from galileo_has_decoder.serial_reading import Serial_SBF_Reader, Serial_Binex_Reader
+from galileo_has_decoder.nov_reading import NOV_Reader
 from galileo_has_decoder.tcp_server import TCP_Server
 from galileo_has_decoder.ssr_converter import SSR_Converter
 from galileo_has_decoder.file_write import File_Writer, PPP_Wiz_Writer
@@ -66,6 +68,9 @@ def __init__(self, source, target, outFormat, modeIn=None, modeOut=None, port=No
         elif modeIn == 6:
             inp = "BINEX TCP stream on " + str(source)
             self.reader = TCP_Binex_Reader(source)
+        elif modeIn == 7:
+            inp = "Novatel GALCNAVRAWPAGE ASCII file"
+            self.reader = NOV_Reader(source, skip=float(skip))
         #Target Initialization
         if modeOut == None:
             if target.replace(".", "").isnumeric() or target == 'localhost':
@@ -110,7 +115,7 @@ def convertAll(self, compact=True, HRclk=False, lowerUDI=True, verbose=0):
         #Convert all messages available from the source
         if verbose != 0 and self.converter != None:
             self.converter.setVerbose(verbose)
-        if self.modeIn == 1 or self.modeIn == 2 or self.modeIn == 5 or self.modeIn == 6:
+        if self.modeIn == 1 or self.modeIn == 2 or self.modeIn == 5 or self.modeIn == 6 or self.modeIn == 7:
             self.reader.read(converter=self.converter, output=self.output, compact=compact, HRclk=HRclk, verbose=verbose)
         elif self.modeIn == 3 or self.modeIn == 4:
             self.reader.read(converter=self.converter, output=self.output, compact=compact, HRclk=HRclk, verbose=verbose)
@@ -120,7 +125,7 @@ def convertX(self, x, compact=True, HRclk=False, lowerUDI=True, verbose=0):
         if verbose != 0 and self.converter != None:
             self.converter.setVerbose(verbose)
         #Convert X messages from the source
-        if self.modeIn == 1 or self.modeIn == 2 or self.modeIn == 5 or self.modeIn == 6:
+        if self.modeIn == 1 or self.modeIn == 2 or self.modeIn == 5 or self.modeIn == 6 or self.modeIn == 7:
             self.reader.read(converter=self.converter, output=self.output, x=x, compact=compact, HRclk=HRclk, verbose=verbose)
         elif self.modeIn == 3 or self.modeIn == 4:
             self.reader.read(converter=self.converter, output=self.output, x=x, compact=compact, HRclk=HRclk, verbose=verbose)
@@ -130,7 +135,7 @@ def convertUntil(self, s, compact=True, HRclk=False, lowerUDI=True, verbose=0):
         if verbose != 0 and self.converter != None:
             self.converter.setVerbose(verbose)
         #Convert messages from the source for s seconds
-        if self.modeIn == 1 or self.modeIn == 2:
+        if self.modeIn == 1 or self.modeIn == 2 or self.modeIn == 7:
             raise Mode_Error("ERROR: Timed constraint not available for file reading.")
         elif self.modeIn >= 3 and self.modeIn <= 6:
             self.reader.read(converter=self.converter, output=self.output, mode="t", x=s, compact=compact, HRclk=HRclk, verbose=verbose)

galileo_has_decoder/nov_reading.py

@@ -0,0 +1,184 @@
+#!/usr/bin/env python
+
+'''
+Novatel GALCNAVRAWPAGE file reading class
+
+VER   DATE        AUTHOR
+1.0.x   2023-09-29  Jaakko Yliaho / Uwasa
+'''
+
+import struct
+import math
+import binascii
+from galileo_has_decoder.utils import bits2Bytes, gpst2time
+from galileo_has_decoder.has_classes import HAS_Storage
+from galileo_has_decoder.ssr_converter import SSR_Converter
+from galileo_has_decoder.tcp_server import TCP_Server
+
+class FileError(Exception):
+  #Base File Error class
+  pass
+
+class NOV_Reader:
+  file = None
+  has_storage = None
+  def __init__(self, path, msgnum=0, skip=0):
+    self.file = open(path, "r")
+    lines = self.file.readlines()
+    self.lines = lines[int(skip):]
+    self.numberOfRawPages = len(self.lines)
+    self.has_storage = HAS_Storage()
+    self.msgnum = msgnum
+    self.pppWiz = False
+
+  # Calculate CRC for single byte
+  @staticmethod
+  def crc(byte):
+    for j in range(8):
+      if ((byte & 1) & 0xFF):
+        byte = ((byte >> 1)) ^ 0xEDB88320
+      else:
+        byte = (byte >> 1)
+    return byte
+
+  # Calculate CRC for bytestream
+  @staticmethod
+  def CalculateBlockCRC32(bytestream):
+    result = 0x00000000
+    for byte in bytestream:
+      temp1 = (result >> 8) & 0x00FFFFFF
+      temp2 = NOV_Reader.crc((result ^ byte ) & 0xFF)
+      result = temp1 ^ temp2
+    return result
+
+  def read(self, path=None, converter=None, output=None, mode='m', x=None, compact=True, HRclk=False, lowerUDI=True, verbose=0):
+    if mode != 'm':
+      raise Exception("File Reading does only support message-number constraints")
+    if x != None: self.msgnum = x
+
+    if converter is not None:
+      if converter.pppWiz:
+        self.output = output
+        self.pppWiz = True
+
+    cnavs = 0
+    hasnum=0
+    currentLineNumber=0
+
+    for logMessage in self.lines:
+      logMessageFields=logMessage.split(";")
+      if len(logMessageFields) != 2:
+        if verbose >= 5:
+          print("NOV-A Reader: Invalid line format on line " + str(currentLineNumber+1))
+        currentLineNumber+=1
+        continue
+
+      headerFields=logMessageFields[0].split(",")
+      if len(headerFields) != 10:
+        if verbose >= 5:
+          print("NOV-A Reader: Invalid line format, wrong number of header fields, on line " + str(currentLineNumber+1))
+        currentLineNumber+=1
+        continue
+
+      dataCrcFields=logMessageFields[1].split("*")
+      if len(dataCrcFields) != 2:
+        if verbose >= 5:
+          print("NOV-A Reader: Invalid line format, CRC missing, on line " + str(currentLineNumber+1))
+        currentLineNumber+=1
+        continue
+
+      dataFields=dataCrcFields[0].split(",")
+      crcField=str.rstrip(dataCrcFields[1])
+
+      headerMessage=headerFields[0]
+      if headerMessage != "#GALCNAVRAWPAGEA" and "#GALCNAVRAWPAGEA" in headerMessage:
+        headerMessage="#GALCNAVRAWPAGEA"
+
+      if headerMessage != "#GALCNAVRAWPAGEA":
+        if verbose >= 6:
+          print("NOV-A Reader, line "+str(currentLineNumber)+", not a raw C/NAV page: "+str(headerMessage))
+        currentLineNumber+=1
+        continue
+
+      # Compute and check log message CRC
+      # C/NAV raw data CRC has already been checked by the receiver.
+      # Only C/NAV messages that pass CRC validation are outputted by logging
+      messageToCheck=headerMessage[1:]+','+','.join(headerFields[1:])+';'+','.join(dataFields)
+      calculatedCrc=NOV_Reader.CalculateBlockCRC32(bytes(messageToCheck, 'utf-8'))
+      if (binascii.unhexlify(crcField) != int.to_bytes(calculatedCrc, 4, 'big')):
+        if verbose >= 5:
+          print("NOV-A Reader: Invalid CRC on line " + str(currentLineNumber+1))
+        currentLineNumber+=1
+        continue
+
+      if len(dataFields) != 5 and len(dataFields) != 4:
+        if verbose >= 5:
+          print("NOV-A Reader: Invalid line format, wrong number of data fields, on line " + str(currentLineNumber+1))
+        currentLineNumber+=1
+        continue
+
+      headerPort=headerFields[1]
+      headerSequence=headerFields[2]
+      headerIdleTime=headerFields[3]
+      headerTimeStatus=headerFields[4]
+      headerWeek=headerFields[5]
+      headerSeconds=headerFields[6]
+      headerReceiverStatus=headerFields[7]
+      headerReserved=headerFields[8]
+      headerReceiverSWVersion=headerFields[9]
+
+      dataSignalChannel=dataFields[0]
+      dataPRN=dataFields[1]
+      dataMessageID=dataFields[2]
+      dataPageID=""
+      dataRawCNAV=""
+
+      # SW version 17022(7.08.14) implemented new ASCII logging format with four data fields before raw C/NAV data
+      # Before version 17022 it was only three data fields before C/NAV raw data
+      # Check that logged software version matches the number of data fields logged
+      if int(headerReceiverSWVersion) < 17022:
+        if len(dataFields) != 4:
+          if verbose >= 5:
+            print("NOV-A Reader: Invalid line format, wrong number of data fields, on line " + str(currentLineNumber+1))
+          currentLineNumber+=1
+          continue
+
+        dataPageID=""
+        dataRawCNAV=dataFields[3]
+      else:
+        dataPageID=dataFields[3]
+        dataRawCNAV=dataFields[4]
+
+      # All the checks done. This is an OK raw C/NAV page, increase the counter
+      cnavs+=1
+
+      rawCNAVBinaryString=''.join(format(x, '08b') for x in binascii.unhexlify(dataRawCNAV))
+      # Remove the two extra bits at the end that are added for the ascii-hex representation of 464 bits instead of the C/NAV 462
+      rawCNAVBinaryString=rawCNAVBinaryString[0:-2]
+
+      if verbose >= 6:
+        print("NOV-A Reader, line "+str(currentLineNumber+1)+", header: "+str(headerFields)+", data: "+str(dataFields)+", crc: "+crcField+", bin: "+rawCNAVBinaryString)
+
+      if self.has_storage.feedMessage(rawCNAVBinaryString, float(headerSeconds), verbose=verbose):
+        hasnum+=1
+        if converter != None:
+          decoded_msg = self.has_storage.lastMessage
+          tow = self.has_storage.lastMessage_tow
+          if verbose >= 6:
+            print("NOV-A Reader, decoded_msg "+str(decoded_msg)+", tow: "+str(tow)+", tow2: "+str(float(headerSeconds)))
+          converted = converter.convertMessage(decoded_msg, compact=compact, HRclk=HRclk, tow=tow, lowerUDI=lowerUDI, verbose=verbose)
+          if output != None and converted != None:
+            for msg_conv in converted:
+              msg_bytes = bits2Bytes(msg_conv)
+              gpst2time(int(headerWeek), float(headerSeconds))
+              if self.pppWiz:
+                output.write(msg_bytes, 2, 1, gpst2time(int(headerWeek), float(headerSeconds)))
+              else:
+                output.write(msg_bytes)
+
+      currentLineNumber+=1
+      continue
+
+    if verbose>=1:
+      print("Out of "+str(currentLineNumber)+" messages, "+str(cnavs)+" were C/Nav messages. "+str(hasnum)
+            +" HAS messages have successfully been decoded and converted.")

galileo_has_decoder/readers.py

@@ -5,10 +5,12 @@
 
 VER   DATE        AUTHOR
 1.0   09/12/2021  Oliver Horst / FGI
+Modified 2023-09-29  Jaakko Yliaho / Uwasa to add NOV_Reader
 '''
 
 from galileo_has_decoder.sbf_reading import SBF_Reader
 from galileo_has_decoder.binex_reading import Binex_Reader
 from galileo_has_decoder.tcp_sbf_reading import TCP_SBF_Reader
 from galileo_has_decoder.tcp_binex_reading import TCP_Binex_Reader
-from galileo_has_decoder.serial_reading import Serial_SBF_Reader, Serial_Binex_Reader
+from galileo_has_decoder.serial_reading import Serial_SBF_Reader, Serial_Binex_Reader
+from galileo_has_decoder.nov_reading import NOV_Reader