Class: GPS_PVT::RTCM3

Inherits:
Object
  • Object
show all
Defined in:
lib/gps_pvt/rtcm3.rb

Defined Under Namespace

Modules: Packet

Class Method Summary collapse

Instance Method Summary collapse

Constructor Details

#initialize(io) ⇒ RTCM3

Returns a new instance of RTCM3.



7
8
9
10
 
# File 'lib/gps_pvt/rtcm3.rb', line 7

def initialize(io)
  @io = io
  @buf = []
end

Class Method Details

.checksum(packet, range = 0..-4)) ⇒ Object 



11
12
13
 
# File 'lib/gps_pvt/rtcm3.rb', line 11

def RTCM3.checksum(packet, range = 0..-4)
  GPS_PVT::Util::CRC24Q::checksum(packet[range])
end

Instance Method Details

#read_packet ⇒ Object 



550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
 
# File 'lib/gps_pvt/rtcm3.rb', line 550

def read_packet
  while !@io.eof?
    if @buf.size < 6 then
      @buf += @io.read(6 - @buf.size).unpack('C*')
      return nil if @buf.size < 6
    end
    
    if @buf[0] != 0xD3 then
      @buf.shift
      next
    elsif (@buf[1] & 0xFC) != 0x0 then
      @buf = @buf[2..-1]
      next
    end
    
    len = ((@buf[1] & 0x3) << 8) + @buf[2]
    if @buf.size < len + 6 then
      @buf += @io.read(len + 6 - @buf.size).unpack('C*')
      return nil if @buf.size < len + 6
    end
    
    #p (((["%02X"] * 3) + ["%06X"]).join(', '))%[*(@buf[(len + 3)..(len + 5)]) + [RTCM3::checksum(@buf)]]
    if "\0#{@buf[(len + 3)..(len + 5)].pack('C3')}".unpack('N')[0] != RTCM3::checksum(@buf) then
      @buf = @buf[2..-1]
      next
    end
    
    packet = @buf[0..(len + 5)]
    @buf = @buf[(len + 6)..-1]
    
    return packet.extend(Packet)
  end
  return nil
end