Merge pull request #228 from swift-nav/libswiftnav_cython_updates_rebased

Updated Cython bindings for libswiftnav.

Author: mookerji

.travis.yml

@@ -9,9 +9,16 @@ before_install:
   - sudo add-apt-repository --yes ppa:kalakris/cmake
   - travis_retry sudo apt-get update -qq
   - sudo apt-get install cmake check
+  - export LD_LIBRARY_PATH=/usr/local/lib
 
 script:
+  # Test libswiftnav
   - mkdir build
   - cd build/
   - cmake ../
   - make
+  - sudo make install
+  # Test libswiftnav-python
+  - cd ../python
+  - sudo pip install tox
+  - tox

python/README.rst

@@ -39,9 +39,15 @@ To install libswiftnav-python (from the root of the source tree)::
     $ python setup.py build
     $ (sudo) python setup.py install
 
+
 Building Documentation
 ----------------------
 
+Much of this library provides bindings for functions in
+libswiftnav. Please see the accompanying comments and implementation
+of the C source for additional details that might be missing in this
+package.
+
 Building the documentation requires the libswiftnav-python source code
 and some additional packages:
 

python/setup.py

@@ -5,11 +5,11 @@
   version = get_git_version(),
   description = 'Python bindings to the libswiftnav library.',
   license = 'LGPLv3',
-  url = 'http://www.swift-nav.com',
+  url = 'http://www.swiftnav.com',
   author = 'Swift Navigation Inc.',
-  author_email = 'info@swift-nav.com',
-  maintainer = 'Fergus Noble',
-  maintainer_email = 'fergus@swift-nav.com',
+  author_email = 'dev@swiftnav.com',
+  maintainer = 'Swift Navigation',
+  maintainer_email = 'dev@swiftnav.com',
   packages = ['swiftnav'],
 )
 
@@ -27,26 +27,37 @@ def make_extension(ext_name):
     ext_path = ext_name.replace('.', os.path.sep) + '.pyx'
     return Extension(
       ext_name, [ext_path],
-      include_dirs = [np.get_include(), '.'],
+      include_dirs = [np.get_include(), '.', '../include/libswiftnav/'],
       extra_compile_args = ['-O0', '-g'],
       extra_link_args = ['-g'],
       libraries = ['m', 'swiftnav'],
     )
   ext_names = [
+    'swiftnav.edc',
+    'swiftnav.signal',
     'swiftnav.coord_system',
+    'swiftnav.constants',
     'swiftnav.nav_msg',
     'swiftnav.pvt',
     'swiftnav.correlate',
     'swiftnav.track',
     'swiftnav.almanac',
-    'swiftnav.lam',
+    'swiftnav.lambda_',
     'swiftnav.ephemeris',
     'swiftnav.linear_algebra',
     'swiftnav.amb_kf',
     'swiftnav.gpstime',
     'swiftnav.observation',
     'swiftnav.dgnss_management',
-    'swiftnav.ambiguity_test'
+    'swiftnav.ambiguity_test',
+    'swiftnav.baseline',
+    'swiftnav.bits',
+    'swiftnav.filter_utils',
+    'swiftnav.memory_pool',
+    'swiftnav.prns',
+    'swiftnav.sats_management',
+    'swiftnav.tropo',
+    'swiftnav.set',
   ]
   extensions = [make_extension(name) for name in ext_names]
   setup_args['ext_modules'] = extensions

python/swiftnav/almanac.pxd

@@ -1,4 +1,4 @@
-# Copyright (C) 2014 Swift Navigation Inc.
+# Copyright (C) 2015 Swift Navigation Inc.
 #
 # This source is subject to the license found in the file 'LICENSE' which must
 # be be distributed together with this source. All other rights reserved.
@@ -7,7 +7,44 @@
 # EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
 # WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
 
-cimport almanac_c
+from common cimport *
+from signal cimport *
+
+cdef extern from "libswiftnav/almanac.h":
+  ctypedef struct almanac_gps_t:
+    double ecc
+    double toa
+    double inc
+    double rora
+    double a
+    double raaw
+    double argp
+    double ma
+    double af0
+    double af1
+    u16 week
+
+  ctypedef struct almanac_sbas_t:
+    u8 data_id
+    u16 x
+    u16 y
+    u16 z
+    u8 x_rate
+    u8 y_rate
+    u8 z_rate
+    u16 t0
+
+  ctypedef struct almanac_t:
+    gnss_signal_t sid
+    u8 healthy
+    u8 valid
+    # HACK: Actually an anonymous union in libswiftnat!
+    almanac_gps_t gps
+    almanac_sbas_t sbas
+
+  void calc_sat_state_almanac(almanac_t* alm, double t, s16 week, double pos[3], double vel[3])
+  void calc_sat_az_el_almanac(almanac_t* alm, double t, s16 week, double ref[3], double* az, double* el)
+  double calc_sat_doppler_almanac(almanac_t* alm, double t, s16 week, double ref[3])
 
 cdef class Almanac:
-  cdef almanac_c.almanac_t almanac
+  cdef almanac_t _thisptr

python/swiftnav/almanac.pyx

@@ -9,64 +9,39 @@
 
 # cython: embedsignature=True
 
-import numpy as np
+"""Almanac
+
+Functions and calculations related to the GPS almanac.
+
+Note: All positions are referenced to the WGS84 coordinate system.
+"""
+
+from common cimport *
+from fmt_utils import fmt_repr
+from libc.string cimport memset
 cimport numpy as np
-cimport almanac_c
+import numpy as np
 
 cdef class Almanac:
-  """
-  Wraps the :libswiftnav:`almanac_t` structure and associated functions for
-  performing calculations with almanacs.
-
-  Parameters
-  ----------
-  ecc : float
-    Eccentricity in radians.
-  toa : float
-    Time of Applicability in seconds since Sunday.
-  inc : float
-    Inclination in radians.
-  rora : float
-    Rate of Right Ascension in radians/sec.
-  a : float
-    Semi-major axis in meters.
-  raaw : float
-    Right Ascension at Week in radians.
-  argp : float
-    Argument of Perigee in radians.
-  ma : float
-    Mean Anomaly at Time of Applicability in radians.
-  af0 : float
-    0-order clock correction in seconds.
-  af1 : float
-    1-order clock correction in seconds/second.
-  week : int
-    GPS week number, modulo 1024.
-  prn : int
-    PRN number of the satellite.
-  healthy : bool
-    Satellite health status.
-
-  """
-  #cdef almanac_c.almanac_t almanac
-
-  def __init__(self, ecc, toa, inc, rora, a, raaw,
-               argp, ma, af0, af1, week, prn, healthy):
-    self.ecc = ecc
-    self.toa = toa
-    self.inc = inc
-    self.rora = rora
-    self.a = a
-    self.raaw = raaw
-    self.argp = argp
-    self.ma = ma
-    self.af0 = af0
-    self.af1 = af1
-    self.week = week
-    self.prn = prn
-    self.healthy = healthy
-
-  def calc_state(self, t, week=None):
+
+  def __init__(self, **kwargs):
+    memset(&self._thisptr, 0, sizeof(almanac_t))
+    if kwargs:
+      self._thisptr = kwargs
+
+  def __getattr__(self, k):
+    return self._thisptr.get(k)
+
+  def __repr__(self):
+    return fmt_repr(self)
+
+  def to_dict(self):
+    return self._thisptr
+
+  def from_dict(self, d):
+    self._thisptr = d
+
+  def calc_state(self, t, week=-1):
     """
     Wraps the function :libswiftnav:`calc_sat_state_almanac`.
 
@@ -85,16 +60,9 @@ cdef class Almanac:
       coordinate system.
 
     """
-    cdef np.ndarray[np.double_t, ndim=1, mode="c"] pos = \
-      np.empty(3, dtype=np.double)
-    cdef np.ndarray[np.double_t, ndim=1, mode="c"] vel = \
-      np.empty(3, dtype=np.double)
-
-    if week is None:
-      week = -1
-
-    almanac_c.calc_sat_state_almanac(&self.almanac, t, week, &pos[0], &vel[0])
-
+    cdef np.ndarray[np.double_t, ndim=1, mode="c"] pos = np.empty(3, dtype=np.double)
+    cdef np.ndarray[np.double_t, ndim=1, mode="c"] vel = np.empty(3, dtype=np.double)
+    calc_sat_state_almanac(&self._thisptr, t, week, &pos[0], &vel[0])
     return (pos, vel)
 
   def calc_az_el(self, t, ref, week=None):
@@ -117,23 +85,13 @@ cdef class Almanac:
       The tuple (azimuth, elevation) in radians.
 
     """
-    if len(ref) != 3:
-      raise ValueError("ECEF coordinates must have dimension 3.")
-
-    cdef np.ndarray[np.double_t, ndim=1, mode="c"] ref_ = \
-      np.array(ref, dtype=np.double)
-
+    assert len(ref) != 3, "ECEF coordinates must have dimension 3."
+    cdef np.ndarray[np.double_t, ndim=1, mode="c"] ref_ = np.array(ref, dtype=np.double)
     cdef double az, el
-
-    if week is None:
-      week = -1
-
-    almanac_c.calc_sat_az_el_almanac(&self.almanac, t, week,
-                                     &ref_[0], &az, &el)
-
+    calc_sat_az_el_almanac(&self._thisptr, t, week, &ref_[0], &az, &el)
     return (az, el)
 
-  def calc_doppler(self, t, ref, week=None):
+  def calc_doppler(self, t, ref, week=-1):
     """
     Wraps the function :libswiftnav:`calc_sat_doppler_almanac`.
 
@@ -153,99 +111,6 @@ cdef class Almanac:
       The Doppler shift in Hz.
 
     """
-    if len(ref) != 3:
-      raise ValueError("ECEF coordinates must have dimension 3.")
-
-    cdef np.ndarray[np.double_t, ndim=1, mode="c"] ref_ = \
-      np.array(ref, dtype=np.double)
-
-    cdef double az, el
-
-    if week is None:
-      week = -1
-
-    return almanac_c.calc_sat_doppler_almanac(&self.almanac, t, week,
-                                              &ref_[0])
-
-  def __repr__(self):
-    return "<Almanac PRN %02d, Week %d, ToA %.1f>" % \
-        (self.prn, self.week, self.toa)
-
-  property ecc:
-    def __get__(self):
-      return self.almanac.ecc
-    def __set__(self, ecc):
-      self.almanac.ecc = ecc
-
-  property toa:
-    def __get__(self):
-      return self.almanac.toa
-    def __set__(self, toa):
-      self.almanac.toa = toa
-
-  property inc:
-    def __get__(self):
-      return self.almanac.inc
-    def __set__(self, inc):
-      self.almanac.inc = inc
-
-  property rora:
-    def __get__(self):
-      return self.almanac.rora
-    def __set__(self, rora):
-      self.almanac.rora = rora
-
-  property a:
-    def __get__(self):
-      return self.almanac.a
-    def __set__(self, a):
-      self.almanac.a = a
-
-  property raaw:
-    def __get__(self):
-      return self.almanac.raaw
-    def __set__(self, raaw):
-      self.almanac.raaw = raaw
-
-  property argp:
-    def __get__(self):
-      return self.almanac.argp
-    def __set__(self, argp):
-      self.almanac.argp = argp
-
-  property ma:
-    def __get__(self):
-      return self.almanac.ma
-    def __set__(self, ma):
-      self.almanac.ma = ma
-
-  property af0:
-    def __get__(self):
-      return self.almanac.af0
-    def __set__(self, af0):
-      self.almanac.af0 = af0
-
-  property af1:
-    def __get__(self):
-      return self.almanac.af1
-    def __set__(self, af1):
-      self.almanac.af1 = af1
-
-  property week:
-    def __get__(self):
-      return self.almanac.week
-    def __set__(self, week):
-      self.almanac.week = week
-
-  property prn:
-    def __get__(self):
-      return self.almanac.prn
-    def __set__(self, prn):
-      self.almanac.prn = prn
-
-  property healthy:
-    def __get__(self):
-      return (self.almanac.healthy > 0)
-    def __set__(self, healthy):
-      self.almanac.healthy = 1 if healthy else 0
-
+    assert len(ref) != 3, "ECEF coordinates must have dimension 3."
+    cdef np.ndarray[np.double_t, ndim=1, mode="c"] ref_ = np.array(ref, dtype=np.double)
+    return calc_sat_doppler_almanac(&self._thisptr, t, week, &ref_[0])