Map Septentrio SBF blocks to the device-independent GPS model#346
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jclark wants to merge 16 commits into
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Map Septentrio SBF blocks to the device-independent GPS model#346jclark wants to merge 16 commits into
jclark wants to merge 16 commits into
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…poch ends A processor whose own epoch has ended but which cannot assert the epoch is over for the whole receiver (Septentrio's EndOfPVT marks the end of the PVT family, not the epoch) needs a flush signal distinct from EpochStarted/EndOfEpoch. EndOfProtocolEpoch flushes now only when the caller is the sole active processor and no other protocol took part in the last epoch; otherwise it defers to the next whole-receiver boundary, so a concurrently-active protocol such as NMEA (whose sentences may trail EndOfPVT) is not flushed mid-epoch. Participation is tracked in a new lastEpoch set captured by flush. EpochStarted/EndOfEpoch semantics are unchanged, so all existing protocols behave exactly as before. Claude-Session: https://claude.ai/code/session_01Giuwab4jijWsXtiKimJDqr
Build the real gps/internal/septentrio.PacketProcessor: it parses each packet via sbfbin.ParseMsg, converts recognized blocks into gpsprot.Msg values, accumulates one NavEpochMsg per PVT-family epoch, runs an independent SatellitesMsg stream, and falls back to NativeMsg for every unmapped block. Message families: - TimeMsg from ReceiverTime, PVTGeodetic/PVTCartesian, and xPPSOffset, all on the GPS week/TOW convention (no per-constellation whole-second shift); LeapSecondMsg from GPSUtc/GALUtc/BDSUtc. - PosGeo/PosECEF/VelGeo/VelECEF from PVTGeodetic/PVTCartesian. - NavEpochMsg quality accumulation from PVTGeodetic/PVTCartesian, DOP, and the PosCov*/VelCov* covariance blocks. - SatellitesMsg as a three-way combine of ChannelStatus, MeasEpoch, and SatVisibility, with the shared SVID and signal-number tables. - SurveyMsg (from PVT Mode bits) and CorReportMsg (from DiffCorrIn). Epoch flushing keys on the (TOW, WNc) block header. EndOfPVT calls the new EndOfProtocolEpoch so an SBF-only receiver flushes promptly while a concurrent NMEA stream is merged at the next whole-receiver boundary. sbfbin gains msgaccess.go with the wire-level constants, masks, and accessors this layer needs (signal numbers, SVID ranges, slot-status values, Mode/WACorrInfo bitfields), so the conversion layer inlines no raw wire value. Also fixes a pre-existing off-by-one in the PPSTimescale enum (a stray DNU constant shared the iota block, making PPSTimescaleGPS 2 instead of 1) and adds the missing gpsprot.SigIDQZSSL5S SignalID. Claude-Session: https://claude.ai/code/session_01Giuwab4jijWsXtiKimJDqr
# Conflicts: # docs/_includes/NEWS.md
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| // ChannelStatus contributed (haveBase), it only updates matching slots; when | ||
| // it is the base, it adds one SignalInfo per measurement. | ||
| func (c *satCombiner) overlayMeasEpoch(meas *sbfbin.MeasEpoch, haveBase bool) { | ||
| for i := range meas.Type1 { |
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For multi-frequency SBF MeasEpoch blocks, additional observations for the same satellite are carried in the Type2 slave sub-blocks, but this loop only visits Type1. In streams where L2/L5/etc. measurements are encoded as type-2 entries, SatellitesMsg either omits those signals entirely when MeasEpoch is the base, or leaves their ChannelStatus slots without the MeasEpoch CN0/precise SignalID overlay. Please iterate the per-Type1 Type2 entries as measurements too.
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sbfbin now exports the accessors this branch introduced in msgaccess.go, moved into the files that define their types, so msgaccess.go and its test file are removed here in favor of the sbfbin versions.
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Convert decoded SBF blocks into device-independent gpsprot messages: the real gps/internal/septentrio PacketProcessor, the per-epoch navigation model, and the signal-number and SVID mapping tables. It produces TimeMsg, LeapSecondMsg, position and velocity, per-epoch solution quality (NavEpochMsg), SatellitesMsg, SurveyMsg, and CorReportMsg from the SBF stream, and adds NavEpochManager.EndOfProtocolEpoch so an SBF EndOfPVT marker cooperates with a concurrently active NMEA processor rather than flushing its epoch early.
Stacked on the sbfbin PR (base branch sbfbin), whose decode structs it consumes. Independent of the message-file PR.
Part of #340.
Design: https://github.com/jclark/satpulse/blob/septentrio-msg/plan/septentrio-msg.md