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@ -1,4 +1,4 @@
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function [gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,fileName,dataFilterIn,gnssAnalysis) |
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function [gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,fileName,dataFilter,gnssAnalysis) |
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%% [gnssRaw,gnssAnalysis]=ReadGnssLogger(dirName,fileName,dataFilter,gnssAnalysis); |
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% Read the log file created by Gnss Logger App in Android |
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% Compatible with Android release N |
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@ -7,8 +7,12 @@ function [gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,fileName,dataFilterIn,g
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% dirName = string with directory of fileName, |
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% e.g. '~/Documents/MATLAB/Pseudoranges/2016-03-28' |
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% fileName = string with filename |
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% dataFilter = cell array, dataFilter.{i}=string with a valid matlab expression |
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% e.g. dataFilter{1} = 'ConstellationType==1' |
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% dataFilter = nx2 cell array of pairs of strings, |
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% dataFilter{i,1} is a string with one of 'Raw' header values from the |
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% GnssLogger log file e.g. 'ConstellationType' |
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% dataFilter{i,2} is a string with a valid matlab expression, containing |
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% the header value, e.g. 'ConstellationType==1' |
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% See SetDataFilter.m for full rules and examples of dataFilter. |
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% |
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% Output: |
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% gnssRaw, all GnssClock and GnssMeasurement fields from log file, including: |
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@ -44,7 +48,7 @@ function [gnssRaw,gnssAnalysis] = ReadGnssLogger(dirName,fileName,dataFilterIn,g
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gnssAnalysis.GnssClockErrors = 'GnssClock Errors.'; |
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gnssAnalysis.GnssMeasurementErrors = 'GnssMeasurement Errors.'; |
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gnssAnalysis.ApiPassFail = ''; |
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if nargin<3, dataFilterIn = []; end |
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if nargin<3, dataFilter = []; end |
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%% check we have the right kind of fileName |
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extension = fileName(end-3:end); |
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@ -57,7 +61,8 @@ rawCsvFile = MakeCsv(dirName,fileName);
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[header,C] = ReadRawCsv(rawCsvFile); |
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%% apply dataFilter |
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[dataFilter] = CheckDataFilter(dataFilterIn,header); |
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[bOk] = CheckDataFilter(dataFilter,header); |
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if ~bOk, return, end |
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C = FilterData(C,dataFilter,header); |
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%% pack data into gnssRaw structure |
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@ -67,8 +72,6 @@ C = FilterData(C,dataFilter,header);
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[gnssRaw,gnssAnalysis] = CheckGnssClock(gnssRaw,gnssAnalysis); |
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gnssAnalysis = ReportMissingFields(gnssAnalysis,missing); |
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%TBD on any early return, return gnssAnalysis.ApiPassFail = 'explanation' |
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% so that reporting tool reports why |
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end %end of function ReadGnssLogger |
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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@ -84,7 +87,7 @@ function csvFileName = MakeCsv(dirName,fileName)
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if dirName(end)~='/' |
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dirName = [dirName,'/']; %add / |
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end |
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csvFileName = [dirName,'prs.csv']; |
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csvFileName = [dirName,'raw.csv']; |
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if strcmp(fileName(end-3:end),'.csv') |
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return %input file is a csv file, nothing more to do here |
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end |
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@ -146,6 +149,7 @@ end
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% ' | sed -e ''s/true/1/'' -e ''s/false/0/'' -e ''s/# //'' ',... |
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% ' -e ''s/Raw,//'' ',... %replace "Raw," with nothing |
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% '-e ''s/(//g'' -e ''s/)//g'' > ',csvFileName]); |
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% |
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% On versions from v1.4.0.0 N: |
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% grep on "Raw," replace alpha characters amongst the numbers, |
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% remove parentheses in the header, |
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@ -172,7 +176,6 @@ if isempty(line) %line should be -1 at eof
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error('\nError occurred while reading file %s\n',fileName) |
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end |
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end %end of function MakeCsv |
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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@ -227,73 +230,42 @@ for i=1:M
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formatSpec = sprintf('%s %%f',formatSpec); |
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end |
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end |
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%for empty fields, enter 'NaN' into csv |
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C = textscan(fid,formatSpec,'Delimiter',',','EmptyValue',NaN); |
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fclose(fid); |
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end% of function ReadRawCsv |
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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function [dataFilter] = CheckDataFilter(dataFilterIn,header) |
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%% check that dataFilter has matching values in the header, |
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% extract this header value and add it as a second column for datafilter |
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dataFilter = dataFilterIn(:); %make dataFilter a column array |
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if isempty(dataFilterIn) |
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return |
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end |
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N = length(dataFilter); |
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%check that each value of dataFilter is valid: i.e. it contains one of the |
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%header types from the GnssLogger file |
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L = length(header); |
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for i=1:N |
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foundInHeader = zeros(1,L); |
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for j=1:L |
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foundInHeader(j) = any(strfind(dataFilter{i,1},header{j})); |
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end |
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if ~any(foundInHeader) %no match found (too coold) |
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error('dataFilter value ''%s'' has no matches in log file header',... |
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dataFilter{i,1}); |
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elseif sum(foundInHeader)>1 % too many matches found (tooo hot) |
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error('dataFilter value ''%s'' has >1 match in log file header',... |
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dataFilter{i,1}); |
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else %one match found (juust right) |
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k = find(foundInHeader);%index into where we found the matching header |
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dataFilter{i,2} = header{k};%save in second column |
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end |
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end |
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%dataFilter now has two columns: second one contains the matching header type |
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end% of function CheckDataFilter |
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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function C = FilterData(C,dataFilter,header) |
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%% filter C based on contents of dataFilter |
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iS = ones(size(C{1})); %initialize index into rows of C |
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for i=1:size(dataFilter,1) |
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j=find(strcmp(header,dataFilter{i,2}));%j = index into header |
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j=find(strcmp(header,dataFilter{i,1}));%j = index into header |
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%we should always be a value of j, because checkDataFilter checks for this: |
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assert(any(j),'dataFilter{i} = %s not found in header\n',dataFilter{i,1}) |
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%now we must evaluate the expression in dataFilter{i}, for example: |
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%now we must evaluate the expression in dataFilter{i,2}, for example: |
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% 'BiasUncertaintyNanos < 1e7' |
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%assign the relevant cell of C to a variable with same name as the header |
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ts = sprintf('%s = C{%d};',header{j},j); |
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eval(ts); |
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%create an index vector from the expression in dataFilter{i} |
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ts = sprintf('iSi = %s;',dataFilter{i,1}); |
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%create an index vector from the expression in dataFilter{i,2} |
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ts = sprintf('iSi = %s;',dataFilter{i,2}); |
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eval(ts); |
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%AND the iS index values on each iteration of i |
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iS = iS & iSi; |
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end |
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%Check if filter removes all values, |
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% Check if filter removes all values |
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if ~any(iS) %if all zeros |
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fprintf('\nAll measurements removed. Specify dataFilter less strictly, ') |
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dataFilter(:,1) |
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fprintf('\nAll measurements removed. Specify dataFilter less strictly than this:, ') |
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dataFilter(:,2) |
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return |
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end |
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%Now remove all values of C indexed by iS |
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% Keep only those values of C indexed by iS |
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for i=1:length(C) |
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C{i} = C{i}(iS); |
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end |
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@ -355,6 +327,9 @@ for j = 1:length(header)
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missing.MeasurementFields{end+1} = header{j}; |
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end |
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end |
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%So, if a field is not reported, it will be all NaNs from makeCsv, and the above |
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%code will not load it into gnssRaw. So when we call 'CheckGnssClock' it can |
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%check for missing fields in gnssRaw. |
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%TBD look for all zeros that can not legitimately be all zero, |
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%e.g. AccumulatedDeltaRangeMeters, and report these as missing data |
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@ -362,42 +337,55 @@ end
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end %end of function PackGnssRaw |
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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function [gnssRaw,gnssAnalysis] = CheckGnssClock(gnssRaw,gnssAnalysis) |
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function [gnssRaw,gnssAnalysis,bOk] = CheckGnssClock(gnssRaw,gnssAnalysis) |
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%% check clock values in gnssRaw |
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bOk = true; |
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sFail = ''; %initialize string to record failure messafes |
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N = length(gnssRaw.ReceivedSvTimeNanos); |
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%Insist on the presence of TimeNanos (time from hw clock) |
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if ~isfield(gnssRaw,'TimeNanos') |
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error('TimeNanos data missing from GnssLogger file\n'); |
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s = ' TimeNanos missing from GnssLogger File.'; |
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fprintf('WARNING: %s\n',s); |
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sFail = [sFail,s]; |
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bOk = false; |
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end |
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if ~isfield(gnssRaw,'FullBiasNanos') |
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error('FullBiasNanos is missing or zero, we need it to get gnssRaw week\n') |
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%TBD change to fatal warning, so a report is still generated, with warning |
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s = 'FullBiasNanos missing from GnssLogger file.'; |
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fprintf('WARNING: %s, we need it to get the week number\n',s); |
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sFail = [sFail,s]; |
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bOk = false; |
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end |
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if ~isfield(gnssRaw,'BiasNanos') |
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gnssRaw.BiasNanos = zeros(N,1); |
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end |
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if ~isfield(gnssRaw,'HardwareClockDiscontinuityCount') |
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%possibly non fatal error, we assume there is no hardware clock discontinuity |
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%so we set to zero and move on, but we print a warning |
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gnssRaw.HardwareClockDiscontinuityCount = zeros(N,1); |
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fprintf('WARNING: Added HardwareClockDiscontinuityCount because it is missing from GNSS Logger file\n'); |
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fprintf('WARNING: Added HardwareClockDiscontinuityCount=0 because it is missing from GNSS Logger file\n'); |
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end |
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%auto-detect sign of FullBiasNanos, if it is positive, give warning and change |
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if ~all(gnssRaw.FullBiasNanos<=0) |
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%check FullBiasNanos, it should be negative values |
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bChangeSign = any(gnssRaw.FullBiasNanos<0) & any(gnssRaw.FullBiasNanos>0); |
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assert(~bChangeSign,... |
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'FullBiasNanos changes sign within log file, this should never happen'); |
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%Now we know FullBiasNanos doesnt change sign,auto-detect sign of FullBiasNanos, |
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%if it is positive, give warning and change |
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if any(gnssRaw.FullBiasNanos>0) |
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gnssRaw.FullBiasNanos = -1*gnssRaw.FullBiasNanos; |
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fprintf('WARNING: FullBiasNanos wrong sign. Should be negative. Auto changing inside ReadGpsLogger\n'); |
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gnssAnalysis.GnssClockErrors = [gnssAnalysis.GnssClockErrors,... |
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sprintf(' FullBiasNanos wrong sign.')]; |
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end |
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%now all FullBiasNanos should be negative - if there are any are > 0 it means |
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%something is very wrong with the log file, because FullBiasNanos has changed |
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%sign from a large negative to large positive number, and we must assert |
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assert(all(gnssRaw.FullBiasNanos<=0),... |
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'FullBiasNanos changes sign within log file, this should never happen') |
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%compute full cycle time of measurement, in milliseonds |
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gnssRaw.allRxMillis = int64((gnssRaw.TimeNanos - gnssRaw.FullBiasNanos)*1e-6); |
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%allRxMillis is now accurate to one millisecond (because it's an integer) |
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if ~bOk |
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gnssAnalysis.ApiPassFail = ['FAIL ',sFail]; |
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end |
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end %end of function CheckGnssClock |
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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@ -428,11 +416,13 @@ if ~isempty(missing.MeasurementFields)
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end |
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%assign pass/fail |
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if ~any(strfind(gnssAnalysis.ApiPassFail,'FAIL')) %didn't already fail |
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if isempty(missing.ClockFields) && isempty(missing.MeasurementFields) |
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gnssAnalysis.ApiPassFail = 'PASS'; |
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else |
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gnssAnalysis.ApiPassFail = 'FAIL BECAUSE OF MISSING FIELDS'; |
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end |
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end |
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end %end of function ReportMissingFields |
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% |
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Frank van Diggelen
8 years ago