- add comments.

Author: hirokawa

src/cssrlib/rawnav.py

@@ -58,6 +58,7 @@ def gep2time(N4, Nt, sod):
 
 
 class RawNav():
+    """ Raw Navigation Message decoder """
     def __init__(self, opt=None, prefix=''):
         self.gps_lnav = {}
         for k in range(uGNSS.GPSMAX):
@@ -1368,6 +1369,7 @@ def decode_irn_lnav(self, week, time, sat, msg):
         return eph
 
     def decode_irn_l1nav_iono_grid(self, msg, i):
+        """ NavIC L1NAV Ionosphere delay at grid points """
         mask, regid = bs.unpack_from('u10u4', msg, i)
         i += 14
         for k in range(15):
@@ -1378,12 +1380,14 @@ def decode_irn_l1nav_iono_grid(self, msg, i):
         return i
 
     def decode_irn_l1nav_alm(self, msg, i):
+        """ NavIC L1NAV Almanac """
         wna, e, toa, i0, OMGd, sqrtA, OMG0, omg, M0, af0, af1, prn_a = \
             bs.unpack_from('u13u20u16s24s19u24s24s24s24s14s11u6', msg, i)
         i += 243
         return i
 
     def decode_irn_l1nav_iono_nequick(self, msg, i):
+        """ NavIC L1NAV NeQuick Iono parameters """
         for k in range(3):
             modip_mac, modip_min, mlon_max, mlon_min, a0, a1, a2, idf = \
                 bs.unpack_from('s6s6s7s7u11s11s14u1', msg, i)
@@ -1394,6 +1398,7 @@ def decode_irn_l1nav_iono_nequick(self, msg, i):
         return i
 
     def decode_irn_l1nav_iono_klob(self, msg, i):
+        """ NavIC L1NAV Klobuchar like Iono parameters """
         alp0, alp1, alp2, alp3 = \
             bs.unpack_from('s8s8s10s12', msg, i)
         i += 38
@@ -1407,12 +1412,14 @@ def decode_irn_l1nav_iono_klob(self, msg, i):
         return i
 
     def decode_irn_l1nav_eop(self, msg, i):
+        """ NavIC L1NAV Earth Orientation Parameters """
         teop, pmx, pmxd, pmy, pmyd, dut1, dut1d = \
             bs.unpack_from('u16s21s15s21s15s31s19', msg, i)
         i += 138
         return i
 
     def decode_irn_l1nav_utc(self, msg, i):
+        """ NavIC L1NAV UTC parameters """
         iodt, tug, wnug, dtls, wnlsf, dn, dtlsf = \
             bs.unpack_from('u3u8u13s8u13u4s8', msg, i)
         i += 57
@@ -1852,6 +1859,7 @@ def decode_glo_cdma(self, week, time, sat, buff, stype):
         return geph
 
     def decode_sbs_l1(self, week, tow, sat, msg):
+        """ SBAS L1 navigation message decoder """
         ura_t = [2, 2.8, 4, 5.7, 8, 11.3, 16, 32,
                  64, 128, 256, 512, 1024, 2048, 4096, 0]
 
@@ -1896,6 +1904,7 @@ def decode_sbs_l1(self, week, tow, sat, msg):
 
 
 class rcvOpt():
+    """ template class for receiver options """
     flg_qzslnav = False
     flg_gpslnav = False
     flg_qzscnav = False
@@ -2058,6 +2067,7 @@ def init_sig_tab(self, gnss_t='GEJ'):
         return sig_tab
 
     def init_param(self, opt: rcvOpt, prefix=''):
+        """ initialize parameters and file handlers """
         if opt.flg_rnxnav or opt.flg_rnxobs:
             self.re = rnxenc(sig_tab=self.sig_tab)
 
@@ -2146,6 +2156,7 @@ def init_param(self, opt: rcvOpt, prefix=''):
             # self.re.rnx_obs_header(self.fh_rnxobs)
 
     def file_close(self):
+        """ close file handlers """
         if self.fh_qzsl6 is not None:
             self.fh_qzsl6.close()
 

src/cssrlib/rinex.py

@@ -123,13 +123,15 @@ def autoSubstituteSignals(self):
                             self.sig_tab[sys][typ][i] = sig.toAtt(a)
 
     def flt(self, u, c=-1):
+        """ convert string to float """
         if c >= 0:
             u = u[19*c+4:19*(c+1)+4]
         if u.isspace():
             return 0.0
         return float(u.replace("D", "E"))
 
     def adjday(self, t: gtime_t, t0: gtime_t):
+        """ adjust time to within 1 day of t0 """
         tt = timediff(t, t0)
         if tt < -43200.0:
             return timeadd(t, 86400.0)
@@ -138,6 +140,7 @@ def adjday(self, t: gtime_t, t0: gtime_t):
         return t
 
     def decode_time(self, s, ofst=0, slen=2):
+        """ decode time from string """
         year = int(s[ofst+0:ofst+4])
         month = int(s[ofst+5:ofst+7])
         day = int(s[ofst+8:ofst+10])
@@ -783,6 +786,7 @@ def decode_clk(self, clkfile, nav):
 
     # TODO: decode GLONASS FCN lines
     def decode_obsh(self, obsfile):
+        """ decode RINEX Observation header from file """
         self.fobs = open(obsfile, 'rt')
         for line in self.fobs:
             if line[60:73] == 'END OF HEADER':
@@ -997,6 +1001,7 @@ def __init__(self, sig_tab=None):
         self.rec_eph = {}
 
     def rnx_nav_header(self, fh=None, ver=4.02):
+        """ write RINEX navigation header to file """
         tutc = timeget()
         tgps = utc2gpst(tutc)
         leaps = timediff(tgps, tutc)
@@ -1015,6 +1020,7 @@ def rnx_nav_header(self, fh=None, ver=4.02):
                  format("", "END OF HEADER"))
 
     def rnx_obs_header(self, ts: gtime_t, fh=None, ver=4.02):
+        """ write RINEX observation header to file """
 
         if self.rnx_obs_header_sent:
             return
@@ -1119,6 +1125,7 @@ def sval(self, v: float):
         return s
 
     def rnx_obs_body(self, obs=None, fh=None):
+        """ write RINEX observation message to file """
 
         ep = time2epoch(obs.time)
         nsat = len(obs.sat)
@@ -1152,6 +1159,7 @@ def rnx_obs_body(self, obs=None, fh=None):
             fh.write("\n")
 
     def rnx_nav_body(self, eph=None, fh=None):
+        """ write RINEX navigation message to file """
         if eph.sat in self.rec_eph.keys():
             if eph.mode in self.rec_eph[eph.sat].keys() and \
                     self.rec_eph[eph.sat][eph.mode][0] == eph.iode:
@@ -1332,6 +1340,7 @@ def rnx_nav_body(self, eph=None, fh=None):
                          format(tot_, "", "", ""))
 
     def rnx_gnav_body(self, geph=None, fh=None):
+        """ write RINEX navigation message for GLONASS to file """
         if geph.sat in self.rec_eph.keys():
             if geph.mode in self.rec_eph[geph.sat].keys() and \
                     self.rec_eph[geph.sat][geph.mode][0] == geph.iode:
@@ -1403,6 +1412,7 @@ def rnx_gnav_body(self, geph=None, fh=None):
                             tot_))
 
     def rnx_snav_body(self, seph=None, fh=None):
+        """ write RINEX navigation message for SBAS to file """
         if seph.sat in self.rec_eph.keys():
             if seph.mode in self.rec_eph[seph.sat].keys() and \
                     self.rec_eph[seph.sat][seph.mode][0] == seph.iodn: