Merge pull request #157 from Stanford-NavLab/v1.0.2

v1.0.2 is ready as a new release.
Stanford-NavLab · Feb 14, 2024 · f778d6e · f778d6e
2 parents 93492dd + fdf5a81
commit f778d6e
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diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
@@ -66,7 +66,7 @@ jobs:
     - name: Test with pytest
       run: |
         source $VENV
-        pytest --cov=gnss_lib_py/algorithms --cov=gnss_lib_py/parsers --cov=gnss_lib_py/utils --cov-report=xml
+        poetry run pytest --cov=gnss_lib_py/algorithms --cov=gnss_lib_py/navdata --cov=gnss_lib_py/parsers --cov=gnss_lib_py/utils --cov=gnss_lib_py/visualizations --cov-report=xml
     - name: Upload coverage report to code-cov
       uses: codecov/codecov-action@v3
       with:

diff --git a/build_docs.sh b/build_docs.sh
@@ -8,16 +8,24 @@ cd docs
 echo "Rebuilding References"
 rm -r ./source/reference/algorithms/*
 poetry run sphinx-apidoc -f -M -q -o ./source/reference/algorithms/ ./../gnss_lib_py/algorithms/
+rm -r ./source/reference/navdata/*
+poetry run sphinx-apidoc -f -M -q -o ./source/reference/navdata/ ./../gnss_lib_py/navdata/
 rm -r ./source/reference/parsers/*
 poetry run sphinx-apidoc -f -M -q -o ./source/reference/parsers/ ./../gnss_lib_py/parsers/
 rm -r ./source/reference/utils/*
 poetry run sphinx-apidoc -f -M -q -o ./source/reference/utils/ ./../gnss_lib_py/utils/
+rm -r ./source/reference/visualizations/*
+poetry run sphinx-apidoc -f -M -q -o ./source/reference/visualizations/ ./../gnss_lib_py/visualizations/
 rm -r ./source/reference/test_algorithms/*
 poetry run sphinx-apidoc -f -M -q -o ./source/reference/test_algorithms/ ./../tests/algorithms/
+rm -r ./source/reference/test_navdata/*
+poetry run sphinx-apidoc -f -M -q -o ./source/reference/test_navdata/ ./../tests/navdata/
 rm -r ./source/reference/test_parsers/*
 poetry run sphinx-apidoc -f -M -q -o ./source/reference/test_parsers/ ./../tests/parsers/
 rm -r ./source/reference/test_utils/*
 poetry run sphinx-apidoc -f -M -q -o ./source/reference/test_utils/ ./../tests/utils/
+rm -r ./source/reference/test_visualizations/*
+poetry run sphinx-apidoc -f -M -q -o ./source/reference/test_visualizations/ ./../tests/visualizations/
 
 # remove previously downloaded .csv files if they exist
 rm ./source/*/*.csv

diff --git a/docs/source/conf.py b/docs/source/conf.py
@@ -22,12 +22,16 @@
 sys.path.insert(0, os.path.abspath('../../'))
 sys.path.insert(0, os.path.abspath('../../gnss_lib_py/'))
 sys.path.insert(0, os.path.abspath('../../gnss_lib_py/algorithms/'))
+sys.path.insert(0, os.path.abspath('../../gnss_lib_py/navdata/'))
 sys.path.insert(0, os.path.abspath('../../gnss_lib_py/parsers/'))
 sys.path.insert(0, os.path.abspath('../../gnss_lib_py/utils/'))
+sys.path.insert(0, os.path.abspath('../../gnss_lib_py/visualizations/'))
 sys.path.insert(0, os.path.abspath('../../tests/'))
 sys.path.insert(0, os.path.abspath('../../tests/algorithms'))
+sys.path.insert(0, os.path.abspath('../../tests/navdata'))
 sys.path.insert(0, os.path.abspath('../../tests/parsers'))
 sys.path.insert(0, os.path.abspath('../../tests/utils'))
+sys.path.insert(0, os.path.abspath('../../tests/visualizations'))
 
 
 # -- Project information -----------------------------------------------------

diff --git a/docs/source/contributing/development.rst b/docs/source/contributing/development.rst
@@ -59,7 +59,7 @@ Standard GitHub Workflow
 
    .. code-block:: bash
 
-      poetry run pytest --cov=gnss_lib_py/algorithms --cov=gnss_lib_py/parsers --cov=gnss_lib_py/utils --cov-report=xml
+      poetry run pytest --cov=gnss_lib_py/algorithms --cov=gnss_lib_py/navdata --cov=gnss_lib_py/parsers --cov=gnss_lib_py/utils --cov=gnss_lib_py/visualizations --cov-report=html
       poetry run coverage report
 
    See the :ref:`Coverage Report<coverage>` section for more details.
@@ -79,28 +79,17 @@ Standard GitHub Workflow
    folders for PyCharm and :code:`.vscode` folders for VS Code are not
    committed by updating the :code:`.gitignore` file.
 
-10. Improve code readability by linting it. Run :code:`pylint` to preview
-    issues with the code:
-
-    .. code-block:: bash
-
-       poetry run python -m pylint path-to-file-to-lint
-
-    Resolve issues that do not impact how you have implemented your functionality,
-    such as conforming to snake case naming, removing TODOs and using suggested
-    defaults.
-
-11. Add your name to the `contributors list <https://github.com/Stanford-NavLab/gnss_lib_py/blob/main/CONTRIBUTORS.md>`__.
+10. Add your name to the `contributors list <https://github.com/Stanford-NavLab/gnss_lib_py/blob/main/CONTRIBUTORS.md>`__.
 
-12. Commit your changes and publish your branch to GitHub:
+11. Commit your changes and publish your branch to GitHub:
 
    .. code-block:: bash
 
       git add -A
       git commit -m "<describe changes in this commit>"
       git push origin your-name/name-of-your-bugfix-or-feature
 
-13. Submit a pull request through GitHub. For the base branch
+12. Submit a pull request through GitHub. For the base branch
     in the pull request, select the latest version release branch :code:`vX.Y.Z`
     (with the highest number of all such branches). *Do not target the*
     :code:`main` *branch in your pull request.* In the pull request,
@@ -153,7 +142,7 @@ NAVLab GitHub Workflow
 
    .. code-block:: bash
 
-      poetry run pytest --cov=gnss_lib_py/algorithms --cov=gnss_lib_py/parsers --cov=gnss_lib_py/utils --cov-report=xml
+      poetry run pytest --cov=gnss_lib_py/algorithms --cov=gnss_lib_py/navdata --cov=gnss_lib_py/parsers --cov=gnss_lib_py/utils --cov=gnss_lib_py/visualizations --cov-report=html
       poetry run coverage report
 
    See the :ref:`Coverage Report<coverage>` section for more details.
@@ -173,20 +162,9 @@ NAVLab GitHub Workflow
    folders for PyCharm and :code:`.vscode` folders for VS Code are not
    committed by updating the :code:`.gitignore` file.
 
-10. Improve code readability by linting it. Run :code:`pylint` to preview
-    issues with the code:
-
-    .. code-block:: bash
-
-       poetry run python -m pylint path-to-file-to-lint
-
-    Resolve issues that do not impact how you have implemented your functionality,
-    such as conforming to snake case naming, removing TODOs and using suggested
-    defaults.
-
-11. Add your name to the `contributors list <https://github.com/Stanford-NavLab/gnss_lib_py/blob/main/CONTRIBUTORS.md>`__.
+10. Add your name to the `contributors list <https://github.com/Stanford-NavLab/gnss_lib_py/blob/main/CONTRIBUTORS.md>`__.
 
-12. When you're ready to commit changes follow the steps below to
+11. When you're ready to commit changes follow the steps below to
     minimize unnecessary merging. This is especially important if
     multiple people are working on the same branch. If you pull new
     changes, then repeat the tests above to double check that everything
@@ -201,7 +179,7 @@ NAVLab GitHub Workflow
       git commit -m "<describe changes in this commit>"
       git push origin your-name/name-of-your-bugfix-or-feature
 
-13. Submit a pull request through GitHub. For the base branch
+12. Submit a pull request through GitHub. For the base branch
     in the pull request, select the latest version release branch :code:`vX.Y.Z`
     (with the highest number of all such branches). *Do not target the*
     :code:`main` *branch in your pull request.* In the pull request,

diff --git a/docs/source/reference/navdata/modules.rst b/docs/source/reference/navdata/modules.rst
@@ -0,0 +1,8 @@
+navdata
+=======
+
+.. toctree::
+   :maxdepth: 4
+
+   navdata
+   operations
diff --git a/docs/source/reference/navdata/navdata.rst b/docs/source/reference/navdata/navdata.rst
@@ -0,0 +1,7 @@
+navdata module
+==============
+
+.. automodule:: navdata
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/navdata/operations.rst b/docs/source/reference/navdata/operations.rst
@@ -0,0 +1,7 @@
+operations module
+=================
+
+.. automodule:: operations
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/reference.rst b/docs/source/reference/reference.rst
@@ -290,8 +290,10 @@ documentation below.
      :maxdepth: 2
 
      algorithms/modules
+     navdata/modules
      parsers/modules
      utils/modules
+     visualizations/modules
 
 Testing References
 --------------------------------
@@ -302,8 +304,10 @@ documentation below.
      :maxdepth: 2
 
      test_algorithms/modules
+     test_navdata/modules
      test_parsers/modules
      test_utils/modules
+     test_visualizations/modules
 
 
 Additional Indices

diff --git a/docs/source/reference/test_navdata/modules.rst b/docs/source/reference/test_navdata/modules.rst
@@ -0,0 +1,8 @@
+navdata
+=======
+
+.. toctree::
+   :maxdepth: 4
+
+   test_navdata
+   test_operations
diff --git a/docs/source/reference/test_navdata/test_navdata.rst b/docs/source/reference/test_navdata/test_navdata.rst
@@ -0,0 +1,7 @@
+test\_navdata module
+====================
+
+.. automodule:: test_navdata
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_navdata/test_operations.rst b/docs/source/reference/test_navdata/test_operations.rst
@@ -0,0 +1,7 @@
+test\_operations module
+=======================
+
+.. automodule:: test_operations
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_utils/conftest.rst b/docs/source/reference/test_utils/conftest.rst
diff --git a/docs/source/reference/test_utils/modules.rst b/docs/source/reference/test_utils/modules.rst
@@ -4,8 +4,8 @@ utils
 .. toctree::
    :maxdepth: 4
 
-   conftest
    test_coordinates
+   test_dop
    test_ephemeris_downloader
    test_file_operations
    test_filters

diff --git a/docs/source/reference/test_utils/test_dop.rst b/docs/source/reference/test_utils/test_dop.rst
@@ -0,0 +1,7 @@
+test\_dop module
+================
+
+.. automodule:: test_dop
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_visualizations/modules.rst b/docs/source/reference/test_visualizations/modules.rst
@@ -0,0 +1,10 @@
+visualizations
+==============
+
+.. toctree::
+   :maxdepth: 4
+
+   test_plot_map
+   test_plot_metric
+   test_plot_skyplot
+   test_style
diff --git a/docs/source/reference/test_visualizations/test_plot_map.rst b/docs/source/reference/test_visualizations/test_plot_map.rst
@@ -0,0 +1,7 @@
+test\_plot\_map module
+======================
+
+.. automodule:: test_plot_map
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_visualizations/test_plot_metric.rst b/docs/source/reference/test_visualizations/test_plot_metric.rst
@@ -0,0 +1,7 @@
+test\_plot\_metric module
+=========================
+
+.. automodule:: test_plot_metric
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_visualizations/test_plot_skyplot.rst b/docs/source/reference/test_visualizations/test_plot_skyplot.rst
@@ -0,0 +1,7 @@
+test\_plot\_skyplot module
+==========================
+
+.. automodule:: test_plot_skyplot
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/test_visualizations/test_style.rst b/docs/source/reference/test_visualizations/test_style.rst
@@ -0,0 +1,7 @@
+test\_style module
+==================
+
+.. automodule:: test_style
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/utils/dop.rst b/docs/source/reference/utils/dop.rst
@@ -0,0 +1,7 @@
+dop module
+==========
+
+.. automodule:: dop
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/utils/modules.rst b/docs/source/reference/utils/modules.rst
@@ -6,6 +6,7 @@ utils
 
    constants
    coordinates
+   dop
    ephemeris_downloader
    file_operations
    filters

diff --git a/docs/source/reference/visualizations/modules.rst b/docs/source/reference/visualizations/modules.rst
@@ -0,0 +1,10 @@
+visualizations
+==============
+
+.. toctree::
+   :maxdepth: 4
+
+   plot_map
+   plot_metric
+   plot_skyplot
+   style
diff --git a/docs/source/reference/visualizations/plot_map.rst b/docs/source/reference/visualizations/plot_map.rst
@@ -0,0 +1,7 @@
+plot\_map module
+================
+
+.. automodule:: plot_map
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/visualizations/plot_metric.rst b/docs/source/reference/visualizations/plot_metric.rst
@@ -0,0 +1,7 @@
+plot\_metric module
+===================
+
+.. automodule:: plot_metric
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/visualizations/plot_skyplot.rst b/docs/source/reference/visualizations/plot_skyplot.rst
@@ -0,0 +1,7 @@
+plot\_skyplot module
+====================
+
+.. automodule:: plot_skyplot
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/reference/visualizations/style.rst b/docs/source/reference/visualizations/style.rst
@@ -0,0 +1,7 @@
+style module
+============
+
+.. automodule:: style
+   :members:
+   :undoc-members:
+   :show-inheritance:
diff --git a/docs/source/tutorials/tutorials.rst b/docs/source/tutorials/tutorials.rst
@@ -69,6 +69,7 @@ available in the :code:`utils` directory.
 
    utils/tutorials_constants_notebook
    utils/tutorials_coordinates_notebook
+   utils/tutorials_dop_notebook
    utils/tutorials_ephemeris_downloader_notebook
    utils/tutorials_file_operations_notebook
    utils/tutorials_filters_notebook

diff --git a/docs/source/tutorials/utils/tutorials_dop_notebook.nblink b/docs/source/tutorials/utils/tutorials_dop_notebook.nblink
@@ -0,0 +1,3 @@
+{
+    "path": "../../../../notebooks/tutorials/utils/dop.ipynb"
+}
diff --git a/gnss_lib_py/__init__.py b/gnss_lib_py/__init__.py
@@ -22,6 +22,7 @@
 
 from gnss_lib_py.utils.constants import *
 from gnss_lib_py.utils.coordinates import *
+from gnss_lib_py.utils.dop import *
 from gnss_lib_py.utils.ephemeris_downloader import *
 from gnss_lib_py.utils.file_operations import *
 from gnss_lib_py.utils.filters import *

diff --git a/gnss_lib_py/algorithms/gnss_filters.py b/gnss_lib_py/algorithms/gnss_filters.py
@@ -98,7 +98,7 @@ def solve_gnss_ekf(measurements, init_dict = None,
         corr_pr_m = measurement_subset["corr_pr_m"].reshape(-1,1)
 
         # remove NaN indexes
-        not_nan_indexes = ~np.isnan(pos_sv_m).any(axis=1)
+        not_nan_indexes = ~np.isnan(pos_sv_m).any(axis=1) & ~np.isnan(corr_pr_m).any(axis=1)
         pos_sv_m = pos_sv_m[not_nan_indexes]
         corr_pr_m = corr_pr_m[not_nan_indexes]
 

diff --git a/gnss_lib_py/parsers/rinex_nav.py b/gnss_lib_py/parsers/rinex_nav.py
@@ -204,11 +204,11 @@ def _get_ephemeris_dataframe(self, rinex_path, constellations=None):
         else:
             data = gr.load(rinex_path,
                                  verbose=self.verbose).to_dataframe()
+        data.dropna(how='all', inplace=True)
+        data.reset_index(inplace=True)
         data_header = gr.rinexheader(rinex_path)
         leap_seconds = self.load_leapseconds(data_header)
         data['leap_seconds'] = leap_seconds
-        data.dropna(how='all', inplace=True)
-        data.reset_index(inplace=True)
         data['source'] = rinex_path
         data['t_oc'] = pd.to_numeric(data['time'] - consts.GPS_EPOCH_0.replace(tzinfo=None))
         data['t_oc']  = 1e-9 * data['t_oc'] - consts.WEEKSEC * np.floor(1e-9 * data['t_oc'] / consts.WEEKSEC)