resolutions to review of #84

Author: betaBison

gnss_lib_py/utils/coordinates.py

@@ -33,6 +33,7 @@
 import numpy as np
 
 import gnss_lib_py.utils.constants as consts
+from gnss_lib_py.parsers.navdata import NavData
 
 EPSILON = 1e-7
 
@@ -468,7 +469,7 @@ def ecef_to_el_az(rx_pos, sv_pos):
 
     return el_az
 
-def add_el_az(navdata, receiver_state):
+def add_el_az(navdata, receiver_state, inplace=False):
     """Adds elevation and azimuth to NavData object.
 
     Parameters
@@ -481,6 +482,19 @@ def add_el_az(navdata, receiver_state):
         Either estimated or ground truth receiver position in ECEF frame
         in meters as an instance of the NavData class with the
         following rows: ``x_*_m``, ``y_*_m``, ``z_*_m``, ``gps_millis``.
+    inplace : bool
+        If false (default) will add elevation and azimuth to a new
+        NavData instance. If true, will add elevation and azimuth to the
+        existing NavData instance.
+
+    Returns
+    -------
+    data_el_az : None or gnss_lib_py.parsers.navdata.NavData
+        If inplace is True, adds ``el_sv_deg`` and ``az_sv_deg`` to
+        the input navdata. If inplace is False, returns ``el_sv_deg``
+        and ``az_sv_deg`` in a new NavData instance along with
+        ``gps_millis`` and the corresponding satellite and receiver
+        rows.
 
     """
 
@@ -513,5 +527,22 @@ def add_el_az(navdata, receiver_state):
         else:
             sv_el_az = np.hstack((sv_el_az,timestep_el_az.T))
 
-    navdata["el_sv_deg"] = sv_el_az[0,:]
-    navdata["az_sv_deg"] = sv_el_az[1,:]
+    if inplace:
+        navdata["el_sv_deg"] = sv_el_az[0,:]
+        navdata["az_sv_deg"] = sv_el_az[1,:]
+        return None
+
+    data_el_az = NavData()
+    data_el_az["gps_millis"] = navdata["gps_millis"]
+    data_el_az["gnss_id"] = navdata["gnss_id"]
+    data_el_az["sv_id"] = navdata["sv_id"]
+    data_el_az["x_sv_m"] = navdata["x_sv_m"]
+    data_el_az["y_sv_m"] = navdata["y_sv_m"]
+    data_el_az["z_sv_m"] = navdata["z_sv_m"]
+    data_el_az[rx_idxs["x_*_m"][0]] = receiver_state[rx_idxs["x_*_m"][0]]
+    data_el_az[rx_idxs["y_*_m"][0]] = receiver_state[rx_idxs["y_*_m"][0]]
+    data_el_az[rx_idxs["z_*_m"][0]] = receiver_state[rx_idxs["z_*_m"][0]]
+    data_el_az["el_sv_deg"] = sv_el_az[0,:]
+    data_el_az["az_sv_deg"] = sv_el_az[1,:]
+
+    return data_el_az

gnss_lib_py/utils/visualizations.py

@@ -276,7 +276,7 @@ def plot_skyplot(navdata, receiver_state, save=False, prefix="",
         raise TypeError("Prefix must be a string.")
 
     if "el_sv_deg" not in navdata.rows or "az_sv_deg" not in navdata.rows:
-        add_el_az(navdata, receiver_state)
+        add_el_az(navdata, receiver_state, inplace=True)
 
     # create new figure
     fig = plt.figure(figsize=(6,4.5))
@@ -553,10 +553,17 @@ def _get_label(inputs):
     units = {"m","km",
              "deg","rad",
              "sec","s","hr","min",
-             "mps",
+             "mps","kmph","mph",
+             "dgps","radps",
+             "mps2",
              }
     unit_replacements = {
                          "mps" : "m/s",
+                         "kmph" : "km/hr",
+                         "mph" : "miles/hr",
+                         "degps" : "deg/s",
+                         "radps" : "rad/s",
+                         "mps2" : "m/s^2",
                         }
 
     label = ""

tests/utils/test_coordinates.py

@@ -13,7 +13,7 @@
 
 import gnss_lib_py.utils.constants as consts
 from gnss_lib_py.parsers.android import AndroidDerived2022
-from gnss_lib_py.utils.coordinates import ecef_to_el_az
+from gnss_lib_py.utils.coordinates import ecef_to_el_az, add_el_az
 from gnss_lib_py.utils.coordinates import geodetic_to_ecef
 from gnss_lib_py.utils.coordinates import ecef_to_geodetic, LocalCoord
 
@@ -409,3 +409,33 @@ def test_ecef_to_el_az_fails(set_sv_pos, set_rx_pos):
     with pytest.raises(RuntimeError) as excinfo:
         ecef_to_el_az(set_rx_pos,set_sv_pos.T)
     assert "Nx3" in str(excinfo.value)
+
+
+@pytest.mark.parametrize('navdata',[
+                                    lazy_fixture('derived_2022'),
+                                    ])
+def test_add_el_az(navdata):
+    """Test for plotting skyplot.
+
+    Parameters
+    ----------
+    navdata : AndroidDerived
+        Instance of AndroidDerived for testing.
+
+    """
+
+    receiver_state = navdata.copy(rows=["gps_millis",
+                                        "WlsPositionXEcefMeters",
+                                        "WlsPositionYEcefMeters",
+                                        "WlsPositionZEcefMeters"])
+    row_map = {
+               "WlsPositionXEcefMeters" : "x_rx_m",
+               "WlsPositionYEcefMeters" : "y_rx_m",
+               "WlsPositionZEcefMeters" : "z_rx_m",
+                }
+    receiver_state.rename(row_map,inplace=True)
+    data_el_az = add_el_az(navdata, receiver_state)
+    np.testing.assert_array_almost_equal(data_el_az["el_sv_deg"],
+                                         navdata["el_sv_deg"])
+    np.testing.assert_array_almost_equal(data_el_az["az_sv_deg"],
+                                         navdata["az_sv_deg"])