ubx Parsing RELPOSNED HPN HPE HPD　

parse_Allubx_04.py

# Parse_Allubx_04.py
# バージョン04：すべてのUBXメッセージをCSV出力し、NAV-RELPOSNEDはHP成分を自力パースしてmm単位で追加

import os
import struct
import pandas as pd
from tkinter import Tk, filedialog
from pyubx2 import UBXReader, UBX_PROTOCOL


def parse_allubx_with_relpos_hpmm(ubx_file, output_dir=None):
    """
    UBXバイナリから全メッセージをパースし、各メッセージごとにCSVを出力。
    NAV-RELPOSNEDは高精度成分(HPN/HPE/HPD)を手動抽出し、mm単位のリニア位置を追加。
    """
    if output_dir is None:
        output_dir = os.path.dirname(ubx_file)
    base = os.path.splitext(os.path.basename(ubx_file))[0]

    msg_dict = {}
    with open(ubx_file, 'rb') as fh:
        ubr = UBXReader(fh, protfilter=UBX_PROTOCOL, parsebitfield=True)
        for raw, parsed in ubr:
            if parsed is None:
                continue
            identity = parsed.identity  # e.g. 'NAV-PVT', 'NAV-RELPOSNED'
            # 基本フィールド辞書化
            try:
                fields = parsed.to_dict()
            except AttributeError:
                fields = {k: v for k, v in parsed.__dict__.items() if not k.startswith('_')}

            # NAV-RELPOSNED の場合、HP成分をrawバイナリから抽出
            if identity == 'NAV-RELPOSNED':
                # raw: バイト列(header+length+payload+checksum)
                # payload offset: 6..6+length
                length = struct.unpack('<H', raw[4:6])[0]
                payload = raw[6:6+length]
                if len(payload) >= 35:
                    # relPosHP fields at offsets 32,33,34
                    relPosHPN = struct.unpack('<b', payload[32:33])[0]
                    relPosHPE = struct.unpack('<b', payload[33:34])[0]
                    relPosHPD = struct.unpack('<b', payload[34:35])[0]
                    fields['relPosHPN'] = relPosHPN
                    fields['relPosHPE'] = relPosHPE
                    fields['relPosHPD'] = relPosHPD
                    # combine cm->mm
                    if 'relPosN' in fields:
                        fields['relPosN_mm'] = fields['relPosN'] * 10 + relPosHPN
                    if 'relPosE' in fields:
                        fields['relPosE_mm'] = fields['relPosE'] * 10 + relPosHPE
                    if 'relPosD' in fields:
                        fields['relPosD_mm'] = fields['relPosD'] * 10 + relPosHPD

            # iTOWをintにしてソートしやすく
            if 'iTOW' in fields:
                fields['iTOW'] = int(fields['iTOW'])
            # メッセージ毎にリストへ
            msg_dict.setdefault(identity, []).append(fields)

    # CSV出力
    for identity, records in msg_dict.items():
        df = pd.DataFrame(records)
        if 'iTOW' in df.columns:
            df.sort_values('iTOW', inplace=True)
        msg_name = identity.lower().replace('-', '_')
        out_csv = os.path.join(output_dir, f"{base}_{msg_name}_v04.csv")
        df.to_csv(out_csv, index=False, encoding='utf-8-sig')
        print(f"Saved {out_csv}")


def main():
    root = Tk()
    root.withdraw()
    ubx_file = filedialog.askopenfilename(
        title="Select UBX binary file",
        filetypes=[("UBX files", "*.ubx;*.bin"), ("All files", "*.*")]
    )
    if not ubx_file:
        print("No file selected.")
        return
    parse_allubx_with_relpos_hpmm(ubx_file)

if __name__ == '__main__':
    main()