port to Python 3

acquire-beidou-b1i.py

@@ -74,4 +74,4 @@ def search(x,prn):
 #for prn in [1 2 3 4 5 6 7 8 9 10 11 12 13 14 30 31 32 33 34]:
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code))

acquire-beidou-b2i.py

@@ -74,4 +74,4 @@ def search(x,prn):
 #for prn in [1 2 3 4 5 6 7 8 9 10 11 12 13 14 30 31 32 33 34]:
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code))

acquire-galileo-e1b.py

@@ -72,4 +72,4 @@ def search(x,prn):
 #for prn in [11,12,14,18,19,20,22,24,26,30]:
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code))

acquire-galileo-e1c.py

@@ -72,4 +72,4 @@ def search(x,prn):
 #for prn in [11,12,14,18,19,20,22,24,26,30]:
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code))

acquire-galileo-e5ai.py

@@ -71,4 +71,4 @@ def search(x,prn):
 #for prn in [11,12,14,18,19,20,22,24,26,30]:
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code))

acquire-galileo-e5aq.py

@@ -71,4 +71,4 @@ def search(x,prn):
 #for prn in [11,12,14,18,19,20,22,24,26,30]:
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code))

acquire-galileo-e5bi.py

@@ -71,4 +71,4 @@ def search(x,prn):
 #for prn in [11,12,14,18,19,20,22,24,26,30]:
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code))

acquire-galileo-e5bq.py

@@ -71,4 +71,4 @@ def search(x,prn):
 #for prn in [11,12,14,18,19,20,22,24,26,30]:
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code))

acquire-glonass-l1.py

@@ -72,4 +72,4 @@ def search(x,chan):
 for chan in range(-7,8):
   metric,code,doppler = search(x,chan)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'chan % 2d doppler % 7.1f metric %7.1f code_offset %7.2f' % (chan,doppler,metric,code)
+    print('chan % 2d doppler % 7.1f metric %7.1f code_offset %7.2f' % (chan,doppler,metric,code))

acquire-glonass-l2.py

@@ -72,4 +72,4 @@ def search(x,chan):
 for chan in range(-7,8):
   metric,code,doppler = search(x,chan)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'chan % 2d doppler % 7.1f metric %7.1f code_offset %7.2f' % (chan,doppler,metric,code)
+    print('chan % 2d doppler % 7.1f metric %7.1f code_offset %7.2f' % (chan,doppler,metric,code))

acquire-glonass-l3i.py

@@ -71,4 +71,4 @@ def search(x,prn):
 #for prn in [27,30,33]:
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code))

acquire-glonass-l3q.py

@@ -71,4 +71,4 @@ def search(x,prn):
 #for prn in [27,30,33]:
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code))

acquire-gps-l1.py

@@ -70,7 +70,7 @@ def search(x,prn):
 
 # iterate over PRNs of interest
 
-for prn in range(1,33)+[133,135,138]:
+for prn in list(range(1,33))+[133,135,138]:
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %3d doppler % 7.1f metric %4.2f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %3d doppler % 7.1f metric %4.2f code_offset %6.1f' % (prn,doppler,metric,code))

acquire-gps-l2cm.py

@@ -70,4 +70,4 @@ def search(x,prn):
 for prn in range(1,33):
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %3d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %3d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code))

acquire-gps-l5i.py

@@ -70,4 +70,4 @@ def search(x,prn):
 for prn in range(1,33):
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code))

acquire-gps-l5q.py

@@ -70,4 +70,4 @@ def search(x,prn):
 for prn in range(1,33):
   metric,code,doppler = search(x,prn)
   if metric>0.0:    # fixme: need a proper metric and threshold; and estimate cn0
-    print 'prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code)
+    print('prn %2d doppler % 7.1f metric %7.1f code_offset %6.1f' % (prn,doppler,metric,code))

gnsstools/beidou/b1i.py

@@ -44,7 +44,7 @@ def b1i(prn):
 codes = {}
 
 def b1i_code(prn):
-  if not codes.has_key(prn):
+  if prn not in codes:
     codes[prn] = b1i(prn)
   return codes[prn]
 
@@ -71,5 +71,5 @@ def correlate(x,prn,chips,frac,incr,c):
 # test
 
 if __name__=='__main__':
-  print b1i_code(1)[0:20]
-  print b1i_code(2)[0:20]
+  print(b1i_code(1)[0:20])
+  print(b1i_code(2)[0:20])

gnsstools/galileo/e1b.py

@@ -4,7 +4,7 @@
 
 import numpy as np
 
-from e1b_strings import *
+from .e1b_strings import *
 
 chip_rate = 1023000
 code_length = 4092
@@ -22,7 +22,7 @@ def e1b_parse_hex(prn):
 codes = {}
 
 def e1b_code(prn):
-  if not codes.has_key(prn):
+  if prn not in codes:
     codes[prn] = e1b_parse_hex(prn)
   return codes[prn]
 
@@ -56,5 +56,5 @@ def correlate(x,prn,chips,frac,incr,c,boc11):
 # test
 
 if __name__=='__main__':
-  print e1b_code(1)[0:20]
-  print e1b_code(2)[0:20]
+  print(e1b_code(1)[0:20])
+  print(e1b_code(2)[0:20])

gnsstools/galileo/e1c.py

@@ -4,7 +4,7 @@
 
 import numpy as np
 
-from e1c_strings import *
+from .e1c_strings import *
 
 chip_rate = 1023000
 code_length = 4092
@@ -25,7 +25,7 @@ def e1c_parse_hex(prn):
 codes = {}
 
 def e1c_code(prn):
-  if not codes.has_key(prn):
+  if prn not in codes:
     codes[prn] = e1c_parse_hex(prn)
   return codes[prn]
 
@@ -59,5 +59,5 @@ def correlate(x,prn,chips,frac,incr,c,boc11):
 # test
 
 if __name__=='__main__':
-  print e1c_code(1)[0:20]
-  print e1c_code(2)[0:20]
+  print(e1c_code(1)[0:20])
+  print(e1c_code(2)[0:20])

gnsstools/galileo/e5ai.py

@@ -83,7 +83,7 @@ def make_e5ai(prn):
   return np.logical_xor(r1,r2)
 
 def e5ai_code(prn):
-  if not codes.has_key(prn):
+  if prn not in codes:
     codes[prn] = make_e5ai(prn)
   return codes[prn]
 
@@ -112,4 +112,4 @@ def correlate(x,prn,chips,frac,incr,c):
 if __name__=='__main__':
   for prn in [1,2,3,4]:
     x = e5ai_code(prn)
-    print x[0:24].astype('int')
+    print(x[0:24].astype('int'))

gnsstools/galileo/e5aq.py

@@ -111,7 +111,7 @@ def make_e5aq(prn):
   return np.logical_xor(r1,r2)
 
 def e5aq_code(prn):
-  if not codes.has_key(prn):
+  if prn not in codes:
     codes[prn] = make_e5aq(prn)
   return codes[prn]
 
@@ -140,4 +140,4 @@ def correlate(x,prn,chips,frac,incr,c):
 if __name__=='__main__':
   for prn in [1,2,3,4]:
     x = e5aq_code(prn)
-    print x[0:24].astype('int')
+    print(x[0:24].astype('int'))

gnsstools/galileo/e5bi.py

@@ -69,7 +69,7 @@ def make_e5bi(prn):
   return np.logical_xor(r1,r2)
 
 def e5bi_code(prn):
-  if not codes.has_key(prn):
+  if prn not in codes:
     codes[prn] = make_e5bi(prn)
   return codes[prn]
 
@@ -98,4 +98,4 @@ def correlate(x,prn,chips,frac,incr,c):
 if __name__=='__main__':
   for prn in [1,2,3,4]:
     x = e5bi_code(prn)
-    print x[0:24].astype('int')
+    print(x[0:24].astype('int'))

gnsstools/galileo/e5bq.py

@@ -111,7 +111,7 @@ def make_e5bq(prn):
   return np.logical_xor(r1,r2)
 
 def e5bq_code(prn):
-  if not codes.has_key(prn):
+  if prn not in codes:
     codes[prn] = make_e5bq(prn)
   return codes[prn]
 
@@ -140,4 +140,4 @@ def correlate(x,prn,chips,frac,incr,c):
 if __name__=='__main__':
   for prn in [1,2,3,4]:
     x = e5bq_code(prn)
-    print x[0:24].astype('int')
+    print(x[0:24].astype('int'))

gnsstools/glonass/ca.py

@@ -50,4 +50,4 @@ def correlate(x,chips,frac,incr,c):
 #
 
 if __name__=='__main__':
-  print c[0:20]
+  print(c[0:20])

gnsstools/glonass/l3i.py

@@ -35,7 +35,7 @@ def make_l3i(n):
 codes = {}
 
 def l3i_code(n):
-  if not codes.has_key(n):
+  if n not in codes:
     codes[n] = make_l3i(n)
   return codes[n]
 

gnsstools/glonass/l3q.py

@@ -35,7 +35,7 @@ def make_l3q(n):
 codes = {}
 
 def l3q_code(n):
-  if not codes.has_key(n):
+  if n not in codes:
     codes[n] = make_l3q(n)
   return codes[n]
 

gnsstools/glonass/p.py

@@ -50,4 +50,4 @@ def correlate(x,chips,frac,incr,c):
 #
 
 if __name__=='__main__':
-  print c[0:100]
+  print(c[0:100])

gnsstools/gps/ca.py

@@ -99,7 +99,7 @@ def circular_shift(g,n):
 codes = {}
 
 def ca_code(prn):
-  if not codes.has_key(prn):
+  if prn not in codes:
     codes[prn] = np.logical_xor(g1,circular_shift(g2,g2_delay[prn]))
   return codes[prn]
 
@@ -138,8 +138,8 @@ def first_10_chips(prn):
   return r
 
 def print_first_10_chips():
-  for prn in g2_delay.keys():
-    print '%d: %04o' % (prn,first_10_chips(prn))
+  for prn in list(g2_delay.keys()):
+    print('%d: %04o' % (prn,first_10_chips(prn)))
 
 if __name__=='__main__':
   print_first_10_chips()

gnsstools/gps/l2cl.py

@@ -58,7 +58,7 @@ def make_l2cl(prn):
 codes = {}
 
 def l2cl_code(prn):
-  if not codes.has_key(prn):
+  if prn not in codes:
     codes[prn] = make_l2cl(prn)
   return codes[prn]
 
@@ -129,11 +129,11 @@ def test_end_state(prn):
   return x
 
 if __name__=='__main__':
-  for prn in l2cl_end_state.keys():
+  for prn in list(l2cl_end_state.keys()):
     s = test_end_state(prn)
     t = l2cl_end_state[prn]
     if s!=t:
-      print "prn %d: ***mismatch*** %09o %09o" % (prn,s,t)
+      print("prn %d: ***mismatch*** %09o %09o" % (prn,s,t))
     else:
 #      print "prn %d: %09o %09o" % (prn,s,t)
       pass

gnsstools/gps/l2cm.py

@@ -58,7 +58,7 @@ def make_l2cm(prn):
 codes = {}
 
 def l2cm_code(prn):
-  if not codes.has_key(prn):
+  if prn not in codes:
     codes[prn] = make_l2cm(prn)
   return codes[prn]
 
@@ -129,11 +129,11 @@ def test_end_state(prn):
   return x
 
 if __name__=='__main__':
-  for prn in l2cm_end_state.keys():
+  for prn in list(l2cm_end_state.keys()):
     s = test_end_state(prn)
     t = l2cm_end_state[prn]
     if s!=t:
-      print "prn %d: ***mismatch*** %09o %09o" % (prn,s,t)
+      print("prn %d: ***mismatch*** %09o %09o" % (prn,s,t))
     else:
 #      print "prn %d: %09o %09o" % (prn,s,t)
       pass

gnsstools/gps/l5i.py

@@ -107,7 +107,7 @@ def make_l5i(prn):
   return np.logical_xor(xa,xb_shift)
 
 def l5i_code(prn):
-  if not codes.has_key(prn):
+  if prn not in codes:
     codes[prn] = make_l5i(prn)
   return codes[prn]
 
@@ -147,11 +147,11 @@ def test_xb_start_state(prn):
   return y
 
 if __name__=='__main__':
-  for prn in xb_start_state.keys():
+  for prn in list(xb_start_state.keys()):
     s = test_xb_start_state(prn)
     t = xb_start_state[prn]
     if s!=t:
-      print "prn %d: ***mismatch*** %s %s" % (prn,s,t)
+      print("prn %d: ***mismatch*** %s %s" % (prn,s,t))
     else:
 #      print "prn %d: %s %s" % (prn,s,t)
       pass

gnsstools/gps/l5q.py

@@ -105,7 +105,7 @@ def make_l5q(prn):
   return np.logical_xor(xa,xb_shift)
 
 def l5q_code(prn):
-  if not codes.has_key(prn):
+  if prn not in codes:
     codes[prn] = make_l5q(prn)
   return codes[prn]
 
@@ -145,11 +145,11 @@ def test_xb_start_state(prn):
   return y
 
 if __name__=='__main__':
-  for prn in xb_start_state.keys():
+  for prn in list(xb_start_state.keys()):
     s = test_xb_start_state(prn)
     t = xb_start_state[prn]
     if s!=t:
-      print "prn %d: ***mismatch*** %s %s" % (prn,s,t)
+      print("prn %d: ***mismatch*** %s %s" % (prn,s,t))
     else:
 #      print "prn %d: %s %s" % (prn,s,t)
       pass

gnsstools/gps/p.py

@@ -115,7 +115,7 @@ def first_12_chips(prn):
 
 def print_first_12_chips():
   for prn in range(1,211):
-    print '%d: %04o' % (prn,first_12_chips(prn))
+    print('%d: %04o' % (prn,first_12_chips(prn)))
 
 if __name__=='__main__':
   print_first_12_chips()

gnsstools/io.py

@@ -1,9 +1,10 @@
 import numpy as np
 
 def get_samples_complex(fp,n):
-  s = np.fromfile(fp,'b',2*n)
-  if len(s)!=2*n:
+  z = fp.read(2*n)
+  if len(z)!=2*n:
     return None
+  s = np.fromstring(z,dtype='int8')
   s.shape = (n,2)
   x = np.empty(n,dtype='c8')
   x.real = s[:,0]