gnss-sdr/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h

/*!
 * \file rtklib_pvt_cc.h
 * \brief Interface of a Position Velocity and Time computation block
 * \author Javier Arribas, 2017. jarribas(at)cttc.es
 *
 * -------------------------------------------------------------------------
 *
 * Copyright (C) 2010-2018  (see AUTHORS file for a list of contributors)
 *
 * GNSS-SDR is a software defined Global Navigation
 *          Satellite Systems receiver
 *
 * This file is part of GNSS-SDR.
 *
 * GNSS-SDR is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * GNSS-SDR is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
 *
 * -------------------------------------------------------------------------
 */

#ifndef GNSS_SDR_RTKLIB_PVT_CC_H
#define GNSS_SDR_RTKLIB_PVT_CC_H


#include "nmea_printer.h"
#include "kml_printer.h"
#include "gpx_printer.h"
#include "geojson_printer.h"
#include "rinex_printer.h"
#include "rtcm_printer.h"
#include "rtklib_solver.h"
#include <gnuradio/sync_block.h>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <chrono>
#include <fstream>
#include <utility>
#include <string>


class rtklib_pvt_cc;

typedef boost::shared_ptr<rtklib_pvt_cc> rtklib_pvt_cc_sptr;

rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
    bool dump,
    std::string dump_filename,
    int output_rate_ms,
    int display_rate_ms,
    bool flag_nmea_tty_port,
    std::string nmea_dump_filename,
    std::string nmea_dump_devname,
    int rinex_version,
    bool flag_rtcm_server,
    bool flag_rtcm_tty_port,
    unsigned short rtcm_tcp_port,
    unsigned short rtcm_station_id,
    std::map<int, int> rtcm_msg_rate_ms,
    std::string rtcm_dump_devname,
    const unsigned int type_of_receiver,
    rtk_t& rtk);

/*!
 * \brief This class implements a block that computes the PVT solution with Galileo E1 signals
 */
class rtklib_pvt_cc : public gr::sync_block
{
private:
    friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
        bool dump,
        std::string dump_filename,
        int output_rate_ms,
        int display_rate_ms,
        bool flag_nmea_tty_port,
        std::string nmea_dump_filename,
        std::string nmea_dump_devname,
        int rinex_version,
        bool flag_rtcm_server,
        bool flag_rtcm_tty_port,
        unsigned short rtcm_tcp_port,
        unsigned short rtcm_station_id,
        std::map<int, int> rtcm_msg_rate_ms,
        std::string rtcm_dump_devname,
        const unsigned int type_of_receiver,
        rtk_t& rtk);

    void msg_handler_telemetry(pmt::pmt_t msg);

    bool d_dump;
    bool b_rinex_header_written;
    bool b_rinex_header_updated;
    double d_rinex_version;
    bool b_rtcm_writing_started;
    int d_rtcm_MT1045_rate_ms;  //!< Galileo Broadcast Ephemeris
    int d_rtcm_MT1019_rate_ms;  //!< GPS Broadcast Ephemeris (orbits)
    int d_rtcm_MT1020_rate_ms;  //!< GLONASS Broadcast Ephemeris (orbits)
    int d_rtcm_MT1077_rate_ms;  //!< The type 7 Multiple Signal Message format for the USA’s GPS system, popular
    int d_rtcm_MT1087_rate_ms;  //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
    int d_rtcm_MT1097_rate_ms;  //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
    int d_rtcm_MSM_rate_ms;

    int d_last_status_print_seg;  //for status printer

    unsigned int d_nchannels;
    std::string d_dump_filename;
    std::ofstream d_dump_file;

    int d_output_rate_ms;
    int d_display_rate_ms;

    std::shared_ptr<Rinex_Printer> rp;
    std::shared_ptr<Kml_Printer> d_kml_dump;
    std::shared_ptr<Gpx_Printer> d_gpx_dump;
    std::shared_ptr<Nmea_Printer> d_nmea_printer;
    std::shared_ptr<GeoJSON_Printer> d_geojson_printer;
    std::shared_ptr<Rtcm_Printer> d_rtcm_printer;
    double d_rx_time;
    double last_pvt_display_T_rx_s;
    double last_RTCM_1019_output_time;
    double last_RTCM_1020_output_time;
    double last_RTCM_1045_output_time;
    double last_RTCM_1077_output_time;
    double last_RTCM_1087_output_time;
    double last_RTCM_1097_output_time;
    double last_RTCM_MSM_output_time;
    double last_RINEX_obs_output_time;
    double last_RINEX_nav_output_time;
    std::shared_ptr<rtklib_solver> d_ls_pvt;

    std::map<int, Gnss_Synchro> gnss_observables_map;
    bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b);

    unsigned int type_of_rx;

    bool first_fix;
    key_t sysv_msg_key;
    int sysv_msqid;
    typedef struct
    {
        long mtype;  //required by sys v message
        double ttff;
    } ttff_msgbuf;
    bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
    std::chrono::time_point<std::chrono::system_clock> start, end;

public:
    rtklib_pvt_cc(unsigned int nchannels,
        bool dump, std::string dump_filename,
        int output_rate_ms,
        int display_rate_ms,
        bool flag_nmea_tty_port,
        std::string nmea_dump_filename,
        std::string nmea_dump_devname,
        int rinex_version,
        bool flag_rtcm_server,
        bool flag_rtcm_tty_port,
        unsigned short rtcm_tcp_port,
        unsigned short rtcm_station_id,
        std::map<int, int> rtcm_msg_rate_ms,
        std::string rtcm_dump_devname,
        const unsigned int type_of_receiver,
        rtk_t& rtk);

    /*!
     * \brief Get latest set of GPS L1 ephemeris from PVT block
     *
     * It is used to save the assistance data at the receiver shutdown
     */
    std::map<int, Gps_Ephemeris> get_GPS_L1_ephemeris_map();

    ~rtklib_pvt_cc();  //!< Default destructor

    int work(int noutput_items, gr_vector_const_void_star& input_items,
        gr_vector_void_star& output_items);  //!< PVT Signal Processing
};

#endif