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Code Issues Releases Wiki Activity

Deactivate RTCM printer if not used

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This commit is contained in:
Carles Fernandez 2018-11-02 14:12:31 +01:00
parent 7c238bfb44
commit 0139447408
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GPG Key ID: 4C583C52B0C3877D
2 changed files with 67 additions and 57 deletions
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123
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -342,59 +342,69 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
// initialize rtcm_printer // initialize rtcm_printer
std::string rtcm_dump_filename; std::string rtcm_dump_filename;
rtcm_dump_filename = d_dump_filename; rtcm_dump_filename = d_dump_filename;
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, conf_.rtcm_output_file_enabled, conf_.flag_rtcm_server, conf_.flag_rtcm_tty_port, conf_.rtcm_tcp_port, conf_.rtcm_station_id, conf_.rtcm_dump_devname, true, conf_.rtcm_output_file_path); if (conf_.flag_rtcm_server or conf_.flag_rtcm_tty_port or conf_.rtcm_output_file_enabled)
std::map<int, int> rtcm_msg_rate_ms = conf_.rtcm_msg_rate_ms;
if (rtcm_msg_rate_ms.find(1019) != rtcm_msg_rate_ms.end())
{ {
d_rtcm_MT1019_rate_ms = rtcm_msg_rate_ms[1019]; d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, conf_.rtcm_output_file_enabled, conf_.flag_rtcm_server, conf_.flag_rtcm_tty_port, conf_.rtcm_tcp_port, conf_.rtcm_station_id, conf_.rtcm_dump_devname, true, conf_.rtcm_output_file_path);
std::map<int, int> rtcm_msg_rate_ms = conf_.rtcm_msg_rate_ms;
if (rtcm_msg_rate_ms.find(1019) != rtcm_msg_rate_ms.end())
{
d_rtcm_MT1019_rate_ms = rtcm_msg_rate_ms[1019];
}
else
{
d_rtcm_MT1019_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1020) != rtcm_msg_rate_ms.end())
{
d_rtcm_MT1020_rate_ms = rtcm_msg_rate_ms[1020];
}
else
{
d_rtcm_MT1020_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1045) != rtcm_msg_rate_ms.end())
{
d_rtcm_MT1045_rate_ms = rtcm_msg_rate_ms[1045];
}
else
{
d_rtcm_MT1045_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1077) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
{
d_rtcm_MT1077_rate_ms = rtcm_msg_rate_ms[1077];
}
else
{
d_rtcm_MT1077_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1087) != rtcm_msg_rate_ms.end()) // whatever between 1081 and 1087
{
d_rtcm_MT1087_rate_ms = rtcm_msg_rate_ms[1087];
}
else
{
d_rtcm_MT1087_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097
{
d_rtcm_MT1097_rate_ms = rtcm_msg_rate_ms[1097];
d_rtcm_MSM_rate_ms = rtcm_msg_rate_ms[1097];
}
else
{
d_rtcm_MT1097_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
d_rtcm_MSM_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
}
b_rtcm_writing_started = false;
b_rtcm_enabled = true;
} }
else else
{ {
d_rtcm_MT1019_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set b_rtcm_enabled = false;
b_rtcm_writing_started = false;
d_rtcm_printer = nullptr;
} }
if (rtcm_msg_rate_ms.find(1020) != rtcm_msg_rate_ms.end())
{
d_rtcm_MT1020_rate_ms = rtcm_msg_rate_ms[1020];
}
else
{
d_rtcm_MT1020_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1045) != rtcm_msg_rate_ms.end())
{
d_rtcm_MT1045_rate_ms = rtcm_msg_rate_ms[1045];
}
else
{
d_rtcm_MT1045_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1077) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
{
d_rtcm_MT1077_rate_ms = rtcm_msg_rate_ms[1077];
}
else
{
d_rtcm_MT1077_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1087) != rtcm_msg_rate_ms.end()) // whatever between 1081 and 1087
{
d_rtcm_MT1087_rate_ms = rtcm_msg_rate_ms[1087];
}
else
{
d_rtcm_MT1087_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
}
if (rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097
{
d_rtcm_MT1097_rate_ms = rtcm_msg_rate_ms[1097];
d_rtcm_MSM_rate_ms = rtcm_msg_rate_ms[1097];
}
else
{
d_rtcm_MT1097_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
d_rtcm_MSM_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
}
b_rtcm_writing_started = false;
// initialize RINEX printer // initialize RINEX printer
b_rinex_header_written = false; b_rinex_header_written = false;
@ -954,7 +964,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->get_time_offset_s() * GPS_C_m_s; // it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->get_time_offset_s() * GPS_C_m_s;
// } // }
if (d_ls_pvt->get_PVT(gnss_observables_map, false)) if (d_ls_pvt->get_PVT(gnss_observables_map, false))
{ {
//Optional debug code: export observables snapshot for rtklib unit testing //Optional debug code: export observables snapshot for rtklib unit testing
@ -1001,7 +1010,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
flag_write_RINEX_obs_output = true; flag_write_RINEX_obs_output = true;
} }
if (current_RX_time_ms % static_cast<uint32_t>(d_rinexnav_rate_ms) == 0) if (current_RX_time_ms % static_cast<uint32_t>(d_rinexnav_rate_ms) == 0)
{ {
flag_write_RINEX_nav_output = true; flag_write_RINEX_nav_output = true;
@ -1059,15 +1067,16 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
* 29 | GPS L1 C/A + GLONASS L2 C/A * 29 | GPS L1 C/A + GLONASS L2 C/A
* 30 | Galileo E1B + GLONASS L2 C/A * 30 | Galileo E1B + GLONASS L2 C/A
* 31 | GPS L2C + GLONASS L2 C/A * 31 | GPS L2C + GLONASS L2 C/A
* 32 | GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a
*/ */
std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
// ####################### RINEX FILES ################# // ####################### RINEX FILES #################
if (b_rinex_output_enabled) if (b_rinex_output_enabled)
{ {
std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
if (!b_rinex_header_written) // & we have utc data in nav message! if (!b_rinex_header_written) // & we have utc data in nav message!
{ {
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
@ -1737,7 +1746,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// ####################### RTCM MESSAGES ################# // ####################### RTCM MESSAGES #################
try try
{ {
if (b_rtcm_writing_started) if (b_rtcm_writing_started and b_rtcm_enabled)
{ {
if (type_of_rx == 1) // GPS L1 C/A if (type_of_rx == 1) // GPS L1 C/A
{ {
@ -2219,7 +2228,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.end())
{ {
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
@ -2227,7 +2236,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
} }
} }
if (!b_rtcm_writing_started) // the first time if (!b_rtcm_writing_started and b_rtcm_enabled) // the first time
{ {
if (type_of_rx == 1) // GPS L1 C/A if (type_of_rx == 1) // GPS L1 C/A
{ {

1
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -81,6 +81,7 @@ private:
int32_t d_rinexnav_rate_ms; int32_t d_rinexnav_rate_ms;
bool b_rtcm_writing_started; bool b_rtcm_writing_started;
bool b_rtcm_enabled;
int32_t d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris int32_t d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris
int32_t d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits) int32_t d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits)
int32_t d_rtcm_MT1020_rate_ms; //!< GLONASS Broadcast Ephemeris (orbits) int32_t d_rtcm_MT1020_rate_ms; //!< GLONASS Broadcast Ephemeris (orbits)