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Add RTCM printer to some receiver configurations

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This commit is contained in:
Carles Fernandez 2016-11-03 15:30:24 +01:00
parent 97ffee0b0c
commit 09f9e667c5
2 changed files with 101 additions and 40 deletions
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138
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
View File

@ -262,6 +262,7 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, bool dump, std::string dump
if(rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097 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_MT1097_rate_ms = rtcm_msg_rate_ms[1097];
d_rtcm_MSM_rate_ms = rtcm_msg_rate_ms[1097];
} }
else else
{ {
@ -733,6 +734,35 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
// ####################### RTCM MESSAGES ################# // ####################### RTCM MESSAGES #################
if(b_rtcm_writing_started) if(b_rtcm_writing_started)
{ {
if(type_of_rx == 1) // GPS L1 C/A
{
if((d_sample_counter % d_rtcm_MT1019_rate_ms) == 0)
{
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
}
}
if(type_of_rx == 4) // Galileo E1B
{
if((d_sample_counter % (d_rtcm_MT1045_rate_ms / 4) ) == 0)
{
for(std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
}
}
if((d_sample_counter % (d_rtcm_MSM_rate_ms / 4) ) == 0)
{
std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter;
gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
}
}
if(type_of_rx == 9) // GPS L1 C/A + Galileo E1B if(type_of_rx == 9) // GPS L1 C/A + Galileo E1B
{ {
if(((d_sample_counter % (d_rtcm_MT1019_rate_ms / 4)) == 0) && (d_rtcm_MT1019_rate_ms != 0)) if(((d_sample_counter % (d_rtcm_MT1019_rate_ms / 4)) == 0) && (d_rtcm_MT1019_rate_ms != 0))
@ -801,67 +831,97 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
} }
} }
if(!b_rtcm_writing_started) // the first time if(!b_rtcm_writing_started) // the first time
{ {
if(d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 if(type_of_rx == 4) // Galileo E1B
{
for(std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
}
std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
if(type_of_rx == 1) // GPS L1 C/A
{ {
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ ) for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
{ {
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
} }
}
if(d_rtcm_MT1045_rate_ms != 0) std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
{
for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ ) if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{ {
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second); d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
} }
b_rtcm_writing_started = true;
} }
if(type_of_rx == 9) // GPS L1 C/A + Galileo E1B
unsigned int i = 0;
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
{ {
std::string system(&gnss_observables_iter->second.System, 1); if(d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
if(gps_channel == 0)
{ {
if(system.compare("G") == 0) for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
{ {
// This is a channel with valid GPS signal d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
gps_channel = i;
}
} }
} }
if(gal_channel == 0) if(d_rtcm_MT1045_rate_ms != 0)
{ {
if(system.compare("E") == 0) for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ )
{ {
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
gal_channel = i;
}
} }
} }
i++;
}
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end() && (d_rtcm_MT1077_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end() && (d_rtcm_MT1097_rate_ms != 0) ) unsigned int i = 0;
{ for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); {
std::string system(&gnss_observables_iter->second.System, 1);
if(gps_channel == 0)
{
if(system.compare("G") == 0)
{
// This is a channel with valid GPS signal
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
gps_channel = i;
}
}
}
if(gal_channel == 0)
{
if(system.compare("E") == 0)
{
galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
gal_channel = i;
}
}
}
i++;
}
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end() && (d_rtcm_MT1077_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end() && (d_rtcm_MT1097_rate_ms != 0) )
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
} }
b_rtcm_writing_started = true;
} }
} }
} }

3
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h
View File

@ -118,6 +118,7 @@ private:
int d_rtcm_MT1019_rate_ms; int d_rtcm_MT1019_rate_ms;
int d_rtcm_MT1077_rate_ms; int d_rtcm_MT1077_rate_ms;
int d_rtcm_MT1097_rate_ms; int d_rtcm_MT1097_rate_ms;
int d_rtcm_MSM_rate_ms;
void print_receiver_status(Gnss_Synchro** channels_synchronization_data); void print_receiver_status(Gnss_Synchro** channels_synchronization_data);
int d_last_status_print_seg; //for status printer int d_last_status_print_seg; //for status printer
@ -161,7 +162,7 @@ public:
* It is used to save the assistance data at the receiver shutdown * It is used to save the assistance data at the receiver shutdown
*/ */
std::map<int,Gps_Ephemeris> get_GPS_L1_ephemeris_map(); std::map<int,Gps_Ephemeris> get_GPS_L1_ephemeris_map();
~hybrid_pvt_cc (); //!< Default destructor ~hybrid_pvt_cc (); //!< Default destructor
int general_work (int noutput_items, gr_vector_int &ninput_items, int general_work (int noutput_items, gr_vector_int &ninput_items,