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This commit is contained in:
Carles Fernandez
2020-06-19 12:39:28 +02:00
parent f6058c6b61
commit 0d5b5894b4
17 changed files with 314 additions and 298 deletions
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88
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
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@@ -132,20 +132,33 @@ private:
const Pvt_Conf& conf_,
const rtk_t& rtk);
enum StringValue_
void msg_handler_telemetry(const pmt::pmt_t& msg);
void initialize_and_apply_carrier_phase_offset();
void apply_rx_clock_offset(std::map<int, Gnss_Synchro>& observables_map,
double rx_clock_offset_s);
std::map<int, Gnss_Synchro> interpolate_observables(const std::map<int, Gnss_Synchro>& observables_map_t0,
const std::map<int, Gnss_Synchro>& observables_map_t1,
double rx_time_s);
inline std::time_t convert_to_time_t(const boost::posix_time::ptime pt) const
{
evGPS_1C,
evGPS_2S,
evGPS_L5,
evSBAS_1C,
evGAL_1B,
evGAL_5X,
evGLO_1G,
evGLO_2G,
evBDS_B1,
evBDS_B2,
evBDS_B3
};
return (pt - boost::posix_time::ptime(boost::gregorian::date(1970, 1, 1))).total_seconds();
}
std::vector<std::string> split_string(const std::string& s, char delim) const;
typedef struct
{
long mtype; // NOLINT(google-runtime-int) required by SysV queue messaging
double ttff;
} d_ttff_msgbuf;
bool send_sys_v_ttff_msg(d_ttff_msgbuf ttff);
bool save_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
bool load_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
bool d_dump;
bool d_dump_mat;
@@ -189,6 +202,9 @@ private:
double d_rinex_version;
double d_rx_time;
key_t d_sysv_msg_key;
int d_sysv_msqid;
std::unique_ptr<Rinex_Printer> d_rp;
std::unique_ptr<Kml_Printer> d_kml_dump;
std::unique_ptr<Gpx_Printer> d_gpx_dump;
@@ -210,42 +226,26 @@ private:
std::vector<bool> d_channel_initialized;
std::vector<double> d_initial_carrier_phase_offset_estimation_rads;
enum StringValue_
{
evGPS_1C,
evGPS_2S,
evGPS_L5,
evSBAS_1C,
evGAL_1B,
evGAL_5X,
evGLO_1G,
evGLO_2G,
evBDS_B1,
evBDS_B2,
evBDS_B3
};
std::map<std::string, StringValue_> d_mapStringValues;
std::map<int, Gnss_Synchro> d_gnss_observables_map;
std::map<int, Gnss_Synchro> d_gnss_observables_map_t0;
std::map<int, Gnss_Synchro> d_gnss_observables_map_t1;
std::map<std::string, StringValue_> d_mapStringValues;
boost::posix_time::time_duration d_utc_diff_time;
void msg_handler_telemetry(const pmt::pmt_t& msg);
void initialize_and_apply_carrier_phase_offset();
void apply_rx_clock_offset(std::map<int, Gnss_Synchro>& observables_map,
double rx_clock_offset_s);
std::map<int, Gnss_Synchro> interpolate_observables(const std::map<int, Gnss_Synchro>& observables_map_t0,
const std::map<int, Gnss_Synchro>& observables_map_t1,
double rx_time_s);
inline std::time_t convert_to_time_t(const boost::posix_time::ptime pt) const
{
return (pt - boost::posix_time::ptime(boost::gregorian::date(1970, 1, 1))).total_seconds();
}
std::vector<std::string> split_string(const std::string& s, char delim) const;
key_t d_sysv_msg_key;
int d_sysv_msqid;
typedef struct
{
long mtype; // NOLINT(google-runtime-int) required by SysV queue messaging
double ttff;
} d_ttff_msgbuf;
bool send_sys_v_ttff_msg(d_ttff_msgbuf ttff);
bool save_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
bool load_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
};
#endif // GNSS_SDR_RTKLIB_PVT_GS_H