mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-13 19:50:34 +00:00
Remove Hybrid_PVT implementation, it is replaced by RTKLIB_PVT
This commit is contained in:
Carles Fernandez
parent
e61b65760a
commit
111ad3b221
@ -17,7 +17,6 @@
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#
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#
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set(PVT_ADAPTER_SOURCES
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set(PVT_ADAPTER_SOURCES
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hybrid_pvt.cc
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rtklib_pvt.cc
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rtklib_pvt.cc
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)
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)
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@ -1,237 +0,0 @@
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/*!
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* \file hybrid_pvt.cc
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* \brief Implementation of an adapter of a HYBRID PVT solver block to a
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* PvtInterface
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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*
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "hybrid_pvt.h"
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#include <glog/logging.h>
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#include <boost/archive/xml_oarchive.hpp>
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#include <boost/archive/xml_iarchive.hpp>
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#include <boost/math/common_factor_rt.hpp>
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#include <boost/serialization/map.hpp>
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#include "configuration_interface.h"
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using google::LogMessage;
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HybridPvt::HybridPvt(ConfigurationInterface* configuration,
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std::string role,
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unsigned int in_streams,
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unsigned int out_streams) :
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role_(role),
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in_streams_(in_streams),
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out_streams_(out_streams)
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{
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// dump parameters
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std::string default_dump_filename = "./pvt.dat";
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std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
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std::string default_nmea_dump_devname = "/dev/tty1";
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std::string default_rtcm_dump_devname = "/dev/pts/1";
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DLOG(INFO) << "role " << role;
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dump_ = configuration->property(role + ".dump", false);
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dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
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// moving average depth parameters
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int averaging_depth = configuration->property(role + ".averaging_depth", 10);
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bool flag_averaging = configuration->property(role + ".flag_averaging", false);
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// output rate
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int output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
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// display rate
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int display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
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// NMEA Printer settings
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bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
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std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
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std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
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// RTCM Printer settings
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bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
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std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
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bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
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unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
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unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
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// RTCM message rates: least common multiple with output_rate_ms
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int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
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int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
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int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
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int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
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int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
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std::map<int,int> rtcm_msg_rate_ms;
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rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
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rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
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for (int k = 1071; k < 1078; k++) // All GPS MSM
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{
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rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
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}
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for (int k = 1091; k < 1098; k++) // All Galileo MSM
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{
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rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
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}
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// getting names from the config file, if available
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// default filename for assistance data
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const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
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const std::string utc_default_xml_filename = "./gps_utc_model.xml";
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const std::string iono_default_xml_filename = "./gps_iono.xml";
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const std::string ref_time_default_xml_filename = "./gps_ref_time.xml";
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const std::string ref_location_default_xml_filename = "./gps_ref_location.xml";
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eph_xml_filename_ = configuration->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
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//std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
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//std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
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//std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
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//std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
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// Infer the type of receiver
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/*
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* TYPE | RECEIVER
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* 0 | Unknown
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* 1 | GPS L1 C/A
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* 2 | GPS L2C
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* 3 | GPS L5
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* 4 | Galileo E1B
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* 5 | Galileo E5a
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* 6 | Galileo E5b
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* 7 | GPS L1 C/A + GPS L2C
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* 8 | GPS L1 C/A + GPS L5
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* 9 | GPS L1 C/A + Galileo E1B
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* 10 | GPS L1 C/A + Galileo E5a
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* 11 | GPS L1 C/A + Galileo E5b
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* 12 | Galileo E1B + GPS L2C
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* 13 | Galileo E1B + GPS L5
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* 14 | Galileo E1B + Galileo E5a
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* 15 | Galileo E1B + Galileo E5b
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* 16 | GPS L2C + GPS L5
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* 17 | GPS L2C + Galileo E5a
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* 18 | GPS L2C + Galileo E5b
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* 19 | GPS L5 + Galileo E5a
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* 20 | GPS L5 + Galileo E5b
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* 21 | GPS L1 C/A + Galileo E1B + GPS L2C
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* 22 | GPS L1 C/A + Galileo E1B + GPS L5
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*/
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int gps_1C_count = configuration->property("Channels_1C.count", 0);
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int gps_2S_count = configuration->property("Channels_2S.count", 0);
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int gal_1B_count = configuration->property("Channels_1B.count", 0);
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int gal_E5a_count = configuration->property("Channels_5X.count", 0); // GPS L5 or Galileo E5a ?
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int gal_E5b_count = configuration->property("Channels_7X.count", 0);
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unsigned int type_of_receiver = 0;
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if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 1;
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if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 2;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 4;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 5;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 6;
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if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 7;
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//if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 8;
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if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 9;
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if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 10;
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if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 11;
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if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 12;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 13;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 14;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 15;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 16;
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if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0)) type_of_receiver = 17;
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if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0)) type_of_receiver = 18;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 19;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 20;
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if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0)) type_of_receiver = 21;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
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// make PVT object
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pvt_ = hybrid_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver);
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DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
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}
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bool HybridPvt::save_assistance_to_XML()
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{
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LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
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std::map<int,Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
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if (eph_map.size() > 0)
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{
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try
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{
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std::ofstream ofs(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
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boost::archive::xml_oarchive xml(ofs);
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xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
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ofs.close();
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LOG(INFO) << "Saved GPS L1 Ephemeris map data";
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}
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catch (std::exception& e)
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{
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LOG(WARNING) << e.what();
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return false;
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}
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return true; // return variable (true == succeeded)
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}
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else
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{
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LOG(WARNING) << "Failed to save Ephemeris, map is empty";
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return false;
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}
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}
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HybridPvt::~HybridPvt()
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{
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save_assistance_to_XML();
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}
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void HybridPvt::connect(gr::top_block_sptr top_block)
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{
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if(top_block) { /* top_block is not null */};
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// Nothing to connect internally
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DLOG(INFO) << "nothing to connect internally";
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}
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void HybridPvt::disconnect(gr::top_block_sptr top_block)
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{
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if(top_block) { /* top_block is not null */};
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// Nothing to disconnect
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}
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gr::basic_block_sptr HybridPvt::get_left_block()
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{
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return pvt_;
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}
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gr::basic_block_sptr HybridPvt::get_right_block()
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{
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return pvt_; // this is a sink, nothing downstream
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}
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@ -1,96 +0,0 @@
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/*!
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* \file hybrid_pvt.h
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* \brief Interface of an adapter of a HYBRID PVT solver block to a
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* PvtInterface.
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* \author Javier Arribas, 2013. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_HYBRID_PVT_H_
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#define GNSS_SDR_HYBRID_PVT_H_
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|
||||||
#include <string>
|
|
||||||
#include "pvt_interface.h"
|
|
||||||
#include "hybrid_pvt_cc.h"
|
|
||||||
|
|
||||||
|
|
||||||
class ConfigurationInterface;
|
|
||||||
|
|
||||||
/*!
|
|
||||||
* \brief This class implements a PvtInterface for Galileo E1
|
|
||||||
*/
|
|
||||||
class HybridPvt : public PvtInterface
|
|
||||||
{
|
|
||||||
public:
|
|
||||||
HybridPvt(ConfigurationInterface* configuration,
|
|
||||||
std::string role,
|
|
||||||
unsigned int in_streams,
|
|
||||||
unsigned int out_streams);
|
|
||||||
|
|
||||||
virtual ~HybridPvt();
|
|
||||||
|
|
||||||
std::string role()
|
|
||||||
{
|
|
||||||
return role_;
|
|
||||||
}
|
|
||||||
|
|
||||||
//! Returns "Hybrid_Pvt"
|
|
||||||
std::string implementation()
|
|
||||||
{
|
|
||||||
return "Hybrid_PVT";
|
|
||||||
}
|
|
||||||
|
|
||||||
void connect(gr::top_block_sptr top_block);
|
|
||||||
void disconnect(gr::top_block_sptr top_block);
|
|
||||||
gr::basic_block_sptr get_left_block();
|
|
||||||
gr::basic_block_sptr get_right_block();
|
|
||||||
|
|
||||||
void reset()
|
|
||||||
{
|
|
||||||
return;
|
|
||||||
}
|
|
||||||
|
|
||||||
//! All blocks must have an item_size() function implementation. Returns sizeof(gr_complex)
|
|
||||||
size_t item_size()
|
|
||||||
{
|
|
||||||
return sizeof(gr_complex);
|
|
||||||
}
|
|
||||||
|
|
||||||
private:
|
|
||||||
hybrid_pvt_cc_sptr pvt_;
|
|
||||||
bool dump_;
|
|
||||||
std::string dump_filename_;
|
|
||||||
std::string role_;
|
|
||||||
unsigned int in_streams_;
|
|
||||||
unsigned int out_streams_;
|
|
||||||
|
|
||||||
std::string eph_xml_filename_;
|
|
||||||
bool save_assistance_to_XML();
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif
|
|
||||||
@ -17,7 +17,6 @@
|
|||||||
#
|
#
|
||||||
|
|
||||||
set(PVT_GR_BLOCKS_SOURCES
|
set(PVT_GR_BLOCKS_SOURCES
|
||||||
hybrid_pvt_cc.cc
|
|
||||||
rtklib_pvt_cc.cc
|
rtklib_pvt_cc.cc
|
||||||
)
|
)
|
||||||
|
|
||||||
|
|||||||
File diff suppressed because it is too large
Load Diff
@ -1,172 +0,0 @@
|
|||||||
/*!
|
|
||||||
* \file hybrid_pvt_cc.h
|
|
||||||
* \brief Interface of a Position Velocity and Time computation block for Galileo E1
|
|
||||||
* \author Javier Arribas, 2013. jarribas(at)cttc.es
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*
|
|
||||||
* Copyright (C) 2010-2015 (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 <http://www.gnu.org/licenses/>.
|
|
||||||
*
|
|
||||||
* -------------------------------------------------------------------------
|
|
||||||
*/
|
|
||||||
|
|
||||||
#ifndef GNSS_SDR_HYBRID_PVT_CC_H
|
|
||||||
#define GNSS_SDR_HYBRID_PVT_CC_H
|
|
||||||
|
|
||||||
#include <fstream>
|
|
||||||
#include <utility>
|
|
||||||
#include <string>
|
|
||||||
#include <sys/types.h>
|
|
||||||
#include <sys/ipc.h>
|
|
||||||
#include <sys/msg.h>
|
|
||||||
#include <gnuradio/block.h>
|
|
||||||
#include "nmea_printer.h"
|
|
||||||
#include "kml_printer.h"
|
|
||||||
#include "geojson_printer.h"
|
|
||||||
#include "rinex_printer.h"
|
|
||||||
#include "rtcm_printer.h"
|
|
||||||
#include "hybrid_ls_pvt.h"
|
|
||||||
|
|
||||||
|
|
||||||
class hybrid_pvt_cc;
|
|
||||||
|
|
||||||
typedef boost::shared_ptr<hybrid_pvt_cc> hybrid_pvt_cc_sptr;
|
|
||||||
|
|
||||||
hybrid_pvt_cc_sptr hybrid_make_pvt_cc(unsigned int n_channels,
|
|
||||||
bool dump,
|
|
||||||
std::string dump_filename,
|
|
||||||
int averaging_depth,
|
|
||||||
bool flag_averaging,
|
|
||||||
int output_rate_ms,
|
|
||||||
int display_rate_ms,
|
|
||||||
bool flag_nmea_tty_port,
|
|
||||||
std::string nmea_dump_filename,
|
|
||||||
std::string nmea_dump_devname,
|
|
||||||
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);
|
|
||||||
|
|
||||||
/*!
|
|
||||||
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
|
|
||||||
*/
|
|
||||||
class hybrid_pvt_cc : public gr::block
|
|
||||||
{
|
|
||||||
private:
|
|
||||||
friend hybrid_pvt_cc_sptr hybrid_make_pvt_cc(unsigned int nchannels,
|
|
||||||
bool dump,
|
|
||||||
std::string dump_filename,
|
|
||||||
int averaging_depth,
|
|
||||||
bool flag_averaging,
|
|
||||||
int output_rate_ms,
|
|
||||||
int display_rate_ms,
|
|
||||||
bool flag_nmea_tty_port,
|
|
||||||
std::string nmea_dump_filename,
|
|
||||||
std::string nmea_dump_devname,
|
|
||||||
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);
|
|
||||||
hybrid_pvt_cc(unsigned int nchannels,
|
|
||||||
bool dump, std::string dump_filename,
|
|
||||||
int averaging_depth,
|
|
||||||
bool flag_averaging,
|
|
||||||
int output_rate_ms,
|
|
||||||
int display_rate_ms,
|
|
||||||
bool flag_nmea_tty_port,
|
|
||||||
std::string nmea_dump_filename,
|
|
||||||
std::string nmea_dump_devname,
|
|
||||||
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);
|
|
||||||
|
|
||||||
void msg_handler_telemetry(pmt::pmt_t msg);
|
|
||||||
|
|
||||||
bool d_dump;
|
|
||||||
bool b_rinex_header_written;
|
|
||||||
bool b_rinex_header_updated;
|
|
||||||
bool b_rtcm_writing_started;
|
|
||||||
int d_rtcm_MT1045_rate_ms;
|
|
||||||
int d_rtcm_MT1019_rate_ms;
|
|
||||||
int d_rtcm_MT1077_rate_ms;
|
|
||||||
int d_rtcm_MT1097_rate_ms;
|
|
||||||
int d_rtcm_MSM_rate_ms;
|
|
||||||
|
|
||||||
void print_receiver_status(Gnss_Synchro** channels_synchronization_data);
|
|
||||||
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_averaging_depth;
|
|
||||||
bool d_flag_averaging;
|
|
||||||
int d_output_rate_ms;
|
|
||||||
int d_display_rate_ms;
|
|
||||||
long unsigned int d_sample_counter;
|
|
||||||
long unsigned int d_last_sample_nav_output;
|
|
||||||
|
|
||||||
std::shared_ptr<Rinex_Printer> rp;
|
|
||||||
std::shared_ptr<Kml_Printer> d_kml_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;
|
|
||||||
|
|
||||||
std::shared_ptr<hybrid_ls_pvt> 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);
|
|
||||||
|
|
||||||
public:
|
|
||||||
/*!
|
|
||||||
* \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();
|
|
||||||
|
|
||||||
~hybrid_pvt_cc (); //!< Default destructor
|
|
||||||
|
|
||||||
int general_work (int noutput_items, gr_vector_int &ninput_items,
|
|
||||||
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items); //!< PVT Signal Processing
|
|
||||||
};
|
|
||||||
|
|
||||||
#endif
|
|
||||||
@ -91,7 +91,6 @@
|
|||||||
#include "galileo_e5a_telemetry_decoder.h"
|
#include "galileo_e5a_telemetry_decoder.h"
|
||||||
#include "sbas_l1_telemetry_decoder.h"
|
#include "sbas_l1_telemetry_decoder.h"
|
||||||
#include "hybrid_observables.h"
|
#include "hybrid_observables.h"
|
||||||
#include "hybrid_pvt.h"
|
|
||||||
#include "rtklib_pvt.h"
|
#include "rtklib_pvt.h"
|
||||||
|
|
||||||
#if OPENCL_BLOCKS
|
#if OPENCL_BLOCKS
|
||||||
@ -1068,13 +1067,7 @@ std::unique_ptr<GNSSBlockInterface> GNSSBlockFactory::GetBlock(
|
|||||||
block = std::move(block_);
|
block = std::move(block_);
|
||||||
}
|
}
|
||||||
// PVT -------------------------------------------------------------------------
|
// PVT -------------------------------------------------------------------------
|
||||||
else if (implementation.compare("Hybrid_PVT") == 0)
|
else if ((implementation.compare("RTKLIB_PVT") == 0) || (implementation.compare("GPS_L1_CA_PVT") == 0) || (implementation.compare("Galileo_E1_PVT") == 0) || (implementation.compare("Hybrid_PVT") == 0))
|
||||||
{
|
|
||||||
std::unique_ptr<GNSSBlockInterface> block_(new HybridPvt(configuration.get(), role, in_streams,
|
|
||||||
out_streams));
|
|
||||||
block = std::move(block_);
|
|
||||||
}
|
|
||||||
else if ((implementation.compare("RTKLIB_PVT") == 0) || (implementation.compare("GPS_L1_CA_PVT") == 0) || (implementation.compare("Galileo_E1_PVT") == 0) )
|
|
||||||
{
|
{
|
||||||
std::unique_ptr<GNSSBlockInterface> block_(new RtklibPvt(configuration.get(), role, in_streams,
|
std::unique_ptr<GNSSBlockInterface> block_(new RtklibPvt(configuration.get(), role, in_streams,
|
||||||
out_streams));
|
out_streams));
|
||||||
|
|||||||
@ -536,7 +536,7 @@ void GNSSFlowgraph::init()
|
|||||||
pvt_ = block_factory_->GetPVT(configuration_);
|
pvt_ = block_factory_->GetPVT(configuration_);
|
||||||
// Mark old implementations as deprecated
|
// Mark old implementations as deprecated
|
||||||
std::string pvt_implementation = configuration_->property("PVT.implementation", default_str);
|
std::string pvt_implementation = configuration_->property("PVT.implementation", default_str);
|
||||||
if ((pvt_implementation.compare("GPS_L1_CA_PVT") == 0) || (pvt_implementation.compare("Galileo_E1_PVT") == 0))
|
if ((pvt_implementation.compare("GPS_L1_CA_PVT") == 0) || (pvt_implementation.compare("Galileo_E1_PVT") == 0) || (pvt_implementation.compare("Hybrid_PVT") == 0))
|
||||||
{
|
{
|
||||||
std::cout << "WARNING: Implementation '" << pvt_implementation << "' of the PVT block has been replaced by 'RTKLIB_PVT'." << std::endl;
|
std::cout << "WARNING: Implementation '" << pvt_implementation << "' of the PVT block has been replaced by 'RTKLIB_PVT'." << std::endl;
|
||||||
std::cout << "Please update your configuration file." << std::endl;
|
std::cout << "Please update your configuration file." << std::endl;
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user