Merge branch 'next' of https://github.com/carlesfernandez/gnss-sdr into next

docs/protobuf/monitor_pvt.proto

@@ -7,48 +7,49 @@ package gnss_sdr;
 /* MonitorPvt represents a search query, with pagination options to
  * indicate which results to include in the response. */
 message MonitorPvt {
-uint32 tow_at_current_symbol_ms = 1;  // Time of week of the current symbol, in ms
+  uint32 tow_at_current_symbol_ms = 1;  // Time of week of the current symbol, in ms
-uint32 week = 2;  // PVT GPS week
+  uint32 week = 2;                      // PVT GPS week
-double rx_time = 3;  // PVT GPS time
+  double rx_time = 3;                   // PVT GPS time
-double user_clk_offset = 4;  // User clock offset, in s
+  double user_clk_offset = 4;           // User clock offset, in s
 
-double pos_x = 5;  // Position X component in ECEF, expressed in m
+  double pos_x = 5;  // Position X component in ECEF, expressed in m
-double pos_y = 6;  // Position Y component in ECEF, expressed in m
+  double pos_y = 6;  // Position Y component in ECEF, expressed in m
-double pos_z = 7;  // Position Z component in ECEF, expressed in m
+  double pos_z = 7;  // Position Z component in ECEF, expressed in m
-double vel_x = 8;  // Velocity X component in ECEF, in m/s
+  double vel_x = 8;  // Velocity X component in ECEF, in m/s
-double vel_y = 9;  // Velocity Y component in ECEF, in m/s
+  double vel_y = 9;  // Velocity Y component in ECEF, in m/s
-double vel_z = 10;  // Velocity Z component in ECEF, in m/s
+  double vel_z = 10;  // Velocity Z component in ECEF, in m/s
 
-double cov_xx = 11;  // Position variance in the Y component, in m2
+  double cov_xx = 11;  // Position variance in the Y component, in m2
-double cov_yy = 12;  // Position variance in the Y component, in m2
+  double cov_yy = 12;  // Position variance in the Y component, in m2
-double cov_zz = 13;  // Position variance in the Z component, in m2
+  double cov_zz = 13;  // Position variance in the Z component, in m2
-double cov_xy = 14;  // Position XY covariance, in m2
+  double cov_xy = 14;  // Position XY covariance, in m2
-double cov_yz = 15;  // Position YZ covariance, in m2
+  double cov_yz = 15;  // Position YZ covariance, in m2
-double cov_zx = 16;  // Position ZX covariance, in m2
+  double cov_zx = 16;  // Position ZX covariance, in m2
 
-double latitude = 17;  // Latitude, in deg. Positive: North
+  double latitude = 17;   // Latitude, in deg. Positive: North
-double longitude = 18;  // Longitude, in deg. Positive: East
+  double longitude = 18;  // Longitude, in deg. Positive: East
-double height = 19;  // Height, in m
+  double height = 19;     // Height, in m
 
-uint32 valid_sats = 20;  // Number of valid satellites
+  uint32 valid_sats = 20;         // Number of valid satellites
-uint32 solution_status = 21;  // RTKLIB solution status
+  uint32 solution_status = 21;    // RTKLIB solution status
-uint32 solution_type = 22;  // RTKLIB solution type (0: xyz-ecef, 1: enu-baseline)
+  uint32 solution_type = 22;      // RTKLIB solution type (0: xyz-ecef, 1: enu-baseline)
-float ar_ratio_factor = 23;  // Ambiguity resolution ratio factor for validation
+  float ar_ratio_factor = 23;     // Ambiguity resolution ratio factor for validation
-float ar_ratio_threshold = 24;  // Ambiguity resolution ratio threshold for validation
+  float ar_ratio_threshold = 24;  // Ambiguity resolution ratio threshold for validation
 
-double gdop = 25;  // Geometric Dilution of Precision
+  double gdop = 25;  // Geometric Dilution of Precision
-double pdop = 26;  // Position (3D) Dilution of Precision
+  double pdop = 26;  // Position (3D) Dilution of Precision
-double hdop = 27;  // Horizontal Dilution of Precision
+  double hdop = 27;  // Horizontal Dilution of Precision
-double vdop = 28;  // Vertical Dilution of Precision
+  double vdop = 28;  // Vertical Dilution of Precision
 
-double user_clk_drift_ppm = 29;  // User clock drift [ppm]
+  double user_clk_drift_ppm = 29;  // User clock drift [ppm]
-string utc_time = 30; // PVT UTC time (rfc 3339 datetime string)
+  string utc_time = 30;            // PVT UTC time (rfc 3339 datetime string)
 
-double vel_e = 31;  // Velocity East component in the local frame, in m/s
+  double vel_e = 31;  // Velocity East component in the local frame, in m/s
-double vel_n = 32;  // Velocity North component in the local frame, in m/s
+  double vel_n = 32;  // Velocity North component in the local frame, in m/s
-double vel_u = 33;  // Velocity Up component in the local frame, in m/s
+  double vel_u = 33;  // Velocity Up component in the local frame, in m/s
 
-double cog = 34; // Course Over Ground (cog) [deg]
+  double cog = 34;  // Course Over Ground, in deg
 
-uint32 galhas_status = 35; // Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not avaliable
+  uint32 galhas_status = 35;  // Galileo HAS status: 1- HAS messages decoded and applied, 0 - HAS not available
+  string geohash = 36;        // Encoded geographic location. See https://en.wikipedia.org/wiki/Geohash
 }

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc

@@ -179,8 +179,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
       d_an_printer_enabled(conf_.an_output_enabled),
       d_log_timetag(conf_.log_source_timetag),
       d_use_has_corrections(conf_.use_has_corrections),
-      d_use_unhealthy_sats(conf_.use_unhealthy_sats),
+      d_use_unhealthy_sats(conf_.use_unhealthy_sats)
-      d_flag_geohash_log_out(conf_.flag_geohash_log_out)
 {
     // Send feedback message to observables block with the receiver clock offset
     this->message_port_register_out(pmt::mp("pvt_to_observables"));
@@ -2428,12 +2427,10 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                             // p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
                             // std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << '\n';
 
-                            if (d_flag_geohash_log_out == true)
+                                    DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
-                                {
-                                    LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
                                               << " UTC using " << d_user_pvt_solver->get_num_valid_observations() << " observations is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
                                               << " [deg], Height = " << d_user_pvt_solver->get_height() << " [m]";
-                                    LOG(INFO) << "geohash=" << d_geohash->encode(d_user_pvt_solver->get_latitude(), d_user_pvt_solver->get_longitude());
+                                    
                                     /* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
                                          << " UTC using "<< d_user_pvt_solver->get_num_valid_observations() <<" observations is HDOP = " << d_user_pvt_solver->get_hdop() << " VDOP = "
                                          << d_user_pvt_solver->get_vdop()
@@ -2445,7 +2442,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                     if (d_user_pvt_solver->is_valid_position() && flag_compute_pvt_output == true)
                         {
                             const std::shared_ptr<Monitor_Pvt> monitor_pvt = std::make_shared<Monitor_Pvt>(d_user_pvt_solver->get_monitor_pvt());
-
+                            monitor_pvt->geohash = d_geohash->encode(d_user_pvt_solver->get_latitude(), d_user_pvt_solver->get_longitude());
+                            DLOG(INFO) << "geohash=" << monitor_pvt->geohash;
                             // publish new position to the gnss_flowgraph channel status monitor
                             if (current_RX_time_ms % d_report_rate_ms == 0)
                                 {

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h

@@ -278,7 +278,6 @@ private:
     bool d_log_timetag;
     bool d_use_has_corrections;
     bool d_use_unhealthy_sats;
-    bool d_flag_geohash_log_out;
 };
 
 

src/algorithms/PVT/libs/monitor_pvt.h

@@ -98,6 +98,7 @@ public:
     // PVT UTC Time (rfc 3339 datetime string)
     std::string utc_time;
 
+    std::string geohash;  // See https://en.wikipedia.org/wiki/Geohash
 
     /*!
      * \brief This member function serializes and restores
@@ -153,6 +154,7 @@ public:
         ar& BOOST_SERIALIZATION_NVP(vel_u);
 
         ar& BOOST_SERIALIZATION_NVP(cog);
+        ar& BOOST_SERIALIZATION_NVP(geohash);
     }
 };
 

src/algorithms/PVT/libs/pvt_conf.h

@@ -70,7 +70,6 @@ public:
     uint16_t rtcm_tcp_port = 0;
     uint16_t rtcm_station_id = 0;
 
-    bool flag_geohash_log_out = false;
     bool flag_nmea_tty_port = false;
     bool flag_rtcm_server = false;
     bool flag_rtcm_tty_port = false;

src/algorithms/PVT/libs/serdes_monitor_pvt.h

@@ -118,6 +118,8 @@ public:
         monitor_.set_vel_u(monitor->vel_u);
         monitor_.set_cog(monitor->cog);
         monitor_.set_galhas_status(monitor->galhas_status);
+        monitor_.set_geohash(monitor->geohash);
+
         monitor_.SerializeToString(&data);
         return data;
     }
@@ -161,6 +163,7 @@ public:
         monitor.vel_u = mon.vel_u();
         monitor.cog = mon.cog();
         monitor.galhas_status = mon.galhas_status();
+        monitor.geohash = mon.geohash();
 
         return monitor;
     }