From 1e19fd9aff05d1cfaea69792bd23261d4cc4318b Mon Sep 17 00:00:00 2001
From: Carles Fernandez <carles.fernandez@gmail.com>
Date: Fri, 12 Nov 2021 17:01:29 +0100
Subject: [PATCH] Add IGM01, IGM02, IGM03 and IGM05 messages to the
 Rtcm_Printer

---
 src/algorithms/PVT/libs/rtcm_printer.cc | 81 ++++++++++++++++++++++++-
 src/algorithms/PVT/libs/rtcm_printer.h  |  7 ++-
 2 files changed, 86 insertions(+), 2 deletions(-)

diff --git a/src/algorithms/PVT/libs/rtcm_printer.cc b/src/algorithms/PVT/libs/rtcm_printer.cc
index ef69509ee..a562c14a9 100644
--- a/src/algorithms/PVT/libs/rtcm_printer.cc
+++ b/src/algorithms/PVT/libs/rtcm_printer.cc
@@ -1462,6 +1462,40 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
 }
 
 
+void Rtcm_Printer::Print_IGM_Messages(const Galileo_HAS_data& has_data)
+{
+    try
+        {
+            if (has_data.header.orbit_correction_flag && has_data.header.clock_fullset_flag)
+                {
+                    Print_IGM03(has_data);
+                }
+            if (has_data.header.orbit_correction_flag && !has_data.header.clock_fullset_flag)
+                {
+                    Print_IGM01(has_data);
+                }
+            if (!has_data.header.orbit_correction_flag && has_data.header.clock_fullset_flag)
+                {
+                    Print_IGM02(has_data);
+                }
+            if (has_data.header.code_bias_flag)
+                {
+                    Print_IGM05(has_data);
+                }
+        }
+    catch (const boost::exception& ex)
+        {
+            std::cout << "RTCM boost exception: " << boost::diagnostic_information(ex) << '\n';
+            LOG(ERROR) << "RTCM boost exception: " << boost::diagnostic_information(ex);
+        }
+    catch (const std::exception& ex)
+        {
+            std::cout << "RTCM std exception: " << ex.what() << '\n';
+            LOG(ERROR) << "RTCM std exception: " << ex.what();
+        }
+}
+
+
 bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
 {
     const std::string m1001 = rtcm->print_MT1001(gps_eph, obs_time, observables, station_id);
@@ -1601,7 +1635,7 @@ bool Rtcm_Printer::Print_Rtcm_MSM(uint32_t msm_number, const Gps_Ephemeris& gps_
 }
 
 
-bool Rtcm_Printer::Print_Rtcm_IGM01(const Galileo_HAS_data& has_data)
+bool Rtcm_Printer::Print_IGM01(const Galileo_HAS_data& has_data)
 {
     const std::vector<std::string> msgs = rtcm->print_IGM01(has_data);
     if (msgs.empty())
@@ -1616,6 +1650,51 @@ bool Rtcm_Printer::Print_Rtcm_IGM01(const Galileo_HAS_data& has_data)
 }
 
 
+bool Rtcm_Printer::Print_IGM02(const Galileo_HAS_data& has_data)
+{
+    const std::vector<std::string> msgs = rtcm->print_IGM02(has_data);
+    if (msgs.empty())
+        {
+            return false;
+        }
+    for (const auto& s : msgs)
+        {
+            Rtcm_Printer::Print_Message(s);
+        }
+    return true;
+}
+
+
+bool Rtcm_Printer::Print_IGM03(const Galileo_HAS_data& has_data)
+{
+    const std::vector<std::string> msgs = rtcm->print_IGM03(has_data);
+    if (msgs.empty())
+        {
+            return false;
+        }
+    for (const auto& s : msgs)
+        {
+            Rtcm_Printer::Print_Message(s);
+        }
+    return true;
+}
+
+
+bool Rtcm_Printer::Print_IGM05(const Galileo_HAS_data& has_data)
+{
+    const std::vector<std::string> msgs = rtcm->print_IGM05(has_data);
+    if (msgs.empty())
+        {
+            return false;
+        }
+    for (const auto& s : msgs)
+        {
+            Rtcm_Printer::Print_Message(s);
+        }
+    return true;
+}
+
+
 int Rtcm_Printer::init_serial(const std::string& serial_device)
 {
     /*
diff --git a/src/algorithms/PVT/libs/rtcm_printer.h b/src/algorithms/PVT/libs/rtcm_printer.h
index 7b3fdacbe..66a5959b4 100644
--- a/src/algorithms/PVT/libs/rtcm_printer.h
+++ b/src/algorithms/PVT/libs/rtcm_printer.h
@@ -99,6 +99,8 @@ public:
      */
     uint32_t lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
 
+    void Print_IGM_Messages(const Galileo_HAS_data& has_data);
+
     std::string print_MT1005_test();  //!<  For testing purposes
 
 private:
@@ -179,7 +181,10 @@ private:
         bool divergence_free,
         bool more_messages);
 
-    bool Print_Rtcm_IGM01(const Galileo_HAS_data& has_data);  // SSR Orbit Corrections
+    bool Print_IGM01(const Galileo_HAS_data& has_data);  // SSR Orbit Corrections
+    bool Print_IGM02(const Galileo_HAS_data& has_data);  // SSR Clock Corrections
+    bool Print_IGM03(const Galileo_HAS_data& has_data);  // SSR Combined Orbit & Clock Corrections
+    bool Print_IGM05(const Galileo_HAS_data& has_data);  // SSR Bias Corrections
 
     int32_t init_serial(const std::string& serial_device);  // serial port control
     void close_serial() const;