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Add more extensive use of cstdint typenames

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Carles Fernandez 2018-08-11 13:56:24 +02:00
parent d41ed73a00
commit 201c5ccd79
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GPG Key ID: 4C583C52B0C3877D
5 changed files with 432 additions and 430 deletions
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11
src/algorithms/PVT/libs/nmea_printer.cc
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@ -36,6 +36,7 @@
#include "nmea_printer.h" #include "nmea_printer.h"
#include <boost/date_time/posix_time/posix_time.hpp> #include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h> #include <glog/logging.h>
#include <cstdint>
#include <fcntl.h> #include <fcntl.h>
#include <termios.h> #include <termios.h>
@ -86,11 +87,11 @@ int Nmea_Printer::init_serial(std::string serial_device)
*/ */
int fd = 0; int fd = 0;
struct termios options; struct termios options;
long BAUD; int64_t BAUD;
long DATABITS; int64_t DATABITS;
long STOPBITS; int64_t STOPBITS;
long PARITYON; int64_t PARITYON;
long PARITY; int64_t PARITY;
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY); fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1) return fd; //failed to open TTY port if (fd == -1) return fd; //failed to open TTY port

714
src/algorithms/PVT/libs/rinex_printer.cc
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43
src/algorithms/PVT/libs/rinex_printer.h
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@ -60,6 +60,7 @@
#include "GLONASS_L1_L2_CA.h" #include "GLONASS_L1_L2_CA.h"
#include "gnss_synchro.h" #include "gnss_synchro.h"
#include <boost/date_time/posix_time/posix_time.hpp> #include <boost/date_time/posix_time/posix_time.hpp>
#include <cstdint>
#include <string> #include <string>
#include <fstream> #include <fstream>
#include <sstream> // for stringstream #include <sstream> // for stringstream
@ -221,87 +222,87 @@ public:
/*! /*!
* \brief Writes data from the GPS L1 C/A navigation message into the RINEX file * \brief Writes data from the GPS L1 C/A navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& eph_map); void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the GPS L2 navigation message into the RINEX file * \brief Writes data from the GPS L2 navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream& out, const std::map<int, Gps_CNAV_Ephemeris>& eph_map); void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_CNAV_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Galileo navigation message into the RINEX file * \brief Writes data from the Galileo navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream& out, const std::map<int, Galileo_Ephemeris>& eph_map); void log_rinex_nav(std::fstream& out, const std::map<int32_t, Galileo_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file * \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Galileo_Ephemeris>& galileo_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_Ephemeris>& gps_eph_map, const std::map<int32_t, Galileo_Ephemeris>& galileo_eph_map);
/*! /*!
* \brief Writes data from the GLONASS GNAV navigation message into the RINEX file * \brief Writes data from the GLONASS GNAV navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream& out, const std::map<int, Glonass_Gnav_Ephemeris>& eph_map); void log_rinex_nav(std::fstream& out, const std::map<int32_t, Glonass_Gnav_Ephemeris>& eph_map);
/*! /*!
* \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file * \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream& out, const std::map<int, Gps_Ephemeris>& gps_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_Ephemeris>& gps_eph_map, const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*! /*!
* \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file * \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream& out, const std::map<int, Gps_CNAV_Ephemeris>& gps_cnav_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_CNAV_Ephemeris>& gps_cnav_eph_map, const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*! /*!
* \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file * \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file
*/ */
void log_rinex_nav(std::fstream& out, const std::map<int, Galileo_Ephemeris>& galileo_eph_map, const std::map<int, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map); void log_rinex_nav(std::fstream& out, const std::map<int32_t, Galileo_Ephemeris>& galileo_eph_map, const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*! /*!
* \brief Writes GPS L1 observables into the RINEX file * \brief Writes GPS L1 observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes GPS L2 observables into the RINEX file * \brief Writes GPS L2 observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables); void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes dual frequency GPS L1 and L2 observables into the RINEX file * \brief Writes dual frequency GPS L1 and L2 observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, double obs_time, const std::map<int, Gnss_Synchro>& observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables, const std::string galileo_bands = "1B"); void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string galileo_bands = "1B");
/*! /*!
* \brief Writes Mixed GPS / Galileo observables into the RINEX file * \brief Writes Mixed GPS / Galileo observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B". * \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/ */
void log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, double obs_time, const std::map<int, Gnss_Synchro>& observables, const std::string glonass_bands = "1C"); void log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string glonass_bands = "1C");
/*! /*!
* \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file * \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables); void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file * \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables); void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*! /*!
* \brief Writes Mixed Galileo/GLONASS observables into the RINEX file * \brief Writes Mixed Galileo/GLONASS observables into the RINEX file
*/ */
void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int, Gnss_Synchro>& observables); void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*! /*!
* \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not. * \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
@ -523,9 +524,9 @@ private:
/* /*
* Convert a string to an integer. * Convert a string to an integer.
* @param s string containing a number. * @param s string containing a number.
* @return long integer representation of string. * @return int64_t integer representation of string.
*/ */
inline long asInt(const std::string& s) inline int64_t asInt(const std::string& s)
{ {
return strtol(s.c_str(), 0, 10); return strtol(s.c_str(), 0, 10);
} }
@ -658,7 +659,7 @@ inline std::string& Rinex_Printer::sci2for(std::string& aStr,
std::string::size_type idx = aStr.find('.', startPos); std::string::size_type idx = aStr.find('.', startPos);
int expAdd = 0; int expAdd = 0;
std::string exp; std::string exp;
long iexp; int64_t iexp;
//If checkSwitch is false, always redo the exponential. Otherwise, //If checkSwitch is false, always redo the exponential. Otherwise,
//set it to false. //set it to false.
bool redoexp = !checkSwitch; bool redoexp = !checkSwitch;
@ -761,7 +762,7 @@ inline std::string Rinex_Printer::asFixWidthString(const int x, const int width,
} }
inline long asInt(const std::string& s) inline int64_t asInt(const std::string& s)
{ {
return strtol(s.c_str(), 0, 10); return strtol(s.c_str(), 0, 10);
} }

50
src/algorithms/PVT/libs/rtcm_printer.cc
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@ -42,7 +42,7 @@
using google::LogMessage; using google::LogMessage;
Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port, unsigned short rtcm_station_id, std::string rtcm_dump_devname, bool time_tag_name) Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, std::string rtcm_dump_devname, bool time_tag_name)
{ {
boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time(); boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
tm timeinfo = boost::posix_time::to_tm(pt); tm timeinfo = boost::posix_time::to_tm(pt);
@ -50,33 +50,33 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool fla
if (time_tag_name) if (time_tag_name)
{ {
std::stringstream strm0; std::stringstream strm0;
const int year = timeinfo.tm_year - 100; const int32_t year = timeinfo.tm_year - 100;
strm0 << year; strm0 << year;
const int month = timeinfo.tm_mon + 1; const int32_t month = timeinfo.tm_mon + 1;
if (month < 10) if (month < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << month; strm0 << month;
const int day = timeinfo.tm_mday; const int32_t day = timeinfo.tm_mday;
if (day < 10) if (day < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << day << "_"; strm0 << day << "_";
const int hour = timeinfo.tm_hour; const int32_t hour = timeinfo.tm_hour;
if (hour < 10) if (hour < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << hour; strm0 << hour;
const int min = timeinfo.tm_min; const int32_t min = timeinfo.tm_min;
if (min < 10) if (min < 10)
{ {
strm0 << "0"; strm0 << "0";
} }
strm0 << min; strm0 << min;
const int sec = timeinfo.tm_sec; const int32_t sec = timeinfo.tm_sec;
if (sec < 10) if (sec < 10)
{ {
strm0 << "0"; strm0 << "0";
@ -153,7 +153,7 @@ Rtcm_Printer::~Rtcm_Printer()
} }
bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables) bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{ {
std::string m1001 = rtcm->print_MT1001(gps_eph, obs_time, observables, station_id); std::string m1001 = rtcm->print_MT1001(gps_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1001); Rtcm_Printer::Print_Message(m1001);
@ -161,7 +161,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_ti
} }
bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables) bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{ {
std::string m1002 = rtcm->print_MT1002(gps_eph, obs_time, observables, station_id); std::string m1002 = rtcm->print_MT1002(gps_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1002); Rtcm_Printer::Print_Message(m1002);
@ -169,7 +169,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_ti
} }
bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables) bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{ {
std::string m1003 = rtcm->print_MT1003(gps_eph, cnav_eph, obs_time, observables, station_id); std::string m1003 = rtcm->print_MT1003(gps_eph, cnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1003); Rtcm_Printer::Print_Message(m1003);
@ -177,7 +177,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNA
} }
bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables) bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{ {
std::string m1003 = rtcm->print_MT1004(gps_eph, cnav_eph, obs_time, observables, station_id); std::string m1003 = rtcm->print_MT1004(gps_eph, cnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1003); Rtcm_Printer::Print_Message(m1003);
@ -185,7 +185,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNA
} }
bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables) bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{ {
std::string m1009 = rtcm->print_MT1009(glonass_gnav_eph, obs_time, observables, station_id); std::string m1009 = rtcm->print_MT1009(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1009); Rtcm_Printer::Print_Message(m1009);
@ -193,7 +193,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables) bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{ {
std::string m1010 = rtcm->print_MT1010(glonass_gnav_eph, obs_time, observables, station_id); std::string m1010 = rtcm->print_MT1010(glonass_gnav_eph, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1010); Rtcm_Printer::Print_Message(m1010);
@ -201,7 +201,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables) bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{ {
std::string m1011 = rtcm->print_MT1011(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id); std::string m1011 = rtcm->print_MT1011(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1011); Rtcm_Printer::Print_Message(m1011);
@ -209,7 +209,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_
} }
bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables) bool Rtcm_Printer::Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables)
{ {
std::string m1012 = rtcm->print_MT1012(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id); std::string m1012 = rtcm->print_MT1012(glonass_gnav_ephL1, glonass_gnav_ephL2, obs_time, observables, station_id);
Rtcm_Printer::Print_Message(m1012); Rtcm_Printer::Print_Message(m1012);
@ -241,15 +241,15 @@ bool Rtcm_Printer::Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph)
} }
bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris& gps_eph, bool Rtcm_Printer::Print_Rtcm_MSM(uint32_t msm_number, const Gps_Ephemeris& gps_eph,
const Gps_CNAV_Ephemeris& gps_cnav_eph, const Gps_CNAV_Ephemeris& gps_cnav_eph,
const Galileo_Ephemeris& gal_eph, const Galileo_Ephemeris& gal_eph,
const Glonass_Gnav_Ephemeris& glo_gnav_eph, const Glonass_Gnav_Ephemeris& glo_gnav_eph,
double obs_time, double obs_time,
const std::map<int, Gnss_Synchro>& observables, const std::map<int32_t, Gnss_Synchro>& observables,
unsigned int clock_steering_indicator, uint32_t clock_steering_indicator,
unsigned int external_clock_indicator, uint32_t external_clock_indicator,
int smooth_int, int32_t smooth_int,
bool divergence_free, bool divergence_free,
bool more_messages) bool more_messages)
{ {
@ -297,7 +297,7 @@ int Rtcm_Printer::init_serial(std::string serial_device)
/* /*
* Opens the serial device and sets the default baud rate for a RTCM transmission (9600,8,N,1) * Opens the serial device and sets the default baud rate for a RTCM transmission (9600,8,N,1)
*/ */
int fd = 0; int32_t fd = 0;
struct termios options; struct termios options;
long BAUD; long BAUD;
long DATABITS; long DATABITS;
@ -372,25 +372,25 @@ std::string Rtcm_Printer::print_MT1005_test()
} }
unsigned int Rtcm_Printer::lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro) uint32_t Rtcm_Printer::lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }
unsigned int Rtcm_Printer::lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro) uint32_t Rtcm_Printer::lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }
unsigned int Rtcm_Printer::lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro) uint32_t Rtcm_Printer::lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }
unsigned int Rtcm_Printer::lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro) uint32_t Rtcm_Printer::lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro)
{ {
return rtcm->lock_time(eph, obs_time, gnss_synchro); return rtcm->lock_time(eph, obs_time, gnss_synchro);
} }

44
src/algorithms/PVT/libs/rtcm_printer.h
View File

@ -48,17 +48,17 @@ public:
/*! /*!
* \brief Default constructor. * \brief Default constructor.
*/ */
Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port, unsigned short rtcm_station_id, std::string rtcm_dump_filename, bool time_tag_name = true); Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, std::string rtcm_dump_filename, bool time_tag_name = true);
/*! /*!
* \brief Default destructor. * \brief Default destructor.
*/ */
~Rtcm_Printer(); ~Rtcm_Printer();
bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables); bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables); bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables); bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables); bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints L1-Only GLONASS RTK Observables * \brief Prints L1-Only GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred. * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
@ -68,7 +68,7 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables); bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints Extended L1-Only GLONASS RTK Observables * \brief Prints Extended L1-Only GLONASS RTK Observables
* \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases. * \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
@ -78,7 +78,7 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int, Gnss_Synchro>& observables); bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints L1&L2 GLONASS RTK Observables * \brief Prints L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
@ -89,7 +89,7 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables); bool Print_Rtcm_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
/*! /*!
* \brief Prints Extended L1&L2 GLONASS RTK Observables * \brief Prints Extended L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found. * \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
@ -100,7 +100,7 @@ public:
* \param observables Set of observables as defined by the platform * \param observables Set of observables as defined by the platform
* \return true or false upon operation success * \return true or false upon operation success
*/ */
bool Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int, Gnss_Synchro>& observables); bool Print_Rtcm_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
bool Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes. bool Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
bool Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes bool Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
@ -114,23 +114,23 @@ public:
*/ */
bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glo_gnav_eph, const Glonass_Gnav_Utc_Model& utc_model); bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glo_gnav_eph, const Glonass_Gnav_Utc_Model& utc_model);
bool Print_Rtcm_MSM(unsigned int msm_number, bool Print_Rtcm_MSM(uint32_t msm_number,
const Gps_Ephemeris& gps_eph, const Gps_Ephemeris& gps_eph,
const Gps_CNAV_Ephemeris& gps_cnav_eph, const Gps_CNAV_Ephemeris& gps_cnav_eph,
const Galileo_Ephemeris& gal_eph, const Galileo_Ephemeris& gal_eph,
const Glonass_Gnav_Ephemeris& glo_gnav_eph, const Glonass_Gnav_Ephemeris& glo_gnav_eph,
double obs_time, double obs_time,
const std::map<int, Gnss_Synchro>& observables, const std::map<int32_t, Gnss_Synchro>& observables,
unsigned int clock_steering_indicator, uint32_t clock_steering_indicator,
unsigned int external_clock_indicator, uint32_t external_clock_indicator,
int smooth_int, int32_t smooth_int,
bool divergence_free, bool divergence_free,
bool more_messages); bool more_messages);
std::string print_MT1005_test(); //<! For testing purposes std::string print_MT1005_test(); //<! For testing purposes
unsigned int lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
unsigned int lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
unsigned int lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
/*! /*!
* \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris * \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris
* \note Code added as part of GSoC 2017 program * \note Code added as part of GSoC 2017 program
@ -139,16 +139,16 @@ public:
* \params observables Set of observables as defined by the platform * \params observables Set of observables as defined by the platform
* \return locked time during logging process * \return locked time during logging process
*/ */
unsigned int lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); uint32_t lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
private: private:
std::string rtcm_filename; // String with the RTCM log filename std::string rtcm_filename; // String with the RTCM log filename
std::ofstream rtcm_file_descriptor; // Output file stream for RTCM log file std::ofstream rtcm_file_descriptor; // Output file stream for RTCM log file
std::string rtcm_devname; std::string rtcm_devname;
unsigned short port; uint16_t port;
unsigned short station_id; uint16_t station_id;
int rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port) int32_t rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port)
int init_serial(std::string serial_device); //serial port control int32_t init_serial(std::string serial_device); //serial port control
void close_serial(); void close_serial();
std::shared_ptr<Rtcm> rtcm; std::shared_ptr<Rtcm> rtcm;
bool Print_Message(const std::string& message); bool Print_Message(const std::string& message);