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Merge branch 'remove_receiver_type' of https://github.com/MathieuFavreau/gnss-sdr into MathieuFavreau-remove_receiver_type

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This commit is contained in:
Carles Fernandez
2025-07-28 11:40:53 +02:00
parent 70942ce993 dbe16a6310
commit 2dc9fee9d8
4 changed files with 123 additions and 94 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+23 -7
View File
@@ -2349,6 +2349,16 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
// save_gnss_synchro_map_xml("./gnss_synchro_map.xml");
// getchar(); // stop the execution
// end debug
// allows deactivating messages by setting rate = 0
const bool rtcm_MT1019_enabled = d_rtcm_MT1019_rate_ms != 0;
const bool rtcm_MT1020_enabled = d_rtcm_MT1020_rate_ms != 0;
const bool rtcm_MT1045_enabled = d_rtcm_MT1045_rate_ms != 0;
const bool rtcm_MT1077_enabled = d_rtcm_MT1077_rate_ms != 0;
const bool rtcm_MT1087_enabled = d_rtcm_MT1087_rate_ms != 0;
const bool rtcm_MT1097_enabled = d_rtcm_MT1097_rate_ms != 0;
const bool rtcm_MSM_enabled = d_rtcm_MSM_rate_ms != 0;
if (d_display_rate_ms != 0)
{
if (current_RX_time_ms % d_display_rate_ms == 0)
@@ -2356,27 +2366,28 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
flag_display_pvt = true;
}
}
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
if (rtcm_MT1019_enabled)
{
if (current_RX_time_ms % d_rtcm_MT1019_rate_ms == 0)
{
flag_write_RTCM_1019_output = true;
}
}
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
if (rtcm_MT1020_enabled) // allows deactivating messages by setting rate = 0
{
if (current_RX_time_ms % d_rtcm_MT1020_rate_ms == 0)
{
flag_write_RTCM_1020_output = true;
}
}
if (d_rtcm_MT1045_rate_ms != 0)
if (rtcm_MT1045_enabled)
{
if (current_RX_time_ms % d_rtcm_MT1045_rate_ms == 0)
{
flag_write_RTCM_1045_output = true;
}
}
// TODO: RTCM 1077, 1087 and 1097 are not used, so, disable the output rates
// if (current_RX_time_ms % d_rtcm_MT1077_rate_ms==0 && d_rtcm_MT1077_rate_ms != 0)
// {
@@ -2390,7 +2401,8 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
// {
// last_RTCM_1097_output_time = current_RX_time;
// }
if (d_rtcm_MSM_rate_ms != 0)
if (rtcm_MSM_enabled)
{
if (current_RX_time_ms % d_rtcm_MSM_rate_ms == 0)
{
@@ -2462,9 +2474,13 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
d_gnss_observables_map,
d_rx_time,
d_signal_enabled_flags,
d_rtcm_MT1077_rate_ms,
d_rtcm_MT1087_rate_ms,
d_rtcm_MT1097_rate_ms,
rtcm_MSM_enabled,
rtcm_MT1019_enabled,
rtcm_MT1020_enabled,
rtcm_MT1045_enabled,
rtcm_MT1077_enabled,
rtcm_MT1087_enabled,
rtcm_MT1097_enabled,
flag_write_RTCM_MSM_output,
flag_write_RTCM_1019_output,
flag_write_RTCM_1020_output,
src/algorithms/PVT/libs/rinex_printer.cc
+67 -69
View File
@@ -57,6 +57,72 @@
#include <absl/log/log.h>
#endif
namespace
{
std::string enabled_signal_flags_to_string(const Signal_Enabled_Flags& flags)
{
std::vector<std::string> signal_str_vector;
if (flags.check_any_enabled(GPS_1C))
{
signal_str_vector.emplace_back("1C");
}
if (flags.check_any_enabled(GPS_2S))
{
signal_str_vector.emplace_back("2S");
}
if (flags.check_any_enabled(GPS_L5))
{
signal_str_vector.emplace_back("L5");
}
if (flags.check_any_enabled(GAL_1B))
{
signal_str_vector.emplace_back("1B");
}
if (flags.check_any_enabled(GAL_E5a))
{
signal_str_vector.emplace_back("5X");
}
if (flags.check_any_enabled(GAL_E5b))
{
signal_str_vector.emplace_back("7X");
}
if (flags.check_any_enabled(GAL_E6))
{
signal_str_vector.emplace_back("E6");
}
if (flags.check_any_enabled(GLO_1G))
{
signal_str_vector.emplace_back("1G");
}
if (flags.check_any_enabled(GLO_2G))
{
signal_str_vector.emplace_back("2G");
}
if (flags.check_any_enabled(BDS_B1))
{
signal_str_vector.emplace_back("B1");
}
if (flags.check_any_enabled(BDS_B3))
{
signal_str_vector.emplace_back("B3");
}
std::ostringstream oss;
for (size_t i = 0; i < signal_str_vector.size(); ++i)
{
oss << signal_str_vector[i];
if (i != signal_str_vector.size() - 1)
{
oss << ' ';
}
}
return oss.str();
}
} // namespace
Rinex_Printer::Rinex_Printer(int32_t conf_version,
const std::string& base_path,
const std::string& base_name) : d_fake_cnav_iode(1),
@@ -293,72 +359,6 @@ Rinex_Printer::~Rinex_Printer()
}
}
namespace
{
std::string enabled_signal_flags_to_string(const Signal_Enabled_Flags& flags)
{
std::vector<std::string> signal_str_vector;
if (flags.check_any_enabled(GPS_1C))
{
signal_str_vector.emplace_back("1C");
}
if (flags.check_any_enabled(GPS_2S))
{
signal_str_vector.emplace_back("2S");
}
if (flags.check_any_enabled(GPS_L5))
{
signal_str_vector.emplace_back("L5");
}
if (flags.check_any_enabled(GAL_1B))
{
signal_str_vector.emplace_back("1B");
}
if (flags.check_any_enabled(GAL_E5a))
{
signal_str_vector.emplace_back("5X");
}
if (flags.check_any_enabled(GAL_E5b))
{
signal_str_vector.emplace_back("7X");
}
if (flags.check_any_enabled(GAL_E6))
{
signal_str_vector.emplace_back("E6");
}
if (flags.check_any_enabled(GLO_1G))
{
signal_str_vector.emplace_back("1G");
}
if (flags.check_any_enabled(GLO_2G))
{
signal_str_vector.emplace_back("2G");
}
if (flags.check_any_enabled(BDS_B1))
{
signal_str_vector.emplace_back("B1");
}
if (flags.check_any_enabled(BDS_B3))
{
signal_str_vector.emplace_back("B3");
}
std::ostringstream oss;
for (size_t i = 0; i < signal_str_vector.size(); ++i)
{
oss << signal_str_vector[i];
if (i != signal_str_vector.size() - 1)
{
oss << ' ';
}
}
return oss.str();
}
} // namespace
void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
const std::map<int, Gnss_Synchro>& gnss_observables_map,
double rx_time,
@@ -687,9 +687,7 @@ void Rinex_Printer::print_rinex_annotation(const Rtklib_Solver* pvt_solver,
d_rinex_header_updated = true; // do not write header anymore
}
}
else if (flags.check_only_enabled(GPS_L5, GAL_E5a) &&
gps_cnav_ephemeris_iter != pvt_solver->gps_cnav_ephemeris_map.cend() &&
galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend())
else if (flags.check_only_enabled(GPS_L5, GAL_E5a))
{
if ((gps_cnav_ephemeris_iter != pvt_solver->gps_cnav_ephemeris_map.cend()) && (galileo_ephemeris_iter != pvt_solver->galileo_ephemeris_map.cend()))
{
src/algorithms/PVT/libs/rtcm_printer.cc
+25 -15
View File
@@ -57,6 +57,7 @@ Rtcm_Printer::Rtcm_Printer(const std::string& filename,
rtcm_devname(rtcm_dump_devname),
port(rtcm_tcp_port),
station_id(rtcm_station_id),
d_rtcm_has_written_once(false),
d_rtcm_file_dump(flag_rtcm_file_dump)
{
const boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
@@ -226,9 +227,13 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
const std::map<int, Gnss_Synchro>& gnss_observables_map,
double rx_time,
uint32_t signal_enabled_flags,
int32_t rtcm_MT1077_rate_ms,
int32_t rtcm_MT1087_rate_ms,
int32_t rtcm_MT1097_rate_ms,
bool rtcm_MSM_enabled,
bool rtcm_MT1019_enabled,
bool rtcm_MT1020_enabled,
bool rtcm_MT1045_enabled,
bool rtcm_MT1077_enabled,
bool rtcm_MT1087_enabled,
bool rtcm_MT1097_enabled,
bool flag_write_RTCM_MSM_output,
bool flag_write_RTCM_1019_output,
bool flag_write_RTCM_1020_output,
@@ -244,31 +249,35 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
const auto has_beidou = flags.check_any_enabled(BDS_B1, BDS_B3);
const auto only_galileo = has_galileo && !(has_gps || has_glonass || has_beidou);
const auto only_glonass = has_glonass && !(has_gps || has_galileo || has_beidou);
const auto print_MT1019 = (!d_rtcm_has_written_once && rtcm_MT1019_enabled) || flag_write_RTCM_1019_output;
const auto print_MT1020 = (!d_rtcm_has_written_once && rtcm_MT1020_enabled) || flag_write_RTCM_1020_output;
const auto print_MT1045 = (!d_rtcm_has_written_once && rtcm_MT1045_enabled) || flag_write_RTCM_1045_output;
const auto print_MSM = (!d_rtcm_has_written_once && rtcm_MSM_enabled) || flag_write_RTCM_MSM_output;
if (flag_write_RTCM_1019_output && flags.check_any_enabled(GPS_1C))
if (print_MT1019 && flags.check_any_enabled(GPS_1C))
{
for (const auto& gps_eph_iter : pvt_solver->gps_ephemeris_map)
{
Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_1020_output && has_glonass)
if (print_MT1020 && has_glonass)
{
for (const auto& glonass_gnav_eph_iter : pvt_solver->glonass_gnav_ephemeris_map)
{
Print_Rtcm_MT1020(glonass_gnav_eph_iter.second, pvt_solver->glonass_gnav_utc_model);
}
}
if (flag_write_RTCM_1045_output && has_galileo)
if (print_MT1045 && has_galileo)
{
for (const auto& gal_eph_iter : pvt_solver->galileo_ephemeris_map)
{
Print_Rtcm_MT1045(gal_eph_iter.second);
}
}
if (flag_write_RTCM_MSM_output)
if (print_MSM)
{
if (flags.check_only_enabled(GPS_1C) || flags.check_only_enabled(GPS_1C, GAL_E6))
if (rtcm_MT1077_enabled && (flags.check_only_enabled(GPS_1C) || flags.check_only_enabled(GPS_1C, GAL_E6)))
{
const auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin();
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend())
@@ -276,7 +285,7 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
}
else if (flags.check_only_enabled(GPS_1C, GPS_2S) || flags.check_only_enabled(GPS_1C, GPS_L5))
else if (rtcm_MT1077_enabled && (flags.check_only_enabled(GPS_1C, GPS_2S) || flags.check_only_enabled(GPS_1C, GPS_L5)))
{
const auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin();
const auto gps_cnav_eph_iter = pvt_solver->gps_cnav_ephemeris_map.cbegin();
@@ -285,7 +294,7 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
}
else if (only_galileo)
else if (rtcm_MT1097_enabled && only_galileo)
{
const auto gal_eph_iter = pvt_solver->galileo_ephemeris_map.cbegin();
if (gal_eph_iter != pvt_solver->galileo_ephemeris_map.cend())
@@ -293,7 +302,7 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
}
else if (only_glonass)
else if (rtcm_MT1087_enabled && only_glonass)
{
const auto glo_gnav_ephemeris_iter = pvt_solver->glonass_gnav_ephemeris_map.cbegin();
if (glo_gnav_ephemeris_iter != pvt_solver->glonass_gnav_ephemeris_map.cend())
@@ -354,24 +363,25 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
}
}
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend() && rtcm_MT1077_rate_ms != 0)
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend() && rtcm_MT1077_enabled)
{
Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
if (gps_cnav_eph_iter != pvt_solver->gps_cnav_ephemeris_map.cend() && rtcm_MT1077_rate_ms != 0)
if (gps_cnav_eph_iter != pvt_solver->gps_cnav_ephemeris_map.cend() && rtcm_MT1077_enabled)
{
Print_Rtcm_MSM(7, {}, gps_cnav_eph_iter->second, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
if (gal_eph_iter != pvt_solver->galileo_ephemeris_map.cend() && rtcm_MT1097_rate_ms != 0)
if (gal_eph_iter != pvt_solver->galileo_ephemeris_map.cend() && rtcm_MT1097_enabled)
{
Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
if (glonass_gnav_eph_iter != pvt_solver->glonass_gnav_ephemeris_map.cend() && rtcm_MT1087_rate_ms != 0)
if (glonass_gnav_eph_iter != pvt_solver->glonass_gnav_ephemeris_map.cend() && rtcm_MT1087_enabled)
{
Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
}
}
d_rtcm_has_written_once = true;
}
catch (const boost::exception& ex)
{
src/algorithms/PVT/libs/rtcm_printer.h
+8 -3
View File
@@ -73,9 +73,13 @@ public:
const std::map<int, Gnss_Synchro>& gnss_observables_map,
double rx_time,
uint32_t signal_enabled_flags,
int32_t rtcm_MT1077_rate_ms,
int32_t rtcm_MT1087_rate_ms,
int32_t rtcm_MT1097_rate_ms,
bool rtcm_MSM_enabled,
bool rtcm_MT1019_enabled,
bool rtcm_MT1020_enabled,
bool rtcm_MT1045_enabled,
bool rtcm_MT1077_enabled,
bool rtcm_MT1087_enabled,
bool rtcm_MT1097_enabled,
bool flag_write_RTCM_MSM_output,
bool flag_write_RTCM_1019_output,
bool flag_write_RTCM_1020_output,
@@ -195,6 +199,7 @@ private:
int32_t rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port)
uint16_t port;
uint16_t station_id;
bool d_rtcm_has_written_once;
bool d_rtcm_file_dump;
};