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Apply automated code formatting
Documented at .clang-format See http://clang.llvm.org/docs/ClangFormat.html and http://clang.llvm.org/docs/ClangFormatStyleOptions.html
This commit is contained in:
Carles Fernandez
@@ -42,12 +42,11 @@
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using google::LogMessage;
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RtklibPvt::RtklibPvt(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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std::string role,
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unsigned int in_streams,
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unsigned int out_streams) : 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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@@ -71,27 +70,27 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
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// RINEX version
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int rinex_version = configuration->property(role + ".rinex_version", 3);
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if ( FLAGS_RINEX_version.compare("3.01") == 0 )
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if (FLAGS_RINEX_version.compare("3.01") == 0)
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{
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rinex_version = 3;
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}
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else if ( FLAGS_RINEX_version.compare("3.02") == 0 )
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else if (FLAGS_RINEX_version.compare("3.02") == 0)
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{
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rinex_version = 3;
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}
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else if ( FLAGS_RINEX_version.compare("3") == 0 )
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else if (FLAGS_RINEX_version.compare("3") == 0)
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{
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rinex_version = 3;
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}
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else if ( FLAGS_RINEX_version.compare("2.11") == 0 )
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else if (FLAGS_RINEX_version.compare("2.11") == 0)
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{
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rinex_version = 2;
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}
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else if ( FLAGS_RINEX_version.compare("2.10") == 0 )
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else if (FLAGS_RINEX_version.compare("2.10") == 0)
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{
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rinex_version = 2;
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}
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else if ( FLAGS_RINEX_version.compare("2") == 0 )
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else if (FLAGS_RINEX_version.compare("2") == 0)
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{
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rinex_version = 2;
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}
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@@ -110,19 +109,19 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
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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_MT1087_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1087_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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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[1020] = rtcm_MT1020_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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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 = 1081; k < 1088; k++) // All GLONASS MSM
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for (int k = 1081; k < 1088; k++) // All GLONASS MSM
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{
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rtcm_msg_rate_ms[k] = rtcm_MT1087_rate_ms;
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}
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for (int k = 1091; k < 1098; k++) // All Galileo MSM
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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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@@ -184,47 +183,47 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
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// *******************WARNING!!!!!!!***********
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// GPS L5 only configurable for single frequency, single system at the moment!!!!!!
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if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 1;
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if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 2;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 3;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 4;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 5;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 6;
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 1;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 2;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 3;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 4;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 5;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 6;
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if( (gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 7;
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if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 7;
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//if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_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) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 9;
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if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 10;
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if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 11;
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if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 12;
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 9;
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 10;
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 11;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_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) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 14;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 15;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 14;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 15;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_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) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 17;
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if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 18;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 17;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count != 0) && (glo_1G_count == 0)) type_of_receiver = 18;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_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) && (gps_L5_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) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 21;
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if ((gps_1C_count != 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0)) type_of_receiver = 21;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count = 0)) type_of_receiver = 22;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 23;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 23;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2R_count != 0)) type_of_receiver = 24;
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//if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0) && (glo_1G_count != 0)) type_of_receiver = 25;
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if( (gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 26;
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if( (gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 27;
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if( (gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 28;
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if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 26;
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if ((gps_1C_count == 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 27;
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if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count != 0)) type_of_receiver = 28;
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//RTKLIB PVT solver options
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// Settings 1
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int positioning_mode = -1;
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std::string default_pos_mode("Single");
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std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
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if(positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE;
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if(positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC;
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if(positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA;
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if(positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC;
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if(positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA;
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std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); /* (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
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if (positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE;
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if (positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC;
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if (positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA;
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if (positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC;
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if (positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA;
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if( positioning_mode == -1 )
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if (positioning_mode == -1)
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{
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//warn user and set the default
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std::cout << "WARNING: Bad specification of positioning mode." << std::endl;
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@@ -237,19 +236,19 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
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int num_bands = 0;
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if ((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) num_bands = 1;
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if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) ) num_bands = 2;
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if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2;
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if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0)) num_bands = 2;
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if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 2;
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if (((gps_1C_count > 0) || (gal_1B_count > 0) || (glo_1G_count > 0)) && (gps_2S_count > 0) && ((gal_E5a_count > 0) || (gal_E5b_count > 0) || (gps_L5_count > 0))) num_bands = 3;
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int number_of_frequencies = configuration->property(role + ".num_bands", num_bands); /* (1:L1, 2:L1+L2, 3:L1+L2+L5) */
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if( (number_of_frequencies < 1) || (number_of_frequencies > 3) )
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if ((number_of_frequencies < 1) || (number_of_frequencies > 3))
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{
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//warn user and set the default
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number_of_frequencies = num_bands;
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}
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double elevation_mask = configuration->property(role + ".elevation_mask", 15.0);
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if( (elevation_mask < 0.0) || (elevation_mask > 90.0) )
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if ((elevation_mask < 0.0) || (elevation_mask > 90.0))
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{
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//warn user and set the default
|
||||
LOG(WARNING) << "Erroneous Elevation Mask. Setting to default value of 15.0 degrees";
|
||||
@@ -257,7 +256,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
}
|
||||
|
||||
int dynamics_model = configuration->property(role + ".dynamics_model", 0); /* dynamics model (0:none, 1:velocity, 2:accel) */
|
||||
if( (dynamics_model < 0) || (dynamics_model > 2) )
|
||||
if ((dynamics_model < 0) || (dynamics_model > 2))
|
||||
{
|
||||
//warn user and set the default
|
||||
LOG(WARNING) << "Erroneous Dynamics Model configuration. Setting to default value of (0:none)";
|
||||
@@ -267,13 +266,13 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
std::string default_iono_model("OFF");
|
||||
std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
|
||||
int iono_model = -1;
|
||||
if(iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF;
|
||||
if(iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC;
|
||||
if(iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS;
|
||||
if(iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC;
|
||||
if(iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST;
|
||||
if(iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC;
|
||||
if( iono_model == -1 )
|
||||
if (iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF;
|
||||
if (iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC;
|
||||
if (iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS;
|
||||
if (iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC;
|
||||
if (iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST;
|
||||
if (iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC;
|
||||
if (iono_model == -1)
|
||||
{
|
||||
//warn user and set the default
|
||||
std::cout << "WARNING: Bad specification of ionospheric model." << std::endl;
|
||||
@@ -286,12 +285,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
std::string default_trop_model("OFF");
|
||||
int trop_model = -1;
|
||||
std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
|
||||
if(trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF;
|
||||
if(trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS;
|
||||
if(trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS;
|
||||
if(trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST;
|
||||
if(trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG;
|
||||
if( trop_model == -1 )
|
||||
if (trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF;
|
||||
if (trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS;
|
||||
if (trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS;
|
||||
if (trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST;
|
||||
if (trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG;
|
||||
if (trop_model == -1)
|
||||
{
|
||||
//warn user and set the default
|
||||
std::cout << "WARNING: Bad specification of tropospheric model." << std::endl;
|
||||
@@ -323,8 +322,8 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
if ((gps_1C_count > 0) || (gps_2S_count > 0) || (gps_L5_count > 0)) nsys += SYS_GPS;
|
||||
if ((gal_1B_count > 0) || (gal_E5a_count > 0) || (gal_E5b_count > 0)) nsys += SYS_GAL;
|
||||
if ((glo_1G_count > 0)) nsys += SYS_GLO;
|
||||
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
|
||||
if( (navigation_system < 1) || (navigation_system > 255) ) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
|
||||
int navigation_system = configuration->property(role + ".navigation_system", nsys); /* (SYS_XXX) see src/algorithms/libs/rtklib/rtklib.h */
|
||||
if ((navigation_system < 1) || (navigation_system > 255)) /* GPS: 1 SBAS: 2 GPS+SBAS: 3 Galileo: 8 Galileo+GPS: 9 GPS+SBAS+Galileo: 11 All: 255 */
|
||||
{
|
||||
//warn user and set the default
|
||||
LOG(WARNING) << "Erroneous Navigation System. Setting to default value of (0:none)";
|
||||
@@ -335,12 +334,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
std::string default_gps_ar("Continuous");
|
||||
std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
|
||||
int integer_ambiguity_resolution_gps = -1;
|
||||
if(integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF;
|
||||
if(integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT;
|
||||
if(integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST;
|
||||
if(integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
|
||||
if(integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR;
|
||||
if( integer_ambiguity_resolution_gps == -1 )
|
||||
if (integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF;
|
||||
if (integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT;
|
||||
if (integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST;
|
||||
if (integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
|
||||
if (integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR;
|
||||
if (integer_ambiguity_resolution_gps == -1)
|
||||
{
|
||||
//warn user and set the default
|
||||
std::cout << "WARNING: Bad specification of GPS ambiguity resolution method." << std::endl;
|
||||
@@ -351,7 +350,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
}
|
||||
|
||||
int integer_ambiguity_resolution_glo = configuration->property(role + ".AR_GLO", 1); /* Integer Ambiguity Resolution mode for GLONASS (0:off,1:on,2:auto cal,3:ext cal) */
|
||||
if( (integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3) )
|
||||
if ((integer_ambiguity_resolution_glo < 0) || (integer_ambiguity_resolution_glo > 3))
|
||||
{
|
||||
//warn user and set the default
|
||||
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for GLONASS . Setting to default value of (1:on)";
|
||||
@@ -359,7 +358,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
}
|
||||
|
||||
int integer_ambiguity_resolution_bds = configuration->property(role + ".AR_DBS", 1); /* Integer Ambiguity Resolution mode for BEIDOU (0:off,1:on) */
|
||||
if( (integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1) )
|
||||
if ((integer_ambiguity_resolution_bds < 0) || (integer_ambiguity_resolution_bds > 1))
|
||||
{
|
||||
//warn user and set the default
|
||||
LOG(WARNING) << "Erroneous Integer Ambiguity Resolution for BEIDOU . Setting to default value of (1:on)";
|
||||
@@ -369,13 +368,13 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
double min_ratio_to_fix_ambiguity = configuration->property(role + ".min_ratio_to_fix_ambiguity", 3.0); /* Set the integer ambiguity validation threshold for ratio‐test,
|
||||
which uses the ratio of squared residuals of the best integer vector to the second‐best vector. */
|
||||
|
||||
int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity.
|
||||
int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity.
|
||||
If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */
|
||||
|
||||
double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity.
|
||||
double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity.
|
||||
If the elevation of the satellite is less than the value, the ambiguity is excluded from the fixed integer vector. */
|
||||
|
||||
int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value. */
|
||||
int outage_reset_ambiguity = configuration->property(role + ".outage_reset_ambiguity", 5); /* Set the outage count to reset ambiguity. If the data outage count is over the value, the estimated ambiguity is reset to the initial value. */
|
||||
|
||||
double slip_threshold = configuration->property(role + ".slip_threshold", 0.05); /* set the cycle‐slip threshold (m) of geometry‐free LC carrier‐phase difference between epochs */
|
||||
|
||||
@@ -404,7 +403,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
double sigma_acch = configuration->property(role + ".sigma_acch", 1e-1); /* Set the process noise standard deviation of the receiver acceleration as
|
||||
the horizontal component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
|
||||
|
||||
double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2); /* Set the process noise standard deviation of the receiver acceleration as
|
||||
double sigma_accv = configuration->property(role + ".sigma_accv", 1e-2); /* Set the process noise standard deviation of the receiver acceleration as
|
||||
the vertical component. (m/s2/sqrt(s)). If Receiver Dynamics is set to OFF, they are not used. */
|
||||
|
||||
double sigma_pos = configuration->property(role + ".sigma_pos", 0.0);
|
||||
@@ -415,70 +414,71 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
double carrier_phase_error_factor_a = configuration->property(role + ".carrier_phase_error_factor_a", 0.003);
|
||||
double carrier_phase_error_factor_b = configuration->property(role + ".carrier_phase_error_factor_b", 0.003);
|
||||
|
||||
snrmask_t snrmask = { {}, {{},{}} };
|
||||
snrmask_t snrmask = {{}, {{}, {}}};
|
||||
|
||||
prcopt_t rtklib_configuration_options = {positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
|
||||
0, /* solution type (0:forward,1:backward,2:combined) */
|
||||
number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
|
||||
navigation_system, /* navigation system */
|
||||
elevation_mask * D2R, /* elevation mask angle (degrees) */
|
||||
snrmask, /* snrmask_t snrmask SNR mask */
|
||||
0, /* satellite ephemeris/clock (EPHOPT_XXX) */
|
||||
integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
|
||||
integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
|
||||
integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */
|
||||
outage_reset_ambiguity, /* obs outage count to reset bias */
|
||||
min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */
|
||||
10, /* min fix count to hold ambiguity */
|
||||
1, /* max iteration to resolve ambiguity */
|
||||
iono_model, /* ionosphere option (IONOOPT_XXX) */
|
||||
trop_model, /* troposphere option (TROPOPT_XXX) */
|
||||
dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */
|
||||
earth_tide, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
|
||||
number_filter_iter, /* number of filter iteration */
|
||||
0, /* code smoothing window size (0:none) */
|
||||
0, /* interpolate reference obs (for post mission) */
|
||||
0, /* sbssat_t sbssat SBAS correction options */
|
||||
0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
|
||||
0, /* rover position for fixed mode */
|
||||
0, /* base position for relative mode */
|
||||
/* 0:pos in prcopt, 1:average of single pos, */
|
||||
/* 2:read from file, 3:rinex header, 4:rtcm pos */
|
||||
{code_phase_error_ratio_l1,code_phase_error_ratio_l2,code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
|
||||
{100.0,carrier_phase_error_factor_a,carrier_phase_error_factor_b,0.0,1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
|
||||
{bias_0,iono_0,trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
|
||||
{sigma_bias,sigma_iono,sigma_trop,sigma_acch,sigma_accv,sigma_pos}, /* prn[6] process-noise std */
|
||||
5e-12, /* sclkstab: satellite clock stability (sec/sec) */
|
||||
{min_ratio_to_fix_ambiguity,0.9999,0.25,0.1,0.05,0.0,0.0,0.0}, /* thresar[8]: AR validation threshold */
|
||||
min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */
|
||||
0.0, /* elevation mask to hold ambiguity (deg) */
|
||||
slip_threshold, /* slip threshold of geometry-free phase (m) */
|
||||
30.0, /* max difference of time (sec) */
|
||||
threshold_reject_innovation, /* reject threshold of innovation (m) */
|
||||
threshold_reject_gdop, /* reject threshold of gdop */
|
||||
{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
|
||||
{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
|
||||
{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
|
||||
{"",""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
|
||||
{{},{}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
|
||||
{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
|
||||
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
|
||||
0, /* max averaging epoches */
|
||||
0, /* initialize by restart */
|
||||
1, /* output single by dgps/float/fix/ppp outage */
|
||||
{"",""}, /* char rnxopt[2][256] rinex options {rover,base} */
|
||||
{sat_PCV,rec_PCV,phwindup,reject_GPS_IIA,raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
|
||||
0, /* solution sync mode (0:off,1:on) */
|
||||
{{},{}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
|
||||
{ {}, {{},{}}, {{},{}}, {}, {} }, /* exterr_t exterr extended receiver error model */
|
||||
0, /* disable L2-AR */
|
||||
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
|
||||
prcopt_t rtklib_configuration_options = {
|
||||
positioning_mode, /* positioning mode (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h */
|
||||
0, /* solution type (0:forward,1:backward,2:combined) */
|
||||
number_of_frequencies, /* number of frequencies (1:L1, 2:L1+L2, 3:L1+L2+L5)*/
|
||||
navigation_system, /* navigation system */
|
||||
elevation_mask * D2R, /* elevation mask angle (degrees) */
|
||||
snrmask, /* snrmask_t snrmask SNR mask */
|
||||
0, /* satellite ephemeris/clock (EPHOPT_XXX) */
|
||||
integer_ambiguity_resolution_gps, /* AR mode (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
|
||||
integer_ambiguity_resolution_glo, /* GLONASS AR mode (0:off,1:on,2:auto cal,3:ext cal) */
|
||||
integer_ambiguity_resolution_bds, /* BeiDou AR mode (0:off,1:on) */
|
||||
outage_reset_ambiguity, /* obs outage count to reset bias */
|
||||
min_lock_to_fix_ambiguity, /* min lock count to fix ambiguity */
|
||||
10, /* min fix count to hold ambiguity */
|
||||
1, /* max iteration to resolve ambiguity */
|
||||
iono_model, /* ionosphere option (IONOOPT_XXX) */
|
||||
trop_model, /* troposphere option (TROPOPT_XXX) */
|
||||
dynamics_model, /* dynamics model (0:none, 1:velocity, 2:accel) */
|
||||
earth_tide, /* earth tide correction (0:off,1:solid,2:solid+otl+pole) */
|
||||
number_filter_iter, /* number of filter iteration */
|
||||
0, /* code smoothing window size (0:none) */
|
||||
0, /* interpolate reference obs (for post mission) */
|
||||
0, /* sbssat_t sbssat SBAS correction options */
|
||||
0, /* sbsion_t sbsion[MAXBAND+1] SBAS satellite selection (0:all) */
|
||||
0, /* rover position for fixed mode */
|
||||
0, /* base position for relative mode */
|
||||
/* 0:pos in prcopt, 1:average of single pos, */
|
||||
/* 2:read from file, 3:rinex header, 4:rtcm pos */
|
||||
{code_phase_error_ratio_l1, code_phase_error_ratio_l2, code_phase_error_ratio_l5}, /* eratio[NFREQ] code/phase error ratio */
|
||||
{100.0, carrier_phase_error_factor_a, carrier_phase_error_factor_b, 0.0, 1.0}, /* err[5]: measurement error factor [0]:reserved, [1-3]:error factor a/b/c of phase (m) , [4]:doppler frequency (hz) */
|
||||
{bias_0, iono_0, trop_0}, /* std[3]: initial-state std [0]bias,[1]iono [2]trop*/
|
||||
{sigma_bias, sigma_iono, sigma_trop, sigma_acch, sigma_accv, sigma_pos}, /* prn[6] process-noise std */
|
||||
5e-12, /* sclkstab: satellite clock stability (sec/sec) */
|
||||
{min_ratio_to_fix_ambiguity, 0.9999, 0.25, 0.1, 0.05, 0.0, 0.0, 0.0}, /* thresar[8]: AR validation threshold */
|
||||
min_elevation_to_fix_ambiguity, /* elevation mask of AR for rising satellite (deg) */
|
||||
0.0, /* elevation mask to hold ambiguity (deg) */
|
||||
slip_threshold, /* slip threshold of geometry-free phase (m) */
|
||||
30.0, /* max difference of time (sec) */
|
||||
threshold_reject_innovation, /* reject threshold of innovation (m) */
|
||||
threshold_reject_gdop, /* reject threshold of gdop */
|
||||
{}, /* double baseline[2] baseline length constraint {const,sigma} (m) */
|
||||
{}, /* double ru[3] rover position for fixed mode {x,y,z} (ecef) (m) */
|
||||
{}, /* double rb[3] base position for relative mode {x,y,z} (ecef) (m) */
|
||||
{"", ""}, /* char anttype[2][MAXANT] antenna types {rover,base} */
|
||||
{{}, {}}, /* double antdel[2][3] antenna delta {{rov_e,rov_n,rov_u},{ref_e,ref_n,ref_u}} */
|
||||
{}, /* pcv_t pcvr[2] receiver antenna parameters {rov,base} */
|
||||
{}, /* unsigned char exsats[MAXSAT] excluded satellites (1:excluded, 2:included) */
|
||||
0, /* max averaging epoches */
|
||||
0, /* initialize by restart */
|
||||
1, /* output single by dgps/float/fix/ppp outage */
|
||||
{"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */
|
||||
{sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
|
||||
0, /* solution sync mode (0:off,1:on) */
|
||||
{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
|
||||
{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
|
||||
0, /* disable L2-AR */
|
||||
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
|
||||
};
|
||||
|
||||
rtkinit(&rtk, &rtklib_configuration_options);
|
||||
|
||||
// make PVT object
|
||||
pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk);
|
||||
pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk);
|
||||
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
|
||||
}
|
||||
|
||||
@@ -486,7 +486,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
bool RtklibPvt::save_assistance_to_XML()
|
||||
{
|
||||
LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
|
||||
std::map<int,Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
|
||||
std::map<int, Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
|
||||
|
||||
if (eph_map.size() > 0)
|
||||
{
|
||||
@@ -498,12 +498,12 @@ bool RtklibPvt::save_assistance_to_XML()
|
||||
ofs.close();
|
||||
LOG(INFO) << "Saved GPS L1 Ephemeris map data";
|
||||
}
|
||||
catch (const std::exception & e)
|
||||
catch (const std::exception& e)
|
||||
{
|
||||
LOG(WARNING) << e.what();
|
||||
return false;
|
||||
}
|
||||
return true; // return variable (true == succeeded)
|
||||
return true; // return variable (true == succeeded)
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -522,7 +522,9 @@ RtklibPvt::~RtklibPvt()
|
||||
|
||||
void RtklibPvt::connect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if(top_block) { /* top_block is not null */};
|
||||
if (top_block)
|
||||
{ /* top_block is not null */
|
||||
};
|
||||
// Nothing to connect internally
|
||||
DLOG(INFO) << "nothing to connect internally";
|
||||
}
|
||||
@@ -530,7 +532,9 @@ void RtklibPvt::connect(gr::top_block_sptr top_block)
|
||||
|
||||
void RtklibPvt::disconnect(gr::top_block_sptr top_block)
|
||||
{
|
||||
if(top_block) { /* top_block is not null */};
|
||||
if (top_block)
|
||||
{ /* top_block is not null */
|
||||
};
|
||||
// Nothing to disconnect
|
||||
}
|
||||
|
||||
@@ -543,5 +547,5 @@ gr::basic_block_sptr RtklibPvt::get_left_block()
|
||||
|
||||
gr::basic_block_sptr RtklibPvt::get_right_block()
|
||||
{
|
||||
return pvt_; // this is a sink, nothing downstream
|
||||
return pvt_; // this is a sink, nothing downstream
|
||||
}
|
||||
|
||||
@@ -29,7 +29,6 @@
|
||||
*/
|
||||
|
||||
|
||||
|
||||
#ifndef GNSS_SDR_RTKLIB_PVT_H_
|
||||
#define GNSS_SDR_RTKLIB_PVT_H_
|
||||
|
||||
@@ -47,9 +46,9 @@ class RtklibPvt : public PvtInterface
|
||||
{
|
||||
public:
|
||||
RtklibPvt(ConfigurationInterface* configuration,
|
||||
std::string role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams);
|
||||
std::string role,
|
||||
unsigned int in_streams,
|
||||
unsigned int out_streams);
|
||||
|
||||
virtual ~RtklibPvt();
|
||||
|
||||
|
||||
Reference in New Issue
Block a user