mirror of https://github.com/gnss-sdr/gnss-sdr
Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into release_0010
This commit is contained in:
Carles Fernandez
commit
37b04e367d
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@ -14,6 +14,7 @@ This release has several improvements in different dimensions, addition of new f
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- Internal Finite State Machines rewritten for improved continuity in delivering position fixes. This fixes a bug that was stalling the receiver after about six hours of continuous operation.
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- Redesign of the time counter for enhanced continuity.
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- Improved flow graph in multisystem configurations: the receiver does not get stalled anymore if no signal is found from the first system.
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- Improved acquisition and tracking sensitivity.
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- Other minor bug fixes.
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@ -21,6 +22,7 @@ This release has several improvements in different dimensions, addition of new f
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### Improvements in Efficiency:
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- Added the possibility of non-blocking acquisition, which works well when using real-time data from an RF front-end.
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- Improved flow graph in multiband configurations: satellites acquired in one band are immediately searched in others.
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- Complex local codes have been replaced by real codes, alleviating the computational burden.
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- New volk_gnsssdr kernels: volk_gnsssdr_16i_xn_resampler_16i_xn.h, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h, volk_gnsssdr_32f_xn_resampler_32f_xn.h, volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn.h
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- Some AVX2 implementations added to the volk_gnsssdr library.
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@ -30,9 +30,9 @@
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#include "rtklib_pvt_cc.h"
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <boost/math/common_factor_rt.hpp>
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#include <boost/archive/xml_oarchive.hpp>
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#include <boost/archive/xml_iarchive.hpp>
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#include <boost/integer/common_factor_rt.hpp>
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#include <boost/serialization/map.hpp>
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#include <boost/exception/all.hpp>
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#include <glog/logging.h>
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@ -304,7 +304,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
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}
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else
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{
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d_rtcm_MT1019_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
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d_rtcm_MT1019_rate_ms = boost::integer::lcm(5000, d_output_rate_ms); // default value if not set
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}
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if (rtcm_msg_rate_ms.find(1020) != rtcm_msg_rate_ms.end())
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{
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@ -312,7 +312,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
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}
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else
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{
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d_rtcm_MT1020_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
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d_rtcm_MT1020_rate_ms = boost::integer::lcm(5000, d_output_rate_ms); // default value if not set
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}
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if (rtcm_msg_rate_ms.find(1045) != rtcm_msg_rate_ms.end())
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{
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@ -320,7 +320,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
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}
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else
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{
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d_rtcm_MT1045_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
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d_rtcm_MT1045_rate_ms = boost::integer::lcm(5000, d_output_rate_ms); // default value if not set
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}
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if (rtcm_msg_rate_ms.find(1077) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
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{
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@ -328,7 +328,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
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}
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else
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{
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d_rtcm_MT1077_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
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d_rtcm_MT1077_rate_ms = boost::integer::lcm(1000, d_output_rate_ms); // default value if not set
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}
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if (rtcm_msg_rate_ms.find(1087) != rtcm_msg_rate_ms.end()) // whatever between 1081 and 1087
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{
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@ -336,7 +336,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
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}
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else
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{
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d_rtcm_MT1087_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
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d_rtcm_MT1087_rate_ms = boost::integer::lcm(1000, d_output_rate_ms); // default value if not set
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}
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if (rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097
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{
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@ -345,8 +345,8 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
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}
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else
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{
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d_rtcm_MT1097_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
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d_rtcm_MSM_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
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d_rtcm_MT1097_rate_ms = boost::integer::lcm(1000, d_output_rate_ms); // default value if not set
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d_rtcm_MSM_rate_ms = boost::integer::lcm(1000, d_output_rate_ms); // default value if not set
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}
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b_rtcm_writing_started = false;
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@ -33,6 +33,7 @@
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#include "Galileo_E1.h"
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#include "GPS_L1_CA.h"
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#include "GPS_L2C.h"
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <glog/logging.h>
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@ -338,7 +339,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
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}
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// get time string Gregorian calendar
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boost::posix_time::time_duration t = boost::posix_time::seconds(utc);
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boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>(utc * 1000.0));
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// 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
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boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
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this->set_position_UTC_time(p_time);
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@ -8247,7 +8247,7 @@ boost::posix_time::ptime Rinex_Printer::compute_UTC_time(const Gps_Navigation_Me
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// if we are processing a file -> wait to leap second to resolve the ambiguity else take the week from the local system time
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//: idea resolve the ambiguity with the leap second http://www.colorado.edu/geography/gcraft/notes/gps/gpseow.htm
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const double utc_t = nav_msg.utc_time(nav_msg.d_TOW);
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boost::posix_time::time_duration t = boost::posix_time::millisec((utc_t + 604800 * static_cast<double>(nav_msg.i_GPS_week)) * 1000);
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boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((utc_t + 604800 * static_cast<double>(nav_msg.i_GPS_week)) * 1000));
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boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
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return p_time;
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}
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@ -8260,7 +8260,7 @@ boost::posix_time::ptime Rinex_Printer::compute_GPS_time(const Gps_Ephemeris& ep
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// (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex300.pdf)
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// --??? No time correction here, since it will be done in the RINEX processor
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const double gps_t = obs_time;
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boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000);
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boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000));
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boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
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return p_time;
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}
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@ -8273,7 +8273,7 @@ boost::posix_time::ptime Rinex_Printer::compute_GPS_time(const Gps_CNAV_Ephemeri
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// (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex300.pdf)
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// --??? No time correction here, since it will be done in the RINEX processor
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const double gps_t = obs_time;
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boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000);
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boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000));
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boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
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return p_time;
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}
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@ -8285,7 +8285,7 @@ boost::posix_time::ptime Rinex_Printer::compute_Galileo_time(const Galileo_Ephem
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// (see Pag. 17 in http://igscb.jpl.nasa.gov/igscb/data/format/rinex301.pdf)
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// --??? No time correction here, since it will be done in the RINEX processor
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double galileo_t = obs_time;
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boost::posix_time::time_duration t = boost::posix_time::millisec((galileo_t + 604800 * static_cast<double>(eph.WN_5)) * 1000); //
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boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((galileo_t + 604800 * static_cast<double>(eph.WN_5)) * 1000)); //
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boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
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return p_time;
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}
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@ -538,7 +538,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_
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gtime_t rtklib_time = gpst2time(adjgpsweek(nav_data.eph[0].week), gnss_observables_map.begin()->second.RX_time);
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gtime_t rtklib_utc_time = gpst2utc(rtklib_time);
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p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
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p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
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p_time += boost::posix_time::microseconds(static_cast<long>(round(rtklib_utc_time.sec * 1e6)));
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this->set_position_UTC_time(p_time);
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cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);
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@ -422,11 +422,59 @@ void GNSSFlowgraph::connect()
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else
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{
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std::string gnss_system;
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if ((gnss_signal.compare("1C") == 0) or (gnss_signal.compare("2S") == 0) or (gnss_signal.compare("L5") == 0)) gnss_system = "GPS";
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if ((gnss_signal.compare("1B") == 0) or (gnss_signal.compare("5X") == 0)) gnss_system = "Galileo";
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if ((gnss_signal.compare("1G") == 0) or (gnss_signal.compare("2G") == 0)) gnss_system = "Glonass";
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Gnss_Signal signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
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available_GNSS_signals_.remove(signal_value);
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Gnss_Signal signal_value;
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switch (mapStringValues_[gnss_signal])
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{
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case evGPS_1C:
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gnss_system = "GPS";
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signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
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available_GPS_1C_signals_.remove(signal_value);
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break;
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case evGPS_2S:
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gnss_system = "GPS";
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signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
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available_GPS_2S_signals_.remove(signal_value);
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break;
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case evGPS_L5:
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gnss_system = "GPS";
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signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
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available_GPS_L5_signals_.remove(signal_value);
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break;
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case evGAL_1B:
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gnss_system = "Galileo";
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signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
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available_GAL_1B_signals_.remove(signal_value);
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break;
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case evGAL_5X:
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gnss_system = "Galileo";
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signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
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available_GAL_5X_signals_.remove(signal_value);
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break;
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case evGLO_1G:
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gnss_system = "Glonass";
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signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
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available_GLO_1G_signals_.remove(signal_value);
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break;
|
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|
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case evGLO_2G:
|
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gnss_system = "Glonass";
|
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signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
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available_GLO_2G_signals_.remove(signal_value);
|
||||
break;
|
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|
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default:
|
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LOG(ERROR) << "This should not happen :-(";
|
||||
gnss_system = "GPS";
|
||||
signal_value = Gnss_Signal(Gnss_Satellite(gnss_system, sat), gnss_signal);
|
||||
available_GPS_1C_signals_.remove(signal_value);
|
||||
break;
|
||||
}
|
||||
|
||||
channels_.at(i)->set_signal(signal_value);
|
||||
}
|
||||
}
|
||||
|
|
@ -755,18 +803,75 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
|
|||
{
|
||||
LOG(WARNING) << e.what();
|
||||
}
|
||||
std::lock_guard<std::mutex> lock(signal_list_mutex);
|
||||
switch (what)
|
||||
{
|
||||
case 0:
|
||||
DLOG(INFO) << "Channel " << who << " ACQ FAILED satellite " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
|
||||
if (sat == 0)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(signal_list_mutex);
|
||||
available_GNSS_signals_.push_back(channels_[who]->get_signal());
|
||||
channels_[who]->set_signal(search_next_signal(channels_[who]->get_signal().get_signal_str(), true));
|
||||
switch (mapStringValues_[channels_[who]->get_signal().get_signal_str()])
|
||||
{
|
||||
case evGPS_1C:
|
||||
available_GPS_1C_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
case evGPS_2S:
|
||||
available_GPS_2S_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
case evGPS_L5:
|
||||
available_GPS_L5_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
case evGAL_1B:
|
||||
available_GAL_1B_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
case evGAL_5X:
|
||||
available_GAL_5X_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
case evGLO_1G:
|
||||
available_GLO_1G_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
case evGLO_2G:
|
||||
available_GLO_2G_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
default:
|
||||
LOG(ERROR) << "This should not happen :-(";
|
||||
break;
|
||||
}
|
||||
}
|
||||
channels_state_[who] = 0;
|
||||
acq_channels_count_--;
|
||||
for (unsigned int i = 0; i < channels_count_; i++)
|
||||
{
|
||||
unsigned int ch_index = (who + i + 1) % channels_count_;
|
||||
unsigned int sat_ = 0;
|
||||
try
|
||||
{
|
||||
sat_ = configuration_->property("Channel" + std::to_string(ch_index) + ".satellite", 0);
|
||||
}
|
||||
catch (const std::exception& e)
|
||||
{
|
||||
LOG(WARNING) << e.what();
|
||||
}
|
||||
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[ch_index] == 0))
|
||||
{
|
||||
channels_state_[ch_index] = 1;
|
||||
if (sat_ == 0)
|
||||
{
|
||||
channels_[ch_index]->set_signal(search_next_signal(channels_[ch_index]->get_signal().get_signal_str(), true));
|
||||
}
|
||||
acq_channels_count_++;
|
||||
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
|
||||
channels_[ch_index]->start_acquisition();
|
||||
}
|
||||
DLOG(INFO) << "Channel " << ch_index << " in state " << channels_state_[ch_index];
|
||||
}
|
||||
DLOG(INFO) << "Channel " << who << " Starting acquisition " << channels_[who]->get_signal().get_satellite() << ", Signal " << channels_[who]->get_signal().get_signal_str();
|
||||
channels_[who]->start_acquisition();
|
||||
break;
|
||||
|
||||
case 1:
|
||||
|
|
@ -784,13 +889,12 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
|
|||
{
|
||||
LOG(WARNING) << e.what();
|
||||
}
|
||||
if (!available_GNSS_signals_.empty() && (acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
|
||||
if ((acq_channels_count_ < max_acq_channels_) && (channels_state_[i] == 0))
|
||||
{
|
||||
channels_state_[i] = 1;
|
||||
if (sat_ == 0)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(signal_list_mutex);
|
||||
channels_[i]->set_signal(search_next_signal(channels_[i]->get_signal().get_signal_str(), true));
|
||||
channels_[i]->set_signal(search_next_signal(channels_[i]->get_signal().get_signal_str(), true, true));
|
||||
}
|
||||
acq_channels_count_++;
|
||||
DLOG(INFO) << "Channel " << i << " Starting acquisition " << channels_[i]->get_signal().get_satellite() << ", Signal " << channels_[i]->get_signal().get_signal_str();
|
||||
|
|
@ -817,8 +921,40 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
|
|||
LOG(INFO) << "Channel " << who << " Idle state";
|
||||
if (sat == 0)
|
||||
{
|
||||
std::lock_guard<std::mutex> lock(signal_list_mutex);
|
||||
available_GNSS_signals_.push_back(channels_[who]->get_signal());
|
||||
switch (mapStringValues_[channels_[who]->get_signal().get_signal_str()])
|
||||
{
|
||||
case evGPS_1C:
|
||||
available_GPS_1C_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
case evGPS_2S:
|
||||
available_GPS_2S_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
case evGPS_L5:
|
||||
available_GPS_L5_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
case evGAL_1B:
|
||||
available_GAL_1B_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
case evGAL_5X:
|
||||
available_GAL_5X_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
case evGLO_1G:
|
||||
available_GLO_1G_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
case evGLO_2G:
|
||||
available_GLO_2G_signals_.push_back(channels_[who]->get_signal());
|
||||
break;
|
||||
|
||||
default:
|
||||
LOG(ERROR) << "This should not happen :-(";
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
|
@ -826,7 +962,6 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
|
|||
default:
|
||||
break;
|
||||
}
|
||||
DLOG(INFO) << "Number of available signals: " << available_GNSS_signals_.size();
|
||||
applied_actions_++;
|
||||
}
|
||||
|
||||
|
|
@ -943,7 +1078,15 @@ void GNSSFlowgraph::init()
|
|||
|
||||
top_block_ = gr::make_top_block("GNSSFlowgraph");
|
||||
|
||||
// fill the available_GNSS_signals_ queue with the satellites ID's to be searched by the acquisition
|
||||
mapStringValues_["1C"] = evGPS_1C;
|
||||
mapStringValues_["2S"] = evGPS_2S;
|
||||
mapStringValues_["L5"] = evGPS_L5;
|
||||
mapStringValues_["1B"] = evGAL_1B;
|
||||
mapStringValues_["5X"] = evGAL_5X;
|
||||
mapStringValues_["1G"] = evGLO_1G;
|
||||
mapStringValues_["2G"] = evGLO_2G;
|
||||
|
||||
// fill the signals queue with the satellites ID's to be searched by the acquisition
|
||||
set_signals_list();
|
||||
set_channels_state();
|
||||
applied_actions_ = 0;
|
||||
|
|
@ -1036,14 +1179,12 @@ void GNSSFlowgraph::set_signals_list()
|
|||
|
||||
if (configuration_->property("Channels_1C.count", 0) > 0)
|
||||
{
|
||||
/*
|
||||
* Loop to create GPS L1 C/A signals
|
||||
*/
|
||||
// Loop to create GPS L1 C/A signals
|
||||
for (available_gnss_prn_iter = available_gps_prn.cbegin();
|
||||
available_gnss_prn_iter != available_gps_prn.cend();
|
||||
available_gnss_prn_iter++)
|
||||
{
|
||||
available_GNSS_signals_.push_back(Gnss_Signal(
|
||||
available_GPS_1C_signals_.push_back(Gnss_Signal(
|
||||
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
|
||||
std::string("1C")));
|
||||
}
|
||||
|
|
@ -1051,14 +1192,12 @@ void GNSSFlowgraph::set_signals_list()
|
|||
|
||||
if (configuration_->property("Channels_2S.count", 0) > 0)
|
||||
{
|
||||
/*
|
||||
* Loop to create GPS L2C M signals
|
||||
*/
|
||||
// Loop to create GPS L2C M signals
|
||||
for (available_gnss_prn_iter = available_gps_prn.cbegin();
|
||||
available_gnss_prn_iter != available_gps_prn.cend();
|
||||
available_gnss_prn_iter++)
|
||||
{
|
||||
available_GNSS_signals_.push_back(Gnss_Signal(
|
||||
available_GPS_2S_signals_.push_back(Gnss_Signal(
|
||||
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
|
||||
std::string("2S")));
|
||||
}
|
||||
|
|
@ -1066,14 +1205,12 @@ void GNSSFlowgraph::set_signals_list()
|
|||
|
||||
if (configuration_->property("Channels_L5.count", 0) > 0)
|
||||
{
|
||||
/*
|
||||
* Loop to create GPS L5 signals
|
||||
*/
|
||||
// Loop to create GPS L5 signals
|
||||
for (available_gnss_prn_iter = available_gps_prn.cbegin();
|
||||
available_gnss_prn_iter != available_gps_prn.cend();
|
||||
available_gnss_prn_iter++)
|
||||
{
|
||||
available_GNSS_signals_.push_back(Gnss_Signal(
|
||||
available_GPS_L5_signals_.push_back(Gnss_Signal(
|
||||
Gnss_Satellite(std::string("GPS"), *available_gnss_prn_iter),
|
||||
std::string("L5")));
|
||||
}
|
||||
|
|
@ -1081,14 +1218,12 @@ void GNSSFlowgraph::set_signals_list()
|
|||
|
||||
if (configuration_->property("Channels_SBAS.count", 0) > 0)
|
||||
{
|
||||
/*
|
||||
* Loop to create SBAS L1 C/A signals
|
||||
*/
|
||||
// Loop to create SBAS L1 C/A signals
|
||||
for (available_gnss_prn_iter = available_sbas_prn.cbegin();
|
||||
available_gnss_prn_iter != available_sbas_prn.cend();
|
||||
available_gnss_prn_iter++)
|
||||
{
|
||||
available_GNSS_signals_.push_back(Gnss_Signal(
|
||||
available_SBAS_1C_signals_.push_back(Gnss_Signal(
|
||||
Gnss_Satellite(std::string("SBAS"), *available_gnss_prn_iter),
|
||||
std::string("1C")));
|
||||
}
|
||||
|
|
@ -1096,14 +1231,12 @@ void GNSSFlowgraph::set_signals_list()
|
|||
|
||||
if (configuration_->property("Channels_1B.count", 0) > 0)
|
||||
{
|
||||
/*
|
||||
* Loop to create the list of Galileo E1B signals
|
||||
*/
|
||||
// Loop to create the list of Galileo E1B signals
|
||||
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
|
||||
available_gnss_prn_iter != available_galileo_prn.cend();
|
||||
available_gnss_prn_iter++)
|
||||
{
|
||||
available_GNSS_signals_.push_back(Gnss_Signal(
|
||||
available_GAL_1B_signals_.push_back(Gnss_Signal(
|
||||
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
|
||||
std::string("1B")));
|
||||
}
|
||||
|
|
@ -1111,14 +1244,12 @@ void GNSSFlowgraph::set_signals_list()
|
|||
|
||||
if (configuration_->property("Channels_5X.count", 0) > 0)
|
||||
{
|
||||
/*
|
||||
* Loop to create the list of Galileo E5a signals
|
||||
*/
|
||||
// Loop to create the list of Galileo E5a signals
|
||||
for (available_gnss_prn_iter = available_galileo_prn.cbegin();
|
||||
available_gnss_prn_iter != available_galileo_prn.cend();
|
||||
available_gnss_prn_iter++)
|
||||
{
|
||||
available_GNSS_signals_.push_back(Gnss_Signal(
|
||||
available_GAL_5X_signals_.push_back(Gnss_Signal(
|
||||
Gnss_Satellite(std::string("Galileo"), *available_gnss_prn_iter),
|
||||
std::string("5X")));
|
||||
}
|
||||
|
|
@ -1126,14 +1257,12 @@ void GNSSFlowgraph::set_signals_list()
|
|||
|
||||
if (configuration_->property("Channels_1G.count", 0) > 0)
|
||||
{
|
||||
/*
|
||||
* Loop to create the list of GLONASS L1 C/A signals
|
||||
*/
|
||||
// Loop to create the list of GLONASS L1 C/A signals
|
||||
for (available_gnss_prn_iter = available_glonass_prn.begin();
|
||||
available_gnss_prn_iter != available_glonass_prn.end();
|
||||
available_gnss_prn_iter++)
|
||||
{
|
||||
available_GNSS_signals_.push_back(Gnss_Signal(
|
||||
available_GLO_1G_signals_.push_back(Gnss_Signal(
|
||||
Gnss_Satellite(std::string("Glonass"), *available_gnss_prn_iter),
|
||||
std::string("1G")));
|
||||
}
|
||||
|
|
@ -1141,14 +1270,12 @@ void GNSSFlowgraph::set_signals_list()
|
|||
|
||||
if (configuration_->property("Channels_2G.count", 0) > 0)
|
||||
{
|
||||
/*
|
||||
* Loop to create the list of GLONASS L2 C/A signals
|
||||
*/
|
||||
// Loop to create the list of GLONASS L2 C/A signals
|
||||
for (available_gnss_prn_iter = available_glonass_prn.begin();
|
||||
available_gnss_prn_iter != available_glonass_prn.end();
|
||||
available_gnss_prn_iter++)
|
||||
{
|
||||
available_GNSS_signals_.push_back(Gnss_Signal(
|
||||
available_GLO_2G_signals_.push_back(Gnss_Signal(
|
||||
Gnss_Satellite(std::string("Glonass"), *available_gnss_prn_iter),
|
||||
std::string("2G")));
|
||||
}
|
||||
|
|
@ -1182,17 +1309,206 @@ void GNSSFlowgraph::set_channels_state()
|
|||
}
|
||||
|
||||
|
||||
Gnss_Signal GNSSFlowgraph::search_next_signal(std::string searched_signal, bool pop)
|
||||
Gnss_Signal GNSSFlowgraph::search_next_signal(std::string searched_signal, bool pop, bool tracked)
|
||||
{
|
||||
while (searched_signal.compare(available_GNSS_signals_.front().get_signal_str()) != 0)
|
||||
Gnss_Signal result;
|
||||
bool untracked_satellite = true;
|
||||
switch (mapStringValues_[searched_signal])
|
||||
{
|
||||
available_GNSS_signals_.push_back(available_GNSS_signals_.front());
|
||||
available_GNSS_signals_.pop_front();
|
||||
}
|
||||
Gnss_Signal result = available_GNSS_signals_.front();
|
||||
if (pop)
|
||||
{
|
||||
available_GNSS_signals_.pop_front();
|
||||
case evGPS_1C:
|
||||
result = available_GPS_1C_signals_.front();
|
||||
if (pop)
|
||||
{
|
||||
available_GPS_1C_signals_.pop_front();
|
||||
}
|
||||
if (tracked)
|
||||
{
|
||||
if ((configuration_->property("Channels_2S.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
|
||||
{
|
||||
for (unsigned int ch = 0; ch < channels_count_; ch++)
|
||||
{
|
||||
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("1C") != 0)) untracked_satellite = false;
|
||||
}
|
||||
if (untracked_satellite and configuration_->property("Channels_2S.count", 0) > 0)
|
||||
{
|
||||
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2S");
|
||||
available_GPS_2S_signals_.remove(gs);
|
||||
available_GPS_2S_signals_.push_front(gs);
|
||||
}
|
||||
if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
|
||||
{
|
||||
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
|
||||
available_GPS_L5_signals_.remove(gs);
|
||||
available_GPS_L5_signals_.push_front(gs);
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case evGPS_2S:
|
||||
result = available_GPS_2S_signals_.front();
|
||||
if (pop)
|
||||
{
|
||||
available_GPS_2S_signals_.pop_front();
|
||||
}
|
||||
if (tracked)
|
||||
{
|
||||
if ((configuration_->property("Channels_1C.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
|
||||
{
|
||||
for (unsigned int ch = 0; ch < channels_count_; ch++)
|
||||
{
|
||||
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("2S") != 0)) untracked_satellite = false;
|
||||
}
|
||||
if (untracked_satellite and configuration_->property("Channels_1C.count", 0) > 0)
|
||||
{
|
||||
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1C");
|
||||
available_GPS_1C_signals_.remove(gs);
|
||||
available_GPS_1C_signals_.push_front(gs);
|
||||
}
|
||||
if (untracked_satellite and configuration_->property("Channels_L5.count", 0) > 0)
|
||||
{
|
||||
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "L5");
|
||||
available_GPS_L5_signals_.remove(gs);
|
||||
available_GPS_L5_signals_.push_front(gs);
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case evGPS_L5:
|
||||
result = available_GPS_L5_signals_.front();
|
||||
if (pop)
|
||||
{
|
||||
available_GPS_L5_signals_.pop_front();
|
||||
}
|
||||
if (tracked)
|
||||
{
|
||||
if ((configuration_->property("Channels_1C.count", 0) > 0) or (configuration_->property("Channels_2S.count", 0) > 0))
|
||||
{
|
||||
for (unsigned int ch = 0; ch < channels_count_; ch++)
|
||||
{
|
||||
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("L5") != 0)) untracked_satellite = false;
|
||||
}
|
||||
if (untracked_satellite and configuration_->property("Channels_1C.count", 0) > 0)
|
||||
{
|
||||
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1C");
|
||||
available_GPS_1C_signals_.remove(gs);
|
||||
available_GPS_1C_signals_.push_front(gs);
|
||||
}
|
||||
if (untracked_satellite and configuration_->property("Channels_2S.count", 0) > 0)
|
||||
{
|
||||
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2S");
|
||||
available_GPS_2S_signals_.remove(gs);
|
||||
available_GPS_2S_signals_.push_front(gs);
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case evGAL_1B:
|
||||
result = available_GAL_1B_signals_.front();
|
||||
if (pop)
|
||||
{
|
||||
available_GAL_1B_signals_.pop_front();
|
||||
}
|
||||
if (tracked)
|
||||
{
|
||||
if (configuration_->property("Channels_5X.count", 0) > 0)
|
||||
{
|
||||
for (unsigned int ch = 0; ch < channels_count_; ch++)
|
||||
{
|
||||
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("1B") != 0)) untracked_satellite = false;
|
||||
}
|
||||
if (untracked_satellite)
|
||||
{
|
||||
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "5X");
|
||||
available_GAL_5X_signals_.remove(gs);
|
||||
available_GAL_5X_signals_.push_front(gs);
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case evGAL_5X:
|
||||
result = available_GAL_5X_signals_.front();
|
||||
if (pop)
|
||||
{
|
||||
available_GAL_5X_signals_.pop_front();
|
||||
}
|
||||
if (tracked)
|
||||
{
|
||||
if (configuration_->property("Channels_1B.count", 0) > 0)
|
||||
{
|
||||
for (unsigned int ch = 0; ch < channels_count_; ch++)
|
||||
{
|
||||
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("5X") != 0)) untracked_satellite = false;
|
||||
}
|
||||
if (untracked_satellite)
|
||||
{
|
||||
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1B");
|
||||
available_GAL_1B_signals_.remove(gs);
|
||||
available_GAL_1B_signals_.push_front(gs);
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case evGLO_1G:
|
||||
result = available_GLO_1G_signals_.front();
|
||||
if (pop)
|
||||
{
|
||||
available_GLO_1G_signals_.pop_front();
|
||||
}
|
||||
if (tracked)
|
||||
{
|
||||
if (configuration_->property("Channels_2G.count", 0) > 0)
|
||||
{
|
||||
for (unsigned int ch = 0; ch < channels_count_; ch++)
|
||||
{
|
||||
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("1G") != 0)) untracked_satellite = false;
|
||||
}
|
||||
if (untracked_satellite)
|
||||
{
|
||||
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "2G");
|
||||
available_GLO_2G_signals_.remove(gs);
|
||||
available_GLO_2G_signals_.push_front(gs);
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case evGLO_2G:
|
||||
result = available_GLO_2G_signals_.front();
|
||||
if (pop)
|
||||
{
|
||||
available_GLO_2G_signals_.pop_front();
|
||||
}
|
||||
if (tracked)
|
||||
{
|
||||
if (configuration_->property("Channels_1G.count", 0) > 0)
|
||||
{
|
||||
for (unsigned int ch = 0; ch < channels_count_; ch++)
|
||||
{
|
||||
if ((channels_[ch]->get_signal().get_satellite() == result.get_satellite()) and (channels_[ch]->get_signal().get_signal_str().compare("2G") != 0)) untracked_satellite = false;
|
||||
}
|
||||
if (untracked_satellite)
|
||||
{
|
||||
Gnss_Signal gs = Gnss_Signal(result.get_satellite(), "1G");
|
||||
available_GLO_1G_signals_.remove(gs);
|
||||
available_GLO_1G_signals_.push_front(gs);
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
LOG(ERROR) << "This should not happen :-(";
|
||||
result = available_GPS_1C_signals_.front();
|
||||
if (pop)
|
||||
{
|
||||
available_GPS_1C_signals_.pop_front();
|
||||
}
|
||||
break;
|
||||
}
|
||||
return result;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -44,6 +44,7 @@
|
|||
#include <gnuradio/blocks/null_source.h>
|
||||
#include <gnuradio/blocks/throttle.h>
|
||||
#include <list>
|
||||
#include <map>
|
||||
#include <memory>
|
||||
#include <mutex>
|
||||
#include <queue>
|
||||
|
|
@ -133,7 +134,7 @@ private:
|
|||
void set_signals_list();
|
||||
void set_channels_state(); // Initializes the channels state (start acquisition or keep standby)
|
||||
// using the configuration parameters (number of channels and max channels in acquisition)
|
||||
Gnss_Signal search_next_signal(std::string searched_signal, bool pop);
|
||||
Gnss_Signal search_next_signal(std::string searched_signal, bool pop, bool tracked = false);
|
||||
bool connected_;
|
||||
bool running_;
|
||||
int sources_count_;
|
||||
|
|
@ -160,7 +161,28 @@ private:
|
|||
gr::blocks::throttle::sptr throttle_;
|
||||
gr::top_block_sptr top_block_;
|
||||
gr::msg_queue::sptr queue_;
|
||||
std::list<Gnss_Signal> available_GNSS_signals_;
|
||||
|
||||
std::list<Gnss_Signal> available_GPS_1C_signals_;
|
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std::list<Gnss_Signal> available_GPS_2S_signals_;
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std::list<Gnss_Signal> available_GPS_L5_signals_;
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std::list<Gnss_Signal> available_SBAS_1C_signals_;
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std::list<Gnss_Signal> available_GAL_1B_signals_;
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std::list<Gnss_Signal> available_GAL_5X_signals_;
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std::list<Gnss_Signal> available_GLO_1G_signals_;
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std::list<Gnss_Signal> available_GLO_2G_signals_;
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enum StringValue
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{
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evGPS_1C,
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evGPS_2S,
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evGPS_L5,
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evSBAS_1C,
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evGAL_1B,
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evGAL_5X,
|
||||
evGLO_1G,
|
||||
evGLO_2G
|
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};
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std::map<std::string, StringValue> mapStringValues_;
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||||
|
||||
std::vector<unsigned int> channels_state_;
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std::mutex signal_list_mutex;
|
||||
};
|
||||
|
|
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|||
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|
@ -3313,7 +3313,7 @@ std::map<std::string, int> Rtcm::galileo_signal_map = [] {
|
|||
boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const
|
||||
{
|
||||
const double gps_t = obs_time;
|
||||
boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000);
|
||||
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000));
|
||||
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
|
||||
return p_time;
|
||||
}
|
||||
|
|
@ -3322,7 +3322,7 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_Ephemeris& eph, double
|
|||
boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris& eph, double obs_time) const
|
||||
{
|
||||
const double gps_t = obs_time;
|
||||
boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000);
|
||||
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(eph.i_GPS_week % 1024)) * 1000));
|
||||
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
|
||||
return p_time;
|
||||
}
|
||||
|
|
@ -3331,7 +3331,7 @@ boost::posix_time::ptime Rtcm::compute_GPS_time(const Gps_CNAV_Ephemeris& eph, d
|
|||
boost::posix_time::ptime Rtcm::compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time) const
|
||||
{
|
||||
double galileo_t = obs_time;
|
||||
boost::posix_time::time_duration t = boost::posix_time::millisec((galileo_t + 604800 * static_cast<double>(eph.WN_5)) * 1000);
|
||||
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((galileo_t + 604800 * static_cast<double>(eph.WN_5)) * 1000));
|
||||
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
|
||||
return p_time;
|
||||
}
|
||||
|
|
@ -4058,7 +4058,7 @@ int Rtcm::set_DF050(const Gnss_Synchro& gnss_synchro)
|
|||
int Rtcm::set_DF051(const Gps_Ephemeris& gps_eph, double obs_time)
|
||||
{
|
||||
const double gps_t = obs_time;
|
||||
boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800 * static_cast<double>(gps_eph.i_GPS_week % 1024)) * 1000);
|
||||
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(gps_eph.i_GPS_week % 1024)) * 1000));
|
||||
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
|
||||
std::string now_ptime = to_iso_string(p_time);
|
||||
std::string today_ptime = now_ptime.substr(0, 8);
|
||||
|
|
@ -4072,7 +4072,7 @@ int Rtcm::set_DF051(const Gps_Ephemeris& gps_eph, double obs_time)
|
|||
int Rtcm::set_DF052(const Gps_Ephemeris& gps_eph, double obs_time)
|
||||
{
|
||||
const double gps_t = obs_time;
|
||||
boost::posix_time::time_duration t = boost::posix_time::millisec((gps_t + 604800 * static_cast<double>(gps_eph.i_GPS_week % 1024)) * 1000);
|
||||
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>((gps_t + 604800 * static_cast<double>(gps_eph.i_GPS_week % 1024)) * 1000));
|
||||
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
|
||||
std::string now_ptime = to_iso_string(p_time);
|
||||
std::string hours = now_ptime.substr(9, 2);
|
||||
|
|
|
|||
Loading…
Reference in New Issue