mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2025-01-26 00:46:59 +00:00
Deleting unnecessary contructors when posting messages
and some code formatting
This commit is contained in:
Carles Fernandez
parent
b56183f93b
commit
4a1812197b
@ -40,60 +40,69 @@
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using google::LogMessage;
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galileo_e1_pvt_cc_sptr
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galileo_e1_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
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galileo_e1_pvt_cc_sptr galileo_e1_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename,
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int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename,
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std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
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{
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return galileo_e1_pvt_cc_sptr(new galileo_e1_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname));
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return galileo_e1_pvt_cc_sptr(new galileo_e1_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth,
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flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname,
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flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname));
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}
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void galileo_e1_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
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{
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try {
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if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>) )
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{
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// ### Galileo EPHEMERIS ###
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std::shared_ptr<Galileo_Ephemeris> galileo_eph;
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galileo_eph= boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
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// insert new ephemeris record
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DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
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<< ", GALILEO Week Number =" << galileo_eph->WN_5
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<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
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// update/insert new ephemeris record to the global ephemeris map
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d_ls_pvt->galileo_ephemeris_map[galileo_eph->i_satellite_PRN]=*galileo_eph;
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}else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>) )
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{
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// ### Galileo IONO ###
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std::shared_ptr<Galileo_Iono> galileo_iono;
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galileo_iono= boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
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d_ls_pvt->galileo_iono=*galileo_iono;
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DLOG(INFO) << "New IONO record has arrived ";
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}else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>) )
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{
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// ### Galileo UTC MODEL ###
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std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
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galileo_utc_model= boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
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d_ls_pvt->galileo_utc_model=*galileo_utc_model;
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DLOG(INFO) << "New UTC record has arrived ";
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}else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>) )
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{
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// ### Galileo Almanac ###
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std::shared_ptr<Galileo_Almanac> galileo_almanac;
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galileo_almanac= boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
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// update/insert new ephemeris record to the global ephemeris map
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d_ls_pvt->galileo_almanac=*galileo_almanac;
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DLOG(INFO) << "New Galileo Almanac has arrived ";
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}
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if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>) )
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{
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// ### Galileo EPHEMERIS ###
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std::shared_ptr<Galileo_Ephemeris> galileo_eph;
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galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
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// insert new ephemeris record
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DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
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<< ", GALILEO Week Number =" << galileo_eph->WN_5
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<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
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// update/insert new ephemeris record to the global ephemeris map
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d_ls_pvt->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>) )
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{
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// ### Galileo IONO ###
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std::shared_ptr<Galileo_Iono> galileo_iono;
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galileo_iono = boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
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d_ls_pvt->galileo_iono = *galileo_iono;
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DLOG(INFO) << "New IONO record has arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>) )
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{
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// ### Galileo UTC MODEL ###
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std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
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galileo_utc_model = boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
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d_ls_pvt->galileo_utc_model = *galileo_utc_model;
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DLOG(INFO) << "New UTC record has arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>) )
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{
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// ### Galileo Almanac ###
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std::shared_ptr<Galileo_Almanac> galileo_almanac;
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galileo_almanac = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
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// update/insert new ephemeris record to the global ephemeris map
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d_ls_pvt->galileo_almanac = *galileo_almanac;
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DLOG(INFO) << "New Galileo Almanac has arrived ";
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}
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}
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catch(boost::bad_any_cast& e)
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{
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DLOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
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}
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}
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catch(boost::bad_any_cast& e)
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{
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DLOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
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}
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}
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galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname) :
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gr::block("galileo_e1_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr::io_signature::make(0, 0, sizeof(gr_complex)))
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galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth,
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bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname,
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bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname) :
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gr::block("galileo_e1_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)), gr::io_signature::make(0, 0, sizeof(gr_complex)))
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{
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d_output_rate_ms = output_rate_ms;
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@ -146,7 +155,7 @@ galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, boost::shared_ptr<g
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b_rtcm_writing_started = false;
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rp = std::make_shared<Rinex_Printer>();
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d_last_status_print_seg=0;
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d_last_status_print_seg = 0;
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// ############# ENABLE DATA FILE LOG #################
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if (d_dump == true)
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@ -52,91 +52,95 @@ gps_l1_ca_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> q
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void gps_l1_ca_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
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{
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try {
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if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>) )
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{
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// ### GPS EPHEMERIS ###
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std::shared_ptr<Gps_Ephemeris> gps_eph;
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gps_eph= boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
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DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
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<< gps_eph->i_satellite_PRN << " (Block "
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<< gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
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<< "inserted with Toe="<< gps_eph->d_Toe<<" and GPS Week="
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<< gps_eph->i_GPS_week;
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// update/insert new ephemeris record to the global ephemeris map
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d_ls_pvt->gps_ephemeris_map[gps_eph->i_satellite_PRN]=*gps_eph;
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}else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>) )
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{
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// ### GPS IONO ###
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std::shared_ptr<Gps_Iono> gps_iono;
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gps_iono= boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
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d_ls_pvt->gps_iono=*gps_iono;
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DLOG(INFO) << "New IONO record has arrived ";
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}else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>) )
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{
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// ### GPS UTC MODEL ###
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std::shared_ptr<Gps_Utc_Model> gps_utc_model;
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gps_utc_model= boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
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d_ls_pvt->gps_utc_model=*gps_utc_model;
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DLOG(INFO) << "New UTC record has arrived ";
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}else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Sbas_Ionosphere_Correction>) )
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{
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// ### SBAS IONO ###
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std::shared_ptr<Sbas_Ionosphere_Correction> sbas_iono;
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sbas_iono= boost::any_cast<std::shared_ptr<Sbas_Ionosphere_Correction>>(pmt::any_ref(msg));
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d_ls_pvt->sbas_iono=*sbas_iono;
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DLOG(INFO) << "New SBAS IONO record has arrived ";
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}
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if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>) )
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{
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// ### GPS EPHEMERIS ###
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std::shared_ptr<Gps_Ephemeris> gps_eph;
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gps_eph = boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
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DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
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<< gps_eph->i_satellite_PRN << " (Block "
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<< gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
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<< "inserted with Toe="<< gps_eph->d_Toe<<" and GPS Week="
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<< gps_eph->i_GPS_week;
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// update/insert new ephemeris record to the global ephemeris map
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d_ls_pvt->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>) )
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{
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// ### GPS IONO ###
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std::shared_ptr<Gps_Iono> gps_iono;
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gps_iono = boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
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d_ls_pvt->gps_iono = *gps_iono;
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DLOG(INFO) << "New IONO record has arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>) )
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{
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// ### GPS UTC MODEL ###
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std::shared_ptr<Gps_Utc_Model> gps_utc_model;
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gps_utc_model = boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
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d_ls_pvt->gps_utc_model = *gps_utc_model;
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DLOG(INFO) << "New UTC record has arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Sbas_Ionosphere_Correction>) )
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{
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// ### SBAS IONO ###
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std::shared_ptr<Sbas_Ionosphere_Correction> sbas_iono;
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sbas_iono = boost::any_cast<std::shared_ptr<Sbas_Ionosphere_Correction>>(pmt::any_ref(msg));
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d_ls_pvt->sbas_iono = *sbas_iono;
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DLOG(INFO) << "New SBAS IONO record has arrived ";
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}
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//TODO: add SBAS correction maps here
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//d_ls_pvt->sbas_sat_corr_map = global_sbas_sat_corr_map.get_map_copy();
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//d_ls_pvt->sbas_ephemeris_map = global_sbas_ephemeris_map.get_map_copy();
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//TODO: add SBAS correction maps here
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//d_ls_pvt->sbas_sat_corr_map = global_sbas_sat_corr_map.get_map_copy();
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//d_ls_pvt->sbas_ephemeris_map = global_sbas_ephemeris_map.get_map_copy();
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Sbas_Raw_Msg>) )
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{
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std::shared_ptr<Sbas_Raw_Msg> sbas_raw_msg_ptr;
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sbas_raw_msg_ptr= boost::any_cast<std::shared_ptr<Sbas_Raw_Msg>>(pmt::any_ref(msg));
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Sbas_Raw_Msg sbas_raw_msg=*sbas_raw_msg_ptr;
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// read SBAS raw messages directly from queue and write them into rinex file
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// create the header of not yet done
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if(!b_rinex_sbs_header_writen)
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{
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rp->rinex_sbs_header(rp->sbsFile);
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b_rinex_sbs_header_writen = true;
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Sbas_Raw_Msg>) )
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{
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std::shared_ptr<Sbas_Raw_Msg> sbas_raw_msg_ptr;
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sbas_raw_msg_ptr = boost::any_cast<std::shared_ptr<Sbas_Raw_Msg>>(pmt::any_ref(msg));
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Sbas_Raw_Msg sbas_raw_msg = *sbas_raw_msg_ptr;
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// read SBAS raw messages directly from queue and write them into rinex file
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// create the header of not yet done
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if(!b_rinex_sbs_header_writen)
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{
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rp->rinex_sbs_header(rp->sbsFile);
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b_rinex_sbs_header_writen = true;
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}
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// Define the RX time of the SBAS message by using the GPS time.
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// It has only an effect if there has not been yet a SBAS MT12 available
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// when the message was received.
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if(sbas_raw_msg.get_rx_time_obj().is_related() == false
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&& gnss_pseudoranges_map.size() > 0
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&& d_ls_pvt->gps_ephemeris_map.size() > 0)
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{
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// doesn't matter which channel/satellite we choose
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Gnss_Synchro gs = gnss_pseudoranges_map.begin()->second;
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Gps_Ephemeris eph = d_ls_pvt->gps_ephemeris_map.begin()->second;
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// Define the RX time of the SBAS message by using the GPS time.
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// It has only an effect if there has not been yet a SBAS MT12 available
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// when the message was received.
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if(sbas_raw_msg.get_rx_time_obj().is_related() == false
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&& gnss_pseudoranges_map.size() > 0
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&& d_ls_pvt->gps_ephemeris_map.size() > 0)
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{
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// doesn't matter which channel/satellite we choose
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Gnss_Synchro gs = gnss_pseudoranges_map.begin()->second;
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Gps_Ephemeris eph = d_ls_pvt->gps_ephemeris_map.begin()->second;
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double relative_rx_time = gs.Tracking_timestamp_secs;
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int gps_week = eph.i_GPS_week;
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double gps_sec = gs.d_TOW_at_current_symbol;
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double relative_rx_time = gs.Tracking_timestamp_secs;
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int gps_week = eph.i_GPS_week;
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double gps_sec = gs.d_TOW_at_current_symbol;
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Sbas_Time_Relation time_rel(relative_rx_time, gps_week, gps_sec);
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sbas_raw_msg.relate(time_rel);
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}
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Sbas_Time_Relation time_rel(relative_rx_time, gps_week, gps_sec);
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sbas_raw_msg.relate(time_rel);
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}
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// send the message to the rinex logger if it has a valid GPS time stamp
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if(sbas_raw_msg.get_rx_time_obj().is_related())
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{
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rp->log_rinex_sbs(rp->sbsFile, sbas_raw_msg);
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}
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}
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// send the message to the rinex logger if it has a valid GPS time stamp
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if(sbas_raw_msg.get_rx_time_obj().is_related())
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{
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rp->log_rinex_sbs(rp->sbsFile, sbas_raw_msg);
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}
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}
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}
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catch(boost::bad_any_cast& e)
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{
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DLOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
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DLOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
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}
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}
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gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
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boost::shared_ptr<gr::msg_queue> queue,
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bool dump, std::string dump_filename,
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@ -237,14 +241,14 @@ bool pseudoranges_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const st
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void gps_l1_ca_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchronization_data)
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{
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// Print the current receiver status using std::cout every second
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int current_rx_seg=floor(channels_synchronization_data[0][0].Tracking_timestamp_secs);
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int current_rx_seg = floor(channels_synchronization_data[0][0].Tracking_timestamp_secs);
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if ( current_rx_seg!= d_last_status_print_seg)
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{
|
||||
d_last_status_print_seg = current_rx_seg;
|
||||
std::cout << "Current input signal time = " << current_rx_seg << " [s]" << std::endl<< std::flush;
|
||||
//DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||
// << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
|
||||
}
|
||||
{
|
||||
d_last_status_print_seg = current_rx_seg;
|
||||
std::cout << "Current input signal time = " << current_rx_seg << " [s]" << std::endl<< std::flush;
|
||||
//DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
|
||||
// << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]" << std::endl;
|
||||
}
|
||||
}
|
||||
|
||||
int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
|
||||
|
||||
@ -51,84 +51,87 @@ hybrid_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queu
|
||||
void hybrid_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
|
||||
{
|
||||
try {
|
||||
if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>) )
|
||||
{
|
||||
// ### GPS EPHEMERIS ###
|
||||
std::shared_ptr<Gps_Ephemeris> gps_eph;
|
||||
gps_eph= boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
|
||||
DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
|
||||
<< gps_eph->i_satellite_PRN << " (Block "
|
||||
<< gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
|
||||
<< "inserted with Toe="<< gps_eph->d_Toe<<" and GPS Week="
|
||||
<< gps_eph->i_GPS_week;
|
||||
// update/insert new ephemeris record to the global ephemeris map
|
||||
d_ls_pvt->gps_ephemeris_map[gps_eph->i_satellite_PRN]=*gps_eph;
|
||||
}
|
||||
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>) )
|
||||
{
|
||||
// ### GPS IONO ###
|
||||
std::shared_ptr<Gps_Iono> gps_iono;
|
||||
gps_iono= boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
|
||||
d_ls_pvt->gps_iono=*gps_iono;
|
||||
DLOG(INFO) << "New IONO record has arrived ";
|
||||
}
|
||||
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>) )
|
||||
{
|
||||
// ### GPS UTC MODEL ###
|
||||
std::shared_ptr<Gps_Utc_Model> gps_utc_model;
|
||||
gps_utc_model= boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
|
||||
d_ls_pvt->gps_utc_model=*gps_utc_model;
|
||||
DLOG(INFO) << "New UTC record has arrived ";
|
||||
}
|
||||
if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>) )
|
||||
{
|
||||
// ### Galileo EPHEMERIS ###
|
||||
std::shared_ptr<Galileo_Ephemeris> galileo_eph;
|
||||
galileo_eph= boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
|
||||
// insert new ephemeris record
|
||||
DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
|
||||
<< ", GALILEO Week Number =" << galileo_eph->WN_5
|
||||
<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
|
||||
// update/insert new ephemeris record to the global ephemeris map
|
||||
d_ls_pvt->galileo_ephemeris_map[galileo_eph->i_satellite_PRN]=*galileo_eph;
|
||||
}
|
||||
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>) )
|
||||
{
|
||||
// ### Galileo IONO ###
|
||||
std::shared_ptr<Galileo_Iono> galileo_iono;
|
||||
galileo_iono= boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
|
||||
d_ls_pvt->galileo_iono=*galileo_iono;
|
||||
DLOG(INFO) << "New IONO record has arrived ";
|
||||
}
|
||||
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>) )
|
||||
{
|
||||
// ### Galileo UTC MODEL ###
|
||||
std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
|
||||
galileo_utc_model= boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
|
||||
d_ls_pvt->galileo_utc_model=*galileo_utc_model;
|
||||
DLOG(INFO) << "New UTC record has arrived ";
|
||||
}
|
||||
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>) )
|
||||
{
|
||||
// ### Galileo Almanac ###
|
||||
std::shared_ptr<Galileo_Almanac> galileo_almanac;
|
||||
galileo_almanac= boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
|
||||
// update/insert new ephemeris record to the global ephemeris map
|
||||
d_ls_pvt->galileo_almanac=*galileo_almanac;
|
||||
DLOG(INFO) << "New Galileo Almanac has arrived ";
|
||||
}
|
||||
if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>) )
|
||||
{
|
||||
// ### GPS EPHEMERIS ###
|
||||
std::shared_ptr<Gps_Ephemeris> gps_eph;
|
||||
gps_eph = boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
|
||||
DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
|
||||
<< gps_eph->i_satellite_PRN << " (Block "
|
||||
<< gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
|
||||
<< "inserted with Toe="<< gps_eph->d_Toe<<" and GPS Week="
|
||||
<< gps_eph->i_GPS_week;
|
||||
// update/insert new ephemeris record to the global ephemeris map
|
||||
d_ls_pvt->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
|
||||
}
|
||||
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>) )
|
||||
{
|
||||
// ### GPS IONO ###
|
||||
std::shared_ptr<Gps_Iono> gps_iono;
|
||||
gps_iono = boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
|
||||
d_ls_pvt->gps_iono = *gps_iono;
|
||||
DLOG(INFO) << "New IONO record has arrived ";
|
||||
}
|
||||
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>) )
|
||||
{
|
||||
// ### GPS UTC MODEL ###
|
||||
std::shared_ptr<Gps_Utc_Model> gps_utc_model;
|
||||
gps_utc_model = boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
|
||||
d_ls_pvt->gps_utc_model = *gps_utc_model;
|
||||
DLOG(INFO) << "New UTC record has arrived ";
|
||||
}
|
||||
if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>) )
|
||||
{
|
||||
// ### Galileo EPHEMERIS ###
|
||||
std::shared_ptr<Galileo_Ephemeris> galileo_eph;
|
||||
galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
|
||||
// insert new ephemeris record
|
||||
DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
|
||||
<< ", GALILEO Week Number =" << galileo_eph->WN_5
|
||||
<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
|
||||
// update/insert new ephemeris record to the global ephemeris map
|
||||
d_ls_pvt->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
|
||||
}
|
||||
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>) )
|
||||
{
|
||||
// ### Galileo IONO ###
|
||||
std::shared_ptr<Galileo_Iono> galileo_iono;
|
||||
galileo_iono = boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
|
||||
d_ls_pvt->galileo_iono = *galileo_iono;
|
||||
DLOG(INFO) << "New IONO record has arrived ";
|
||||
}
|
||||
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>) )
|
||||
{
|
||||
// ### Galileo UTC MODEL ###
|
||||
std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
|
||||
galileo_utc_model = boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
|
||||
d_ls_pvt->galileo_utc_model = *galileo_utc_model;
|
||||
DLOG(INFO) << "New UTC record has arrived ";
|
||||
}
|
||||
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>) )
|
||||
{
|
||||
// ### Galileo Almanac ###
|
||||
std::shared_ptr<Galileo_Almanac> galileo_almanac;
|
||||
galileo_almanac = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
|
||||
// update/insert new ephemeris record to the global ephemeris map
|
||||
d_ls_pvt->galileo_almanac = *galileo_almanac;
|
||||
DLOG(INFO) << "New Galileo Almanac has arrived ";
|
||||
}
|
||||
|
||||
}
|
||||
catch(boost::bad_any_cast& e)
|
||||
{
|
||||
DLOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
|
||||
DLOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname) :
|
||||
gr::block("hybrid_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
|
||||
gr::io_signature::make(0, 0, sizeof(gr_complex)))
|
||||
hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename,
|
||||
int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port,
|
||||
std::string nmea_dump_filename, std::string nmea_dump_devname,
|
||||
bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname) :
|
||||
gr::block("hybrid_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
|
||||
gr::io_signature::make(0, 0, sizeof(gr_complex)))
|
||||
{
|
||||
|
||||
d_output_rate_ms = output_rate_ms;
|
||||
|
||||
@ -250,28 +250,28 @@ void galileo_e1b_telemetry_decoder_cc::decode_word(double *page_part_symbols,int
|
||||
if (d_nav.have_new_ephemeris() == true)
|
||||
{
|
||||
// get object for this SV (mandatory)
|
||||
std::shared_ptr<Galileo_Ephemeris> tmp_obj= std::make_shared<Galileo_Ephemeris>();
|
||||
*tmp_obj = d_nav.get_ephemeris();//notice that the read operation will clear the valid flag
|
||||
std::shared_ptr<Galileo_Ephemeris> tmp_obj= std::make_shared<Galileo_Ephemeris>(d_nav.get_ephemeris());
|
||||
//*tmp_obj = d_nav.get_ephemeris();//notice that the read operation will clear the valid flag
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
}
|
||||
if (d_nav.have_new_iono_and_GST() == true)
|
||||
{
|
||||
// get object for this SV (mandatory)
|
||||
std::shared_ptr<Galileo_Iono> tmp_obj= std::make_shared<Galileo_Iono>();
|
||||
*tmp_obj = d_nav.get_iono(); //notice that the read operation will clear the valid flag
|
||||
std::shared_ptr<Galileo_Iono> tmp_obj= std::make_shared<Galileo_Iono>(d_nav.get_iono());
|
||||
//*tmp_obj = d_nav.get_iono(); //notice that the read operation will clear the valid flag
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
}
|
||||
if (d_nav.have_new_utc_model() == true)
|
||||
{
|
||||
// get object for this SV (mandatory)
|
||||
std::shared_ptr<Galileo_Utc_Model> tmp_obj= std::make_shared<Galileo_Utc_Model>();
|
||||
*tmp_obj = d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
|
||||
std::shared_ptr<Galileo_Utc_Model> tmp_obj= std::make_shared<Galileo_Utc_Model>(d_nav.get_utc_model());
|
||||
//*tmp_obj = d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
}
|
||||
if (d_nav.have_new_almanac() == true)
|
||||
{
|
||||
std::shared_ptr<Galileo_Almanac> tmp_obj= std::make_shared<Galileo_Almanac>();
|
||||
*tmp_obj = d_nav.get_almanac();
|
||||
std::shared_ptr<Galileo_Almanac> tmp_obj= std::make_shared<Galileo_Almanac>(d_nav.get_almanac());
|
||||
//*tmp_obj = d_nav.get_almanac();
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
//debug
|
||||
std::cout << "Galileo almanac received!" << std::endl;
|
||||
@ -407,10 +407,10 @@ int galileo_e1b_telemetry_decoder_cc::general_work (int noutput_items __attribut
|
||||
//2. Add the telemetry decoder information
|
||||
if (this->d_flag_preamble == true and d_nav.flag_TOW_set == true)
|
||||
//update TOW at the preamble instant
|
||||
// JAVI: 30/06/2014
|
||||
// TOW, in Galileo, is referred to the START of the PAGE PART, that is, THE FIRST SYMBOL OF THAT PAGE, NOT THE PREAMBLE.
|
||||
// thus, no correction should be done. d_TOW_at_Preamble should be renamed to d_TOW_at_page_start.
|
||||
// Since we detected the preamble, then, we are in the last symbol of that preamble, or just at the start of the first page symbol.
|
||||
// JAVI: 30/06/2014
|
||||
// TOW, in Galileo, is referred to the START of the PAGE PART, that is, THE FIRST SYMBOL OF THAT PAGE, NOT THE PREAMBLE.
|
||||
// thus, no correction should be done. d_TOW_at_Preamble should be renamed to d_TOW_at_page_start.
|
||||
// Since we detected the preamble, then, we are in the last symbol of that preamble, or just at the start of the first page symbol.
|
||||
//flag preamble is true after the all page (even and odd) is received. I/NAV page period is 2 SECONDS
|
||||
{
|
||||
Prn_timestamp_at_preamble_ms = in[0][0].Tracking_timestamp_secs * 1000.0;
|
||||
|
||||
@ -216,7 +216,7 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
|
||||
}
|
||||
else
|
||||
{
|
||||
if (preamble_diff_ms > GPS_SUBFRAME_MS+1)
|
||||
if (preamble_diff_ms > GPS_SUBFRAME_MS + 1)
|
||||
{
|
||||
DLOG(INFO) << "Lost of frame sync SAT " << this->d_satellite << " preamble_diff_ms= " << preamble_diff_ms;
|
||||
d_stat = 0; // lost of frame sync
|
||||
@ -273,42 +273,42 @@ int gps_l1_ca_telemetry_decoder_cc::general_work (int noutput_items __attribute_
|
||||
d_GPS_FSM.d_preamble_time_ms = d_preamble_time_seconds * 1000.0;
|
||||
d_GPS_FSM.Event_gps_word_valid();
|
||||
// send TLM data to PVT using asynchronous message queues
|
||||
if (d_GPS_FSM.d_flag_new_subframe==true)
|
||||
{
|
||||
switch (d_GPS_FSM.d_subframe_ID)
|
||||
if (d_GPS_FSM.d_flag_new_subframe == true)
|
||||
{
|
||||
case 3: //we have a new set of ephemeris data for the current SV
|
||||
if (d_GPS_FSM.d_nav.satellite_validation() == true)
|
||||
{
|
||||
// get ephemeris object for this SV (mandatory)
|
||||
std::shared_ptr<Gps_Ephemeris> tmp_obj= std::make_shared<Gps_Ephemeris>();
|
||||
*tmp_obj = d_GPS_FSM.d_nav.get_ephemeris();
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
}
|
||||
break;
|
||||
case 4: // Possible IONOSPHERE and UTC model update (page 18)
|
||||
if (d_GPS_FSM.d_nav.flag_iono_valid == true)
|
||||
{
|
||||
std::shared_ptr<Gps_Iono> tmp_obj= std::make_shared<Gps_Iono>();
|
||||
*tmp_obj = d_GPS_FSM.d_nav.get_iono(); //notice that the read operation will clear the valid flag
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
}
|
||||
if (d_GPS_FSM.d_nav.flag_utc_model_valid == true)
|
||||
{
|
||||
std::shared_ptr<Gps_Utc_Model> tmp_obj= std::make_shared<Gps_Utc_Model>();
|
||||
*tmp_obj = d_GPS_FSM.d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
}
|
||||
break;
|
||||
case 5:
|
||||
// get almanac (if available)
|
||||
//TODO: implement almanac reader in navigation_message
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
switch (d_GPS_FSM.d_subframe_ID)
|
||||
{
|
||||
case 3: //we have a new set of ephemeris data for the current SV
|
||||
if (d_GPS_FSM.d_nav.satellite_validation() == true)
|
||||
{
|
||||
// get ephemeris object for this SV (mandatory)
|
||||
std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(d_GPS_FSM.d_nav.get_ephemeris());
|
||||
// *tmp_obj = d_GPS_FSM.d_nav.get_ephemeris();
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
}
|
||||
break;
|
||||
case 4: // Possible IONOSPHERE and UTC model update (page 18)
|
||||
if (d_GPS_FSM.d_nav.flag_iono_valid == true)
|
||||
{
|
||||
std::shared_ptr<Gps_Iono> tmp_obj = std::make_shared<Gps_Iono>( d_GPS_FSM.d_nav.get_iono());
|
||||
// *tmp_obj = d_GPS_FSM.d_nav.get_iono(); //notice that the read operation will clear the valid flag
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
}
|
||||
if (d_GPS_FSM.d_nav.flag_utc_model_valid == true)
|
||||
{
|
||||
std::shared_ptr<Gps_Utc_Model> tmp_obj = std::make_shared<Gps_Utc_Model>(d_GPS_FSM.d_nav.get_utc_model());
|
||||
//*tmp_obj = d_GPS_FSM.d_nav.get_utc_model(); //notice that the read operation will clear the valid flag
|
||||
this->message_port_pub(pmt::mp("telemetry"), pmt::make_any(tmp_obj));
|
||||
}
|
||||
break;
|
||||
case 5:
|
||||
// get almanac (if available)
|
||||
//TODO: implement almanac reader in navigation_message
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
d_GPS_FSM.clear_flag_new_subframe();
|
||||
}
|
||||
d_GPS_FSM.clear_flag_new_subframe();
|
||||
}
|
||||
|
||||
d_flag_parity = true;
|
||||
}
|
||||
|
||||
Loading…
Reference in New Issue
Block a user