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

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Carles Fernandez 2018-10-21 18:11:10 +02:00
commit 4d6c8f3ffe
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16 changed files with 699 additions and 235 deletions
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8
CMakeLists.txt
View File

@ -227,8 +227,14 @@ endif(NOT LINUX_DISTRIBUTION)
if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
set(OperatingSystem "Mac OS X")
set(OS_IS_MACOSX TRUE)
exec_program(uname ARGS -v OUTPUT_VARIABLE DARWIN_VERSION)
execute_process(COMMAND uname -v OUTPUT_VARIABLE DARWIN_VERSION)
string(REGEX MATCH "[0-9]+" DARWIN_VERSION ${DARWIN_VERSION})
if(${DARWIN_VERSION} MATCHES "18")
set(MACOS_MOJAVE TRUE)
set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "c++14")
set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LIBRARY "libc++")
message(STATUS "Configuring GNSS-SDR v${VERSION} to be built on macOS Mojave 10.14")
endif(${DARWIN_VERSION} MATCHES "18")
if(${DARWIN_VERSION} MATCHES "17")
set(MACOS_HIGH_SIERRA TRUE)
set(CMAKE_XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "c++14")

11
README.md
View File

@ -64,10 +64,10 @@ $ sudo apt-get install build-essential cmake git libboost-dev libboost-date-time
libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev \
libboost-serialization-dev liblog4cpp5-dev libuhd-dev gnuradio-dev gr-osmosdr \
libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev \
libgnutls-openssl-dev libpcap-dev python-mako python-six libmatio-dev googletest
libgnutls-openssl-dev libpcap-dev python-mako python-six libmatio-dev libgtest-dev
~~~~~~
Please note that `googletest` was named `libgtest-dev` in distributions older than Debian 9 "stretch" and Ubuntu 17.04 "zesty".
Please note that the required files from `libgtest-dev` were moved to `googletest` in Debian 9 "stretch" and Ubuntu 18.04 "bionic", and moved back again to `libgtest-dev` in Debian 10 "buster" and Ubuntu 18.10 "cosmic".
**Note for Ubuntu 14.04 LTS "trusty" users:** you will need to build from source and install GNU Radio manually, as explained below, since GNSS-SDR requires `gnuradio-dev` >= 3.7.3, and Ubuntu 14.04 came with 3.7.2. Install all the packages above BUT EXCEPT `libuhd-dev`, `gnuradio-dev` and `gr-osmosdr` (and remove them if they are already installed in your machine), and install those dependencies using PyBOMBS. The same applies to `libmatio-dev`: Ubuntu 14.04 came with 1.5.2 and the minimum required version is 1.5.3. Please do not install the `libmatio-dev` package and install `libtool`, `automake` and `libhdf5-dev` instead. A recent version of the library will be downloaded and built automatically if CMake does not find it installed.
@ -516,10 +516,7 @@ More details can be found in our tutorial about [GNSS-SDR configuration options
<a name="macosx">macOS and Mac OS X</a>
---------
### macOS 10.13 (High Sierra) and 10.12 (Sierra), Mac OS X 10.11 (El Capitan), 10.10 (Yosemite) and 10.9 (Mavericks).
If you still have not installed [Xcode](https://developer.apple.com/xcode/ "Xcode"), do it now from the App Store (it's free). You will also need the Xcode Command Line Tools. Launch the Terminal, found in /Applications/Utilities/, and type:
GNSS-SDR can be built on MacOS or Mac OS X, starting from 10.9 (Mavericks) and including 10.14 (Mojave). If you still have not installed [Xcode](https://developer.apple.com/xcode/ "Xcode"), do it now from the App Store (it's free). You will also need the Xcode Command Line Tools. Launch the Terminal, found in /Applications/Utilities/, and type:
~~~~~~
$ xcode-select --install
@ -558,7 +555,7 @@ You also might need to activate a Python installation. The list of installed ver
$ port select list python
~~~~~~
and you can activate a certain version (2.7 works well) by typing:
and you can activate a certain version by typing:
~~~~~~
$ sudo port select --set python python27

6
cmake/cmake_uninstall.cmake.in
View File

@ -24,10 +24,10 @@ string(REGEX REPLACE "\n" ";" files "${files}")
foreach(file ${files})
message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
exec_program(
"@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
execute_process(
COMMAND @CMAKE_COMMAND@ -E remove \"$ENV{DESTDIR}${file}\"
OUTPUT_VARIABLE rm_out
RETURN_VALUE rm_retval
RESULT_VARIABLE rm_retval
)
if(NOT "${rm_retval}" STREQUAL 0)
message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")

43
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -133,18 +133,6 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
{
rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
}
// getting names from the config file, if available
// default filename for assistance data
const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
const std::string utc_default_xml_filename = "./gps_utc_model.xml";
const std::string iono_default_xml_filename = "./gps_iono.xml";
const std::string ref_time_default_xml_filename = "./gps_ref_time.xml";
const std::string ref_location_default_xml_filename = "./gps_ref_location.xml";
eph_xml_filename_ = configuration->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
//std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
//std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
//std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
//std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
// Infer the type of receiver
/*
@ -499,40 +487,9 @@ 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();
if (eph_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(eph_xml_filename_.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map);
LOG(INFO) << "Saved GPS L1 Ephemeris map data";
}
catch (const std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
}
else
{
LOG(WARNING) << "Failed to save Ephemeris, map is empty";
return false;
}
return true; // return variable (true == succeeded)
}
RtklibPvt::~RtklibPvt()
{
rtkfree(&rtk);
save_assistance_to_XML();
}

4
src/algorithms/PVT/adapters/rtklib_pvt.h
View File

@ -40,7 +40,7 @@
class ConfigurationInterface;
/*!
* \brief This class implements a PvtInterface for Galileo E1
* \brief This class implements a PvtInterface for the RTKLIB PVT block
*/
class RtklibPvt : public PvtInterface
{
@ -87,8 +87,6 @@ private:
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;
std::string eph_xml_filename_;
bool save_assistance_to_XML();
};
#endif

134
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -396,8 +396,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
msgctl(sysv_msqid, IPC_RMID, NULL);
// save GPS L2CM ephemeris to XML file
std::string file_name = "eph_GPS_CNAV.xml";
std::string file_name = "gps_cnav_ephemeris.xml";
if (d_ls_pvt->gps_cnav_ephemeris_map.empty() == false)
{
std::ofstream ofs;
@ -405,7 +404,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->gps_cnav_ephemeris_map);
xml << boost::serialization::make_nvp("GNSS-SDR_cnav_ephemeris_map", d_ls_pvt->gps_cnav_ephemeris_map);
LOG(INFO) << "Saved GPS L2CM or L5 Ephemeris map data";
}
catch (std::exception& e)
@ -415,12 +414,11 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
}
else
{
LOG(WARNING) << "Failed to save GPS L2CM or L5 Ephemeris, map is empty";
LOG(INFO) << "Failed to save GPS L2CM or L5 Ephemeris, map is empty";
}
// save GPS L1 CA ephemeris to XML file
file_name = "eph_GPS_L1CA.xml";
file_name = "gps_ephemeris.xml";
if (d_ls_pvt->gps_ephemeris_map.empty() == false)
{
std::ofstream ofs;
@ -438,12 +436,11 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
}
else
{
LOG(WARNING) << "Failed to save GPS L1 CA Ephemeris, map is empty";
LOG(INFO) << "Failed to save GPS L1 CA Ephemeris, map is empty";
}
// save Galileo E1 ephemeris to XML file
file_name = "eph_Galileo_E1.xml";
file_name = "gal_ephemeris.xml";
if (d_ls_pvt->galileo_ephemeris_map.empty() == false)
{
std::ofstream ofs;
@ -451,7 +448,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->galileo_ephemeris_map);
xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", d_ls_pvt->galileo_ephemeris_map);
LOG(INFO) << "Saved Galileo E1 Ephemeris map data";
}
catch (const std::exception& e)
@ -461,12 +458,11 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
}
else
{
LOG(WARNING) << "Failed to save Galileo E1 Ephemeris, map is empty";
LOG(INFO) << "Failed to save Galileo E1 Ephemeris, map is empty";
}
// save GLONASS GNAV ephemeris to XML file
file_name = "eph_GLONASS_GNAV.xml";
if (d_ls_pvt->glonass_gnav_ephemeris_map.empty() == false)
{
std::ofstream ofs;
@ -474,7 +470,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->glonass_gnav_ephemeris_map);
xml << boost::serialization::make_nvp("GNSS-SDR_gnav_ephemeris_map", d_ls_pvt->glonass_gnav_ephemeris_map);
LOG(INFO) << "Saved GLONASS GNAV Ephemeris map data";
}
catch (std::exception& e)
@ -484,7 +480,117 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
}
else
{
LOG(WARNING) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
LOG(INFO) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
}
// Save GPS UTC model parameters
file_name = "gps_utc_model.xml";
if (d_ls_pvt->gps_utc_model.valid)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_utc_model", d_ls_pvt->gps_utc_model);
LOG(INFO) << "Saved GPS UTC model parameters";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
}
}
else
{
LOG(INFO) << "Failed to save GPS UTC model parameters, not valid data";
}
// Save Galileo UTC model parameters
file_name = "gal_utc_model.xml";
if (d_ls_pvt->galileo_utc_model.A0_6 != 0.0)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_gal_utc_model", d_ls_pvt->galileo_utc_model);
LOG(INFO) << "Saved Galileo UTC model parameters";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
}
}
else
{
LOG(INFO) << "Failed to save Galileo UTC model parameters, not valid data";
}
// Save GPS CNAV UTC model parameters
file_name = "gps_cnav_utc_model.xml";
if (d_ls_pvt->gps_cnav_utc_model.valid)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_cnav_utc_model", d_ls_pvt->gps_cnav_utc_model);
LOG(INFO) << "Saved GPS CNAV UTC model parameters";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
}
}
else
{
LOG(INFO) << "Failed to save GPS CNAV UTC model parameters, not valid data";
}
// save GLONASS GNAV ephemeris to XML file
file_name = "glo_gnav_ephemeris.xml";
if (d_ls_pvt->glonass_gnav_ephemeris_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_gnav_ephemeris_map", d_ls_pvt->glonass_gnav_ephemeris_map);
LOG(INFO) << "Saved GLONASS GNAV ephemeris map data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
}
}
else
{
LOG(INFO) << "Failed to save GLONASS GNAV ephemeris, map is empty";
}
// save GLONASS UTC model parameters to XML file
file_name = "glo_utc_model.xml";
if (d_ls_pvt->glonass_gnav_utc_model.valid)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_gnav_utc_model", d_ls_pvt->glonass_gnav_utc_model);
LOG(INFO) << "Saved GLONASS UTC model parameters";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
}
}
else
{
LOG(INFO) << "Failed to save GLONASS GNAV ephemeris, not valid data";
}
}

6
src/algorithms/libs/volk_gnsssdr_module/volk_gnsssdr/cmake/cmake_uninstall.cmake.in
View File

@ -25,10 +25,10 @@ string(REGEX REPLACE "\n" ";" files "${files}")
foreach(file ${files})
message(STATUS "Uninstalling $ENV{DESTDIR}${file}")
if(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
exec_program(
"@CMAKE_COMMAND@" ARGS "-E remove \"$ENV{DESTDIR}${file}\""
execute_process(
COMMAND @CMAKE_COMMAND@ -E remove \"$ENV{DESTDIR}${file}\"
OUTPUT_VARIABLE rm_out
RETURN_VALUE rm_retval
RESULT_VARIABLE rm_retval
)
if(NOT "${rm_retval}" STREQUAL 0)
message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")

355
src/core/libs/gnss_sdr_supl_client.cc
View File

@ -388,46 +388,6 @@ bool gnss_sdr_supl_client::load_ephemeris_xml(const std::string file_name)
}
bool gnss_sdr_supl_client::load_gal_ephemeris_xml(const std::string file_name)
{
std::ifstream ifs;
try
{
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
gal_ephemeris_map.clear();
xml >> boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", this->gal_ephemeris_map);
LOG(INFO) << "Loaded Ephemeris map data with " << this->gal_ephemeris_map.size() << " satellites";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what() << "File: " << file_name;
return false;
}
return true;
}
bool gnss_sdr_supl_client::load_cnav_ephemeris_xml(const std::string file_name)
{
std::ifstream ifs;
try
{
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
gps_cnav_ephemeris_map.clear();
xml >> boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", this->gps_cnav_ephemeris_map);
LOG(INFO) << "Loaded Ephemeris map data with " << this->gps_cnav_ephemeris_map.size() << " satellites";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what() << "File: " << file_name;
return false;
}
return true;
}
bool gnss_sdr_supl_client::save_ephemeris_map_xml(const std::string file_name, std::map<int, Gps_Ephemeris> eph_map)
{
if (eph_map.empty() == false)
@ -455,6 +415,147 @@ bool gnss_sdr_supl_client::save_ephemeris_map_xml(const std::string file_name, s
}
bool gnss_sdr_supl_client::load_gal_ephemeris_xml(const std::string file_name)
{
std::ifstream ifs;
try
{
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
gal_ephemeris_map.clear();
xml >> boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", this->gal_ephemeris_map);
LOG(INFO) << "Loaded Ephemeris map data with " << this->gal_ephemeris_map.size() << " satellites";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what() << "File: " << file_name;
return false;
}
return true;
}
bool save_gal_ephemeris_map_xml(const std::string file_name, std::map<int, Galileo_Ephemeris> eph_map)
{
if (eph_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", eph_map);
LOG(INFO) << "Saved Galileo ephemeris map data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
}
else
{
LOG(WARNING) << "Failed to save Galileo ephemeris, map is empty";
return false;
}
return true;
}
bool gnss_sdr_supl_client::load_cnav_ephemeris_xml(const std::string file_name)
{
std::ifstream ifs;
try
{
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
gps_cnav_ephemeris_map.clear();
xml >> boost::serialization::make_nvp("GNSS-SDR_cnav_ephemeris_map", this->gps_cnav_ephemeris_map);
LOG(INFO) << "Loaded Ephemeris map data with " << this->gps_cnav_ephemeris_map.size() << " satellites";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what() << "File: " << file_name;
return false;
}
return true;
}
bool save_cnav_ephemeris_map_xml(const std::string file_name, std::map<int, Gps_CNAV_Ephemeris> eph_map)
{
if (eph_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_cnav_ephemeris_map", eph_map);
LOG(INFO) << "Saved GPS CNAV ephemeris map data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
}
else
{
LOG(WARNING) << "Failed to save GPS CNAV ephemeris, map is empty";
return false;
}
return true;
}
bool gnss_sdr_supl_client::load_gnav_ephemeris_xml(const std::string file_name)
{
std::ifstream ifs;
try
{
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
gps_cnav_ephemeris_map.clear();
xml >> boost::serialization::make_nvp("GNSS-SDR_gnav_ephemeris_map", this->glonass_gnav_ephemeris_map);
LOG(INFO) << "Loaded GLONASS ephemeris map data with " << this->gps_cnav_ephemeris_map.size() << " satellites";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what() << "File: " << file_name;
return false;
}
return true;
}
bool save_gnav_ephemeris_map_xml(const std::string file_name, std::map<int, Glonass_Gnav_Ephemeris> eph_map)
{
if (eph_map.empty() == false)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_gnav_ephemeris_map", eph_map);
LOG(INFO) << "Saved GLONASS GNAV ephemeris map data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
}
else
{
LOG(WARNING) << "Failed to save GLONASS GNAV ephemeris, map is empty";
return false;
}
return true;
}
bool gnss_sdr_supl_client::load_utc_xml(const std::string file_name)
{
std::ifstream ifs;
@ -462,7 +563,7 @@ bool gnss_sdr_supl_client::load_utc_xml(const std::string file_name)
{
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
xml >> boost::serialization::make_nvp("GNSS-SDR_utc_map", this->gps_utc);
xml >> boost::serialization::make_nvp("GNSS-SDR_utc_model", this->gps_utc);
LOG(INFO) << "Loaded UTC model data";
}
catch (std::exception& e)
@ -474,6 +575,79 @@ bool gnss_sdr_supl_client::load_utc_xml(const std::string file_name)
}
bool gnss_sdr_supl_client::save_utc_xml(const std::string file_name, Gps_Utc_Model& utc)
{
if (utc.valid)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_utc_model", utc);
LOG(INFO) << "Saved GPS UTC Model data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
}
else
{
LOG(WARNING) << "Failed to save GPS UTC model, no valid data";
return false;
}
return true;
}
bool gnss_sdr_supl_client::load_cnav_utc_xml(const std::string file_name)
{
std::ifstream ifs;
try
{
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
xml >> boost::serialization::make_nvp("GNSS-SDR_cnav_utc_model", this->gps_cnav_utc);
LOG(INFO) << "Loaded CNAV UTC model data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what() << "File: " << file_name;
return false;
}
return true;
}
bool gnss_sdr_supl_client::save_cnav_utc_xml(const std::string file_name, Gps_CNAV_Utc_Model& utc)
{
if (utc.valid)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_cnav_utc_model", utc);
LOG(INFO) << "Saved GPS CNAV UTC model data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
}
else
{
LOG(WARNING) << "Failed to save GPS CNAV UTC model, no valid data";
return false;
}
return true;
}
bool gnss_sdr_supl_client::load_gal_utc_xml(const std::string file_name)
{
std::ifstream ifs;
@ -481,7 +655,7 @@ bool gnss_sdr_supl_client::load_gal_utc_xml(const std::string file_name)
{
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
xml >> boost::serialization::make_nvp("GNSS-SDR_gal_utc_map", this->gal_utc);
xml >> boost::serialization::make_nvp("GNSS-SDR_gal_utc_model", this->gal_utc);
LOG(INFO) << "Loaded Galileo UTC model data";
}
catch (std::exception& e)
@ -493,17 +667,17 @@ bool gnss_sdr_supl_client::load_gal_utc_xml(const std::string file_name)
}
bool gnss_sdr_supl_client::save_utc_map_xml(const std::string file_name, std::map<int, Gps_Utc_Model> utc_map)
bool gnss_sdr_supl_client::save_gal_utc_xml(const std::string file_name, Galileo_Utc_Model& utc)
{
if (utc_map.empty() == false)
if (utc.flag_utc_model)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_utc_map", utc_map);
LOG(INFO) << "Saved UTC Model data";
xml << boost::serialization::make_nvp("GNSS-SDR_gal_utc_model", utc);
LOG(INFO) << "Saved Galileo UTC Model data";
}
catch (std::exception& e)
{
@ -513,7 +687,7 @@ bool gnss_sdr_supl_client::save_utc_map_xml(const std::string file_name, std::ma
}
else
{
LOG(WARNING) << "Failed to save UTC model, map is empty";
LOG(WARNING) << "Failed to save Galileo UTC model, no valid data";
return false;
}
return true;
@ -527,7 +701,7 @@ bool gnss_sdr_supl_client::load_iono_xml(const std::string file_name)
{
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
xml >> boost::serialization::make_nvp("GNSS-SDR_iono_map", this->gps_iono);
xml >> boost::serialization::make_nvp("GNSS-SDR_iono_model", this->gps_iono);
LOG(INFO) << "Loaded IONO model data";
}
catch (std::exception& e)
@ -539,6 +713,33 @@ bool gnss_sdr_supl_client::load_iono_xml(const std::string file_name)
}
bool gnss_sdr_supl_client::save_iono_xml(const std::string file_name, Gps_Iono& iono)
{
if (iono.valid)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_iono_model", iono);
LOG(INFO) << "Saved IONO Model data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
}
else
{
LOG(WARNING) << "Failed to save IONO model, map is empty";
return false;
}
return true;
}
bool gnss_sdr_supl_client::load_gal_iono_xml(const std::string file_name)
{
std::ifstream ifs;
@ -546,7 +747,7 @@ bool gnss_sdr_supl_client::load_gal_iono_xml(const std::string file_name)
{
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
xml >> boost::serialization::make_nvp("GNSS-SDR_iono_gal_map", this->gal_iono);
xml >> boost::serialization::make_nvp("GNSS-SDR_gal_iono_model", this->gal_iono);
LOG(INFO) << "Loaded Galileo IONO model data";
}
catch (std::exception& e)
@ -558,17 +759,17 @@ bool gnss_sdr_supl_client::load_gal_iono_xml(const std::string file_name)
}
bool gnss_sdr_supl_client::save_iono_map_xml(const std::string file_name, std::map<int, Gps_Iono> iono_map)
bool gnss_sdr_supl_client::save_gal_iono_xml(const std::string file_name, Galileo_Iono& iono)
{
if (iono_map.empty() == false)
if (iono.ai0_5 != 0.0)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_iono_map", iono_map);
LOG(INFO) << "Saved IONO Model data";
xml << boost::serialization::make_nvp("GNSS-SDR_gal_iono_model", iono);
LOG(INFO) << "Saved Galileo IONO Model data";
}
catch (std::exception& e)
{
@ -578,7 +779,53 @@ bool gnss_sdr_supl_client::save_iono_map_xml(const std::string file_name, std::m
}
else
{
LOG(WARNING) << "Failed to save IONO model, map is empty";
LOG(WARNING) << "Failed to save Galileo IONO model, map is empty";
return false;
}
return true;
}
bool gnss_sdr_supl_client::load_glo_utc_xml(const std::string file_name)
{
std::ifstream ifs;
try
{
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
boost::archive::xml_iarchive xml(ifs);
xml >> boost::serialization::make_nvp("GNSS-SDR_glo_utc_model", this->glo_gnav_utc);
LOG(INFO) << "Loaded UTC model data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what() << "File: " << file_name;
return false;
}
return true;
}
bool gnss_sdr_supl_client::save_glo_utc_xml(const std::string file_name, Glonass_Gnav_Utc_Model& utc)
{
if (utc.valid)
{
std::ofstream ofs;
try
{
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs);
xml << boost::serialization::make_nvp("GNSS-SDR_glo_utc_model", utc);
LOG(INFO) << "Saved Glonass UTC Model data";
}
catch (std::exception& e)
{
LOG(WARNING) << e.what();
return false;
}
}
else
{
LOG(WARNING) << "Failed to save Glonass UTC model, no valid data";
return false;
}
return true;

78
src/core/libs/gnss_sdr_supl_client.h
View File

@ -43,6 +43,7 @@ extern "C"
#include "gps_iono.h"
#include "gps_almanac.h"
#include "gps_utc_model.h"
#include "gps_cnav_utc_model.h"
#include "gps_acq_assist.h"
#include "gps_ref_time.h"
#include "gps_ref_location.h"
@ -50,6 +51,8 @@ extern "C"
#include "galileo_ephemeris.h"
#include "galileo_utc_model.h"
#include "galileo_iono.h"
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/serialization/map.hpp>
@ -83,6 +86,8 @@ public:
std::map<int, Gps_Ephemeris> gps_ephemeris_map;
std::map<int, Galileo_Ephemeris> gal_ephemeris_map;
std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map;
std::map<int, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map;
// almanac map
std::map<int, Gps_Almanac> gps_almanac_map;
@ -94,6 +99,8 @@ public:
// UTC model
Gps_Utc_Model gps_utc;
Galileo_Utc_Model gal_utc;
Gps_CNAV_Utc_Model gps_cnav_utc;
Glonass_Gnav_Utc_Model glo_gnav_utc;
// reference location
Gps_Ref_Location gps_ref_loc;
// Acquisition Assistance map
@ -119,54 +126,104 @@ public:
*/
bool load_ephemeris_xml(const std::string file_name);
/*!
* \brief Save ephemeris map to XML file.
*/
bool save_ephemeris_map_xml(const std::string file_name,
std::map<int, Gps_Ephemeris> eph_map);
/*!
* \brief Read GPS CNAV ephemeris map from XML file
*/
bool load_cnav_ephemeris_xml(const std::string file_name);
/*!
* \brief Save GPS CNAV ephemeris map to XML file.
*/
bool save_cnav_ephemeris_map_xml(const std::string file_name,
std::map<int, Gps_CNAV_Ephemeris> eph_map);
/*!
* \brief Read Galileo ephemeris map from XML file
*/
bool load_gal_ephemeris_xml(const std::string file_name);
/*!
* \brief Save ephemeris map to XML file.
* \brief Save Galileo ephemeris map to XML file.
*/
bool save_ephemeris_map_xml(const std::string file_name,
std::map<int, Gps_Ephemeris> eph_map);
bool save_gal_ephemeris_map_xml(const std::string file_name,
std::map<int, Galileo_Ephemeris> eph_map);
/*!
* \brief Read GLONASS GNAV ephemeris map from XML file
*/
bool load_gnav_ephemeris_xml(const std::string file_name);
/*!
* \brief Save GLONASS GNAV ephemeris map to XML file.
*/
bool save_gnav_ephemeris_map_xml(const std::string file_name,
std::map<int, Glonass_Gnav_Ephemeris> eph_map);
/*!
* \brief Read GPS utc model from XML file
*/
bool load_utc_xml(const std::string file_name);
/*!
* \brief Save UTC model map to XML file
*/
bool save_utc_xml(const std::string file_name, Gps_Utc_Model& utc);
/*!
* \brief Read CNAV GPS utc model from XML file
*/
bool load_cnav_utc_xml(const std::string file_name);
/*!
* \brief Save CNAV UTC model map to XML file
*/
bool save_cnav_utc_xml(const std::string file_name, Gps_CNAV_Utc_Model& utc);
/*!
* \brief Read Galileo utc model from XML file
*/
bool load_gal_utc_xml(const std::string file_name);
/*!
* \brief Save utc model map to XML file
* To be called by ControlThread::gps_utc_model_data_write_to_XML()
* \brief Save Galileo UTC model map to XML file
*/
bool save_utc_map_xml(const std::string file_name,
std::map<int, Gps_Utc_Model> utc_map);
bool save_gal_utc_xml(const std::string file_name, Galileo_Utc_Model& utc);
/*!
* \brief Read iono from XML file
*/
bool load_iono_xml(const std::string file_name);
/*!
* \brief Save iono map to XML file
*/
bool save_iono_xml(const std::string file_name, Gps_Iono& iono);
/*!
* \brief Read Galileo iono from XML file
*/
bool load_gal_iono_xml(const std::string file_name);
/*!
* \brief Save iono map to XML file
* \brief Save Galileo iono map to XML file
*/
bool save_iono_map_xml(const std::string file_name,
std::map<int, Gps_Iono> iono_map);
bool save_gal_iono_xml(const std::string file_name, Galileo_Iono& iono);
/*!
* \brief Read Glonass utc model from XML file
*/
bool load_glo_utc_xml(const std::string file_name);
/*!
* \brief Save Glonass UTC model map to XML file
*/
bool save_glo_utc_xml(const std::string file_name, Glonass_Gnav_Utc_Model& utc);
/*!
* \brief Read ref time from XML file
@ -194,6 +251,7 @@ public:
* Prints SUPL data to std::cout. Use it for debug purposes only.
*/
void print_assistance();
gnss_sdr_supl_client();
~gnss_sdr_supl_client();
};

263
src/core/receiver/control_thread.cc
View File

@ -47,6 +47,8 @@
#include "gps_iono.h"
#include "gps_utc_model.h"
#include "gps_almanac.h"
#include "glonass_gnav_ephemeris.h"
#include "glonass_gnav_utc_model.h"
#include <boost/lexical_cast.hpp>
#include <boost/chrono.hpp>
#include <glog/logging.h>
@ -207,91 +209,148 @@ bool ControlThread::read_assistance_from_XML()
std::string eph_gal_xml_filename = configuration_->property("GNSS-SDR.SUPL_gal_ephemeris_xml", eph_gal_default_xml_filename);
std::string eph_cnav_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_cnav_ephemeris_xml", eph_cnav_default_xml_filename);
std::string gal_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gal_utc_model.xml", gal_utc_default_xml_filename);
std::string cnav_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_cnav_utc_model.xml", cnav_utc_default_xml_filename);
std::string eph_glo_xml_filename = configuration_->property("GNSS-SDR.SUPL_glo_ephemeris_xml", eph_glo_gnav_default_xml_filename);
std::string glo_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_glo_utc_model.xml", glo_utc_default_xml_filename);
std::cout << "Trying to read GNSS ephemeris from XML file(s): "
<< ((eph_xml_filename.compare(eph_default_xml_filename) != 0) ? eph_xml_filename + " " : "")
<< ((eph_gal_xml_filename.compare(eph_gal_default_xml_filename) != 0) ? eph_gal_xml_filename + " " : "")
<< ((eph_cnav_xml_filename.compare(eph_cnav_default_xml_filename) != 0) ? eph_gal_xml_filename : "")
<< std::endl;
if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true)
if (configuration_->property("GNSS-SDR.AGNSS_XML_enabled", false) == true)
{
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter;
for (gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.cbegin();
gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.cend();
gps_eph_iter++)
eph_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_ephemeris_xml", eph_default_xml_filename);
utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_utc_model.xml", utc_default_xml_filename);
iono_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_iono_xml", iono_default_xml_filename);
gal_iono_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gal_iono_xml", gal_iono_default_xml_filename);
ref_time_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_ref_time_xml", ref_time_default_xml_filename);
ref_location_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_ref_location_xml", ref_location_default_xml_filename);
eph_gal_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gal_ephemeris_xml", eph_gal_default_xml_filename);
eph_cnav_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_cnav_ephemeris_xml", eph_cnav_default_xml_filename);
gal_utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gal_utc_model.xml", gal_utc_default_xml_filename);
cnav_utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_cnav_utc_model.xml", cnav_utc_default_xml_filename);
eph_glo_xml_filename = configuration_->property("GNSS-SDR.AGNSS_glo_ephemeris_xml", eph_glo_gnav_default_xml_filename);
glo_utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_glo_utc_model.xml", glo_utc_default_xml_filename);
}
std::cout << "Trying to read GNSS ephemeris from XML file(s)..." << std::endl;
if (configuration_->property("Channels_1C.count", 0) > 0)
{
if (supl_client_ephemeris_.load_ephemeris_xml(eph_xml_filename) == true)
{
std::cout << "From XML file: Read NAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_eph_iter->second.i_satellite_PRN) << std::endl;
std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(gps_eph_iter->second);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter;
for (gps_eph_iter = supl_client_ephemeris_.gps_ephemeris_map.cbegin();
gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.cend();
gps_eph_iter++)
{
std::cout << "From XML file: Read NAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_eph_iter->second.i_satellite_PRN) << std::endl;
std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(gps_eph_iter->second);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
}
ret = true;
}
ret = true;
}
if (supl_client_ephemeris_.load_gal_ephemeris_xml(eph_gal_xml_filename) == true)
{
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter;
for (gal_eph_iter = supl_client_ephemeris_.gal_ephemeris_map.cbegin();
gal_eph_iter != supl_client_ephemeris_.gal_ephemeris_map.cend();
gal_eph_iter++)
if (supl_client_acquisition_.load_utc_xml(utc_xml_filename) == true)
{
std::cout << "From XML file: Read ephemeris for satellite " << Gnss_Satellite("Galileo", gal_eph_iter->second.i_satellite_PRN) << std::endl;
std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(gal_eph_iter->second);
std::shared_ptr<Gps_Utc_Model> tmp_obj = std::make_shared<Gps_Utc_Model>(supl_client_acquisition_.gps_utc);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
std::cout << "From XML file: Read GPS UTC model parameters." << std::endl;
ret = true;
}
ret = true;
}
if (supl_client_ephemeris_.load_cnav_ephemeris_xml(eph_cnav_xml_filename) == true)
{
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter;
for (gps_cnav_eph_iter = supl_client_ephemeris_.gps_cnav_ephemeris_map.cbegin();
gps_cnav_eph_iter != supl_client_ephemeris_.gps_cnav_ephemeris_map.cend();
gps_cnav_eph_iter++)
if (supl_client_acquisition_.load_iono_xml(iono_xml_filename) == true)
{
std::cout << "From XML file: Read CNAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_cnav_eph_iter->second.i_satellite_PRN) << std::endl;
std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(gps_cnav_eph_iter->second);
std::shared_ptr<Gps_Iono> tmp_obj = std::make_shared<Gps_Iono>(supl_client_acquisition_.gps_iono);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
std::cout << "From XML file: Read GPS ionosphere model parameters." << std::endl;
ret = true;
}
ret = true;
}
if (supl_client_acquisition_.load_utc_xml(utc_xml_filename) == true)
if ((configuration_->property("Channels_1B.count", 0) > 0) or (configuration_->property("Channels_5X.count", 0) > 0))
{
std::shared_ptr<Gps_Utc_Model> tmp_obj = std::make_shared<Gps_Utc_Model>(supl_client_acquisition_.gps_utc);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
std::cout << "From XML file: Read GPS UTC parameters." << std::endl;
ret = true;
if (supl_client_ephemeris_.load_gal_ephemeris_xml(eph_gal_xml_filename) == true)
{
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter;
for (gal_eph_iter = supl_client_ephemeris_.gal_ephemeris_map.cbegin();
gal_eph_iter != supl_client_ephemeris_.gal_ephemeris_map.cend();
gal_eph_iter++)
{
std::cout << "From XML file: Read ephemeris for satellite " << Gnss_Satellite("Galileo", gal_eph_iter->second.i_satellite_PRN) << std::endl;
std::shared_ptr<Galileo_Ephemeris> tmp_obj = std::make_shared<Galileo_Ephemeris>(gal_eph_iter->second);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
}
ret = true;
}
if (supl_client_acquisition_.load_gal_iono_xml(gal_iono_xml_filename) == true)
{
std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(supl_client_acquisition_.gal_iono);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
std::cout << "From XML file: Read Galileo ionosphere model parameters." << std::endl;
ret = true;
}
if (supl_client_acquisition_.load_gal_utc_xml(gal_utc_xml_filename) == true)
{
std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(supl_client_acquisition_.gal_utc);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
std::cout << "From XML file: Read Galileo UTC model parameters." << std::endl;
ret = true;
}
}
if (supl_client_acquisition_.load_iono_xml(iono_xml_filename) == true)
if ((configuration_->property("Channels_2S.count", 0) > 0) or (configuration_->property("Channels_L5.count", 0) > 0))
{
std::shared_ptr<Gps_Iono> tmp_obj = std::make_shared<Gps_Iono>(supl_client_acquisition_.gps_iono);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
std::cout << "From XML file: Read GPS iono parameters." << std::endl;
ret = true;
if (supl_client_ephemeris_.load_cnav_ephemeris_xml(eph_cnav_xml_filename) == true)
{
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter;
for (gps_cnav_eph_iter = supl_client_ephemeris_.gps_cnav_ephemeris_map.cbegin();
gps_cnav_eph_iter != supl_client_ephemeris_.gps_cnav_ephemeris_map.cend();
gps_cnav_eph_iter++)
{
std::cout << "From XML file: Read CNAV ephemeris for satellite " << Gnss_Satellite("GPS", gps_cnav_eph_iter->second.i_satellite_PRN) << std::endl;
std::shared_ptr<Gps_CNAV_Ephemeris> tmp_obj = std::make_shared<Gps_CNAV_Ephemeris>(gps_cnav_eph_iter->second);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
}
ret = true;
}
if (supl_client_acquisition_.load_cnav_utc_xml(cnav_utc_xml_filename) == true)
{
std::shared_ptr<Gps_CNAV_Utc_Model> tmp_obj = std::make_shared<Gps_CNAV_Utc_Model>(supl_client_acquisition_.gps_cnav_utc);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
std::cout << "From XML file: Read GPS CNAV UTC model parameters." << std::endl;
ret = true;
}
}
if (supl_client_acquisition_.load_gal_iono_xml(gal_iono_xml_filename) == true)
if ((configuration_->property("Channels_1G.count", 0) > 0) or (configuration_->property("Channels_2G.count", 0) > 0))
{
std::shared_ptr<Galileo_Iono> tmp_obj = std::make_shared<Galileo_Iono>(supl_client_acquisition_.gal_iono);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
std::cout << "From XML file: Read Galileo iono parameters." << std::endl;
ret = true;
}
if (supl_client_ephemeris_.load_gnav_ephemeris_xml(eph_glo_xml_filename) == true)
{
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_eph_iter;
for (glo_gnav_eph_iter = supl_client_ephemeris_.glonass_gnav_ephemeris_map.cbegin();
glo_gnav_eph_iter != supl_client_ephemeris_.glonass_gnav_ephemeris_map.cend();
glo_gnav_eph_iter++)
{
std::cout << "From XML file: Read GLONASS GNAV ephemeris for satellite " << Gnss_Satellite("GLONASS", glo_gnav_eph_iter->second.i_satellite_PRN) << std::endl;
std::shared_ptr<Glonass_Gnav_Ephemeris> tmp_obj = std::make_shared<Glonass_Gnav_Ephemeris>(glo_gnav_eph_iter->second);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
}
ret = true;
}
if (supl_client_acquisition_.load_gal_utc_xml(gal_utc_xml_filename) == true)
{
std::shared_ptr<Galileo_Utc_Model> tmp_obj = std::make_shared<Galileo_Utc_Model>(supl_client_acquisition_.gal_utc);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
std::cout << "From XML file: Read Galileo UTC parameters." << std::endl;
ret = true;
if (supl_client_acquisition_.load_glo_utc_xml(glo_utc_xml_filename) == true)
{
std::shared_ptr<Glonass_Gnav_Utc_Model> tmp_obj = std::make_shared<Glonass_Gnav_Utc_Model>(supl_client_acquisition_.glo_gnav_utc);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
std::cout << "From XML file: Read GLONASS UTC model parameters." << std::endl;
ret = true;
}
}
if (ret == false)
{
std::cout << "ERROR: SUPL client error reading XML" << std::endl;
std::cout << "Disabling SUPL assistance..." << std::endl;
std::cout << "Error reading XML files" << std::endl;
std::cout << "Disabling GNSS assistance..." << std::endl;
}
// Only look for {ref time, ref location} if SUPL is enabled
@ -307,7 +366,7 @@ bool ControlThread::read_assistance_from_XML()
}
else
{
LOG(INFO) << "SUPL: couldn't read Ref Time XML";
LOG(INFO) << "SUPL: could not read Ref Time XML";
}
// Try to read Ref Location from XML
@ -319,7 +378,7 @@ bool ControlThread::read_assistance_from_XML()
}
else
{
LOG(INFO) << "SUPL: couldn't read Ref Location XML";
LOG(INFO) << "SUPL: could not read Ref Location XML";
}
}
@ -332,11 +391,11 @@ void ControlThread::assist_GNSS()
//######### GNSS Assistance #################################
// GNSS Assistance configuration
bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false);
if (enable_gps_supl_assistance == true)
//SUPL SERVER TEST. Not operational yet!
bool enable_agnss_xml = configuration_->property("GNSS-SDR.AGNSS_XML_enabled", false);
if ((enable_gps_supl_assistance == true) and (enable_agnss_xml == false))
{
std::cout << "SUPL RRLP GPS assistance enabled!" << std::endl;
std::string default_acq_server = "supl.nokia.com";
std::string default_acq_server = "supl.google.com";
std::string default_eph_server = "supl.google.com";
supl_client_ephemeris_.server_name = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_server", default_acq_server);
supl_client_acquisition_.server_name = configuration_->property("GNSS-SDR.SUPL_gps_acquisition_server", default_eph_server);
@ -372,6 +431,7 @@ void ControlThread::assist_GNSS()
if (read_assistance_from_XML())
{
std::cout << "GNSS assistance data loaded from local XML file(s)." << std::endl;
std::cout << "No SUPL request has been performed." << std::endl;
}
}
else
@ -379,7 +439,7 @@ void ControlThread::assist_GNSS()
// Request ephemeris from SUPL server
int error;
supl_client_ephemeris_.request = 1;
std::cout << "SUPL: Try to read GPS ephemeris from SUPL server..." << std::endl;
std::cout << "SUPL: Try to read GPS ephemeris data from SUPL server..." << std::endl;
error = supl_client_ephemeris_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci);
if (error == 0)
{
@ -388,35 +448,35 @@ void ControlThread::assist_GNSS()
gps_eph_iter != supl_client_ephemeris_.gps_ephemeris_map.cend();
gps_eph_iter++)
{
std::cout << "SUPL: Received Ephemeris for GPS SV " << gps_eph_iter->first << std::endl;
std::cout << "SUPL: Received ephemeris data for satellite " << Gnss_Satellite("GPS", gps_eph_iter->second.i_satellite_PRN) << std::endl;
std::shared_ptr<Gps_Ephemeris> tmp_obj = std::make_shared<Gps_Ephemeris>(gps_eph_iter->second);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
}
//Save ephemeris to XML file
// Save ephemeris to XML file
std::string eph_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
if (supl_client_ephemeris_.save_ephemeris_map_xml(eph_xml_filename, supl_client_ephemeris_.gps_ephemeris_map) == true)
{
std::cout << "SUPL: XML Ephemeris file created" << std::endl;
std::cout << "SUPL: XML ephemeris data file created" << std::endl;
}
else
{
std::cout << "SUPL: Failed to create XML Ephemeris file" << std::endl;
std::cout << "SUPL: Failed to create XML ephemeris data file" << std::endl;
}
}
else
{
std::cout << "ERROR: SUPL client for Ephemeris returned " << error << std::endl;
std::cout << "Please check internet connection and SUPL server configuration" << error << std::endl;
std::cout << "Trying to read ephemeris from XML file" << std::endl;
std::cout << "ERROR: SUPL client request for ephemeris data returned " << error << std::endl;
std::cout << "Please check your network connectivity and SUPL server configuration" << std::endl;
std::cout << "Trying to read AGNSS data from local XML file(s)..." << std::endl;
if (read_assistance_from_XML() == false)
{
std::cout << "ERROR: Could not read Ephemeris file: Disabling SUPL assistance." << std::endl;
std::cout << "ERROR: Could not read XML files: Disabling SUPL assistance." << std::endl;
}
}
// Request almanac , IONO and UTC Model
// Request almanac, IONO and UTC Model data
supl_client_ephemeris_.request = 0;
std::cout << "SUPL: Try read Almanac, Iono, Utc Model, Ref Time and Ref Location from SUPL server..." << std::endl;
std::cout << "SUPL: Try to read Almanac, Iono, Utc Model, Ref Time and Ref Location data from SUPL server..." << std::endl;
error = supl_client_ephemeris_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci);
if (error == 0)
{
@ -425,33 +485,51 @@ void ControlThread::assist_GNSS()
gps_alm_iter != supl_client_ephemeris_.gps_almanac_map.cend();
gps_alm_iter++)
{
std::cout << "SUPL: Received Almanac for GPS SV " << gps_alm_iter->first << std::endl;
std::cout << "SUPL: Received almanac data for satellite " << Gnss_Satellite("GPS", gps_alm_iter->second.i_satellite_PRN) << std::endl;
std::shared_ptr<Gps_Almanac> tmp_obj = std::make_shared<Gps_Almanac>(gps_alm_iter->second);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
}
if (supl_client_ephemeris_.gps_iono.valid == true)
{
std::cout << "SUPL: Received GPS Iono" << std::endl;
std::cout << "SUPL: Received GPS Ionosphere model parameters" << std::endl;
std::shared_ptr<Gps_Iono> tmp_obj = std::make_shared<Gps_Iono>(supl_client_ephemeris_.gps_iono);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
}
if (supl_client_ephemeris_.gps_utc.valid == true)
{
std::cout << "SUPL: Received GPS UTC Model" << std::endl;
std::cout << "SUPL: Received GPS UTC model parameters" << std::endl;
std::shared_ptr<Gps_Utc_Model> tmp_obj = std::make_shared<Gps_Utc_Model>(supl_client_ephemeris_.gps_utc);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
}
// Save iono and UTC model data to xml file
std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
if (supl_client_ephemeris_.save_iono_xml(iono_xml_filename, supl_client_ephemeris_.gps_iono) == true)
{
std::cout << "SUPL: Iono data file created" << std::endl;
}
else
{
std::cout << "SUPL: Failed to create Iono data file" << std::endl;
}
std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
if (supl_client_ephemeris_.save_utc_xml(utc_xml_filename, supl_client_ephemeris_.gps_utc) == true)
{
std::cout << "SUPL: UTC model data file created" << std::endl;
}
else
{
std::cout << "SUPL: Failed to create UTC model data file" << std::endl;
}
}
else
{
std::cout << "ERROR: SUPL client for Almanac returned " << error << std::endl;
std::cout << "Please check internet connection and SUPL server configuration" << error << std::endl;
std::cout << "Disabling SUPL assistance." << std::endl;
std::cout << "ERROR: SUPL client for almanac data returned " << error << std::endl;
std::cout << "Please check your network connectivity and SUPL server configuration" << std::endl;
}
// Request acquisition assistance
supl_client_acquisition_.request = 2;
std::cout << "SUPL: Try read Acquisition assistance from SUPL server..." << std::endl;
std::cout << "SUPL: Try to read acquisition assistance data from SUPL server..." << std::endl;
error = supl_client_acquisition_.get_assistance(supl_mcc, supl_mns, supl_lac, supl_ci);
if (error == 0)
{
@ -460,30 +538,39 @@ void ControlThread::assist_GNSS()
gps_acq_iter != supl_client_acquisition_.gps_acq_map.cend();
gps_acq_iter++)
{
std::cout << "SUPL: Received Acquisition assistance for GPS SV " << gps_acq_iter->first << std::endl;
std::cout << "SUPL: Received acquisition assistance data for satellite " << Gnss_Satellite("GPS", gps_acq_iter->second.i_satellite_PRN) << std::endl;
global_gps_acq_assist_map.write(gps_acq_iter->second.i_satellite_PRN, gps_acq_iter->second);
}
if (supl_client_acquisition_.gps_ref_loc.valid == true)
{
std::cout << "SUPL: Received Ref Location (Acquisition Assistance)" << std::endl;
std::cout << "SUPL: Received Ref Location data (Acquisition Assistance)" << std::endl;
std::shared_ptr<Gps_Ref_Location> tmp_obj = std::make_shared<Gps_Ref_Location>(supl_client_acquisition_.gps_ref_loc);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
}
if (supl_client_acquisition_.gps_time.valid == true)
{
std::cout << "SUPL: Received Ref Time (Acquisition Assistance)" << std::endl;
std::cout << "SUPL: Received Ref Time data (Acquisition Assistance)" << std::endl;
std::shared_ptr<Gps_Ref_Time> tmp_obj = std::make_shared<Gps_Ref_Time>(supl_client_acquisition_.gps_time);
flowgraph_->send_telemetry_msg(pmt::make_any(tmp_obj));
}
}
else
{
std::cout << "ERROR: SUPL client for Acquisition assistance returned " << error << std::endl;
std::cout << "Please check internet connection and SUPL server configuration" << error << std::endl;
std::cout << "Disabling SUPL assistance.." << std::endl;
std::cout << "ERROR: SUPL client for acquisition assistance returned " << error << std::endl;
std::cout << "Please check your network connectivity and SUPL server configuration" << std::endl;
std::cout << "Disabling SUPL acquisition assistance." << std::endl;
}
}
}
if ((enable_gps_supl_assistance == false) and (enable_agnss_xml == true))
{
// read assistance from file
if (read_assistance_from_XML())
{
std::cout << "GNSS assistance data loaded from local XML file(s)." << std::endl;
}
}
}

3
src/core/receiver/control_thread.h
View File

@ -171,6 +171,9 @@ private:
const std::string eph_cnav_default_xml_filename = "./gps_cnav_ephemeris.xml";
const std::string gal_iono_default_xml_filename = "./gal_iono.xml";
const std::string gal_utc_default_xml_filename = "./gal_utc_model.xml";
const std::string cnav_utc_default_xml_filename = "./gps_cnav_utc_model.xml";
const std::string eph_glo_gnav_default_xml_filename = "./glo_gnav_ephemeris.xml";
const std::string glo_utc_default_xml_filename = "./glo_utc_model.xml";
};
#endif /*GNSS_SDR_CONTROL_THREAD_H_*/

1
src/core/system_parameters/galileo_utc_model.h
View File

@ -80,6 +80,7 @@ public:
archive& make_nvp("WN_LSF_6", WN_LSF_6);
archive& make_nvp("DN_6", DN_6);
archive& make_nvp("Delta_tLSF_6", Delta_tLSF_6);
archive& make_nvp("flag_utc_model", flag_utc_model);
}
};

1
src/core/system_parameters/gps_cnav_navigation_message.cc
View File

@ -391,5 +391,6 @@ bool Gps_CNAV_Navigation_Message::have_new_utc_model() // Check if we have a ne
Gps_CNAV_Utc_Model Gps_CNAV_Navigation_Message::get_utc_model()
{
utc_model_record.valid = true;
return utc_model_record;
}

1
src/tests/system-tests/libs/CMakeLists.txt
View File

@ -25,6 +25,7 @@ set(SYSTEM_TESTING_LIB_SOURCES
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${MATIO_INCLUDE_DIRS}

1
src/tests/unit-tests/signal-processing-blocks/libs/CMakeLists.txt
View File

@ -29,6 +29,7 @@ set(SIGNAL_PROCESSING_TESTING_LIB_SOURCES
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${MATIO_INCLUDE_DIRS}

19
src/utils/rinex2assist/main.cc
View File

@ -132,6 +132,7 @@ int main(int argc, char** argv)
gal_utc_model.WN_LSF_6 = hdr.leapWeek;
gal_utc_model.DN_6 = hdr.leapDay;
gal_utc_model.Delta_tLSF_6 = hdr.leapDelta;
gal_utc_model.flag_utc_model = (hdr.mapTimeCorr["GAUT"].A0 == 0.0);
gal_iono.ai0_5 = hdr.mapIonoCorr["GAL"].param[0];
gal_iono.ai1_5 = hdr.mapIonoCorr["GAL"].param[1];
gal_iono.ai2_5 = hdr.mapIonoCorr["GAL"].param[2];
@ -242,7 +243,7 @@ int main(int argc, char** argv)
std::ofstream ofs;
if (xml_filename.empty())
{
xml_filename = "eph_GPS_L1CA.xml";
xml_filename = "gps_ephemeris.xml";
}
try
{
@ -261,12 +262,12 @@ int main(int argc, char** argv)
if (j != 0)
{
std::ofstream ofs2;
xml_filename = "eph_Galileo_E1.xml";
xml_filename = "gal_ephemeris.xml";
try
{
ofs2.open(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs2);
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_gal_map);
xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", eph_gal_map);
}
catch (std::exception& e)
{
@ -281,12 +282,12 @@ int main(int argc, char** argv)
if (gps_utc_model.valid)
{
std::ofstream ofs3;
xml_filename = "gps_utc.xml";
xml_filename = "gps_utc_model.xml";
try
{
ofs3.open(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs3);
xml << boost::serialization::make_nvp("GNSS-SDR_gps_utc", gps_utc_model);
xml << boost::serialization::make_nvp("GNSS-SDR_utc_model", gps_utc_model);
}
catch (std::exception& e)
{
@ -306,7 +307,7 @@ int main(int argc, char** argv)
{
ofs4.open(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs4);
xml << boost::serialization::make_nvp("GNSS-SDR_gps_iono", gps_iono);
xml << boost::serialization::make_nvp("GNSS-SDR_iono_model", gps_iono);
}
catch (std::exception& e)
{
@ -320,12 +321,12 @@ int main(int argc, char** argv)
if (gal_utc_model.A0_6 != 0)
{
std::ofstream ofs5;
xml_filename = "gal_utc.xml";
xml_filename = "gal_utc_model.xml";
try
{
ofs5.open(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs5);
xml << boost::serialization::make_nvp("GNSS-SDR_gal_utc", gal_utc_model);
xml << boost::serialization::make_nvp("GNSS-SDR_gal_utc_model", gal_utc_model);
}
catch (std::exception& e)
{
@ -343,7 +344,7 @@ int main(int argc, char** argv)
{
ofs7.open(xml_filename.c_str(), std::ofstream::trunc | std::ofstream::out);
boost::archive::xml_oarchive xml(ofs7);
xml << boost::serialization::make_nvp("GNSS-SDR_gal_iono", gal_iono);
xml << boost::serialization::make_nvp("GNSS-SDR_gal_iono_model", gal_iono);
}
catch (std::exception& e)
{