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Print RTCM messages in binary format

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This commit is contained in:
Carles Fernandez 2016-04-30 15:20:56 +02:00
parent db30910cf5
commit 4fd4c24747
4 changed files with 91 additions and 18 deletions
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57
src/core/system_parameters/rtcm.cc
View File

@ -148,7 +148,7 @@ std::string Rtcm::add_CRC (const std::string & message_without_crc) const
// 3) Builds the complete message
std::string complete_message = message_without_crc + crc_frame.to_string();
return bin_to_hex(complete_message);
return bin_to_binary_data(complete_message);
}
@ -156,7 +156,7 @@ bool Rtcm::check_CRC(const std::string & message) const
{
boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> CRC_RTCM_CHECK;
// Convert message to binary
std::string message_bin = Rtcm::hex_to_bin(message);
std::string message_bin = Rtcm::binary_data_to_bin(message);
// Check CRC
std::string crc = message_bin.substr(message_bin.length() - 24, 24);
std::bitset<24> read_crc = std::bitset<24>(crc);
@ -180,6 +180,53 @@ bool Rtcm::check_CRC(const std::string & message) const
}
std::string Rtcm::bin_to_binary_data(const std::string& s) const
{
std::string s_aux;
int remainder = static_cast<int>(std::fmod(s.length(), 4));
unsigned char c[s.length()];
unsigned int k = 0;
if (remainder != 0)
{
s_aux.assign(s, 0 , remainder);
boost::dynamic_bitset<> rembits(s_aux);
unsigned long int n = rembits.to_ulong();
c[0] = (unsigned char)n;
k++;
}
unsigned int start = std::max(remainder, 0);
for(unsigned int i = start; i < s.length() - 1; i = i + 4)
{
s_aux.assign(s, i, 4);
std::bitset<4> bs(s_aux);
unsigned n = bs.to_ulong();
c[k] = (unsigned char)n;
k++;
}
std::string ret(c, c + k / sizeof(c[0]));
return ret;
}
std::string Rtcm::binary_data_to_bin(const std::string& s) const
{
std::string s_aux;
std::stringstream ss;
for(unsigned int i = 0; i < s.length(); i++)
{
unsigned char val = static_cast<unsigned char>(s.at(i));
std::bitset<4> bs(val);
ss << bs;
}
s_aux = ss.str();
return s_aux;
}
std::string Rtcm::bin_to_hex(const std::string& s) const
{
std::string s_aux;
@ -842,7 +889,7 @@ std::string Rtcm::print_MT1005( unsigned int ref_id, double ecef_x, double ecef_
int Rtcm::read_MT1005(const std::string & message, unsigned int & ref_id, double & ecef_x, double & ecef_y, double & ecef_z, bool & gps, bool & glonass, bool & galileo)
{
// Convert message to binary
std::string message_bin = Rtcm::hex_to_bin(message);
std::string message_bin = Rtcm::binary_data_to_bin(message);
if(!Rtcm::check_CRC(message) )
{
@ -1118,7 +1165,7 @@ std::string Rtcm::print_MT1019(const Gps_Ephemeris & gps_eph)
int Rtcm::read_MT1019(const std::string & message, Gps_Ephemeris & gps_eph)
{
// Convert message to binary
std::string message_bin = Rtcm::hex_to_bin(message);
std::string message_bin = Rtcm::binary_data_to_bin(message);
if(!Rtcm::check_CRC(message) )
{
@ -1400,7 +1447,7 @@ std::string Rtcm::print_MT1045(const Galileo_Ephemeris & gal_eph)
int Rtcm::read_MT1045(const std::string & message, Galileo_Ephemeris & gal_eph)
{
// Convert message to binary
std::string message_bin = Rtcm::hex_to_bin(message);
std::string message_bin = Rtcm::binary_data_to_bin(message);
if(!Rtcm::check_CRC(message) )
{

3
src/core/system_parameters/rtcm.h
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@ -266,6 +266,9 @@ public:
std::string bin_to_hex(const std::string & s) const; //<! Returns a string of hexadecimal symbols from a string of binary symbols
std::string hex_to_bin(const std::string & s) const; //<! Returns a string of binary symbols from a string of hexadecimal symbols
std::string bin_to_binary_data(const std::string& s) const; //<! Returns a string of binary data from a string of binary symbols
std::string binary_data_to_bin(const std::string& s) const; //<! Returns a string of binary symbols from a string of binary data
unsigned long int bin_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of binary symbols
long int bin_to_int(const std::string & s) const; //<! Returns a long int from a string of binary symbols
double bin_to_double(const std::string & s) const; //<! Returns double from a string of binary symbols

30
src/tests/formats/rtcm_test.cc
View File

@ -155,13 +155,25 @@ TEST(Rtcm_Test, Bin_to_int)
}
TEST(Rtcm_Test, Bin_to_binary_data)
{
auto rtcm = std::make_shared<Rtcm>();
std::string bin_str("01011010");
std::string data_str = rtcm->bin_to_binary_data(bin_str);
std::string recovered_str = rtcm->binary_data_to_bin(data_str);
EXPECT_EQ(0, recovered_str.compare(bin_str));
}
TEST(Rtcm_Test, Check_CRC)
{
auto rtcm = std::make_shared<Rtcm>();
bool expected_true = true;
bool expected_false = false;
EXPECT_EQ(expected_true, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98"));
EXPECT_EQ(expected_false, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B99"));
std::string good_crc = rtcm->bin_to_binary_data(rtcm->hex_to_bin("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98"));
std::string bad_crc = rtcm->bin_to_binary_data(rtcm->hex_to_bin("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B99"));
EXPECT_EQ(expected_true, rtcm->check_CRC(good_crc));
EXPECT_EQ(expected_false, rtcm->check_CRC(bad_crc));
EXPECT_EQ(expected_true, rtcm->check_CRC(rtcm->print_MT1005_test()));
EXPECT_EQ(expected_true, rtcm->check_CRC(rtcm->print_MT1005_test())); // Run twice to check that CRC has no memory
@ -264,10 +276,10 @@ TEST(Rtcm_Test, MT1029)
Gps_Ephemeris gps_eph = Gps_Ephemeris();
std::string m1029 = rtcm->print_MT1029(ref_id, gps_eph, obs_time, s_test);
std::string encoded_text = m1029.substr(24, 60);
std::string expected_encoded_text("5554462D3820D0BFD180D0BED0B2D0B5D180D0BAD0B02077C3B672746572");
std::string expected_encoded_text(rtcm->bin_to_binary_data(rtcm->hex_to_bin("5554462D3820D0BFD180D0BED0B2D0B5D180D0BAD0B02077C3B672746572")));
EXPECT_EQ(0, expected_encoded_text.compare(encoded_text));
std::string characters_to_follow = m1029.substr(22, 2);
std::string characters_to_follow = rtcm->bin_to_hex(rtcm->binary_data_to_bin(m1029.substr(22, 2)));
std::string expected_characters_to_follow("1E");
EXPECT_EQ(0, expected_characters_to_follow.compare(characters_to_follow));
}
@ -368,7 +380,7 @@ TEST(Rtcm_Test, MSMCell)
divergence_free,
more_messages);
std::string MSM1_bin = rtcm->hex_to_bin(MSM1);
std::string MSM1_bin = rtcm->binary_data_to_bin(MSM1);
unsigned int Nsat = 4;
unsigned int Nsig = 3;
unsigned int size_header = 14;
@ -392,7 +404,7 @@ TEST(Rtcm_Test, MSMCell)
smooth_int,
divergence_free,
more_messages);
std::string MSM1_bin_2 = rtcm->hex_to_bin(MSM1_2);
std::string MSM1_bin_2 = rtcm->binary_data_to_bin(MSM1_2);
EXPECT_EQ(0, MSM1_bin_2.substr(size_header + size_msg_length + 169, Nsat * Nsig).compare("001010101100")); // check cell mask
Gnss_Synchro gnss_synchro6;
@ -419,7 +431,7 @@ TEST(Rtcm_Test, MSMCell)
smooth_int,
divergence_free,
more_messages);
std::string MSM1_bin_3 = rtcm->hex_to_bin(MSM1_3);
std::string MSM1_bin_3 = rtcm->binary_data_to_bin(MSM1_3);
EXPECT_EQ(0, MSM1_bin_3.substr(size_header + size_msg_length + 169, (Nsat-1) * Nsig).compare("001010111")); // check cell mask
}
@ -489,7 +501,7 @@ TEST(Rtcm_Test, MSM1)
EXPECT_EQ(expected_true, rtcm->check_CRC(MSM1));
std::string MSM1_bin = rtcm->hex_to_bin(MSM1);
std::string MSM1_bin = rtcm->binary_data_to_bin(MSM1);
unsigned int Nsat = 3;
unsigned int Nsig = 2;
unsigned int size_header = 14;
@ -533,7 +545,7 @@ TEST(Rtcm_Test, MSM1)
smooth_int,
divergence_free,
more_messages);
std::string MSM1_bin2 = rtcm->hex_to_bin(MSM1_2);
std::string MSM1_bin2 = rtcm->binary_data_to_bin(MSM1_2);
int read_psrng4_s_2 = rtcm->bin_to_int( MSM1_bin2.substr(size_header + size_msg_length + 169 + (Nsat * Nsig) + 30 + 15 * 3, 15));
EXPECT_EQ(psrng4_s, read_psrng4_s_2);
}

19
src/tests/gnss_block/rtcm_printer_test.cc
View File

@ -37,9 +37,6 @@
//#include "gps_ephemeris.h"
TEST(Rtcm_Printer_Test, Instantiate)
{
std::string filename = "hello.rtcm";
@ -49,6 +46,7 @@ TEST(Rtcm_Printer_Test, Instantiate)
std::unique_ptr<Rtcm_Printer> RTCM_printer(new Rtcm_Printer(filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname));
}
TEST(Rtcm_Printer_Test, Run)
{
// std::string file_name = "./gps_ephemeris_rx.xml";
@ -75,9 +73,22 @@ TEST(Rtcm_Printer_Test, Run)
std::unique_ptr<Rtcm_Printer> RTCM_printer(new Rtcm_Printer(filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname));
std::string reference_msg = "D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98";
/* Convert the reference message to binary data */
std::string reference_msg_binary;
unsigned char c[1];
for(unsigned int i = 0; i < reference_msg.length(); i++)
{
unsigned long int n;
std::istringstream(reference_msg.substr(i,1)) >> std::hex >> n;
c[0] = (unsigned char)n;
std::string ret(c, c+1);
reference_msg_binary += ret;
}
std::string testing_msg = RTCM_printer->print_MT1005_test();
EXPECT_EQ(reference_msg, testing_msg);
EXPECT_EQ(0, reference_msg_binary.compare(testing_msg));
}