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55
docs/protobuf/monitor_galileo_ephemeris.proto Normal file
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@ -0,0 +1,55 @@
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es>
syntax = "proto3";
package gnss_sdr;
message MonitorGalileoEphemeris {
/* Galileo ephemeris are 16 parameters and here are reported following the ICD order, paragraph 5.1.1.
The number in the name after underscore (_1, _2, _3 and so on) refers to the page were we can find that parameter */
int32 IOD_ephemeris=1;
int32 IOD_nav_1=2;
double M0_1=3; //!< Mean anomaly at reference time [semi-circles]
double delta_n_3=4; //!< Mean motion difference from computed value [semi-circles/sec]
double e_1=5; //!< Eccentricity
double A_1=6; //!< Square root of the semi-major axis [meters^1/2]
double OMEGA_0_2=7; //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
double i_0_2=8; //!< Inclination angle at reference time [semi-circles]
double omega_2=9; //!< Argument of perigee [semi-circles]
double OMEGA_dot_3=10; //!< Rate of right ascension [semi-circles/sec]
double iDot_2=11; //!< Rate of inclination angle [semi-circles/sec]
double C_uc_3=12; //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
double C_us_3=13; //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
double C_rc_3=14; //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
double C_rs_3=15; //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
double C_ic_4=16; //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
double C_is_4=17; //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
uint32 d_Toe=18; // Ephemeris reference time
/*Clock correction parameters*/
uint32 d_Toc=19; // Clock correction data reference Time of Week
double af0_4=20; //!< SV clock bias correction coefficient [s]
double af1_4=21; //!< SV clock drift correction coefficient [s/s]
double af2_4=22; //!< SV clock drift rate correction coefficient [s/s^2]
/*GST*/
// Not belong to ephemeris set (page 1 to 4)
int32 WN_5=23; //!< Week number
int32 TOW_5=24; //!< Time of Week
double Galileo_satClkDrift=25;
double Galileo_dtr=26; //!< relativistic clock correction term
// SV status
int32 SISA_3=27;
int32 E5a_HS=28; //!< E5a Signal Health Status
int32 E5b_HS_5=29; //!< E5b Signal Health Status
int32 E1B_HS_5=30; //!< E1B Signal Health Status
bool E5a_DVS=31; //!< E5a Data Validity Status
bool E5b_DVS_5=32; //!< E5b Data Validity Status
bool E1B_DVS_5=33; //!< E1B Data Validity Status
double BGD_E1E5a_5=34; //!< E1-E5a Broadcast Group Delay [s]
double BGD_E1E5b_5=35; //!< E1-E5b Broadcast Group Delay [s]
int32 i_satellite_PRN=36; //!< SV PRN NUMBER
}

49
docs/protobuf/monitor_gps_ephemeris.proto Normal file
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@ -0,0 +1,49 @@
// SPDX-License-Identifier: BSD-3-Clause
// SPDX-FileCopyrightText: 2018-2020 Carles Fernandez-Prades <carles.fernandez@cttc.es>
syntax = "proto3";
package gnss_sdr;
message MonitorGpsEphemeris {
uint32 i_satellite_PRN=1; // SV PRN NUMBER
double d_TOW=2; //!< Time of GPS Week of the ephemeris set (taken from subframes TOW) [s]
double d_Crs=3; //!< Amplitude of the Sine Harmonic Correction Term to the Orbit Radius [m]
double d_Delta_n=4; //!< Mean Motion Difference From Computed Value [semi-circles/s]
double d_M_0=5; //!< Mean Anomaly at Reference Time [semi-circles]
double d_Cuc=6; //!< Amplitude of the Cosine Harmonic Correction Term to the Argument of Latitude [rad]
double d_e_eccentricity=7; //!< Eccentricity [dimensionless]
double d_Cus=8; //!< Amplitude of the Sine Harmonic Correction Term to the Argument of Latitude [rad]
double d_sqrt_A=9; //!< Square Root of the Semi-Major Axis [sqrt(m)]
uint32 d_Toe=10; //!< Ephemeris data reference time of week (Ref. 20.3.3.4.3 IS-GPS-200K) [s]
uint32 d_Toc=11; //!< clock data reference time (Ref. 20.3.3.3.3.1 IS-GPS-200K) [s]
double d_Cic=12; //!< Amplitude of the Cosine Harmonic Correction Term to the Angle of Inclination [rad]
double d_OMEGA0=13; //!< Longitude of Ascending Node of Orbit Plane at Weekly Epoch [semi-circles]
double d_Cis=14; //!< Amplitude of the Sine Harmonic Correction Term to the Angle of Inclination [rad]
double d_i_0=15; //!< Inclination Angle at Reference Time [semi-circles]
double d_Crc=16; //!< Amplitude of the Cosine Harmonic Correction Term to the Orbit Radius [m]
double d_OMEGA=17; //!< Argument of Perigee [semi-cicles]
double d_OMEGA_DOT=18; //!< Rate of Right Ascension [semi-circles/s]
double d_IDOT=19; //!< Rate of Inclination Angle [semi-circles/s]
int32 i_code_on_L2=20; //!< If 1, P code ON in L2; if 2, C/A code ON in L2;
int32 i_GPS_week=21; //!< GPS week number, aka WN [week]
bool b_L2_P_data_flag=22; //!< When true, indicates that the NAV data stream was commanded OFF on the P-code of the L2 channel
int32 i_SV_accuracy=23; //!< User Range Accuracy (URA) index of the SV (reference paragraph 6.2.1) for the standard positioning service user (Ref 20.3.3.3.1.3 IS-GPS-200K)
int32 i_SV_health=24;
double d_TGD=25; //!< Estimated Group Delay Differential: L1-L2 correction term only for the benefit of "L1 P(Y)" or "L2 P(Y)" s users [s]
double d_IODC=26; //!< Issue of Data, Clock
double d_IODE_SF2=27; //!< Issue of Data, Ephemeris (IODE), subframe 2
double d_IODE_SF3=28; //!< Issue of Data, Ephemeris(IODE), subframe 3
int32 i_AODO=29; //!< Age of Data Offset (AODO) term for the navigation message correction table (NMCT) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
bool b_fit_interval_flag=30; //!< indicates the curve-fit interval used by the CS (Block II/IIA/IIR/IIR-M/IIF) and SS (Block IIIA) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
double d_spare1=31;
double d_spare2=32;
double d_A_f0=33; //!< Coefficient 0 of code phase offset model [s]
double d_A_f1=34; //!< Coefficient 1 of code phase offset model [s/s]
double d_A_f2=35; //!< Coefficient 2 of code phase offset model [s/s^2]
bool b_integrity_status_flag=36;
bool b_alert_flag=37; //!< If true, indicates that the SV URA may be worse than indicated in d_SV_accuracy, use that SV at our own risk.
bool b_antispoofing_flag=38; //!< If true, the AntiSpoofing mode is ON in that SV
}

5
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -804,6 +804,11 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
pvt_output_parameters.protobuf_enabled = true;
}
// Read EPHEMERIS MONITOR Configuration
pvt_output_parameters.monitor_ephemeris_enabled = configuration->property(role + ".enable_monitor_ephemeris", false);
pvt_output_parameters.udp_eph_addresses = configuration->property(role + ".monitor_ephemeris_client_addresses", std::string("127.0.0.1"));
pvt_output_parameters.udp_eph_port = configuration->property(role + ".monitor_ephemeris_udp_port", 1234);
// Show time in local zone
pvt_output_parameters.show_local_time_zone = configuration->property(role + ".show_local_time_zone", false);

29
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -43,6 +43,7 @@
#include "gps_utc_model.h"
#include "gpx_printer.h"
#include "kml_printer.h"
#include "monitor_ephemeris_udp_sink.h"
#include "monitor_pvt.h"
#include "monitor_pvt_udp_sink.h"
#include "nmea_printer.h"
@ -396,6 +397,22 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
d_udp_sink_ptr = nullptr;
}
// EPHEMERIS MONITOR
d_flag_monitor_ephemeris_enabled = conf_.monitor_ephemeris_enabled;
if (d_flag_monitor_ephemeris_enabled)
{
std::string address_string = conf_.udp_eph_addresses;
std::vector<std::string> udp_addr_vec = split_string(address_string, '_');
std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
udp_addr_vec.erase(std::unique(udp_addr_vec.begin(), udp_addr_vec.end()), udp_addr_vec.end());
d_eph_udp_sink_ptr = std::make_unique<Monitor_Ephemeris_Udp_Sink>(udp_addr_vec, conf_.udp_eph_port, conf_.protobuf_enabled);
}
else
{
d_eph_udp_sink_ptr = nullptr;
}
// Create Sys V message queue
d_first_fix = true;
d_sysv_msg_key = 1101;
@ -1083,6 +1100,12 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
new_eph[gps_eph->i_satellite_PRN] = *gps_eph;
d_rp->log_rinex_nav_gps_nav(d_type_of_rx, new_eph);
}
// todo: Send only new sets of ephemeris (new TOE), not sent to the client
// send the new eph to the eph monitor (if enabled)
if (d_flag_monitor_ephemeris_enabled)
{
d_eph_udp_sink_ptr->write_gps_ephemeris(gps_eph);
}
}
d_internal_pvt_solver->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
if (d_enable_rx_clock_correction == true)
@ -1211,6 +1234,12 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
new_gal_eph[galileo_eph->i_satellite_PRN] = *galileo_eph;
d_rp->log_rinex_nav_gal_nav(d_type_of_rx, new_gal_eph);
}
// todo: Send only new sets of ephemeris (new TOE), not sent to the client
// send the new eph to the eph monitor (if enabled)
if (d_flag_monitor_ephemeris_enabled)
{
d_eph_udp_sink_ptr->write_galileo_ephemeris(galileo_eph);
}
}
d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
if (d_enable_rx_clock_correction == true)

3
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
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@ -52,6 +52,7 @@ class Gps_Ephemeris;
class Gpx_Printer;
class Kml_Printer;
class Monitor_Pvt_Udp_Sink;
class Monitor_Ephemeris_Udp_Sink;
class Nmea_Printer;
class Pvt_Conf;
class Rinex_Printer;
@ -168,6 +169,7 @@ private:
std::unique_ptr<GeoJSON_Printer> d_geojson_printer;
std::unique_ptr<Rtcm_Printer> d_rtcm_printer;
std::unique_ptr<Monitor_Pvt_Udp_Sink> d_udp_sink_ptr;
std::unique_ptr<Monitor_Ephemeris_Udp_Sink> d_eph_udp_sink_ptr;
std::chrono::time_point<std::chrono::system_clock> d_start;
std::chrono::time_point<std::chrono::system_clock> d_end;
@ -260,6 +262,7 @@ private:
bool d_first_fix;
bool d_xml_storage;
bool d_flag_monitor_pvt_enabled;
bool d_flag_monitor_ephemeris_enabled;
bool d_show_local_time_zone;
bool d_waiting_obs_block_rx_clock_offset_correction_msg;
bool d_enable_rx_clock_correction;

14
src/algorithms/PVT/libs/CMakeLists.txt
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@ -5,6 +5,8 @@
# SPDX-License-Identifier: BSD-3-Clause
protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${CMAKE_SOURCE_DIR}/docs/protobuf/monitor_pvt.proto)
protobuf_generate_cpp(PROTO_SRCS2 PROTO_HDRS2 ${CMAKE_SOURCE_DIR}/docs/protobuf/monitor_gps_ephemeris.proto)
protobuf_generate_cpp(PROTO_SRCS3 PROTO_HDRS3 ${CMAKE_SOURCE_DIR}/docs/protobuf/monitor_galileo_ephemeris.proto)
set(PVT_LIB_SOURCES
pvt_conf.cc
@ -18,6 +20,7 @@ set(PVT_LIB_SOURCES
rtcm.cc
rtklib_solver.cc
monitor_pvt_udp_sink.cc
monitor_ephemeris_udp_sink.cc
)
set(PVT_LIB_HEADERS
@ -34,6 +37,9 @@ set(PVT_LIB_HEADERS
monitor_pvt_udp_sink.h
monitor_pvt.h
serdes_monitor_pvt.h
serdes_galileo_eph.h
serdes_gps_eph.h
monitor_ephemeris_udp_sink.h
)
list(SORT PVT_LIB_HEADERS)
@ -44,14 +50,18 @@ if(USE_CMAKE_TARGET_SOURCES)
target_sources(pvt_libs
PRIVATE
${PROTO_SRCS}
${PROTO_SRCS2}
${PROTO_SRCS3}
${PROTO_HDRS}
${PROTO_HDRS2}
${PROTO_HDRS3}
${PVT_LIB_SOURCES}
PUBLIC
${PVT_LIB_HEADERS}
)
else()
source_group(Headers FILES ${PVT_LIB_HEADERS} ${PROTO_HDRS})
add_library(pvt_libs ${PVT_LIB_SOURCES} ${PROTO_SRCS} ${PVT_LIB_HEADERS} ${PROTO_HDRS})
source_group(Headers FILES ${PVT_LIB_HEADERS} ${PROTO_HDRS} ${PROTO_HDRS2} ${PROTO_HDRS3})
add_library(pvt_libs ${PVT_LIB_SOURCES} ${PROTO_SRCS} ${PROTO_SRCS2} ${PROTO_SRCS3} ${PVT_LIB_HEADERS} ${PROTO_HDRS} ${PROTO_HDRS2} ${PROTO_HDRS3})
endif()
target_link_libraries(pvt_libs

111
src/algorithms/PVT/libs/monitor_ephemeris_udp_sink.cc Normal file
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@ -0,0 +1,111 @@
/*!
* \file monitor_pvt_udp_sink.cc
* \brief Implementation of a class that sends serialized Monitor_Pvt
* objects over udp to one or multiple endpoints
* \author Álvaro Cebrián Juan, 2019. acebrianjuan(at)gmail.com
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#include "monitor_ephemeris_udp_sink.h"
#include <boost/archive/binary_oarchive.hpp>
#include <iostream>
#include <sstream>
Monitor_Ephemeris_Udp_Sink::Monitor_Ephemeris_Udp_Sink(const std::vector<std::string>& addresses, const uint16_t& port, bool protobuf_enabled) : socket{io_context}
{
for (const auto& address : addresses)
{
boost::asio::ip::udp::endpoint endpoint(boost::asio::ip::address::from_string(address, error), port);
endpoints.push_back(endpoint);
}
use_protobuf = protobuf_enabled;
if (use_protobuf)
{
serdes_gal = Serdes_Galileo_Eph();
serdes_gps = Serdes_Gps_Eph();
}
}
bool Monitor_Ephemeris_Udp_Sink::write_galileo_ephemeris(const std::shared_ptr<Galileo_Ephemeris> monitor_gal_eph)
{
std::string outbound_data;
if (use_protobuf == false)
{
std::ostringstream archive_stream;
boost::archive::binary_oarchive oa{archive_stream};
oa << *monitor_gal_eph;
outbound_data = archive_stream.str();
}
else
{
outbound_data = "E";
outbound_data.append(serdes_gal.createProtobuffer(monitor_gal_eph));
}
for (const auto& endpoint : endpoints)
{
socket.open(endpoint.protocol(), error);
socket.connect(endpoint, error);
try
{
if (socket.send(boost::asio::buffer(outbound_data)) == 0)
{
return false;
}
}
catch (boost::system::system_error const& e)
{
return false;
}
}
return true;
}
bool Monitor_Ephemeris_Udp_Sink::write_gps_ephemeris(const std::shared_ptr<Gps_Ephemeris> monitor_gps_eph)
{
std::string outbound_data;
if (use_protobuf == false)
{
std::ostringstream archive_stream;
boost::archive::binary_oarchive oa{archive_stream};
oa << *monitor_gps_eph;
outbound_data = archive_stream.str();
}
else
{
outbound_data = "G";
outbound_data.append(serdes_gps.createProtobuffer(monitor_gps_eph));
}
for (const auto& endpoint : endpoints)
{
socket.open(endpoint.protocol(), error);
socket.connect(endpoint, error);
try
{
if (socket.send(boost::asio::buffer(outbound_data)) == 0)
{
return false;
}
}
catch (boost::system::system_error const& e)
{
return false;
}
}
return true;
}

63
src/algorithms/PVT/libs/monitor_ephemeris_udp_sink.h Normal file
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@ -0,0 +1,63 @@
/*!
* \file monitor_pvt_udp_sink.h
* \brief Interface of a class that sends serialized Gps_Ephemeris objects
* over udp to one or multiple endpoints
* \author Álvaro Cebrián Juan, 2019. acebrianjuan(at)gmail.com
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_MONITOR_EPHEMERIS_UDP_SINK_H
#define GNSS_SDR_MONITOR_EPHEMERIS_UDP_SINK_H
#include "galileo_ephemeris.h"
#include "gps_ephemeris.h"
#include "serdes_galileo_eph.h"
#include "serdes_gps_eph.h"
#include <boost/asio.hpp>
#include <memory>
#include <string>
#include <vector>
/** \addtogroup PVT
* \{ */
/** \addtogroup PVT_libs
* \{ */
#if USE_BOOST_ASIO_IO_CONTEXT
using b_io_context = boost::asio::io_context;
#else
using b_io_context = boost::asio::io_service;
#endif
class Monitor_Ephemeris_Udp_Sink
{
public:
Monitor_Ephemeris_Udp_Sink(const std::vector<std::string>& addresses, const uint16_t& port, bool protobuf_enabled);
bool write_gps_ephemeris(const std::shared_ptr<Gps_Ephemeris> monitor_gps_eph);
bool write_galileo_ephemeris(const std::shared_ptr<Galileo_Ephemeris> monitor_gal_eph);
private:
Serdes_Galileo_Eph serdes_gal;
Serdes_Gps_Eph serdes_gps;
b_io_context io_context;
boost::asio::ip::udp::socket socket;
std::vector<boost::asio::ip::udp::endpoint> endpoints;
boost::system::error_code error;
bool use_protobuf;
};
/** \} */
/** \} */
#endif // GNSS_SDR_MONITOR_EPHEMERIS_UDP_SINK_H

2
src/algorithms/PVT/libs/pvt_conf.cc
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@ -61,8 +61,10 @@ Pvt_Conf::Pvt_Conf()
enable_rx_clock_correction = true;
monitor_enabled = false;
monitor_ephemeris_enabled = false;
protobuf_enabled = true;
udp_port = 0;
udp_eph_port = 0;
pre_2009_file = false;
show_local_time_zone = false;
}

3
src/algorithms/PVT/libs/pvt_conf.h
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@ -48,6 +48,7 @@ public:
std::string xml_output_path;
std::string rtcm_output_file_path;
std::string udp_addresses;
std::string udp_eph_addresses;
uint32_t type_of_receiver;
int32_t output_rate_ms;
@ -60,6 +61,7 @@ public:
int32_t rinexobs_rate_ms;
int32_t max_obs_block_rx_clock_offset_ms;
int udp_port;
int udp_eph_port;
uint16_t rtcm_tcp_port;
uint16_t rtcm_station_id;
@ -76,6 +78,7 @@ public:
bool xml_output_enabled;
bool rtcm_output_file_enabled;
bool monitor_enabled;
bool monitor_ephemeris_enabled;
bool protobuf_enabled;
bool enable_rx_clock_correction;
bool show_local_time_zone;

192
src/algorithms/PVT/libs/serdes_galileo_eph.h Normal file
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@ -0,0 +1,192 @@
/*!
* \file serdes_monitor_pvt.h
* \brief Serialization / Deserialization of Monitor_Pvt objects using
* Protocol Buffers
* \author Carles Fernandez-Prades, 2019. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_SERDESGAL_EPH_H
#define GNSS_SDR_SERDESGAL_EPH_H
#include "galileo_ephemeris.h"
#include "monitor_galileo_ephemeris.pb.h" // file created by Protocol Buffers at compile time
#include <memory>
#include <string>
#include <utility>
/** \addtogroup PVT
* \{ */
/** \addtogroup PVT_libs
* \{ */
/*!
* \brief This class implements serialization and deserialization of
* Monitor_Pvt objects using Protocol Buffers.
*/
class Serdes_Galileo_Eph
{
public:
Serdes_Galileo_Eph()
{
// Verify that the version of the library that we linked against is
// compatible with the version of the headers we compiled against.
GOOGLE_PROTOBUF_VERIFY_VERSION;
}
~Serdes_Galileo_Eph()
{
// google::protobuf::ShutdownProtobufLibrary();
}
inline Serdes_Galileo_Eph(const Serdes_Galileo_Eph& other) noexcept //!< Copy constructor
{
this->monitor_ = other.monitor_;
}
inline Serdes_Galileo_Eph& operator=(const Serdes_Galileo_Eph& rhs) noexcept //!< Copy assignment operator
{
this->monitor_ = rhs.monitor_;
return *this;
}
inline Serdes_Galileo_Eph(Serdes_Galileo_Eph&& other) noexcept //!< Move constructor
{
this->monitor_ = std::move(other.monitor_);
}
inline Serdes_Galileo_Eph& operator=(Serdes_Galileo_Eph&& other) noexcept //!< Move assignment operator
{
if (this != &other)
{
this->monitor_ = std::move(other.monitor_);
}
return *this;
}
inline std::string createProtobuffer(const std::shared_ptr<Galileo_Ephemeris> monitor) //!< Serialization into a string
{
monitor_.Clear();
std::string data;
monitor_.set_i_satellite_prn(monitor->i_satellite_PRN);
monitor_.set_iod_ephemeris(monitor->IOD_ephemeris);
monitor_.set_iod_nav_1(monitor->IOD_nav_1);
monitor_.set_m0_1(monitor->M0_1); //!< Mean anomaly at reference time [semi-circles]
monitor_.set_delta_n_3(monitor->delta_n_3); //!< Mean motion difference from computed value [semi-circles/sec]
monitor_.set_e_1(monitor->e_1); //!< Eccentricity
monitor_.set_a_1(monitor->A_1); //!< Square root of the semi-major axis [meters^1/2]
monitor_.set_omega_0_2(monitor->OMEGA_0_2); //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
monitor_.set_i_0_2(monitor->i_0_2); //!< Inclination angle at reference time [semi-circles]
monitor_.set_omega_2(monitor->omega_2); //!< Argument of perigee [semi-circles]
monitor_.set_omega_dot_3(monitor->OMEGA_dot_3); //!< Rate of right ascension [semi-circles/sec]
monitor_.set_idot_2(monitor->iDot_2); //!< Rate of inclination angle [semi-circles/sec]
monitor_.set_c_uc_3(monitor->C_uc_3); //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
monitor_.set_c_us_3(monitor->C_us_3); //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
monitor_.set_c_rc_3(monitor->C_rc_3); //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
monitor_.set_c_rs_3(monitor->C_rs_3); //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
monitor_.set_c_ic_4(monitor->C_ic_4); //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
monitor_.set_c_is_4(monitor->C_is_4); //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
monitor_.set_d_toe(monitor->t0e_1); // Ephemeris reference time
/*Clock correction parameters*/
monitor_.set_d_toc(monitor->t0c_4); // Clock correction data reference Time of Week
monitor_.set_af0_4(monitor->af0_4); //!< SV clock bias correction coefficient [s]
monitor_.set_af1_4(monitor->af1_4); //!< SV clock drift correction coefficient [s/s]
monitor_.set_af2_4(monitor->af2_4); //!< SV clock drift rate correction coefficient [s/s^2]
/*GST*/
// Not belong to ephemeris set (page 1 to 4)
monitor_.set_wn_5(monitor->WN_5); //!< Week number
monitor_.set_tow_5(monitor->TOW_5); //!< Time of Week
monitor_.set_galileo_satclkdrift(monitor->Galileo_satClkDrift);
monitor_.set_galileo_dtr(monitor->Galileo_dtr); //!< relativistic clock correction term
// SV status
monitor_.set_sisa_3(monitor->SISA_3);
monitor_.set_e5a_hs(monitor->E5a_HS); //!< E5a Signal Health Status
monitor_.set_e5b_hs_5(monitor->E5b_HS_5); //!< E5b Signal Health Status
monitor_.set_e1b_hs_5(monitor->E1B_HS_5); //!< E1B Signal Health Status
monitor_.set_e5a_dvs(monitor->E5a_DVS); //!< E5a Data Validity Status
monitor_.set_e5b_dvs_5(monitor->E5b_DVS_5); //!< E5b Data Validity Status
monitor_.set_e1b_dvs_5(monitor->E1B_DVS_5); //!< E1B Data Validity Status
monitor_.set_bgd_e1e5a_5(monitor->BGD_E1E5a_5); //!< E1-E5a Broadcast Group Delay [s]
monitor_.set_bgd_e1e5b_5(monitor->BGD_E1E5b_5); //!< E1-E5b Broadcast Group Delay [s]
monitor_.SerializeToString(&data);
return data;
}
inline Galileo_Ephemeris readProtobuffer(const gnss_sdr::MonitorGalileoEphemeris& mon) const //!< Deserialization
{
Galileo_Ephemeris monitor;
monitor.i_satellite_PRN = mon.i_satellite_prn();
monitor.IOD_ephemeris = mon.iod_ephemeris();
monitor.IOD_nav_1 = mon.iod_nav_1();
monitor.M0_1 = mon.m0_1(); //!< Mean anomaly at reference time [semi-circles]
monitor.delta_n_3 = mon.delta_n_3(); //!< Mean motion difference from computed value [semi-circles/sec]
monitor.e_1 = mon.e_1(); //!< Eccentricity
monitor.A_1 = mon.a_1(); //!< Square root of the semi-major axis [meters^1/2]
monitor.OMEGA_0_2 = mon.omega_0_2(); //!< Longitude of ascending node of orbital plane at weekly epoch [semi-circles]
monitor.i_0_2 = mon.i_0_2(); //!< Inclination angle at reference time [semi-circles]
monitor.omega_2 = mon.omega_2(); //!< Argument of perigee [semi-circles]
monitor.OMEGA_dot_3 = mon.omega_dot_3(); //!< Rate of right ascension [semi-circles/sec]
monitor.iDot_2 = mon.idot_2(); //!< Rate of inclination angle [semi-circles/sec]
monitor.C_uc_3 = mon.c_uc_3(); //!< Amplitude of the cosine harmonic correction term to the argument of latitude [radians]
monitor.C_us_3 = mon.c_us_3(); //!< Amplitude of the sine harmonic correction term to the argument of latitude [radians]
monitor.C_rc_3 = mon.c_rc_3(); //!< Amplitude of the cosine harmonic correction term to the orbit radius [meters]
monitor.C_rs_3 = mon.c_rs_3(); //!< Amplitude of the sine harmonic correction term to the orbit radius [meters]
monitor.C_ic_4 = mon.c_ic_4(); //!< Amplitude of the cosine harmonic correction term to the angle of inclination [radians]
monitor.C_is_4 = mon.c_is_4(); //!< Amplitude of the sine harmonic correction term to the angle of inclination [radians]
monitor.t0e_1 = mon.d_toe(); // Ephemeris reference time
/*Clock correction parameters*/
monitor.t0c_4 = mon.d_toc(); // Clock correction data reference Time of Week
monitor.af0_4 = mon.af0_4(); //!< SV clock bias correction coefficient [s]
monitor.af1_4 = mon.af1_4(); //!< SV clock drift correction coefficient [s/s]
monitor.af2_4 = mon.af2_4(); //!< SV clock drift rate correction coefficient [s/s^2]
/*GST*/
// Not belong to ephemeris set (page 1 to 4)
monitor.WN_5 = mon.wn_5(); //!< Week number
monitor.TOW_5 = mon.tow_5(); //!< Time of Week
monitor.Galileo_satClkDrift = mon.galileo_satclkdrift();
monitor.Galileo_dtr = mon.galileo_dtr(); //!< relativistic clock correction term
// SV status
monitor.SISA_3 = mon.sisa_3();
monitor.E5a_HS = mon.e5a_hs(); //!< E5a Signal Health Status
monitor.E5b_HS_5 = mon.e5b_hs_5(); //!< E5b Signal Health Status
monitor.E1B_HS_5 = mon.e1b_hs_5(); //!< E1B Signal Health Status
monitor.E5a_DVS = mon.e5a_dvs(); //!< E5a Data Validity Status
monitor.E5b_DVS_5 = mon.e5b_dvs_5(); //!< E5b Data Validity Status
monitor.E1B_DVS_5 = mon.e1b_dvs_5(); //!< E1B Data Validity Status
monitor.BGD_E1E5a_5 = mon.bgd_e1e5a_5(); //!< E1-E5a Broadcast Group Delay [s]
monitor.BGD_E1E5b_5 = mon.bgd_e1e5b_5(); //!< E1-E5b Broadcast Group Delay [s]
return monitor;
}
private:
gnss_sdr::MonitorGalileoEphemeris monitor_{};
};
/** \} */
/** \} */
#endif // GNSS_SDR_SERDESGAL_EPH_H

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src/algorithms/PVT/libs/serdes_gps_eph.h Normal file
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@ -0,0 +1,183 @@
/*!
* \file serdes_monitor_pvt.h
* \brief Serialization / Deserialization of Monitor_Pvt objects using
* Protocol Buffers
* \author Carles Fernandez-Prades, 2019. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_SERDES_GPS_EPH_H
#define GNSS_SDR_SERDES_GPS_EPH_H
#include "gps_ephemeris.h"
#include "monitor_gps_ephemeris.pb.h" // file created by Protocol Buffers at compile time
#include <memory>
#include <string>
#include <utility>
/** \addtogroup PVT
* \{ */
/** \addtogroup PVT_libs
* \{ */
/*!
* \brief This class implements serialization and deserialization of
* Monitor_Pvt objects using Protocol Buffers.
*/
class Serdes_Gps_Eph
{
public:
Serdes_Gps_Eph()
{
// Verify that the version of the library that we linked against is
// compatible with the version of the headers we compiled against.
GOOGLE_PROTOBUF_VERIFY_VERSION;
}
~Serdes_Gps_Eph()
{
// google::protobuf::ShutdownProtobufLibrary();
}
inline Serdes_Gps_Eph(const Serdes_Gps_Eph& other) noexcept //!< Copy constructor
{
this->monitor_ = other.monitor_;
}
inline Serdes_Gps_Eph& operator=(const Serdes_Gps_Eph& rhs) noexcept //!< Copy assignment operator
{
this->monitor_ = rhs.monitor_;
return *this;
}
inline Serdes_Gps_Eph(Serdes_Gps_Eph&& other) noexcept //!< Move constructor
{
this->monitor_ = std::move(other.monitor_);
}
inline Serdes_Gps_Eph& operator=(Serdes_Gps_Eph&& other) noexcept //!< Move assignment operator
{
if (this != &other)
{
this->monitor_ = std::move(other.monitor_);
}
return *this;
}
inline std::string createProtobuffer(const std::shared_ptr<Gps_Ephemeris> monitor) //!< Serialization into a string
{
monitor_.Clear();
std::string data;
monitor_.set_i_satellite_prn(monitor->i_satellite_PRN); // SV PRN NUMBER
monitor_.set_d_tow(monitor->d_TOW); //!< time of gps week of the ephemeris set (taken from subframes tow) [s]
monitor_.set_d_crs(monitor->d_Crs); //!< amplitude of the sine harmonic correction term to the orbit radius [m]
monitor_.set_d_delta_n(monitor->d_Delta_n); //!< mean motion difference from computed value [semi-circles/s]
monitor_.set_d_m_0(monitor->d_M_0); //!< mean anomaly at reference time [semi-circles]
monitor_.set_d_cuc(monitor->d_Cuc); //!< amplitude of the cosine harmonic correction term to the argument of latitude [rad]
monitor_.set_d_e_eccentricity(monitor->d_e_eccentricity); //!< eccentricity [dimensionless]
monitor_.set_d_cus(monitor->d_Cus); //!< amplitude of the sine harmonic correction term to the argument of latitude [rad]
monitor_.set_d_sqrt_a(monitor->d_sqrt_A); //!< square root of the semi-major axis [sqrt(m)]
monitor_.set_d_toe(monitor->d_Toe); //!< ephemeris data reference time of week (ref. 20.3.3.4.3 is-gps-200k) [s]
monitor_.set_d_toc(monitor->d_Toc); //!< clock data reference time (ref. 20.3.3.3.3.1 is-gps-200k) [s]
monitor_.set_d_cic(monitor->d_Cic); //!< amplitude of the cosine harmonic correction term to the angle of inclination [rad]
monitor_.set_d_omega0(monitor->d_OMEGA0); //!< longitude of ascending node of orbit plane at weekly epoch [semi-circles]
monitor_.set_d_cis(monitor->d_Cis); //!< amplitude of the sine harmonic correction term to the angle of inclination [rad]
monitor_.set_d_i_0(monitor->d_i_0); //!< inclination angle at reference time [semi-circles]
monitor_.set_d_crc(monitor->d_Crc); //!< amplitude of the cosine harmonic correction term to the orbit radius [m]
monitor_.set_d_omega(monitor->d_OMEGA); //!< argument of perigee [semi-cicles]
monitor_.set_d_omega_dot(monitor->d_OMEGA_DOT); //!< rate of right ascension [semi-circles/s]
monitor_.set_d_idot(monitor->d_IDOT); //!< rate of inclination angle [semi-circles/s]
monitor_.set_i_code_on_l2(monitor->i_code_on_L2); //!< if 1, p code on in l2; if 2, c/a code on in l2;
monitor_.set_i_gps_week(monitor->i_GPS_week); //!< gps week number, aka wn [week]
monitor_.set_b_l2_p_data_flag(monitor->b_L2_P_data_flag); //!< when true, indicates that the nav data stream was commanded off on the p-code of the l2 channel
monitor_.set_i_sv_accuracy(monitor->i_SV_accuracy); //!< user range accuracy (ura) index of the sv (reference paragraph 6.2.1) for the standard positioning service user (ref 20.3.3.3.1.3 is-gps-200k)
monitor_.set_i_sv_health(monitor->i_SV_health);
monitor_.set_d_tgd(monitor->d_TGD); //!< estimated group delay differential: l1-l2 correction term only for the benefit of "l1 p(y)" or "l2 p(y)" s users [s]
monitor_.set_d_iodc(monitor->d_IODC); //!< issue of data, clock
monitor_.set_d_iode_sf2(monitor->d_IODE_SF2); //!< issue of data, ephemeris (iode), subframe 2
monitor_.set_d_iode_sf3(monitor->d_IODE_SF3); //!< issue of data, ephemeris(iode), subframe 3
monitor_.set_i_aodo(monitor->i_AODO); //!< age of data offset (aodo) term for the navigation message correction table (nmct) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
monitor_.set_b_fit_interval_flag(monitor->b_fit_interval_flag); //!< indicates the curve-fit interval used by the cs (block ii/iia/iir/iir-m/iif) and ss (block iiia) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
monitor_.set_d_spare1(monitor->d_spare1);
monitor_.set_d_spare2(monitor->d_spare2);
monitor_.set_d_a_f0(monitor->d_A_f0); //!< coefficient 0 of code phase offset model [s]
monitor_.set_d_a_f1(monitor->d_A_f1); //!< coefficient 1 of code phase offset model [s/s]
monitor_.set_d_a_f2(monitor->d_A_f2); //!< coefficient 2 of code phase offset model [s/s^2]
monitor_.set_b_integrity_status_flag(monitor->b_integrity_status_flag);
monitor_.set_b_alert_flag(monitor->b_alert_flag); //!< if true, indicates that the sv ura may be worse than indicated in d_sv_accuracy, use that sv at our own risk.
monitor_.set_b_antispoofing_flag(monitor->b_antispoofing_flag); //!< if true, the antispoofing mode is on in that sv
monitor_.SerializeToString(&data);
return data;
}
inline Gps_Ephemeris readProtobuffer(const gnss_sdr::MonitorGpsEphemeris& mon) const //!< Deserialization
{
Gps_Ephemeris monitor;
monitor.i_satellite_PRN = mon.i_satellite_prn(); // SV PRN NUMBER
monitor.d_TOW = mon.d_tow(); //!< time of gps week of the ephemeris set (taken from subframes tow) [s]
monitor.d_Crs = mon.d_crs(); //!< amplitude of the sine harmonic correction term to the orbit radius [m]
monitor.d_Delta_n = mon.d_delta_n(); //!< mean motion difference from computed value [semi-circles/s]
monitor.d_M_0 = mon.d_m_0(); //!< mean anomaly at reference time [semi-circles]
monitor.d_Cuc = mon.d_cuc(); //!< amplitude of the cosine harmonic correction term to the argument of latitude [rad]
monitor.d_e_eccentricity = mon.d_e_eccentricity(); //!< eccentricity [dimensionless]
monitor.d_Cus = mon.d_cus(); //!< amplitude of the sine harmonic correction term to the argument of latitude [rad]
monitor.d_sqrt_A = mon.d_sqrt_a(); //!< square root of the semi-major axis [sqrt(m)]
monitor.d_Toe = mon.d_toe(); //!< ephemeris data reference time of week (ref. 20.3.3.4.3 is-gps-200k) [s]
monitor.d_Toc = mon.d_toc(); //!< clock data reference time (ref. 20.3.3.3.3.1 is-gps-200k) [s]
monitor.d_Cic = mon.d_cic(); //!< amplitude of the cosine harmonic correction term to the angle of inclination [rad]
monitor.d_OMEGA0 = mon.d_omega0(); //!< longitude of ascending node of orbit plane at weekly epoch [semi-circles]
monitor.d_Cis = mon.d_cis(); //!< amplitude of the sine harmonic correction term to the angle of inclination [rad]
monitor.d_i_0 = mon.d_i_0(); //!< inclination angle at reference time [semi-circles]
monitor.d_Crc = mon.d_crc(); //!< amplitude of the cosine harmonic correction term to the orbit radius [m]
monitor.d_OMEGA = mon.d_omega(); //!< argument of perigee [semi-cicles]
monitor.d_OMEGA_DOT = mon.d_omega_dot(); //!< rate of right ascension [semi-circles/s]
monitor.d_IDOT = mon.d_idot(); //!< rate of inclination angle [semi-circles/s]
monitor.i_code_on_L2 = mon.i_code_on_l2(); //!< if 1, p code on in l2; if 2, c/a code on in l2;
monitor.i_GPS_week = mon.i_gps_week(); //!< gps week number, aka wn [week]
monitor.b_L2_P_data_flag = mon.b_l2_p_data_flag(); //!< when true, indicates that the nav data stream was commanded off on the p-code of the l2 channel
monitor.i_SV_accuracy = mon.i_sv_accuracy(); //!< user range accuracy (ura) index of the sv (reference paragraph 6.2.1) for the standard positioning service user (ref 20.3.3.3.1.3 is-gps-200k)
monitor.i_SV_health = mon.i_sv_health();
monitor.d_TGD = mon.d_tgd(); //!< estimated group delay differential: l1-l2 correction term only for the benefit of "l1 p(y)" or "l2 p(y)" s users [s]
monitor.d_IODC = mon.d_iodc(); //!< issue of data, clock
monitor.d_IODE_SF2 = mon.d_iode_sf2(); //!< issue of data, ephemeris (iode), subframe 2
monitor.d_IODE_SF3 = mon.d_iode_sf3(); //!< issue of data, ephemeris(iode), subframe 3
monitor.i_AODO = mon.i_aodo(); //!< age of data offset (aodo) term for the navigation message correction table (nmct) contained in subframe 4 (reference paragraph 20.3.3.5.1.9) [s]
monitor.b_fit_interval_flag = mon.b_fit_interval_flag(); //!< indicates the curve-fit interval used by the cs (block ii/iia/iir/iir-m/iif) and ss (block iiia) in determining the ephemeris parameters, as follows: 0 = 4 hours, 1 = greater than 4 hours.
monitor.d_spare1 = mon.d_spare1();
monitor.d_spare2 = mon.d_spare2();
monitor.d_A_f0 = mon.d_a_f0(); //!< coefficient 0 of code phase offset model [s]
monitor.d_A_f1 = mon.d_a_f1(); //!< coefficient 1 of code phase offset model [s/s]
monitor.d_A_f2 = mon.d_a_f2(); //!< coefficient 2 of code phase offset model [s/s^2]
monitor.b_integrity_status_flag = mon.b_integrity_status_flag();
monitor.b_alert_flag = mon.b_alert_flag(); //!< if true, indicates that the sv ura may be worse than indicated in d_sv_accuracy, use that sv at our own risk.
monitor.b_antispoofing_flag = mon.b_antispoofing_flag(); //!< if true, the antispoofing mode is on in that sv
return monitor;
}
private:
gnss_sdr::MonitorGpsEphemeris monitor_{};
};
/** \} */
/** \} */
#endif // GNSS_SDR_SERDES_GPS_EPH_H

7
src/tests/unit-tests/signal-processing-blocks/pvt/serdes_monitor_pvt_test.cc
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@ -14,6 +14,7 @@
* -----------------------------------------------------------------------------
*/
#include "serdes_galileo_eph.h"
#include "serdes_monitor_pvt.h"
#include <memory>
@ -29,6 +30,12 @@ TEST(Serdes_Monitor_Pvt_Test, Simpletest)
gnss_sdr::MonitorPvt mon;
mon.ParseFromString(serialized_data);
serdes.readProtobuffer(mon);
gnss_sdr::MonitorGalileoEphemeris ephgal;
Serdes_Galileo_Eph gal_serdes = Serdes_Galileo_Eph();
gal_serdes.readProtobuffer(ephgal);
double read_latitude = mon.latitude();
EXPECT_NEAR(true_latitude, read_latitude, 0.000001);
}