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

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Carles Fernandez 2018-11-03 19:44:11 +01:00
commit 607700b3be
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GPG Key ID: 4C583C52B0C3877D
1 changed files with 71 additions and 44 deletions
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115
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@ -401,6 +401,13 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
}
else
{
d_rtcm_MT1019_rate_ms = 0;
d_rtcm_MT1045_rate_ms = 0;
d_rtcm_MT1020_rate_ms = 0;
d_rtcm_MT1077_rate_ms = 0;
d_rtcm_MT1087_rate_ms = 0;
d_rtcm_MT1097_rate_ms = 0;
d_rtcm_MSM_rate_ms = 0;
b_rtcm_enabled = false;
b_rtcm_writing_started = false;
d_rtcm_printer = nullptr;
@ -895,46 +902,49 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// store valid observables in a map.
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(i, in[i][epoch]));
}
try
if (b_rtcm_enabled)
{
if (d_ls_pvt->gps_ephemeris_map.empty() == false)
try
{
if (tmp_eph_iter_gps != d_ls_pvt->gps_ephemeris_map.end())
if (d_ls_pvt->gps_ephemeris_map.empty() == false)
{
d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
if (tmp_eph_iter_gps != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
if (d_ls_pvt->galileo_ephemeris_map.empty() == false)
{
if (tmp_eph_iter_gal != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
if (d_ls_pvt->gps_cnav_ephemeris_map.empty() == false)
{
if (tmp_eph_iter_cnav != d_ls_pvt->gps_cnav_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
if (d_ls_pvt->glonass_gnav_ephemeris_map.empty() == false)
{
if (tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
}
if (d_ls_pvt->galileo_ephemeris_map.empty() == false)
catch (const boost::exception& ex)
{
if (tmp_eph_iter_gal != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
std::cout << "RTCM boost exception: " << boost::diagnostic_information(ex) << std::endl;
LOG(ERROR) << "RTCM boost exception: " << boost::diagnostic_information(ex);
}
if (d_ls_pvt->gps_cnav_ephemeris_map.empty() == false)
catch (const std::exception& ex)
{
if (tmp_eph_iter_cnav != d_ls_pvt->gps_cnav_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
std::cout << "RTCM std exception: " << ex.what() << std::endl;
LOG(ERROR) << "RTCM std exception: " << ex.what();
}
if (d_ls_pvt->glonass_gnav_ephemeris_map.empty() == false)
{
if (tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
}
}
}
catch (const boost::exception& ex)
{
std::cout << "RTCM boost exception: " << boost::diagnostic_information(ex) << std::endl;
LOG(ERROR) << "RTCM boost exception: " << boost::diagnostic_information(ex);
}
catch (const std::exception& ex)
{
std::cout << "RTCM std exception: " << ex.what() << std::endl;
LOG(ERROR) << "RTCM std exception: " << ex.what();
}
}
}
@ -976,17 +986,26 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
{
flag_display_pvt = true;
}
if (current_RX_time_ms % d_rtcm_MT1019_rate_ms == 0 and d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
flag_write_RTCM_1019_output = true;
if (current_RX_time_ms % d_rtcm_MT1019_rate_ms == 0)
{
flag_write_RTCM_1019_output = true;
}
}
if (current_RX_time_ms % d_rtcm_MT1020_rate_ms == 0 and d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
flag_write_RTCM_1020_output = true;
if (current_RX_time_ms % d_rtcm_MT1020_rate_ms == 0)
{
flag_write_RTCM_1020_output = true;
}
}
if (current_RX_time_ms % d_rtcm_MT1045_rate_ms == 0 and d_rtcm_MT1045_rate_ms != 0)
if (d_rtcm_MT1045_rate_ms != 0)
{
flag_write_RTCM_1045_output = true;
if (current_RX_time_ms % d_rtcm_MT1045_rate_ms == 0)
{
flag_write_RTCM_1045_output = true;
}
}
// TODO: RTCM 1077, 1087 and 1097 are not used, so, disable the output rates
// if (current_RX_time_ms % d_rtcm_MT1077_rate_ms==0 and d_rtcm_MT1077_rate_ms != 0)
@ -1001,18 +1020,26 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
// {
// last_RTCM_1097_output_time = current_RX_time;
// }
if (current_RX_time_ms % d_rtcm_MSM_rate_ms == 0 and d_rtcm_MSM_rate_ms != 0)
if (d_rtcm_MSM_rate_ms != 0)
{
flag_write_RTCM_MSM_output = true;
if (current_RX_time_ms % d_rtcm_MSM_rate_ms == 0)
{
flag_write_RTCM_MSM_output = true;
}
}
if (current_RX_time_ms % static_cast<uint32_t>(d_rinexobs_rate_ms) == 0)
if (d_rinexobs_rate_ms != 0)
{
flag_write_RINEX_obs_output = true;
if (current_RX_time_ms % static_cast<uint32_t>(d_rinexobs_rate_ms) == 0)
{
flag_write_RINEX_obs_output = true;
}
}
if (current_RX_time_ms % static_cast<uint32_t>(d_rinexnav_rate_ms) == 0)
if (d_rinexnav_rate_ms != 0)
{
flag_write_RINEX_nav_output = true;
if (current_RX_time_ms % static_cast<uint32_t>(d_rinexnav_rate_ms) == 0)
{
flag_write_RINEX_nav_output = true;
}
}
if (first_fix == true)