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

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This commit is contained in:
Carles Fernandez
2026-01-27 11:26:59 +01:00
parent 21dfea0528 c32988eac8
commit 6307752e82
16 changed files with 814 additions and 2568 deletions
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CMakeLists.txt
+1 -1
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@@ -364,7 +364,7 @@ set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.15")
set(GNSSSDR_GTEST_LOCAL_VERSION "1.17.0")
set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "origin/master")
set(GNSSSDR_GNSSTK_LOCAL_VERSION "15.0.0")
set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.9.4")
set(GNSSSDR_BENCHMARK_LOCAL_VERSION "1.9.5")
set(GNSSSDR_MATHJAX_EXTERNAL_VERSION "2.7.7")
set(GNSSSDR_ABSL_LOCAL_VERSION "origin/master") # live at head (see https://abseil.io/about/releases)
docs/CHANGELOG.md
+7 -1
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@@ -4,7 +4,7 @@ SPDX-License-Identifier: GPL-3.0-or-later
)
[comment]: # (
SPDX-FileCopyrightText: 2011-2025 Carles Fernandez-Prades <carles.fernandez@cttc.es>
SPDX-FileCopyrightText: 2011-2026 Carles Fernandez-Prades <carles.fernandez@cttc.es>
)
<!-- prettier-ignore-end -->
@@ -44,6 +44,12 @@ All notable changes to GNSS-SDR will be documented in this file.
- Refactored the internal handling of multi-signal configurations in the PVT
block for improved maintainability and extensibility. Another excellent
contribution by @MathieuFavreau.
- Major refactoring of the RINEX printer, significantly improving
maintainability and correcting several bugs. The printer now consistently
populates all observable fields when multiple signals exist for the same
constellation, writing zeros for missing observables as needed to strictly
match the observables header format. Another excellent contribution by
@MathieuFavreau.
- Integration of Glonass L1/l2 C/A signal tracking into the main tracking
engine. Removed `GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking` and
`GLONASS_L1_CA_DLL_PLL_C_Aid_Tracking` Tracking block implementations,
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
+22 -91
View File
@@ -412,7 +412,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
// initialize RINEX printer
if (d_rinex_output_enabled)
{
d_rp = std::make_unique<Rinex_Printer>(d_rinex_version, conf_.rinex_output_path, conf_.rinex_name, conf_.pre_2009_file);
d_rp = std::make_unique<Rinex_Printer>(d_signal_enabled_flags, d_rinex_version, conf_.rinex_output_path, conf_.rinex_name, conf_.pre_2009_file);
}
else
{
@@ -1217,24 +1217,11 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// update/insert new ephemeris record to the global ephemeris map
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_internal_pvt_solver->gps_ephemeris_map.find(gps_eph->PRN) == d_internal_pvt_solver->gps_ephemeris_map.cend())
const auto eph_it = d_internal_pvt_solver->gps_ephemeris_map.find(gps_eph->PRN);
if (eph_it == d_internal_pvt_solver->gps_ephemeris_map.cend() || eph_it->second.toe != gps_eph->toe)
{
new_annotation = true;
}
else
{
if (d_internal_pvt_solver->gps_ephemeris_map[gps_eph->PRN].toe != gps_eph->toe)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Gps_Ephemeris> new_eph;
new_eph[gps_eph->PRN] = *gps_eph;
d_rp->log_rinex_nav_gps_nav(d_signal_enabled_flags, new_eph);
d_rp->log_rinex_nav_gps_nav({{gps_eph->PRN, *gps_eph}}); // New record!
}
}
d_internal_pvt_solver->gps_ephemeris_map[gps_eph->PRN] = *gps_eph;
@@ -1285,24 +1272,11 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// update/insert new ephemeris record to the global ephemeris map
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_internal_pvt_solver->gps_cnav_ephemeris_map.find(gps_cnav_ephemeris->PRN) == d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
const auto eph_it = d_internal_pvt_solver->gps_cnav_ephemeris_map.find(gps_cnav_ephemeris->PRN);
if (eph_it == d_internal_pvt_solver->gps_cnav_ephemeris_map.cend() || eph_it->second.toe1 != gps_cnav_ephemeris->toe1)
{
new_annotation = true;
}
else
{
if (d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->PRN].toe1 != gps_cnav_ephemeris->toe1)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
new_cnav_eph[gps_cnav_ephemeris->PRN] = *gps_cnav_ephemeris;
d_rp->log_rinex_nav_gps_cnav(d_signal_enabled_flags, new_cnav_eph);
d_rp->log_rinex_nav_gps_cnav({{gps_cnav_ephemeris->PRN, *gps_cnav_ephemeris}}); // New record!
}
}
d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->PRN] = *gps_cnav_ephemeris;
@@ -1377,28 +1351,11 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// update/insert new ephemeris record to the global ephemeris map
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_internal_pvt_solver->galileo_ephemeris_map.find(galileo_eph->PRN) == d_internal_pvt_solver->galileo_ephemeris_map.cend())
const auto eph_it = d_internal_pvt_solver->galileo_ephemeris_map.find(galileo_eph->PRN);
if ((eph_it == d_internal_pvt_solver->galileo_ephemeris_map.cend() || eph_it->second.toe != galileo_eph->toe) && galileo_eph->WN != 0 && galileo_eph->PRN <= 36)
{
new_annotation = true;
}
else
{
if (d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->PRN].toe != galileo_eph->toe)
{
new_annotation = true;
}
}
if (galileo_eph->WN == 0 || galileo_eph->PRN > 36)
{
new_annotation = false;
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
new_gal_eph[galileo_eph->PRN] = *galileo_eph;
d_rp->log_rinex_nav_gal_nav(d_signal_enabled_flags, new_gal_eph);
d_rp->log_rinex_nav_gal_nav({{galileo_eph->PRN, *galileo_eph}}); // New record!
}
}
d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->PRN] = *galileo_eph;
@@ -1504,24 +1461,11 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// update/insert new ephemeris record to the global ephemeris map
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->PRN) == d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
const auto eph_it = d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->PRN);
if (eph_it == d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend() || eph_it->second.d_t_b != glonass_gnav_eph->d_t_b)
{
new_annotation = true;
}
else
{
if (d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->PRN].d_t_b != glonass_gnav_eph->d_t_b)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
new_glo_eph[glonass_gnav_eph->PRN] = *glonass_gnav_eph;
d_rp->log_rinex_nav_glo_gnav(d_signal_enabled_flags, new_glo_eph);
d_rp->log_rinex_nav_glo_gnav({{glonass_gnav_eph->PRN, *glonass_gnav_eph}}); // New record!
}
}
d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->PRN] = *glonass_gnav_eph;
@@ -1567,24 +1511,11 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
// update/insert new ephemeris record to the global ephemeris map
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_internal_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->PRN) == d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend())
const auto eph_it = d_internal_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->PRN);
if (eph_it == d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend() || eph_it->second.toc != bds_dnav_eph->toc)
{
new_annotation = true;
}
else
{
if (d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->PRN].toc != bds_dnav_eph->toc)
{
new_annotation = true;
}
}
if (new_annotation == true)
{
// New record!
std::map<int32_t, Beidou_Dnav_Ephemeris> new_bds_eph;
new_bds_eph[bds_dnav_eph->PRN] = *bds_dnav_eph;
d_rp->log_rinex_nav_bds_dnav(d_signal_enabled_flags, new_bds_eph);
d_rp->log_rinex_nav_bds_dnav({{bds_dnav_eph->PRN, *bds_dnav_eph}}); // New record!
}
}
d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->PRN] = *bds_dnav_eph;
@@ -2493,7 +2424,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (d_rinex_output_enabled)
{
d_rp->print_rinex_annotation(d_user_pvt_solver.get(), d_gnss_observables_map, d_rx_time, d_signal_enabled_flags, flag_write_RINEX_obs_output);
d_rp->print_rinex_annotation(d_user_pvt_solver.get(), d_gnss_observables_map, d_rx_time, flag_write_RINEX_obs_output);
}
if (d_rtcm_enabled)
{
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
+46 -46
View File
@@ -199,7 +199,7 @@ private:
std::chrono::time_point<std::chrono::system_clock> d_start;
std::chrono::time_point<std::chrono::system_clock> d_end;
std::string d_queue_name;
const std::string d_queue_name;
std::string d_dump_filename;
std::string d_xml_base_path;
std::string d_local_time_str;
@@ -215,35 +215,35 @@ private:
std::queue<GnssTime> d_TimeChannelTagTimestamps;
boost::posix_time::time_duration d_utc_diff_time;
std::unique_ptr<Geohash> d_geohash;
const std::unique_ptr<Geohash> d_geohash;
size_t d_gps_ephemeris_sptr_type_hash_code;
size_t d_gps_iono_sptr_type_hash_code;
size_t d_gps_utc_model_sptr_type_hash_code;
size_t d_gps_cnav_ephemeris_sptr_type_hash_code;
size_t d_gps_cnav_iono_sptr_type_hash_code;
size_t d_gps_cnav_utc_model_sptr_type_hash_code;
size_t d_gps_almanac_sptr_type_hash_code;
size_t d_galileo_ephemeris_sptr_type_hash_code;
size_t d_galileo_iono_sptr_type_hash_code;
size_t d_galileo_utc_model_sptr_type_hash_code;
size_t d_galileo_almanac_helper_sptr_type_hash_code;
size_t d_galileo_almanac_sptr_type_hash_code;
size_t d_glonass_gnav_ephemeris_sptr_type_hash_code;
size_t d_glonass_gnav_utc_model_sptr_type_hash_code;
size_t d_glonass_gnav_almanac_sptr_type_hash_code;
size_t d_beidou_dnav_ephemeris_sptr_type_hash_code;
size_t d_beidou_dnav_iono_sptr_type_hash_code;
size_t d_beidou_dnav_utc_model_sptr_type_hash_code;
size_t d_beidou_dnav_almanac_sptr_type_hash_code;
size_t d_galileo_has_data_sptr_type_hash_code;
const size_t d_gps_ephemeris_sptr_type_hash_code;
const size_t d_gps_iono_sptr_type_hash_code;
const size_t d_gps_utc_model_sptr_type_hash_code;
const size_t d_gps_cnav_ephemeris_sptr_type_hash_code;
const size_t d_gps_cnav_iono_sptr_type_hash_code;
const size_t d_gps_cnav_utc_model_sptr_type_hash_code;
const size_t d_gps_almanac_sptr_type_hash_code;
const size_t d_galileo_ephemeris_sptr_type_hash_code;
const size_t d_galileo_iono_sptr_type_hash_code;
const size_t d_galileo_utc_model_sptr_type_hash_code;
const size_t d_galileo_almanac_helper_sptr_type_hash_code;
const size_t d_galileo_almanac_sptr_type_hash_code;
const size_t d_glonass_gnav_ephemeris_sptr_type_hash_code;
const size_t d_glonass_gnav_utc_model_sptr_type_hash_code;
const size_t d_glonass_gnav_almanac_sptr_type_hash_code;
const size_t d_beidou_dnav_ephemeris_sptr_type_hash_code;
const size_t d_beidou_dnav_iono_sptr_type_hash_code;
const size_t d_beidou_dnav_utc_model_sptr_type_hash_code;
const size_t d_beidou_dnav_almanac_sptr_type_hash_code;
const size_t d_galileo_has_data_sptr_type_hash_code;
double d_rinex_version;
const double d_rinex_version;
double d_rx_time;
uint64_t d_local_counter_ms;
uint64_t d_timestamp_rx_clock_offset_correction_msg_ms;
int32_t d_rinexobs_rate_ms;
const int32_t d_rinexobs_rate_ms;
int32_t d_rtcm_MT1045_rate_ms; // Galileo Broadcast Ephemeris
int32_t d_rtcm_MT1019_rate_ms; // GPS Broadcast Ephemeris (orbits)
int32_t d_rtcm_MT1020_rate_ms; // GLONASS Broadcast Ephemeris (orbits)
@@ -251,24 +251,24 @@ private:
int32_t d_rtcm_MT1087_rate_ms; // GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
int32_t d_rtcm_MT1097_rate_ms; // Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
int32_t d_rtcm_MSM_rate_ms;
int32_t d_kml_rate_ms;
int32_t d_gpx_rate_ms;
int32_t d_geojson_rate_ms;
int32_t d_nmea_rate_ms;
int32_t d_an_rate_ms;
int32_t d_output_rate_ms;
int32_t d_display_rate_ms;
int32_t d_report_rate_ms;
int32_t d_max_obs_block_rx_clock_offset_ms;
const int32_t d_kml_rate_ms;
const int32_t d_gpx_rate_ms;
const int32_t d_geojson_rate_ms;
const int32_t d_nmea_rate_ms;
const int32_t d_an_rate_ms;
const int32_t d_output_rate_ms;
const int32_t d_display_rate_ms;
const int32_t d_report_rate_ms;
const int32_t d_max_obs_block_rx_clock_offset_ms;
uint32_t d_nchannels;
uint32_t d_signal_enabled_flags;
uint32_t d_observable_interval_ms;
const uint32_t d_nchannels;
const uint32_t d_signal_enabled_flags;
const uint32_t d_observable_interval_ms;
uint32_t d_pvt_errors_counter;
bool d_dump;
bool d_dump_mat;
bool d_rinex_output_enabled;
const bool d_dump_mat;
const bool d_rinex_output_enabled;
bool d_geojson_output_enabled;
bool d_gpx_output_enabled;
bool d_kml_output_enabled;
@@ -276,16 +276,16 @@ private:
bool d_rtcm_enabled;
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_enable_rx_clock_correction;
const bool d_flag_monitor_pvt_enabled;
const bool d_flag_monitor_ephemeris_enabled;
const bool d_show_local_time_zone;
const bool d_enable_rx_clock_correction;
bool d_enable_has_messages;
bool d_an_printer_enabled;
const bool d_an_printer_enabled;
bool d_log_timetag;
bool d_use_has_corrections;
bool d_use_unhealthy_sats;
bool d_osnma_strict;
const bool d_use_has_corrections;
const bool d_use_unhealthy_sats;
const bool d_osnma_strict;
};
src/algorithms/PVT/libs/rinex_printer.cc
+576 -2214
View File
File diff suppressed because it is too large Load Diff
src/algorithms/PVT/libs/rinex_printer.h
+36 -48
View File
@@ -38,6 +38,7 @@
#ifndef GNSS_SDR_RINEX_PRINTER_H
#define GNSS_SDR_RINEX_PRINTER_H
#include "signal_enabled_flags.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <cstdint> // for int32_t
#include <cstdlib> // for strtol, strtod
@@ -72,6 +73,8 @@ class Gps_Navigation_Message;
class Gps_Utc_Model;
class Rtklib_Solver;
using Constellation_Observables_Map = std::map<char, std::map<uint32_t, std::map<signal_flag, Gnss_Synchro>>>;
/*!
* \brief Class that handles the generation of Receiver
@@ -83,7 +86,8 @@ public:
/*!
* \brief Constructor. Creates GNSS Navigation and Observables RINEX files.
*/
explicit Rinex_Printer(int version = 0,
explicit Rinex_Printer(uint32_t signal_enabled_flags,
int version = 3,
const std::string& base_path = ".",
const std::string& base_name = "-",
bool pre_2009_file = false);
@@ -104,38 +108,32 @@ public:
void print_rinex_annotation(const Rtklib_Solver* pvt_solver,
const std::map<int, Gnss_Synchro>& gnss_observables_map,
double rx_time,
uint32_t signal_enabled_flags,
bool flag_write_RINEX_obs_output);
/*!
* \brief Print RINEX annotation for GPS NAV message
*/
void log_rinex_nav_gps_nav(uint32_t signal_enabled_flags,
const std::map<int32_t, Gps_Ephemeris>& new_eph);
void log_rinex_nav_gps_nav(const std::map<int32_t, Gps_Ephemeris>& new_eph);
/*!
* \brief Print RINEX annotation for GPS CNAV message
*/
void log_rinex_nav_gps_cnav(uint32_t signal_enabled_flags,
const std::map<int32_t, Gps_CNAV_Ephemeris>& new_cnav_eph);
void log_rinex_nav_gps_cnav(const std::map<int32_t, Gps_CNAV_Ephemeris>& new_cnav_eph);
/*!
* \brief Print RINEX annotation for Galileo NAV message
*/
void log_rinex_nav_gal_nav(uint32_t signal_enabled_flags,
const std::map<int32_t, Galileo_Ephemeris>& new_gal_eph);
void log_rinex_nav_gal_nav(const std::map<int32_t, Galileo_Ephemeris>& new_gal_eph);
/*!
* \brief Print RINEX annotation for Glonass GNAV message
*/
void log_rinex_nav_glo_gnav(uint32_t signal_enabled_flags,
const std::map<int32_t, Glonass_Gnav_Ephemeris>& new_glo_eph);
void log_rinex_nav_glo_gnav(const std::map<int32_t, Glonass_Gnav_Ephemeris>& new_glo_eph);
/*!
* \brief Print RINEX annotation for BeiDou DNAV message
*/
void log_rinex_nav_bds_dnav(uint32_t signal_enabled_flags,
const std::map<int32_t, Beidou_Dnav_Ephemeris>& new_bds_eph);
void log_rinex_nav_bds_dnav(const std::map<int32_t, Beidou_Dnav_Ephemeris>& new_bds_eph);
/*!
* \brief Returns true is the RINEX file headers are already written
@@ -164,7 +162,8 @@ public:
private:
// Not the best, but reorder params to select the correct constructor
explicit Rinex_Printer(const std::string& base_name,
explicit Rinex_Printer(uint32_t signal_enabled_flags,
const std::string& base_name,
const std::string& base_rinex_path,
int version,
bool pre_2009_file);
@@ -295,7 +294,7 @@ private:
void log_rinex_obs(std::fstream& out,
const Gps_Ephemeris& eph,
double obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
const Constellation_Observables_Map& constel_observables) const;
/*
* Writes GPS L2 observables into the RINEX file
@@ -303,7 +302,7 @@ private:
void log_rinex_obs(std::fstream& out,
const Gps_CNAV_Ephemeris& eph,
double obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
const Constellation_Observables_Map& constel_observables) const;
/*
* Writes dual frequency GPS L1 and L2 observables into the RINEX file
@@ -312,8 +311,7 @@ private:
const Gps_Ephemeris& eph,
const Gps_CNAV_Ephemeris& eph_cnav,
double obs_time,
const std::map<int32_t, Gnss_Synchro>& observables,
bool triple_band = false) const;
const Constellation_Observables_Map& constel_observables) const;
/*
* Writes Galileo observables into the RINEX file.
@@ -322,8 +320,7 @@ private:
void log_rinex_obs(std::fstream& out,
const Galileo_Ephemeris& eph,
double obs_time,
const std::map<int32_t, Gnss_Synchro>& observables,
const std::string& galileo_bands = "1B") const;
const Constellation_Observables_Map& constel_observables) const;
/*
* Writes Mixed GPS / Galileo observables into the RINEX file
@@ -332,7 +329,7 @@ private:
const Gps_Ephemeris& gps_eph,
const Galileo_Ephemeris& galileo_eph,
double gps_obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
const Constellation_Observables_Map& constel_observables) const;
/*
* Writes Mixed GPS / Galileo observables into the RINEX file
@@ -341,7 +338,7 @@ private:
const Gps_CNAV_Ephemeris& eph,
const Galileo_Ephemeris& galileo_eph,
double gps_obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
const Constellation_Observables_Map& constel_observables) const;
/*
* Writes Mixed GPS / Galileo observables into the RINEX file
@@ -351,8 +348,7 @@ private:
const Gps_CNAV_Ephemeris& gps_cnav_eph,
const Galileo_Ephemeris& galileo_eph,
double gps_obs_time,
const std::map<int32_t, Gnss_Synchro>& observables,
bool triple_band = false) const;
const Constellation_Observables_Map& constel_observables) const;
/*
* Writes GLONASS GNAV observables into the RINEX file.
@@ -361,7 +357,7 @@ private:
void log_rinex_obs(std::fstream& out,
const Glonass_Gnav_Ephemeris& eph,
double obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
const Constellation_Observables_Map& constel_observables) const;
/*
* Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file
@@ -370,7 +366,7 @@ private:
const Gps_Ephemeris& gps_eph,
const Glonass_Gnav_Ephemeris& glonass_gnav_eph,
double gps_obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
const Constellation_Observables_Map& constel_observables) const;
/*
* Writes Mixed GPS L2C - GLONASS observables into the RINEX file
@@ -379,7 +375,7 @@ private:
const Gps_CNAV_Ephemeris& gps_eph,
const Glonass_Gnav_Ephemeris& glonass_gnav_eph,
double gps_obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
const Constellation_Observables_Map& constel_observables) const;
/*
* Writes Mixed Galileo/GLONASS observables into the RINEX file
@@ -388,7 +384,7 @@ private:
const Galileo_Ephemeris& galileo_eph,
const Glonass_Gnav_Ephemeris& glonass_gnav_eph,
double galileo_obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
const Constellation_Observables_Map& constel_observables) const;
/*
* Writes BDS B1I observables into the RINEX file
@@ -396,8 +392,7 @@ private:
void log_rinex_obs(std::fstream& out,
const Beidou_Dnav_Ephemeris& eph,
double obs_time,
const std::map<int32_t, Gnss_Synchro>& observables,
const std::string& bds_bands) const;
const Constellation_Observables_Map& constel_observables) const;
/*
* Generates the GPS L1 C/A Navigation Data header
@@ -700,30 +695,23 @@ private:
const std::map<std::string, std::string> observationType; // PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
const std::map<std::string, std::string> observationCode; // GNSS observation descriptors
std::fstream obsFile; // Output file stream for RINEX observation file
std::fstream navFile; // Output file stream for RINEX navigation data file
std::fstream sbsFile; // Output file stream for RINEX SBAS raw data file
std::fstream navGalFile; // Output file stream for RINEX Galileo navigation data file
std::fstream navGloFile; // Output file stream for RINEX GLONASS navigation data file
std::fstream navBdsFile; // Output file stream for RINEX Beidou navigation data file
std::fstream navMixFile; // Output file stream for RINEX Mixed navigation data file
const std::string navfilename; // Name of RINEX navigation file for GPS L1
const std::string obsfilename; // Name of RINEX observation file
const std::string sbsfilename; // Name of RINEX SBAS file
const std::string navGalfilename; // Name of RINEX navigation file for Galileo
const std::string navGlofilename; // Name of RINEX navigation file for Glonass
const std::string navBdsfilename; // Name of RINEX navigation file for BeiDou
const std::string navMixfilename; // Name of RINEX navigation file for fixed signals
std::vector<std::string> output_navfilename; // Name of output RINEX navigation file(s)
std::string d_stringVersion; // RINEX version (2.10/2.11 or 3.01/3.02)
const int d_version; // RINEX version (2 for 2.10/2.11 and 3 for 3.01)
const std::string d_stringVersion; // RINEX version (2.10/2.11 or 3.01/3.02)
double d_fake_cnav_iode;
int d_version; // RINEX version (2 for 2.10/2.11 and 3 for 3.01)
bool d_rinex_header_updated;
bool d_rinex_header_written;
const bool d_pre_2009_file;
const uint32_t d_signal_enabled_flags;
const std::string navfilename; // Name of RINEX navigation file
const std::string obsfilename; // Name of RINEX observation file
const std::string navGlofilename; // Name of RINEX navigation file for Glonass
std::vector<std::string> output_navfilename; // Name of output RINEX navigation file(s)
std::fstream obsFile; // Output file stream for RINEX observation file
std::fstream navFile; // Output file stream for RINEX navigation data file
std::fstream navGloFile; // Output file stream for RINEX GLONASS navigation data file
};
src/algorithms/signal_generator/adapters/signal_generator.cc
+1 -1
View File
@@ -122,7 +122,7 @@ SignalGenerator::SignalGenerator(const ConfigurationInterface* configuration,
}
}
else if (std::find(system.begin(), system.end(), "B") != system.end())
else if (std::find(system.begin(), system.end(), "C") != system.end())
{
vector_length = static_cast<unsigned int>(round(static_cast<float>(fs_in) / (BEIDOU_B1I_CODE_RATE_CPS / BEIDOU_B1I_CODE_LENGTH_CHIPS)));
}
src/core/system_parameters/beidou_dnav_almanac.h
+1 -1
View File
@@ -38,7 +38,7 @@ public:
*/
Beidou_Dnav_Almanac()
{
this->System = 'B';
this->System = 'C';
};
int SV_health{}; //!< SV Health
src/core/system_parameters/beidou_dnav_ephemeris.cc
+1 -1
View File
@@ -26,5 +26,5 @@ Beidou_Dnav_Ephemeris::Beidou_Dnav_Ephemeris()
{
satelliteBlock[i] = gnss_sat.what_block(_system, i);
}
this->System = 'B';
this->System = 'C';
}
src/core/system_parameters/gnss_almanac.cc
+3 -3
View File
@@ -130,7 +130,7 @@ double Gnss_Almanac::predicted_doppler(double rx_time_s,
predicted_doppler = 0.0;
}
}
else if (this->System == 'B') // Beidou
else if (this->System == 'C') // Beidou
{
if (band == 1)
{
@@ -168,7 +168,7 @@ void Gnss_Almanac::satellitePosVelComputation(double transmitTime, std::array<do
{
n = sqrt(GALILEO_GM / (a * a * a));
}
else if (this->System == 'B')
else if (this->System == 'C')
{
n = sqrt(BEIDOU_GM / (a * a * a));
}
@@ -242,7 +242,7 @@ void Gnss_Almanac::satellitePosVelComputation(double transmitTime, std::array<do
// Compute the angle between the ascending node and the Greenwich meridian
double Omega;
double Omega_dot;
if (this->System == 'B')
if (this->System == 'C')
{
Omega_dot = this->OMEGAdot * GNSS_PI - BEIDOU_OMEGA_EARTH_DOT;
Omega = this->OMEGA_0 * GNSS_PI + Omega_dot * tk - BEIDOU_OMEGA_EARTH_DOT * static_cast<double>(this->toa);
src/core/system_parameters/gnss_almanac.h
+1 -1
View File
@@ -92,7 +92,7 @@ public:
double af1{}; //!< Coefficient 1 of code phase offset model [s/s]
protected:
char System{}; //!< Character ID of the GNSS system. 'G': GPS. 'E': Galileo. 'B': BeiDou
char System{}; //!< Character ID of the GNSS system. 'G': GPS. 'E': Galileo. 'C': BeiDou
private:
double check_t(double time) const;
};
src/core/system_parameters/gnss_ephemeris.cc
+6 -6
View File
@@ -126,7 +126,7 @@ double Gnss_Ephemeris::predicted_doppler(double rx_time_s,
predicted_doppler = 0.0;
}
}
else if (this->System == 'B') // Beidou
else if (this->System == 'C') // Beidou
{
if (band == 1)
{
@@ -178,7 +178,7 @@ void Gnss_Ephemeris::satellitePosVelComputation(double transmitTime, std::array<
{
n0 = sqrt(GALILEO_GM / (a * a * a));
}
else if (this->System == 'B')
else if (this->System == 'C')
{
n0 = sqrt(BEIDOU_GM / (a * a * a));
}
@@ -252,7 +252,7 @@ void Gnss_Ephemeris::satellitePosVelComputation(double transmitTime, std::array<
// Compute the angle between the ascending node and the Greenwich meridian
double Omega;
double Omega_dot;
if (this->System == 'B')
if (this->System == 'C')
{
Omega_dot = this->OMEGAdot - BEIDOU_OMEGA_EARTH_DOT;
Omega = this->OMEGA_0 + Omega_dot * tk - BEIDOU_OMEGA_EARTH_DOT * static_cast<double>(this->toe);
@@ -292,7 +292,7 @@ void Gnss_Ephemeris::satellitePosVelComputation(double transmitTime, std::array<
{
pos_vel_dtr[6] -= 2.0 * sqrt(GALILEO_GM * a) * this->ecc * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
}
else if (this->System == 'B')
else if (this->System == 'C')
{
pos_vel_dtr[6] -= 2.0 * sqrt(BEIDOU_GM * a) * this->ecc * sek / (SPEED_OF_LIGHT_M_S * SPEED_OF_LIGHT_M_S);
}
@@ -333,7 +333,7 @@ double Gnss_Ephemeris::sv_clock_relativistic_term(double transmitTime) const
{
n0 = sqrt(GALILEO_GM / (a * a * a));
}
else if (this->System == 'B')
else if (this->System == 'C')
{
n0 = sqrt(BEIDOU_GM / (a * a * a));
}
@@ -371,7 +371,7 @@ double Gnss_Ephemeris::sv_clock_relativistic_term(double transmitTime) const
{
dtr_ = GALILEO_F * this->ecc * this->sqrtA * sek;
}
else if (this->System == 'B')
else if (this->System == 'C')
{
dtr_ = BEIDOU_F * this->ecc * this->sqrtA * sek;
}
src/core/system_parameters/gnss_ephemeris.h
+1 -1
View File
@@ -109,7 +109,7 @@ public:
double satvel_Z{}; //!< Earth-fixed velocity coordinate z of the satellite [m]
protected:
char System{}; //!< Character ID of the GNSS system. 'G': GPS. 'E': Galileo. 'B': BeiDou
char System{}; //!< Character ID of the GNSS system. 'G': GPS. 'E': Galileo. 'C': BeiDou
private:
void satellitePosVelComputation(double transmitTime, std::array<double, 7>& pos_vel_dtr) const;
src/core/system_parameters/gnss_satellite.h
+1 -1
View File
@@ -62,7 +62,7 @@ public:
private:
const std::set<std::string> system_set = {"GPS", "Glonass", "SBAS", "Galileo", "Beidou"};
const std::map<std::string, std::string> satelliteSystem = {{"GPS", "G"}, {"Glonass", "R"}, {"SBAS", "S"}, {"Galileo", "E"}, {"Beidou", "C"}};
void set_system(const std::string& system); // Sets the satellite system {"GPS", "GLONASS", "SBAS", "Galileo", "Beidou"}.
void set_system(const std::string& system); // Sets the satellite system {"GPS", "Glonass", "SBAS", "Galileo", "Beidou"}.
void set_PRN(uint32_t PRN); // Sets satellite's PRN
void set_block(const std::string& system_, uint32_t PRN_);
void reset();
src/core/system_parameters/gnss_signal.h
+13 -2
View File
@@ -32,7 +32,8 @@
/*!
* \brief This class represents a GNSS signal.
*
* It contains information about the space vehicle and the specific signal.
* Encapsulates a specific GNSS signal (e.g., GPS L1 C/A, Galileo E1B) and its
* associated satellite.
*/
class Gnss_Signal
{
@@ -41,7 +42,17 @@ public:
explicit Gnss_Signal(const std::string& signal_);
Gnss_Signal(const Gnss_Satellite& satellite_, const std::string& signal_);
~Gnss_Signal() = default;
std::string get_signal_str() const; //!< Get the satellite signal {"1C" for GPS L1 C/A, "2S" for GPS L2C (M), "L5" for GPS L5, "1G" for GLONASS L1 C/A, "1B" for Galileo E1B, "5X" for Galileo E5a.
/*!
* \brief Return the signal identifier string.
*
* - GPS: "1C" (L1 C/A), "2S" (L2C), "L5"
* - GLONASS: "1G" (L1 C/A), "2G" (L2 C/A)
* - Galileo: "1B" (E1B), "5X" (E5a), "7X" (E5b), "6C" (E6C)
* - BeiDou: "B1" (B1I), "B3" (B3I)
*/
std::string get_signal_str() const;
Gnss_Satellite get_satellite() const; //!< Get the Gnss_Satellite associated to the signal
friend bool operator==(const Gnss_Signal& /*sig1*/, const Gnss_Signal& /*sig2*/); //!< operator== for comparison
tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc
+98 -150
View File
@@ -143,6 +143,35 @@ void RinexPrinterTest::conf()
}
void find_obs_record_lines(const std::string& obsfile, const std::string& sat, std::string& line_epoch, std::string& line_sat)
{
std::fstream fstr(obsfile.c_str(), std::fstream::in);
fstr.seekg(0);
std::string line_str;
bool no_more_finds = false;
while (!fstr.eof())
{
std::getline(fstr, line_str);
if (!no_more_finds)
{
if (line_str.find('>', 0) != std::string::npos)
{
line_epoch = line_str;
}
if (line_str.find(sat, 0) != std::string::npos)
{
no_more_finds = true;
line_sat = line_str;
}
}
}
fstr.close();
}
TEST_F(RinexPrinterTest, GalileoObsHeader)
{
Pvt_Conf conf;
@@ -158,9 +187,9 @@ TEST_F(RinexPrinterTest, GalileoObsHeader)
gs.PRN = 1;
gnss_observables_map[1] = std::move(gs);
auto rp = std::make_shared<Rinex_Printer>();
auto rp = std::make_shared<Rinex_Printer>(signal_enabled_flags);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, signal_enabled_flags, true);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
@@ -192,9 +221,9 @@ TEST_F(RinexPrinterTest, GalileoObsHeader)
fs::remove(obsfile);
fs::remove(navfile);
auto rp2 = std::make_shared<Rinex_Printer>();
auto rp2 = std::make_shared<Rinex_Printer>(GAL_1B | GAL_E5b);
rp2->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, GAL_1B | GAL_E5b, true);
rp2->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, true);
obsfile = rp2->get_obsfilename();
navfile = rp2->get_navfilename()[0];
@@ -239,9 +268,9 @@ TEST_F(RinexPrinterTest, GlonassObsHeader)
gs.PRN = 1;
gnss_observables_map[1] = std::move(gs);
auto rp = std::make_shared<Rinex_Printer>(3);
auto rp = std::make_shared<Rinex_Printer>(signal_enabled_flags);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, signal_enabled_flags, true);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
@@ -299,9 +328,9 @@ TEST_F(RinexPrinterTest, MixedObsHeader)
gnss_observables_map[1] = gs;
gnss_observables_map[2] = std::move(gs);
auto rp = std::make_shared<Rinex_Printer>();
auto rp = std::make_shared<Rinex_Printer>(signal_enabled_flags);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, signal_enabled_flags, true);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
@@ -368,9 +397,9 @@ TEST_F(RinexPrinterTest, MixedObsHeaderGpsGlo)
gnss_observables_map[1] = gs;
gnss_observables_map[2] = std::move(gs);
auto rp = std::make_shared<Rinex_Printer>();
auto rp = std::make_shared<Rinex_Printer>(signal_enabled_flags);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, signal_enabled_flags, true);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
@@ -415,9 +444,6 @@ TEST_F(RinexPrinterTest, MixedObsHeaderGpsGlo)
TEST_F(RinexPrinterTest, GalileoObsLog)
{
std::string line_aux;
std::string line_str;
bool no_more_finds = false;
auto eph = Galileo_Ephemeris();
eph.PRN = 1;
Pvt_Conf conf;
@@ -459,34 +485,23 @@ TEST_F(RinexPrinterTest, GalileoObsLog)
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(3, gs3));
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(4, gs4));
auto rp = std::make_shared<Rinex_Printer>();
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, signal_enabled_flags, true);
auto rp = std::make_shared<Rinex_Printer>(signal_enabled_flags);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
rp = nullptr; // close the RINEX files so we can inspect them
std::fstream fstr(obsfile.c_str(), std::fstream::in);
std::string line_epoch;
std::string line_sat;
find_obs_record_lines(obsfile, "E22", line_epoch, line_sat);
fstr.seekg(0);
std::string expected_epoch = "> 1999 08 22 00 00 00.0000000 0 4 ";
std::string expected_sat("E22 22000000.000 7 3.724 7 1534.000 7 42.000 ");
EXPECT_EQ(0, expected_epoch.compare(line_epoch));
EXPECT_EQ(0, expected_sat.compare(line_sat));
while (!fstr.eof())
{
std::getline(fstr, line_str);
if (!no_more_finds)
{
if (line_str.find("E22", 0) != std::string::npos)
{
no_more_finds = true;
line_aux = std::string(line_str);
}
}
}
std::string expected_str("E22 22000000.000 7 3.724 7 1534.000 7 42.000 ");
EXPECT_EQ(0, expected_str.compare(line_aux));
fstr.close();
fs::remove(obsfile);
fs::remove(navfile);
}
@@ -494,9 +509,6 @@ TEST_F(RinexPrinterTest, GalileoObsLog)
TEST_F(RinexPrinterTest, GlonassObsLog)
{
std::string line_aux;
std::string line_str;
bool no_more_finds = false;
auto eph = Glonass_Gnav_Ephemeris();
eph.PRN = 22;
Pvt_Conf conf;
@@ -517,7 +529,7 @@ TEST_F(RinexPrinterTest, GlonassObsLog)
gs3.System = *sys.c_str();
gs4.System = *sys.c_str();
std::string sig = "1C";
std::string sig = "1G";
std::memcpy(reinterpret_cast<void*>(gs1.Signal), sig.c_str(), 3);
std::memcpy(reinterpret_cast<void*>(gs2.Signal), sig.c_str(), 3);
std::memcpy(reinterpret_cast<void*>(gs3.Signal), sig.c_str(), 3);
@@ -538,34 +550,23 @@ TEST_F(RinexPrinterTest, GlonassObsLog)
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(3, gs3));
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(4, gs4));
auto rp = std::make_shared<Rinex_Printer>();
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, signal_enabled_flags, true);
auto rp = std::make_shared<Rinex_Printer>(signal_enabled_flags);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
rp = nullptr; // close the RINEX files so we can inspect them
std::fstream fstr(obsfile.c_str(), std::fstream::in);
std::string line_epoch;
std::string line_sat;
find_obs_record_lines(obsfile, "R22", line_epoch, line_sat);
fstr.seekg(0);
std::string expected_epoch = "> 1972 12 31 00 00 00.0000000 0 4 ";
std::string expected_sat("R22 22000000.000 7 3.724 7 1534.000 7 42.000 ");
EXPECT_EQ(0, expected_epoch.compare(line_epoch));
EXPECT_EQ(0, expected_sat.compare(line_sat));
while (!fstr.eof())
{
std::getline(fstr, line_str);
if (!no_more_finds)
{
if (line_str.find("R22", 0) != std::string::npos)
{
no_more_finds = true;
line_aux = std::string(line_str);
}
}
}
std::string expected_str("R22 22000000.000 7 3.724 7 1534.000 7 42.000 ");
EXPECT_EQ(0, expected_str.compare(line_aux));
fstr.close();
fs::remove(navfile);
fs::remove(obsfile);
}
@@ -573,9 +574,6 @@ TEST_F(RinexPrinterTest, GlonassObsLog)
TEST_F(RinexPrinterTest, GpsObsLogDualBand)
{
std::string line_aux;
std::string line_str;
bool no_more_finds = false;
auto eph = Gps_Ephemeris();
auto eph_cnav = Gps_CNAV_Ephemeris();
eph.PRN = 1;
@@ -632,34 +630,23 @@ TEST_F(RinexPrinterTest, GpsObsLogDualBand)
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(3, gs3));
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(4, gs4));
auto rp = std::make_shared<Rinex_Printer>();
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, signal_enabled_flags, true);
auto rp = std::make_shared<Rinex_Printer>(signal_enabled_flags);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
rp = nullptr; // close the RINEX files so we can inspect them
std::fstream fstr(obsfile.c_str(), std::fstream::in);
std::string line_epoch;
std::string line_sat;
find_obs_record_lines(obsfile, "G08", line_epoch, line_sat);
fstr.seekg(0);
std::string expected_epoch = "> 2019 04 14 00 00 00.0000000 0 3 ";
std::string expected_sat("G08 22000002.100 6 7.226 6 321.000 6 39.000 22000000.000 7 3.724 7 1534.000 7 42.000");
EXPECT_EQ(0, expected_epoch.compare(line_epoch));
EXPECT_EQ(0, expected_sat.compare(line_sat));
while (!fstr.eof())
{
std::getline(fstr, line_str);
if (!no_more_finds)
{
if (line_str.find("G08", 0) != std::string::npos)
{
no_more_finds = true;
line_aux = std::string(line_str);
}
}
}
std::string expected_str("G08 22000002.100 6 7.226 6 321.000 6 39.000 22000000.000 7 3.724 7 1534.000 7 42.000");
EXPECT_EQ(0, expected_str.compare(line_aux));
fstr.close();
fs::remove(navfile);
fs::remove(obsfile);
}
@@ -720,38 +707,24 @@ TEST_F(RinexPrinterTest, GalileoObsLogDualBand)
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(3, gs3));
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(4, gs4));
auto rp = std::make_shared<Rinex_Printer>();
auto rp = std::make_shared<Rinex_Printer>(signal_enabled_flags);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, signal_enabled_flags, true);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
rp = nullptr; // close the RINEX files so we can inspect them
std::fstream fstr(obsfile.c_str(), std::fstream::in);
std::string line_epoch;
std::string line_sat;
find_obs_record_lines(obsfile, "E08", line_epoch, line_sat);
fstr.seekg(0);
std::string line_aux;
std::string line_str;
bool no_more_finds = false;
std::string expected_epoch = "> 1999 08 22 00 00 00.0000000 0 2 ";
std::string expected_sat("E08 22000002.100 6 7.226 6 321.000 6 39.000 22000000.000 7 3.724 7 1534.000 7 42.000");
EXPECT_EQ(0, expected_epoch.compare(line_epoch));
EXPECT_EQ(0, expected_sat.compare(line_sat));
while (!fstr.eof())
{
std::getline(fstr, line_str);
if (!no_more_finds)
{
if (line_str.find("E08", 0) != std::string::npos)
{
no_more_finds = true;
line_aux = std::string(line_str);
}
}
}
std::string expected_str("E08 22000002.100 6 7.226 6 321.000 6 39.000 22000000.000 7 3.724 7 1534.000 7 42.000");
EXPECT_EQ(0, expected_str.compare(line_aux));
fstr.close();
fs::remove(navfile);
fs::remove(obsfile);
}
@@ -759,16 +732,13 @@ TEST_F(RinexPrinterTest, GalileoObsLogDualBand)
TEST_F(RinexPrinterTest, MixedObsLog)
{
std::string line_aux;
std::string line_str;
bool no_more_finds = false;
auto eph_gps = Gps_Ephemeris();
auto eph_gal = Galileo_Ephemeris();
eph_gps.PRN = 1;
eph_gal.PRN = 1;
Pvt_Conf conf;
conf.use_e6_for_pvt = false;
const auto signal_enabled_flags = GPS_1C | GAL_1B;
const auto signal_enabled_flags = GPS_1C | GAL_1B | GAL_E5a;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", signal_enabled_flags, false, false);
pvt_solution->gps_ephemeris_map[1] = std::move(eph_gps);
pvt_solution->galileo_ephemeris_map[1] = std::move(eph_gal);
@@ -847,34 +817,24 @@ TEST_F(RinexPrinterTest, MixedObsLog)
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(7, gs7));
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(8, gs8));
auto rp = std::make_shared<Rinex_Printer>();
auto rp = std::make_shared<Rinex_Printer>(signal_enabled_flags);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, signal_enabled_flags, true);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
rp = nullptr; // close the RINEX files so we can inspect them
std::fstream fstr(obsfile.c_str(), std::fstream::in);
std::string line_epoch;
std::string line_sat;
find_obs_record_lines(obsfile, "E16", line_epoch, line_sat);
fstr.seekg(0);
std::string expected_epoch = "> 2019 04 14 00 00 00.0000000 0 7 ";
std::string expected_sat("E16 22000000.000 7 0.127 7 -20.000 7 42.000 22000000.000 6 8.292 6 1534.000 6 41.000");
EXPECT_EQ(0, expected_epoch.compare(line_epoch));
EXPECT_EQ(0, expected_sat.compare(line_sat));
while (!fstr.eof())
{
std::getline(fstr, line_str);
if (!no_more_finds)
{
if (line_str.find("E16", 0) != std::string::npos)
{
no_more_finds = true;
line_aux = std::string(line_str);
}
}
}
std::string expected_str("E16 22000000.000 7 0.127 7 -20.000 7 42.000 22000000.000 6 8.292 6 1534.000 6 41.000");
EXPECT_EQ(0, expected_str.compare(line_aux));
fstr.close();
fs::remove(navfile);
fs::remove(obsfile);
}
@@ -882,16 +842,13 @@ TEST_F(RinexPrinterTest, MixedObsLog)
TEST_F(RinexPrinterTest, MixedObsLogGpsGlo)
{
std::string line_aux;
std::string line_str;
bool no_more_finds = false;
auto eph_gps = Gps_Ephemeris();
auto eph_glo = Glonass_Gnav_Ephemeris();
eph_gps.PRN = 1;
eph_glo.PRN = 1;
Pvt_Conf conf;
conf.use_e6_for_pvt = false;
const auto signal_enabled_flags = GPS_1C | GLO_1G;
const auto signal_enabled_flags = GPS_1C | GLO_1G | GLO_2G;
auto pvt_solution = std::make_shared<Rtklib_Solver>(rtk, conf, "filename", signal_enabled_flags, false, false);
pvt_solution->gps_ephemeris_map[1] = std::move(eph_gps);
pvt_solution->glonass_gnav_ephemeris_map[1] = std::move(eph_glo);
@@ -928,6 +885,8 @@ TEST_F(RinexPrinterTest, MixedObsLogGpsGlo)
std::memcpy(reinterpret_cast<void*>(gs5.Signal), sig.c_str(), 3);
std::memcpy(reinterpret_cast<void*>(gs6.Signal), sig.c_str(), 3);
std::memcpy(reinterpret_cast<void*>(gs7.Signal), sig.c_str(), 3);
sig = "2G";
std::memcpy(reinterpret_cast<void*>(gs8.Signal), sig.c_str(), 3);
gs1.PRN = 3;
@@ -968,35 +927,24 @@ TEST_F(RinexPrinterTest, MixedObsLogGpsGlo)
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(7, gs7));
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(8, gs8));
auto rp = std::make_shared<Rinex_Printer>();
auto rp = std::make_shared<Rinex_Printer>(signal_enabled_flags);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, signal_enabled_flags, true);
rp->print_rinex_annotation(pvt_solution.get(), gnss_observables_map, 0.0, true);
std::string obsfile = rp->get_obsfilename();
std::string navfile = rp->get_navfilename()[0];
rp = nullptr; // close the RINEX files so we can inspect them
std::fstream fstr(obsfile.c_str(), std::fstream::in);
std::string line_epoch;
std::string line_sat;
find_obs_record_lines(obsfile, "R16", line_epoch, line_sat);
fstr.seekg(0);
std::string expected_epoch = "> 2019 04 14 00 00 00.0000000 0 7 ";
std::string expected_sat("R16 22000000.000 6 8.292 6 1534.000 6 41.000 22000000.000 7 0.127 7 -20.000 7 42.000");
EXPECT_EQ(0, expected_epoch.compare(line_epoch));
EXPECT_EQ(0, expected_sat.compare(line_sat));
while (!fstr.eof())
{
std::getline(fstr, line_str);
if (!no_more_finds)
{
if (line_str.find("R16", 0) != std::string::npos)
{
no_more_finds = true;
line_aux = std::string(line_str);
}
}
}
std::string expected_str("R16 22000000.000 6 8.292 6 1534.000 6 41.000 22000000.000 7 0.127 7 -20.000 7 42.000");
EXPECT_EQ(0, expected_str.compare(line_aux));
fstr.close();
fs::remove(navfile);
fs::remove(obsfile);
}