Add the ability to read Galileo almanac XML files provided by the European GNSS Service Centre

Files available at https://www.gsc-europa.eu/system-status/almanac-data This commit adds as a new dependency the library PugiXML If the library is not found, it is downloaded and built when doing 'make'
2025-10-30 23:03:05 +00:00 · 2018-11-11 13:43:00 +01:00
parent 19fadd1eb6 a8af1b166f
commit 6653d0ef5f
11 changed files with 192 additions and 11 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -352,7 +352,7 @@ set(GNSSSDR_GTEST_LOCAL_VERSION "1.8.1")
 set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
 set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10.6")
 set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.13")
-
+set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.9")


 ################################################################################
@@ -1216,6 +1216,53 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
 endif(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERSION})


+################################################################################
+# PugiXML - https://pugixml.org/
+################################################################################
+find_package(PugiXML QUIET)
+if(PugiXML_FOUND)
+    message(STATUS "PugiXML has been found. Reading of GSA Galileo almanac XML files enabled.")
+else(PugiXML_FOUND)
+    message(STATUS " PugiXML v${GNSSSDR_PUGIXML_LOCAL_VERSION} will be downloaded and built automatically when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'.")
+    set(PUGIXML_COMPILER -DCMAKE_CXX_COMPILER=${CMAKE_CXX_COMPILER} -DCMAKE_C_COMPILER=${CMAKE_C_COMPILER})
+    set(TOOLCHAIN_ARG "")
+    if(EXISTS $ENV{OECORE_TARGET_SYSROOT})
+        set(PUGIXML_COMPILER "")
+        set(TOOLCHAIN_ARG "-DCMAKE_TOOLCHAIN_FILE=${CMAKE_CURRENT_SOURCE_DIR}/cmake/Toolchains/oe-sdk_cross.cmake")
+    endif(EXISTS $ENV{OECORE_TARGET_SYSROOT})
+    if(CMAKE_VERSION VERSION_LESS 3.2)
+        ExternalProject_Add(
+            pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
+            PREFIX ${CMAKE_CURRENT_BINARY_DIR}/pugixml
+            GIT_REPOSITORY https://github.com/zeux/pugixml
+            GIT_TAG v${GNSSSDR_PUGIXML_LOCAL_VERSION}
+            SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
+            BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
+            CMAKE_ARGS ${PUGIXML_COMPILER} ${TOOLCHAIN_ARG}
+            UPDATE_COMMAND ""
+            PATCH_COMMAND ""
+            INSTALL_COMMAND ""
+        )
+    else(CMAKE_VERSION VERSION_LESS 3.2)
+        ExternalProject_Add(
+            pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
+            PREFIX ${CMAKE_CURRENT_BINARY_DIR}/pugixml
+            GIT_REPOSITORY https://github.com/zeux/pugixml
+            GIT_TAG v${GNSSSDR_PUGIXML_LOCAL_VERSION}
+            SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
+            BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}
+            CMAKE_ARGS ${PUGIXML_COMPILER} ${TOOLCHAIN_ARG}
+            UPDATE_COMMAND ""
+            PATCH_COMMAND ""
+            BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX}
+            INSTALL_COMMAND ""
+        )
+    endif(CMAKE_VERSION VERSION_LESS 3.2)
+    set(PUGIXML_LIBRARY ${CMAKE_CURRENT_BINARY_DIR}/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/${CMAKE_FIND_LIBRARY_PREFIXES}pugixml${CMAKE_STATIC_LIBRARY_SUFFIX} )
+    set(PUGIXML_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/pugixml/pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION}/src )
+    set(PUGIXML_LOCAL true)
+endif(PugiXML_FOUND)
+

 ################################################################################
 # USRP Hardware Driver (UHD) - OPTIONAL
--- a/README.md
+++ b/README.md
@@ -64,7 +64,8 @@ $ sudo apt-get install build-essential cmake git libboost-dev libboost-date-time
       libboost-system-dev libboost-filesystem-dev libboost-thread-dev libboost-chrono-dev \
       libboost-serialization-dev liblog4cpp5-dev libuhd-dev gnuradio-dev gr-osmosdr \
       libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev \
-       libgnutls-openssl-dev libpcap-dev python-mako python-six libmatio-dev libgtest-dev
+       libgnutls-openssl-dev libpcap-dev python-mako python-six libmatio-dev libpugixml-dev \
+       libgtest-dev
 ~~~~~~

 Please note that the required files from `libgtest-dev` were moved to `googletest` in Debian 9 "stretch" and Ubuntu 18.04 "bionic", and moved back again to `libgtest-dev` in Debian 10 "buster" and Ubuntu 18.10 "cosmic".
@@ -85,7 +86,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel cmake git boost-devel
       boost-date-time boost-system boost-filesystem boost-thread boost-chrono \
       boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel \
       blas-devel lapack-devel matio-devel armadillo-devel gflags-devel \
-       glog-devel openssl-devel libpcap-devel python-mako python-six
+       glog-devel openssl-devel libpcap-devel python-mako python-six pugixml-devel
 ~~~~~~

 Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
@@ -102,7 +103,7 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel libtool \
       hdf5-devel cmake git boost-devel boost-date-time boost-system \
       boost-filesystem boost-thread boost-chrono boost-serialization \
       log4cpp-devel gnuradio-devel gr-osmosdr-devel blas-devel lapack-devel \
-       armadillo-devel openssl-devel libpcap-devel python-mako python-six
+       armadillo-devel openssl-devel libpcap-devel python-mako python-six pugixml-devel
 ~~~~~~

 Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
@@ -113,7 +114,7 @@ If you are using Arch Linux (with base-devel group installed):

 ~~~~~~
 $ pacman -S cmake git boost boost-libs log4cpp libvolk gnuradio gnuradio-osmosdr \
-       blas lapack gflags google-glog openssl python2-mako python2-six \
+       blas lapack gflags google-glog openssl pugixml python2-mako python2-six \
       libmatio libpcap gtest
 ~~~~~~

@@ -547,6 +548,7 @@ $ sudo port install google-glog +gflags
 $ sudo port install py27-mako
 $ sudo port install py27-six
 $ sudo port install matio
+$ sudo port install pugixml
 ~~~~~~

 You also might need to activate a Python installation. The list of installed versions can be retrieved with:
@@ -586,6 +588,7 @@ $ brew install armadillo
 $ brew install glog gflags gnutls
 $ brew install gnuradio
 $ brew install libmatio
+$ brew install pugixml
 $ pip install mako
 $ pip install six
 ~~~~~~
--- a/cmake/Modules/FindPugiXML.cmake
+++ b/cmake/Modules/FindPugiXML.cmake
@@ -0,0 +1,69 @@
+# Copyright (C) 2011-2018 (see AUTHORS file for a list of contributors)
+#
+# This file is part of GNSS-SDR.
+#
+# GNSS-SDR is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# GNSS-SDR is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
+
+
+# Find the pugixml XML parsing library.
+#
+# Sets the usual variables expected for find_package scripts:
+#
+# PUGIXML_INCLUDE_DIR - header location
+# PUGIXML_LIBRARIES - library to link against
+# PUGIXML_FOUND - true if pugixml was found.
+
+
+find_path (PUGIXML_INCLUDE_DIR
+           NAMES pugixml.hpp
+           PATHS ${PUGIXML_HOME}/include
+           /usr/include
+           /usr/local/include
+           /opt/local/include)
+
+find_library (PUGIXML_LIBRARY
+              NAMES pugixml
+              PATHS ${PUGIXML_HOME}/lib
+              /usr/lib/x86_64-linux-gnu
+              /usr/lib/aarch64-linux-gnu
+              /usr/lib/arm-linux-gnueabi
+              /usr/lib/arm-linux-gnueabihf
+              /usr/lib/i386-linux-gnu
+              /usr/lib/mips-linux-gnu
+              /usr/lib/mips64el-linux-gnuabi64
+              /usr/lib/mipsel-linux-gnu
+              /usr/lib/powerpc64le-linux-gnu
+              /usr/lib/s390x-linux-gnu
+              /usr/local/lib
+              /opt/local/lib
+              /usr/lib
+              /usr/lib64
+              /usr/local/lib64 )
+
+# Support the REQUIRED and QUIET arguments, and set PUGIXML_FOUND if found.
+include (FindPackageHandleStandardArgs)
+FIND_PACKAGE_HANDLE_STANDARD_ARGS (PugiXML DEFAULT_MSG PUGIXML_LIBRARY
+                                   PUGIXML_INCLUDE_DIR)
+
+if (PUGIXML_FOUND)
+    set (PUGIXML_LIBRARIES ${PUGIXML_LIBRARY})
+    if (NOT PugiXML_FIND_QUIETLY)
+        message (STATUS "PugiXML include = ${PUGIXML_INCLUDE_DIR}")
+        message (STATUS "PugiXML library = ${PUGIXML_LIBRARY}")
+    endif (NOT PugiXML_FIND_QUIETLY)
+else (PUGIXML_FOUND)
+    message (STATUS "PugiXML not found.")
+endif(PUGIXML_FOUND)
+
+mark_as_advanced (PUGIXML_LIBRARY PUGIXML_INCLUDE_DIR)
--- a/src/core/libs/CMakeLists.txt
+++ b/src/core/libs/CMakeLists.txt
@@ -45,6 +45,7 @@ include_directories(
    ${GLOG_INCLUDE_DIRS}
    ${GFlags_INCLUDE_DIRS}
    ${Boost_INCLUDE_DIRS}
+    ${PUGIXML_INCLUDE_DIR}
 )

 list(SORT CORE_LIBS_HEADERS)
@@ -52,4 +53,8 @@ list(SORT CORE_LIBS_SOURCES)

 add_library(rx_core_lib ${CORE_LIBS_SOURCES} ${CORE_LIBS_HEADERS})
 source_group(Headers FILES ${CORE_LIBS_HEADERS})
-target_link_libraries(rx_core_lib supl_library) 
+target_link_libraries(rx_core_lib supl_library ${PUGIXML_LIBRARY})
+
+if(PUGIXML_LOCAL)
+    add_dependencies(rx_core_lib pugixml-${GNSSSDR_PUGIXML_LOCAL_VERSION})
+endif(PUGIXML_LOCAL)
--- a/src/core/libs/gnss_sdr_supl_client.cc
+++ b/src/core/libs/gnss_sdr_supl_client.cc
@@ -32,6 +32,7 @@
 */

 #include "gnss_sdr_supl_client.h"
+#include <pugixml.hpp>
 #include <cmath>
 #include <utility>

@@ -842,11 +843,61 @@ bool gnss_sdr_supl_client::load_gal_almanac_xml(const std::string file_name)
            boost::archive::xml_iarchive xml(ifs);
            gal_almanac_map.clear();
            xml >> boost::serialization::make_nvp("GNSS-SDR_gal_almanac_map", this->gal_almanac_map);
-            LOG(INFO) << "Loaded Galileo almanac map data with " << this->gal_almanac_map.size() << " satellites";
        }
    catch (std::exception& e)
        {
-            LOG(WARNING) << e.what() << "File: " << file_name;
+            // Maybe the file is from https://www.gsc-europa.eu/system-status/almanac-data ?
+            return this->read_gal_almanac_from_gsa(file_name);
+        }
+    LOG(INFO) << "Loaded Galileo almanac map data with " << this->gal_almanac_map.size() << " satellites";
+    return true;
+}
+
+
+bool gnss_sdr_supl_client::read_gal_almanac_from_gsa(const std::string file_name)
+{
+    pugi::xml_document doc;
+    pugi::xml_parse_result result = doc.load_file(file_name.c_str());
+    if (!result)
+        {
+            LOG(WARNING) << "Error loading file " << file_name << ":" << result.description();
+            return false;
+        }
+    for (pugi::xml_node almanac : doc.child("signalData")
+                                      .child("body")
+                                      .child("Almanacs")
+                                      .children("svAlmanac"))
+        {
+            Galileo_Almanac gal_alm;
+            try
+                {
+                    uint32_t prn = static_cast<uint32_t>(std::stoi(almanac.child_value("SVID")));
+                    gal_alm.i_satellite_PRN = prn;
+                    gal_alm.i_Toa = std::stoi(almanac.child("almanac").child_value("t0a"));
+                    gal_alm.i_WNa = std::stoi(almanac.child("almanac").child_value("wna"));
+                    gal_alm.i_IODa = std::stoi(almanac.child("almanac").child_value("iod"));
+                    gal_alm.d_Delta_i = std::stod(almanac.child("almanac").child_value("deltai"));
+                    gal_alm.d_M_0 = std::stod(almanac.child("almanac").child_value("deltai"));
+                    gal_alm.d_e_eccentricity = std::stod(almanac.child("almanac").child_value("ecc"));
+                    gal_alm.d_Delta_sqrt_A = std::stod(almanac.child("almanac").child_value("aSqRoot"));
+                    gal_alm.d_OMEGA0 = std::stod(almanac.child("almanac").child_value("omega0"));
+                    gal_alm.d_OMEGA = std::stod(almanac.child("almanac").child_value("w"));
+                    gal_alm.d_OMEGA_DOT = std::stod(almanac.child("almanac").child_value("omegaDot"));
+                    gal_alm.d_A_f0 = std::stod(almanac.child("almanac").child_value("af0"));
+                    gal_alm.d_A_f1 = std::stod(almanac.child("almanac").child_value("af1"));
+                    gal_alm.E5b_HS = std::stoi(almanac.child("svINavSignalStatus").child_value("statusE5b"));
+                    gal_alm.E1B_HS = std::stoi(almanac.child("svINavSignalStatus").child_value("statusE1B"));
+                    gal_alm.E5a_HS = std::stoi(almanac.child("svFNavSignalStatus").child_value("statusE5a"));
+
+                    this->gal_almanac_map[static_cast<int>(prn)] = gal_alm;
+                }
+            catch (const std::exception& e)
+                {
+                    std::cerr << e.what() << std::endl;
+                }
+        }
+    if (this->gal_almanac_map.empty())
+        {
            return false;
        }
    return true;
--- a/src/core/libs/gnss_sdr_supl_client.h
+++ b/src/core/libs/gnss_sdr_supl_client.h
@@ -77,6 +77,7 @@ private:
    supl_ctx_t ctx;
    // assistance data
    supl_assist_t assist;
+    bool read_gal_almanac_from_gsa(const std::string file_name);

 public:
    // SUPL SERVER INFO
--- a/src/core/receiver/CMakeLists.txt
+++ b/src/core/receiver/CMakeLists.txt
@@ -157,6 +157,7 @@ include_directories(
     ${GFlags_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
     ${GNURADIO_RUNTIME_INCLUDE_DIRS}
+     ${PUGIXML_INCLUDE_DIR}
     ${OPT_RECEIVER_INCLUDE_DIRS}
     ${VOLK_GNSSSDR_INCLUDE_DIRS}
 )
--- a/src/core/receiver/control_thread.cc
+++ b/src/core/receiver/control_thread.cc
@@ -241,8 +241,8 @@ bool ControlThread::read_assistance_from_XML()
    std::string cnav_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_cnav_utc_model_xml", cnav_utc_default_xml_filename);
    std::string eph_glo_xml_filename = configuration_->property("GNSS-SDR.SUPL_glo_ephemeris_xml", eph_glo_gnav_default_xml_filename);
    std::string glo_utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_glo_utc_model_xml", glo_utc_default_xml_filename);
-    std::string gal_almanac_xml_filename = configuration_->property("GNSS-SDR.SUPL_gal_almanacl_xml", gal_almanac_default_xml_filename);
-    std::string gps_almanac_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_almanacl_xml", gps_almanac_default_xml_filename);
+    std::string gal_almanac_xml_filename = configuration_->property("GNSS-SDR.SUPL_gal_almanac_xml", gal_almanac_default_xml_filename);
+    std::string gps_almanac_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_almanac_xml", gps_almanac_default_xml_filename);

    if (configuration_->property("GNSS-SDR.AGNSS_XML_enabled", false) == true)
        {
@@ -258,7 +258,8 @@ bool ControlThread::read_assistance_from_XML()
            cnav_utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_cnav_utc_model_xml", cnav_utc_default_xml_filename);
            eph_glo_xml_filename = configuration_->property("GNSS-SDR.AGNSS_glo_ephemeris_xml", eph_glo_gnav_default_xml_filename);
            glo_utc_xml_filename = configuration_->property("GNSS-SDR.AGNSS_glo_utc_model_xml", glo_utc_default_xml_filename);
-            gal_almanac_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gal_almanacl_xml", gal_almanac_default_xml_filename);
+            gal_almanac_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gal_almanac_xml", gal_almanac_default_xml_filename);
+            gps_almanac_xml_filename = configuration_->property("GNSS-SDR.AGNSS_gps_almanac_xml", gps_almanac_default_xml_filename);
        }

    std::cout << "Trying to read GNSS ephemeris from XML file(s)..." << std::endl;
--- a/src/main/CMakeLists.txt
+++ b/src/main/CMakeLists.txt
@@ -61,6 +61,7 @@ include_directories(
     ${ARMADILLO_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
     ${GNURADIO_RUNTIME_INCLUDE_DIRS}
+     ${PUGIXML_INCLUDE_DIR}
     ${GNSS_SDR_OPTIONAL_HEADERS}
     ${VOLK_GNSSSDR_INCLUDE_DIRS}
     ${OPT_GNSSSDR_INCLUDE_DIRS}
--- a/src/tests/CMakeLists.txt
+++ b/src/tests/CMakeLists.txt
@@ -376,6 +376,7 @@ set(LIST_INCLUDE_DIRS
     ${VOLK_INCLUDE_DIRS}
     ${VOLK_GNSSSDR_INCLUDE_DIRS}
     ${MATIO_INCLUDE_DIRS}
+     ${PUGIXML_INCLUDE_DIR}
     ${GNSS_SDR_TEST_OPTIONAL_HEADERS}
 )

--- a/src/utils/front-end-cal/CMakeLists.txt
+++ b/src/utils/front-end-cal/CMakeLists.txt
@@ -43,6 +43,7 @@ include_directories(
    ${GNURADIO_BLOCKS_INCLUDE_DIRS}
    ${ARMADILLO_INCLUDE_DIRS}
    ${Boost_INCLUDE_DIRS}
+    ${PUGIXML_INCLUDE_DIR}
    ${VOLK_GNSSSDR_INCLUDE_DIRS}
 )