diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc index 71981520e..0f830414d 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc @@ -98,7 +98,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg) << "inserted with Toe="<< gps_eph->d_Toe<<" and GPS Week=" << gps_eph->i_GPS_week; // update/insert new ephemeris record to the global ephemeris map - d_ls_pvt->get_gps_ephemeris_map()[gps_eph->i_satellite_PRN] = *gps_eph; + d_ls_pvt->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph; } else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr) ) { @@ -122,7 +122,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg) std::shared_ptr gps_cnav_ephemeris; gps_cnav_ephemeris = boost::any_cast>(pmt::any_ref(msg)); // update/insert new ephemeris record to the global ephemeris map - d_ls_pvt->get_gps_cnav_ephemeris_map()[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris; + d_ls_pvt->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris; LOG(INFO) << "New GPS CNAV ephemeris record has arrived "; } else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr) ) @@ -153,7 +153,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg) << ", GALILEO Week Number =" << galileo_eph->WN_5 << " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris; // update/insert new ephemeris record to the global ephemeris map - d_ls_pvt->get_galileo_ephemeris_map()[galileo_eph->i_satellite_PRN] = *galileo_eph; + d_ls_pvt->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph; } else if(pmt::any_ref(msg).type() == typeid(std::shared_ptr) ) { @@ -194,9 +194,9 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg) } -std::map rtklib_pvt_cc::get_GPS_L1_ephemeris_map() const +std::map rtklib_pvt_cc::get_GPS_L1_ephemeris_map() { - return d_ls_pvt->get_gps_ephemeris_map(); + return d_ls_pvt->gps_ephemeris_map; } @@ -337,14 +337,13 @@ rtklib_pvt_cc::~rtklib_pvt_cc() //save GPS L2CM ephemeris to XML file std::string file_name = "eph_GPS_L2CM.xml"; - if (d_ls_pvt->get_gps_cnav_ephemeris_map().size() > 0) + if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0) { try { std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out); boost::archive::xml_oarchive xml(ofs); - std::map eph_map = d_ls_pvt->get_gps_cnav_ephemeris_map(); - xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map); + xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->gps_cnav_ephemeris_map); ofs.close(); LOG(INFO) << "Saved GPS L2CM Ephemeris map data"; } @@ -361,14 +360,13 @@ rtklib_pvt_cc::~rtklib_pvt_cc() //save GPS L1 CA ephemeris to XML file file_name = "eph_GPS_L1CA.xml"; - if (d_ls_pvt->get_gps_ephemeris_map().size() > 0) + if (d_ls_pvt->gps_ephemeris_map.size() > 0) { try { std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out); boost::archive::xml_oarchive xml(ofs); - std::map eph_map = d_ls_pvt->get_gps_ephemeris_map(); - xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map); + xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->gps_ephemeris_map); ofs.close(); LOG(INFO) << "Saved GPS L1 CA Ephemeris map data"; } @@ -385,14 +383,13 @@ rtklib_pvt_cc::~rtklib_pvt_cc() //save Galileo E1 ephemeris to XML file file_name = "eph_Galileo_E1.xml"; - if (d_ls_pvt->get_galileo_ephemeris_map().size() > 0) + if (d_ls_pvt->galileo_ephemeris_map.size() > 0) { try { std::ofstream ofs(file_name.c_str(), std::ofstream::trunc | std::ofstream::out); boost::archive::xml_oarchive xml(ofs); - std::map eph_map = d_ls_pvt->get_galileo_ephemeris_map(); - xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", eph_map); + xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_ls_pvt->galileo_ephemeris_map); ofs.close(); LOG(INFO) << "Saved Galileo E1 Ephemeris map data"; } @@ -467,9 +464,9 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { if (in[i][epoch].Flag_valid_pseudorange == true) { - std::map::iterator tmp_eph_iter_gps = d_ls_pvt->get_gps_ephemeris_map().find(in[i][epoch].PRN); - std::map::iterator tmp_eph_iter_gal = d_ls_pvt->get_galileo_ephemeris_map().find(in[i][epoch].PRN); - std::map::iterator tmp_eph_iter_cnav = d_ls_pvt->get_gps_cnav_ephemeris_map().find(in[i][epoch].PRN); + std::map::iterator tmp_eph_iter_gps = d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN); + std::map::iterator tmp_eph_iter_gal = d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN); + std::map::iterator tmp_eph_iter_cnav = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN); if(((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1C") == 0)) || ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("2S") == 0)) || ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal).compare("1B") == 0)) @@ -479,25 +476,25 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite gnss_observables_map.insert(std::pair(i, in[i][epoch])); } - if(d_ls_pvt->get_gps_ephemeris_map().size() > 0) + if(d_ls_pvt->gps_ephemeris_map.size() > 0) { - if(tmp_eph_iter_gps != d_ls_pvt->get_gps_ephemeris_map().end()) + if(tmp_eph_iter_gps != d_ls_pvt->gps_ephemeris_map.end()) { - d_rtcm_printer->lock_time(d_ls_pvt->get_gps_ephemeris_map().find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time + 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->get_galileo_ephemeris_map().size() > 0) + if(d_ls_pvt->galileo_ephemeris_map.size() > 0) { - if(tmp_eph_iter_gal != d_ls_pvt->get_galileo_ephemeris_map().end()) + if(tmp_eph_iter_gal != d_ls_pvt->galileo_ephemeris_map.end()) { - d_rtcm_printer->lock_time(d_ls_pvt->get_galileo_ephemeris_map().find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time + 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->get_gps_cnav_ephemeris_map().size() > 0) + if(d_ls_pvt->gps_cnav_ephemeris_map.size() > 0) { - if(tmp_eph_iter_cnav != d_ls_pvt->get_gps_cnav_ephemeris_map().end()) + if(tmp_eph_iter_cnav != d_ls_pvt->gps_cnav_ephemeris_map.end()) { - d_rtcm_printer->lock_time(d_ls_pvt->get_gps_cnav_ephemeris_map().find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time + 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 } } } @@ -627,13 +624,13 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite if (!b_rinex_header_written) // & we have utc data in nav message! { - galileo_ephemeris_iter = d_ls_pvt->get_galileo_ephemeris_map().begin(); - gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().begin(); - gps_cnav_ephemeris_iter = d_ls_pvt->get_gps_cnav_ephemeris_map().begin(); + galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); + gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); + gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.begin(); if(type_of_rx == 1) // GPS L1 C/A only { - if (gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) + if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) { rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time); rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model); @@ -643,7 +640,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 2) // GPS L2C only { - if (gps_cnav_ephemeris_iter != d_ls_pvt->get_gps_cnav_ephemeris_map().end()) + if (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) { rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time); rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model); @@ -652,7 +649,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 4) // Galileo E1B only { - if (galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) { rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time); rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); @@ -662,7 +659,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite if(type_of_rx == 5) // Galileo E5a only { std::string signal("5X"); - if (galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) { rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal); rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); @@ -672,7 +669,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite if(type_of_rx == 6) // Galileo E5b only { std::string signal("7X"); - if (galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) { rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal); rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac); @@ -681,7 +678,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 7) // GPS L1 C/A + GPS L2C { - if ((gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->get_gps_cnav_ephemeris_map().end())) + if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end())) { rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time); rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model); @@ -691,7 +688,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite if(type_of_rx == 9) // GPS L1 C/A + Galileo E1B { - if ((galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) && (gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) ) + if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) ) { std::string gal_signal("1B"); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal); @@ -701,7 +698,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 10) // GPS L1 C/A + Galileo E5a { - if ((galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) && (gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) ) + if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) ) { std::string gal_signal("5X"); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal); @@ -711,7 +708,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 11) // GPS L1 C/A + Galileo E5b { - if ((galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) && (gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) ) + if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) ) { std::string gal_signal("7X"); rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal); @@ -721,7 +718,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 14) // Galileo E1B + Galileo E5a { - if ((galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) ) + if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) ) { std::string gal_signal("1B 5X"); rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal); @@ -731,7 +728,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 15) // Galileo E1B + Galileo E5b { - if ((galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) ) + if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) ) { std::string gal_signal("1B 7X"); rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal); @@ -746,39 +743,39 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { if(type_of_rx == 1) // GPS L1 C/A only { - rp->log_rinex_nav(rp->navFile, d_ls_pvt->get_gps_ephemeris_map()); + rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_ephemeris_map); } if(type_of_rx == 2) // GPS L2C only { - rp->log_rinex_nav(rp->navFile, d_ls_pvt->get_gps_cnav_ephemeris_map()); + rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map); } if( (type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) ) // Galileo { - rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->get_galileo_ephemeris_map()); + rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map); } if(type_of_rx == 7) // GPS L1 C/A + GPS L2C { - rp->log_rinex_nav(rp->navFile, d_ls_pvt->get_gps_cnav_ephemeris_map()); + rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_cnav_ephemeris_map); } if((type_of_rx == 9) || (type_of_rx == 10) || (type_of_rx == 11)) // GPS L1 C/A + Galileo { - rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->get_gps_ephemeris_map(), d_ls_pvt->get_galileo_ephemeris_map()); + rp->log_rinex_nav(rp->navMixFile, d_ls_pvt->gps_ephemeris_map, d_ls_pvt->galileo_ephemeris_map); } if((type_of_rx == 14) || (type_of_rx == 15)) // Galileo E1B + Galileo E5a { - rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->get_galileo_ephemeris_map()); + rp->log_rinex_nav(rp->navGalFile, d_ls_pvt->galileo_ephemeris_map); } } - galileo_ephemeris_iter = d_ls_pvt->get_galileo_ephemeris_map().begin(); - gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().begin(); - gps_cnav_ephemeris_iter = d_ls_pvt->get_gps_cnav_ephemeris_map().begin(); + galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); + gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); + gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.begin(); // Log observables into the RINEX file if(flag_write_RINEX_obs_output) { if(type_of_rx == 1) // GPS L1 C/A only { - if (gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) + if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) { rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map); } @@ -791,7 +788,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 2) // GPS L2C only { - if (gps_cnav_ephemeris_iter != d_ls_pvt->get_gps_cnav_ephemeris_map().end()) + if (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) { rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); } @@ -804,7 +801,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 4) // Galileo E1B only { - if (galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) { rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B"); } @@ -817,7 +814,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 5) // Galileo E5a only { - if (galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) { rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "5X"); } @@ -830,7 +827,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 6) // Galileo E5b only { - if (galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) { rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "7X"); } @@ -843,7 +840,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 7) // GPS L1 C/A + GPS L2C { - if( (gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->get_gps_cnav_ephemeris_map().end()) ) + if( (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) ) { rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map); } @@ -856,7 +853,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 9) // GPS L1 C/A + Galileo E1B { - if ((galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) && (gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) ) + if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) ) { rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map); } @@ -869,7 +866,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 14) // Galileo E1B + Galileo E5a { - if (galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) { rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 5X"); } @@ -882,7 +879,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 15) // Galileo E1B + Galileo E5b { - if (galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) { rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 7X"); } @@ -903,7 +900,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { if(flag_write_RTCM_1019_output == true) { - for(std::map::iterator gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().begin(); gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end(); gps_ephemeris_iter++ ) + for(std::map::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); } @@ -911,9 +908,9 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite if(flag_write_RTCM_MSM_output == true) { std::map::iterator gps_ephemeris_iter; - gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().begin(); + gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); - if (gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) + if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) { d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } @@ -923,7 +920,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { if(flag_write_RTCM_1045_output == true) { - for(std::map::iterator gal_ephemeris_iter = d_ls_pvt->get_galileo_ephemeris_map().begin(); gal_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end(); gal_ephemeris_iter++ ) + for(std::map::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second); } @@ -931,8 +928,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite if(flag_write_RTCM_MSM_output == true) { std::map::iterator gal_ephemeris_iter; - gal_ephemeris_iter = d_ls_pvt->get_galileo_ephemeris_map().begin(); - if (gal_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) + gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); + if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) { d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } @@ -942,7 +939,7 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { if(flag_write_RTCM_1019_output == true) { - for(std::map::iterator gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().begin(); gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end(); gps_ephemeris_iter++ ) + for(std::map::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); } @@ -950,10 +947,10 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite if(flag_write_RTCM_MSM_output == true) { std::map::iterator gps_ephemeris_iter; - gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().begin(); + gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); std::map::iterator gps_cnav_ephemeris_iter; - gps_cnav_ephemeris_iter = d_ls_pvt->get_gps_cnav_ephemeris_map().begin(); - if ((gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->get_gps_cnav_ephemeris_map().end()) ) + gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.begin(); + if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) ) { d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } @@ -963,22 +960,22 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { if(flag_write_RTCM_1019_output == true) { - for(gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().begin(); gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end(); gps_ephemeris_iter++ ) + for(gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); } } if(flag_write_RTCM_1045_output == true) { - for(galileo_ephemeris_iter = d_ls_pvt->get_galileo_ephemeris_map().begin(); galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end(); galileo_ephemeris_iter++ ) + for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second); } } if(flag_write_RTCM_MSM_output == true) { - //gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().end(); - //galileo_ephemeris_iter = d_ls_pvt->get_galileo_ephemeris_map().end(); + //gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); + //galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); unsigned int i = 0; for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++) { @@ -988,8 +985,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite if(system.compare("G") == 0) { // This is a channel with valid GPS signal - gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().find(gnss_observables_iter->second.PRN); - if (gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) + gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) { gps_channel = i; } @@ -999,8 +996,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { if(system.compare("E") == 0) { - galileo_ephemeris_iter = d_ls_pvt->get_galileo_ephemeris_map().find(gnss_observables_iter->second.PRN); - if (galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) + galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) { gal_channel = i; } @@ -1011,14 +1008,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite if(flag_write_RTCM_MSM_output == true) { - if (galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) { d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } } if(flag_write_RTCM_MSM_output == true) { - if (gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) + if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) { d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } @@ -1031,14 +1028,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { if(type_of_rx == 1) // GPS L1 C/A { - for(std::map::iterator gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().begin(); gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end(); gps_ephemeris_iter++ ) + for(std::map::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); } - std::map::iterator gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().begin(); + std::map::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); - if (gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) + if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) { d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } @@ -1047,14 +1044,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite if((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo { - for(std::map::iterator gal_ephemeris_iter = d_ls_pvt->get_galileo_ephemeris_map().begin(); gal_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end(); gal_ephemeris_iter++ ) + for(std::map::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second); } - std::map::iterator gal_ephemeris_iter = d_ls_pvt->get_galileo_ephemeris_map().begin(); + std::map::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); - if (gal_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) + if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) { d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } @@ -1062,15 +1059,15 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite } if(type_of_rx == 7) // GPS L1 C/A + GPS L2C { - for(std::map::iterator gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().begin(); gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end(); gps_ephemeris_iter++ ) + for(std::map::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); } - std::map::iterator gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().begin(); - std::map::iterator gps_cnav_ephemeris_iter = d_ls_pvt->get_gps_cnav_ephemeris_map().begin(); + std::map::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); + std::map::iterator gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.begin(); - if ((gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->get_gps_cnav_ephemeris_map().end())) + if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end())) { d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } @@ -1080,14 +1077,14 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { if(d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - for(std::map::iterator gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().begin(); gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end(); gps_ephemeris_iter++ ) + for(std::map::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); } } if(d_rtcm_MT1045_rate_ms != 0) { - for(galileo_ephemeris_iter = d_ls_pvt->get_galileo_ephemeris_map().begin(); galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end(); galileo_ephemeris_iter++ ) + for(galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++ ) { d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second); } @@ -1102,8 +1099,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite if(system.compare("G") == 0) { // This is a channel with valid GPS signal - gps_ephemeris_iter = d_ls_pvt->get_gps_ephemeris_map().find(gnss_observables_iter->second.PRN); - if (gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end()) + gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) { gps_channel = i; } @@ -1113,8 +1110,8 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite { if(system.compare("E") == 0) { - galileo_ephemeris_iter = d_ls_pvt->get_galileo_ephemeris_map().find(gnss_observables_iter->second.PRN); - if (galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end()) + galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) { gal_channel = i; } @@ -1123,12 +1120,12 @@ int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_ite i++; } - if (gps_ephemeris_iter != d_ls_pvt->get_gps_ephemeris_map().end() && (d_rtcm_MT1077_rate_ms != 0)) + if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end() && (d_rtcm_MT1077_rate_ms != 0)) { d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } - if (galileo_ephemeris_iter != d_ls_pvt->get_galileo_ephemeris_map().end() && (d_rtcm_MT1097_rate_ms != 0) ) + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end() && (d_rtcm_MT1097_rate_ms != 0) ) { d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h index b2793e05e..a188c5809 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h @@ -168,7 +168,7 @@ public: * * It is used to save the assistance data at the receiver shutdown */ - std::map get_GPS_L1_ephemeris_map() const; + std::map get_GPS_L1_ephemeris_map(); ~rtklib_pvt_cc(); //!< Default destructor diff --git a/src/algorithms/PVT/libs/rtklib_solver.cc b/src/algorithms/PVT/libs/rtklib_solver.cc index 4cc25dca9..4232768ff 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.cc +++ b/src/algorithms/PVT/libs/rtklib_solver.cc @@ -108,24 +108,6 @@ rtklib_solver::~rtklib_solver() } -std::map rtklib_solver::get_galileo_ephemeris_map() const -{ - return galileo_ephemeris_map; -} - - -std::map rtklib_solver::get_gps_ephemeris_map() const -{ - return gps_ephemeris_map; -} - - -std::map rtklib_solver::get_gps_cnav_ephemeris_map() const -{ - return gps_cnav_ephemeris_map; -} - - bool rtklib_solver::get_PVT(const std::map & gnss_observables_map, double Rx_time, bool flag_averaging) { std::map::const_iterator gnss_observables_iter; diff --git a/src/algorithms/PVT/libs/rtklib_solver.h b/src/algorithms/PVT/libs/rtklib_solver.h index 41b841a17..6f441f4a6 100644 --- a/src/algorithms/PVT/libs/rtklib_solver.h +++ b/src/algorithms/PVT/libs/rtklib_solver.h @@ -77,21 +77,15 @@ private: sol_t pvt_sol; bool d_flag_dump_enabled; int d_nchannels; // Number of available channels for positioning - int count_valid_position; - - std::map galileo_ephemeris_map; - std::map gps_ephemeris_map; - std::map gps_cnav_ephemeris_map; - public: rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, rtk_t & rtk); ~rtklib_solver(); bool get_PVT(const std::map & gnss_observables_map, double Rx_time, bool flag_averaging); - std::map get_galileo_ephemeris_map() const; //!< Get map storing new Galileo_Ephemeris - std::map get_gps_ephemeris_map() const; //!< Get map storing new GPS_Ephemeris - std::map get_gps_cnav_ephemeris_map() const; //!< Get map storing new GPS_CNAV_Ephemeris + std::map galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris + std::map gps_ephemeris_map; //!< Map storing new GPS_Ephemeris + std::map gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris Galileo_Utc_Model galileo_utc_model; Galileo_Iono galileo_iono; @@ -102,6 +96,8 @@ public: Gps_CNAV_Iono gps_cnav_iono; Gps_CNAV_Utc_Model gps_cnav_utc_model; + + int count_valid_position; }; #endif