diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc index aa3c921c5..1a8bdae3c 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc @@ -401,6 +401,13 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels, } else { + d_rtcm_MT1019_rate_ms = 0; + d_rtcm_MT1045_rate_ms = 0; + d_rtcm_MT1020_rate_ms = 0; + d_rtcm_MT1077_rate_ms = 0; + d_rtcm_MT1087_rate_ms = 0; + d_rtcm_MT1097_rate_ms = 0; + d_rtcm_MSM_rate_ms = 0; b_rtcm_enabled = false; b_rtcm_writing_started = false; d_rtcm_printer = nullptr; @@ -895,46 +902,49 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item // store valid observables in a map. gnss_observables_map.insert(std::pair(i, in[i][epoch])); } - try + if (b_rtcm_enabled) { - if (d_ls_pvt->gps_ephemeris_map.empty() == false) + try { - if (tmp_eph_iter_gps != d_ls_pvt->gps_ephemeris_map.end()) + if (d_ls_pvt->gps_ephemeris_map.empty() == false) { - d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time + if (tmp_eph_iter_gps != d_ls_pvt->gps_ephemeris_map.end()) + { + d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time + } + } + if (d_ls_pvt->galileo_ephemeris_map.empty() == false) + { + if (tmp_eph_iter_gal != d_ls_pvt->galileo_ephemeris_map.end()) + { + d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time + } + } + if (d_ls_pvt->gps_cnav_ephemeris_map.empty() == false) + { + if (tmp_eph_iter_cnav != d_ls_pvt->gps_cnav_ephemeris_map.end()) + { + d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time + } + } + if (d_ls_pvt->glonass_gnav_ephemeris_map.empty() == false) + { + if (tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + { + d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time + } } } - if (d_ls_pvt->galileo_ephemeris_map.empty() == false) + catch (const boost::exception& ex) { - if (tmp_eph_iter_gal != d_ls_pvt->galileo_ephemeris_map.end()) - { - d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time - } + std::cout << "RTCM boost exception: " << boost::diagnostic_information(ex) << std::endl; + LOG(ERROR) << "RTCM boost exception: " << boost::diagnostic_information(ex); } - if (d_ls_pvt->gps_cnav_ephemeris_map.empty() == false) + catch (const std::exception& ex) { - if (tmp_eph_iter_cnav != d_ls_pvt->gps_cnav_ephemeris_map.end()) - { - d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time - } + std::cout << "RTCM std exception: " << ex.what() << std::endl; + LOG(ERROR) << "RTCM std exception: " << ex.what(); } - if (d_ls_pvt->glonass_gnav_ephemeris_map.empty() == false) - { - if (tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end()) - { - d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time - } - } - } - catch (const boost::exception& ex) - { - std::cout << "RTCM boost exception: " << boost::diagnostic_information(ex) << std::endl; - LOG(ERROR) << "RTCM boost exception: " << boost::diagnostic_information(ex); - } - catch (const std::exception& ex) - { - std::cout << "RTCM std exception: " << ex.what() << std::endl; - LOG(ERROR) << "RTCM std exception: " << ex.what(); } } } @@ -976,17 +986,26 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { flag_display_pvt = true; } - if (current_RX_time_ms % d_rtcm_MT1019_rate_ms == 0 and d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 + if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - flag_write_RTCM_1019_output = true; + if (current_RX_time_ms % d_rtcm_MT1019_rate_ms == 0) + { + flag_write_RTCM_1019_output = true; + } } - if (current_RX_time_ms % d_rtcm_MT1020_rate_ms == 0 and d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0 + if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - flag_write_RTCM_1020_output = true; + if (current_RX_time_ms % d_rtcm_MT1020_rate_ms == 0) + { + flag_write_RTCM_1020_output = true; + } } - if (current_RX_time_ms % d_rtcm_MT1045_rate_ms == 0 and d_rtcm_MT1045_rate_ms != 0) + if (d_rtcm_MT1045_rate_ms != 0) { - flag_write_RTCM_1045_output = true; + if (current_RX_time_ms % d_rtcm_MT1045_rate_ms == 0) + { + flag_write_RTCM_1045_output = true; + } } // TODO: RTCM 1077, 1087 and 1097 are not used, so, disable the output rates // if (current_RX_time_ms % d_rtcm_MT1077_rate_ms==0 and d_rtcm_MT1077_rate_ms != 0) @@ -1001,18 +1020,26 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item // { // last_RTCM_1097_output_time = current_RX_time; // } - - if (current_RX_time_ms % d_rtcm_MSM_rate_ms == 0 and d_rtcm_MSM_rate_ms != 0) + if (d_rtcm_MSM_rate_ms != 0) { - flag_write_RTCM_MSM_output = true; + if (current_RX_time_ms % d_rtcm_MSM_rate_ms == 0) + { + flag_write_RTCM_MSM_output = true; + } } - if (current_RX_time_ms % static_cast(d_rinexobs_rate_ms) == 0) + if (d_rinexobs_rate_ms != 0) { - flag_write_RINEX_obs_output = true; + if (current_RX_time_ms % static_cast(d_rinexobs_rate_ms) == 0) + { + flag_write_RINEX_obs_output = true; + } } - if (current_RX_time_ms % static_cast(d_rinexnav_rate_ms) == 0) + if (d_rinexnav_rate_ms != 0) { - flag_write_RINEX_nav_output = true; + if (current_RX_time_ms % static_cast(d_rinexnav_rate_ms) == 0) + { + flag_write_RINEX_nav_output = true; + } } if (first_fix == true)