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Make PVT a sink block and add RINEX printer configuration

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This commit is contained in:
Carles Fernandez 2017-04-29 18:21:44 +02:00
parent 0b6affe38b
commit 6f89f89bf2
3 changed files with 43 additions and 33 deletions
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10
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -68,6 +68,14 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename); std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname); std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// RINEX version
int rinex_version = configuration->property(role + ".rinex_version", 3);
if( (rinex_version < 2) || (rinex_version > 3) )
{
//warn user and set the default
rinex_version = 3;
}
// RTCM Printer settings // RTCM Printer settings
bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false); bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname); std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
@ -303,7 +311,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
rtklib_options = rtklib_configuration_options; rtklib_options = rtklib_configuration_options;
// make PVT object // make PVT object
pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtklib_options); pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtklib_options);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")"; DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
} }

20
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -43,8 +43,8 @@
using google::LogMessage; using google::LogMessage;
rtklib_pvt_cc_sptr
rtklib_make_pvt_cc(unsigned int nchannels, rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
bool dump, bool dump,
std::string dump_filename, std::string dump_filename,
int output_rate_ms, int output_rate_ms,
@ -52,6 +52,7 @@ rtklib_make_pvt_cc(unsigned int nchannels,
bool flag_nmea_tty_port, bool flag_nmea_tty_port,
std::string nmea_dump_filename, std::string nmea_dump_filename,
std::string nmea_dump_devname, std::string nmea_dump_devname,
int rinex_version,
bool flag_rtcm_server, bool flag_rtcm_server,
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
@ -69,6 +70,7 @@ rtklib_make_pvt_cc(unsigned int nchannels,
flag_nmea_tty_port, flag_nmea_tty_port,
nmea_dump_filename, nmea_dump_filename,
nmea_dump_devname, nmea_dump_devname,
rinex_version,
flag_rtcm_server, flag_rtcm_server,
flag_rtcm_tty_port, flag_rtcm_tty_port,
rtcm_tcp_port, rtcm_tcp_port,
@ -198,10 +200,10 @@ std::map<int,Gps_Ephemeris> rtklib_pvt_cc::get_GPS_L1_ephemeris_map()
rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename, rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename,
int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port,
std::string nmea_dump_filename, std::string nmea_dump_devname, std::string nmea_dump_filename, std::string nmea_dump_devname, int rinex_version,
bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port, bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, std::map<int,int> rtcm_msg_rate_ms, std::string rtcm_dump_devname, const unsigned int type_of_receiver, const prcopt_t rtklib_opt) : unsigned short rtcm_station_id, std::map<int,int> rtcm_msg_rate_ms, std::string rtcm_dump_devname, const unsigned int type_of_receiver, const prcopt_t rtklib_opt) :
gr::block("rtklib_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)), gr::sync_block("rtklib_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0)) gr::io_signature::make(0, 0, 0))
{ {
d_output_rate_ms = output_rate_ms; d_output_rate_ms = output_rate_ms;
@ -291,7 +293,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
b_rinex_header_written = false; b_rinex_header_written = false;
b_rinex_header_updated = false; b_rinex_header_updated = false;
rp = std::make_shared<Rinex_Printer>(); rp = std::make_shared<Rinex_Printer>(rinex_version);
d_last_status_print_seg = 0; d_last_status_print_seg = 0;
@ -325,7 +327,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
} }
rtklib_pvt_cc::~rtklib_pvt_cc() rtklib_pvt_cc::~rtklib_pvt_cc()
{ {
msgctl(sysv_msqid, IPC_RMID, NULL); msgctl(sysv_msqid, IPC_RMID, NULL);
@ -424,10 +425,10 @@ bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
} }
int rtklib_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items, int rtklib_pvt_cc::work (int noutput_items, gr_vector_const_void_star &input_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused))) gr_vector_void_star &output_items __attribute__((unused)))
{ {
for(int epoch = 0; epoch < ninput_items[0]; epoch++) for(int epoch = 0; epoch < noutput_items; epoch++)
{ {
bool flag_display_pvt = false; bool flag_display_pvt = false;
bool flag_compute_pvt_output = false; bool flag_compute_pvt_output = false;
@ -1150,6 +1151,5 @@ int rtklib_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items,
} }
} }
consume_each(ninput_items[0]);
return noutput_items; return noutput_items;
} }

44
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -37,7 +37,7 @@
#include <sys/types.h> #include <sys/types.h>
#include <sys/ipc.h> #include <sys/ipc.h>
#include <sys/msg.h> #include <sys/msg.h>
#include <gnuradio/block.h> #include <gnuradio/sync_block.h>
#include "nmea_printer.h" #include "nmea_printer.h"
#include "kml_printer.h" #include "kml_printer.h"
#include "geojson_printer.h" #include "geojson_printer.h"
@ -58,6 +58,7 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
bool flag_nmea_tty_port, bool flag_nmea_tty_port,
std::string nmea_dump_filename, std::string nmea_dump_filename,
std::string nmea_dump_devname, std::string nmea_dump_devname,
int rinex_version,
bool flag_rtcm_server, bool flag_rtcm_server,
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
@ -70,7 +71,7 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
/*! /*!
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals * \brief This class implements a block that computes the PVT solution with Galileo E1 signals
*/ */
class rtklib_pvt_cc : public gr::block class rtklib_pvt_cc : public gr::sync_block
{ {
private: private:
friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels, friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
@ -81,21 +82,7 @@ private:
bool flag_nmea_tty_port, bool flag_nmea_tty_port,
std::string nmea_dump_filename, std::string nmea_dump_filename,
std::string nmea_dump_devname, std::string nmea_dump_devname,
bool flag_rtcm_server, int rinex_version,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver,
const prcopt_t rtklib_opt);
rtklib_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server, bool flag_rtcm_server,
bool flag_rtcm_tty_port, bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port, unsigned short rtcm_tcp_port,
@ -125,8 +112,6 @@ private:
int d_output_rate_ms; int d_output_rate_ms;
int d_display_rate_ms; int d_display_rate_ms;
//long unsigned int d_sample_counter;
//long unsigned int d_last_sample_nav_output;
std::shared_ptr<Rinex_Printer> rp; std::shared_ptr<Rinex_Printer> rp;
std::shared_ptr<Kml_Printer> d_kml_dump; std::shared_ptr<Kml_Printer> d_kml_dump;
@ -159,6 +144,23 @@ private:
bool send_sys_v_ttff_msg(ttff_msgbuf ttff); bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
public: public:
rtklib_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
int rinex_version,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname,
const unsigned int type_of_receiver,
const prcopt_t rtklib_opt);
/*! /*!
* \brief Get latest set of GPS L1 ephemeris from PVT block * \brief Get latest set of GPS L1 ephemeris from PVT block
* *
@ -168,8 +170,8 @@ public:
~rtklib_pvt_cc(); //!< Default destructor ~rtklib_pvt_cc(); //!< Default destructor
int general_work (int noutput_items, gr_vector_int &ninput_items, int work (int noutput_items, gr_vector_const_void_star &input_items,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items); //!< PVT Signal Processing gr_vector_void_star &output_items); //!< PVT Signal Processing
}; };
#endif #endif