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Fix RINEX nav annotations

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This commit is contained in:
Carles Fernandez 2019-05-07 18:52:08 +02:00
parent 950b4b607a
commit 76b3b932eb
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GPG Key ID: 4C583C52B0C3877D
1 changed files with 271 additions and 272 deletions
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543
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -1104,317 +1104,316 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
break; break;
} }
} }
d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Iono>))
{
// ### GPS CNAV IONO ###
std::shared_ptr<Gps_CNAV_Iono> gps_cnav_iono;
gps_cnav_iono = boost::any_cast<std::shared_ptr<Gps_CNAV_Iono>>(pmt::any_ref(msg));
d_pvt_solver->gps_cnav_iono = *gps_cnav_iono;
DLOG(INFO) << "New CNAV IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Utc_Model>))
{
// ### GPS CNAV UTC MODEL ###
std::shared_ptr<Gps_CNAV_Utc_Model> gps_cnav_utc_model;
gps_cnav_utc_model = boost::any_cast<std::shared_ptr<Gps_CNAV_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->gps_cnav_utc_model = *gps_cnav_utc_model;
DLOG(INFO) << "New CNAV UTC record has arrived ";
} }
d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Iono>))
{
// ### GPS CNAV IONO ###
std::shared_ptr<Gps_CNAV_Iono> gps_cnav_iono;
gps_cnav_iono = boost::any_cast<std::shared_ptr<Gps_CNAV_Iono>>(pmt::any_ref(msg));
d_pvt_solver->gps_cnav_iono = *gps_cnav_iono;
DLOG(INFO) << "New CNAV IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Utc_Model>))
{
// ### GPS CNAV UTC MODEL ###
std::shared_ptr<Gps_CNAV_Utc_Model> gps_cnav_utc_model;
gps_cnav_utc_model = boost::any_cast<std::shared_ptr<Gps_CNAV_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->gps_cnav_utc_model = *gps_cnav_utc_model;
DLOG(INFO) << "New CNAV UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Almanac>)) else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Almanac>))
{ {
// ### GPS ALMANAC ### // ### GPS ALMANAC ###
std::shared_ptr<Gps_Almanac> gps_almanac; std::shared_ptr<Gps_Almanac> gps_almanac;
gps_almanac = boost::any_cast<std::shared_ptr<Gps_Almanac>>(pmt::any_ref(msg)); gps_almanac = boost::any_cast<std::shared_ptr<Gps_Almanac>>(pmt::any_ref(msg));
d_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac; d_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac;
DLOG(INFO) << "New GPS almanac record has arrived "; DLOG(INFO) << "New GPS almanac record has arrived ";
} }
// **************** Galileo telemetry ******************** // **************** Galileo telemetry ********************
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>)) else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>))
{
// ### Galileo EPHEMERIS ###
std::shared_ptr<Galileo_Ephemeris> galileo_eph;
galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
// insert new ephemeris record
DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
<< ", GALILEO Week Number =" << galileo_eph->WN_5
<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
// update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{ {
// ### Galileo EPHEMERIS ### bool new_annotation = false;
std::shared_ptr<Galileo_Ephemeris> galileo_eph; if (d_pvt_solver->galileo_ephemeris_map.find(galileo_eph->i_satellite_PRN) == d_pvt_solver->galileo_ephemeris_map.cend())
galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
// insert new ephemeris record
DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
<< ", GALILEO Week Number =" << galileo_eph->WN_5
<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
// update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{ {
bool new_annotation = false; new_annotation = true;
if (d_pvt_solver->galileo_ephemeris_map.find(galileo_eph->i_satellite_PRN) == d_pvt_solver->galileo_ephemeris_map.cend()) }
else
{
if (d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN].t0e_1 != galileo_eph->t0e_1)
{ {
new_annotation = true; new_annotation = true;
} }
else }
if (new_annotation == true)
{
// New record!
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
std::map<int32_t, Gps_Ephemeris> new_eph;
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
new_gal_eph[galileo_eph->i_satellite_PRN] = *galileo_eph;
switch (type_of_rx)
{ {
if (d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN].t0e_1 != galileo_eph->t0e_1) case 6: // Galileo E5b only
{ rp->log_rinex_nav(rp->navGalFile, new_gal_eph);
new_annotation = true; break;
} case 11: // GPS L1 C/A + Galileo E5b
} rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
if (new_annotation == true) break;
{ case 13: // L5+E5a
// New record! rp->log_rinex_nav(rp->navFile, new_cnav_eph, new_gal_eph);
std::map<int32_t, Galileo_Ephemeris> new_gal_eph; break;
std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph; case 15: // Galileo E1B + Galileo E5b
std::map<int32_t, Gps_Ephemeris> new_eph; rp->log_rinex_nav(rp->navGalFile, new_gal_eph);
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph; break;
new_gal_eph[galileo_eph->i_satellite_PRN] = *galileo_eph; case 27: // Galileo E1B + GLONASS L1 C/A
switch (type_of_rx) rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
{ break;
case 6: // Galileo E5b only case 30: // Galileo E1B + GLONASS L2 C/A
rp->log_rinex_nav(rp->navGalFile, new_gal_eph); rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break; break;
case 11: // GPS L1 C/A + Galileo E5b case 32: // L1+E1+L5+E5a
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph); rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break; break;
case 13: // L5+E5a case 33: // L1+E1+E5a
rp->log_rinex_nav(rp->navFile, new_cnav_eph, new_gal_eph); rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break; break;
case 15: // Galileo E1B + Galileo E5b
rp->log_rinex_nav(rp->navGalFile, new_gal_eph);
break;
case 27: // Galileo E1B + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 30: // Galileo E1B + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 32: // L1+E1+L5+E5a
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
case 33: // L1+E1+E5a
rp->log_rinex_nav(rp->navMixFile, new_eph, new_gal_eph);
break;
}
} }
} }
d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
} }
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>)) d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
{ }
// ### Galileo IONO ### else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>))
std::shared_ptr<Galileo_Iono> galileo_iono; {
galileo_iono = boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg)); // ### Galileo IONO ###
d_pvt_solver->galileo_iono = *galileo_iono; std::shared_ptr<Galileo_Iono> galileo_iono;
DLOG(INFO) << "New IONO record has arrived "; galileo_iono = boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
} d_pvt_solver->galileo_iono = *galileo_iono;
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>)) DLOG(INFO) << "New IONO record has arrived ";
{ }
// ### Galileo UTC MODEL ### else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Utc_Model>))
std::shared_ptr<Galileo_Utc_Model> galileo_utc_model; {
galileo_utc_model = boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg)); // ### Galileo UTC MODEL ###
d_pvt_solver->galileo_utc_model = *galileo_utc_model; std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
DLOG(INFO) << "New UTC record has arrived "; galileo_utc_model = boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
} d_pvt_solver->galileo_utc_model = *galileo_utc_model;
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac_Helper>)) DLOG(INFO) << "New UTC record has arrived ";
{ }
// ### Galileo Almanac ### else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac_Helper>))
std::shared_ptr<Galileo_Almanac_Helper> galileo_almanac_helper; {
galileo_almanac_helper = boost::any_cast<std::shared_ptr<Galileo_Almanac_Helper>>(pmt::any_ref(msg)); // ### Galileo Almanac ###
std::shared_ptr<Galileo_Almanac_Helper> galileo_almanac_helper;
galileo_almanac_helper = boost::any_cast<std::shared_ptr<Galileo_Almanac_Helper>>(pmt::any_ref(msg));
Galileo_Almanac sv1 = galileo_almanac_helper->get_almanac(1); Galileo_Almanac sv1 = galileo_almanac_helper->get_almanac(1);
Galileo_Almanac sv2 = galileo_almanac_helper->get_almanac(2); Galileo_Almanac sv2 = galileo_almanac_helper->get_almanac(2);
Galileo_Almanac sv3 = galileo_almanac_helper->get_almanac(3); Galileo_Almanac sv3 = galileo_almanac_helper->get_almanac(3);
if (sv1.i_satellite_PRN != 0) if (sv1.i_satellite_PRN != 0)
{
d_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1;
}
if (sv2.i_satellite_PRN != 0)
{
d_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2;
}
if (sv3.i_satellite_PRN != 0)
{
d_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
}
DLOG(INFO) << "New Galileo Almanac data have arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>))
{
// ### Galileo Almanac ###
std::shared_ptr<Galileo_Almanac> galileo_alm;
galileo_alm = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
// update/insert new almanac record to the global almanac map
d_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
}
// **************** GLONASS GNAV Telemetry **************************
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>))
{
// ### GLONASS GNAV EPHEMERIS ###
std::shared_ptr<Glonass_Gnav_Ephemeris> glonass_gnav_eph;
glonass_gnav_eph = boost::any_cast<std::shared_ptr<Glonass_Gnav_Ephemeris>>(pmt::any_ref(msg));
// TODO Add GLONASS with gps week number and tow,
// insert new ephemeris record
DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW
<< ", Week Number =" << glonass_gnav_eph->d_WN
<< " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
<< " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
// update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->i_satellite_PRN) == d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{ {
d_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1; new_annotation = true;
} }
if (sv2.i_satellite_PRN != 0) else
{ {
d_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2; if (d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN].d_t_b != glonass_gnav_eph->d_t_b)
}
if (sv3.i_satellite_PRN != 0)
{
d_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
}
DLOG(INFO) << "New Galileo Almanac data have arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>))
{
// ### Galileo Almanac ###
std::shared_ptr<Galileo_Almanac> galileo_alm;
galileo_alm = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
// update/insert new almanac record to the global almanac map
d_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
}
// **************** GLONASS GNAV Telemetry **************************
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>))
{
// ### GLONASS GNAV EPHEMERIS ###
std::shared_ptr<Glonass_Gnav_Ephemeris> glonass_gnav_eph;
glonass_gnav_eph = boost::any_cast<std::shared_ptr<Glonass_Gnav_Ephemeris>>(pmt::any_ref(msg));
// TODO Add GLONASS with gps week number and tow,
// insert new ephemeris record
DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW
<< ", Week Number =" << glonass_gnav_eph->d_WN
<< " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
<< " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
// update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{
bool new_annotation = false;
if (d_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->i_satellite_PRN) == d_pvt_solver->glonass_gnav_ephemeris_map.cend())
{ {
new_annotation = true; new_annotation = true;
} }
else }
if (new_annotation == true)
{
// New record!
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
std::map<int32_t, Gps_Ephemeris> new_eph;
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
new_glo_eph[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
switch (type_of_rx)
{ {
if (d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN].d_t_b != glonass_gnav_eph->d_t_b) case 25: // GLONASS L1 C/A + GLONASS L2 C/A
rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
break;
case 26: // GPS L1 C/A + GLONASS L1 C/A
if (d_rinex_version == 3)
{ {
new_annotation = true; rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
} }
} if (d_rinex_version == 2)
if (new_annotation == true)
{
// New record!
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
std::map<int32_t, Gps_Ephemeris> new_eph;
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
new_glo_eph[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
switch (type_of_rx)
{ {
case 25: // GLONASS L1 C/A + GLONASS L2 C/A
rp->log_rinex_nav(rp->navGloFile, new_glo_eph); rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
break;
case 26: // GPS L1 C/A + GLONASS L1 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
}
break;
case 27: // Galileo E1B + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 28: // GPS L2C + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
case 29: // GPS L1 C/A + GLONASS L2 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
}
break;
case 30: // Galileo E1B + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 31: // GPS L2C + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
default:
break;
} }
break;
case 27: // Galileo E1B + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 28: // GPS L2C + GLONASS L1 C/A
rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
case 29: // GPS L1 C/A + GLONASS L2 C/A
if (d_rinex_version == 3)
{
rp->log_rinex_nav(rp->navMixFile, new_eph, new_glo_eph);
}
if (d_rinex_version == 2)
{
rp->log_rinex_nav(rp->navGloFile, new_glo_eph);
}
break;
case 30: // Galileo E1B + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, new_gal_eph, new_glo_eph);
break;
case 31: // GPS L2C + GLONASS L2 C/A
rp->log_rinex_nav(rp->navMixFile, new_cnav_eph, new_glo_eph);
break;
default:
break;
} }
} }
d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>))
{
// ### GLONASS GNAV UTC MODEL ###
std::shared_ptr<Glonass_Gnav_Utc_Model> glonass_gnav_utc_model;
glonass_gnav_utc_model = boost::any_cast<std::shared_ptr<Glonass_Gnav_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->glonass_gnav_utc_model = *glonass_gnav_utc_model;
DLOG(INFO) << "New GLONASS GNAV UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Almanac>))
{
// ### GLONASS GNAV Almanac ###
std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
d_pvt_solver->glonass_gnav_almanac = *glonass_gnav_almanac;
DLOG(INFO) << "New GLONASS GNAV Almanac has arrived "
<< ", GLONASS GNAV Slot Number =" << glonass_gnav_almanac->d_n_A;
} }
d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>))
{
// ### GLONASS GNAV UTC MODEL ###
std::shared_ptr<Glonass_Gnav_Utc_Model> glonass_gnav_utc_model;
glonass_gnav_utc_model = boost::any_cast<std::shared_ptr<Glonass_Gnav_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->glonass_gnav_utc_model = *glonass_gnav_utc_model;
DLOG(INFO) << "New GLONASS GNAV UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Almanac>))
{
// ### GLONASS GNAV Almanac ###
std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
d_pvt_solver->glonass_gnav_almanac = *glonass_gnav_almanac;
DLOG(INFO) << "New GLONASS GNAV Almanac has arrived "
<< ", GLONASS GNAV Slot Number =" << glonass_gnav_almanac->d_n_A;
}
// ************* BeiDou telemetry ***************** // ************* BeiDou telemetry *****************
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Ephemeris>)) else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Ephemeris>))
{
// ### Beidou EPHEMERIS ###
std::shared_ptr<Beidou_Dnav_Ephemeris> bds_dnav_eph;
bds_dnav_eph = boost::any_cast<std::shared_ptr<Beidou_Dnav_Ephemeris>>(pmt::any_ref(msg));
DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
<< bds_dnav_eph->i_satellite_PRN << " (Block "
<< bds_dnav_eph->satelliteBlock[bds_dnav_eph->i_satellite_PRN] << ")"
<< "inserted with Toe=" << bds_dnav_eph->d_Toe << " and BDS Week="
<< bds_dnav_eph->i_BEIDOU_week;
// update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{ {
// ### Beidou EPHEMERIS ### bool new_annotation = false;
std::shared_ptr<Beidou_Dnav_Ephemeris> bds_dnav_eph; if (d_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->i_satellite_PRN) == d_pvt_solver->beidou_dnav_ephemeris_map.cend())
bds_dnav_eph = boost::any_cast<std::shared_ptr<Beidou_Dnav_Ephemeris>>(pmt::any_ref(msg));
DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
<< bds_dnav_eph->i_satellite_PRN << " (Block "
<< bds_dnav_eph->satelliteBlock[bds_dnav_eph->i_satellite_PRN] << ")"
<< "inserted with Toe=" << bds_dnav_eph->d_Toe << " and BDS Week="
<< bds_dnav_eph->i_BEIDOU_week;
// update/insert new ephemeris record to the global ephemeris map
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
{ {
bool new_annotation = false; new_annotation = true;
if (d_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->i_satellite_PRN) == d_pvt_solver->beidou_dnav_ephemeris_map.cend()) }
else
{
if (d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN].d_Toc != bds_dnav_eph->d_Toc)
{ {
new_annotation = true; new_annotation = true;
} }
else }
if (new_annotation == true)
{
// New record!
std::map<int32_t, Beidou_Dnav_Ephemeris> new_bds_eph;
new_bds_eph[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
switch (type_of_rx)
{ {
if (d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN].d_Toc != bds_dnav_eph->d_Toc) case 50: // BDS B1I only
{ rp->log_rinex_nav(rp->navFile, new_bds_eph);
new_annotation = true; break;
} default:
} break;
if (new_annotation == true)
{
// New record!
std::map<int32_t, Beidou_Dnav_Ephemeris> new_bds_eph;
new_bds_eph[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
switch (type_of_rx)
{
case 50: // BDS B1I only
rp->log_rinex_nav(rp->navFile, new_bds_eph);
break;
default:
break;
}
} }
} }
d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Iono>))
{
// ### BeiDou IONO ###
std::shared_ptr<Beidou_Dnav_Iono> bds_dnav_iono;
bds_dnav_iono = boost::any_cast<std::shared_ptr<Beidou_Dnav_Iono>>(pmt::any_ref(msg));
d_pvt_solver->beidou_dnav_iono = *bds_dnav_iono;
DLOG(INFO) << "New BeiDou DNAV IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Utc_Model>))
{
// ### BeiDou UTC MODEL ###
std::shared_ptr<Beidou_Dnav_Utc_Model> bds_dnav_utc_model;
bds_dnav_utc_model = boost::any_cast<std::shared_ptr<Beidou_Dnav_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->beidou_dnav_utc_model = *bds_dnav_utc_model;
DLOG(INFO) << "New BeiDou DNAV UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Almanac>))
{
// ### BeiDou ALMANAC ###
std::shared_ptr<Beidou_Dnav_Almanac> bds_dnav_almanac;
bds_dnav_almanac = boost::any_cast<std::shared_ptr<Beidou_Dnav_Almanac>>(pmt::any_ref(msg));
d_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->i_satellite_PRN] = *bds_dnav_almanac;
DLOG(INFO) << "New BeiDou DNAV almanac record has arrived ";
}
else
{
LOG(WARNING) << "msg_handler_telemetry unknown object type!";
} }
d_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->i_satellite_PRN] = *bds_dnav_eph;
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Iono>))
{
// ### BeiDou IONO ###
std::shared_ptr<Beidou_Dnav_Iono> bds_dnav_iono;
bds_dnav_iono = boost::any_cast<std::shared_ptr<Beidou_Dnav_Iono>>(pmt::any_ref(msg));
d_pvt_solver->beidou_dnav_iono = *bds_dnav_iono;
DLOG(INFO) << "New BeiDou DNAV IONO record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Utc_Model>))
{
// ### BeiDou UTC MODEL ###
std::shared_ptr<Beidou_Dnav_Utc_Model> bds_dnav_utc_model;
bds_dnav_utc_model = boost::any_cast<std::shared_ptr<Beidou_Dnav_Utc_Model>>(pmt::any_ref(msg));
d_pvt_solver->beidou_dnav_utc_model = *bds_dnav_utc_model;
DLOG(INFO) << "New BeiDou DNAV UTC record has arrived ";
}
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Beidou_Dnav_Almanac>))
{
// ### BeiDou ALMANAC ###
std::shared_ptr<Beidou_Dnav_Almanac> bds_dnav_almanac;
bds_dnav_almanac = boost::any_cast<std::shared_ptr<Beidou_Dnav_Almanac>>(pmt::any_ref(msg));
d_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->i_satellite_PRN] = *bds_dnav_almanac;
DLOG(INFO) << "New BeiDou DNAV almanac record has arrived ";
}
else
{
LOG(WARNING) << "msg_handler_telemetry unknown object type!";
} }
} }
catch (boost::bad_any_cast& e) catch (boost::bad_any_cast& e)