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Introducing a hook for the RTCM printer

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git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@494 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Carles Fernandez 2014-03-23 09:43:16 +00:00
parent 01f8e403ad
commit 7e752653b4
3 changed files with 618 additions and 4 deletions
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8
src/algorithms/PVT/libs/CMakeLists.txt
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@ -1,4 +1,4 @@
# Copyright (C) 2012-2013 (see AUTHORS file for a list of contributors) # Copyright (C) 2012-2014 (see AUTHORS file for a list of contributors)
# #
# This file is part of GNSS-SDR. # This file is part of GNSS-SDR.
# #
@ -22,7 +22,7 @@ set(PVT_LIB_SOURCES
kml_printer.cc kml_printer.cc
rinex_printer.cc rinex_printer.cc
nmea_printer.cc nmea_printer.cc
# rtcm_printer.cc rtcm_printer.cc
) )
include_directories( include_directories(
@ -33,10 +33,10 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/adapters ${CMAKE_SOURCE_DIR}/src/algorithms/PVT/adapters
${Boost_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS}
${ARMADILLO_INCLUDE_DIRS} ${ARMADILLO_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS} ${GFlags_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
) )
add_library(pvt_lib ${PVT_LIB_SOURCES}) add_library(pvt_lib ${PVT_LIB_SOURCES})
add_dependencies(pvt_lib armadillo-${armadillo_RELEASE} glog-${glog_RELEASE}) add_dependencies(pvt_lib armadillo-${armadillo_RELEASE} glog-${glog_RELEASE})
target_link_libraries(pvt_lib ${Boost_LIBRARIES} ${GFlags_LIBS} ${GLOG_LIBRARIES} ${ARMADILLO_LIBRARIES} ) target_link_libraries(pvt_lib ${Boost_LIBRARIES} ${GFlags_LIBS} ${GLOG_LIBRARIES} ${ARMADILLO_LIBRARIES})

392
src/algorithms/PVT/libs/rtcm_printer.cc Normal file
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/*!
* \file rtcm_printer.cc
* \brief Implementation of a RTCM 3.2 printer for GNSS-SDR
* This class provides a implementation of a subset of the RTCM Standard 10403.2
* for Differential GNSS Services
*
* \author Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* 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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#include "rtcm_printer.h"
#include <fcntl.h> // for O_RDWR
#include <termios.h> // for tcgetattr
#include <algorithm> // for std::reverse
#include <sstream> // for std::stringstream
#include <boost/algorithm/string.hpp> // for to_upper_copy
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/dynamic_bitset.hpp>
#include <gflags/gflags.h>
#include <glog/logging.h>
using google::LogMessage;
//DEFINE_string(RTCM_version, "3.2", "Specifies the RTCM Version");
Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
{
rtcm_filename = filename;
rtcm_file_descriptor.open(rtcm_filename.c_str(), std::ios::out);
if (rtcm_file_descriptor.is_open())
{
DLOG(INFO) << "RTCM printer writing on " << rtcm_filename.c_str();
}
rtcm_devname = rtcm_dump_devname;
if (flag_rtcm_tty_port == true)
{
rtcm_dev_descriptor = init_serial(rtcm_devname.c_str());
if (rtcm_dev_descriptor != -1)
{
DLOG(INFO) << "RTCM printer writing on " << rtcm_devname.c_str();
}
}
else
{
rtcm_dev_descriptor = -1;
}
Rtcm_Printer::reset_data_fields();
preamble = std::bitset<8>("11010011");
reserved_field = std::bitset<6>("000000");
}
Rtcm_Printer::~Rtcm_Printer()
{
if (rtcm_file_descriptor.is_open())
{
long pos;
rtcm_file_descriptor.close();
pos = rtcm_file_descriptor.tellp();
if (pos == 0) remove(rtcm_filename.c_str());
}
close_serial();
}
int Rtcm_Printer::init_serial(std::string serial_device)
{
/*!
* Opens the serial device and sets the default baud rate for a NMEA transmission (9600,8,N,1)
*/
int fd = 0;
struct termios options;
long BAUD;
long DATABITS;
long STOPBITS;
long PARITYON;
long PARITY;
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
if (fd == -1) return fd; // failed to open TTY port
fcntl(fd, F_SETFL, 0); // clear all flags on descriptor, enable direct I/O
tcgetattr(fd, &options); // read serial port options
BAUD = B9600;
//BAUD = B38400;
DATABITS = CS8;
STOPBITS = 0;
PARITYON = 0;
PARITY = 0;
options.c_cflag = BAUD | DATABITS | STOPBITS | PARITYON | PARITY | CLOCAL | CREAD;
// enable receiver, set 8 bit data, ignore control lines
//options.c_cflag |= (CLOCAL | CREAD | CS8);
options.c_iflag = IGNPAR;
// set the new port options
tcsetattr(fd, TCSANOW, &options);
return fd;
}
void Rtcm_Printer::close_serial()
{
if (rtcm_dev_descriptor != -1)
{
close(rtcm_dev_descriptor);
}
}
void Rtcm_Printer::reset_data_fields()
{
//DF001.reset();
DF002.reset();
DF003.reset();
DF004.reset();
DF005.reset();
DF006.reset();
DF007.reset();
DF008.reset();
DF009.reset();
DF010.reset();
DF011.reset();
DF012.reset();
DF013.reset();
DF014.reset();
DF015.reset();
// Contents of GPS Satellite Ephemeris Data, Message Type 1019
DF071.reset();
DF076.reset();
DF077.reset();
DF078.reset();
DF079.reset();
DF081.reset();
DF082.reset();
DF083.reset();
DF084.reset();
DF085.reset();
DF086.reset();
DF087.reset();
DF088.reset();
DF089.reset();
DF090.reset();
DF091.reset();
DF092.reset();
DF093.reset();
DF094.reset();
DF095.reset();
DF096.reset();
DF097.reset();
DF098.reset();
DF099.reset();
DF100.reset();
DF101.reset();
DF102.reset();
DF103.reset();
DF137.reset();
// Contents of Galileo F/NAV Satellite Ephemeris Data, Message Type 1045
DF252.reset();
DF289.reset();
DF290.reset();
DF291.reset();
DF292.reset();
DF293.reset();
DF294.reset();
DF295.reset();
DF296.reset();
DF297.reset();
DF298.reset();
DF299.reset();
DF300.reset();
DF301.reset();
DF302.reset();
DF303.reset();
DF304.reset();
DF305.reset();
DF306.reset();
DF307.reset();
DF308.reset();
DF309.reset();
DF310.reset();
DF311.reset();
DF312.reset();
DF314.reset();
DF315.reset();
}
/* Stationary Antenna Reference Point, No Height Information
* Reference Station Id = 2003
GPS Service supported, but not GLONASS or Galileo
ARP ECEF-X = 1114104.5999 meters
ARP ECEF-Y = -4850729.7108 meters
ARP ECEF-Z = 3975521.4643 meters
Expected output: D3 00 13 3E D7 D3 02 02 98 0E DE EF 34 B4 BD 62
AC 09 41 98 6F 33 36 0B 98
*/
std::bitset<152> Rtcm_Printer::get_M1005_test ()
{
unsigned int m1005 = 1005;
unsigned int reference_station_id = 2003; // Max: 4095
long long int ECEF_X = 11141045999; // Resolution 0.0001 m
long long int ECEF_Y = -48507297108; // Resolution 0.0001 m
long long int ECEF_Z = 39755214643; // Resolution 0.0001 m
unsigned int itrf_realization_year = 0; // Reserved
std::bitset<1> DF001;
DF002 = std::bitset<12>(m1005);
DF003 = std::bitset<12>(reference_station_id);
DF021 = std::bitset<6>(itrf_realization_year);
DF022 = std::bitset<1>("1"); // GPS
DF023 = std::bitset<1>("0"); // Glonass
DF024 = std::bitset<1>("0"); // Galileo
DF141 = std::bitset<1>("0"); // 0: Real, physical reference station
DF001 = std::bitset<1>("0"); // Reserved, set to 0
DF025 = std::bitset<38>(ECEF_X); // ECEF-X in 0.0001 m
DF142 = std::bitset<1>("0"); // Single Receiver Oscillator Indicator
DF026 = std::bitset<38>(ECEF_Y); // ECEF-Y in 0.0001 m
DF364 = std::bitset<2>("00"); // Quarter Cycle Indicator
DF027 = std::bitset<38>(ECEF_Z); // ECEF-Z in 0.0001 m
std::string message = DF002.to_string() +
DF003.to_string() +
DF021.to_string() +
DF022.to_string() +
DF023.to_string() +
DF024.to_string() +
DF141.to_string() +
DF025.to_string() +
DF142.to_string() +
DF001.to_string() +
DF026.to_string() +
DF364.to_string() +
DF027.to_string() ;
std::bitset<152> test_msg(message);
return test_msg;
}
std::string Rtcm_Printer::print_M1005_test ()
{
std::bitset<152> m1005 = get_M1005_test();
unsigned int msg_length_bits = m1005.to_string().length();
unsigned int msg_length_bytes = std::ceil((float)msg_length_bits / 8.0);
message_length = std::bitset<10>(msg_length_bytes);
unsigned int zeros_to_fill = 8*msg_length_bytes - msg_length_bits;
std::string b(zeros_to_fill, '0');
std::string msg_content = m1005.to_string() + b;
std::string msg_without_crc = preamble.to_string() +
reserved_field.to_string() +
message_length.to_string() +
msg_content;
return Rtcm_Printer::add_CRC(msg_without_crc);
}
std::bitset<122> Rtcm_Printer::get_M1001()
{
unsigned int m1001 = 1001;
unsigned int reference_station_id = 1234; // Max: 4095
DF002 = std::bitset<12>(m1001);
DF003 = std::bitset<12>(reference_station_id);
//DF004 = std::bitset<30>
//DF005 = std::bitset<1>
//DF006 = std::bitset<5>
DF007 = std::bitset<1>("0");
//DF008 = std::bitset<3>
std::bitset<122> fake_msg;
fake_msg.reset();
return fake_msg;
}
void Rtcm_Printer::print_M1001 ()
{
std::bitset<122> m1001 = get_M1001();
unsigned int msg_length_bits = m1001.to_string().length();
unsigned int msg_length_bytes = std::ceil((float)msg_length_bits/8.0);
message_length = std::bitset<10>(msg_length_bytes);
unsigned int zeros_to_fill = 8*msg_length_bytes - msg_length_bits;
std::string b(zeros_to_fill, '0');
message_length = std::bitset<10>((int)msg_length_bytes);
std::string msg_content = m1001.to_string() + b;
std::string msg_without_crc = preamble.to_string() +
reserved_field.to_string() +
message_length.to_string() +
msg_content;
std::string message = Rtcm_Printer::add_CRC(msg_without_crc);
}
std::bitset<138> Rtcm_Printer::get_M1002 ()
{
std::bitset<138> fake_msg;
fake_msg.reset();
return fake_msg;
}
std::bitset<488> Rtcm_Printer::get_M1019 ()
{
std::bitset<488> fake_msg;
fake_msg.reset();
return fake_msg;
}
std::bitset<496> Rtcm_Printer::get_M1045 ()
{
std::bitset<496> fake_msg;
fake_msg.reset();
return fake_msg;
}
std::string Rtcm_Printer::add_CRC (const std::string& message_without_crc)
{
// ****** Computes Qualcomm CRC-24Q ******
// 1) Converts the string to a vector of unsigned char:
boost::dynamic_bitset<unsigned char> frame_bits(message_without_crc);
std::vector<unsigned char> bytes;
boost::to_block_range(frame_bits, std::back_inserter(bytes));
std::reverse(bytes.begin(),bytes.end());
// 2) Computes CRC
CRC_RTCM.process_bytes(bytes.data(), bytes.size());
crc_frame = std::bitset<24>(CRC_RTCM.checksum());
// 3) Builds the complete message
std::string complete_message = message_without_crc + crc_frame.to_string();
return bin_to_hex(complete_message);
}
std::string Rtcm_Printer::bin_to_hex(const std::string& s)
{
std::string s_aux;
std::stringstream ss;
for(int i = 0; i < s.length() - 1; i = i + 32)
{
s_aux.assign(s, i, 32);
std::bitset<32> bs(s_aux);
unsigned n = bs.to_ulong();
ss << std::hex << n;
}
//return ss.str();
return boost::to_upper_copy(ss.str());
}

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src/algorithms/PVT/libs/rtcm_printer.h Normal file
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/*!
* \file rtcm_printer.h
* \brief Interface of a RTCM 3.2 printer for GNSS-SDR
* This class provides a implementation of a subset of the RTCM Standard 10403.2
* for Differential GNSS Services
*
* \author Carles Fernandez-Prades, 2014. cfernandez(at)cttc.es
*
* -------------------------------------------------------------------------
*
* Copyright (C) 2010-2014 (see AUTHORS file for a list of contributors)
*
* GNSS-SDR is a software defined Global Navigation
* Satellite Systems receiver
*
* 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 <http://www.gnu.org/licenses/>.
*
* -------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_RTCM_PRINTER_H_
#define GNSS_SDR_RTCM_PRINTER_H_
#include <bitset> // std::bitset
#include <fstream> // std::ofstream
#include <iostream> // std::cout
#include <string> // std::string
#include <vector>
#include <boost/crc.hpp>
/*!
* \brief This class provides a implementation of a subset of the RTCM Standard 10403.2 messages
*/
class Rtcm_Printer
{
public:
/*!
* \brief Default constructor.
*/
Rtcm_Printer(std::string filename, bool flag_rtcm_tty_port, std::string rtcm_dump_filename);
/*!
* \brief Print RTCM 3.2 messages to the initialized device
*/
//bool Print_Nmea_Line(gps_l1_ca_ls_pvt* position, bool print_average_values);
/*!
* \brief Default destructor.
*/
~Rtcm_Printer();
void print_M1001();
std::string print_M1005_test();
private:
std::string rtcm_filename; // String with the RTCM log filename
std::ofstream rtcm_file_descriptor; // Output file stream for RTCM log file
std::string rtcm_devname;
int rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port)
//gps_l1_ca_ls_pvt* d_PVT_data;
int init_serial (std::string serial_device); //serial port control
void close_serial ();
//std::bitset<8> DF001;
std::bitset<12> DF002;
std::bitset<12> DF003;
std::bitset<30> DF004;
std::bitset<1> DF005;
std::bitset<5> DF006;
std::bitset<1> DF007;
std::bitset<3> DF008;
std::bitset<6> DF009;
std::bitset<1> DF010;
std::bitset<24> DF011;
std::bitset<20> DF012;
std::bitset<7> DF013;
std::bitset<8> DF014;
std::bitset<8> DF015;
std::bitset<6> DF021;
std::bitset<1> DF022;
std::bitset<1> DF023;
std::bitset<1> DF024;
std::bitset<38> DF025;
std::bitset<38> DF026;
std::bitset<38> DF027;
// Contents of GPS Satellite Ephemeris Data, Message Type 1019
std::bitset<8> DF071;
std::bitset<10> DF076;
std::bitset<4> DF077;
std::bitset<2> DF078;
std::bitset<14> DF079;
std::bitset<16> DF081;
std::bitset<8> DF082;
std::bitset<16> DF083;
std::bitset<22> DF084;
std::bitset<10> DF085;
std::bitset<16> DF086;
std::bitset<16> DF087;
std::bitset<32> DF088;
std::bitset<16> DF089;
std::bitset<32> DF090;
std::bitset<16> DF091;
std::bitset<32> DF092;
std::bitset<16> DF093;
std::bitset<16> DF094;
std::bitset<32> DF095;
std::bitset<16> DF096;
std::bitset<32> DF097;
std::bitset<16> DF098;
std::bitset<32> DF099;
std::bitset<24> DF100;
std::bitset<8> DF101;
std::bitset<6> DF102;
std::bitset<1> DF103;
std::bitset<1> DF137;
std::bitset<1> DF141;
std::bitset<1> DF142;
// Contents of Galileo F/NAV Satellite Ephemeris Data, Message Type 1045
std::bitset<6> DF252;
std::bitset<12> DF289;
std::bitset<10> DF290;
std::bitset<8> DF291;
std::bitset<14> DF292;
std::bitset<14> DF293;
std::bitset<6> DF294;
std::bitset<21> DF295;
std::bitset<31> DF296;
std::bitset<16> DF297;
std::bitset<32> DF298;
std::bitset<14> DF299;
std::bitset<16> DF300;
std::bitset<32> DF301;
std::bitset<16> DF302;
std::bitset<32> DF303;
std::bitset<14> DF304;
std::bitset<16> DF305;
std::bitset<32> DF306;
std::bitset<16> DF307;
std::bitset<32> DF308;
std::bitset<16> DF309;
std::bitset<32> DF310;
std::bitset<24> DF311;
std::bitset<10> DF312;
std::bitset<2> DF314;
std::bitset<1> DF315;
std::bitset<2> DF364;
// Content of message header for MSM1, MSM2, MSM3, MSM4, MSM5, MSM6 and MSM7
std::bitset<1> DF393;
std::bitset<1> DF394;
std::bitset<1> DF395;
std::bitset<1> DF396; //variable
std::bitset<1> DF409;
std::bitset<1> DF411;
std::bitset<1> DF412;
std::bitset<1> DF417;
std::bitset<1> DF418;
// Content of Satellite data for MSM4 and MSM6
std::vector<std::bitset<8> > DF397; // 8*NSAT
std::vector<std::bitset<10> > DF398; // 10*NSAT
// Content of Satellite data for MSM5 and MSM7
std::vector<std::bitset<14> > DF399; // 14*NSAT
// Messages
std::bitset<64> message1001_header;
std::bitset<58> message1001_content;
std::bitset<64> message1002_header;
std::bitset<74> message1002_content;
std::bitset<488> message1019_content;
std::bitset<496> message1045_content;
std::bitset<169> MSM_header; // 169+X
std::vector<std::bitset<18> > MSM4_content; // 18 * Nsat
std::vector<std::bitset<36> > MSM5_content; // 36 * Nsat
std::bitset<122> get_M1001();
std::bitset<138> get_M1002(); // GPS observables
std::bitset<488> get_M1019(); // GPS ephemeris
std::bitset<496> get_M1045(); // Galileo ephemeris
std::bitset<152> get_M1005_test();
void reset_data_fields ();
// Transport Layer
std::bitset<8> preamble;
std::bitset<6> reserved_field;
std::bitset<10> message_length;
std::bitset<24> crc_frame;
typedef boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> crc_24_q_type;
crc_24_q_type CRC_RTCM;
std::string add_CRC(const std::string& m);
std::string bin_to_hex(const std::string& s);
};
#endif