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Fix rtcm printer

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This commit is contained in:
Mathieu Favreau
2025-07-24 12:23:56 +00:00
parent 52cc8a5e2c
commit 802b8bc1ff
3 changed files with 51 additions and 24 deletions
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26
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
View File

@@ -2349,6 +2349,15 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
// save_gnss_synchro_map_xml("./gnss_synchro_map.xml"); // save_gnss_synchro_map_xml("./gnss_synchro_map.xml");
// getchar(); // stop the execution // getchar(); // stop the execution
// end debug // end debug
// allows deactivating messages by setting rate = 0
const bool rtcm_MT1019_enabled = d_rtcm_MT1019_rate_ms != 0;
const bool rtcm_MT1020_enabled = d_rtcm_MT1020_rate_ms != 0;
const bool rtcm_MT1045_enabled = d_rtcm_MT1045_rate_ms != 0;
const bool rtcm_MT1077_enabled = d_rtcm_MT1077_rate_ms != 0;
const bool rtcm_MT1087_enabled = d_rtcm_MT1087_rate_ms != 0;
const bool rtcm_MT1097_enabled = d_rtcm_MT1097_rate_ms != 0;
if (d_display_rate_ms != 0) if (d_display_rate_ms != 0)
{ {
if (current_RX_time_ms % d_display_rate_ms == 0) if (current_RX_time_ms % d_display_rate_ms == 0)
@@ -2356,27 +2365,28 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
flag_display_pvt = true; flag_display_pvt = true;
} }
} }
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 if (rtcm_MT1019_enabled)
{ {
if (current_RX_time_ms % d_rtcm_MT1019_rate_ms == 0) if (current_RX_time_ms % d_rtcm_MT1019_rate_ms == 0)
{ {
flag_write_RTCM_1019_output = true; flag_write_RTCM_1019_output = true;
} }
} }
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0 if (rtcm_MT1020_enabled) // allows deactivating messages by setting rate = 0
{ {
if (current_RX_time_ms % d_rtcm_MT1020_rate_ms == 0) if (current_RX_time_ms % d_rtcm_MT1020_rate_ms == 0)
{ {
flag_write_RTCM_1020_output = true; flag_write_RTCM_1020_output = true;
} }
} }
if (d_rtcm_MT1045_rate_ms != 0) if (rtcm_MT1045_enabled != 0)
{ {
if (current_RX_time_ms % d_rtcm_MT1045_rate_ms == 0) if (current_RX_time_ms % d_rtcm_MT1045_rate_ms == 0)
{ {
flag_write_RTCM_1045_output = true; flag_write_RTCM_1045_output = true;
} }
} }
// TODO: RTCM 1077, 1087 and 1097 are not used, so, disable the output rates // 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 && d_rtcm_MT1077_rate_ms != 0) // if (current_RX_time_ms % d_rtcm_MT1077_rate_ms==0 && d_rtcm_MT1077_rate_ms != 0)
// { // {
@@ -2390,6 +2400,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
// { // {
// last_RTCM_1097_output_time = current_RX_time; // last_RTCM_1097_output_time = current_RX_time;
// } // }
if (d_rtcm_MSM_rate_ms != 0) if (d_rtcm_MSM_rate_ms != 0)
{ {
if (current_RX_time_ms % d_rtcm_MSM_rate_ms == 0) if (current_RX_time_ms % d_rtcm_MSM_rate_ms == 0)
@@ -2462,9 +2473,12 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
d_gnss_observables_map, d_gnss_observables_map,
d_rx_time, d_rx_time,
d_signal_enabled_flags, d_signal_enabled_flags,
d_rtcm_MT1077_rate_ms, rtcm_MT1019_enabled,
d_rtcm_MT1087_rate_ms, rtcm_MT1020_enabled,
d_rtcm_MT1097_rate_ms, rtcm_MT1045_enabled,
rtcm_MT1077_enabled,
rtcm_MT1087_enabled,
rtcm_MT1097_enabled,
flag_write_RTCM_MSM_output, flag_write_RTCM_MSM_output,
flag_write_RTCM_1019_output, flag_write_RTCM_1019_output,
flag_write_RTCM_1020_output, flag_write_RTCM_1020_output,

39
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@@ -57,6 +57,7 @@ Rtcm_Printer::Rtcm_Printer(const std::string& filename,
rtcm_devname(rtcm_dump_devname), rtcm_devname(rtcm_dump_devname),
port(rtcm_tcp_port), port(rtcm_tcp_port),
station_id(rtcm_station_id), station_id(rtcm_station_id),
d_rtcm_has_written_once(false),
d_rtcm_file_dump(flag_rtcm_file_dump) d_rtcm_file_dump(flag_rtcm_file_dump)
{ {
const boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time(); const boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
@@ -226,9 +227,12 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
const std::map<int, Gnss_Synchro>& gnss_observables_map, const std::map<int, Gnss_Synchro>& gnss_observables_map,
double rx_time, double rx_time,
uint32_t signal_enabled_flags, uint32_t signal_enabled_flags,
int32_t rtcm_MT1077_rate_ms, bool rtcm_MT1019_enabled,
int32_t rtcm_MT1087_rate_ms, bool rtcm_MT1020_enabled,
int32_t rtcm_MT1097_rate_ms, bool rtcm_MT1045_enabled,
bool rtcm_MT1077_enabled,
bool rtcm_MT1087_enabled,
bool rtcm_MT1097_enabled,
bool flag_write_RTCM_MSM_output, bool flag_write_RTCM_MSM_output,
bool flag_write_RTCM_1019_output, bool flag_write_RTCM_1019_output,
bool flag_write_RTCM_1020_output, bool flag_write_RTCM_1020_output,
@@ -244,31 +248,35 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
const auto has_beidou = flags.check_any_enabled(BDS_B1, BDS_B3); const auto has_beidou = flags.check_any_enabled(BDS_B1, BDS_B3);
const auto only_galileo = has_galileo && !(has_gps || has_glonass || has_beidou); const auto only_galileo = has_galileo && !(has_gps || has_glonass || has_beidou);
const auto only_glonass = has_glonass && !(has_gps || has_galileo || has_beidou); const auto only_glonass = has_glonass && !(has_gps || has_galileo || has_beidou);
const auto print_MT1019 = (!d_rtcm_has_written_once && rtcm_MT1019_enabled) || flag_write_RTCM_1019_output;
const auto print_MT1020 = (!d_rtcm_has_written_once && rtcm_MT1020_enabled) || flag_write_RTCM_1020_output;
const auto print_MT1045 = (!d_rtcm_has_written_once && rtcm_MT1045_enabled) || flag_write_RTCM_1045_output;
const auto Print_MSM = !d_rtcm_has_written_once || flag_write_RTCM_MSM_output;
if (flag_write_RTCM_1019_output && flags.check_any_enabled(GPS_1C)) if (print_MT1019 && flags.check_any_enabled(GPS_1C))
{ {
for (const auto& gps_eph_iter : pvt_solver->gps_ephemeris_map) for (const auto& gps_eph_iter : pvt_solver->gps_ephemeris_map)
{ {
Print_Rtcm_MT1019(gps_eph_iter.second); Print_Rtcm_MT1019(gps_eph_iter.second);
} }
} }
if (flag_write_RTCM_1020_output && has_glonass) if (print_MT1020 && has_glonass)
{ {
for (const auto& glonass_gnav_eph_iter : pvt_solver->glonass_gnav_ephemeris_map) for (const auto& glonass_gnav_eph_iter : pvt_solver->glonass_gnav_ephemeris_map)
{ {
Print_Rtcm_MT1020(glonass_gnav_eph_iter.second, pvt_solver->glonass_gnav_utc_model); Print_Rtcm_MT1020(glonass_gnav_eph_iter.second, pvt_solver->glonass_gnav_utc_model);
} }
} }
if (flag_write_RTCM_1045_output && has_galileo) if (print_MT1045 && has_galileo)
{ {
for (const auto& gal_eph_iter : pvt_solver->galileo_ephemeris_map) for (const auto& gal_eph_iter : pvt_solver->galileo_ephemeris_map)
{ {
Print_Rtcm_MT1045(gal_eph_iter.second); Print_Rtcm_MT1045(gal_eph_iter.second);
} }
} }
if (flag_write_RTCM_MSM_output) if (Print_MSM)
{ {
if (flags.check_only_enabled(GPS_1C) || flags.check_only_enabled(GPS_1C, GAL_E6)) if (rtcm_MT1077_enabled && (flags.check_only_enabled(GPS_1C) || flags.check_only_enabled(GPS_1C, GAL_E6)))
{ {
const auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin(); const auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin();
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend()) if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend())
@@ -276,7 +284,7 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false); Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
} }
} }
else if (flags.check_only_enabled(GPS_1C, GPS_2S) || flags.check_only_enabled(GPS_1C, GPS_L5)) else if (rtcm_MT1077_enabled && (flags.check_only_enabled(GPS_1C, GPS_2S) || flags.check_only_enabled(GPS_1C, GPS_L5)))
{ {
const auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin(); const auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin();
const auto gps_cnav_eph_iter = pvt_solver->gps_cnav_ephemeris_map.cbegin(); const auto gps_cnav_eph_iter = pvt_solver->gps_cnav_ephemeris_map.cbegin();
@@ -285,7 +293,7 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false); Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
} }
} }
else if (only_galileo) else if (rtcm_MT1097_enabled && only_galileo)
{ {
const auto gal_eph_iter = pvt_solver->galileo_ephemeris_map.cbegin(); const auto gal_eph_iter = pvt_solver->galileo_ephemeris_map.cbegin();
if (gal_eph_iter != pvt_solver->galileo_ephemeris_map.cend()) if (gal_eph_iter != pvt_solver->galileo_ephemeris_map.cend())
@@ -293,7 +301,7 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false); Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
} }
} }
else if (only_glonass) else if (rtcm_MT1087_enabled && only_glonass)
{ {
const auto glo_gnav_ephemeris_iter = pvt_solver->glonass_gnav_ephemeris_map.cbegin(); const auto glo_gnav_ephemeris_iter = pvt_solver->glonass_gnav_ephemeris_map.cbegin();
if (glo_gnav_ephemeris_iter != pvt_solver->glonass_gnav_ephemeris_map.cend()) if (glo_gnav_ephemeris_iter != pvt_solver->glonass_gnav_ephemeris_map.cend())
@@ -354,24 +362,25 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
} }
} }
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend() && rtcm_MT1077_rate_ms != 0) if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend() && rtcm_MT1077_enabled)
{ {
Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false); Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
} }
if (gps_cnav_eph_iter != pvt_solver->gps_cnav_ephemeris_map.cend() && rtcm_MT1077_rate_ms != 0) if (gps_cnav_eph_iter != pvt_solver->gps_cnav_ephemeris_map.cend() && rtcm_MT1077_enabled)
{ {
Print_Rtcm_MSM(7, {}, gps_cnav_eph_iter->second, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false); Print_Rtcm_MSM(7, {}, gps_cnav_eph_iter->second, {}, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
} }
if (gal_eph_iter != pvt_solver->galileo_ephemeris_map.cend() && rtcm_MT1097_rate_ms != 0) if (gal_eph_iter != pvt_solver->galileo_ephemeris_map.cend() && rtcm_MT1097_enabled)
{ {
Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false); Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
} }
if (glonass_gnav_eph_iter != pvt_solver->glonass_gnav_ephemeris_map.cend() && rtcm_MT1087_rate_ms != 0) if (glonass_gnav_eph_iter != pvt_solver->glonass_gnav_ephemeris_map.cend() && rtcm_MT1087_enabled)
{ {
Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false); Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
} }
} }
} }
d_rtcm_has_written_once = true;
} }
catch (const boost::exception& ex) catch (const boost::exception& ex)
{ {

10
src/algorithms/PVT/libs/rtcm_printer.h
View File

@@ -73,9 +73,12 @@ public:
const std::map<int, Gnss_Synchro>& gnss_observables_map, const std::map<int, Gnss_Synchro>& gnss_observables_map,
double rx_time, double rx_time,
uint32_t signal_enabled_flags, uint32_t signal_enabled_flags,
int32_t rtcm_MT1077_rate_ms, bool rtcm_MT1019_enabled,
int32_t rtcm_MT1087_rate_ms, bool rtcm_MT1020_enabled,
int32_t rtcm_MT1097_rate_ms, bool rtcm_MT1045_enabled,
bool rtcm_MT1077_enabled,
bool rtcm_MT1087_enabled,
bool rtcm_MT1097_enabled,
bool flag_write_RTCM_MSM_output, bool flag_write_RTCM_MSM_output,
bool flag_write_RTCM_1019_output, bool flag_write_RTCM_1019_output,
bool flag_write_RTCM_1020_output, bool flag_write_RTCM_1020_output,
@@ -195,6 +198,7 @@ private:
int32_t rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port) int32_t rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port)
uint16_t port; uint16_t port;
uint16_t station_id; uint16_t station_id;
bool d_rtcm_has_written_once;
bool d_rtcm_file_dump; bool d_rtcm_file_dump;
}; };