Exposing RTCM message rate to the configuration

src/algorithms/PVT/adapters/gps_l1_ca_pvt.cc

@@ -35,6 +35,7 @@
 #include <glog/logging.h>
 #include <boost/archive/xml_oarchive.hpp>
 #include <boost/archive/xml_iarchive.hpp>
+#include <boost/math/common_factor_rt.hpp>
 #include <boost/serialization/map.hpp>
 #include "configuration_interface.h"
 
@@ -57,48 +58,53 @@ GpsL1CaPvt::GpsL1CaPvt(ConfigurationInterface* configuration,
     dump_ = configuration->property(role + ".dump", false);
     dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
     // moving average depth parameters
-    int averaging_depth;
+    int averaging_depth = configuration->property(role + ".averaging_depth", 10);
-    averaging_depth = configuration->property(role + ".averaging_depth", 10);
+    bool flag_averaging = configuration->property(role + ".flag_averaging", false);
-    bool flag_averaging;
+
-    flag_averaging = configuration->property(role + ".flag_averaging", false);
     // output rate
-    int output_rate_ms;
+    int output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
-    output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
+
     // display rate
-    int display_rate_ms;
+    int display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
-    display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
+
     // NMEA Printer settings
-    bool flag_nmea_tty_port;
+    bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
-    flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
+    std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
-    std::string nmea_dump_filename;
+    std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
-    nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
+
-    std::string nmea_dump_devname;
-    nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
     // RTCM Printer settings
-    bool flag_rtcm_tty_port;
+    bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
-    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;
+    bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
-    rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
-    bool flag_rtcm_server;
-    flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
     unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
     unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
+    // RTCM message rates: least common multiple with output_rate_ms
+    int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
+    int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
+    std::map<int,int> rtcm_msg_rate_ms;
+    rtcm_msg_rate_ms[1019] = rtcm_MT1019_rate_ms;
+    for (int k = 1071; k < 1078; k++) // All GPS MSM
+        {
+            rtcm_msg_rate_ms[k] = rtcm_MSM_rate_ms;
+        }
 
     // getting names from the config file, if available
     // default filename for assistance data
     const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
+    eph_xml_filename_= configuration->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
+
     //const std::string utc_default_xml_filename = "./gps_utc_model.xml";
     //const std::string iono_default_xml_filename = "./gps_iono.xml";
     //const std::string ref_time_default_xml_filename = "./gps_ref_time.xml";
     //const std::string ref_location_default_xml_filename = "./gps_ref_location.xml";
-    eph_xml_filename_= configuration->property("GNSS-SDR.SUPL_gps_ephemeris_xml", eph_default_xml_filename);
+
     //std::string utc_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_utc_model.xml", utc_default_xml_filename);
     //std::string iono_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_iono_xml", iono_default_xml_filename);
     //std::string ref_time_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_time_xml", ref_time_default_xml_filename);
     //std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
 
     // make PVT object
-    pvt_ = gps_l1_ca_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, 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_dump_devname );
+    pvt_ = gps_l1_ca_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, 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 );
     DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
 }
 

src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc

@@ -56,6 +56,7 @@ gps_l1_ca_make_pvt_cc(unsigned int nchannels,
         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)
 {
     return gps_l1_ca_pvt_cc_sptr(new gps_l1_ca_pvt_cc(nchannels,
@@ -72,6 +73,7 @@ gps_l1_ca_make_pvt_cc(unsigned int nchannels,
             flag_rtcm_tty_port,
             rtcm_tcp_port,
             rtcm_station_id,
+            rtcm_msg_rate_ms,
             rtcm_dump_devname));
 }
 
@@ -189,6 +191,7 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
         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) :
              gr::block("gps_l1_ca_pvt_cc", gr::io_signature::make(nchannels, nchannels,  sizeof(Gnss_Synchro)),
              gr::io_signature::make(0, 0, sizeof(gr_complex)) )
@@ -226,6 +229,22 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
     d_rtcm_tcp_port = rtcm_tcp_port;
     d_rtcm_station_id = rtcm_station_id;
     d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, d_rtcm_tcp_port, d_rtcm_station_id, rtcm_dump_devname);
+    if(rtcm_msg_rate_ms.find(1019) != rtcm_msg_rate_ms.end())
+        {
+            d_rtcm_MT1019_rate_ms = rtcm_msg_rate_ms[1019];
+        }
+    else
+        {
+            d_rtcm_MT1019_rate_ms = 5000;  // default value if not set
+        }
+    if(rtcm_msg_rate_ms.find(1071) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
+        {
+            d_rtcm_MSM_rate_ms = rtcm_msg_rate_ms[1071];
+        }
+    else
+        {
+            d_rtcm_MSM_rate_ms = 1000;  // default value if not set
+        }
     b_rtcm_writing_started = false;
 
     d_dump_filename.append("_raw.dat");
@@ -266,6 +285,7 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
         }
 }
 
+
 gps_l1_ca_pvt_cc::~gps_l1_ca_pvt_cc()
 {}
 
@@ -367,14 +387,14 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
                                 }
                             if(b_rtcm_writing_started)
                                 {
-                                    if((d_sample_counter % 5000) == 0)
+                                    if((d_sample_counter % d_rtcm_MT1019_rate_ms) == 0)
                                         {
                                             for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
                                                 {
                                                     d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
                                                 }
                                         }
-                                    if((d_sample_counter % 1000) == 0)
+                                    if((d_sample_counter % d_rtcm_MSM_rate_ms) == 0)
                                         {
                                             std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
                                             gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();

src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h

@@ -59,6 +59,7 @@ gps_l1_ca_pvt_cc_sptr gps_l1_ca_make_pvt_cc(unsigned int n_channels,
                                             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
 );
 
@@ -82,6 +83,7 @@ private:
                                                        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);
     gps_l1_ca_pvt_cc(unsigned int nchannels,
                      bool dump,
@@ -97,6 +99,7 @@ private:
                      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);
 
     void msg_handler_telemetry(pmt::pmt_t msg);
@@ -108,6 +111,8 @@ private:
     bool b_rtcm_writing_started;
     unsigned short d_rtcm_tcp_port;
     unsigned short d_rtcm_station_id;
+    int d_rtcm_MT1019_rate_ms;
+    int d_rtcm_MSM_rate_ms;
 
     void print_receiver_status(Gnss_Synchro** channels_synchronization_data);
     int d_last_status_print_seg; //for status printer

src/core/interfaces/configuration_interface.h

@@ -58,6 +58,7 @@ public:
     virtual long property(std::string property_name, long default_value) = 0;
     virtual int property(std::string property_name, int default_value) = 0;
     virtual unsigned int property(std::string property_name, unsigned int default_value) = 0;
+    virtual unsigned short property(std::string property_name, unsigned short default_value) = 0;
     virtual float property(std::string property_name, float default_value) = 0;
     virtual double property(std::string property_name, double default_value) = 0;
     virtual void set_property(std::string property_name, std::string value) = 0;

src/core/libs/string_converter.cc

@@ -113,6 +113,22 @@ unsigned int StringConverter::convert(const std::string& value, unsigned int def
 }
 
 
+unsigned short StringConverter::convert(const std::string& value, unsigned short default_value)
+{
+    std::stringstream stream(value);
+
+    unsigned short result;
+    stream >> result;
+
+    if(stream.fail())
+        {
+            return default_value;
+        }
+    else
+        {
+            return result;
+        }
+}
 
 
 float StringConverter::convert(const std::string& value, float default_value)

src/core/libs/string_converter.h

@@ -49,6 +49,7 @@ public:
     long convert(const std::string& value, long default_value);
     int convert(const std::string& value, int default_value);
     unsigned int convert(const std::string& value, unsigned int default_value);
+    unsigned short convert(const std::string& value, unsigned short default_value);
     float convert(const std::string& value, float default_value);
     double convert(const std::string& value, double default_value);
 };

src/core/receiver/file_configuration.cc

@@ -134,6 +134,21 @@ unsigned int FileConfiguration::property(std::string property_name, unsigned int
 
 
 
+unsigned short FileConfiguration::property(std::string property_name, unsigned short default_value)
+{
+    if(overrided_->is_present(property_name))
+        {
+            return overrided_->property(property_name, default_value);
+        }
+    else
+        {
+            std::string empty = "";
+            return converter_->convert(property(property_name, empty), default_value);
+        }
+}
+
+
+
 float FileConfiguration::property(std::string property_name, float default_value)
 {
     if(overrided_->is_present(property_name))

src/core/receiver/file_configuration.h

@@ -66,6 +66,7 @@ public:
     long property(std::string property_name, long default_value);
     int property(std::string property_name, int default_value);
     unsigned int property(std::string property_name, unsigned int default_value);
+    unsigned short property(std::string property_name, unsigned short default_value);
     float property(std::string property_name, float default_value);
     double property(std::string property_name, double default_value);
     void set_property(std::string property_name, std::string value);

src/core/receiver/in_memory_configuration.cc

@@ -87,6 +87,13 @@ unsigned int InMemoryConfiguration::property(std::string property_name, unsigned
 }
 
 
+unsigned short InMemoryConfiguration::property(std::string property_name, unsigned short default_value)
+{
+    std::string empty = "";
+    return converter_->convert(property(property_name, empty), default_value);
+}
+
+
 float InMemoryConfiguration::property(std::string property_name, float default_value)
 {
     std::string empty = "";

src/core/receiver/in_memory_configuration.h

@@ -59,6 +59,7 @@ public:
     long property(std::string property_name, long default_value);
     int property(std::string property_name, int default_value);
     unsigned int property(std::string property_name, unsigned int default_value);
+    unsigned short property(std::string property_name, unsigned short default_value);
     float property(std::string property_name, float default_value);
     double property(std::string property_name, double default_value);
     void set_property(std::string property_name, std::string value);