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Now the Rtcm class prints and reads Messages of type 1045 (Galileo

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ephemeris)
This commit is contained in:
Carles Fernandez 2015-11-24 00:31:53 +01:00
parent 7890622090
commit 855d707865
4 changed files with 204 additions and 73 deletions
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178
src/core/system_parameters/rtcm.cc
View File

@ -278,7 +278,7 @@ std::string Rtcm::build_message(std::string data)
// //
// ********************************************** // **********************************************
std::bitset<64> Rtcm::get_M1001_header(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges, std::bitset<64> Rtcm::get_MT1001_header(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges,
unsigned int ref_id, unsigned int smooth_int, bool sync_flag, bool divergence_free) unsigned int ref_id, unsigned int smooth_int, bool sync_flag, bool divergence_free)
{ {
unsigned int m1001 = 1001; unsigned int m1001 = 1001;
@ -308,7 +308,7 @@ std::bitset<64> Rtcm::get_M1001_header(const Gps_Ephemeris & gps_eph, double obs
} }
std::bitset<58> Rtcm::get_M1001_sat_content(const Gnss_Synchro & gnss_synchro) std::bitset<58> Rtcm::get_MT1001_sat_content(const Gnss_Synchro & gnss_synchro)
{ {
Gnss_Synchro gnss_synchro_ = gnss_synchro; Gnss_Synchro gnss_synchro_ = gnss_synchro;
bool code_indicator = false; // code indicator 0: C/A code 1: P(Y) code direct bool code_indicator = false; // code indicator 0: C/A code 1: P(Y) code direct
@ -336,14 +336,14 @@ std::bitset<58> Rtcm::get_M1001_sat_content(const Gnss_Synchro & gnss_synchro)
std::string Rtcm::print_M1001(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges) std::string Rtcm::print_MT1001(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
{ {
unsigned int ref_id = static_cast<unsigned int>(FLAGS_RTCM_Ref_Station_ID); unsigned int ref_id = static_cast<unsigned int>(FLAGS_RTCM_Ref_Station_ID);
unsigned int smooth_int = 0; unsigned int smooth_int = 0;
bool sync_flag = false; bool sync_flag = false;
bool divergence_free = false; bool divergence_free = false;
std::bitset<64> header = Rtcm::get_M1001_header(gps_eph, obs_time, pseudoranges, ref_id, smooth_int, sync_flag, divergence_free); std::bitset<64> header = Rtcm::get_MT1001_header(gps_eph, obs_time, pseudoranges, ref_id, smooth_int, sync_flag, divergence_free);
std::string data = header.to_string(); std::string data = header.to_string();
std::map<int, Gnss_Synchro>::const_iterator pseudoranges_iter; std::map<int, Gnss_Synchro>::const_iterator pseudoranges_iter;
@ -352,7 +352,7 @@ std::string Rtcm::print_M1001(const Gps_Ephemeris & gps_eph, double obs_time, co
pseudoranges_iter++) pseudoranges_iter++)
{ {
std::bitset<58> content = Rtcm::get_M1001_sat_content(pseudoranges_iter->second); std::bitset<58> content = Rtcm::get_MT1001_sat_content(pseudoranges_iter->second);
data += content.to_string(); data += content.to_string();
} }
@ -378,9 +378,9 @@ std::string Rtcm::print_M1001(const Gps_Ephemeris & gps_eph, double obs_time, co
Expected output: D3 00 13 3E D7 D3 02 02 98 0E DE EF 34 B4 BD 62 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 AC 09 41 98 6F 33 36 0B 98
*/ */
std::bitset<152> Rtcm::get_M1005_test () std::bitset<152> Rtcm::get_MT1005_test ()
{ {
unsigned int m1005 = 1005; unsigned int mt1005 = 1005;
unsigned int reference_station_id = 2003; // Max: 4095 unsigned int reference_station_id = 2003; // Max: 4095
double ECEF_X = 1114104.5999; // units: m double ECEF_X = 1114104.5999; // units: m
double ECEF_Y = -4850729.7108; // units: m double ECEF_Y = -4850729.7108; // units: m
@ -388,7 +388,7 @@ std::bitset<152> Rtcm::get_M1005_test ()
std::bitset<1> DF001_; std::bitset<1> DF001_;
Rtcm::set_DF002(m1005); Rtcm::set_DF002(mt1005);
Rtcm::set_DF003(reference_station_id); Rtcm::set_DF003(reference_station_id);
Rtcm::set_DF021(); Rtcm::set_DF021();
Rtcm::set_DF022(true); // GPS Rtcm::set_DF022(true); // GPS
@ -420,7 +420,8 @@ std::bitset<152> Rtcm::get_M1005_test ()
return test_msg; return test_msg;
} }
std::string Rtcm::print_M1005( unsigned int ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, unsigned int quarter_cycle_indicator)
std::string Rtcm::print_MT1005( unsigned int ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, unsigned int quarter_cycle_indicator)
{ {
unsigned int msg_number = 1005; unsigned int msg_number = 1005;
std::bitset<1> DF001_; std::bitset<1> DF001_;
@ -457,15 +458,15 @@ std::string Rtcm::print_M1005( unsigned int ref_id, double ecef_x, double ecef_y
return message; return message;
} }
int Rtcm::read_M1005(const std::string & message, unsigned int & ref_id, double & ecef_x, double & ecef_y, double & ecef_z, bool & gps, bool & glonass, bool & galileo)
int Rtcm::read_MT1005(const std::string & message, unsigned int & ref_id, double & ecef_x, double & ecef_y, double & ecef_z, bool & gps, bool & glonass, bool & galileo)
{ {
// Convert message to binary // Convert message to binary
std::string message_bin = Rtcm::hex_to_bin(message); std::string message_bin = Rtcm::hex_to_bin(message);
if(!Rtcm::check_CRC(message) ) if(!Rtcm::check_CRC(message) )
{ {
LOG(WARNING) << " Bad CRC detected in RTCM message M1005"; LOG(WARNING) << " Bad CRC detected in RTCM message MT1005";
std::cout << " ----- Bad CRC detected in RTCM message M1005 " << std::endl;
return 1; return 1;
} }
@ -478,8 +479,7 @@ int Rtcm::read_M1005(const std::string & message, unsigned int & ref_id, double
index += 10; index += 10;
if (read_message_length != 19) if (read_message_length != 19)
{ {
LOG(WARNING) << " Message M1005 seems too long (19 bytes expected, " << read_message_length << " received)"; LOG(WARNING) << " Message MT1005 with wrong length (19 bytes expected, " << read_message_length << " received)";
std::cout << " -----Message M1005 seems too long (19 bytes expected, " << read_message_length << " received)" << std::endl;
return 1; return 1;
} }
@ -490,8 +490,7 @@ int Rtcm::read_M1005(const std::string & message, unsigned int & ref_id, double
if (DF002 != read_msg_number) if (DF002 != read_msg_number)
{ {
LOG(WARNING) << " This is not a M1005 message"; LOG(WARNING) << " This is not a MT1005 message";
std::cout << " ----- This is not a M1005 message"<< std::endl;
return 1; return 1;
} }
@ -509,7 +508,7 @@ int Rtcm::read_M1005(const std::string & message, unsigned int & ref_id, double
galileo = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1))); galileo = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1; index += 1;
index += 1; // ref_sattion_indicator index += 1; // ref_station_indicator
ecef_x = Rtcm::bin_to_double(message_bin.substr(index, 38)) / 10000.0; ecef_x = Rtcm::bin_to_double(message_bin.substr(index, 38)) / 10000.0;
index += 38; index += 38;
@ -527,10 +526,10 @@ int Rtcm::read_M1005(const std::string & message, unsigned int & ref_id, double
} }
std::string Rtcm::print_M1005_test() std::string Rtcm::print_MT1005_test()
{ {
std::bitset<152> m1005 = get_M1005_test(); std::bitset<152> mt1005 = get_MT1005_test();
return Rtcm::build_message(m1005.to_string()); return Rtcm::build_message(mt1005.to_string());
} }
@ -541,7 +540,7 @@ std::string Rtcm::print_M1005_test()
// //
// ********************************************** // **********************************************
std::string Rtcm::print_M1019(const Gps_Ephemeris & gps_eph) std::string Rtcm::print_MT1019(const Gps_Ephemeris & gps_eph)
{ {
unsigned int msg_number = 1019; unsigned int msg_number = 1019;
@ -613,7 +612,7 @@ std::string Rtcm::print_M1019(const Gps_Ephemeris & gps_eph)
if (data.length() != 488) if (data.length() != 488)
{ {
LOG(WARNING) << "Bad-formatted RTCM M1019 (488 bits expected, found " << data.length() << ")"; LOG(WARNING) << "Bad-formatted RTCM MT1019 (488 bits expected, found " << data.length() << ")";
} }
message1019_content = std::bitset<488>(data); message1019_content = std::bitset<488>(data);
@ -622,14 +621,14 @@ std::string Rtcm::print_M1019(const Gps_Ephemeris & gps_eph)
} }
int Rtcm::read_M1019(const std::string & message, Gps_Ephemeris & gps_eph) int Rtcm::read_MT1019(const std::string & message, Gps_Ephemeris & gps_eph)
{ {
// Convert message to binary // Convert message to binary
std::string message_bin = Rtcm::hex_to_bin(message); std::string message_bin = Rtcm::hex_to_bin(message);
if(!Rtcm::check_CRC(message) ) if(!Rtcm::check_CRC(message) )
{ {
LOG(WARNING) << " Bad CRC detected in RTCM message M1019"; LOG(WARNING) << " Bad CRC detected in RTCM message MT1019";
return 1; return 1;
} }
@ -642,7 +641,7 @@ int Rtcm::read_M1019(const std::string & message, Gps_Ephemeris & gps_eph)
if (read_message_length != 61) if (read_message_length != 61)
{ {
LOG(WARNING) << " Message M1019 seems too long (61 bytes expected, " << read_message_length << " received)"; LOG(WARNING) << " Message MT1019 seems too long (61 bytes expected, " << read_message_length << " received)";
return 1; return 1;
} }
@ -652,7 +651,7 @@ int Rtcm::read_M1019(const std::string & message, Gps_Ephemeris & gps_eph)
if (1019 != read_msg_number) if (1019 != read_msg_number)
{ {
LOG(WARNING) << " This is not a M1019 message"; LOG(WARNING) << " This is not a MT1019 message";
return 1; return 1;
} }
@ -758,7 +757,7 @@ int Rtcm::read_M1019(const std::string & message, Gps_Ephemeris & gps_eph)
// //
// ********************************************** // **********************************************
std::string Rtcm::print_M1045(const Galileo_Ephemeris & gal_eph) std::string Rtcm::print_MT1045(const Galileo_Ephemeris & gal_eph)
{ {
unsigned int msg_number = 1045; unsigned int msg_number = 1045;
@ -826,7 +825,7 @@ std::string Rtcm::print_M1045(const Galileo_Ephemeris & gal_eph)
if (data.length() != 496) if (data.length() != 496)
{ {
LOG(WARNING) << "Bad-formatted RTCM M1045 (496 bits expected, found " << data.length() << ")"; LOG(WARNING) << "Bad-formatted RTCM MT1045 (496 bits expected, found " << data.length() << ")";
} }
message1045_content = std::bitset<496>(data); message1045_content = std::bitset<496>(data);
std::string message = build_message(data); std::string message = build_message(data);
@ -834,6 +833,124 @@ std::string Rtcm::print_M1045(const Galileo_Ephemeris & gal_eph)
} }
int Rtcm::read_MT1045(const std::string & message, Galileo_Ephemeris & gal_eph)
{
// Convert message to binary
std::string message_bin = Rtcm::hex_to_bin(message);
if(!Rtcm::check_CRC(message) )
{
LOG(WARNING) << " Bad CRC detected in RTCM message MT1045";
return 1;
}
unsigned int preamble_length = 8;
unsigned int reserved_field_length = 6;
unsigned int index = preamble_length + reserved_field_length;
unsigned int read_message_length = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
index += 10;
if (read_message_length != 62)
{
LOG(WARNING) << " Message MT1045 seems too long (62 bytes expected, " << read_message_length << " received)";
return 1;
}
// Check than the message number is correct
unsigned int read_msg_number = Rtcm::bin_to_uint(message_bin.substr(index, 12));
index += 12;
if (1045 != read_msg_number)
{
LOG(WARNING) << " This is not a MT1045 message";
return 1;
}
// Fill Galileo Ephemeris with message data content
gal_eph.i_satellite_PRN = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
index += 6;
gal_eph.WN_5 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 12)));
index += 12;
gal_eph.IOD_nav_1 = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
index += 10;
gal_eph.SISA_3 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
index += 8;
gal_eph.iDot_2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 14))) * iDot_2_LSB;
index += 14;
gal_eph.t0c_4 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 14))) * t0c_4_LSB;
index += 14;
gal_eph.af2_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 6))) * af2_4_LSB;
index += 6;
gal_eph.af1_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 21))) * af1_4_LSB;
index += 21;
gal_eph.af0_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 31))) * af0_4_LSB;
index += 31;
gal_eph.C_rs_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_rs_3_LSB;
index += 16;
gal_eph.delta_n_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * delta_n_3_LSB;
index += 16;
gal_eph.M0_1 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * M0_1_LSB;
index += 32;
gal_eph.C_uc_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_uc_3_LSB;
index += 16;
gal_eph.e_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * e_1_LSB;
index += 32;
gal_eph.C_us_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_us_3_LSB;
index += 16;
gal_eph.A_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * A_1_LSB_gal;
index += 32;
gal_eph.t0e_1 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 14))) * t0e_1_LSB;
index += 14;
gal_eph.C_ic_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_ic_4_LSB;
index += 16;
gal_eph.OMEGA_0_2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_0_2_LSB;
index += 32;
gal_eph.C_is_4 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_is_4_LSB;
index += 16;
gal_eph.i_0_2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * i_0_2_LSB;
index += 32;
gal_eph.C_rc_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_rc_3_LSB;
index += 16;
gal_eph.omega_2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * omega_2_LSB;
index += 32;
gal_eph.OMEGA_dot_3 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24))) * OMEGA_dot_3_LSB;
index += 24;
gal_eph.BGD_E1E5a_5 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 10)));
index += 10;
gal_eph.E5a_HS = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
index += 2;
gal_eph.E5a_DVS = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
return 0;
}
// ***************************************************************************************************** // *****************************************************************************************************
// //
@ -1062,10 +1179,11 @@ int Rtcm::set_DF011(const Gnss_Synchro & gnss_synchro)
int Rtcm::set_DF012(const Gnss_Synchro & gnss_synchro) int Rtcm::set_DF012(const Gnss_Synchro & gnss_synchro)
{ {
double L1_pseudorange = gnss_synchro.Pseudorange_m; double L1_pseudorange = gnss_synchro.Pseudorange_m;
double L1_pseudorange_integers = std::floor(L1_pseudorange / 299792.458); //double L1_pseudorange_integers = std::floor(L1_pseudorange / 299792.458);
double L1_pseudorange_field = std::fmod(L1_pseudorange, 299792.458); double L1_pseudorange_field = std::fmod(L1_pseudorange, 299792.458);
double L1_phaserange_m = (gnss_synchro.Carrier_phase_rads / GPS_TWO_PI) * GPS_C_m_s / GPS_L1_FREQ_HZ;
long int gps_L1_phaserange_minus_L1_pseudorange = 0; /////////////////////// long int gps_L1_phaserange_minus_L1_pseudorange = static_cast<long int>((0 - L1_pseudorange_field) / 0.0005); ///////////////////////
DF012 = std::bitset<20>(gps_L1_phaserange_minus_L1_pseudorange); DF012 = std::bitset<20>(gps_L1_phaserange_minus_L1_pseudorange);
return 0; return 0;
} }

57
src/core/system_parameters/rtcm.h
View File

@ -33,9 +33,9 @@
#define GNSS_SDR_RTCM_H_ #define GNSS_SDR_RTCM_H_
#include <bitset> // std::bitset #include <bitset>
#include <map> #include <map>
#include <string> // std::string #include <string>
#include <vector> #include <vector>
#include <boost/crc.hpp> #include <boost/crc.hpp>
#include "gnss_synchro.h" #include "gnss_synchro.h"
@ -43,42 +43,46 @@
#include "gps_navigation_message.h" #include "gps_navigation_message.h"
/*! /*!
* \brief This class implements the RTCM 3.2 Standard * \brief This class implements the generation and reading of some Message Types
* * defined in the RTCM 3.2 Standard.
*/ */
class Rtcm class Rtcm
{ {
public: public:
Rtcm(); //<! Default constructor Rtcm(); //<! Default constructor
std::string print_M1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges); std::string print_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
/*! /*!
* \brief Prints message type 1005 (Stationary Antenna Reference Point) * \brief Prints message type 1005 (Stationary Antenna Reference Point)
*/ */
std::string print_M1005(unsigned int ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, unsigned int quarter_cycle_indicator); std::string print_MT1005(unsigned int ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, unsigned int quarter_cycle_indicator);
/*! /*!
* \brief Verifies and reads messages of type 1005 (Stationary Antenna Reference Point) * \brief Verifies and reads messages of type 1005 (Stationary Antenna Reference Point). Returns 1 if anything goes wrong, 0 otherwise.
*/ */
int read_M1005(const std::string & message, unsigned int & ref_id, double & ecef_x, double & ecef_y, double & ecef_z, bool & gps, bool & glonass, bool & galileo); int read_MT1005(const std::string & message, unsigned int & ref_id, double & ecef_x, double & ecef_y, double & ecef_z, bool & gps, bool & glonass, bool & galileo);
/*! /*!
* \brief Prints message type 1019 (GPS Ephemeris), should be broadcast in the event that * \brief Prints message type 1019 (GPS Ephemeris), should be broadcast in the event that
* the IODC does not match the IODE, and every 2 minutes. * the IODC does not match the IODE, and every 2 minutes.
*/ */
std::string print_M1019(const Gps_Ephemeris & gps_eph); std::string print_MT1019(const Gps_Ephemeris & gps_eph);
/*! /*!
* \brief Verifies and reads messages of type 1019 (GPS Ephemeris) * \brief Verifies and reads messages of type 1019 (GPS Ephemeris). Returns 1 if anything goes wrong, 0 otherwise.
*/ */
int read_M1019(const std::string & message, Gps_Ephemeris & gps_eph); int read_MT1019(const std::string & message, Gps_Ephemeris & gps_eph);
/*! /*!
* \brief Prints message type 1045 (Galileo Ephemeris) * \brief Prints message type 1045 (Galileo Ephemeris), should be broadcast every 2 minutes
*/ */
std::string print_M1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes std::string print_MT1045(const Galileo_Ephemeris & gal_eph);
/*!
* \brief Verifies and reads messages of type 1045 (Galileo Ephemeris). Returns 1 if anything goes wrong, 0 otherwise.
*/
int read_MT1045(const std::string & message, Galileo_Ephemeris & gal_eph);
std::string bin_to_hex(const std::string& s); //<! Returns a string of hexadecimal symbols from a string of binary symbols std::string bin_to_hex(const std::string& s); //<! Returns a string of hexadecimal symbols from a string of binary symbols
std::string hex_to_bin(const std::string& s); //<! Returns a string of binary symbols from a string of hexadecimal symbols std::string hex_to_bin(const std::string& s); //<! Returns a string of binary symbols from a string of hexadecimal symbols
@ -89,11 +93,10 @@ public:
unsigned long int hex_to_uint(const std::string& s); //<! Returns an unsigned long int from a string of hexadecimal symbols unsigned long int hex_to_uint(const std::string& s); //<! Returns an unsigned long int from a string of hexadecimal symbols
long int hex_to_int(const std::string& s); //<! Returns a long int from a string of hexadecimal symbols long int hex_to_int(const std::string& s); //<! Returns a long int from a string of hexadecimal symbols
double bin_to_double(const std::string& s); //<! Returns double from a string of binary symbols double bin_to_double(const std::string& s); //<! Returns double from a string of binary symbols
std::string print_MT1005_test(); //<! For testing purposes
std::string print_M1005_test(); //<! For testing purposes bool check_CRC(const std::string & message); //<! Checks that the CRC of a RTCM package is correct
bool check_CRC(const std::string & message); //<! Checks that the CRC of a RTCM package is correct
private: private:
// //
// Messages // Messages
@ -102,19 +105,13 @@ private:
std::bitset<58> message1001_content; std::bitset<58> message1001_content;
std::bitset<64> message1002_header; std::bitset<64> message1002_header;
std::bitset<74> message1002_content; std::bitset<74> message1002_content;
std::bitset<488> message1019_content; std::bitset<488> message1019_content;
std::bitset<496> message1045_content; std::bitset<496> message1045_content;
std::bitset<169> MSM_header; // 169+X std::bitset<169> MSM_header; // 169+X
std::vector<std::bitset<18> > MSM4_content; // 18 * Nsat std::vector<std::bitset<18> > MSM4_content; // 18 * Nsat
std::vector<std::bitset<36> > MSM5_content; // 36 * Nsat std::vector<std::bitset<36> > MSM5_content; // 36 * Nsat
std::bitset<64> get_MT1001_header(const Gps_Ephemeris & gps_eph,
std::bitset<64> get_M1001_header(const Gps_Ephemeris & gps_eph,
double obs_time, double obs_time,
const std::map<int, Gnss_Synchro> & pseudoranges, const std::map<int, Gnss_Synchro> & pseudoranges,
unsigned int ref_id, unsigned int ref_id,
@ -122,14 +119,9 @@ private:
bool sync_flag, bool sync_flag,
bool divergence_free); bool divergence_free);
std::bitset<58> get_M1001_sat_content(const Gnss_Synchro & gnss_synchro); std::bitset<58> get_MT1001_sat_content(const Gnss_Synchro & gnss_synchro);
//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();
std::bitset<152> get_MT1005_test();
// //
// Transport Layer // Transport Layer
@ -142,7 +134,6 @@ private:
std::string add_CRC(const std::string& m); std::string add_CRC(const std::string& m);
std::string build_message(std::string data); // adds 0s to complete a byte and adds the CRC std::string build_message(std::string data); // adds 0s to complete a byte and adds the CRC
// //
// Data Fields // Data Fields
// //
@ -170,8 +161,8 @@ private:
int set_DF008(short int smoothing_interval); int set_DF008(short int smoothing_interval);
std::bitset<6> DF009; std::bitset<6> DF009;
int set_DF009(const Gps_Ephemeris & gps_eph);
int set_DF009(const Gnss_Synchro & gnss_synchro); int set_DF009(const Gnss_Synchro & gnss_synchro);
int set_DF009(const Gps_Ephemeris & gps_eph);
std::bitset<1> DF010; std::bitset<1> DF010;
int set_DF010(bool code_indicator); int set_DF010(bool code_indicator);

40
src/tests/formats/rtcm_test.cc
View File

@ -159,17 +159,17 @@ TEST(Rtcm_Test, Check_CRC)
EXPECT_EQ(true, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98")); EXPECT_EQ(true, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98"));
EXPECT_EQ(false, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B99")); EXPECT_EQ(false, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B99"));
EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_M1005_test())); EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_MT1005_test()));
EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_M1005_test())); // Run twice to check that CRC has no memory EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_MT1005_test())); // Run twice to check that CRC has no memory
} }
TEST(Rtcm_Test, Test_MT1005) TEST(Rtcm_Test, Test_MT1005)
{ {
auto rtcm = std::make_shared<Rtcm>(); auto rtcm = std::make_shared<Rtcm>();
std::string reference_msg = rtcm->print_M1005_test(); std::string reference_msg = rtcm->print_MT1005_test();
std::string reference_msg2 = rtcm->print_M1005(2003, 1114104.5999, -4850729.7108, 3975521.4643, true, false, false, false, false, 0); std::string reference_msg2 = rtcm->print_MT1005(2003, 1114104.5999, -4850729.7108, 3975521.4643, true, false, false, false, false, 0);
EXPECT_EQ(0, reference_msg.compare(reference_msg2)); EXPECT_EQ(0, reference_msg.compare(reference_msg2));
@ -181,7 +181,7 @@ TEST(Rtcm_Test, Test_MT1005)
bool glonass; bool glonass;
bool galileo; bool galileo;
rtcm->read_M1005(reference_msg, ref_id, ecef_x, ecef_y, ecef_z, gps, glonass, galileo); rtcm->read_MT1005(reference_msg, ref_id, ecef_x, ecef_y, ecef_z, gps, glonass, galileo);
EXPECT_EQ(true, gps); EXPECT_EQ(true, gps);
EXPECT_EQ(false, glonass); EXPECT_EQ(false, glonass);
@ -192,7 +192,7 @@ TEST(Rtcm_Test, Test_MT1005)
EXPECT_DOUBLE_EQ(-4850729.7108, ecef_y); EXPECT_DOUBLE_EQ(-4850729.7108, ecef_y);
EXPECT_DOUBLE_EQ(3975521.4643, ecef_z); EXPECT_DOUBLE_EQ(3975521.4643, ecef_z);
rtcm->read_M1005("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98", ref_id, ecef_x, ecef_y, ecef_z, gps, glonass, galileo); rtcm->read_MT1005("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98", ref_id, ecef_x, ecef_y, ecef_z, gps, glonass, galileo);
EXPECT_EQ(true, gps); EXPECT_EQ(true, gps);
EXPECT_EQ(false, glonass); EXPECT_EQ(false, glonass);
@ -217,13 +217,35 @@ TEST(Rtcm_Test, Test_MT1019)
gps_eph.d_IODC = 4; gps_eph.d_IODC = 4;
gps_eph.d_e_eccentricity = 2.0 * E_LSB; gps_eph.d_e_eccentricity = 2.0 * E_LSB;
gps_eph.b_fit_interval_flag = true; gps_eph.b_fit_interval_flag = true;
std::string tx_msg = rtcm->print_M1019(gps_eph); std::string tx_msg = rtcm->print_MT1019(gps_eph);
EXPECT_EQ(0, rtcm->read_M1019(tx_msg, gps_eph_read)); EXPECT_EQ(0, rtcm->read_MT1019(tx_msg, gps_eph_read));
EXPECT_EQ(3, gps_eph_read.i_satellite_PRN); EXPECT_EQ(3, gps_eph_read.i_satellite_PRN);
EXPECT_DOUBLE_EQ(4, gps_eph_read.d_IODC); EXPECT_DOUBLE_EQ(4, gps_eph_read.d_IODC);
EXPECT_DOUBLE_EQ( 2.0 * E_LSB, gps_eph_read.d_e_eccentricity); EXPECT_DOUBLE_EQ( 2.0 * E_LSB, gps_eph_read.d_e_eccentricity);
EXPECT_EQ(true, gps_eph_read.b_fit_interval_flag); EXPECT_EQ(true, gps_eph_read.b_fit_interval_flag);
EXPECT_EQ(1, rtcm->read_M1019("FFFFFFFFFFF", gps_eph_read)); EXPECT_EQ(1, rtcm->read_MT1019("FFFFFFFFFFF", gps_eph_read));
}
TEST(Rtcm_Test, Test_MT1045)
{
auto rtcm = std::make_shared<Rtcm>();
Galileo_Ephemeris gal_eph = Galileo_Ephemeris();
Galileo_Ephemeris gal_eph_read = Galileo_Ephemeris();
gal_eph.i_satellite_PRN = 5;
gal_eph.OMEGA_dot_3 = 53.0 * OMEGA_dot_3_LSB;
gal_eph.E5a_DVS = true;
std::string tx_msg = rtcm->print_MT1045(gal_eph);
EXPECT_EQ(0, rtcm->read_MT1045(tx_msg, gal_eph_read));
EXPECT_EQ(true, gal_eph_read.E5a_DVS);
EXPECT_DOUBLE_EQ( 53.0 * OMEGA_dot_3_LSB, gal_eph_read.OMEGA_dot_3);
EXPECT_EQ(5, gal_eph_read.i_satellite_PRN);
EXPECT_EQ(1, rtcm->read_MT1045("FFFFFFFFFFF", gal_eph_read));
} }

2
src/tests/gnss_block/rtcm_printer_test.cc
View File

@ -73,7 +73,7 @@ TEST(Rtcm_Printer_Test, Run)
std::unique_ptr<Rtcm_Printer> RTCM_printer(new Rtcm_Printer(filename, flag_rtcm_tty_port, rtcm_dump_devname)); std::unique_ptr<Rtcm_Printer> RTCM_printer(new Rtcm_Printer(filename, flag_rtcm_tty_port, rtcm_dump_devname));
std::string reference_msg = "D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98"; std::string reference_msg = "D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98";
std::string testing_msg = RTCM_printer->print_M1005_test(); std::string testing_msg = RTCM_printer->print_MT1005_test();
EXPECT_EQ(reference_msg, testing_msg); EXPECT_EQ(reference_msg, testing_msg);
} }