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Merge branch 'next' of https://github.com/carlesfernandez/gnss-sdr into next

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Carles Fernandez 2019-03-16 19:44:37 +01:00
commit 85a789706d
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8 changed files with 84 additions and 11 deletions
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2
docs/changelog
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@ -3,6 +3,7 @@
### Improvements in Availability
- Fixed bug that caused a random deadlock in the Observables block, preventing the computation of PVT fixes.
- Fixed bug in Galileo INAV message decoding when PLL is locked at 180 degrees, which prevented from correct navigation message decoding in some situations.
### Improvements in Efficiency
@ -42,6 +43,7 @@
- The receiver now admits FPGA off-loading, allowing for real time operation at high sampling rates and higher number of signals and channels.
- Fixed program termination (avoiding hangs and segfaults in some platforms/configurations).
- CMake now generates a summary of enabled/disabled features. This info is also stored in a file called features.log in the building directory.
- New parameter PVT.show_local_time_zone displays time in the local time zone. Subject to the proper system configuration of the machine running the software receiver.
- Improved information provided to the user in case of failure.

3
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@ -714,6 +714,9 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
pvt_output_parameters.udp_addresses = configuration->property(role + ".monitor_client_addresses", std::string("127.0.0.1"));
pvt_output_parameters.udp_port = configuration->property(role + ".monitor_udp_port", 1234);
// Show time in local zone
pvt_output_parameters.show_local_time_zone = configuration->property(role + ".show_local_time_zone", false);
// make PVT object
pvt_ = rtklib_make_pvt_gs(in_streams_, pvt_output_parameters, rtk);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";

75
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -76,7 +76,10 @@
#include <algorithm> // for sort, unique
#include <exception> // for exception
#include <fstream> // for ofstream
#include <iomanip> // for put_time, setprecision
#include <iostream> // for operator<<
#include <locale> // for locale
#include <sstream> // for ostringstream
#include <stdexcept> // for length_error
#include <sys/ipc.h> // for IPC_CREAT
#include <sys/msg.h> // for msgctl
@ -361,6 +364,39 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
throw std::exception();
}
// Display time in local time zone
d_show_local_time_zone = conf_.show_local_time_zone;
time_t when = std::time(nullptr);
auto const tm = *std::localtime(&when);
std::ostringstream os;
os << std::put_time(&tm, "%z");
std::string utc_diff_str = os.str(); // in ISO 8601 format: "+HHMM" or "-HHMM"
if (utc_diff_str.empty())
{
utc_diff_str = "+0000";
}
int h = std::stoi(utc_diff_str.substr(0, 3), nullptr, 10);
int m = std::stoi(utc_diff_str[0] + utc_diff_str.substr(3), nullptr, 10);
d_utc_diff_time = boost::posix_time::hours(h) + boost::posix_time::minutes(m);
std::ostringstream os2;
os2 << std::put_time(&tm, "%Z");
std::string time_zone_abrv = os2.str();
if (time_zone_abrv.empty())
{
if (utc_diff_str == "+0000")
{
d_local_time_str = " UTC";
}
else
{
d_local_time_str = " (UTC " + utc_diff_str.substr(0, 3) + ":" + utc_diff_str.substr(3, 2) + ")";
}
}
else
{
d_local_time_str = std::string(" ") + time_zone_abrv + " (UTC " + utc_diff_str.substr(0, 3) + ":" + utc_diff_str.substr(3, 2) + ")";
}
d_pvt_solver = std::make_shared<Rtklib_Solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat, rtk);
d_pvt_solver->set_averaging_depth(1);
start = std::chrono::system_clock::now();
@ -1464,8 +1500,16 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
if (first_fix == true)
{
std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_pvt_solver->get_position_UTC_time())
<< " UTC is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
if (d_show_local_time_zone)
{
boost::posix_time::ptime time_first_solution = d_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
std::cout << "First position fix at " << time_first_solution << d_local_time_str;
}
else
{
std::cout << "First position fix at " << d_pvt_solver->get_position_UTC_time() << " UTC";
}
std::cout << " is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
<< " [deg], Height= " << d_pvt_solver->get_height() << " [m]" << std::endl;
ttff_msgbuf ttff;
ttff.mtype = 1;
@ -3287,18 +3331,31 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
// DEBUG MESSAGE: Display position in console output
if (d_pvt_solver->is_valid_position() and flag_display_pvt)
{
boost::posix_time::ptime time_solution;
std::string UTC_solution_str;
if (d_show_local_time_zone)
{
time_solution = d_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
UTC_solution_str = d_local_time_str;
}
else
{
time_solution = d_pvt_solver->get_position_UTC_time();
UTC_solution_str = " UTC";
}
std::streamsize ss = std::cout.precision(); // save current precision
std::cout.setf(std::ios::fixed, std::ios::floatfield);
auto facet = new boost::posix_time::time_facet("%Y-%b-%d %H:%M:%S.%f %z");
std::cout.imbue(std::locale(std::cout.getloc(), facet));
std::cout
<< TEXT_BOLD_GREEN
<< "Position at " << time_solution << UTC_solution_str
<< " using " << d_pvt_solver->get_num_valid_observations()
<< std::fixed << std::setprecision(9)
<< " observations is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
<< std::fixed << std::setprecision(3)
<< " [deg], Height = " << d_pvt_solver->get_height() << " [m]" << TEXT_RESET << std::endl;
std::cout << TEXT_BOLD_GREEN
<< "Position at " << d_pvt_solver->get_position_UTC_time()
<< " UTC using " << d_pvt_solver->get_num_valid_observations()
<< std::fixed << std::setprecision(9)
<< " observations is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
<< std::fixed << std::setprecision(3)
<< " [deg], Height = " << d_pvt_solver->get_height() << " [m]" << TEXT_RESET << std::endl;
std::cout << std::setprecision(ss);
DLOG(INFO) << "RX clock offset: " << d_pvt_solver->get_time_offset_s() << "[s]";

4
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
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@ -162,6 +162,10 @@ private:
std::unique_ptr<Monitor_Pvt_Udp_Sink> udp_sink_ptr;
std::vector<std::string> split_string(const std::string& s, char delim) const;
bool d_show_local_time_zone;
std::string d_local_time_str;
boost::posix_time::time_duration d_utc_diff_time;
public:
~rtklib_pvt_gs(); //!< Default destructor

2
src/algorithms/PVT/libs/pvt_conf.cc
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@ -70,4 +70,6 @@ Pvt_Conf::Pvt_Conf()
monitor_enabled = false;
udp_port = 0;
show_local_time_zone = false;
}

2
src/algorithms/PVT/libs/pvt_conf.h
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@ -83,6 +83,8 @@ public:
std::string udp_addresses;
int udp_port;
bool show_local_time_zone;
Pvt_Conf();
};

6
src/algorithms/PVT/libs/rtcm.h
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@ -58,7 +58,7 @@
/*!
* \brief This class implements the generation and reading of some Message Types
* \brief This class implements the generation and reading of some Message Types
* defined in the RTCM 3.2 Standard, plus some utilities to handle messages.
*
* Generation of the following Message Types:
@ -144,6 +144,7 @@ public:
* \return string with message contents
*/
std::string print_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
/*!
* \brief Prints Extended L1-Only GLONASS RTK Observables
* \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
@ -154,6 +155,7 @@ public:
* \return string with message contents
*/
std::string print_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
/*!
* \brief Prints L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
@ -164,6 +166,7 @@ public:
* \return string with message contents
*/
std::string print_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
/*!
* \brief Prints Extended L1&L2 GLONASS RTK Observables
* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
@ -335,6 +338,7 @@ public:
uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L1 signals have been continually tracked.
uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L2 signals have been continually tracked.
uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which Galileo signals have been continually tracked.
/*!
* \brief Locks time period in which GLONASS signals have been continually tracked.
* \note Code added as part of GSoC 2017 program

1
src/algorithms/libs/rtklib/rtklib_rtkcmn.cc
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@ -51,7 +51,6 @@
*----------------------------------------------------------------------------*/
#include "rtklib_rtkcmn.h"
//#include <cstdio>
#include <glog/logging.h>
#include <dirent.h>
#include <iostream>