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

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This commit is contained in:
Javier Arribas 2022-09-21 12:03:54 +02:00
commit 8734a9f5c1
6 changed files with 148 additions and 51 deletions
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91
src/algorithms/PVT/libs/rinex_printer.cc
View File

@ -7226,6 +7226,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
number_of_observations_gal = number_of_observations_gal + 4;
}
signal_ = "E6";
const std::size_t found_E6 = galileo_bands.find(signal_);
if (found_E6 != std::string::npos)
{
number_of_observations_gal = number_of_observations_gal + 4;
}
line += satelliteSystem.find("Galileo")->second;
line += std::string(2, ' ');
@ -7279,6 +7285,22 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
line += observationCode["GALILEO_E5b_IQ"];
}
if (found_E6 != std::string::npos)
{
line += std::string(1, ' ');
line += observationType["PSEUDORANGE"];
line += observationCode["GALILEO_E56_B"];
line += std::string(1, ' ');
line += observationType["CARRIER_PHASE"];
line += observationCode["GALILEO_E56_B"];
line += std::string(1, ' ');
line += observationType["DOPPLER"];
line += observationCode["GALILEO_E56_B"];
line += std::string(1, ' ');
line += observationType["SIGNAL_STRENGTH"];
line += observationCode["GALILEO_E56_B"];
}
line += std::string(60 - line.size(), ' ');
line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
Rinex_Printer::lengthCheck(line);
@ -8441,6 +8463,13 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
{
number_of_observations_gal = number_of_observations_gal + 4;
}
signal_ = "E6";
const std::size_t found_E6 = galileo_bands.find(signal_);
if (found_E6 != std::string::npos)
{
number_of_observations_gal = number_of_observations_gal + 4;
}
line += satelliteSystem.find("Galileo")->second;
line += std::string(2, ' ');
line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_gal), 3);
@ -8489,6 +8518,21 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
line += observationType["SIGNAL_STRENGTH"];
line += observationCode["GALILEO_E5b_IQ"];
}
if (found_E6 != std::string::npos)
{
line += std::string(1, ' ');
line += observationType["PSEUDORANGE"];
line += observationCode["GALILEO_E56_B"];
line += std::string(1, ' ');
line += observationType["CARRIER_PHASE"];
line += observationCode["GALILEO_E56_B"];
line += std::string(1, ' ');
line += observationType["DOPPLER"];
line += observationCode["GALILEO_E56_B"];
line += std::string(1, ' ');
line += observationType["SIGNAL_STRENGTH"];
line += observationCode["GALILEO_E56_B"];
}
line += std::string(60 - line.size(), ' ');
line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
Rinex_Printer::lengthCheck(line);
@ -8766,6 +8810,12 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
{
number_of_observations_gal = number_of_observations_gal + 4;
}
signal_ = "E6";
const std::size_t found_E6 = galileo_bands.find(signal_);
if (found_E6 != std::string::npos)
{
number_of_observations_gal = number_of_observations_gal + 4;
}
line += satelliteSystem.find("Galileo")->second;
line += std::string(2, ' ');
line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_gal), 3);
@ -8814,6 +8864,22 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris
line += observationType["SIGNAL_STRENGTH"];
line += observationCode["GALILEO_E5b_IQ"];
}
if (found_E6 != std::string::npos)
{
line += std::string(1, ' ');
line += observationType["PSEUDORANGE"];
line += observationCode["GALILEO_E56_B"];
line += std::string(1, ' ');
line += observationType["CARRIER_PHASE"];
line += observationCode["GALILEO_E56_B"];
line += std::string(1, ' ');
line += observationType["DOPPLER"];
line += observationCode["GALILEO_E56_B"];
line += std::string(1, ' ');
line += observationType["SIGNAL_STRENGTH"];
line += observationCode["GALILEO_E56_B"];
}
line += std::string(60 - line.size(), ' ');
line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
Rinex_Printer::lengthCheck(line);
@ -9348,7 +9414,6 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
number_of_observations_gal = number_of_observations_gal + 4;
}
line.clear();
signal_ = "7X";
const std::size_t found_7X = galileo_bands.find(signal_);
if (found_7X != std::string::npos)
@ -9356,6 +9421,14 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
number_of_observations_gal = number_of_observations_gal + 4;
}
signal_ = "E6";
const std::size_t found_E6 = galileo_bands.find(signal_);
if (found_E6 != std::string::npos)
{
number_of_observations_gal = number_of_observations_gal + 4;
}
line.clear();
line += satelliteSystem.find("Galileo")->second;
line += std::string(2, ' ');
line += Rinex_Printer::rightJustify(std::to_string(number_of_observations_gal), 3);
@ -9408,6 +9481,22 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps
line += observationCode["GALILEO_E5b_IQ"];
}
if (found_E6 != std::string::npos)
{
line += std::string(1, ' ');
line += observationType["PSEUDORANGE"];
line += observationCode["GALILEO_E56_B"];
line += std::string(1, ' ');
line += observationType["CARRIER_PHASE"];
line += observationCode["GALILEO_E56_B"];
line += std::string(1, ' ');
line += observationType["DOPPLER"];
line += observationCode["GALILEO_E56_B"];
line += std::string(1, ' ');
line += observationType["SIGNAL_STRENGTH"];
line += observationCode["GALILEO_E56_B"];
}
line += std::string(60 - line.size(), ' ');
line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
Rinex_Printer::lengthCheck(line);

2
src/algorithms/PVT/libs/rtcm.cc
View File

@ -3994,6 +3994,8 @@ std::map<std::string, int> Rtcm::galileo_signal_map = [] {
galileo_signal_map_["5I"] = 22;
galileo_signal_map_["5Q"] = 23;
galileo_signal_map_["5X"] = 24;
galileo_signal_map_["E6"] = 10;
return galileo_signal_map_;
}();

73
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -781,7 +781,7 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
Print_Rtcm_MT1019(gps_eph_iter.second);
}
}
if (flag_write_RTCM_1045_output == true)
if (rtcm_MT1045_rate_ms != 0)
{
for (const auto& gal_eph_iter : pvt_solver->galileo_ephemeris_map)
{
@ -790,29 +790,18 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
}
if (flag_write_RTCM_MSM_output == true)
{
auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin();
auto gal_eph_iter = pvt_solver->galileo_ephemeris_map.cbegin();
int gps_channel = 0;
auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin();
int gal_channel = 0;
int gps_channel = 0;
for (const auto& gnss_observables_iter : gnss_observables_map)
{
const std::string system(gnss_observables_iter.second.System, 1);
if (gps_channel == 0)
{
if (system == "G")
{
// This is a channel with valid GPS signal
gps_eph_iter = pvt_solver->gps_ephemeris_map.find(gnss_observables_iter.second.PRN);
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend())
{
gps_channel = 1;
}
}
}
if (gal_channel == 0)
{
if (system == "E")
{
// This is a channel with valid GPS signal
gal_eph_iter = pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter.second.PRN);
if (gal_eph_iter != pvt_solver->galileo_ephemeris_map.cend())
{
@ -820,6 +809,17 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
}
}
}
if (gps_channel == 0)
{
if (system == "G")
{
gps_eph_iter = pvt_solver->gps_ephemeris_map.find(gnss_observables_iter.second.PRN);
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend())
{
gps_channel = 1;
}
}
}
}
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend())
{
@ -1421,27 +1421,16 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
{
auto gal_eph_iter = pvt_solver->galileo_ephemeris_map.cbegin();
auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin();
int gps_channel = 0;
int gal_channel = 0;
int gps_channel = 0;
for (const auto& gnss_observables_iter : gnss_observables_map)
{
const std::string system(gnss_observables_iter.second.System, 1);
if (gps_channel == 0)
{
if (system == "G")
{
// This is a channel with valid GPS signal
gps_eph_iter = pvt_solver->gps_ephemeris_map.find(gnss_observables_iter.second.PRN);
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend())
{
gps_channel = 1;
}
}
}
if (gal_channel == 0)
{
if (system == "E")
{
// This is a channel with valid GPS signal
gal_eph_iter = pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter.second.PRN);
if (gal_eph_iter != pvt_solver->galileo_ephemeris_map.cend())
{
@ -1449,6 +1438,17 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
}
}
}
if (gps_channel == 0)
{
if (system == "G")
{
gps_eph_iter = pvt_solver->gps_ephemeris_map.find(gnss_observables_iter.second.PRN);
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend())
{
gps_channel = 1;
}
}
}
}
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend())
{
@ -1471,10 +1471,8 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
}
if (rtcm_MSM_rate_ms != 0)
{
auto gal_eph_iter = pvt_solver->galileo_ephemeris_map.cbegin();
auto gps_eph_iter = pvt_solver->gps_ephemeris_map.cbegin();
int gps_channel = 0;
int gal_channel = 0;
for (const auto& gnss_observables_iter : gnss_observables_map)
{
const std::string system(gnss_observables_iter.second.System, 1);
@ -1490,26 +1488,11 @@ void Rtcm_Printer::Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
}
}
}
if (gal_channel == 0)
{
if (system == "E")
{
gal_eph_iter = pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter.second.PRN);
if (gal_eph_iter != pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
}
}
}
if (gps_eph_iter != pvt_solver->gps_ephemeris_map.cend())
{
Print_Rtcm_MSM(7, gps_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())
{
Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, rx_time, gnss_observables_map, enable_rx_clock_correction, 0, 0, false, false);
}
}
d_rtcm_writing_started = true;
break;

1
src/algorithms/acquisition/libs/CMakeLists.txt
View File

@ -55,6 +55,7 @@ endif()
set_property(TARGET acquisition_libs
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
$<BUILD_INTERFACE:${GNSSSDR_SOURCE_DIR}/src/core/interfaces>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
)

30
src/algorithms/signal_source/adapters/zmq_signal_source.cc
View File

@ -18,7 +18,6 @@
#include "configuration_interface.h"
#include "gnss_sdr_string_literals.h"
#include <glog/logging.h>
#include <vector>
using namespace std::string_literals;
@ -39,18 +38,23 @@ ZmqSignalSource::ZmqSignalSource(const ConfigurationInterface* configuration,
auto property = role + ".endpoint"s;
auto endpoint = configuration->property(property, ""s);
std::vector<char> address(endpoint.c_str(), endpoint.c_str() + endpoint.size() + 1);
if (!endpoint.empty())
{
LOG(INFO) << "Connecting to ZMQ pub at " << endpoint;
d_source_block = gr::zeromq::sub_source::make(d_item_size, vlen, address.data(), timeout_ms, pass_tags, hwm);
// work around gnuradio interface deficiency
d_source_block = gr::zeromq::sub_source::make(d_item_size, vlen, const_cast<char*>(endpoint.data()), timeout_ms, pass_tags, hwm);
}
else
{
std::cerr << "For ZMQ_Signal_Source " << property << " must be defined" << std::endl;
throw std::invalid_argument(property + ": undefined");
}
if (vlen > 1)
{
d_vec_block = gr::blocks::vector_to_stream::make(item_size(), vlen);
}
}
@ -59,10 +63,14 @@ auto ZmqSignalSource::item_size() -> size_t { return d_item_size; }
auto ZmqSignalSource::connect(gr::top_block_sptr top_block) -> void
{
if (d_vec_block)
{
top_block->connect(d_source_block, 0, d_vec_block, 0);
}
if (d_dump)
{
d_dump_sink = gr::blocks::file_sink::make(item_size(), d_dump_filename.data());
top_block->connect(d_source_block, 0, d_dump_sink, 0);
top_block->connect(get_right_block(), 0, d_dump_sink, 0);
}
}
@ -73,10 +81,22 @@ auto ZmqSignalSource::disconnect(gr::top_block_sptr top_block) -> void
{
top_block->disconnect(d_dump_sink);
}
if (d_vec_block)
{
top_block->disconnect(d_vec_block);
}
}
auto ZmqSignalSource::get_right_block() -> gr::basic_block_sptr
{
return d_source_block;
auto result = gr::basic_block_sptr();
if (d_vec_block)
result = d_vec_block; // NOLINT
else
result = d_source_block; // NOLINT
return result;
}

2
src/algorithms/signal_source/adapters/zmq_signal_source.h
View File

@ -21,6 +21,7 @@
//
#include "concurrent_queue.h"
#include <gnuradio/blocks/file_sink.h> // for dump
#include <gnuradio/blocks/vector_to_stream.h>
#include <gnuradio/zeromq/sub_source.h>
#include <pmt/pmt.h>
#include <string>
@ -66,6 +67,7 @@ public:
private:
gr::zeromq::sub_source::sptr d_source_block;
gr::blocks::vector_to_stream::sptr d_vec_block;
gr::blocks::file_sink::sptr d_dump_sink;
size_t d_item_size;