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TCP port and RTCM station ID are now configured by the printer

Browse Source 
Merge branch 'next' of git+ssh://github.com/gnss-sdr/gnss-sdr into next
This commit is contained in:
Carles Fernandez
2016-05-06 21:00:08 +02:00
parent e11e5545c8 7403fec396
commit 9cbb88bc9f
37 changed files with 320 additions and 239 deletions
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4
src/algorithms/PVT/adapters/galileo_e1_pvt.cc
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@@ -79,8 +79,10 @@ GalileoE1Pvt::GalileoE1Pvt(ConfigurationInterface* configuration,
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);
// make PVT object
pvt_ = galileo_e1_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_dump_devname);
pvt_ = galileo_e1_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);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}

122
src/algorithms/PVT/adapters/gps_l1_ca_pvt.cc
View File

@@ -81,14 +81,16 @@ GpsL1CaPvt::GpsL1CaPvt(ConfigurationInterface* configuration,
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);
// getting names from the config file, if available
// default filename for assistance data
const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
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";
//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);
@@ -96,7 +98,7 @@ GpsL1CaPvt::GpsL1CaPvt(ConfigurationInterface* configuration,
//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_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_dump_devname );
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}
@@ -104,10 +106,10 @@ bool GpsL1CaPvt::save_assistance_to_XML()
{
// return variable (true == succeeded)
bool ret = false;
LOG(INFO) << "SUPL: Try to save GPS ephemeris to XML file " << eph_xml_filename_;
std::map<int,Gps_Ephemeris> eph_map = pvt_->get_GPS_L1_ephemeris_map();
std::map<int,Gps_Ephemeris> eph_map=pvt_->get_GPS_L1_ephemeris_map();
if (eph_map.size() > 0)
{
try
@@ -120,7 +122,7 @@ bool GpsL1CaPvt::save_assistance_to_XML()
}
catch (std::exception& e)
{
LOG(ERROR) << e.what();
LOG(WARNING) << e.what();
return false;
}
return true;
@@ -131,58 +133,58 @@ bool GpsL1CaPvt::save_assistance_to_XML()
return false;
}
// Only try to save {utc, iono, ref time, ref location} if SUPL is enabled
// bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false);
// if (enable_gps_supl_assistance == true)
// {
// // try to save utc model xml file
// std::map<int, Gps_Utc_Model> utc_copy = global_gps_utc_model_map.get_map_copy();
// if (supl_client_acquisition_.save_utc_map_xml(utc_xml_filename, utc_copy) == true)
// {
// LOG(INFO) << "SUPL: Successfully saved UTC Model XML file";
// //ret = true;
// }
// else
// {
// LOG(INFO) << "SUPL: Error while trying to save utc XML file";
// //ret = false;
// }
// // try to save iono model xml file
// std::map<int, Gps_Iono> iono_copy = global_gps_iono_map.get_map_copy();
// if (supl_client_acquisition_.save_iono_map_xml(iono_xml_filename, iono_copy) == true)
// {
// LOG(INFO) << "SUPL: Successfully saved IONO Model XML file";
// //ret = true;
// }
// else
// {
// LOG(INFO) << "SUPL: Error while trying to save iono XML file";
// //ret = false;
// }
// // try to save ref time xml file
// std::map<int, Gps_Ref_Time> ref_time_copy = global_gps_ref_time_map.get_map_copy();
// if (supl_client_acquisition_.save_ref_time_map_xml(ref_time_xml_filename, ref_time_copy) == true)
// {
// LOG(INFO) << "SUPL: Successfully saved Ref Time XML file";
// //ret = true;
// }
// else
// {
// LOG(INFO) << "SUPL: Error while trying to save ref time XML file";
// //ref = false;
// }
// // try to save ref location xml file
// std::map<int, Gps_Ref_Location> ref_location_copy = global_gps_ref_location_map.get_map_copy();
// if (supl_client_acquisition_.save_ref_location_map_xml(ref_location_xml_filename, ref_location_copy) == true)
// {
// LOG(INFO) << "SUPL: Successfully saved Ref Location XML file";
// //ref = true;
// }
// else
// {
// LOG(INFO) << "SUPL: Error while trying to save ref location XML file";
// //ret = false;
// }
// }
// bool enable_gps_supl_assistance = configuration_->property("GNSS-SDR.SUPL_gps_enabled", false);
// if (enable_gps_supl_assistance == true)
// {
// // try to save utc model xml file
// std::map<int, Gps_Utc_Model> utc_copy = global_gps_utc_model_map.get_map_copy();
// if (supl_client_acquisition_.save_utc_map_xml(utc_xml_filename, utc_copy) == true)
// {
// LOG(INFO) << "SUPL: Successfully saved UTC Model XML file";
// //ret = true;
// }
// else
// {
// LOG(INFO) << "SUPL: Error while trying to save utc XML file";
// //ret = false;
// }
// // try to save iono model xml file
// std::map<int, Gps_Iono> iono_copy = global_gps_iono_map.get_map_copy();
// if (supl_client_acquisition_.save_iono_map_xml(iono_xml_filename, iono_copy) == true)
// {
// LOG(INFO) << "SUPL: Successfully saved IONO Model XML file";
// //ret = true;
// }
// else
// {
// LOG(INFO) << "SUPL: Error while trying to save iono XML file";
// //ret = false;
// }
// // try to save ref time xml file
// std::map<int, Gps_Ref_Time> ref_time_copy = global_gps_ref_time_map.get_map_copy();
// if (supl_client_acquisition_.save_ref_time_map_xml(ref_time_xml_filename, ref_time_copy) == true)
// {
// LOG(INFO) << "SUPL: Successfully saved Ref Time XML file";
// //ret = true;
// }
// else
// {
// LOG(INFO) << "SUPL: Error while trying to save ref time XML file";
// //ref = false;
// }
// // try to save ref location xml file
// std::map<int, Gps_Ref_Location> ref_location_copy = global_gps_ref_location_map.get_map_copy();
// if (supl_client_acquisition_.save_ref_location_map_xml(ref_location_xml_filename, ref_location_copy) == true)
// {
// LOG(INFO) << "SUPL: Successfully saved Ref Location XML file";
// //ref = true;
// }
// else
// {
// LOG(INFO) << "SUPL: Error while trying to save ref location XML file";
// //ret = false;
// }
// }
return ret;
}

4
src/algorithms/PVT/adapters/hybrid_pvt.cc
View File

@@ -82,6 +82,8 @@ HybridPvt::HybridPvt(ConfigurationInterface* configuration,
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);
// getting names from the config file, if available
// default filename for assistance data
@@ -97,7 +99,7 @@ HybridPvt::HybridPvt(ConfigurationInterface* configuration,
//std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
// make PVT object
pvt_ = hybrid_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_dump_devname);
pvt_ = hybrid_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);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}

16
src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
View File

@@ -43,11 +43,12 @@ using google::LogMessage;
galileo_e1_pvt_cc_sptr galileo_e1_make_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename, int averaging_depth,
bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename,
std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, std::string rtcm_dump_devname)
{
return galileo_e1_pvt_cc_sptr(new galileo_e1_pvt_cc(nchannels, 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_dump_devname));
flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_dump_devname));
}
@@ -106,7 +107,8 @@ void galileo_e1_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename, int averaging_depth,
bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname,
bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname) :
bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, std::string rtcm_dump_devname) :
gr::block("galileo_e1_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)), gr::io_signature::make(0, 0, sizeof(gr_complex)))
{
d_output_rate_ms = output_rate_ms;
@@ -138,7 +140,9 @@ galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, bool dump, std::str
//initialize rtcm_printer
std::string rtcm_dump_filename;
rtcm_dump_filename = d_dump_filename;
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname);
unsigned short _port = rtcm_tcp_port;
unsigned short _station_id = rtcm_station_id;
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, _port, _station_id, rtcm_dump_devname);
d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");
@@ -298,7 +302,7 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map, 1234, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map, 0, 0, 0, 0, 0);
}
}
}
@@ -313,7 +317,7 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map, 1234, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}

6
src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.h
View File

@@ -59,6 +59,8 @@ galileo_e1_pvt_cc_sptr galileo_e1_make_pvt_cc(unsigned int n_channels,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::string rtcm_dump_devname);
/*!
@@ -79,6 +81,8 @@ private:
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::string rtcm_dump_devname);
galileo_e1_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
@@ -91,6 +95,8 @@ private:
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::string rtcm_dump_devname);
void msg_handler_telemetry(pmt::pmt_t msg);

41
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
View File

@@ -43,9 +43,36 @@
using google::LogMessage;
gps_l1_ca_pvt_cc_sptr
gps_l1_ca_make_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
gps_l1_ca_make_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::string rtcm_dump_devname)
{
return gps_l1_ca_pvt_cc_sptr(new gps_l1_ca_pvt_cc(nchannels, 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_dump_devname));
return gps_l1_ca_pvt_cc_sptr(new gps_l1_ca_pvt_cc(nchannels,
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));
}
@@ -160,6 +187,8 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
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)) )
@@ -194,7 +223,9 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
//initialize rtcm_printer
std::string rtcm_dump_filename;
rtcm_dump_filename = d_dump_filename;
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname);
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);
b_rtcm_writing_started = false;
d_dump_filename.append("_raw.dat");
@@ -349,7 +380,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 1234, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 0, 0, 0, 0, 0);
}
}
}
@@ -365,7 +396,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 1234, 0, 0, 0, 0, 0);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}

8
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h
View File

@@ -57,6 +57,8 @@ gps_l1_ca_pvt_cc_sptr gps_l1_ca_make_pvt_cc(unsigned int n_channels,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::string rtcm_dump_devname
);
@@ -78,6 +80,8 @@ private:
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::string rtcm_dump_devname);
gps_l1_ca_pvt_cc(unsigned int nchannels,
bool dump,
@@ -91,6 +95,8 @@ private:
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::string rtcm_dump_devname);
void msg_handler_telemetry(pmt::pmt_t msg);
@@ -100,6 +106,8 @@ private:
bool b_rinex_sbs_header_writen;
bool b_rinex_header_updated;
bool b_rtcm_writing_started;
unsigned short d_rtcm_tcp_port;
unsigned short d_rtcm_station_id;
void print_receiver_status(Gnss_Synchro** channels_synchronization_data);
int d_last_status_print_seg; //for status printer

37
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
View File

@@ -41,9 +41,37 @@
using google::LogMessage;
hybrid_pvt_cc_sptr
hybrid_make_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
hybrid_make_pvt_cc(unsigned int nchannels,
bool dump,
std::string dump_filename,
int averaging_depth,
bool flag_averaging,
int output_rate_ms,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::string rtcm_dump_devname)
{
return hybrid_pvt_cc_sptr(new hybrid_pvt_cc(nchannels, 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_dump_devname));
return hybrid_pvt_cc_sptr(new hybrid_pvt_cc(nchannels,
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));
}
@@ -139,7 +167,8 @@ std::map<int,Gps_Ephemeris> hybrid_pvt_cc::get_GPS_L1_ephemeris_map()
hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename,
int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port,
std::string nmea_dump_filename, std::string nmea_dump_devname,
bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname) :
bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, std::string rtcm_dump_devname) :
gr::block("hybrid_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, sizeof(gr_complex)))
@@ -173,7 +202,7 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, bool dump, std::string dump
//initialize rtcm_printer
std::string rtcm_dump_filename;
rtcm_dump_filename = d_dump_filename;
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname);
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_dump_devname);
d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");

6
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h
View File

@@ -59,6 +59,8 @@ hybrid_pvt_cc_sptr hybrid_make_pvt_cc(unsigned int n_channels,
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::string rtcm_dump_devname);
/*!
@@ -79,6 +81,8 @@ private:
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::string rtcm_dump_devname);
hybrid_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
@@ -91,6 +95,8 @@ private:
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
std::string rtcm_dump_devname);
void msg_handler_telemetry(pmt::pmt_t msg);

29
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@@ -43,7 +43,7 @@
using google::LogMessage;
Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname, bool time_tag_name)
Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port, unsigned short rtcm_station_id, std::string rtcm_dump_devname, bool time_tag_name)
{
time_t rawtime;
struct tm * timeinfo;
@@ -113,7 +113,11 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool fla
rtcm_dev_descriptor = -1;
}
rtcm = std::make_shared<Rtcm>();
port = rtcm_tcp_port;
station_id = rtcm_station_id;
rtcm = std::make_shared<Rtcm>(port);
if(flag_rtcm_server)
{
rtcm->run_server();
@@ -143,7 +147,7 @@ Rtcm_Printer::~Rtcm_Printer()
bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
{
std::string m1001 = rtcm->print_MT1001(gps_eph, obs_time, pseudoranges);
std::string m1001 = rtcm->print_MT1001(gps_eph, obs_time, pseudoranges, station_id);
Rtcm_Printer::Print_Message(m1001);
return true;
}
@@ -151,7 +155,7 @@ bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_ti
bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
{
std::string m1002 = rtcm->print_MT1002(gps_eph, obs_time, pseudoranges);
std::string m1002 = rtcm->print_MT1002(gps_eph, obs_time, pseudoranges, station_id);
Rtcm_Printer::Print_Message(m1002);
return true;
}
@@ -178,7 +182,6 @@ bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris &
const Galileo_Ephemeris & gal_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & pseudoranges,
unsigned int ref_id,
unsigned int clock_steering_indicator,
unsigned int external_clock_indicator,
int smooth_int,
@@ -188,31 +191,31 @@ bool Rtcm_Printer::Print_Rtcm_MSM(unsigned int msm_number, const Gps_Ephemeris &
std::string msm;
if(msm_number == 1)
{
msm = rtcm->print_MSM_1(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_1(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else if(msm_number == 2)
{
msm = rtcm->print_MSM_2(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_2(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else if(msm_number == 3)
{
msm = rtcm->print_MSM_3(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_3(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else if(msm_number == 4)
{
msm = rtcm->print_MSM_4(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_4(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else if(msm_number == 5)
{
msm = rtcm->print_MSM_5(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_5(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else if(msm_number == 6)
{
msm = rtcm->print_MSM_6(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_6(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else if(msm_number == 7)
{
msm = rtcm->print_MSM_7(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, ref_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
msm = rtcm->print_MSM_7(gps_eph, gps_cnav_eph, gal_eph, obs_time, pseudoranges, station_id, clock_steering_indicator, external_clock_indicator, smooth_int, divergence_free, more_messages);
}
else
{
@@ -261,7 +264,6 @@ int Rtcm_Printer::init_serial(std::string serial_device)
}
void Rtcm_Printer::close_serial()
{
if (rtcm_dev_descriptor != -1)
@@ -271,7 +273,6 @@ void Rtcm_Printer::close_serial()
}
bool Rtcm_Printer::Print_Message(const std::string & message)
{
//write to file

5
src/algorithms/PVT/libs/rtcm_printer.h
View File

@@ -48,7 +48,7 @@ public:
/*!
* \brief Default constructor.
*/
Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_filename, bool time_tag_name = true);
Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port, unsigned short rtcm_station_id, std::string rtcm_dump_filename, bool time_tag_name = true);
/*!
* \brief Default destructor.
@@ -65,7 +65,6 @@ public:
const Galileo_Ephemeris & gal_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & pseudoranges,
unsigned int ref_id,
unsigned int clock_steering_indicator,
unsigned int external_clock_indicator,
int smooth_int,
@@ -81,6 +80,8 @@ private:
std::string rtcm_filename; // String with the RTCM log filename
std::ofstream rtcm_file_descriptor; // Output file stream for RTCM log file
std::string rtcm_devname;
unsigned short port;
unsigned short station_id;
int rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port)
int init_serial (std::string serial_device); //serial port control
void close_serial ();