Move RINEX and RTCM work to the printer classes

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h

@@ -255,20 +255,17 @@ private:
     bool d_dump;
     bool d_dump_mat;
     bool d_rinex_output_enabled;
-    bool d_rinex_header_written;
-    bool d_rinex_header_updated;
     bool d_geojson_output_enabled;
     bool d_gpx_output_enabled;
     bool d_kml_output_enabled;
     bool d_nmea_output_file_enabled;
+    bool d_rtcm_enabled;
     bool d_first_fix;
     bool d_xml_storage;
     bool d_flag_monitor_pvt_enabled;
     bool d_show_local_time_zone;
     bool d_waiting_obs_block_rx_clock_offset_correction_msg;
     bool d_enable_rx_clock_correction;
-    bool d_rtcm_writing_started;
-    bool d_rtcm_enabled;
 };
 
 

src/algorithms/PVT/libs/rinex_printer.h

@@ -73,6 +73,7 @@ class Gps_Ephemeris;
 class Gps_Iono;
 class Gps_Navigation_Message;
 class Gps_Utc_Model;
+class Rtklib_Solver;
 
 
 /*!
@@ -92,6 +93,218 @@ public:
      */
     ~Rinex_Printer();
 
+    void print_rinex_annotation(const Rtklib_Solver* pvt_solver,
+        const std::map<int, Gnss_Synchro>& gnss_observables_map,
+        double rx_time,
+        int type_of_rx,
+        bool flag_write_RINEX_obs_output);
+
+    void log_rinex_nav_gps_cnav(int type_of_rx, const std::map<int32_t, Gps_CNAV_Ephemeris>& new_cnav_eph);
+
+    void log_rinex_nav_gps_nav(int type_of_rx, const std::map<int32_t, Gps_Ephemeris>& new_eph);
+
+    void log_rinex_nav_gal_nav(int type_of_rx, const std::map<int32_t, Galileo_Ephemeris>& new_gal_eph);
+
+    void log_rinex_nav_glo_gnav(int type_of_rx, const std::map<int32_t, Glonass_Gnav_Ephemeris>& new_glo_eph);
+
+    void log_rinex_nav_bds_dnav(int type_of_rx, const std::map<int32_t, Beidou_Dnav_Ephemeris>& new_bds_eph);
+
+    void set_pre_2009_file(bool pre_2009_file);
+
+    /*!
+     *  \brief Writes data from the GPS L1 C/A navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_Ephemeris>& eph_map) const;
+
+    /*!
+     *  \brief Writes data from the GPS L2 navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_CNAV_Ephemeris>& eph_map);
+
+    /*!
+     *  \brief Writes data from the Galileo navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Galileo_Ephemeris>& eph_map) const;
+
+    /*!
+     *  \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_Ephemeris>& gps_eph_map, const std::map<int32_t, Galileo_Ephemeris>& galileo_eph_map);
+
+    /*!
+     *  \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_CNAV_Ephemeris>& gps_cnav_eph_map, const std::map<int32_t, Galileo_Ephemeris>& galileo_eph_map);
+
+    /*!
+     *  \brief Writes data from the GLONASS GNAV navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Glonass_Gnav_Ephemeris>& eph_map) const;
+
+    /*!
+     *  \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_Ephemeris>& gps_eph_map, const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map) const;
+
+    /*!
+     *  \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_CNAV_Ephemeris>& gps_cnav_eph_map, const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
+
+    /*!
+     *  \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Galileo_Ephemeris>& galileo_eph_map, const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
+
+    /*!
+     *  \brief Writes data from the Beidou B1I navigation message into the RINEX file
+     */
+    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Beidou_Dnav_Ephemeris>& eph_map) const;
+
+    /*!
+     *  \brief Generates the GPS Observation data header
+     */
+    void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, double d_TOW_first_observation);
+
+    /*!
+     *  \brief Generates the GPS L2 Observation data header
+     */
+    void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& eph, double d_TOW_first_observation, const std::string& gps_bands = "2S");
+
+    /*!
+     *  \brief Generates the dual frequency GPS L1 & L2/L5 Observation data header
+     */
+    void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, double d_TOW_first_observation, const std::string& gps_bands = "1C 2S");
+
+    /*!
+     *  \brief Generates the Galileo Observation data header. Example: bands("1B"), bands("1B 5X"), bands("5X"), ... Default: "1B".
+     */
+    void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& eph, double d_TOW_first_observation, const std::string& bands = "1B");
+
+    /*!
+     *  \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, double d_TOW_first_observation, const std::string& galileo_bands = "1B");
+
+    /*!
+     *  \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& eph_cnav, const Galileo_Ephemeris& galileo_eph, double d_TOW_first_observation, const std::string& gps_bands = "1C 2S", const std::string& galileo_bands = "1B");
+
+    /*!
+     *  \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& eph_cnav, const Galileo_Ephemeris& galileo_eph, double d_TOW_first_observation, const std::string& gps_bands = "2S", const std::string& galileo_bands = "1B");
+
+    /*!
+     *  \brief Generates the GLONASS GNAV Observation data header. Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C".
+     */
+    void rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, double d_TOW_first_observation, const std::string& bands = "1G");
+
+    /*!
+     *  \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double d_TOW_first_observation, const std::string& glonass_bands = "1C");
+
+    /*!
+     *  \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double d_TOW_first_observation, const std::string& galileo_bands = "1B", const std::string& glonass_bands = "1C");
+
+    /*!
+     *  \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G".
+     */
+    void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double d_TOW_first_observation, const std::string& glonass_bands = "1G");
+
+    /*!
+     *  \brief Generates the a Beidou B1I Observation data header. Example: beidou_bands("B1")
+     */
+    void rinex_obs_header(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, double d_TOW_first_observation, const std::string& bands);
+
+    /*!
+     *  \brief Generates the SBAS raw data header
+     */
+    void rinex_sbs_header(std::fstream& out) const;
+
+    /*!
+     *  \brief Writes GPS L1 observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
+
+    /*!
+     *  \brief Writes GPS L2 observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
+
+    /*!
+     *  \brief Writes dual frequency GPS L1 and L2 observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, bool triple_band = false) const;
+
+    /*!
+     *  \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string& galileo_bands = "1B") const;
+
+    /*!
+     *  \brief Writes Mixed GPS / Galileo observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
+
+    /*!
+     *  \brief Writes Mixed GPS / Galileo observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& eph, const Galileo_Ephemeris& galileo_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
+
+    /*!
+     *  \brief Writes Mixed GPS / Galileo observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Galileo_Ephemeris& galileo_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables, bool triple_band = false) const;
+
+    /*!
+     *  \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
+     */
+    void log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string& glonass_bands = "1C") const;
+
+    /*!
+     *  \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
+
+    /*!
+     *  \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
+
+    /*!
+     *  \brief Writes Mixed Galileo/GLONASS observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double galileo_obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
+
+    /*!
+     *  \brief Writes BDS B1I observables into the RINEX file
+     */
+    void log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string& bds_bands) const;
+
+    std::fstream obsFile;     //!< Output file stream for RINEX observation file
+    std::fstream navFile;     //!< Output file stream for RINEX navigation data file
+    std::fstream sbsFile;     //!< Output file stream for RINEX SBAS raw data file
+    std::fstream navGalFile;  //!< Output file stream for RINEX Galileo navigation data file
+    std::fstream navGloFile;  //!< Output file stream for RINEX GLONASS navigation data file
+    std::fstream navBdsFile;  //!< Output file stream for RINEX Galileo navigation data file
+    std::fstream navMixFile;  //!< Output file stream for RINEX Mixed navigation data file
+
+    std::string navfilename;
+    std::string obsfilename;
+    std::string sbsfilename;
+    std::string navGalfilename;
+    std::string navGlofilename;
+    std::string navBdsfilename;
+    std::string navMixfilename;
+
+    bool d_rinex_header_written;
+
+private:
     /*!
      *  \brief Generates the GPS L1 C/A Navigation Data header
      */
@@ -162,70 +375,6 @@ public:
      */
     void rinex_nav_header(std::fstream& out, const Galileo_Iono& galileo_iono, const Galileo_Utc_Model& galileo_utc_model, const Beidou_Dnav_Iono& bds_dnav_iono, const Beidou_Dnav_Utc_Model& bds_dnav_utc_model) const;
 
-    /*!
-     *  \brief Generates the GPS Observation data header
-     */
-    void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, double d_TOW_first_observation);
-
-    /*!
-     *  \brief Generates the GPS L2 Observation data header
-     */
-    void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& eph, double d_TOW_first_observation, const std::string& gps_bands = "2S");
-
-    /*!
-     *  \brief Generates the dual frequency GPS L1 & L2/L5 Observation data header
-     */
-    void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, double d_TOW_first_observation, const std::string& gps_bands = "1C 2S");
-
-    /*!
-     *  \brief Generates the Galileo Observation data header. Example: bands("1B"), bands("1B 5X"), bands("5X"), ... Default: "1B".
-     */
-    void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& eph, double d_TOW_first_observation, const std::string& bands = "1B");
-
-    /*!
-     *  \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
-     */
-    void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, double d_TOW_first_observation, const std::string& galileo_bands = "1B");
-
-    /*!
-     *  \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
-     */
-    void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& eph_cnav, const Galileo_Ephemeris& galileo_eph, double d_TOW_first_observation, const std::string& gps_bands = "1C 2S", const std::string& galileo_bands = "1B");
-
-    /*!
-     *  \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
-     */
-    void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& eph_cnav, const Galileo_Ephemeris& galileo_eph, double d_TOW_first_observation, const std::string& gps_bands = "2S", const std::string& galileo_bands = "1B");
-
-    /*!
-     *  \brief Generates the GLONASS GNAV Observation data header. Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C".
-     */
-    void rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, double d_TOW_first_observation, const std::string& bands = "1G");
-
-    /*!
-     *  \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
-     */
-    void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double d_TOW_first_observation, const std::string& glonass_bands = "1C");
-
-    /*!
-     *  \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
-     */
-    void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double d_TOW_first_observation, const std::string& galileo_bands = "1B", const std::string& glonass_bands = "1C");
-
-    /*!
-     *  \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G".
-     */
-    void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double d_TOW_first_observation, const std::string& glonass_bands = "1G");
-
-    /*!
-     *  \brief Generates the a Beidou B1I Observation data header. Example: beidou_bands("B1")
-     */
-    void rinex_obs_header(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, double d_TOW_first_observation, const std::string& bands);
-
-    /*!
-     *  \brief Generates the SBAS raw data header
-     */
-    void rinex_sbs_header(std::fstream& out) const;
 
     /*!
      *  \brief Computes the BDS Time and returns a boost::posix_time::ptime object
@@ -272,116 +421,6 @@ public:
      */
     double get_leap_second(const Glonass_Gnav_Ephemeris& eph, double gps_obs_time) const;
 
-    /*!
-     *  \brief Writes data from the GPS L1 C/A navigation message into the RINEX file
-     */
-    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_Ephemeris>& eph_map) const;
-
-    /*!
-     *  \brief Writes data from the GPS L2 navigation message into the RINEX file
-     */
-    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_CNAV_Ephemeris>& eph_map);
-
-    /*!
-     *  \brief Writes data from the Galileo navigation message into the RINEX file
-     */
-    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Galileo_Ephemeris>& eph_map) const;
-
-    /*!
-     *  \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file
-     */
-    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_Ephemeris>& gps_eph_map, const std::map<int32_t, Galileo_Ephemeris>& galileo_eph_map);
-
-    /*!
-     *  \brief Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file
-     */
-    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_CNAV_Ephemeris>& gps_cnav_eph_map, const std::map<int32_t, Galileo_Ephemeris>& galileo_eph_map);
-
-    /*!
-     *  \brief Writes data from the GLONASS GNAV navigation message into the RINEX file
-     */
-    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Glonass_Gnav_Ephemeris>& eph_map) const;
-
-    /*!
-     *  \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
-     */
-    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_Ephemeris>& gps_eph_map, const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map) const;
-
-    /*!
-     *  \brief Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
-     */
-    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Gps_CNAV_Ephemeris>& gps_cnav_eph_map, const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
-
-    /*!
-     *  \brief Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file
-     */
-    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Galileo_Ephemeris>& galileo_eph_map, const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
-
-    /*!
-     *  \brief Writes data from the Beidou B1I navigation message into the RINEX file
-     */
-    void log_rinex_nav(std::fstream& out, const std::map<int32_t, Beidou_Dnav_Ephemeris>& eph_map) const;
-
-    /*!
-     *  \brief Writes GPS L1 observables into the RINEX file
-     */
-    void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
-
-    /*!
-     *  \brief Writes GPS L2 observables into the RINEX file
-     */
-    void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
-
-    /*!
-     *  \brief Writes dual frequency GPS L1 and L2 observables into the RINEX file
-     */
-    void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, bool triple_band = false) const;
-
-    /*!
-     *  \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
-     */
-    void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string& galileo_bands = "1B") const;
-
-    /*!
-     *  \brief Writes Mixed GPS / Galileo observables into the RINEX file
-     */
-    void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
-
-    /*!
-     *  \brief Writes Mixed GPS / Galileo observables into the RINEX file
-     */
-    void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& eph, const Galileo_Ephemeris& galileo_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
-
-    /*!
-     *  \brief Writes Mixed GPS / Galileo observables into the RINEX file
-     */
-    void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Galileo_Ephemeris& galileo_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables, bool triple_band = false) const;
-
-    /*!
-     *  \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
-     */
-    void log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string& glonass_bands = "1C") const;
-
-    /*!
-     *  \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file
-     */
-    void log_rinex_obs(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
-
-    /*!
-     *  \brief Writes Mixed GPS L2C - GLONASS observables into the RINEX file
-     */
-    void log_rinex_obs(std::fstream& out, const Gps_CNAV_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double gps_obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
-
-    /*!
-     *  \brief Writes Mixed Galileo/GLONASS observables into the RINEX file
-     */
-    void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double galileo_obs_time, const std::map<int32_t, Gnss_Synchro>& observables) const;
-
-    /*!
-     *  \brief Writes BDS B1I observables into the RINEX file
-     */
-    void log_rinex_obs(std::fstream& out, const Beidou_Dnav_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string& bds_bands) const;
-
 
     /*!
      * \brief Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
@@ -423,25 +462,6 @@ public:
 
     void update_obs_header(std::fstream& out, const Beidou_Dnav_Utc_Model& utc_model) const;
 
-    void set_pre_2009_file(bool pre_2009_file);
-
-    std::fstream obsFile;     //!< Output file stream for RINEX observation file
-    std::fstream navFile;     //!< Output file stream for RINEX navigation data file
-    std::fstream sbsFile;     //!< Output file stream for RINEX SBAS raw data file
-    std::fstream navGalFile;  //!< Output file stream for RINEX Galileo navigation data file
-    std::fstream navGloFile;  //!< Output file stream for RINEX GLONASS navigation data file
-    std::fstream navBdsFile;  //!< Output file stream for RINEX Galileo navigation data file
-    std::fstream navMixFile;  //!< Output file stream for RINEX Mixed navigation data file
-
-    std::string navfilename;
-    std::string obsfilename;
-    std::string sbsfilename;
-    std::string navGalfilename;
-    std::string navGlofilename;
-    std::string navBdsfilename;
-    std::string navMixfilename;
-
-private:
     /*
      * Generation of RINEX signal strength indicators
      */
@@ -653,12 +673,14 @@ private:
     std::map<std::string, std::string> satelliteSystem;  // GPS, GLONASS, SBAS payload, Galileo or Beidou
     std::map<std::string, std::string> observationType;  // PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
     std::map<std::string, std::string> observationCode;  // GNSS observation descriptors
-    std::string stringVersion;                           // RINEX version (2.10/2.11 or 3.01/3.02)
+    std::string d_stringVersion;                         // RINEX version (2.10/2.11 or 3.01/3.02)
 
-    double fake_cnav_iode;
+    double d_fake_cnav_iode;
-    int version;                  // RINEX version (2 for 2.10/2.11 and 3 for 3.01)
+    int d_version;                  // RINEX version (2 for 2.10/2.11 and 3 for 3.01)
-    int numberTypesObservations;  // Number of available types of observable in the system. Should be public?
+    int d_numberTypesObservations;  // Number of available types of observable in the system. Should be public?
-    bool pre_2009_file_;
+    bool d_rinex_header_updated;
+
+    bool d_pre_2009_file;
 };
 
 

src/algorithms/PVT/libs/rtcm_printer.h

@@ -42,6 +42,7 @@ class Gnss_Synchro;
 class Gps_CNAV_Ephemeris;
 class Gps_Ephemeris;
 class Rtcm;
+class Rtklib_Solver;
 
 /*!
  * \brief This class provides a implementation of a subset of the RTCM Standard 10403.2 messages
@@ -52,19 +53,63 @@ public:
     /*!
      * \brief Default constructor.
      */
-    Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, const std::string& rtcm_dump_devname, bool time_tag_name = true, const std::string& base_path = ".");
+    Rtcm_Printer(const std::string& filename,
+        bool flag_rtcm_file_dump,
+        bool flag_rtcm_server,
+        bool flag_rtcm_tty_port,
+        uint16_t rtcm_tcp_port,
+        uint16_t rtcm_station_id,
+        const std::string& rtcm_dump_devname,
+        bool time_tag_name = true,
+        const std::string& base_path = ".");
 
     /*!
      * \brief Default destructor.
      */
     ~Rtcm_Printer();
 
+    /*!
+     * \brief Print RTCM messages.
+     */
+    void Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
+        const std::map<int, Gnss_Synchro>& gnss_observables_map,
+        double rx_time,
+        int32_t type_of_rx,
+        int32_t rtcm_MSM_rate_ms,
+        int32_t rtcm_MT1019_rate_ms,
+        int32_t rtcm_MT1020_rate_ms,
+        int32_t rtcm_MT1045_rate_ms,
+        int32_t rtcm_MT1077_rate_ms,
+        int32_t rtcm_MT1097_rate_ms,
+        bool flag_write_RTCM_MSM_output,
+        bool flag_write_RTCM_1019_output,
+        bool flag_write_RTCM_1020_output,
+        bool flag_write_RTCM_1045_output,
+        bool enable_rx_clock_correction);
+
+    uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
+    uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
+    uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
+
+    /*!
+     * \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris
+     * \note Code added as part of GSoC 2017 program
+     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
+     * \params obs_time Time of observation at the moment of printing
+     * \params observables Set of observables as defined by the platform
+     * \return locked time during logging process
+     */
+    uint32_t lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
+
+    std::string print_MT1005_test();  //!<  For testing purposes
+
+private:
     bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
     bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
     bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
     bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
 
-    /*!
+    /*
      * \brief Prints L1-Only GLONASS RTK Observables
      * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
      * \note Code added as part of GSoC 2017 program
@@ -75,7 +120,7 @@ public:
      */
     bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
 
-    /*!
+    /*
      * \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.
      * \note Code added as part of GSoC 2017 program
@@ -86,7 +131,7 @@ public:
      */
     bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
 
-    /*!
+    /*
      * \brief Prints L1&L2 GLONASS RTK Observables
      * \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
      * \note Code added as part of GSoC 2017 program
@@ -98,7 +143,7 @@ public:
      */
     bool Print_Rtcm_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);
 
-    /*!
+    /*
      * \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.
      * \note Code added as part of GSoC 2017 program
@@ -110,10 +155,10 @@ public:
      */
     bool Print_Rtcm_MT1012(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);
 
-    bool Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph);      //!< GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
+    bool Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph);      // GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
-    bool Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph);  //!< Galileo Ephemeris, should be broadcast every 2 minutes
+    bool Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph);  // Galileo Ephemeris, should be broadcast every 2 minutes
 
-    /*!
+    /*
      * \brief Prints GLONASS GNAV Ephemeris
      * \details This GLONASS message should be broadcast every 2 minutes
      * \note Code added as part of GSoC 2017 program
@@ -136,22 +181,6 @@ public:
         bool divergence_free,
         bool more_messages);
 
-    std::string print_MT1005_test();  //!<  For testing purposes
-    uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
-    uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
-    uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
-
-    /*!
-     * \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris
-     * \note Code added as part of GSoC 2017 program
-     * \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
-     * \params obs_time Time of observation at the moment of printing
-     * \params observables Set of observables as defined by the platform
-     * \return locked time during logging process
-     */
-    uint32_t lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
-
-private:
     int32_t init_serial(const std::string& serial_device);  // serial port control
     void close_serial();
     bool Print_Message(const std::string& message);
@@ -164,6 +193,7 @@ private:
     int32_t rtcm_dev_descriptor;  // RTCM serial device descriptor (i.e. COM port)
     uint16_t port;
     uint16_t station_id;
+    bool d_rtcm_writing_started;
     bool d_rtcm_file_dump;
 };