mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-23 13:33:15 +00:00
Make RINEX (nav & obs) annotation rate configurable
This commit is contained in:
Carles Fernandez
parent
8b72c8f940
commit
a2a9fef7f7
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@ -94,6 +94,8 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
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{
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rinex_version = 2;
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}
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int rinexobs_rate_ms = boost::math::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), output_rate_ms);
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int rinexnav_rate_ms = boost::math::lcm(configuration->property(role + ".rinexnav_rate_ms", 6000), output_rate_ms);
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// RTCM Printer settings
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bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
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@ -471,10 +473,10 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
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0, /* initialize by restart */
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1, /* output single by dgps/float/fix/ppp outage */
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{"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */
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{sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
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{sat_PCV, rec_PCV, phwindup, reject_GPS_IIA, raim_fde}, /* posopt[6] positioning options [0]: satellite and receiver antenna PCV model; [1]: interpolate antenna parameters; [2]: apply phase wind-up correction for PPP modes; [3]: exclude measurements of GPS Block IIA satellites satellite [4]: RAIM FDE (fault detection and exclusion) [5]: handle day-boundary clock jump */
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0, /* solution sync mode (0:off,1:on) */
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{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
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{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
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{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
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{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
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0, /* disable L2-AR */
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{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
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};
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@ -482,7 +484,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
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rtkinit(&rtk, &rtklib_configuration_options);
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// make PVT object
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pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk);
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pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, rinexobs_rate_ms, rinexnav_rate_ms, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk);
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DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
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if (out_streams_ > 0)
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{
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@ -57,6 +57,8 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
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std::string nmea_dump_filename,
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std::string nmea_dump_devname,
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int rinex_version,
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int rinexobs_rate_ms,
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int rinexnav_rate_ms,
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bool flag_rtcm_server,
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bool flag_rtcm_tty_port,
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unsigned short rtcm_tcp_port,
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@ -75,6 +77,8 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
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nmea_dump_filename,
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nmea_dump_devname,
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rinex_version,
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rinexobs_rate_ms,
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rinexnav_rate_ms,
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flag_rtcm_server,
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flag_rtcm_tty_port,
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rtcm_tcp_port,
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@ -90,7 +94,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
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{
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try
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{
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//************* GPS telemetry *****************
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// ************* GPS telemetry *****************
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if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>))
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{
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// ### GPS EPHEMERIS ###
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@ -146,7 +150,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
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DLOG(INFO) << "New CNAV UTC record has arrived ";
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}
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//**************** Galileo telemetry ********************
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// **************** Galileo telemetry ********************
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>))
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{
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// ### Galileo EPHEMERIS ###
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@ -185,7 +189,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
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DLOG(INFO) << "New Galileo Almanac has arrived ";
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}
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//**************** GLONASS GNAV Telemetry **************************
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// **************** GLONASS GNAV Telemetry **************************
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>))
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{
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// ### GLONASS GNAV EPHEMERIS ###
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@ -235,13 +239,27 @@ std::map<int, Gps_Ephemeris> rtklib_pvt_cc::get_GPS_L1_ephemeris_map()
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}
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rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename,
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int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port,
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std::string nmea_dump_filename, std::string nmea_dump_devname, int rinex_version,
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bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port,
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unsigned short rtcm_station_id, std::map<int, int> rtcm_msg_rate_ms, std::string rtcm_dump_devname, const unsigned int type_of_receiver, rtk_t& rtk) : gr::sync_block("rtklib_pvt_cc",
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gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr::io_signature::make(0, 0, 0))
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rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
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bool dump,
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std::string dump_filename,
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int output_rate_ms,
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int display_rate_ms,
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bool flag_nmea_tty_port,
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std::string nmea_dump_filename,
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std::string nmea_dump_devname,
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int rinex_version,
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int rinexobs_rate_ms,
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int rinexnav_rate_ms,
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bool flag_rtcm_server,
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bool flag_rtcm_tty_port,
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unsigned short rtcm_tcp_port,
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unsigned short rtcm_station_id,
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std::map<int, int> rtcm_msg_rate_ms,
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std::string rtcm_dump_devname,
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const unsigned int type_of_receiver,
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rtk_t& rtk) : gr::sync_block("rtklib_pvt_cc",
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gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr::io_signature::make(0, 0, 0))
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{
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d_output_rate_ms = output_rate_ms;
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d_display_rate_ms = display_rate_ms;
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@ -255,28 +273,28 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
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this->message_port_register_in(pmt::mp("telemetry"));
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this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&rtklib_pvt_cc::msg_handler_telemetry, this, _1));
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//initialize kml_printer
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// initialize kml_printer
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std::string kml_dump_filename;
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kml_dump_filename = d_dump_filename;
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d_kml_dump = std::make_shared<Kml_Printer>();
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d_kml_dump->set_headers(kml_dump_filename);
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//initialize gpx_printer
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// initialize gpx_printer
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std::string gpx_dump_filename;
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gpx_dump_filename = d_dump_filename;
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d_gpx_dump = std::make_shared<Gpx_Printer>();
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d_gpx_dump->set_headers(gpx_dump_filename);
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//initialize geojson_printer
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// initialize geojson_printer
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std::string geojson_dump_filename;
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geojson_dump_filename = d_dump_filename;
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d_geojson_printer = std::make_shared<GeoJSON_Printer>();
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d_geojson_printer->set_headers(geojson_dump_filename);
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//initialize nmea_printer
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// initialize nmea_printer
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d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
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//initialize rtcm_printer
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// initialize rtcm_printer
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std::string rtcm_dump_filename;
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rtcm_dump_filename = d_dump_filename;
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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);
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@ -332,6 +350,14 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
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}
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b_rtcm_writing_started = false;
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// initialize RINEX printer
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b_rinex_header_written = false;
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b_rinex_header_updated = false;
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d_rinex_version = rinex_version;
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rp = std::make_shared<Rinex_Printer>(d_rinex_version);
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d_rinexobs_rate_ms = rinexobs_rate_ms;
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d_rinexnav_rate_ms = rinexnav_rate_ms;
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d_dump_filename.append("_raw.dat");
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dump_ls_pvt_filename.append("_ls_pvt.dat");
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@ -340,11 +366,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
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d_rx_time = 0.0;
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b_rinex_header_written = false;
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b_rinex_header_updated = false;
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d_rinex_version = rinex_version;
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rp = std::make_shared<Rinex_Printer>(d_rinex_version);
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d_last_status_print_seg = 0;
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// ############# ENABLE DATA FILE LOG #################
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@ -382,7 +403,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
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{
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msgctl(sysv_msqid, IPC_RMID, NULL);
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//save GPS L2CM ephemeris to XML file
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// save GPS L2CM ephemeris to XML file
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std::string file_name = "eph_GPS_CNAV.xml";
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if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
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@ -405,7 +426,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
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LOG(WARNING) << "Failed to save GPS L2CM or L5 Ephemeris, map is empty";
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}
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//save GPS L1 CA ephemeris to XML file
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// save GPS L1 CA ephemeris to XML file
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file_name = "eph_GPS_L1CA.xml";
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if (d_ls_pvt->gps_ephemeris_map.size() > 0)
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@ -428,7 +449,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
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LOG(WARNING) << "Failed to save GPS L1 CA Ephemeris, map is empty";
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}
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//save Galileo E1 ephemeris to XML file
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// save Galileo E1 ephemeris to XML file
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file_name = "eph_Galileo_E1.xml";
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if (d_ls_pvt->galileo_ephemeris_map.size() > 0)
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@ -451,7 +472,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
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LOG(WARNING) << "Failed to save Galileo E1 Ephemeris, map is empty";
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}
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//save GLONASS GNAV ephemeris to XML file
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// save GLONASS GNAV ephemeris to XML file
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file_name = "eph_GLONASS_GNAV.xml";
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if (d_ls_pvt->glonass_gnav_ephemeris_map.size() > 0)
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@ -473,6 +494,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
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{
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LOG(WARNING) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
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}
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if (d_dump_file.is_open() == true)
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{
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try
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@ -495,15 +517,15 @@ bool rtklib_pvt_cc::observables_pairCompare_min(const std::pair<int, Gnss_Synchr
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bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
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{
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/* Fill Sys V message structures */
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// Fill Sys V message structures
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int msgsend_size;
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ttff_msgbuf msg;
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msg.ttff = ttff.ttff;
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msgsend_size = sizeof(msg.ttff);
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msg.mtype = 1; /* default message ID */
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msg.mtype = 1; // default message ID
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/* SEND SOLUTION OVER A MESSAGE QUEUE */
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/* non-blocking Sys V message send */
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// SEND SOLUTION OVER A MESSAGE QUEUE
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// non-blocking Sys V message send
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msgsnd(sysv_msqid, &msg, msgsend_size, IPC_NOWAIT);
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return true;
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}
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@ -596,18 +618,18 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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{
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flag_compute_pvt_output = true;
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d_rx_time = current_RX_time;
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//std::cout.precision(17);
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//std::cout << "current_RX_time: " << current_RX_time << " map time: " << gnss_observables_map.begin()->second.RX_time << std::endl;
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// std::cout.precision(17);
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// std::cout << "current_RX_time: " << current_RX_time << " map time: " << gnss_observables_map.begin()->second.RX_time << std::endl;
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}
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// compute on the fly PVT solution
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if (flag_compute_pvt_output == true)
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{
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// receiver clock correction is disabled to be coherent with the RINEX and RTCM standard
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//std::cout << TEXT_RED << "(internal) accumulated RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]" << TEXT_RESET << std::endl;
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//for (std::map<int, Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.end(); ++it)
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// std::cout << TEXT_RED << "(internal) accumulated RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]" << TEXT_RESET << std::endl;
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// for (std::map<int, Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.end(); ++it)
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// {
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//todo: check if it has effect to correct the receiver time for the internal pvt solution
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// todo: check if it has effect to correct the receiver time for the internal pvt solution
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// take into account that the RINEX obs with the RX time (integer ms) CAN NOT be corrected to keep the coherence in obs time
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// it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->get_time_offset_s() * GPS_C_m_s;
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// }
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@ -631,29 +653,29 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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flag_write_RTCM_1045_output = true;
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}
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// TODO: RTCM 1077, 1087 and 1097 are not used, so, disable the output rates
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// if (current_RX_time_ms % d_rtcm_MT1077_rate_ms==0 and d_rtcm_MT1077_rate_ms != 0)
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// {
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// last_RTCM_1077_output_time = current_RX_time;
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// }
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// if (current_RX_time_ms % d_rtcm_MT1087_rate_ms==0 and d_rtcm_MT1087_rate_ms != 0)
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// {
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// last_RTCM_1087_output_time = current_RX_time;
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// }
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// if (current_RX_time_ms % d_rtcm_MT1097_rate_ms==0 and d_rtcm_MT1097_rate_ms != 0)
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// {
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// last_RTCM_1097_output_time = current_RX_time;
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// }
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// if (current_RX_time_ms % d_rtcm_MT1077_rate_ms==0 and d_rtcm_MT1077_rate_ms != 0)
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// {
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// last_RTCM_1077_output_time = current_RX_time;
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// }
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// if (current_RX_time_ms % d_rtcm_MT1087_rate_ms==0 and d_rtcm_MT1087_rate_ms != 0)
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// {
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// last_RTCM_1087_output_time = current_RX_time;
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// }
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// if (current_RX_time_ms % d_rtcm_MT1097_rate_ms==0 and d_rtcm_MT1097_rate_ms != 0)
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// {
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// last_RTCM_1097_output_time = current_RX_time;
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// }
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if (current_RX_time_ms % d_rtcm_MSM_rate_ms == 0 and d_rtcm_MSM_rate_ms != 0)
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{
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flag_write_RTCM_MSM_output = true;
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}
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if (current_RX_time_ms % 1000 == 0) // TODO: Make it configurable
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if (current_RX_time_ms % static_cast<unsigned int>(d_rinexobs_rate_ms) == 0)
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{
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flag_write_RINEX_obs_output = true;
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}
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if (current_RX_time_ms % 6000 == 0) // TODO: Make it configurable
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if (current_RX_time_ms % static_cast<unsigned int>(d_rinexnav_rate_ms) == 0)
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{
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flag_write_RINEX_nav_output = true;
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}
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@ -1511,8 +1533,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
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//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
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// gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
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// galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
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unsigned int i = 0;
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for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
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{
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@ -1576,8 +1598,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
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//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
|
||||
// gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
|
||||
// galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
|
||||
unsigned int i = 0;
|
||||
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
|
||||
{
|
||||
|
|
@ -1641,8 +1663,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
|
|||
}
|
||||
if (flag_write_RTCM_MSM_output == true)
|
||||
{
|
||||
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
|
||||
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
|
||||
// gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
|
||||
// galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
|
||||
unsigned int i = 0;
|
||||
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
||||
{
|
||||
|
|
@ -1828,8 +1850,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
|
|||
}
|
||||
}
|
||||
|
||||
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
|
||||
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
|
||||
// gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
|
||||
// galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
|
||||
unsigned int i = 0;
|
||||
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
||||
{
|
||||
|
|
@ -1943,8 +1965,8 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
|
|||
}
|
||||
}
|
||||
|
||||
//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
|
||||
//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
|
||||
// gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
|
||||
// galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
|
||||
unsigned int i = 0;
|
||||
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
||||
{
|
||||
|
|
@ -2060,36 +2082,31 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
|
|||
// DEBUG MESSAGE: Display position in console output
|
||||
if (d_ls_pvt->is_valid_position() and flag_display_pvt)
|
||||
{
|
||||
std::streamsize ss = std::cout.precision(); //save current precision
|
||||
std::streamsize ss = std::cout.precision(); // save current precision
|
||||
std::cout << TEXT_BOLD_GREEN
|
||||
<< std::fixed
|
||||
<< "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
|
||||
<< std::setprecision(ss)
|
||||
<< " UTC using " << d_ls_pvt->get_num_valid_observations()
|
||||
<< std::setprecision(10)
|
||||
<< " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
|
||||
<< std::setprecision(3)
|
||||
<< " [deg], Height= " << d_ls_pvt->get_height() << " [m]" << TEXT_RESET << std::endl;
|
||||
|
||||
std::cout << TEXT_RED
|
||||
<< std::setprecision(10)
|
||||
<< "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]" << TEXT_RESET << std::endl;
|
||||
<< std::setprecision(4)
|
||||
<< " [deg], Height = " << d_ls_pvt->get_height() << " [m]" << TEXT_RESET << std::endl;
|
||||
std::cout << std::setprecision(ss);
|
||||
//boost::posix_time::ptime p_time;
|
||||
//gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_ls_pvt->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
|
||||
//p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
|
||||
//p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
|
||||
//std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << std::endl;
|
||||
LOG(INFO) << "RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]";
|
||||
|
||||
// boost::posix_time::ptime p_time;
|
||||
// gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_ls_pvt->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
|
||||
// p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
|
||||
// p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
|
||||
// std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << std::endl;
|
||||
|
||||
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
|
||||
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
|
||||
<< " [deg], Height= " << d_ls_pvt->get_height() << " [m]";
|
||||
<< " [deg], Height = " << d_ls_pvt->get_height() << " [m]";
|
||||
|
||||
/* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
|
||||
<< " UTC using "<< d_ls_pvt->get_num_valid_observations()<<" observations is HDOP = " << d_ls_pvt->get_HDOP() << " VDOP = "
|
||||
<< d_ls_pvt->get_VDOP() <<" TDOP = " << d_ls_pvt->get_TDOP()
|
||||
<< " GDOP = " << d_ls_pvt->get_GDOP() << std::endl; */
|
||||
<< " UTC using "<< d_ls_pvt->get_num_valid_observations() <<" observations is HDOP = " << d_ls_pvt->get_hdop() << " VDOP = "
|
||||
<< d_ls_pvt->get_vdop()
|
||||
<< " GDOP = " << d_ls_pvt->get_gdop() << std::endl; */
|
||||
}
|
||||
|
||||
// MULTIPLEXED FILE RECORDING - Record results to file
|
||||
|
|
|
|||
|
|
@ -62,6 +62,8 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
|
|||
std::string nmea_dump_filename,
|
||||
std::string nmea_dump_devname,
|
||||
int rinex_version,
|
||||
int rinexobs_rate_ms,
|
||||
int rinexnav_rate_ms,
|
||||
bool flag_rtcm_server,
|
||||
bool flag_rtcm_tty_port,
|
||||
unsigned short rtcm_tcp_port,
|
||||
|
|
@ -86,6 +88,8 @@ private:
|
|||
std::string nmea_dump_filename,
|
||||
std::string nmea_dump_devname,
|
||||
int rinex_version,
|
||||
int rinexobs_rate_ms,
|
||||
int rinexnav_rate_ms,
|
||||
bool flag_rtcm_server,
|
||||
bool flag_rtcm_tty_port,
|
||||
unsigned short rtcm_tcp_port,
|
||||
|
|
@ -101,6 +105,9 @@ private:
|
|||
bool b_rinex_header_written;
|
||||
bool b_rinex_header_updated;
|
||||
double d_rinex_version;
|
||||
int d_rinexobs_rate_ms;
|
||||
int d_rinexnav_rate_ms;
|
||||
|
||||
bool b_rtcm_writing_started;
|
||||
int d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris
|
||||
int d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits)
|
||||
|
|
@ -154,6 +161,8 @@ public:
|
|||
std::string nmea_dump_filename,
|
||||
std::string nmea_dump_devname,
|
||||
int rinex_version,
|
||||
int rinexobs_rate_ms,
|
||||
int rinexnav_rate_ms,
|
||||
bool flag_rtcm_server,
|
||||
bool flag_rtcm_tty_port,
|
||||
unsigned short rtcm_tcp_port,
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user