mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-15 04:30:33 +00:00
Make RINEX (nav & obs) annotation rate configurable
This commit is contained in:
Carles Fernandez
parent
8b72c8f940
commit
a2a9fef7f7
@ -94,6 +94,8 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
{
|
||||
rinex_version = 2;
|
||||
}
|
||||
int rinexobs_rate_ms = boost::math::lcm(configuration->property(role + ".rinexobs_rate_ms", 1000), output_rate_ms);
|
||||
int rinexnav_rate_ms = boost::math::lcm(configuration->property(role + ".rinexnav_rate_ms", 6000), output_rate_ms);
|
||||
|
||||
// RTCM Printer settings
|
||||
bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
|
||||
@ -471,10 +473,10 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
0, /* initialize by restart */
|
||||
1, /* output single by dgps/float/fix/ppp outage */
|
||||
{"", ""}, /* char rnxopt[2][256] rinex options {rover,base} */
|
||||
{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 */
|
||||
{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 */
|
||||
0, /* solution sync mode (0:off,1:on) */
|
||||
{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
|
||||
{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
|
||||
{{}, {}}, /* odisp[2][6*11] ocean tide loading parameters {rov,base} */
|
||||
{{}, {{}, {}}, {{}, {}}, {}, {}}, /* exterr_t exterr extended receiver error model */
|
||||
0, /* disable L2-AR */
|
||||
{} /* char pppopt[256] ppp option "-GAP_RESION=" default gap to reset iono parameters (ep) */
|
||||
};
|
||||
@ -482,7 +484,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
|
||||
rtkinit(&rtk, &rtklib_configuration_options);
|
||||
|
||||
// make PVT object
|
||||
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);
|
||||
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);
|
||||
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
|
||||
if (out_streams_ > 0)
|
||||
{
|
||||
|
||||
@ -57,6 +57,8 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
|
||||
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,
|
||||
@ -75,6 +77,8 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
|
||||
nmea_dump_filename,
|
||||
nmea_dump_devname,
|
||||
rinex_version,
|
||||
rinexobs_rate_ms,
|
||||
rinexnav_rate_ms,
|
||||
flag_rtcm_server,
|
||||
flag_rtcm_tty_port,
|
||||
rtcm_tcp_port,
|
||||
@ -90,7 +94,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
|
||||
{
|
||||
try
|
||||
{
|
||||
//************* GPS telemetry *****************
|
||||
// ************* GPS telemetry *****************
|
||||
if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>))
|
||||
{
|
||||
// ### GPS EPHEMERIS ###
|
||||
@ -146,7 +150,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
|
||||
DLOG(INFO) << "New CNAV UTC record has arrived ";
|
||||
}
|
||||
|
||||
//**************** Galileo telemetry ********************
|
||||
// **************** Galileo telemetry ********************
|
||||
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>))
|
||||
{
|
||||
// ### Galileo EPHEMERIS ###
|
||||
@ -185,7 +189,7 @@ void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
|
||||
DLOG(INFO) << "New Galileo Almanac has arrived ";
|
||||
}
|
||||
|
||||
//**************** GLONASS GNAV Telemetry **************************
|
||||
// **************** GLONASS GNAV Telemetry **************************
|
||||
else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>))
|
||||
{
|
||||
// ### GLONASS GNAV EPHEMERIS ###
|
||||
@ -235,13 +239,27 @@ std::map<int, Gps_Ephemeris> rtklib_pvt_cc::get_GPS_L1_ephemeris_map()
|
||||
}
|
||||
|
||||
|
||||
rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename,
|
||||
int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port,
|
||||
std::string nmea_dump_filename, std::string nmea_dump_devname, int rinex_version,
|
||||
bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port,
|
||||
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",
|
||||
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
|
||||
gr::io_signature::make(0, 0, 0))
|
||||
rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels,
|
||||
bool dump,
|
||||
std::string dump_filename,
|
||||
int output_rate_ms,
|
||||
int display_rate_ms,
|
||||
bool flag_nmea_tty_port,
|
||||
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,
|
||||
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",
|
||||
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
|
||||
gr::io_signature::make(0, 0, 0))
|
||||
{
|
||||
d_output_rate_ms = output_rate_ms;
|
||||
d_display_rate_ms = display_rate_ms;
|
||||
@ -255,28 +273,28 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
|
||||
this->message_port_register_in(pmt::mp("telemetry"));
|
||||
this->set_msg_handler(pmt::mp("telemetry"), boost::bind(&rtklib_pvt_cc::msg_handler_telemetry, this, _1));
|
||||
|
||||
//initialize kml_printer
|
||||
// initialize kml_printer
|
||||
std::string kml_dump_filename;
|
||||
kml_dump_filename = d_dump_filename;
|
||||
d_kml_dump = std::make_shared<Kml_Printer>();
|
||||
d_kml_dump->set_headers(kml_dump_filename);
|
||||
|
||||
//initialize gpx_printer
|
||||
// initialize gpx_printer
|
||||
std::string gpx_dump_filename;
|
||||
gpx_dump_filename = d_dump_filename;
|
||||
d_gpx_dump = std::make_shared<Gpx_Printer>();
|
||||
d_gpx_dump->set_headers(gpx_dump_filename);
|
||||
|
||||
//initialize geojson_printer
|
||||
// initialize geojson_printer
|
||||
std::string geojson_dump_filename;
|
||||
geojson_dump_filename = d_dump_filename;
|
||||
d_geojson_printer = std::make_shared<GeoJSON_Printer>();
|
||||
d_geojson_printer->set_headers(geojson_dump_filename);
|
||||
|
||||
//initialize nmea_printer
|
||||
// initialize nmea_printer
|
||||
d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
|
||||
|
||||
//initialize rtcm_printer
|
||||
// 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_tcp_port, rtcm_station_id, rtcm_dump_devname);
|
||||
@ -332,6 +350,14 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
|
||||
}
|
||||
b_rtcm_writing_started = false;
|
||||
|
||||
// initialize RINEX printer
|
||||
b_rinex_header_written = false;
|
||||
b_rinex_header_updated = false;
|
||||
d_rinex_version = rinex_version;
|
||||
rp = std::make_shared<Rinex_Printer>(d_rinex_version);
|
||||
d_rinexobs_rate_ms = rinexobs_rate_ms;
|
||||
d_rinexnav_rate_ms = rinexnav_rate_ms;
|
||||
|
||||
d_dump_filename.append("_raw.dat");
|
||||
dump_ls_pvt_filename.append("_ls_pvt.dat");
|
||||
|
||||
@ -340,11 +366,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
|
||||
|
||||
d_rx_time = 0.0;
|
||||
|
||||
b_rinex_header_written = false;
|
||||
b_rinex_header_updated = false;
|
||||
d_rinex_version = rinex_version;
|
||||
rp = std::make_shared<Rinex_Printer>(d_rinex_version);
|
||||
|
||||
d_last_status_print_seg = 0;
|
||||
|
||||
// ############# ENABLE DATA FILE LOG #################
|
||||
@ -382,7 +403,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
|
||||
{
|
||||
msgctl(sysv_msqid, IPC_RMID, NULL);
|
||||
|
||||
//save GPS L2CM ephemeris to XML file
|
||||
// save GPS L2CM ephemeris to XML file
|
||||
std::string file_name = "eph_GPS_CNAV.xml";
|
||||
|
||||
if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
|
||||
@ -405,7 +426,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
|
||||
LOG(WARNING) << "Failed to save GPS L2CM or L5 Ephemeris, map is empty";
|
||||
}
|
||||
|
||||
//save GPS L1 CA ephemeris to XML file
|
||||
// save GPS L1 CA ephemeris to XML file
|
||||
file_name = "eph_GPS_L1CA.xml";
|
||||
|
||||
if (d_ls_pvt->gps_ephemeris_map.size() > 0)
|
||||
@ -428,7 +449,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
|
||||
LOG(WARNING) << "Failed to save GPS L1 CA Ephemeris, map is empty";
|
||||
}
|
||||
|
||||
//save Galileo E1 ephemeris to XML file
|
||||
// save Galileo E1 ephemeris to XML file
|
||||
file_name = "eph_Galileo_E1.xml";
|
||||
|
||||
if (d_ls_pvt->galileo_ephemeris_map.size() > 0)
|
||||
@ -451,7 +472,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
|
||||
LOG(WARNING) << "Failed to save Galileo E1 Ephemeris, map is empty";
|
||||
}
|
||||
|
||||
//save GLONASS GNAV ephemeris to XML file
|
||||
// save GLONASS GNAV ephemeris to XML file
|
||||
file_name = "eph_GLONASS_GNAV.xml";
|
||||
|
||||
if (d_ls_pvt->glonass_gnav_ephemeris_map.size() > 0)
|
||||
@ -473,6 +494,7 @@ rtklib_pvt_cc::~rtklib_pvt_cc()
|
||||
{
|
||||
LOG(WARNING) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
|
||||
}
|
||||
|
||||
if (d_dump_file.is_open() == true)
|
||||
{
|
||||
try
|
||||
@ -495,15 +517,15 @@ bool rtklib_pvt_cc::observables_pairCompare_min(const std::pair<int, Gnss_Synchr
|
||||
|
||||
bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
|
||||
{
|
||||
/* Fill Sys V message structures */
|
||||
// Fill Sys V message structures
|
||||
int msgsend_size;
|
||||
ttff_msgbuf msg;
|
||||
msg.ttff = ttff.ttff;
|
||||
msgsend_size = sizeof(msg.ttff);
|
||||
msg.mtype = 1; /* default message ID */
|
||||
msg.mtype = 1; // default message ID
|
||||
|
||||
/* SEND SOLUTION OVER A MESSAGE QUEUE */
|
||||
/* non-blocking Sys V message send */
|
||||
// SEND SOLUTION OVER A MESSAGE QUEUE
|
||||
// non-blocking Sys V message send
|
||||
msgsnd(sysv_msqid, &msg, msgsend_size, IPC_NOWAIT);
|
||||
return true;
|
||||
}
|
||||
@ -596,18 +618,18 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
{
|
||||
flag_compute_pvt_output = true;
|
||||
d_rx_time = current_RX_time;
|
||||
//std::cout.precision(17);
|
||||
//std::cout << "current_RX_time: " << current_RX_time << " map time: " << gnss_observables_map.begin()->second.RX_time << std::endl;
|
||||
// std::cout.precision(17);
|
||||
// std::cout << "current_RX_time: " << current_RX_time << " map time: " << gnss_observables_map.begin()->second.RX_time << std::endl;
|
||||
}
|
||||
|
||||
// compute on the fly PVT solution
|
||||
if (flag_compute_pvt_output == true)
|
||||
{
|
||||
// receiver clock correction is disabled to be coherent with the RINEX and RTCM standard
|
||||
//std::cout << TEXT_RED << "(internal) accumulated RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]" << TEXT_RESET << std::endl;
|
||||
//for (std::map<int, Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.end(); ++it)
|
||||
// std::cout << TEXT_RED << "(internal) accumulated RX clock offset: " << d_ls_pvt->get_time_offset_s() << "[s]" << TEXT_RESET << std::endl;
|
||||
// for (std::map<int, Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.end(); ++it)
|
||||
// {
|
||||
//todo: check if it has effect to correct the receiver time for the internal pvt solution
|
||||
// todo: check if it has effect to correct the receiver time for the internal pvt solution
|
||||
// take into account that the RINEX obs with the RX time (integer ms) CAN NOT be corrected to keep the coherence in obs time
|
||||
// it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->get_time_offset_s() * GPS_C_m_s;
|
||||
// }
|
||||
@ -631,29 +653,29 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
flag_write_RTCM_1045_output = true;
|
||||
}
|
||||
// TODO: RTCM 1077, 1087 and 1097 are not used, so, disable the output rates
|
||||
// if (current_RX_time_ms % d_rtcm_MT1077_rate_ms==0 and d_rtcm_MT1077_rate_ms != 0)
|
||||
// {
|
||||
// last_RTCM_1077_output_time = current_RX_time;
|
||||
// }
|
||||
// if (current_RX_time_ms % d_rtcm_MT1087_rate_ms==0 and d_rtcm_MT1087_rate_ms != 0)
|
||||
// {
|
||||
// last_RTCM_1087_output_time = current_RX_time;
|
||||
// }
|
||||
// if (current_RX_time_ms % d_rtcm_MT1097_rate_ms==0 and d_rtcm_MT1097_rate_ms != 0)
|
||||
// {
|
||||
// last_RTCM_1097_output_time = current_RX_time;
|
||||
// }
|
||||
// if (current_RX_time_ms % d_rtcm_MT1077_rate_ms==0 and d_rtcm_MT1077_rate_ms != 0)
|
||||
// {
|
||||
// last_RTCM_1077_output_time = current_RX_time;
|
||||
// }
|
||||
// if (current_RX_time_ms % d_rtcm_MT1087_rate_ms==0 and d_rtcm_MT1087_rate_ms != 0)
|
||||
// {
|
||||
// last_RTCM_1087_output_time = current_RX_time;
|
||||
// }
|
||||
// if (current_RX_time_ms % d_rtcm_MT1097_rate_ms==0 and d_rtcm_MT1097_rate_ms != 0)
|
||||
// {
|
||||
// last_RTCM_1097_output_time = current_RX_time;
|
||||
// }
|
||||
|
||||
if (current_RX_time_ms % d_rtcm_MSM_rate_ms == 0 and d_rtcm_MSM_rate_ms != 0)
|
||||
{
|
||||
flag_write_RTCM_MSM_output = true;
|
||||
}
|
||||
if (current_RX_time_ms % 1000 == 0) // TODO: Make it configurable
|
||||
if (current_RX_time_ms % static_cast<unsigned int>(d_rinexobs_rate_ms) == 0)
|
||||
{
|
||||
flag_write_RINEX_obs_output = true;
|
||||
}
|
||||
|
||||
if (current_RX_time_ms % 6000 == 0) // TODO: Make it configurable
|
||||
if (current_RX_time_ms % static_cast<unsigned int>(d_rinexnav_rate_ms) == 0)
|
||||
{
|
||||
flag_write_RINEX_nav_output = true;
|
||||
}
|
||||
@ -1511,8 +1533,8 @@ 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++)
|
||||
{
|
||||
@ -1576,8 +1598,8 @@ 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.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