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Add sysV queue to the GPS PVT block

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This commit is contained in:
Carles Fernandez
2016-10-01 11:03:40 +02:00
parent 56be4616bf
commit a2eaab884e
3 changed files with 70 additions and 25 deletions
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33
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
View File

@@ -179,6 +179,21 @@ std::map<int,Gps_Ephemeris> gps_l1_ca_pvt_cc::get_GPS_L1_ephemeris_map()
return d_ls_pvt->gps_ephemeris_map;
}
bool gps_l1_ca_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
{
/* 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 */
/* SEND SOLUTION OVER A MESSAGE QUEUE */
/* non-blocking Sys V message send */
msgsnd(sysv_msqid, &msg, msgsend_size, IPC_NOWAIT);
return true;
}
gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
int averaging_depth,
@@ -284,6 +299,16 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
}
}
}
// Create Sys V message queue
first_fix = true;
sysv_msg_key = 1101;
int msgflg = IPC_CREAT | 0666;
if ((sysv_msqid = msgget(sysv_msg_key, msgflg )) == -1)
{
std::cout << "GNSS-SDR can not create message queues!" << std::endl;
throw new std::exception();
}
}
@@ -349,6 +374,14 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
pvt_result = d_ls_pvt->get_PVT(gnss_pseudoranges_map, d_rx_time, d_flag_averaging);
if (pvt_result == true)
{
if( first_fix == true)
{
ttff_msgbuf ttff;
ttff.mtype = 1;
ttff.ttff = d_sample_counter;
send_sys_v_ttff_msg(ttff);
first_fix = false;
}
d_kml_printer->print_position(d_ls_pvt, d_flag_averaging);
d_geojson_printer->print_position(d_ls_pvt, d_flag_averaging);
d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);

12
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h
View File

@@ -32,6 +32,9 @@
#include <fstream>
#include <string>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <gnuradio/block.h>
#include "nmea_printer.h"
#include "kml_printer.h"
@@ -137,6 +140,15 @@ private:
std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
bool first_fix;
key_t sysv_msg_key;
int sysv_msqid;
typedef struct {
long mtype;//required by sys v message
double ttff;
} ttff_msgbuf;
bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
public:
/*!