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Set configuration of RTCM messages rate

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This commit is contained in:
Carles Fernandez 2016-05-09 19:28:02 +02:00
parent af56520798
commit b1188e9c92
3 changed files with 118 additions and 24 deletions
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55
src/algorithms/PVT/adapters/hybrid_pvt.cc
View File

@ -35,6 +35,7 @@
#include <glog/logging.h>
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
#include <boost/math/common_factor_rt.hpp>
#include <boost/serialization/map.hpp>
#include "configuration_interface.h"
@ -57,34 +58,44 @@ HybridPvt::HybridPvt(ConfigurationInterface* configuration,
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
// moving average depth parameters
int averaging_depth;
averaging_depth = configuration->property(role + ".averaging_depth", 10);
bool flag_averaging;
flag_averaging = configuration->property(role + ".flag_averaging", false);
int averaging_depth = configuration->property(role + ".averaging_depth", 10);
bool flag_averaging = configuration->property(role + ".flag_averaging", false);
// output rate
int output_rate_ms;
output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
int output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
// display rate
int display_rate_ms;
display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
int display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
// NMEA Printer settings
bool flag_nmea_tty_port;
flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
std::string nmea_dump_filename;
nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
std::string nmea_dump_devname;
nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// RTCM Printer settings
bool flag_rtcm_tty_port;
flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
std::string rtcm_dump_devname;
rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
bool flag_rtcm_server;
flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
// RTCM message rates: least common multiple with output_rate_ms
int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
std::map<int,int> rtcm_msg_rate_ms;
rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
for (int k = 1071; k < 1078; k++) // All GPS MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
}
for (int k = 1091; k < 1098; k++) // All Galileo MSM
{
rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
}
// getting names from the config file, if available
// default filename for assistance data
const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
@ -99,7 +110,7 @@ HybridPvt::HybridPvt(ConfigurationInterface* configuration,
//std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
// make PVT object
pvt_ = hybrid_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_dump_devname);
pvt_ = hybrid_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}

79
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
View File

@ -33,6 +33,7 @@
#include <iostream>
#include <map>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/math/common_factor_rt.hpp>
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
@ -55,6 +56,7 @@ hybrid_make_pvt_cc(unsigned int nchannels,
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)
{
return hybrid_pvt_cc_sptr(new hybrid_pvt_cc(nchannels,
@ -71,6 +73,7 @@ hybrid_make_pvt_cc(unsigned int nchannels,
flag_rtcm_tty_port,
rtcm_tcp_port,
rtcm_station_id,
rtcm_msg_rate_ms,
rtcm_dump_devname));
}
@ -168,7 +171,7 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, bool dump, std::string dump
int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port,
std::string nmea_dump_filename, std::string nmea_dump_devname,
bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id, std::string rtcm_dump_devname) :
unsigned short rtcm_station_id, std::map<int,int> rtcm_msg_rate_ms, std::string rtcm_dump_devname) :
gr::block("hybrid_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, sizeof(gr_complex)))
@ -203,6 +206,39 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, bool dump, std::string dump
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);
if(rtcm_msg_rate_ms.find(1019) != rtcm_msg_rate_ms.end())
{
d_rtcm_MT1019_rate_ms = rtcm_msg_rate_ms[1019];
}
else
{
d_rtcm_MT1019_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
}
if(rtcm_msg_rate_ms.find(1045) != rtcm_msg_rate_ms.end())
{
d_rtcm_MT1045_rate_ms = rtcm_msg_rate_ms[1045];
}
else
{
d_rtcm_MT1045_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
}
if(rtcm_msg_rate_ms.find(1077) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
{
d_rtcm_MT1077_rate_ms = rtcm_msg_rate_ms[1077];
}
else
{
d_rtcm_MT1077_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
}
if(rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
{
d_rtcm_MT1097_rate_ms = rtcm_msg_rate_ms[1097];
}
else
{
d_rtcm_MT1097_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
}
b_rtcm_writing_started = false;
d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");
@ -273,6 +309,8 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
d_sample_counter++;
bool arrived_galileo_almanac = false;
unsigned int gps_channel = 0;
unsigned int gal_channel = 0;
gnss_pseudoranges_map.clear();
@ -280,14 +318,31 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
print_receiver_status(in);
// ############ 1. READ PSEUDORANGES ####
for (unsigned int i = 0; i < d_nchannels; i++)
{
if (in[i][0].Flag_valid_pseudorange == true)
{
gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map
gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map. PROBLEM: sats with the same PRN!!
//d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
d_TOW_at_curr_symbol_constellation = in[i][0].d_TOW_at_current_symbol; // d_TOW_at_current_symbol not corrected by delta t (just for debug)
d_rx_time = in[i][0].d_TOW_hybrid_at_current_symbol; // hybrid rx time, all the channels have the same RX timestamp (common RX time pseudoranges)
if(d_ls_pvt->gps_ephemeris_map.size() > 0)
{
std::map<int,Gps_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->gps_ephemeris_map.find(in[i][0].PRN);
if(tmp_eph_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][0].PRN)->second, d_rx_time, in[i][0]); // keep track of locking time
}
}
if(d_ls_pvt->galileo_ephemeris_map.size() > 0)
{
std::map<int,Galileo_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(in[i][0].PRN);
if(tmp_eph_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][0].PRN)->second, d_rx_time, in[i][0]); // keep track of locking time
}
}
}
}
@ -349,6 +404,26 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
b_rinex_header_updated = true;
}
}
if(!b_rtcm_writing_started) // the first time
{
if(d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
{
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
}
if(d_rtcm_MT1045_rate_ms != 0)
{
for(std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_ephemeris_iter++ )
{
d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
}
}
// TODO: print observables...
// b_rtcm_writing_started = true;
}
}
}

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

@ -61,6 +61,7 @@ hybrid_pvt_cc_sptr hybrid_make_pvt_cc(unsigned int n_channels,
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);
/*!
@ -83,6 +84,7 @@ private:
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);
hybrid_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
@ -97,6 +99,7 @@ private:
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);
void msg_handler_telemetry(pmt::pmt_t msg);
@ -104,6 +107,11 @@ private:
bool d_dump;
bool b_rinex_header_writen;
bool b_rinex_header_updated;
bool b_rtcm_writing_started;
int d_rtcm_MT1045_rate_ms;
int d_rtcm_MT1019_rate_ms;
int d_rtcm_MT1077_rate_ms;
int d_rtcm_MT1097_rate_ms;
void print_receiver_status(Gnss_Synchro** channels_synchronization_data);
int d_last_status_print_seg; //for status printer