mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-14 04:00:34 +00:00
recovering from an accident
This commit is contained in:
Carles Fernandez
parent
0c57c6b6f7
commit
bf08e27583
@ -30,6 +30,7 @@
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#include "rtcm.h"
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#include <algorithm> // for std::reverse
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#include <cmath> // for std::fmod
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#include <cstdlib> // for strtol
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#include <sstream> // for std::stringstream
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#include <boost/algorithm/string.hpp> // for to_upper_copy
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@ -86,7 +87,6 @@ std::string Rtcm::add_CRC (const std::string& message_without_crc)
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bool Rtcm::check_CRC(const std::string & message)
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{
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crc_24_q_type CRC_RTCM_CHECK;
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// Convert message to binary
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std::string message_bin = Rtcm::hex_to_bin(message);
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// Check CRC
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@ -116,16 +116,29 @@ std::string Rtcm::bin_to_hex(const std::string& s)
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{
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std::string s_aux;
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std::stringstream ss;
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for(int i = 0; i < s.length() - 1; i = i + 32)
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int remainder = static_cast<int>(std::fmod(s.length(), 4));
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if (remainder != 0)
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{
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s_aux.assign(s, i, 32);
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std::bitset<32> bs(s_aux);
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s_aux.assign(s, 0 , remainder);
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boost::dynamic_bitset<> rembits(s_aux);
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unsigned n = rembits.to_ulong();
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ss << std::hex << n;
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}
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int start = std::max(remainder, 0);
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for(int i = start; i < s.length() - 1; i = i + 4)
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{
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s_aux.assign(s, i, 4);
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std::bitset<4> bs(s_aux);
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unsigned n = bs.to_ulong();
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ss << std::hex << n;
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}
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return boost::to_upper_copy(ss.str());
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}
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std::string Rtcm::hex_to_bin(const std::string& s)
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{
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std::string s_aux;
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@ -143,6 +156,7 @@ std::string Rtcm::hex_to_bin(const std::string& s)
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return s_aux;
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}
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unsigned long int Rtcm::bin_to_uint(const std::string& s)
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{
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if(s.length() > 32)
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@ -154,6 +168,7 @@ unsigned long int Rtcm::bin_to_uint(const std::string& s)
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return reading;
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}
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long int Rtcm::bin_to_int(const std::string& s)
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{
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if(s.length() > 32)
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@ -161,7 +176,20 @@ long int Rtcm::bin_to_int(const std::string& s)
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LOG(WARNING) << "Cannot convert to a long int";
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return 0;
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}
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long int reading = strtol(s.c_str(), NULL, 2);
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long int reading;
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// Handle negative numbers
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if(s.substr(0,1).compare("0"))
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{
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// Computing two's complement
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boost::dynamic_bitset<> original_bitset(s);
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original_bitset.flip();
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reading = - (original_bitset.to_ulong() + 1);
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}
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else
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{
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reading = strtol(s.c_str(), NULL, 2);
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}
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return reading;
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}
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@ -175,7 +203,7 @@ double Rtcm::bin_to_double(const std::string& s)
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return 0;
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}
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long long int reading_int = strtoll(s.c_str(), NULL, 2);
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long long int reading_int;
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// Handle negative numbers
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if(s.substr(0,1).compare("0"))
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@ -185,6 +213,10 @@ double Rtcm::bin_to_double(const std::string& s)
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original_bitset.flip();
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reading_int = - (original_bitset.to_ulong() + 1);
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}
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else
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{
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reading_int = strtoll(s.c_str(), NULL, 2);
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}
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reading = static_cast<double>(reading_int);
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return reading;
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@ -239,6 +271,104 @@ std::string Rtcm::build_message(std::string data)
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// *****************************************************************************************************
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// **********************************************
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//
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// MESSAGE TYPE 1001 (GPS L1 OBSERVATIONS)
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//
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// **********************************************
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std::bitset<64> Rtcm::get_M1001_header(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges,
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unsigned int ref_id, unsigned int smooth_int, bool sync_flag, bool divergence_free)
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{
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unsigned int m1001 = 1001;
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unsigned int reference_station_id = ref_id; // Max: 4095
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const std::map<int, Gnss_Synchro> pseudoranges_ = pseudoranges;
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bool synchronous_GNSS_flag = sync_flag;
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bool divergence_free_smoothing_indicator = divergence_free;
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unsigned int smoothing_interval = smooth_int;
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Rtcm::set_DF002(m1001);
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Rtcm::set_DF003(reference_station_id);
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Rtcm::set_DF004(gps_eph, obs_time);
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Rtcm::set_DF005(synchronous_GNSS_flag);
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Rtcm::set_DF006(pseudoranges_);
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Rtcm::set_DF007(divergence_free_smoothing_indicator);
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Rtcm::set_DF008(smoothing_interval);
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std::string header = DF002.to_string() +
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DF003.to_string() +
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DF004.to_string() +
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DF005.to_string() +
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DF006.to_string() +
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DF007.to_string() +
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DF008.to_string();
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std::bitset<64> header_msg(header);
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return header_msg;
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}
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std::bitset<58> Rtcm::get_M1001_sat_content(const Gnss_Synchro & gnss_synchro)
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{
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Gnss_Synchro gnss_synchro_ = gnss_synchro;
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bool code_indicator = false; // code indicator 0: C/A code 1: P(Y) code direct
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Rtcm::set_DF009(gnss_synchro_);
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Rtcm::set_DF010(code_indicator); // code indicator 0: C/A code 1: P(Y) code direct
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Rtcm::set_DF011(gnss_synchro_);
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long int gps_L1_phaserange_minus_L1_pseudorange;
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long int phaserange_m = (gnss_synchro.Carrier_phase_rads * GPS_C_m_s) / (GPS_TWO_PI * GPS_L1_FREQ_HZ);
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gps_L1_phaserange_minus_L1_pseudorange = phaserange_m; // TODO
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DF012 = std::bitset<20>(gps_L1_phaserange_minus_L1_pseudorange);
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unsigned int lock_time_indicator = 0; // TODO
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DF013 = std::bitset<7>(lock_time_indicator);
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std::string content = DF009.to_string() +
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DF010.to_string() +
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DF011.to_string() +
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DF012.to_string() +
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DF013.to_string();
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std::bitset<58> content_msg(content);
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return content_msg;
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}
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std::string Rtcm::print_M1001(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
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{
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unsigned int ref_id = static_cast<unsigned int>(FLAGS_RTCM_Ref_Station_ID);
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unsigned int smooth_int = 0;
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bool sync_flag = false;
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bool divergence_free = false;
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std::bitset<64> header = Rtcm::get_M1001_header(gps_eph, obs_time, pseudoranges, ref_id, smooth_int, sync_flag, divergence_free);
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std::string data = header.to_string();
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std::map<int, Gnss_Synchro>::const_iterator pseudoranges_iter;
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for(pseudoranges_iter = pseudoranges.begin();
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pseudoranges_iter != pseudoranges.end();
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pseudoranges_iter++)
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{
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std::bitset<58> content = Rtcm::get_M1001_sat_content(pseudoranges_iter->second);
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data += content.to_string();
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}
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return Rtcm::build_message(data);
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}
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// **********************************************
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//
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// MESSAGE TYPE 1005 (STATION DESCRIPTION)
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//
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// **********************************************
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/* Stationary Antenna Reference Point, No Height Information
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* Reference Station Id = 2003
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GPS Service supported, but not GLONASS or Galileo
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@ -290,6 +420,42 @@ std::bitset<152> Rtcm::get_M1005_test ()
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return test_msg;
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}
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std::string Rtcm::print_M1005( unsigned int ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, unsigned int quarter_cycle_indicator)
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{
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unsigned int msg_number = 1005;
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std::bitset<1> DF001_;
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Rtcm::set_DF002(msg_number);
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Rtcm::set_DF003(ref_id);
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Rtcm::set_DF021();
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Rtcm::set_DF022(gps);
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Rtcm::set_DF023(glonass);
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Rtcm::set_DF024(galileo);
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DF141 = std::bitset<1>(non_physical);
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DF001_ = std::bitset<1>("0");
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Rtcm::set_DF025(ecef_x);
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DF142 = std::bitset<1>(single_oscillator);
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Rtcm::set_DF026(ecef_y);
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DF364 = std::bitset<2>(quarter_cycle_indicator);
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Rtcm::set_DF027(ecef_z);
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std::string data = DF002.to_string() +
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DF003.to_string() +
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DF021.to_string() +
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DF022.to_string() +
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DF023.to_string() +
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DF024.to_string() +
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DF141.to_string() +
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DF025.to_string() +
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DF142.to_string() +
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DF001_.to_string() +
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DF026.to_string() +
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DF364.to_string() +
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DF027.to_string() ;
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std::string message = build_message(data);
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return message;
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}
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int Rtcm::read_M1005(const std::string & message, unsigned int & ref_id, double & ecef_x, double & ecef_y, double & ecef_z, bool & gps, bool & glonass, bool & galileo)
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{
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@ -368,88 +534,12 @@ std::string Rtcm::print_M1005_test()
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}
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std::bitset<64> Rtcm::get_M1001_header(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges,
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unsigned int ref_id, unsigned int smooth_int, bool sync_flag, bool divergence_free)
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{
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unsigned int m1001 = 1001;
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unsigned int reference_station_id = ref_id; // Max: 4095
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const std::map<int, Gnss_Synchro> pseudoranges_ = pseudoranges;
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bool synchronous_GNSS_flag = sync_flag;
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bool divergence_free_smoothing_indicator = divergence_free;
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unsigned int smoothing_interval = smooth_int;
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Rtcm::set_DF002(m1001);
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Rtcm::set_DF003(reference_station_id);
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Rtcm::set_DF004(gps_eph, obs_time);
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Rtcm::set_DF005(synchronous_GNSS_flag);
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Rtcm::set_DF006(pseudoranges_);
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Rtcm::set_DF007(divergence_free_smoothing_indicator);
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Rtcm::set_DF008(smoothing_interval);
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std::string header = DF002.to_string() +
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DF003.to_string() +
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DF004.to_string() +
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DF005.to_string() +
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DF006.to_string() +
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DF007.to_string() +
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DF008.to_string();
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std::bitset<64> header_msg(header);
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return header_msg;
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}
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std::bitset<58> Rtcm::get_M1001_sat_content(const Gnss_Synchro & gnss_synchro)
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{
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Gnss_Synchro gnss_synchro_ = gnss_synchro;
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bool code_indicator = false; // code indicator 0: C/A code 1: P(Y) code direct
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Rtcm::set_DF009(gnss_synchro_);
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Rtcm::set_DF010(code_indicator); // code indicator 0: C/A code 1: P(Y) code direct
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Rtcm::set_DF011(gnss_synchro_);
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long int gps_L1_phaserange_minus_L1_pseudorange;
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long int phaserange_m = (gnss_synchro.Carrier_phase_rads * GPS_C_m_s) / (GPS_TWO_PI * GPS_L1_FREQ_HZ);
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gps_L1_phaserange_minus_L1_pseudorange = phaserange_m; // TODO
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DF012 = std::bitset<20>(gps_L1_phaserange_minus_L1_pseudorange);
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unsigned int lock_time_indicator = 0; // TODO
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DF013 = std::bitset<7>(lock_time_indicator);
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std::string content = DF009.to_string() +
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DF010.to_string() +
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DF011.to_string() +
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DF012.to_string() +
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DF013.to_string();
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std::bitset<58> content_msg(content);
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return content_msg;
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}
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std::string Rtcm::print_M1001(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
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{
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unsigned int ref_id = static_cast<unsigned int>(FLAGS_RTCM_Ref_Station_ID);
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unsigned int smooth_int = 0;
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bool sync_flag = false;
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bool divergence_free = false;
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std::bitset<64> header = Rtcm::get_M1001_header(gps_eph, obs_time, pseudoranges, ref_id, smooth_int, sync_flag, divergence_free);
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std::string data = header.to_string();
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std::map<int, Gnss_Synchro>::const_iterator pseudoranges_iter;
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for(pseudoranges_iter = pseudoranges.begin();
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pseudoranges_iter != pseudoranges.end();
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pseudoranges_iter++)
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{
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std::bitset<58> content = Rtcm::get_M1001_sat_content(pseudoranges_iter->second);
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data += content.to_string();
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}
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return Rtcm::build_message(data);
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}
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// **********************************************
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//
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// MESSAGE TYPE 1019 (GPS EPHEMERIS)
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//
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// **********************************************
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std::string Rtcm::print_M1019(const Gps_Ephemeris & gps_eph)
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{
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@ -540,13 +630,12 @@ int Rtcm::read_M1019(const std::string & message, Gps_Ephemeris & gps_eph)
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if(!Rtcm::check_CRC(message) )
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{
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LOG(WARNING) << " Bad CRC detected in RTCM message M1019";
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std::cout << " ----- Bad CRC detected in RTCM message M1019 " << std::endl;
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return 1;
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}
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unsigned int preamble_length = 8;
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unsigned int reserved_field_length = 6;
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unsigned int index = preamble_length + reserved_field_length - 1;
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unsigned int index = preamble_length + reserved_field_length;
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unsigned int read_message_length = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
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index += 10;
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@ -558,59 +647,117 @@ int Rtcm::read_M1019(const std::string & message, Gps_Ephemeris & gps_eph)
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}
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// Check than the message number is correct
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unsigned int msg_number = 1019;
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Rtcm::set_DF002(msg_number);
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std::bitset<12> read_msg_number(message_bin.substr(index, 12));
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unsigned int read_msg_number = Rtcm::bin_to_uint(message_bin.substr(index, 12));
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index += 12;
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if (DF002 != read_msg_number)
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if (1019 != read_msg_number)
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{
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LOG(WARNING) << " This is not a M1019 message";
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return 1;
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}
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// Fill Gps Ephemeris with message data content
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gps_eph.i_satellite_PRN = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
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index += 6;
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// idea: define get_DFXXX?
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gps_eph.i_GPS_week = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
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index += 10;
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// Rtcm::set_DF002(msg_number);
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// Rtcm::set_DF009(gps_eph);
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// Rtcm::set_DF076(gps_eph);
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// Rtcm::set_DF077(gps_eph);
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// Rtcm::set_DF078(gps_eph);
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// Rtcm::set_DF079(gps_eph);
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// Rtcm::set_DF071(gps_eph);
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// Rtcm::set_DF081(gps_eph);
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// Rtcm::set_DF082(gps_eph);
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// Rtcm::set_DF083(gps_eph);
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// Rtcm::set_DF084(gps_eph);
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// Rtcm::set_DF085(gps_eph);
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// Rtcm::set_DF086(gps_eph);
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// Rtcm::set_DF087(gps_eph);
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// Rtcm::set_DF088(gps_eph);
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// Rtcm::set_DF089(gps_eph);
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// Rtcm::set_DF090(gps_eph);
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// Rtcm::set_DF091(gps_eph);
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// Rtcm::set_DF092(gps_eph);
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// Rtcm::set_DF093(gps_eph);
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// Rtcm::set_DF094(gps_eph);
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// Rtcm::set_DF095(gps_eph);
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// Rtcm::set_DF096(gps_eph);
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// Rtcm::set_DF097(gps_eph);
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// Rtcm::set_DF098(gps_eph);
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// Rtcm::set_DF099(gps_eph);
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// Rtcm::set_DF100(gps_eph);
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// Rtcm::set_DF101(gps_eph);
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// Rtcm::set_DF102(gps_eph);
|
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// Rtcm::set_DF103(gps_eph);
|
||||
// Rtcm::set_DF137(gps_eph);
|
||||
gps_eph.i_SV_accuracy = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 4)));
|
||||
index += 4;
|
||||
|
||||
gps_eph.i_code_on_L2 = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
|
||||
index += 2;
|
||||
|
||||
gps_eph.d_IDOT = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 14))) * I_DOT_LSB;
|
||||
index += 14;
|
||||
|
||||
gps_eph.d_IODE_SF2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
|
||||
gps_eph.d_IODE_SF3 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
|
||||
index += 8;
|
||||
|
||||
gps_eph.d_Toc = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 16))) * T_OC_LSB;
|
||||
index += 16;
|
||||
|
||||
gps_eph.d_A_f2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 8))) * A_F2_LSB;
|
||||
index += 8;
|
||||
|
||||
gps_eph.d_A_f1 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * A_F1_LSB;
|
||||
index += 16;
|
||||
|
||||
gps_eph.d_A_f0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22))) * A_F0_LSB;
|
||||
index += 22;
|
||||
|
||||
gps_eph.d_IODC = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
|
||||
index += 10;
|
||||
|
||||
gps_eph.d_Crs = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RS_LSB;
|
||||
index += 16;
|
||||
|
||||
gps_eph.d_Delta_n = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * DELTA_N_LSB;
|
||||
index += 16;
|
||||
|
||||
gps_eph.d_M_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * M_0_LSB;
|
||||
index += 32;
|
||||
|
||||
gps_eph.d_Cuc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_UC_LSB;
|
||||
index += 16;
|
||||
|
||||
gps_eph.d_e_eccentricity = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * E_LSB;
|
||||
index += 32;
|
||||
|
||||
gps_eph.d_Cus = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_US_LSB;
|
||||
index += 16;
|
||||
|
||||
gps_eph.d_sqrt_A = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * SQRT_A_LSB;
|
||||
index += 32;
|
||||
|
||||
gps_eph.d_Toe = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 16))) * T_OE_LSB;
|
||||
index += 16;
|
||||
|
||||
gps_eph.d_Cic = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IC_LSB;
|
||||
index += 16;
|
||||
|
||||
gps_eph.d_OMEGA0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_0_LSB;
|
||||
index += 32;
|
||||
|
||||
gps_eph.d_Cis = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IS_LSB;
|
||||
index += 16;
|
||||
|
||||
gps_eph.d_i_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * I_0_LSB;
|
||||
index += 32;
|
||||
|
||||
gps_eph.d_Crc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RC_LSB;
|
||||
index += 16;
|
||||
|
||||
gps_eph.d_OMEGA = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_LSB;
|
||||
index += 32;
|
||||
|
||||
gps_eph.d_OMEGA_DOT = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24))) * OMEGA_DOT_LSB;
|
||||
index += 24;
|
||||
|
||||
gps_eph.d_TGD = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 8))) * T_GD_LSB;
|
||||
index += 8;
|
||||
|
||||
gps_eph.i_SV_health = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
|
||||
index += 6;
|
||||
|
||||
gps_eph.b_L2_P_data_flag = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
|
||||
index += 1;
|
||||
|
||||
gps_eph.b_fit_interval_flag = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
// **********************************************
|
||||
//
|
||||
// MESSAGE TYPE 1045 (GALILEO EPHEMERIS)
|
||||
//
|
||||
// **********************************************
|
||||
|
||||
std::string Rtcm::print_M1045(const Galileo_Ephemeris & gal_eph)
|
||||
{
|
||||
unsigned int msg_number = 1045;
|
||||
@ -688,17 +835,6 @@ std::string Rtcm::print_M1045(const Galileo_Ephemeris & gal_eph)
|
||||
|
||||
|
||||
|
||||
std::bitset<138> Rtcm::get_M1002 ()
|
||||
{
|
||||
std::bitset<138> fake_msg;
|
||||
fake_msg.reset();
|
||||
return fake_msg;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
// *****************************************************************************************************
|
||||
//
|
||||
// DATA FIELDS AS DEFINED AT RTCM STANDARD 10403.2
|
||||
|
||||
@ -43,42 +43,57 @@
|
||||
#include "gps_navigation_message.h"
|
||||
|
||||
/*!
|
||||
* \brief This class implements the RTCM 3.2 Stardard
|
||||
* \brief This class implements the RTCM 3.2 Standard
|
||||
*
|
||||
*/
|
||||
class Rtcm
|
||||
{
|
||||
public:
|
||||
Rtcm();
|
||||
Rtcm(); //<! Default constructor
|
||||
|
||||
std::string print_M1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
|
||||
|
||||
std::string print_M1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
|
||||
/*!
|
||||
* \brief Prints message type 1005 (Stationary Antenna Reference Point)
|
||||
*/
|
||||
std::string print_M1005(unsigned int ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, unsigned int quarter_cycle_indicator);
|
||||
|
||||
/*!
|
||||
* \brief GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
|
||||
* \brief Verifies and reads messages of type 1005 (Stationary Antenna Reference Point)
|
||||
*/
|
||||
std::string print_M1019(const Gps_Ephemeris & gps_eph);
|
||||
int read_M1019(const std::string & message, Gps_Ephemeris & gps_eph);
|
||||
|
||||
|
||||
|
||||
std::string bin_to_hex(const std::string& s);
|
||||
|
||||
std::string hex_to_bin(const std::string& s);
|
||||
|
||||
unsigned long int bin_to_uint(const std::string& s);
|
||||
long int bin_to_int(const std::string& s);
|
||||
|
||||
unsigned long int hex_to_uint(const std::string& s);
|
||||
long int hex_to_int(const std::string& s);
|
||||
|
||||
double bin_to_double(const std::string& s);
|
||||
|
||||
std::string print_M1005_test(); //<! For testing purposes
|
||||
int read_M1005(const std::string & message, unsigned int & ref_id, double & ecef_x, double & ecef_y, double & ecef_z, bool & gps, bool & glonass, bool & galileo);
|
||||
|
||||
bool check_CRC(const std::string & message);
|
||||
/*!
|
||||
* \brief Prints message type 1019 (GPS Ephemeris), should be broadcast in the event that
|
||||
* the IODC does not match the IODE, and every 2 minutes.
|
||||
*/
|
||||
std::string print_M1019(const Gps_Ephemeris & gps_eph);
|
||||
|
||||
/*!
|
||||
* \brief Verifies and reads messages of type 1019 (GPS Ephemeris)
|
||||
*/
|
||||
int read_M1019(const std::string & message, Gps_Ephemeris & gps_eph);
|
||||
|
||||
/*!
|
||||
* \brief Prints message type 1045 (Galileo Ephemeris)
|
||||
*/
|
||||
std::string print_M1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
|
||||
|
||||
|
||||
std::string bin_to_hex(const std::string& s); //<! Returns a string of hexadecimal symbols from a string of binary symbols
|
||||
std::string hex_to_bin(const std::string& s); //<! Returns a string of binary symbols from a string of hexadecimal symbols
|
||||
|
||||
unsigned long int bin_to_uint(const std::string& s); //<! Returns an unsigned long int from a string of binary symbols
|
||||
long int bin_to_int(const std::string& s); //<! Returns a long int from a string of binary symbols
|
||||
|
||||
unsigned long int hex_to_uint(const std::string& s); //<! Returns an unsigned long int from a string of hexadecimal symbols
|
||||
long int hex_to_int(const std::string& s); //<! Returns a long int from a string of hexadecimal symbols
|
||||
|
||||
double bin_to_double(const std::string& s); //<! Returns double from a string of binary symbols
|
||||
|
||||
std::string print_M1005_test(); //<! For testing purposes
|
||||
|
||||
bool check_CRC(const std::string & message); //<! Checks that the CRC of a RTCM package is correct
|
||||
private:
|
||||
//
|
||||
// Messages
|
||||
@ -109,7 +124,7 @@ private:
|
||||
|
||||
std::bitset<58> get_M1001_sat_content(const Gnss_Synchro & gnss_synchro);
|
||||
|
||||
std::bitset<138> get_M1002(); // GPS observables
|
||||
//std::bitset<138> get_M1002(); // GPS observables
|
||||
//std::bitset<488> get_M1019(); // GPS ephemeris
|
||||
//std::bitset<496> get_M1045(); // Galileo ephemeris
|
||||
std::bitset<152> get_M1005_test();
|
||||
@ -124,9 +139,7 @@ private:
|
||||
std::bitset<10> message_length;
|
||||
std::bitset<24> crc_frame;
|
||||
typedef boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> crc_24_q_type;
|
||||
|
||||
std::string add_CRC(const std::string& m);
|
||||
|
||||
std::string build_message(std::string data); // adds 0s to complete a byte and adds the CRC
|
||||
|
||||
|
||||
|
||||
@ -34,7 +34,7 @@
|
||||
|
||||
TEST(Rtcm_Test, Hex_to_bin)
|
||||
{
|
||||
auto rtcm = std::make_shared<Rtcm>();
|
||||
auto rtcm = std::make_shared<Rtcm>();
|
||||
|
||||
std::string test1 = "2A";
|
||||
std::string test1_bin = rtcm->hex_to_bin(test1);
|
||||
@ -64,7 +64,7 @@ TEST(Rtcm_Test, Hex_to_bin)
|
||||
|
||||
TEST(Rtcm_Test, Bin_to_hex)
|
||||
{
|
||||
auto rtcm = std::make_shared<Rtcm>();
|
||||
auto rtcm = std::make_shared<Rtcm>();
|
||||
|
||||
std::string test1 = "00101010";
|
||||
std::string test1_hex = rtcm->bin_to_hex(test1);
|
||||
@ -108,6 +108,14 @@ TEST(Rtcm_Test, Hex_to_int)
|
||||
}
|
||||
|
||||
|
||||
TEST(Rtcm_Test, Hex_to_uint)
|
||||
{
|
||||
auto rtcm = std::make_shared<Rtcm>();
|
||||
long unsigned int expected1 = 42;
|
||||
EXPECT_EQ(expected1, rtcm->hex_to_uint(rtcm->bin_to_hex("00101010")));
|
||||
}
|
||||
|
||||
|
||||
TEST(Rtcm_Test, Bin_to_double)
|
||||
{
|
||||
auto rtcm = std::make_shared<Rtcm>();
|
||||
@ -124,11 +132,47 @@ TEST(Rtcm_Test, Bin_to_double)
|
||||
EXPECT_DOUBLE_EQ(0, rtcm->bin_to_double(test3.to_string()));
|
||||
}
|
||||
|
||||
TEST(Rtcm_Test, Test_Read_M1005)
|
||||
|
||||
TEST(Rtcm_Test, Bin_to_uint)
|
||||
{
|
||||
auto rtcm = std::make_shared<Rtcm>();
|
||||
long unsigned int expected1 = 42;
|
||||
EXPECT_EQ(expected1, rtcm->bin_to_uint("00101010"));
|
||||
long unsigned int expected2 = 214;
|
||||
EXPECT_EQ(expected2, rtcm->bin_to_uint("11010110"));
|
||||
}
|
||||
|
||||
|
||||
TEST(Rtcm_Test, Bin_to_int)
|
||||
{
|
||||
auto rtcm = std::make_shared<Rtcm>();
|
||||
long unsigned int expected1 = 42;
|
||||
EXPECT_EQ(expected1, rtcm->bin_to_int("00101010"));
|
||||
long unsigned int expected2 = -42;
|
||||
EXPECT_EQ(expected2, rtcm->bin_to_int("11010110"));
|
||||
}
|
||||
|
||||
|
||||
TEST(Rtcm_Test, Check_CRC)
|
||||
{
|
||||
auto rtcm = std::make_shared<Rtcm>();
|
||||
EXPECT_EQ(true, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98"));
|
||||
EXPECT_EQ(false, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B99"));
|
||||
|
||||
EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_M1005_test()));
|
||||
EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_M1005_test())); // Run twice to check that CRC has no memory
|
||||
}
|
||||
|
||||
|
||||
TEST(Rtcm_Test, Test_MT1005)
|
||||
{
|
||||
auto rtcm = std::make_shared<Rtcm>();
|
||||
std::string reference_msg = rtcm->print_M1005_test();
|
||||
|
||||
std::string reference_msg2 = rtcm->print_M1005(2003, 1114104.5999, -4850729.7108, 3975521.4643, true, false, false, false, false, 0);
|
||||
|
||||
EXPECT_EQ(0, reference_msg.compare(reference_msg2));
|
||||
|
||||
unsigned int ref_id;
|
||||
double ecef_x;
|
||||
double ecef_y;
|
||||
@ -160,13 +204,26 @@ TEST(Rtcm_Test, Test_Read_M1005)
|
||||
EXPECT_DOUBLE_EQ(3975521.4643, ecef_z);
|
||||
}
|
||||
|
||||
TEST(Rtcm_Test, Check_CRC)
|
||||
|
||||
|
||||
TEST(Rtcm_Test, Test_MT1019)
|
||||
{
|
||||
auto rtcm = std::make_shared<Rtcm>();
|
||||
EXPECT_EQ(true, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98"));
|
||||
EXPECT_EQ(false, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B99"));
|
||||
|
||||
EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_M1005_test()));
|
||||
EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_M1005_test()));
|
||||
Gps_Ephemeris gps_eph = Gps_Ephemeris();
|
||||
Gps_Ephemeris gps_eph_read = Gps_Ephemeris();
|
||||
|
||||
gps_eph.i_satellite_PRN = 3;
|
||||
gps_eph.d_IODC = 4;
|
||||
gps_eph.d_e_eccentricity = 2.0 * E_LSB;
|
||||
gps_eph.b_fit_interval_flag = true;
|
||||
std::string tx_msg = rtcm->print_M1019(gps_eph);
|
||||
|
||||
EXPECT_EQ(0, rtcm->read_M1019(tx_msg, gps_eph_read));
|
||||
EXPECT_EQ(3, gps_eph_read.i_satellite_PRN);
|
||||
EXPECT_DOUBLE_EQ(4, gps_eph_read.d_IODC);
|
||||
EXPECT_DOUBLE_EQ( 2.0 * E_LSB, gps_eph_read.d_e_eccentricity);
|
||||
EXPECT_EQ(true, gps_eph_read.b_fit_interval_flag);
|
||||
EXPECT_EQ(1, rtcm->read_M1019("FFFFFFFFFFF", gps_eph_read));
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user