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recovering from an accident

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This commit is contained in:
Carles Fernandez 2015-11-23 01:47:21 +01:00
parent 0c57c6b6f7
commit bf08e27583
3 changed files with 376 additions and 170 deletions
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500
src/core/system_parameters/rtcm.cc
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@ -30,6 +30,7 @@
#include "rtcm.h" #include "rtcm.h"
#include <algorithm> // for std::reverse #include <algorithm> // for std::reverse
#include <cmath> // for std::fmod
#include <cstdlib> // for strtol #include <cstdlib> // for strtol
#include <sstream> // for std::stringstream #include <sstream> // for std::stringstream
#include <boost/algorithm/string.hpp> // for to_upper_copy #include <boost/algorithm/string.hpp> // for to_upper_copy
@ -86,7 +87,6 @@ std::string Rtcm::add_CRC (const std::string& message_without_crc)
bool Rtcm::check_CRC(const std::string & message) bool Rtcm::check_CRC(const std::string & message)
{ {
crc_24_q_type CRC_RTCM_CHECK; crc_24_q_type CRC_RTCM_CHECK;
// Convert message to binary // Convert message to binary
std::string message_bin = Rtcm::hex_to_bin(message); std::string message_bin = Rtcm::hex_to_bin(message);
// Check CRC // Check CRC
@ -116,16 +116,29 @@ std::string Rtcm::bin_to_hex(const std::string& s)
{ {
std::string s_aux; std::string s_aux;
std::stringstream ss; std::stringstream ss;
for(int i = 0; i < s.length() - 1; i = i + 32) int remainder = static_cast<int>(std::fmod(s.length(), 4));
if (remainder != 0)
{ {
s_aux.assign(s, i, 32); s_aux.assign(s, 0 , remainder);
std::bitset<32> bs(s_aux); boost::dynamic_bitset<> rembits(s_aux);
unsigned n = rembits.to_ulong();
ss << std::hex << n;
}
int start = std::max(remainder, 0);
for(int i = start; i < s.length() - 1; i = i + 4)
{
s_aux.assign(s, i, 4);
std::bitset<4> bs(s_aux);
unsigned n = bs.to_ulong(); unsigned n = bs.to_ulong();
ss << std::hex << n; ss << std::hex << n;
} }
return boost::to_upper_copy(ss.str()); return boost::to_upper_copy(ss.str());
} }
std::string Rtcm::hex_to_bin(const std::string& s) std::string Rtcm::hex_to_bin(const std::string& s)
{ {
std::string s_aux; std::string s_aux;
@ -143,6 +156,7 @@ std::string Rtcm::hex_to_bin(const std::string& s)
return s_aux; return s_aux;
} }
unsigned long int Rtcm::bin_to_uint(const std::string& s) unsigned long int Rtcm::bin_to_uint(const std::string& s)
{ {
if(s.length() > 32) if(s.length() > 32)
@ -154,6 +168,7 @@ unsigned long int Rtcm::bin_to_uint(const std::string& s)
return reading; return reading;
} }
long int Rtcm::bin_to_int(const std::string& s) long int Rtcm::bin_to_int(const std::string& s)
{ {
if(s.length() > 32) if(s.length() > 32)
@ -161,7 +176,20 @@ long int Rtcm::bin_to_int(const std::string& s)
LOG(WARNING) << "Cannot convert to a long int"; LOG(WARNING) << "Cannot convert to a long int";
return 0; return 0;
} }
long int reading = strtol(s.c_str(), NULL, 2); long int reading;
// Handle negative numbers
if(s.substr(0,1).compare("0"))
{
// Computing two's complement
boost::dynamic_bitset<> original_bitset(s);
original_bitset.flip();
reading = - (original_bitset.to_ulong() + 1);
}
else
{
reading = strtol(s.c_str(), NULL, 2);
}
return reading; return reading;
} }
@ -175,7 +203,7 @@ double Rtcm::bin_to_double(const std::string& s)
return 0; return 0;
} }
long long int reading_int = strtoll(s.c_str(), NULL, 2); long long int reading_int;
// Handle negative numbers // Handle negative numbers
if(s.substr(0,1).compare("0")) if(s.substr(0,1).compare("0"))
@ -185,6 +213,10 @@ double Rtcm::bin_to_double(const std::string& s)
original_bitset.flip(); original_bitset.flip();
reading_int = - (original_bitset.to_ulong() + 1); reading_int = - (original_bitset.to_ulong() + 1);
} }
else
{
reading_int = strtoll(s.c_str(), NULL, 2);
}
reading = static_cast<double>(reading_int); reading = static_cast<double>(reading_int);
return reading; return reading;
@ -239,134 +271,12 @@ std::string Rtcm::build_message(std::string data)
// ***************************************************************************************************** // *****************************************************************************************************
/* Stationary Antenna Reference Point, No Height Information
* Reference Station Id = 2003
GPS Service supported, but not GLONASS or Galileo
ARP ECEF-X = 1114104.5999 meters
ARP ECEF-Y = -4850729.7108 meters
ARP ECEF-Z = 3975521.4643 meters
Expected output: D3 00 13 3E D7 D3 02 02 98 0E DE EF 34 B4 BD 62
AC 09 41 98 6F 33 36 0B 98
*/
std::bitset<152> Rtcm::get_M1005_test ()
{
unsigned int m1005 = 1005;
unsigned int reference_station_id = 2003; // Max: 4095
double ECEF_X = 1114104.5999; // units: m
double ECEF_Y = -4850729.7108; // units: m
double ECEF_Z = 3975521.4643; // units: m
std::bitset<1> DF001_;
Rtcm::set_DF002(m1005);
Rtcm::set_DF003(reference_station_id);
Rtcm::set_DF021();
Rtcm::set_DF022(true); // GPS
Rtcm::set_DF023(false); // Glonass
Rtcm::set_DF024(false); // Galileo
DF141 = std::bitset<1>("0"); // 0: Real, physical reference station
DF001_ = std::bitset<1>("0"); // Reserved, set to 0
Rtcm::set_DF025(ECEF_X);
DF142 = std::bitset<1>("0"); // Single Receiver Oscillator Indicator
Rtcm::set_DF026(ECEF_Y);
DF364 = std::bitset<2>("00"); // Quarter Cycle Indicator
Rtcm::set_DF027(ECEF_Z);
std::string message = DF002.to_string() +
DF003.to_string() +
DF021.to_string() +
DF022.to_string() +
DF023.to_string() +
DF024.to_string() +
DF141.to_string() +
DF025.to_string() +
DF142.to_string() +
DF001_.to_string() +
DF026.to_string() +
DF364.to_string() +
DF027.to_string() ;
std::bitset<152> test_msg(message);
return test_msg;
}
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)
{
// Convert message to binary
std::string message_bin = Rtcm::hex_to_bin(message);
if(!Rtcm::check_CRC(message) )
{
LOG(WARNING) << " Bad CRC detected in RTCM message M1005";
std::cout << " ----- Bad CRC detected in RTCM message M1005 " << std::endl;
return 1;
}
// Check than the message number is correct
unsigned int preamble_length = 8;
unsigned int reserved_field_length = 6;
unsigned int index = preamble_length + reserved_field_length;
unsigned int read_message_length = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
index += 10;
if (read_message_length != 19)
{
LOG(WARNING) << " Message M1005 seems too long (19 bytes expected, " << read_message_length << " received)";
std::cout << " -----Message M1005 seems too long (19 bytes expected, " << read_message_length << " received)" << std::endl;
return 1;
}
unsigned int msg_number = 1005;
Rtcm::set_DF002(msg_number);
std::bitset<12> read_msg_number(message_bin.substr(index, 12));
index += 12;
if (DF002 != read_msg_number)
{
LOG(WARNING) << " This is not a M1005 message";
std::cout << " ----- This is not a M1005 message"<< std::endl;
return 1;
}
ref_id = Rtcm::bin_to_uint(message_bin.substr(index, 12));
index += 12;
index += 6; // ITRF year
gps = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
glonass = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
galileo = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
index += 1; // ref_sattion_indicator
ecef_x = Rtcm::bin_to_double(message_bin.substr(index, 38)) / 10000.0;
index += 38;
index += 1; // single rx oscillator
index += 1; // reserved
ecef_y = Rtcm::bin_to_double(message_bin.substr(index, 38)) / 10000.0;
index += 38;
index += 2; // quarter cycle indicator
ecef_z = Rtcm::bin_to_double(message_bin.substr(index, 38)) / 10000.0;
return 0;
}
std::string Rtcm::print_M1005_test()
{
std::bitset<152> m1005 = get_M1005_test();
return Rtcm::build_message(m1005.to_string());
}
// **********************************************
//
// MESSAGE TYPE 1001 (GPS L1 OBSERVATIONS)
//
// **********************************************
std::bitset<64> Rtcm::get_M1001_header(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges, std::bitset<64> Rtcm::get_M1001_header(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges,
unsigned int ref_id, unsigned int smooth_int, bool sync_flag, bool divergence_free) unsigned int ref_id, unsigned int smooth_int, bool sync_flag, bool divergence_free)
@ -451,6 +361,186 @@ std::string Rtcm::print_M1001(const Gps_Ephemeris & gps_eph, double obs_time, co
// **********************************************
//
// MESSAGE TYPE 1005 (STATION DESCRIPTION)
//
// **********************************************
/* Stationary Antenna Reference Point, No Height Information
* Reference Station Id = 2003
GPS Service supported, but not GLONASS or Galileo
ARP ECEF-X = 1114104.5999 meters
ARP ECEF-Y = -4850729.7108 meters
ARP ECEF-Z = 3975521.4643 meters
Expected output: D3 00 13 3E D7 D3 02 02 98 0E DE EF 34 B4 BD 62
AC 09 41 98 6F 33 36 0B 98
*/
std::bitset<152> Rtcm::get_M1005_test ()
{
unsigned int m1005 = 1005;
unsigned int reference_station_id = 2003; // Max: 4095
double ECEF_X = 1114104.5999; // units: m
double ECEF_Y = -4850729.7108; // units: m
double ECEF_Z = 3975521.4643; // units: m
std::bitset<1> DF001_;
Rtcm::set_DF002(m1005);
Rtcm::set_DF003(reference_station_id);
Rtcm::set_DF021();
Rtcm::set_DF022(true); // GPS
Rtcm::set_DF023(false); // Glonass
Rtcm::set_DF024(false); // Galileo
DF141 = std::bitset<1>("0"); // 0: Real, physical reference station
DF001_ = std::bitset<1>("0"); // Reserved, set to 0
Rtcm::set_DF025(ECEF_X);
DF142 = std::bitset<1>("0"); // Single Receiver Oscillator Indicator
Rtcm::set_DF026(ECEF_Y);
DF364 = std::bitset<2>("00"); // Quarter Cycle Indicator
Rtcm::set_DF027(ECEF_Z);
std::string message = DF002.to_string() +
DF003.to_string() +
DF021.to_string() +
DF022.to_string() +
DF023.to_string() +
DF024.to_string() +
DF141.to_string() +
DF025.to_string() +
DF142.to_string() +
DF001_.to_string() +
DF026.to_string() +
DF364.to_string() +
DF027.to_string() ;
std::bitset<152> test_msg(message);
return test_msg;
}
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)
{
unsigned int msg_number = 1005;
std::bitset<1> DF001_;
Rtcm::set_DF002(msg_number);
Rtcm::set_DF003(ref_id);
Rtcm::set_DF021();
Rtcm::set_DF022(gps);
Rtcm::set_DF023(glonass);
Rtcm::set_DF024(galileo);
DF141 = std::bitset<1>(non_physical);
DF001_ = std::bitset<1>("0");
Rtcm::set_DF025(ecef_x);
DF142 = std::bitset<1>(single_oscillator);
Rtcm::set_DF026(ecef_y);
DF364 = std::bitset<2>(quarter_cycle_indicator);
Rtcm::set_DF027(ecef_z);
std::string data = DF002.to_string() +
DF003.to_string() +
DF021.to_string() +
DF022.to_string() +
DF023.to_string() +
DF024.to_string() +
DF141.to_string() +
DF025.to_string() +
DF142.to_string() +
DF001_.to_string() +
DF026.to_string() +
DF364.to_string() +
DF027.to_string() ;
std::string message = build_message(data);
return message;
}
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)
{
// Convert message to binary
std::string message_bin = Rtcm::hex_to_bin(message);
if(!Rtcm::check_CRC(message) )
{
LOG(WARNING) << " Bad CRC detected in RTCM message M1005";
std::cout << " ----- Bad CRC detected in RTCM message M1005 " << std::endl;
return 1;
}
// Check than the message number is correct
unsigned int preamble_length = 8;
unsigned int reserved_field_length = 6;
unsigned int index = preamble_length + reserved_field_length;
unsigned int read_message_length = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
index += 10;
if (read_message_length != 19)
{
LOG(WARNING) << " Message M1005 seems too long (19 bytes expected, " << read_message_length << " received)";
std::cout << " -----Message M1005 seems too long (19 bytes expected, " << read_message_length << " received)" << std::endl;
return 1;
}
unsigned int msg_number = 1005;
Rtcm::set_DF002(msg_number);
std::bitset<12> read_msg_number(message_bin.substr(index, 12));
index += 12;
if (DF002 != read_msg_number)
{
LOG(WARNING) << " This is not a M1005 message";
std::cout << " ----- This is not a M1005 message"<< std::endl;
return 1;
}
ref_id = Rtcm::bin_to_uint(message_bin.substr(index, 12));
index += 12;
index += 6; // ITRF year
gps = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
glonass = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
galileo = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
index += 1;
index += 1; // ref_sattion_indicator
ecef_x = Rtcm::bin_to_double(message_bin.substr(index, 38)) / 10000.0;
index += 38;
index += 1; // single rx oscillator
index += 1; // reserved
ecef_y = Rtcm::bin_to_double(message_bin.substr(index, 38)) / 10000.0;
index += 38;
index += 2; // quarter cycle indicator
ecef_z = Rtcm::bin_to_double(message_bin.substr(index, 38)) / 10000.0;
return 0;
}
std::string Rtcm::print_M1005_test()
{
std::bitset<152> m1005 = get_M1005_test();
return Rtcm::build_message(m1005.to_string());
}
// **********************************************
//
// MESSAGE TYPE 1019 (GPS EPHEMERIS)
//
// **********************************************
std::string Rtcm::print_M1019(const Gps_Ephemeris & gps_eph) std::string Rtcm::print_M1019(const Gps_Ephemeris & gps_eph)
{ {
unsigned int msg_number = 1019; unsigned int msg_number = 1019;
@ -540,13 +630,12 @@ int Rtcm::read_M1019(const std::string & message, Gps_Ephemeris & gps_eph)
if(!Rtcm::check_CRC(message) ) if(!Rtcm::check_CRC(message) )
{ {
LOG(WARNING) << " Bad CRC detected in RTCM message M1019"; LOG(WARNING) << " Bad CRC detected in RTCM message M1019";
std::cout << " ----- Bad CRC detected in RTCM message M1019 " << std::endl;
return 1; return 1;
} }
unsigned int preamble_length = 8; unsigned int preamble_length = 8;
unsigned int reserved_field_length = 6; unsigned int reserved_field_length = 6;
unsigned int index = preamble_length + reserved_field_length - 1; unsigned int index = preamble_length + reserved_field_length;
unsigned int read_message_length = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 10))); unsigned int read_message_length = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
index += 10; index += 10;
@ -558,59 +647,117 @@ int Rtcm::read_M1019(const std::string & message, Gps_Ephemeris & gps_eph)
} }
// Check than the message number is correct // Check than the message number is correct
unsigned int msg_number = 1019; unsigned int read_msg_number = Rtcm::bin_to_uint(message_bin.substr(index, 12));
Rtcm::set_DF002(msg_number);
std::bitset<12> read_msg_number(message_bin.substr(index, 12));
index += 12; index += 12;
if (DF002 != read_msg_number) if (1019 != read_msg_number)
{ {
LOG(WARNING) << " This is not a M1019 message"; LOG(WARNING) << " This is not a M1019 message";
return 1; return 1;
} }
// Fill Gps Ephemeris with message data content
gps_eph.i_satellite_PRN = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 6))); gps_eph.i_satellite_PRN = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
index += 6; index += 6;
// idea: define get_DFXXX? gps_eph.i_GPS_week = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
index += 10;
// Rtcm::set_DF002(msg_number); gps_eph.i_SV_accuracy = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 4)));
// Rtcm::set_DF009(gps_eph); index += 4;
// Rtcm::set_DF076(gps_eph);
// Rtcm::set_DF077(gps_eph);
// Rtcm::set_DF078(gps_eph);
// Rtcm::set_DF079(gps_eph);
// Rtcm::set_DF071(gps_eph);
// Rtcm::set_DF081(gps_eph);
// Rtcm::set_DF082(gps_eph);
// Rtcm::set_DF083(gps_eph);
// Rtcm::set_DF084(gps_eph);
// Rtcm::set_DF085(gps_eph);
// Rtcm::set_DF086(gps_eph);
// Rtcm::set_DF087(gps_eph);
// Rtcm::set_DF088(gps_eph);
// Rtcm::set_DF089(gps_eph);
// Rtcm::set_DF090(gps_eph);
// Rtcm::set_DF091(gps_eph);
// Rtcm::set_DF092(gps_eph);
// Rtcm::set_DF093(gps_eph);
// Rtcm::set_DF094(gps_eph);
// Rtcm::set_DF095(gps_eph);
// Rtcm::set_DF096(gps_eph);
// Rtcm::set_DF097(gps_eph);
// Rtcm::set_DF098(gps_eph);
// Rtcm::set_DF099(gps_eph);
// Rtcm::set_DF100(gps_eph);
// Rtcm::set_DF101(gps_eph);
// Rtcm::set_DF102(gps_eph);
// Rtcm::set_DF103(gps_eph);
// Rtcm::set_DF137(gps_eph);
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; return 0;
} }
// **********************************************
//
// MESSAGE TYPE 1045 (GALILEO EPHEMERIS)
//
// **********************************************
std::string Rtcm::print_M1045(const Galileo_Ephemeris & gal_eph) std::string Rtcm::print_M1045(const Galileo_Ephemeris & gal_eph)
{ {
unsigned int msg_number = 1045; 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 // DATA FIELDS AS DEFINED AT RTCM STANDARD 10403.2

65
src/core/system_parameters/rtcm.h
View File

@ -43,42 +43,57 @@
#include "gps_navigation_message.h" #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 class Rtcm
{ {
public: 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_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); 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: private:
// //
// Messages // Messages
@ -109,7 +124,7 @@ private:
std::bitset<58> get_M1001_sat_content(const Gnss_Synchro & gnss_synchro); 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<488> get_M1019(); // GPS ephemeris
//std::bitset<496> get_M1045(); // Galileo ephemeris //std::bitset<496> get_M1045(); // Galileo ephemeris
std::bitset<152> get_M1005_test(); std::bitset<152> get_M1005_test();
@ -124,9 +139,7 @@ private:
std::bitset<10> message_length; std::bitset<10> message_length;
std::bitset<24> crc_frame; std::bitset<24> crc_frame;
typedef boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> crc_24_q_type; typedef boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> crc_24_q_type;
std::string add_CRC(const std::string& m); 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 std::string build_message(std::string data); // adds 0s to complete a byte and adds the CRC

69
src/tests/formats/rtcm_test.cc
View File

@ -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) TEST(Rtcm_Test, Bin_to_double)
{ {
auto rtcm = std::make_shared<Rtcm>(); 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())); 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>(); auto rtcm = std::make_shared<Rtcm>();
std::string reference_msg = rtcm->print_M1005_test(); 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; unsigned int ref_id;
double ecef_x; double ecef_x;
double ecef_y; double ecef_y;
@ -160,13 +204,26 @@ TEST(Rtcm_Test, Test_Read_M1005)
EXPECT_DOUBLE_EQ(3975521.4643, ecef_z); EXPECT_DOUBLE_EQ(3975521.4643, ecef_z);
} }
TEST(Rtcm_Test, Check_CRC)
TEST(Rtcm_Test, Test_MT1019)
{ {
auto rtcm = std::make_shared<Rtcm>(); 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())); Gps_Ephemeris gps_eph = Gps_Ephemeris();
EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_M1005_test())); 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));
} }