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Expose Galileo RTCM messages rate to the PVT configuration

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This commit is contained in:
Carles Fernandez 2016-05-07 23:15:17 +02:00
parent 818e09536b
commit cdbba89996
7 changed files with 97 additions and 31 deletions
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1
src/algorithms/PVT/adapters/CMakeLists.txt
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@ -30,6 +30,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/gnuradio_blocks
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${ARMADILLO_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}

65
src/algorithms/PVT/adapters/galileo_e1_pvt.cc
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@ -32,6 +32,7 @@
#include "galileo_e1_pvt.h"
#include <boost/math/common_factor_rt.hpp>
#include <glog/logging.h>
#include "configuration_interface.h"
@ -52,37 +53,59 @@ GalileoE1Pvt::GalileoE1Pvt(ConfigurationInterface* configuration,
std::string default_nmea_dump_devname = "/dev/tty1";
std::string default_rtcm_dump_devname = "/dev/pts/1";
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_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);
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_MSM_rate_ms;
}
// make PVT object
pvt_ = galileo_e1_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_ = galileo_e1_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() << ")";
}

21
src/algorithms/PVT/adapters/gps_l1_ca_pvt.cc
View File

@ -32,11 +32,11 @@
#include "gps_l1_ca_pvt.h"
#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 <glog/logging.h>
#include "configuration_interface.h"
using google::LogMessage;
@ -104,10 +104,27 @@ GpsL1CaPvt::GpsL1CaPvt(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_ = gps_l1_ca_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 );
pvt_ = gps_l1_ca_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() << ")";
}
bool GpsL1CaPvt::save_assistance_to_XML()
{
// return variable (true == succeeded)

1
src/algorithms/PVT/gnuradio_blocks/CMakeLists.txt
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@ -29,6 +29,7 @@ include_directories(
${CMAKE_SOURCE_DIR}/src/core/receiver
${CMAKE_SOURCE_DIR}/src/algorithms/PVT/libs
${ARMADILLO_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${GLOG_INCLUDE_DIRS}
${GFlags_INCLUDE_DIRS}
${GNURADIO_RUNTIME_INCLUDE_DIRS}

30
src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
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@ -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>
@ -44,11 +45,11 @@ using google::LogMessage;
galileo_e1_pvt_cc_sptr galileo_e1_make_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename, 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)
{
return galileo_e1_pvt_cc_sptr(new galileo_e1_pvt_cc(nchannels, 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));
flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname));
}
@ -108,7 +109,7 @@ void galileo_e1_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, bool dump, std::string dump_filename, 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("galileo_e1_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)), gr::io_signature::make(0, 0, sizeof(gr_complex)))
{
d_output_rate_ms = output_rate_ms;
@ -143,6 +144,23 @@ galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, bool dump, std::str
unsigned short _port = rtcm_tcp_port;
unsigned short _station_id = rtcm_station_id;
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, _port, _station_id, rtcm_dump_devname);
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(1071) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
{
d_rtcm_MSM_rate_ms = rtcm_msg_rate_ms[1071];
}
else
{
d_rtcm_MSM_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");
@ -158,7 +176,7 @@ galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, bool dump, std::str
b_rinex_header_writen = false;
b_rinex_header_updated = false;
b_rtcm_writing_started = false;
rp = std::make_shared<Rinex_Printer>();
d_last_status_print_seg = 0;
@ -289,14 +307,14 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
if(b_rtcm_writing_started)
{
if((d_sample_counter % (5000 / 4) ) == 0) // every 5 seconds
if((d_sample_counter % (d_rtcm_MT1045_rate_ms / 4) ) == 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);
}
}
if((d_sample_counter % (1000 / 4) ) == 0) // every second
if((d_sample_counter % (d_rtcm_MSM_rate_ms / 4) ) == 0)
{
std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter;
gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();

5
src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.h
View File

@ -61,6 +61,7 @@ galileo_e1_pvt_cc_sptr galileo_e1_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);
galileo_e1_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);
@ -118,6 +121,8 @@ private:
int d_display_rate_ms;
long unsigned int d_sample_counter;
long unsigned int d_last_sample_nav_output;
int d_rtcm_MT1045_rate_ms;
int d_rtcm_MSM_rate_ms;
std::shared_ptr<Rinex_Printer> rp;
std::shared_ptr<Kml_Printer> d_kml_dump;

5
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
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@ -32,6 +32,7 @@
#include <iostream>
#include <map>
#include <utility>
#include <boost/math/common_factor_rt.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
@ -235,7 +236,7 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
}
else
{
d_rtcm_MT1019_rate_ms = 5000; // default value if not set
d_rtcm_MT1019_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
}
if(rtcm_msg_rate_ms.find(1071) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
{
@ -243,7 +244,7 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
}
else
{
d_rtcm_MSM_rate_ms = 1000; // default value if not set
d_rtcm_MSM_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
}
b_rtcm_writing_started = false;