mirror of
https://github.com/gnss-sdr/gnss-sdr
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Added TTY serial device NMEA output (Linux only)
git-svn-id: https://svn.code.sf.net/p/gnss-sdr/code/trunk@236 64b25241-fba3-4117-9849-534c7e92360d
This commit is contained in:
Javier Arribas
parent
598512529f
commit
cee0dd320d
458
conf/gnss-sdr_nmea_tty_output.conf
Normal file
458
conf/gnss-sdr_nmea_tty_output.conf
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@ -0,0 +1,458 @@
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; Default configuration file
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; You can define your own receiver and invoke it by doing
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; gnss-sdr --config_file=my_GNSS_SDR_configuration.conf
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;
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[GNSS-SDR]
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;######### GLOBAL OPTIONS ##################
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;internal_fs_hz: Internal signal sampling frequency after the signal conditioning stage [Hz].
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GNSS-SDR.internal_fs_hz=5000000
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;######### CONTROL_THREAD CONFIG ############
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ControlThread.wait_for_flowgraph=false
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;######### SIGNAL_SOURCE CONFIG ############
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;#implementation: Use [File_Signal_Source] or [UHD_Signal_Source] or [GN3S_Signal_Source] or [Rtlsdr_Signal_Source]
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SignalSource.implementation=File_Signal_Source
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;#filename: path to file with the captured GNSS signal samples to be processed
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SignalSource.filename=/media/DATALOGGER_/signals/CTTC captures/cap_fs_5MHz_antenna_suelta_and_front_end_tejado_cttc.dat
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;#item_type: Type and resolution for each of the signal samples.
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;#Use gr_complex for 32 bits float I/Q or short for I/Q interleaved short integer.
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;#If short is selected you should have to instantiate the Ishort_To_Complex data_type_adapter.
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SignalSource.item_type=short
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;#sampling_frequency: Original Signal sampling frequency in [Hz]
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SignalSource.sampling_frequency=5000000
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;#freq: RF front-end center frequency in [Hz]
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SignalSource.freq=1575420000
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;#gain: Front-end Gain in [dB]
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SignalSource.gain=60
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;#AGC_enabled: RTLSDR AGC enabled [true or false]
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SignalSource.AGC_enabled=true
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;#subdevice: UHD subdevice specification (for USRP1 use A:0 or B:0)
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SignalSource.subdevice=B:0
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;#samples: Number of samples to be processed. Notice that 0 indicates the entire file.
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SignalSource.samples=0
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;#repeat: Repeat the processing file. Disable this option in this version
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SignalSource.repeat=false
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;#dump: Dump the Signal source data to a file. Disable this option in this version
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SignalSource.dump=false
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SignalSource.dump_filename=../data/signal_source.dat
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;#enable_throttle_control: Enabling this option tells the signal source to keep the delay between samples in post processing.
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; it helps to not overload the CPU, but the processing time will be longer.
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SignalSource.enable_throttle_control=false
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;######### SIGNAL_CONDITIONER CONFIG ############
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;## It holds blocks to change data type, filter and resample input data.
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;#implementation: Use [Pass_Through] or [Signal_Conditioner]
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;#[Pass_Through] disables this block and the [DataTypeAdapter], [InputFilter] and [Resampler] blocks
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;#[Signal_Conditioner] enables this block. Then you have to configure [DataTypeAdapter], [InputFilter] and [Resampler] blocks
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SignalConditioner.implementation=Signal_Conditioner
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;SignalConditioner.implementation=Pass_Through
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;######### DATA_TYPE_ADAPTER CONFIG ############
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;## Changes the type of input data. Please disable it in this version.
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;#implementation: Use [Ishort_To_Complex] or [Pass_Through]
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DataTypeAdapter.implementation=Ishort_To_Complex
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;#dump: Dump the filtered data to a file.
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DataTypeAdapter.dump=false
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;#dump_filename: Log path and filename.
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DataTypeAdapter.dump_filename=../data/data_type_adapter.dat
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;######### INPUT_FILTER CONFIG ############
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;## Filter the input data. Can be combined with frequency translation for IF signals
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;#implementation: Use [Pass_Through] or [Fir_Filter] or [Freq_Xlating_Fir_Filter]
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;#[Pass_Through] disables this block
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;#[Fir_Filter] enables a FIR Filter
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;#[Freq_Xlating_Fir_Filter] enables FIR filter and a composite frequency translation that shifts IF down to zero Hz.
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;InputFilter.implementation=Fir_Filter
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;InputFilter.implementation=Freq_Xlating_Fir_Filter
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InputFilter.implementation=Pass_Through
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;#dump: Dump the filtered data to a file.
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InputFilter.dump=false
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;#dump_filename: Log path and filename.
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InputFilter.dump_filename=../data/input_filter.dat
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;#The following options are used in the filter design of Fir_Filter and Freq_Xlating_Fir_Filter implementation.
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;#These options are based on parameters of gnuradio's function: gr_remez.
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;#These function calculates the optimal (in the Chebyshev/minimax sense) FIR filter inpulse reponse given a set of band edges, the desired reponse on those bands, and the weight given to the error in those bands.
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;#input_item_type: Type and resolution for input signal samples. Use only gr_complex in this version.
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InputFilter.input_item_type=gr_complex
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;#outut_item_type: Type and resolution for output filtered signal samples. Use only gr_complex in this version.
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InputFilter.output_item_type=gr_complex
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;#taps_item_type: Type and resolution for the taps of the filter. Use only float in this version.
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InputFilter.taps_item_type=float
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;#number_of_taps: Number of taps in the filter. Increasing this parameter increases the processing time
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InputFilter.number_of_taps=5
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;#number_of _bands: Number of frequency bands in the filter.
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InputFilter.number_of_bands=2
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;#bands: frequency at the band edges [ b1 e1 b2 e2 b3 e3 ...].
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;#Frequency is in the range [0, 1], with 1 being the Nyquist frequency (Fs/2)
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;#The number of band_begin and band_end elements must match the number of bands
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InputFilter.band1_begin=0.0
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;InputFilter.band1_end=0.8
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InputFilter.band1_end=0.85
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InputFilter.band2_begin=0.90
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InputFilter.band2_end=1.0
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;#ampl: desired amplitude at the band edges [ a(b1) a(e1) a(b2) a(e2) ...].
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;#The number of ampl_begin and ampl_end elements must match the number of bands
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InputFilter.ampl1_begin=1.0
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InputFilter.ampl1_end=1.0
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InputFilter.ampl2_begin=0.0
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InputFilter.ampl2_end=0.0
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;#band_error: weighting applied to each band (usually 1).
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;#The number of band_error elements must match the number of bands
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InputFilter.band1_error=1.0
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InputFilter.band2_error=1.0
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;#filter_type: one of "bandpass", "hilbert" or "differentiator"
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InputFilter.filter_type=bandpass
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;#grid_density: determines how accurately the filter will be constructed.
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;The minimum value is 16; higher values are slower to compute the filter.
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InputFilter.grid_density=16
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;#The following options are used only in Freq_Xlating_Fir_Filter implementation.
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;#InputFilter.IF is the intermediate frequency (in Hz) shifted down to zero Hz
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InputFilter.sampling_frequency=5000000
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InputFilter.IF=14821
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;######### RESAMPLER CONFIG ############
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;## Resamples the input data.
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;#implementation: Use [Pass_Through] or [Direct_Resampler]
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;#[Pass_Through] disables this block
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;#[Direct_Resampler] enables a resampler that implements a nearest neigbourhood interpolation
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;Resampler.implementation=Direct_Resampler
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Resampler.implementation=Pass_Through
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;#dump: Dump the resamplered data to a file.
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Resampler.dump=false
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;#dump_filename: Log path and filename.
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Resampler.dump_filename=../data/resampler.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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Resampler.item_type=gr_complex
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;#sample_freq_in: the sample frequency of the input signal
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Resampler.sample_freq_in=5000000
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;#sample_freq_out: the desired sample frequency of the output signal
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Resampler.sample_freq_out=5000000
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;######### CHANNELS GLOBAL CONFIG ############
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;#count: Number of available satellite channels.
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Channels.count=5
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;#in_acquisition: Number of channels simultaneously acquiring
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Channels.in_acquisition=1
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;######### CHANNEL 0 CONFIG ############
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;#system: GPS, GLONASS, GALILEO, SBAS or COMPASS
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;#if the option is disabled by default is assigned GPS
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Channel0.system=GPS
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;#signal:
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;# "1C" GPS L1 C/A
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;# "1P" GPS L1 P
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;# "1W" GPS L1 Z-tracking and similar (AS on)
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;# "1Y" GPS L1 Y
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;# "1M" GPS L1 M
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;# "1N" GPS L1 codeless
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;# "2C" GPS L2 C/A
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;# "2D" GPS L2 L1(C/A)+(P2-P1) semi-codeless
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;# "2S" GPS L2 L2C (M)
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;# "2L" GPS L2 L2C (L)
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;# "2X" GPS L2 L2C (M+L)
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;# "2P" GPS L2 P
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;# "2W" GPS L2 Z-tracking and similar (AS on)
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;# "2Y" GPS L2 Y
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;# "2M" GPS GPS L2 M
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;# "2N" GPS L2 codeless
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;# "5I" GPS L5 I
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;# "5Q" GPS L5 Q
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;# "5X" GPS L5 I+Q
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;# "1C" GLONASS G1 C/A
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;# "1P" GLONASS G1 P
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;# "2C" GLONASS G2 C/A (Glonass M)
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;# "2P" GLONASS G2 P
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;# "1A" GALILEO E1 A (PRS)
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;# "1B" GALILEO E1 B (I/NAV OS/CS/SoL)
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;# "1C" GALILEO E1 C (no data)
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;# "1X" GALILEO E1 B+C
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;# "1Z" GALILEO E1 A+B+C
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;# "5I" GALILEO E5a I (F/NAV OS)
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;# "5Q" GALILEO E5a Q (no data)
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;# "5X" GALILEO E5a I+Q
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;# "7I" GALILEO E5b I
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;# "7Q" GALILEO E5b Q
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;# "7X" GALILEO E5b I+Q
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;# "8I" GALILEO E5 I
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;# "8Q" GALILEO E5 Q
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;# "8X" GALILEO E5 I+Q
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;# "6A" GALILEO E6 A
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;# "6B" GALILEO E6 B
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;# "6C" GALILEO E6 C
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;# "6X" GALILEO E6 B+C
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;# "6Z" GALILEO E6 A+B+C
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;# "1C" SBAS L1 C/A
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;# "5I" SBAS L5 I
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;# "5Q" SBAS L5 Q
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;# "5X" SBAS L5 I+Q
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;# "2I" COMPASS E2 I
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;# "2Q" COMPASS E2 Q
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;# "2X" COMPASS E2 IQ
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;# "7I" COMPASS E5b I
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;# "7Q" COMPASS E5b Q
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;# "7X" COMPASS E5b IQ
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;# "6I" COMPASS E6 I
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;# "6Q" COMPASS E6 Q
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;# "6X" COMPASS E6 IQ
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;#if the option is disabled by default is assigned "1C" GPS L1 C/A
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Channel0.signal=1C
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;#satellite: Satellite PRN ID for this channel. Disable this option to random search
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Channel0.satellite=15
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Channel0.repeat_satellite=false
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;######### CHANNEL 1 CONFIG ############
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Channel1.system=GPS
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Channel1.signal=1C
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Channel1.satellite=18
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Channel1.repeat_satellite=false
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;######### CHANNEL 2 CONFIG ############
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Channel2.system=GPS
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Channel2.signal=1C
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Channel2.satellite=16
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Channel2.repeat_satellite=false
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;######### CHANNEL 3 CONFIG ############
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Channel3.system=GPS
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Channel3.signal=1C
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Channel3.satellite=21
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Channel3.repeat_satellite=false
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;######### CHANNEL 4 CONFIG ############
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Channel4.system=GPS
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Channel4.signal=1C
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Channel4.satellite=3
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Channel4.repeat_satellite=false
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;######### CHANNEL 5 CONFIG ############
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Channel5.system=GPS
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Channel5.signal=1C
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;Channel5.satellite=21
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;Channel5.repeat_satellite=false
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;######### ACQUISITION GLOBAL CONFIG ############
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;#dump: Enable or disable the acquisition internal data file logging [true] or [false]
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Acquisition.dump=false
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;#filename: Log path and filename
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Acquisition.dump_filename=./acq_dump.dat
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;#item_type: Type and resolution for each of the signal samples. Use only gr_complex in this version.
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Acquisition.item_type=gr_complex
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;#if: Signal intermediate frequency in [Hz]
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Acquisition.if=0
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;#sampled_ms: Signal block duration for the acquisition signal detection [ms]
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Acquisition.sampled_ms=1
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;######### ACQUISITION CHANNELS CONFIG ######
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;######### ACQUISITION CH 0 CONFIG ############
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;#implementation: Acquisition algorithm selection for this channel: [GPS_L1_CA_PCPS_Acquisition]
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Acquisition0.implementation=GPS_L1_CA_PCPS_Acquisition
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;#threshold: Acquisition threshold
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Acquisition0.threshold=70
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;#doppler_max: Maximum expected Doppler shift [Hz]
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Acquisition0.doppler_max=10000
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;#doppler_max: Doppler step in the grid search [Hz]
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Acquisition0.doppler_step=250
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;#repeat_satellite: Use only jointly with the satellte PRN ID option.
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;######### ACQUISITION CH 1 CONFIG ############
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Acquisition1.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition1.threshold=70
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Acquisition1.doppler_max=10000
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Acquisition1.doppler_step=250
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;######### ACQUISITION CH 2 CONFIG ############
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Acquisition2.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition2.threshold=70
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Acquisition2.doppler_max=10000
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Acquisition2.doppler_step=250
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;######### ACQUISITION CH 3 CONFIG ############
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Acquisition3.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition3.threshold=70
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Acquisition3.doppler_max=10000
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Acquisition3.doppler_step=250
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;######### ACQUISITION CH 4 CONFIG ############
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Acquisition4.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition4.threshold=70
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Acquisition4.doppler_max=10000
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Acquisition4.doppler_step=250
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;######### ACQUISITION CH 5 CONFIG ############
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Acquisition5.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition5.threshold=50
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Acquisition5.doppler_max=10000
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Acquisition5.doppler_step=250
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;######### ACQUISITION CH 6 CONFIG ############
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Acquisition6.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition6.threshold=70
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Acquisition6.doppler_max=10000
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Acquisition6.doppler_step=250
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;######### ACQUISITION CH 7 CONFIG ############
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Acquisition7.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition7.threshold=70
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Acquisition7.doppler_max=10000
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Acquisition7.doppler_step=250
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;######### ACQUISITION CH 8 CONFIG ############
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Acquisition8.implementation=GPS_L1_CA_PCPS_Acquisition
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Acquisition8.threshold=70
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Acquisition8.doppler_max=10000
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Acquisition8.doppler_step=250
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;######### TRACKING GLOBAL CONFIG ############
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;#implementation: Selected tracking algorithm: [GPS_L1_CA_DLL_PLL_Tracking] or [GPS_L1_CA_DLL_FLL_PLL_Tracking]
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Tracking.implementation=GPS_L1_CA_DLL_PLL_Tracking
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;#item_type: Type and resolution for each of the signal samples. Use only [gr_complex] in this version.
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Tracking.item_type=gr_complex
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;#sampling_frequency: Signal Intermediate Frequency in [Hz]
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Tracking.if=0
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;#dump: Enable or disable the Tracking internal binary data file logging [true] or [false]
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Tracking.dump=false
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;#dump_filename: Log path and filename. Notice that the tracking channel will add "x.dat" where x is the channel number.
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Tracking.dump_filename=./tracking_ch_
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;#pll_bw_hz: PLL loop filter bandwidth [Hz]
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Tracking.pll_bw_hz=50.0;
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;#dll_bw_hz: DLL loop filter bandwidth [Hz]
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Tracking.dll_bw_hz=4.0;
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;#fll_bw_hz: FLL loop filter bandwidth [Hz]
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Tracking.fll_bw_hz=10.0;
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;#order: PLL/DLL loop filter order [2] or [3]
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Tracking.order=3;
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;#early_late_space_chips: correlator early-late space [chips]. Use [0.5]
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Tracking.early_late_space_chips=0.5;
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;######### TELEMETRY DECODER CONFIG ############
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;#implementation: Use [GPS_L1_CA_Telemetry_Decoder] for GPS L1 C/A.
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TelemetryDecoder.implementation=GPS_L1_CA_Telemetry_Decoder
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TelemetryDecoder.dump=false
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;######### OBSERVABLES CONFIG ############
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;#implementation: Use [GPS_L1_CA_Observables] for GPS L1 C/A.
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Observables.implementation=GPS_L1_CA_Observables
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;#dump: Enable or disable the Observables internal binary data file logging [true] or [false]
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Observables.dump=false
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;#dump_filename: Log path and filename.
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Observables.dump_filename=./observables.dat
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;######### PVT CONFIG ############
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;#implementation: Position Velocity and Time (PVT) implementation algorithm: Use [GPS_L1_CA_PVT] in this version.
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PVT.implementation=GPS_L1_CA_PVT
|
||||
|
||||
;#averaging_depth: Number of PVT observations in the moving average algorithm
|
||||
PVT.averaging_depth=10
|
||||
|
||||
;#flag_average: Enables the PVT averaging between output intervals (arithmetic mean) [true] or [false]
|
||||
PVT.flag_averaging=true
|
||||
|
||||
;#output_rate_ms: Period between two PVT outputs. Notice that the minimum period is equal to the tracking integration time (for GPS CA L1 is 1ms) [ms]
|
||||
PVT.output_rate_ms=100
|
||||
|
||||
;#display_rate_ms: Position console print (std::out) interval [ms]. Notice that output_rate_ms<=display_rate_ms.
|
||||
PVT.display_rate_ms=500
|
||||
|
||||
;# RINEX, KML, and NMEA output configuration
|
||||
|
||||
;#dump_filename: Log path and filename without extension. Notice that PVT will add ".dat" to the binary dump and ".kml" to GoogleEarth dump.
|
||||
PVT.dump_filename=./PVT
|
||||
|
||||
;#nmea_dump_filename: NMEA log path and filename
|
||||
PVT.nmea_dump_filename=./gnss_sdr_pvt.nmea;
|
||||
|
||||
;#flag_nmea_tty_port: Enable or disable the NMEA log to a serial TTY port (Can be used with real hardware or virtual one)
|
||||
PVT.flag_nmea_tty_port=true;
|
||||
|
||||
;#nmea_dump_devname: serial device descriptor for NMEA logging
|
||||
PVT.nmea_dump_devname=/dev/pts/4
|
||||
|
||||
|
||||
;#dump: Enable or disable the PVT internal binary data file logging [true] or [false]
|
||||
PVT.dump=false
|
||||
|
||||
|
||||
;######### OUTPUT_FILTER CONFIG ############
|
||||
;# Receiver output filter: Leave this block disabled in this version
|
||||
OutputFilter.implementation=Null_Sink_Output_Filter
|
||||
OutputFilter.filename=data/gnss-sdr.dat
|
||||
OutputFilter.item_type=gr_complex
|
||||
@ -54,6 +54,8 @@ GpsL1CaPvt::GpsL1CaPvt(ConfigurationInterface* configuration,
|
||||
{
|
||||
|
||||
std::string default_dump_filename = "./pvt.dat";
|
||||
std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
|
||||
std::string default_nmea_dump_devname = "/dev/tty1";
|
||||
|
||||
DLOG(INFO) << "role " << role;
|
||||
|
||||
@ -71,7 +73,16 @@ GpsL1CaPvt::GpsL1CaPvt(ConfigurationInterface* configuration,
|
||||
dump_ = configuration->property(role + ".dump", false);
|
||||
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
|
||||
|
||||
pvt_ = gps_l1_ca_make_pvt_cc(in_streams_, queue_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms);
|
||||
// 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);
|
||||
|
||||
pvt_ = gps_l1_ca_make_pvt_cc(in_streams_, queue_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms,flag_nmea_tty_port,nmea_dump_filename,nmea_dump_devname);
|
||||
|
||||
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
|
||||
// set the navigation msg queue;
|
||||
|
||||
@ -47,13 +47,13 @@ using google::LogMessage;
|
||||
|
||||
|
||||
gps_l1_ca_pvt_cc_sptr
|
||||
gps_l1_ca_make_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms)
|
||||
gps_l1_ca_make_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, 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)
|
||||
{
|
||||
return gps_l1_ca_pvt_cc_sptr(new gps_l1_ca_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms));
|
||||
return gps_l1_ca_pvt_cc_sptr(new gps_l1_ca_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname));
|
||||
}
|
||||
|
||||
|
||||
gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms) :
|
||||
gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, 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) :
|
||||
gr_block ("gps_l1_ca_pvt_cc", gr_make_io_signature (nchannels, nchannels, sizeof(Gnss_Synchro)),
|
||||
gr_make_io_signature(1, 1, sizeof(gr_complex)))
|
||||
{
|
||||
@ -74,10 +74,7 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr que
|
||||
d_kml_dump.set_headers(kml_dump_filename);
|
||||
|
||||
//initialize nmea_printer
|
||||
std::string nmea_dump_filename;
|
||||
nmea_dump_filename = d_dump_filename;
|
||||
nmea_dump_filename.append(".nmea");
|
||||
d_nmea_printer=new Nmea_Printer(nmea_dump_filename);
|
||||
d_nmea_printer=new Nmea_Printer(nmea_dump_filename,flag_nmea_tty_port,nmea_dump_devname);
|
||||
|
||||
d_dump_filename.append("_raw.dat");
|
||||
dump_ls_pvt_filename.append("_ls_pvt.dat");
|
||||
|
||||
@ -49,7 +49,7 @@ class gps_l1_ca_pvt_cc;
|
||||
typedef boost::shared_ptr<gps_l1_ca_pvt_cc> gps_l1_ca_pvt_cc_sptr;
|
||||
|
||||
gps_l1_ca_pvt_cc_sptr
|
||||
gps_l1_ca_make_pvt_cc(unsigned int n_channels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms);
|
||||
gps_l1_ca_make_pvt_cc(unsigned int n_channels, gr_msg_queue_sptr queue, 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);
|
||||
|
||||
/*!
|
||||
* \brief This class implements a block that computes the PVT solution
|
||||
@ -60,9 +60,9 @@ class gps_l1_ca_pvt_cc : public gr_block
|
||||
private:
|
||||
|
||||
friend gps_l1_ca_pvt_cc_sptr
|
||||
gps_l1_ca_make_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms);
|
||||
gps_l1_ca_make_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, 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);
|
||||
|
||||
gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms);
|
||||
gps_l1_ca_pvt_cc(unsigned int nchannels, gr_msg_queue_sptr queue, 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);
|
||||
|
||||
gr_msg_queue_sptr d_queue;
|
||||
bool d_dump;
|
||||
|
||||
@ -37,6 +37,8 @@
|
||||
#include <glog/logging.h>
|
||||
#include <gflags/gflags.h>
|
||||
#include "boost/date_time/posix_time/posix_time.hpp"
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
#include "GPS_L1_CA.h"
|
||||
#include "nmea_printer.h"
|
||||
|
||||
@ -44,7 +46,7 @@ using google::LogMessage;
|
||||
|
||||
//DEFINE_string(NMEA_version, "2.1", "Specifies the NMEA version (2.1)");
|
||||
|
||||
Nmea_Printer::Nmea_Printer(std::string filename)
|
||||
Nmea_Printer::Nmea_Printer(std::string filename, bool flag_nmea_tty_port, std::string nmea_dump_devname)
|
||||
{
|
||||
nmea_filename=filename;
|
||||
nmea_file_descriptor.open(nmea_filename.c_str(), std::ios::out);
|
||||
@ -52,6 +54,19 @@ Nmea_Printer::Nmea_Printer(std::string filename)
|
||||
{
|
||||
DLOG(INFO) << "NMEA printer writing on " << nmea_filename.c_str();
|
||||
}
|
||||
|
||||
nmea_devname=nmea_dump_devname;
|
||||
if (flag_nmea_tty_port==true)
|
||||
{
|
||||
|
||||
nmea_dev_descriptor=init_serial(nmea_devname.c_str());
|
||||
if (nmea_dev_descriptor!=-1)
|
||||
{
|
||||
DLOG(INFO) << "NMEA printer writing on " << nmea_devname.c_str();
|
||||
}
|
||||
}else{
|
||||
nmea_dev_descriptor=-1;
|
||||
}
|
||||
}
|
||||
|
||||
Nmea_Printer::~Nmea_Printer()
|
||||
@ -60,30 +75,112 @@ Nmea_Printer::~Nmea_Printer()
|
||||
{
|
||||
nmea_file_descriptor.close();
|
||||
}
|
||||
close_serial();
|
||||
}
|
||||
|
||||
|
||||
int Nmea_Printer::init_serial (std::string serial_device) {
|
||||
/*!
|
||||
* Opens the serial device and sets the deffault baud rate for a NMEA transmission (9600,8,N,1)
|
||||
*/
|
||||
int fd = 0;
|
||||
struct termios options;
|
||||
|
||||
long BAUD;
|
||||
long DATABITS;
|
||||
long STOPBITS;
|
||||
long PARITYON;
|
||||
long PARITY;
|
||||
|
||||
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
|
||||
if (fd == -1) return fd; //failed to open TTY port
|
||||
|
||||
fcntl(fd, F_SETFL, 0); // clear all flags on descriptor, enable direct I/O
|
||||
tcgetattr(fd, &options); // read serial port options
|
||||
|
||||
BAUD = B9600;
|
||||
//BAUD = B38400;
|
||||
DATABITS = CS8;
|
||||
STOPBITS = 0;
|
||||
PARITYON = 0;
|
||||
PARITY = 0;
|
||||
|
||||
options.c_cflag = BAUD | DATABITS | STOPBITS | PARITYON | PARITY | CLOCAL | CREAD;
|
||||
// enable receiver, set 8 bit data, ignore control lines
|
||||
//options.c_cflag |= (CLOCAL | CREAD | CS8);
|
||||
options.c_iflag = IGNPAR;
|
||||
|
||||
// set the new port options
|
||||
tcsetattr(fd, TCSANOW, &options);
|
||||
return fd;
|
||||
}
|
||||
|
||||
void Nmea_Printer::close_serial ()
|
||||
{
|
||||
if (nmea_dev_descriptor != -1)
|
||||
{
|
||||
close(nmea_dev_descriptor);
|
||||
}
|
||||
}
|
||||
|
||||
bool Nmea_Printer::Print_Nmea_Line(gps_l1_ca_ls_pvt* pvt_data, bool print_average_values)
|
||||
{
|
||||
|
||||
std::string GPRMC;
|
||||
std::string GPGGA;
|
||||
std::string GPGSA;
|
||||
std::string GPGSV;
|
||||
|
||||
// set the new PVT data
|
||||
d_PVT_data=pvt_data;
|
||||
|
||||
// generate the NMEA sentences
|
||||
|
||||
//GPRMC
|
||||
GPRMC=get_GPRMC();
|
||||
//GPGGA (Global Positioning System Fixed Data)
|
||||
GPGGA=get_GPGGA();
|
||||
//GPGSA
|
||||
GPGSA=get_GPGSA();
|
||||
//GPGSV
|
||||
GPGSV=get_GPGSV();
|
||||
|
||||
// write to log file
|
||||
try{
|
||||
//GPRMC
|
||||
nmea_file_descriptor<<get_GPRMC();
|
||||
nmea_file_descriptor<<GPRMC;
|
||||
//GPGGA (Global Positioning System Fixed Data)
|
||||
nmea_file_descriptor<<get_GPGGA();
|
||||
nmea_file_descriptor<<GPGGA;
|
||||
//GPGSA
|
||||
nmea_file_descriptor<<get_GPGSA();
|
||||
nmea_file_descriptor<<GPGSA;
|
||||
//GPGSV
|
||||
nmea_file_descriptor<<get_GPGSV();
|
||||
nmea_file_descriptor<<GPGSV;
|
||||
|
||||
}catch(std::exception ex)
|
||||
{
|
||||
DLOG(INFO) << "NMEA printer can not write on output file" << nmea_filename.c_str();;
|
||||
}
|
||||
|
||||
//write to serial device
|
||||
if (nmea_dev_descriptor!=-1)
|
||||
{
|
||||
try{
|
||||
int n_bytes_written;
|
||||
//GPRMC
|
||||
n_bytes_written=write(nmea_dev_descriptor, GPRMC.c_str(), GPRMC.length());
|
||||
//GPGGA (Global Positioning System Fixed Data)
|
||||
n_bytes_written=write(nmea_dev_descriptor, GPGGA.c_str(), GPGGA.length());
|
||||
//GPGSA
|
||||
n_bytes_written=write(nmea_dev_descriptor, GPGSA.c_str(), GPGSA.length());
|
||||
//GPGSV
|
||||
n_bytes_written=write(nmea_dev_descriptor, GPGSV.c_str(), GPGSV.length());
|
||||
|
||||
}catch(std::exception ex)
|
||||
{
|
||||
DLOG(INFO) << "NMEA printer can not write on serial device" << nmea_filename.c_str();;
|
||||
}
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
|
||||
@ -47,7 +47,7 @@ public:
|
||||
/*!
|
||||
* \brief Default constructor.
|
||||
*/
|
||||
Nmea_Printer(std::string filename);
|
||||
Nmea_Printer(std::string filename, bool flag_nmea_tty_port, std::string nmea_dump_filename);
|
||||
|
||||
/*!
|
||||
* \brief Print NMEA PVT and satellite info to the initialized device
|
||||
@ -63,9 +63,14 @@ public:
|
||||
private:
|
||||
std::string nmea_filename ; //<! String with the NMEA log filename
|
||||
std::ofstream nmea_file_descriptor ; //<! Output file stream for NMEA log file
|
||||
std::string nmea_devname;
|
||||
int nmea_dev_descriptor ; //<! NMEA serial device descriptor (i.e. COM port)
|
||||
|
||||
gps_l1_ca_ls_pvt* d_PVT_data;
|
||||
|
||||
int init_serial (std::string serial_device); //serial port control
|
||||
void close_serial ();
|
||||
|
||||
std::string get_GPGGA();
|
||||
std::string get_GPGSV();
|
||||
std::string get_GPGSA();
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user