Pass rtk struct to PVT block instead of opt_t

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -308,10 +308,51 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
             {}     /* char pppopt[256]   ppp option */
     };
 
-    rtklib_options = rtklib_configuration_options;
+    sol_t sol_ = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, '0', '0', '0', 0, 0, 0 };
+
+    ambc_t ambc_ = { {{0,0}, {0,0}, {0,0}, {0,0}}, {0, 0, 0, 0}, {}, {}, 0, {'0'}};
+
+    ssat_t ssat_ =  { '0', /* navigation system */
+            '0', /* valid satellite flag single */
+            {0.0}, /* azel[2] azimuth/elevation angles {az,el} (rad) */
+            {0.0}, /* residuals of pseudorange (m) */
+            {0.0}, /* residuals of carrier-phase (m) */
+            {'0'}, /* valid satellite flag */
+            {'0'}, /* signal strength (0.25 dBHz) */
+            {'0'}, /* ambiguity fix flag (1:fix,2:float,3:hold) */
+            {'0'}, /* cycle-slip flag */
+            {'0'}, /* half-cycle valid flag */
+            {},    /* lock counter of phase */
+            {},    /* obs outage counter of phase */
+            {},    /* cycle-slip counter */
+            {},    /* reject counter */
+            0.0,   /* geometry-free phase L1-L2 (m) */
+            0.0,   /* geometry-free phase L1-L5 (m) */
+            0.0,   /* MW-LC (m) */
+            0.0,   /* phase windup (cycle) */
+            {{{0,0}},{{0,0}}},  /* previous carrier-phase time */
+            {{},{}} /* previous carrier-phase observable (cycle) */
+    };
+
+    rtk = { sol_,  /* RTK solution */
+            {},          /* base position/velocity (ecef) (m|m/s) */
+            0,           /* number of float states */
+            0,           /* number of fixed states */
+            output_rate_ms / 1000.0,  /* time difference between current and previous (s) */
+            {},          /* float states */
+            {},          /* float states covariance */
+            {},          /* fixed states */
+            {},          /* fixed states covariance */
+            3,           /* number of continuous fixes of ambiguity */
+            {ambc_},     /* ambiguity control */
+            {ssat_},     /* satellite status */
+            0,           /* bytes in error message buffer */
+            {'0'},       /* error message buffer */
+            rtklib_configuration_options /* processing options */
+    };
 
     // make PVT object
-    pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_,  output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtklib_options);
+    pvt_ = rtklib_make_pvt_cc(in_streams_, dump_, dump_filename_,  output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, rinex_version, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname, type_of_receiver, rtk);
     DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
 }
 

src/algorithms/PVT/adapters/rtklib_pvt.h

@@ -58,7 +58,7 @@ public:
         return role_;
     }
 
-    //!  Returns "Hybrid_Pvt"
+    //!  Returns "RTKLIB_Pvt"
     std::string implementation()
     {
         return "RTKLIB_PVT";
@@ -82,7 +82,33 @@ public:
 
 private:
     rtklib_pvt_cc_sptr pvt_;
-    prcopt_t rtklib_options;
+
+    sol_t  sol_  = {{0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, {0,0,0,0,0,0}, '0', '0', '0', 0, 0, 0 };
+    ambc_t ambc_ = { {{0,0}, {0,0}, {0,0}, {0,0}}, {0, 0, 0, 0}, {}, {}, 0, {'0'}};
+    ssat_t ssat_ =  { '0', /* navigation system */
+            '0', /* valid satellite flag single */
+            {0.0}, /* azel[2] azimuth/elevation angles {az,el} (rad) */
+            {0.0}, /* residuals of pseudorange (m) */
+            {0.0}, /* residuals of carrier-phase (m) */
+            {'0'}, /* valid satellite flag */
+            {'0'}, /* signal strength (0.25 dBHz) */
+            {'0'}, /* ambiguity fix flag (1:fix,2:float,3:hold) */
+            {'0'}, /* cycle-slip flag */
+            {'0'}, /* half-cycle valid flag */
+            {},    /* lock counter of phase */
+            {},    /* obs outage counter of phase */
+            {},    /* cycle-slip counter */
+            {},    /* reject counter */
+            0.0,   /* geometry-free phase L1-L2 (m) */
+            0.0,   /* geometry-free phase L1-L5 (m) */
+            0.0,   /* MW-LC (m) */
+            0.0,   /* phase windup (cycle) */
+            {{{0,0}},{{0,0}}},  /* previous carrier-phase time */
+            {{},{}} /* previous carrier-phase observable (cycle) */
+    };
+
+    rtk_t rtk;
+
     bool dump_;
     std::string dump_filename_;
     std::string role_;

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc

@@ -60,7 +60,7 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
         std::map<int,int> rtcm_msg_rate_ms,
         std::string rtcm_dump_devname,
         const unsigned int type_of_receiver,
-        const prcopt_t rtklib_opt)
+        rtk_t & rtk)
 {
     return rtklib_pvt_cc_sptr(new rtklib_pvt_cc(nchannels,
             dump,
@@ -78,7 +78,7 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
             rtcm_msg_rate_ms,
             rtcm_dump_devname,
             type_of_receiver,
-            rtklib_opt));
+            rtk));
 }
 
 
@@ -202,7 +202,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
         int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port,
         std::string nmea_dump_filename, std::string nmea_dump_devname, int rinex_version,
         bool flag_rtcm_server, 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, const unsigned int type_of_receiver, const prcopt_t rtklib_opt) :
+        unsigned short rtcm_station_id, std::map<int,int> rtcm_msg_rate_ms, std::string rtcm_dump_devname, const unsigned int type_of_receiver, rtk_t & rtk) :
               gr::sync_block("rtklib_pvt_cc", gr::io_signature::make(nchannels, nchannels,  sizeof(Gnss_Synchro)),
               gr::io_signature::make(0, 0, 0))
 {
@@ -214,7 +214,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
     std::string dump_ls_pvt_filename = dump_filename;
     type_of_rx = type_of_receiver;
 
-    rtklib_options = rtklib_opt;
+    rtklib_options = rtk.opt;
 
     // GPS Ephemeris data message port in
     this->message_port_register_in(pmt::mp("telemetry"));

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h

@@ -67,7 +67,7 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
                                               std::map<int,int> rtcm_msg_rate_ms,
                                               std::string rtcm_dump_devname,
                                               const unsigned int type_of_receiver,
-                                              prcopt_t rtklib_opt);
+                                              rtk_t & rtk);
 
 /*!
  * \brief This class implements a block that computes the PVT solution with Galileo E1 signals
@@ -91,7 +91,7 @@ private:
                                                          std::map<int,int> rtcm_msg_rate_ms,
                                                          std::string rtcm_dump_devname,
                                                          const unsigned int type_of_receiver,
-                                                         const prcopt_t rtklib_opt);
+                                                         rtk_t & rtk);
 
     void msg_handler_telemetry(pmt::pmt_t msg);
 
@@ -162,7 +162,7 @@ public:
                     std::map<int,int> rtcm_msg_rate_ms,
                     std::string rtcm_dump_devname,
                     const unsigned int type_of_receiver,
-                    const prcopt_t rtklib_opt);
+                    rtk_t & rtk);
 
     /*!
      * \brief Get latest set of GPS L1 ephemeris from PVT block