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https://github.com/gnss-sdr/gnss-sdr
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Pass rtk struct to PVT block instead of opt_t
This commit is contained in:
Carles Fernandez
parent
b5d3f626f4
commit
d127f6adb8
@ -308,10 +308,51 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
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{} /* char pppopt[256] ppp option */
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};
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rtklib_options = rtklib_configuration_options;
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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 };
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ambc_t ambc_ = { {{0,0}, {0,0}, {0,0}, {0,0}}, {0, 0, 0, 0}, {}, {}, 0, {'0'}};
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ssat_t ssat_ = { '0', /* navigation system */
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'0', /* valid satellite flag single */
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{0.0}, /* azel[2] azimuth/elevation angles {az,el} (rad) */
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{0.0}, /* residuals of pseudorange (m) */
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{0.0}, /* residuals of carrier-phase (m) */
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{'0'}, /* valid satellite flag */
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{'0'}, /* signal strength (0.25 dBHz) */
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{'0'}, /* ambiguity fix flag (1:fix,2:float,3:hold) */
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{'0'}, /* cycle-slip flag */
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{'0'}, /* half-cycle valid flag */
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{}, /* lock counter of phase */
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{}, /* obs outage counter of phase */
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{}, /* cycle-slip counter */
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{}, /* reject counter */
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0.0, /* geometry-free phase L1-L2 (m) */
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0.0, /* geometry-free phase L1-L5 (m) */
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0.0, /* MW-LC (m) */
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0.0, /* phase windup (cycle) */
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{{{0,0}},{{0,0}}}, /* previous carrier-phase time */
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{{},{}} /* previous carrier-phase observable (cycle) */
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};
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rtk = { sol_, /* RTK solution */
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{}, /* base position/velocity (ecef) (m|m/s) */
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0, /* number of float states */
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0, /* number of fixed states */
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output_rate_ms / 1000.0, /* time difference between current and previous (s) */
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{}, /* float states */
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{}, /* float states covariance */
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{}, /* fixed states */
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{}, /* fixed states covariance */
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3, /* number of continuous fixes of ambiguity */
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{ambc_}, /* ambiguity control */
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{ssat_}, /* satellite status */
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0, /* bytes in error message buffer */
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{'0'}, /* error message buffer */
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rtklib_configuration_options /* processing options */
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};
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// make PVT object
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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);
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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);
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DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
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}
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@ -58,7 +58,7 @@ public:
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return role_;
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}
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//! Returns "Hybrid_Pvt"
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//! Returns "RTKLIB_Pvt"
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std::string implementation()
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{
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return "RTKLIB_PVT";
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@ -82,7 +82,33 @@ public:
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private:
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rtklib_pvt_cc_sptr pvt_;
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prcopt_t rtklib_options;
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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 };
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ambc_t ambc_ = { {{0,0}, {0,0}, {0,0}, {0,0}}, {0, 0, 0, 0}, {}, {}, 0, {'0'}};
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ssat_t ssat_ = { '0', /* navigation system */
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'0', /* valid satellite flag single */
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{0.0}, /* azel[2] azimuth/elevation angles {az,el} (rad) */
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{0.0}, /* residuals of pseudorange (m) */
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{0.0}, /* residuals of carrier-phase (m) */
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{'0'}, /* valid satellite flag */
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{'0'}, /* signal strength (0.25 dBHz) */
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{'0'}, /* ambiguity fix flag (1:fix,2:float,3:hold) */
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{'0'}, /* cycle-slip flag */
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{'0'}, /* half-cycle valid flag */
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{}, /* lock counter of phase */
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{}, /* obs outage counter of phase */
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{}, /* cycle-slip counter */
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{}, /* reject counter */
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0.0, /* geometry-free phase L1-L2 (m) */
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0.0, /* geometry-free phase L1-L5 (m) */
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0.0, /* MW-LC (m) */
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0.0, /* phase windup (cycle) */
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{{{0,0}},{{0,0}}}, /* previous carrier-phase time */
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{{},{}} /* previous carrier-phase observable (cycle) */
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};
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rtk_t rtk;
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bool dump_;
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std::string dump_filename_;
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std::string role_;
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@ -60,7 +60,7 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
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std::map<int,int> rtcm_msg_rate_ms,
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std::string rtcm_dump_devname,
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const unsigned int type_of_receiver,
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const prcopt_t rtklib_opt)
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rtk_t & rtk)
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{
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return rtklib_pvt_cc_sptr(new rtklib_pvt_cc(nchannels,
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dump,
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@ -78,7 +78,7 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
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rtcm_msg_rate_ms,
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rtcm_dump_devname,
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type_of_receiver,
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rtklib_opt));
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rtk));
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}
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@ -202,7 +202,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
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int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port,
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std::string nmea_dump_filename, std::string nmea_dump_devname, int rinex_version,
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bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port,
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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) :
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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) :
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gr::sync_block("rtklib_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr::io_signature::make(0, 0, 0))
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{
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@ -214,7 +214,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
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std::string dump_ls_pvt_filename = dump_filename;
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type_of_rx = type_of_receiver;
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rtklib_options = rtklib_opt;
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rtklib_options = rtk.opt;
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// GPS Ephemeris data message port in
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this->message_port_register_in(pmt::mp("telemetry"));
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@ -67,7 +67,7 @@ rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
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std::map<int,int> rtcm_msg_rate_ms,
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std::string rtcm_dump_devname,
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const unsigned int type_of_receiver,
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prcopt_t rtklib_opt);
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rtk_t & rtk);
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/*!
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* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
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@ -91,7 +91,7 @@ private:
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std::map<int,int> rtcm_msg_rate_ms,
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std::string rtcm_dump_devname,
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const unsigned int type_of_receiver,
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const prcopt_t rtklib_opt);
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rtk_t & rtk);
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void msg_handler_telemetry(pmt::pmt_t msg);
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@ -162,7 +162,7 @@ public:
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std::map<int,int> rtcm_msg_rate_ms,
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std::string rtcm_dump_devname,
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const unsigned int type_of_receiver,
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const prcopt_t rtklib_opt);
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rtk_t & rtk);
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/*!
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* \brief Get latest set of GPS L1 ephemeris from PVT block
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