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Improve ANP printer

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Provide output since the first synchronized satellite
Field microseconds in system time
This commit is contained in:
Carles Fernandez
2021-10-22 13:54:48 +02:00
parent 835e799770
commit d4a1bb1147
5 changed files with 21 additions and 14 deletions
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2
src/algorithms/PVT/adapters/rtklib_pvt.cc
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@@ -150,7 +150,7 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration,
pvt_output_parameters.gpx_rate_ms = bc::lcm(configuration->property(role + ".gpx_rate_ms", pvt_output_parameters.gpx_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.geojson_rate_ms = bc::lcm(configuration->property(role + ".geojson_rate_ms", pvt_output_parameters.geojson_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.nmea_rate_ms = bc::lcm(configuration->property(role + ".nmea_rate_ms", pvt_output_parameters.nmea_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.an_rate_ms = bc::lcm(configuration->property(role + ".an_rate_ms", pvt_output_parameters.an_rate_ms), pvt_output_parameters.output_rate_ms);
pvt_output_parameters.an_rate_ms = configuration->property(role + ".an_rate_ms", pvt_output_parameters.an_rate_ms);
// Infer the type of receiver
/*

16
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@@ -134,6 +134,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
d_galileo_has_data_sptr_type_hash_code(typeid(std::shared_ptr<Galileo_HAS_data>).hash_code()),
d_rinex_version(conf_.rinex_version),
d_rx_time(0.0),
d_local_counter_ms(0ULL),
d_rinexobs_rate_ms(conf_.rinexobs_rate_ms),
d_kml_rate_ms(conf_.kml_rate_ms),
d_gpx_rate_ms(conf_.gpx_rate_ms),
@@ -1901,6 +1902,7 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
bool flag_write_RTCM_1045_output = false;
bool flag_write_RTCM_MSM_output = false;
bool flag_write_RINEX_obs_output = false;
d_local_counter_ms += static_cast<uint64_t>(d_observable_interval_ms);
d_gnss_observables_map.clear();
const auto** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]); // Get the input buffer pointer
@@ -2244,13 +2246,6 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
flag_write_RTCM_1045_output,
d_enable_rx_clock_correction);
}
if (d_an_printer_enabled)
{
if (current_RX_time_ms % d_an_rate_ms == 0)
{
d_an_printer->print_packet(d_user_pvt_solver.get(), d_gnss_observables_map);
}
}
}
}
@@ -2326,6 +2321,13 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
}
if (d_an_printer_enabled)
{
if (d_local_counter_ms % static_cast<uint64_t>(d_an_rate_ms) == 0)
{
d_an_printer->print_packet(d_user_pvt_solver.get(), d_gnss_observables_map);
}
}
}
return noutput_items;

1
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h
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@@ -233,6 +233,7 @@ private:
double d_rinex_version;
double d_rx_time;
uint64_t d_local_counter_ms;
key_t d_sysv_msg_key;
int d_sysv_msqid;

12
src/algorithms/PVT/libs/an_packet_printer.cc
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@@ -30,7 +30,9 @@
#include <unistd.h> // for write(), read(), close()
An_Packet_Printer::An_Packet_Printer(const std::string& an_dump_devname) : d_an_devname(an_dump_devname),
An_Packet_Printer::An_Packet_Printer(const std::string& an_dump_devname)
: d_start(std::chrono::system_clock::now()),
d_an_devname(an_dump_devname),
d_an_dev_descriptor(init_serial(d_an_devname))
{
if (d_an_dev_descriptor != -1)
@@ -91,10 +93,10 @@ void An_Packet_Printer::close_serial() const
*/
void An_Packet_Printer::update_sdr_gnss_packet(sdr_gnss_packet_t* _packet, const Rtklib_Solver* const pvt, const std::map<int, Gnss_Synchro>& gnss_observables_map) const
{
std::chrono::time_point<std::chrono::system_clock> this_epoch;
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
uint8_t num_gps_sats = 0;
uint8_t num_gal_sats = 0;
uint32_t microseconds = 0;
int index = 0;
const int max_reported_sats = *(&_packet->sats + 1) - _packet->sats;
@@ -128,7 +130,6 @@ void An_Packet_Printer::update_sdr_gnss_packet(sdr_gnss_packet_t* _packet, const
}
_packet->sats[index].doppler = doppler;
microseconds = static_cast<uint32_t>(static_cast<double>(gnss_observables_iter->second.Tracking_sample_counter) / static_cast<double>(gnss_observables_iter->second.fs)) * 1e6;
index++;
}
break;
@@ -154,7 +155,6 @@ void An_Packet_Printer::update_sdr_gnss_packet(sdr_gnss_packet_t* _packet, const
}
_packet->sats[index].doppler = doppler;
microseconds = static_cast<uint32_t>(static_cast<double>(gnss_observables_iter->second.Tracking_sample_counter) / static_cast<double>(gnss_observables_iter->second.fs)) * 1e6;
index++;
}
break;
@@ -164,10 +164,12 @@ void An_Packet_Printer::update_sdr_gnss_packet(sdr_gnss_packet_t* _packet, const
}
}
this_epoch = std::chrono::system_clock::now();
std::chrono::duration<double> elapsed_seconds = this_epoch - d_start;
_packet->nsvfix = static_cast<uint8_t>(pvt->get_num_valid_observations());
_packet->gps_satellites = num_gps_sats;
_packet->galileo_satellites = num_gal_sats;
_packet->microseconds = microseconds;
_packet->microseconds = static_cast<uint32_t>(elapsed_seconds.count() * 1.0e6);
_packet->latitude = static_cast<double>(pvt->get_latitude()) * (M_PI / 180.0);
_packet->longitude = static_cast<double>(pvt->get_longitude()) * (M_PI / 180.0);
_packet->height = static_cast<double>(pvt->get_height());

2
src/algorithms/PVT/libs/an_packet_printer.h
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@@ -23,6 +23,7 @@
#include "gnss_synchro.h"
#include <array>
#include <chrono>
#include <cstddef>
#include <cstdint>
#include <map>
@@ -121,6 +122,7 @@ private:
void encode_sdr_gnss_packet(sdr_gnss_packet_t* sdr_gnss_packet, an_packet_t* _packet) const;
void LSB_bytes_to_array(void* _in, int offset, uint8_t* _out, uint8_t var_size) const;
std::chrono::time_point<std::chrono::system_clock> d_start;
std::string d_an_devname;
int d_an_dev_descriptor; // serial device descriptor (i.e. COM port)
};