From 7c238bfb44126d6866a3ff7fa26f89519b9ecc4c Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 2 Nov 2018 12:15:28 +0100 Subject: [PATCH 1/2] Add RTCM messages for more signal combinations --- .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc | 904 +++++++++++------- 1 file changed, 561 insertions(+), 343 deletions(-) diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc index 8ad22c461..e005ff45b 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc @@ -868,9 +868,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item bool flag_write_RTCM_MSM_output = false; bool flag_write_RINEX_obs_output = false; bool flag_write_RINEX_nav_output = false; - uint32_t gps_channel = 0; - uint32_t gal_channel = 0; - uint32_t glo_channel = 0; gnss_observables_map.clear(); const Gnss_Synchro** in = reinterpret_cast(&input_items[0]); // Get the input buffer pointer @@ -1067,7 +1064,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item std::map::const_iterator gps_ephemeris_iter; std::map::const_iterator gps_cnav_ephemeris_iter; std::map::const_iterator glonass_gnav_ephemeris_iter; - std::map::const_iterator gnss_observables_iter; // ####################### RINEX FILES ################# if (b_rinex_output_enabled) @@ -1339,7 +1335,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item } } - if (b_rinex_header_written) // The header is already written, we can now log the navigation message data { if (flag_write_RINEX_nav_output) @@ -1738,6 +1733,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item } } } + // ####################### RTCM MESSAGES ################# try { @@ -1747,19 +1743,18 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (flag_write_RTCM_1019_output == true) { - for (std::map::const_iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++) + for (std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); } } if (flag_write_RTCM_MSM_output == true) { - std::map::const_iterator gps_ephemeris_iter; - gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); - - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) + std::map::const_iterator gps_eph_iter; + gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) { - d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } } } @@ -1767,18 +1762,18 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (flag_write_RTCM_1045_output == true) { - for (std::map::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_ephemeris_iter++) + for (std::map::const_iterator gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second); } } if (flag_write_RTCM_MSM_output == true) { - std::map::const_iterator gal_ephemeris_iter; - gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); - if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + std::map::const_iterator gal_eph_iter; + gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend()) { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } } } @@ -1786,20 +1781,41 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (flag_write_RTCM_1019_output == true) { - for (std::map::const_iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++) + for (std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); } } if (flag_write_RTCM_MSM_output == true) { - std::map::const_iterator gps_ephemeris_iter; - gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); - std::map::const_iterator gps_cnav_ephemeris_iter; - gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin(); - if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend())) + std::map::const_iterator gps_eph_iter; + gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); + std::map::const_iterator gps_cnav_eph_iter; + gps_cnav_eph_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin(); + if ((gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend())) { - d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + } + } + if (type_of_rx == 8) // L1+L5 + { + if (flag_write_RTCM_1019_output == true) + { + for (std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_eph_iter++) + { + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); + } + } + if (flag_write_RTCM_MSM_output == true) + { + std::map::const_iterator gps_eph_iter; + gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); + std::map::const_iterator gps_cnav_eph_iter; + gps_cnav_eph_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin(); + if ((gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend())) + { + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } } } @@ -1807,23 +1823,25 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (flag_write_RTCM_1019_output == true) { - for (gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++) + for (std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); } } if (flag_write_RTCM_1045_output == true) { - for (galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++) + for (std::map::const_iterator gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second); } } if (flag_write_RTCM_MSM_output == true) { - //gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); - //galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); - uint32_t i = 0; + std::map::const_iterator gnss_observables_iter; + std::map::const_iterator gps_eph_iter; + std::map::const_iterator gal_eph_iter; + int gps_channel = 0; + int gal_channel = 0; for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) { std::string system(&gnss_observables_iter->second.System, 1); @@ -1832,10 +1850,10 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item if (system.compare("G") == 0) { // This is a channel with valid GPS signal - gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) + gps_eph_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) { - gps_channel = i; + gps_channel = 1; } } } @@ -1843,28 +1861,46 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (system.compare("E") == 0) { - galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend()) { - gal_channel = i; + gal_channel = 1; } } } - i++; } - if (flag_write_RTCM_MSM_output == true) + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) { - if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } - if (flag_write_RTCM_MSM_output == true) + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend()) { - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + } + } + if (type_of_rx == 13) // L5+E5a + { + std::map::const_iterator gal_eph_iter; + std::map::const_iterator gps_cnav_eph_iter; + if (flag_write_RTCM_1045_output == true) + { + for (gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_eph_iter++) + { + d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second); + } + } + gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); + gps_cnav_eph_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin(); + if (flag_write_RTCM_MSM_output == true) + { + if (gps_cnav_eph_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } } } @@ -1877,22 +1913,24 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); } } - - std::map::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); - - if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) + if (flag_write_RTCM_MSM_output == true) { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + std::map::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); + if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } } b_rtcm_writing_started = true; } if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A { + std::map::const_iterator gps_eph_iter; if (flag_write_RTCM_1019_output == true) { - for (gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++) + for (gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); } } if (flag_write_RTCM_1020_output == true) @@ -1904,10 +1942,12 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item } if (flag_write_RTCM_MSM_output == true) { - //gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); - //galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); - uint32_t i = 0; - for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++) + std::map::const_iterator gnss_observables_iter; + std::map::const_iterator glonass_gnav_eph_iter; + std::map::const_iterator gps_eph_iter; + int gps_channel = 0; + int glo_channel = 0; + for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) { std::string system(&gnss_observables_iter->second.System, 1); if (gps_channel == 0) @@ -1915,10 +1955,10 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item if (system.compare("G") == 0) { // This is a channel with valid GPS signal - gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) + gps_eph_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) { - gps_channel = i; + gps_channel = 1; } } } @@ -1926,28 +1966,22 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (system.compare("R") == 0) { - glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) + glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) { - glo_channel = i; + glo_channel = 1; } } } - i++; } - if (flag_write_RTCM_MSM_output == true) + + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) { - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } - if (flag_write_RTCM_MSM_output == true) + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) { - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } } } @@ -1955,23 +1989,25 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (flag_write_RTCM_1020_output == true) { - for (std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++) + for (std::map::const_iterator glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); + d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_ls_pvt->glonass_gnav_utc_model); } } if (flag_write_RTCM_1045_output == true) { - for (galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++) + for (std::map::const_iterator gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second); } } if (flag_write_RTCM_MSM_output == true) { - // gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); - // galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); - uint32_t i = 0; + std::map::const_iterator gnss_observables_iter; + std::map::const_iterator gal_eph_iter; + std::map::const_iterator glonass_gnav_eph_iter; + int gal_channel = 0; + int glo_channel = 0; for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) { std::string system(&gnss_observables_iter->second.System, 1); @@ -1980,10 +2016,10 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item if (system.compare("E") == 0) { // This is a channel with valid GPS signal - galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend()) { - gal_channel = i; + gal_channel = 1; } } } @@ -1991,28 +2027,21 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (system.compare("R") == 0) { - glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) { - glo_channel = i; + glo_channel = 1; } } } - i++; } - if (flag_write_RTCM_MSM_output == true) + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.end()) { - if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } - if (flag_write_RTCM_MSM_output == true) + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) { - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } } } @@ -2020,23 +2049,25 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (flag_write_RTCM_1019_output == true) { - for (gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++) + for (std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); } } if (flag_write_RTCM_1020_output == true) { - for (std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++) + for (std::map::const_iterator glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); + d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_ls_pvt->glonass_gnav_utc_model); } } if (flag_write_RTCM_MSM_output == true) { - // gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); - // galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); - uint32_t i = 0; + std::map::const_iterator gnss_observables_iter; + std::map::const_iterator gps_eph_iter; + std::map::const_iterator glonass_gnav_eph_iter; + int gps_channel = 0; + int glo_channel = 0; for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++) { std::string system(&gnss_observables_iter->second.System, 1); @@ -2045,10 +2076,10 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item if (system.compare("G") == 0) { // This is a channel with valid GPS signal - gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) + gps_eph_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) { - gps_channel = i; + gps_channel = 1; } } } @@ -2056,28 +2087,21 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (system.compare("R") == 0) { - glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) + glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) { - glo_channel = i; + glo_channel = 1; } } } - i++; } - if (flag_write_RTCM_MSM_output == true) + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) { - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } - if (flag_write_RTCM_MSM_output == true) + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) { - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } } } @@ -2085,23 +2109,25 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (flag_write_RTCM_1020_output == true) { - for (std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++) + for (std::map::const_iterator glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); + d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_ls_pvt->glonass_gnav_utc_model); } } if (flag_write_RTCM_1045_output == true) { - for (galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++) + for (std::map::const_iterator gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second); } } if (flag_write_RTCM_MSM_output == true) { - // gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); - // galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); - uint32_t i = 0; + std::map::const_iterator gnss_observables_iter; + std::map::const_iterator gal_eph_iter; + std::map::const_iterator glonass_gnav_eph_iter; + int gal_channel = 0; + int glo_channel = 0; for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) { std::string system(&gnss_observables_iter->second.System, 1); @@ -2110,10 +2136,10 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item if (system.compare("E") == 0) { // This is a channel with valid GPS signal - galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend()) { - gal_channel = i; + gal_channel = 1; } } } @@ -2121,28 +2147,81 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (system.compare("R") == 0) { - glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) { - glo_channel = i; + glo_channel = 1; } } } - i++; } - if (flag_write_RTCM_MSM_output == true) + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.end()) { - if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + } + } + if (type_of_rx == 32) // L1+E1+L5+E5a + { + if (flag_write_RTCM_1019_output == true) + { + for (std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_eph_iter++) + { + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); + } + } + if (flag_write_RTCM_1045_output == true) + { + for (std::map::const_iterator gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_eph_iter++) + { + d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second); + } + } + if (flag_write_RTCM_MSM_output == true) + { + std::map::const_iterator gnss_observables_iter; + std::map::const_iterator gal_eph_iter; + std::map::const_iterator gps_eph_iter; + int gal_channel = 0; + int gps_channel = 0; + for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) + { + std::string system(&gnss_observables_iter->second.System, 1); + if (gal_channel == 0) { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + if (system.compare("E") == 0) + { + // This is a channel with valid GPS signal + gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + { + gal_channel = 1; + } + } + } + if (gps_channel == 0) + { + if (system.compare("G") == 0) + { + gps_eph_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.end()) + { + gps_channel = 1; + } + } } } - if (flag_write_RTCM_MSM_output == true) + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) { - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } } } @@ -2152,47 +2231,83 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (type_of_rx == 1) // GPS L1 C/A { - for (std::map::const_iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++) + if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); + for (std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_eph_iter++) + { + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); + } } - - std::map::const_iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); - - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) + if (d_rtcm_MSM_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); + + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } } b_rtcm_writing_started = true; } if ((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo { - for (std::map::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_ephemeris_iter++) + if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second); + for (std::map::const_iterator gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_eph_iter++) + { + d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second); + } } - - std::map::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); - - if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + if (d_rtcm_MSM_rate_ms != 0) { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + std::map::const_iterator gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); + + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } } b_rtcm_writing_started = true; } if (type_of_rx == 7) // GPS L1 C/A + GPS L2C { - for (std::map::const_iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++) + if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); + for (std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_eph_iter++) + { + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); + } } - - std::map::const_iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); - std::map::const_iterator gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin(); - - if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend())) + if (d_rtcm_MSM_rate_ms != 0) { - d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); + std::map::const_iterator gps_cnav_eph_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin(); + + if ((gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend())) + { + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + } + b_rtcm_writing_started = true; + } + if (type_of_rx == 8) // L1+L5 + { + if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 + { + for (std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_eph_iter++) + { + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); + } + } + if (d_rtcm_MSM_rate_ms != 0) + { + std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); + std::map::const_iterator gps_cnav_eph_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin(); + + if ((gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend())) + { + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } } b_rtcm_writing_started = true; } @@ -2200,72 +2315,100 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - for (std::map::const_iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++) + for (std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); } } if (d_rtcm_MT1045_rate_ms != 0) { - for (galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++) + for (std::map::const_iterator gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second); } } - - uint32_t i = 0; - for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) + if (d_rtcm_MSM_rate_ms != 0) { - std::string system(&gnss_observables_iter->second.System, 1); - if (gps_channel == 0) + std::map::const_iterator gnss_observables_iter; + std::map::const_iterator gal_eph_iter; + std::map::const_iterator gps_eph_iter; + int gps_channel = 0; + int gal_channel = 0; + for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) { - if (system.compare("G") == 0) + std::string system(&gnss_observables_iter->second.System, 1); + if (gps_channel == 0) { - // This is a channel with valid GPS signal - gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) + if (system.compare("G") == 0) { - gps_channel = i; + // This is a channel with valid GPS signal + gps_eph_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.end()) + { + gps_channel = 1; + } + } + } + if (gal_channel == 0) + { + if (system.compare("E") == 0) + { + gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.end()) + { + gal_channel = 1; + } } } } - if (gal_channel == 0) + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.end() and (d_rtcm_MT1077_rate_ms != 0)) { - if (system.compare("E") == 0) - { - galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) - { - gal_channel = i; - } - } + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.end() and (d_rtcm_MT1097_rate_ms != 0)) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } - i++; - } - - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end() and (d_rtcm_MT1077_rate_ms != 0)) - { - d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } - - if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end() and (d_rtcm_MT1097_rate_ms != 0)) - { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } b_rtcm_writing_started = true; } if ((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS { - for (std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++) + if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); + for (std::map::const_iterator glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++) + { + d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_ls_pvt->glonass_gnav_utc_model); + } } - - std::map::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); - - if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) + if (d_rtcm_MSM_rate_ms != 0) { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + std::map::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); + + if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + } + b_rtcm_writing_started = true; + } + if (type_of_rx == 13) // L5+E5a + { + std::map::const_iterator gal_eph_iter; + if (d_rtcm_MT1045_rate_ms != 0) + { + for (gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_eph_iter++) + { + d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second); + } + } + if (d_rtcm_MSM_rate_ms != 0) + { + gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend() and (d_rtcm_MT1097_rate_ms != 0)) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } } b_rtcm_writing_started = true; } @@ -2273,235 +2416,310 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - for (gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++) + for (std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); } } if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - for (std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++) + for (std::map::const_iterator glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); + d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_ls_pvt->glonass_gnav_utc_model); } } - - // gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); - // galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); - uint32_t i = 0; - for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) + if (d_rtcm_MSM_rate_ms != 0) { - std::string system(&gnss_observables_iter->second.System, 1); - if (gps_channel == 0) + std::map::const_iterator glonass_gnav_eph_iter; + std::map::const_iterator gnss_observables_iter; + std::map::const_iterator gps_eph_iter; + int gps_channel = 0; + int glo_channel = 0; + for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) { - if (system.compare("G") == 0) + std::string system(&gnss_observables_iter->second.System, 1); + if (gps_channel == 0) { - // This is a channel with valid GPS signal - gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) + if (system.compare("G") == 0) { - gps_channel = i; + // This is a channel with valid GPS signal + gps_eph_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) + { + gps_channel = 1; + } + } + } + if (glo_channel == 0) + { + if (system.compare("R") == 0) + { + glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) + { + glo_channel = 1; + } } } } - if (glo_channel == 0) + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) { - if (system.compare("R") == 0) - { - glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) - { - glo_channel = i; - } - } + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } - i++; } - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } - - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } - b_rtcm_writing_started = true; } if (type_of_rx == 27) // GLONASS L1 C/A + Galileo E1B { if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - for (std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++) + for (std::map::const_iterator glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); + d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_ls_pvt->glonass_gnav_utc_model); } } if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - for (galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++) + for (std::map::const_iterator gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second); } } - - uint32_t i = 0; - for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) + if (d_rtcm_MSM_rate_ms != 0) { - std::string system(&gnss_observables_iter->second.System, 1); - if (gal_channel == 0) + int gal_channel = 0; + int glo_channel = 0; + std::map::const_iterator gnss_observables_iter; + std::map::const_iterator gal_eph_iter; + std::map::const_iterator glonass_gnav_eph_iter; + for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) { - if (system.compare("E") == 0) + std::string system(&gnss_observables_iter->second.System, 1); + if (gal_channel == 0) { - // This is a channel with valid GPS signal - galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + if (system.compare("E") == 0) { - gal_channel = i; + // This is a channel with valid GPS signal + gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + { + gal_channel = 1; + } + } + } + if (glo_channel == 0) + { + if (system.compare("R") == 0) + { + glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + { + glo_channel = 1; + } } } } - if (glo_channel == 0) + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.end()) { - if (system.compare("R") == 0) - { - glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) - { - glo_channel = i; - } - } + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } - i++; - } - if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } + b_rtcm_writing_started = true; } if (type_of_rx == 29) // GPS L1 C/A + GLONASS L2 C/A { if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - for (gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++) + for (std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); } } if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - for (std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++) + for (std::map::const_iterator glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); + d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_ls_pvt->glonass_gnav_utc_model); } } - - // gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end(); - // galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end(); - uint32_t i = 0; - for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) + if (d_rtcm_MSM_rate_ms != 0) { - std::string system(&gnss_observables_iter->second.System, 1); - if (gps_channel == 0) + std::map::const_iterator gps_eph_iter; + std::map::const_iterator glonass_gnav_eph_iter; + std::map::const_iterator gnss_observables_iter; + int gps_channel = 0; + int glo_channel = 0; + for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) { - if (system.compare("G") == 0) + std::string system(&gnss_observables_iter->second.System, 1); + if (gps_channel == 0) { - // This is a channel with valid GPS signal - gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) + if (system.compare("G") == 0) { - gps_channel = i; + // This is a channel with valid GPS signal + gps_eph_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) + { + gps_channel = 1; + } + } + } + if (glo_channel == 0) + { + if (system.compare("R") == 0) + { + glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) + { + glo_channel = 1; + } } } } - if (glo_channel == 0) + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) { - if (system.compare("R") == 0) - { - glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) - { - glo_channel = i; - } - } + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } - i++; - } - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } - if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } } - b_rtcm_writing_started = true; } if (type_of_rx == 30) // GLONASS L2 C/A + Galileo E1B { if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - for (std::map::const_iterator glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++) + for (std::map::const_iterator glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model); + d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_ls_pvt->glonass_gnav_utc_model); } } if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0 { - for (galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++) + for (std::map::const_iterator gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_eph_iter++) { - d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second); + d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second); } } - - uint32_t i = 0; - for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) + if (d_rtcm_MSM_rate_ms != 0) { - std::string system(&gnss_observables_iter->second.System, 1); - if (gal_channel == 0) + int gal_channel = 0; + int glo_channel = 0; + std::map::const_iterator gnss_observables_iter; + std::map::const_iterator gal_eph_iter; + std::map::const_iterator glonass_gnav_eph_iter; + for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) { - if (system.compare("E") == 0) + std::string system(&gnss_observables_iter->second.System, 1); + if (gal_channel == 0) { - // This is a channel with valid GPS signal - galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + if (system.compare("E") == 0) { - gal_channel = i; + // This is a channel with valid GPS signal + gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + { + gal_channel = 1; + } + } + } + if (glo_channel == 0) + { + if (system.compare("R") == 0) + { + glonass_gnav_eph_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + { + glo_channel = 1; + } } } } - if (glo_channel == 0) + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.end()) { - if (system.compare("R") == 0) + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + if (glonass_gnav_eph_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + } + b_rtcm_writing_started = true; + } + if (type_of_rx == 32) // L1+E1+L5+E5a + { + if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0 + { + for (std::map::const_iterator gps_eph_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_eph_iter++) + { + d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second); + } + } + if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0 + { + for (std::map::const_iterator gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend(); gal_eph_iter++) + { + d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second); + } + } + if (d_rtcm_MSM_rate_ms != 0) + { + std::map::const_iterator gnss_observables_iter; + std::map::const_iterator gal_eph_iter; + std::map::const_iterator gps_eph_iter; + int gps_channel = 0; + int gal_channel = 0; + for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++) + { + std::string system(&gnss_observables_iter->second.System, 1); + if (gps_channel == 0) { - glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN); - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) + if (system.compare("G") == 0) { - glo_channel = i; + // This is a channel with valid GPS signal + gps_eph_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.end()) + { + gps_channel = 1; + } + } + } + if (gal_channel == 0) + { + if (system.compare("E") == 0) + { + gal_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN); + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.end()) + { + gal_channel = 1; + } } } } - i++; - } - if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); - } - if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.end()) - { - d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + if (gps_eph_iter != d_ls_pvt->gps_ephemeris_map.cend()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.cend()) + { + d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); + } } + b_rtcm_writing_started = true; } } } - catch (const boost::exception& ex) { std::cout << "RTCM boost exception: " << boost::diagnostic_information(ex) << std::endl; From 01394474084e31507d4a863a26e764eb950ff605 Mon Sep 17 00:00:00 2001 From: Carles Fernandez Date: Fri, 2 Nov 2018 14:12:31 +0100 Subject: [PATCH 2/2] Deactivate RTCM printer if not used --- .../PVT/gnuradio_blocks/rtklib_pvt_cc.cc | 123 ++++++++++-------- .../PVT/gnuradio_blocks/rtklib_pvt_cc.h | 1 + 2 files changed, 67 insertions(+), 57 deletions(-) diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc index e005ff45b..aa3c921c5 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc @@ -342,59 +342,69 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels, // initialize rtcm_printer std::string rtcm_dump_filename; rtcm_dump_filename = d_dump_filename; - d_rtcm_printer = std::make_shared(rtcm_dump_filename, conf_.rtcm_output_file_enabled, conf_.flag_rtcm_server, conf_.flag_rtcm_tty_port, conf_.rtcm_tcp_port, conf_.rtcm_station_id, conf_.rtcm_dump_devname, true, conf_.rtcm_output_file_path); - std::map rtcm_msg_rate_ms = conf_.rtcm_msg_rate_ms; - if (rtcm_msg_rate_ms.find(1019) != rtcm_msg_rate_ms.end()) + if (conf_.flag_rtcm_server or conf_.flag_rtcm_tty_port or conf_.rtcm_output_file_enabled) { - d_rtcm_MT1019_rate_ms = rtcm_msg_rate_ms[1019]; + d_rtcm_printer = std::make_shared(rtcm_dump_filename, conf_.rtcm_output_file_enabled, conf_.flag_rtcm_server, conf_.flag_rtcm_tty_port, conf_.rtcm_tcp_port, conf_.rtcm_station_id, conf_.rtcm_dump_devname, true, conf_.rtcm_output_file_path); + std::map rtcm_msg_rate_ms = conf_.rtcm_msg_rate_ms; + if (rtcm_msg_rate_ms.find(1019) != rtcm_msg_rate_ms.end()) + { + d_rtcm_MT1019_rate_ms = rtcm_msg_rate_ms[1019]; + } + else + { + d_rtcm_MT1019_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set + } + if (rtcm_msg_rate_ms.find(1020) != rtcm_msg_rate_ms.end()) + { + d_rtcm_MT1020_rate_ms = rtcm_msg_rate_ms[1020]; + } + else + { + d_rtcm_MT1020_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set + } + 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 = bc::lcm(5000, d_output_rate_ms); // default value if not set + } + if (rtcm_msg_rate_ms.find(1077) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077 + { + d_rtcm_MT1077_rate_ms = rtcm_msg_rate_ms[1077]; + } + else + { + d_rtcm_MT1077_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set + } + if (rtcm_msg_rate_ms.find(1087) != rtcm_msg_rate_ms.end()) // whatever between 1081 and 1087 + { + d_rtcm_MT1087_rate_ms = rtcm_msg_rate_ms[1087]; + } + else + { + d_rtcm_MT1087_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set + } + if (rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097 + { + d_rtcm_MT1097_rate_ms = rtcm_msg_rate_ms[1097]; + d_rtcm_MSM_rate_ms = rtcm_msg_rate_ms[1097]; + } + else + { + d_rtcm_MT1097_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set + d_rtcm_MSM_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set + } + b_rtcm_writing_started = false; + b_rtcm_enabled = true; } else { - d_rtcm_MT1019_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set + b_rtcm_enabled = false; + b_rtcm_writing_started = false; + d_rtcm_printer = nullptr; } - if (rtcm_msg_rate_ms.find(1020) != rtcm_msg_rate_ms.end()) - { - d_rtcm_MT1020_rate_ms = rtcm_msg_rate_ms[1020]; - } - else - { - d_rtcm_MT1020_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set - } - 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 = bc::lcm(5000, d_output_rate_ms); // default value if not set - } - if (rtcm_msg_rate_ms.find(1077) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077 - { - d_rtcm_MT1077_rate_ms = rtcm_msg_rate_ms[1077]; - } - else - { - d_rtcm_MT1077_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set - } - if (rtcm_msg_rate_ms.find(1087) != rtcm_msg_rate_ms.end()) // whatever between 1081 and 1087 - { - d_rtcm_MT1087_rate_ms = rtcm_msg_rate_ms[1087]; - } - else - { - d_rtcm_MT1087_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set - } - if (rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097 - { - d_rtcm_MT1097_rate_ms = rtcm_msg_rate_ms[1097]; - d_rtcm_MSM_rate_ms = rtcm_msg_rate_ms[1097]; - } - else - { - d_rtcm_MT1097_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set - d_rtcm_MSM_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set - } - b_rtcm_writing_started = false; // initialize RINEX printer b_rinex_header_written = false; @@ -954,7 +964,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item // it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->get_time_offset_s() * GPS_C_m_s; // } - if (d_ls_pvt->get_PVT(gnss_observables_map, false)) { //Optional debug code: export observables snapshot for rtklib unit testing @@ -1001,7 +1010,6 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { flag_write_RINEX_obs_output = true; } - if (current_RX_time_ms % static_cast(d_rinexnav_rate_ms) == 0) { flag_write_RINEX_nav_output = true; @@ -1059,15 +1067,16 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item * 29 | GPS L1 C/A + GLONASS L2 C/A * 30 | Galileo E1B + GLONASS L2 C/A * 31 | GPS L2C + GLONASS L2 C/A + * 32 | GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a */ - std::map::const_iterator galileo_ephemeris_iter; - std::map::const_iterator gps_ephemeris_iter; - std::map::const_iterator gps_cnav_ephemeris_iter; - std::map::const_iterator glonass_gnav_ephemeris_iter; // ####################### RINEX FILES ################# if (b_rinex_output_enabled) { + std::map::const_iterator galileo_ephemeris_iter; + std::map::const_iterator gps_ephemeris_iter; + std::map::const_iterator gps_cnav_ephemeris_iter; + std::map::const_iterator glonass_gnav_ephemeris_iter; if (!b_rinex_header_written) // & we have utc data in nav message! { galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); @@ -1737,7 +1746,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item // ####################### RTCM MESSAGES ################# try { - if (b_rtcm_writing_started) + if (b_rtcm_writing_started and b_rtcm_enabled) { if (type_of_rx == 1) // GPS L1 C/A { @@ -2219,7 +2228,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item { d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } - if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) + if (gal_eph_iter != d_ls_pvt->galileo_ephemeris_map.end()) { d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0); } @@ -2227,7 +2236,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item } } - if (!b_rtcm_writing_started) // the first time + if (!b_rtcm_writing_started and b_rtcm_enabled) // the first time { if (type_of_rx == 1) // GPS L1 C/A { diff --git a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h index 38db64a1b..427936704 100644 --- a/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h +++ b/src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h @@ -81,6 +81,7 @@ private: int32_t d_rinexnav_rate_ms; bool b_rtcm_writing_started; + bool b_rtcm_enabled; int32_t d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris int32_t d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits) int32_t d_rtcm_MT1020_rate_ms; //!< GLONASS Broadcast Ephemeris (orbits)