Establish data path from Tlm to PVT for HAS data

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc

@@ -187,19 +187,18 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
 #endif
 #endif
 
-    //Galileo E6 HAS messages
+    // Galileo E6 HAS messages port in
     this->message_port_register_in(pmt::mp("E6_HAS_to_PVT"));
-    //TODO: bind the Galileo E6 HAS message input with the desired function
+    this->set_msg_handler(pmt::mp("E6_HAS_to_PVT"),
-    //    this->set_msg_handler(pmt::mp("E6_HAS_to_PVT"),
+#if HAS_GENERIC_LAMBDA
-    //#if HAS_GENERIC_LAMBDA
+        [this](auto&& PH1) { msg_handler_has_data(PH1); });
-    //        [this](auto&& PH1) { msg_handler_telemetry(PH1); });
+#else
-    //#else
+#if USE_BOOST_BIND_PLACEHOLDERS
-    //#if USE_BOOST_BIND_PLACEHOLDERS
+        boost::bind(&rtklib_pvt_gs::msg_handler_has_data, this, boost::placeholders::_1));
-    //        boost::bind(&rtklib_pvt_gs::msg_handler_telemetry, this, boost::placeholders::_1));
+#else
-    //#else
+        boost::bind(&rtklib_pvt_gs::msg_handler_has_data, this, _1));
-    //        boost::bind(&rtklib_pvt_gs::msg_handler_telemetry, this, _1));
+#endif
-    //#endif
+#endif
-    //#endif
 
     // initialize kml_printer
     const std::string kml_dump_filename = d_dump_filename;
@@ -524,6 +523,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
     d_beidou_dnav_iono_sptr_type_hash_code = typeid(std::shared_ptr<Beidou_Dnav_Iono>).hash_code();
     d_beidou_dnav_utc_model_sptr_type_hash_code = typeid(std::shared_ptr<Beidou_Dnav_Utc_Model>).hash_code();
     d_beidou_dnav_almanac_sptr_type_hash_code = typeid(std::shared_ptr<Beidou_Dnav_Almanac>).hash_code();
+    d_galileo_has_data_sptr_type_hash_code = typeid(std::shared_ptr<Galileo_HAS_data>).hash_code();
 
     d_start = std::chrono::system_clock::now();
 }
@@ -1485,6 +1485,25 @@ void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
 }
 
 
+void rtklib_pvt_gs::msg_handler_has_data(const pmt::pmt_t& msg)
+{
+    try
+        {
+            const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
+            if (msg_type_hash_code == d_galileo_has_data_sptr_type_hash_code)
+                {
+                    const auto has_data = boost::any_cast<std::shared_ptr<Galileo_HAS_data>>(pmt::any_ref(msg));
+                    // TODO: Store HAS message
+                    // std::cout << "HAS data received at PVT block.\n";
+                }
+        }
+    catch (const boost::bad_any_cast& e)
+        {
+            LOG(WARNING) << "msg_handler_telemetry Bad any_cast: " << e.what();
+        }
+}
+
+
 std::map<int, Gps_Ephemeris> rtklib_pvt_gs::get_gps_ephemeris_map() const
 {
     return d_internal_pvt_solver->gps_ephemeris_map;

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h

@@ -133,6 +133,8 @@ private:
 
     void msg_handler_telemetry(const pmt::pmt_t& msg);
 
+    void msg_handler_has_data(const pmt::pmt_t& msg);
+
     void initialize_and_apply_carrier_phase_offset();
 
     void apply_rx_clock_offset(std::map<int, Gnss_Synchro>& observables_map,
@@ -224,6 +226,7 @@ private:
     size_t d_beidou_dnav_iono_sptr_type_hash_code;
     size_t d_beidou_dnav_utc_model_sptr_type_hash_code;
     size_t d_beidou_dnav_almanac_sptr_type_hash_code;
+    size_t d_galileo_has_data_sptr_type_hash_code;
 
     double d_rinex_version;
     double d_rx_time;

src/core/libs/galileo_e6_has_msg_receiver.cc

@@ -1,6 +1,7 @@
 /*!
  * \file galileo_e6_has_msg_receiver.cc
- * \brief GNU Radio block that receives asynchronous Galileo E6 HAS message sections from Galileo E6 telemetry blocks
+ * \brief GNU Radio block that receives asynchronous Galileo E6 HAS message
+ * sections from Galileo E6 telemetry blocks
  * \author Javier Arribas, 2021. jarribas(at)cttc.es
  *
  * -----------------------------------------------------------------------------
@@ -16,7 +17,8 @@
 
 
 #include "galileo_e6_has_msg_receiver.h"
-#include "galileo_has_data.h"  // For Galileo HAS messages
+#include "galileo_has_data.h"  // for Galileo_HAS_data
+#include "galileo_has_page.h"  // for Galileo_HAS_page
 #include <boost/any.hpp>
 #include <glog/logging.h>
 #include <gnuradio/gr_complex.h>
@@ -66,12 +68,10 @@ void galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has(const pmt::pmt_t& m
         {
             const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
 
-            //TODO: change example
+            if (msg_type_hash_code == typeid(std::shared_ptr<Galileo_HAS_page>).hash_code())
-            // ****************** Gnss_Synchro received ************************
-            if (msg_type_hash_code == typeid(std::shared_ptr<Galileo_HAS_data>).hash_code())
                 {
-                    const auto HAS_data_obj_obj = boost::any_cast<std::shared_ptr<Galileo_HAS_data>>(pmt::any_ref(msg));
+                    const auto HAS_data_obj_obj = boost::any_cast<std::shared_ptr<Galileo_HAS_page>>(pmt::any_ref(msg));
-
+                    // std::cout << HAS_data_obj_obj->has_message_string << '\n';
                     // store / do things with the data
                 }
             else
@@ -89,8 +89,7 @@ void galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has(const pmt::pmt_t& m
 
     // 3. Send the resulting decoded HAS data (if available) to PVT
 
-    //TODO: change example
+    // TODO: fill message object and send to PVT when ready
-    Gnss_Synchro dummy;
+    std::shared_ptr<Galileo_HAS_data> dummy{};
     this->message_port_pub(pmt::mp("E6_HAS_to_PVT"), pmt::make_any(dummy));
-    //TODO
 }

src/core/libs/galileo_e6_has_msg_receiver.h

@@ -1,6 +1,7 @@
 /*!
- * \file GALILEO_E6_HAS_msg_receiver.h
+ * \file galileo_e6_has_msg_receiver.h
- * \brief GNU Radio block that receives asynchronous Galileo E6 HAS message sections from Galileo E6 telemetry blocks
+ * \brief GNU Radio block that receives asynchronous Galileo E6 HAS message
+ * sections from Galileo E6 telemetry blocks
  * \author Javier Arribas, 2021. jarribas(at)cttc.es
  *
  * -----------------------------------------------------------------------------
@@ -14,12 +15,11 @@
  * -----------------------------------------------------------------------------
  */
 
-#ifndef GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_CC_H
+#ifndef GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H
-#define GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_CC_H
+#define GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H
 
 #include "gnss_block_interface.h"
-#include "gnss_synchro.h"
+#include "reed_solomon.h"
-#include "monitor_pvt.h"
 #include <gnuradio/block.h>
 #include <pmt/pmt.h>
 #include <map>
@@ -49,9 +49,10 @@ private:
     friend galileo_e6_has_msg_receiver_sptr galileo_e6_has_msg_receiver_make();
     galileo_e6_has_msg_receiver();
     void msg_handler_galileo_e6_has(const pmt::pmt_t& msg);
+    ReedSolomon rs = ReedSolomon();
 };
 
 
 /** \} */
 /** \} */
-#endif  // GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_CC_H
+#endif  // GNSS_SDR_GALILEO_E6_HAS_MSG_RECEIVER_H