mirror of https://github.com/gnss-sdr/gnss-sdr
Merge branch 'protobuf' into next
This commit is contained in:
Carles Fernandez
commit
e0f3fe66f0
127
CMakeLists.txt
127
CMakeLists.txt
|
|
@ -402,6 +402,7 @@ set(GNSSSDR_PYTHON3_MIN_VERSION "3.4")
|
|||
set(GNSSSDR_MAKO_MIN_VERSION "0.4.2")
|
||||
set(GNSSSDR_ARMADILLO_MIN_VERSION "5.300.0")
|
||||
set(GNSSSDR_MATIO_MIN_VERSION "1.5.3")
|
||||
set(GNSSSDR_PROTOBUF_MIN_VERSION "3.0.0")
|
||||
|
||||
|
||||
|
||||
|
|
@ -416,6 +417,7 @@ set(GNSSSDR_GNSS_SIM_LOCAL_VERSION "master")
|
|||
set(GNSSSDR_GPSTK_LOCAL_VERSION "2.10.6")
|
||||
set(GNSSSDR_MATIO_LOCAL_VERSION "1.5.14")
|
||||
set(GNSSSDR_PUGIXML_LOCAL_VERSION "1.9")
|
||||
set(GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION "3.7.1")
|
||||
|
||||
if(CMAKE_VERSION VERSION_LESS "3.0.2") # Fix for CentOS 7
|
||||
set(GNSSSDR_GFLAGS_LOCAL_VERSION "2.2.1")
|
||||
|
|
@ -1784,6 +1786,131 @@ endif()
|
|||
|
||||
|
||||
|
||||
################################################################################
|
||||
# Protocol Buffers https://github.com/protocolbuffers/protobuf
|
||||
################################################################################
|
||||
set(Protobuf_VERSION "0.0.0")
|
||||
find_package(Protobuf)
|
||||
set_package_properties(Protobuf PROPERTIES
|
||||
URL "https://developers.google.com/protocol-buffers/"
|
||||
DESCRIPTION "A language-neutral, platform-neutral extensible mechanism for serializing structured data"
|
||||
PURPOSE "Used to serialize output data in a way that can be read by other applications."
|
||||
TYPE REQUIRED
|
||||
)
|
||||
if(Protobuf_FOUND AND CMAKE_VERSION VERSION_LESS 3.9)
|
||||
add_library(protobuf::libprotobuf SHARED IMPORTED)
|
||||
set_target_properties(protobuf::libprotobuf PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${Protobuf_LIBRARY}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${Protobuf_INCLUDE_DIR}"
|
||||
INTERFACE_LINK_LIBRARIES "${Protobuf_LIBRARY}"
|
||||
)
|
||||
add_executable(protobuf::protoc IMPORTED)
|
||||
set_target_properties(protobuf::protoc PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${Protobuf_PROTOC_EXECUTABLE}"
|
||||
INTERFACE_LINK_LIBRARIES "${Protobuf_PROTOC_LIBRARY}"
|
||||
)
|
||||
endif()
|
||||
if(Protobuf_FOUND AND CMAKE_CROSSCOMPILING)
|
||||
find_program(PROTOC_EXECUTABLE protoc
|
||||
HINTS
|
||||
/usr/local/bin/
|
||||
/usr/bin/
|
||||
NO_SYSTEM_ENVIRONMENT_PATH
|
||||
)
|
||||
if(PROTOC_EXECUTABLE)
|
||||
set_target_properties(protobuf::protoc PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION ${PROTOC_EXECUTABLE}
|
||||
)
|
||||
else()
|
||||
message(FATAL ERROR "Please install the Protocol Buffers compiter v{${Protobuf_VERSION}} in the host machine")
|
||||
endif()
|
||||
endif()
|
||||
if((NOT Protobuf_FOUND) OR (NOT Protobuf_PROTOC_EXECUTABLE) OR (${Protobuf_VERSION} VERSION_LESS ${GNSSSDR_PROTOBUF_MIN_VERSION}))
|
||||
unset(Protobuf_PROTOC_EXECUTABLE)
|
||||
if(CMAKE_CROSSCOMPILING)
|
||||
if(NOT Protobuf_FOUND)
|
||||
ExternalProject_Add(protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
GIT_REPOSITORY https://github.com/protocolbuffers/protobuf
|
||||
GIT_TAG v${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/protobuf/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/protobuf/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/autogen.sh
|
||||
CONFIGURE_COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/protobuf/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/configure --prefix=${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION} --host=$ENV{OECORE_TARGET_ARCH} --with-protoc=${PROTOC_EXECUTABLE}"
|
||||
BUILD_COMMAND ${CMAKE_MAKE_PROGRAM}
|
||||
INSTALL_COMMAND ${CMAKE_MAKE_PROGRAM} install
|
||||
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}protobuf${CMAKE_STATIC_LIBRARY_SUFFIX}
|
||||
${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/bin/protoc
|
||||
)
|
||||
endif()
|
||||
else()
|
||||
if(CMAKE_VERSION VERSION_LESS 3.2)
|
||||
ExternalProject_Add(protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
GIT_REPOSITORY https://github.com/protocolbuffers/protobuf
|
||||
GIT_TAG v${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/protobuf/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/protobuf/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/autogen.sh
|
||||
CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/protobuf/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/configure --prefix=${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
BUILD_COMMAND ${CMAKE_MAKE_PROGRAM}
|
||||
INSTALL_COMMAND ${CMAKE_MAKE_PROGRAM} install
|
||||
)
|
||||
else()
|
||||
ExternalProject_Add(protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
PREFIX ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
GIT_REPOSITORY https://github.com/protocolbuffers/protobuf
|
||||
GIT_TAG v${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/protobuf/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
BINARY_DIR ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
UPDATE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/protobuf/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/autogen.sh
|
||||
CONFIGURE_COMMAND ${CMAKE_CURRENT_SOURCE_DIR}/thirdparty/protobuf/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/configure --prefix=${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}
|
||||
BUILD_COMMAND ${CMAKE_MAKE_PROGRAM}
|
||||
INSTALL_COMMAND ${CMAKE_MAKE_PROGRAM} install
|
||||
BUILD_BYPRODUCTS ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}protobuf${CMAKE_STATIC_LIBRARY_SUFFIX}
|
||||
${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/bin/protoc
|
||||
)
|
||||
endif()
|
||||
|
||||
if(NOT TARGET protobuf::protoc)
|
||||
add_executable(protobuf::protoc IMPORTED)
|
||||
add_dependencies(protobuf::protoc protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION})
|
||||
endif()
|
||||
unset(Protobuf_PROTOC_EXECUTABLE)
|
||||
set(PROTOBUF_PROTOC_EXECUTABLE "${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/bin/protoc")
|
||||
set_target_properties(protobuf::protoc PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/bin/protoc"
|
||||
INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}protoc${CMAKE_STATIC_LIBRARY_SUFFIX}"
|
||||
)
|
||||
endif()
|
||||
file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/include)
|
||||
if(NOT TARGET protobuf::libprotobuf)
|
||||
add_library(protobuf::libprotobuf STATIC IMPORTED)
|
||||
add_dependencies(protobuf::libprotobuf protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION})
|
||||
endif()
|
||||
set_target_properties(protobuf::libprotobuf PROPERTIES
|
||||
IMPORTED_LINK_INTERFACE_LANGUAGES "CXX"
|
||||
IMPORTED_LOCATION "${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}protobuf${CMAKE_STATIC_LIBRARY_SUFFIX}"
|
||||
INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/include"
|
||||
INTERFACE_LINK_LIBRARIES "${CMAKE_CURRENT_BINARY_DIR}/protobuf-${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION}/lib/${CMAKE_FIND_LIBRARY_PREFIXES}protobuf${CMAKE_STATIC_LIBRARY_SUFFIX}"
|
||||
)
|
||||
|
||||
if(${Protobuf_VERSION} VERSION_LESS ${GNSSSDR_PROTOBUF_MIN_VERSION})
|
||||
set_package_properties(Protobuf PROPERTIES
|
||||
PURPOSE "Protocol Buffers found (v${Protobuf_VERSION}) is too old (> v${GNSSSDR_PROTOBUF_MIN_VERSION} needed)."
|
||||
)
|
||||
endif()
|
||||
set_package_properties(Protobuf PROPERTIES
|
||||
PURPOSE "Protocol Buffers v${GNSSSDR_PROTOCOLBUFFERS_LOCAL_VERSION} will be downloaded and built when doing '${CMAKE_MAKE_PROGRAM_PRETTY_NAME}'."
|
||||
)
|
||||
endif()
|
||||
|
||||
|
||||
|
||||
################################################################################
|
||||
# Doxygen - http://www.doxygen.nl (OPTIONAL, used if found)
|
||||
################################################################################
|
||||
|
|
|
|||
34
README.md
34
README.md
|
|
@ -68,7 +68,7 @@ $ sudo apt-get install build-essential cmake git libboost-dev libboost-date-time
|
|||
libboost-serialization-dev liblog4cpp5-dev libuhd-dev gnuradio-dev gr-osmosdr \
|
||||
libblas-dev liblapack-dev libarmadillo-dev libgflags-dev libgoogle-glog-dev \
|
||||
libgnutls-openssl-dev libpcap-dev python-mako python-six libmatio-dev libpugixml-dev \
|
||||
libgtest-dev
|
||||
libgtest-dev libprotobuf-dev protobuf-compiler
|
||||
~~~~~~
|
||||
|
||||
Please note that the required files from `libgtest-dev` were moved to `googletest` in Debian 9 "stretch" and Ubuntu 18.04 "bionic", and moved back again to `libgtest-dev` in Debian 10 "buster" and Ubuntu 18.10 "cosmic".
|
||||
|
|
@ -86,7 +86,7 @@ If you are using Arch Linux:
|
|||
~~~~~~
|
||||
$ pacman -S gcc make cmake git boost boost-libs log4cpp libvolk gnuradio \
|
||||
gnuradio-osmosdr blas lapack gflags google-glog openssl pugixml \
|
||||
python-mako python-six libmatio libpcap gtest
|
||||
python-mako python-six libmatio libpcap gtest protobuf
|
||||
~~~~~~
|
||||
|
||||
Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
|
||||
|
|
@ -119,7 +119,8 @@ $ sudo yum install make automake gcc gcc-c++ kernel-devel cmake git boost-devel
|
|||
boost-date-time boost-system boost-filesystem boost-thread boost-chrono \
|
||||
boost-serialization log4cpp-devel gnuradio-devel gr-osmosdr-devel \
|
||||
blas-devel lapack-devel matio-devel armadillo-devel gflags-devel \
|
||||
glog-devel openssl-devel libpcap-devel python-mako python-six pugixml-devel
|
||||
glog-devel openssl-devel libpcap-devel python-mako python-six \
|
||||
pugixml-devel protobuf-devel
|
||||
~~~~~~
|
||||
|
||||
Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
|
||||
|
|
@ -135,7 +136,7 @@ zypper install cmake git gcc-c++ boost-devel libboost_atomic-devel \
|
|||
libboost_thread-devel libboost_chrono-devel libboost_serialization-devel \
|
||||
log4cpp-devel gtest gnuradio-devel pugixml-devel libpcap-devel \
|
||||
armadillo-devel libtool automake hdf5-devel libopenssl-devel python-Mako \
|
||||
python-six
|
||||
python-six protobuf-devel
|
||||
~~~~~~
|
||||
|
||||
Once you have installed these packages, you can jump directly to [download the source code and build GNSS-SDR](#download-and-build-linux).
|
||||
|
|
@ -283,6 +284,29 @@ In case the GnuTLS library with openssl extensions package is not available in y
|
|||
|
||||
|
||||
|
||||
#### Install [Protocol Buffers](https://developers.google.com/protocol-buffers/ "Protocol Buffers' Homepage"), a portable mechanism for serialization of structured data:
|
||||
|
||||
GNSS-SDR requires Protocol Buffers v3.0.0 or later. If the packages that come with your distribution are older than that (_e.g._, Ubuntu 16.04 Xenial and Debian 8 Jessie came with older versions), then you will need to install it manually. First, install the dependencies:
|
||||
|
||||
~~~~~~
|
||||
$ sudo apt-get install autoconf automake libtool curl make g++ unzip
|
||||
~~~~~~
|
||||
|
||||
and then:
|
||||
|
||||
~~~~~~
|
||||
$ wget https://github.com/protocolbuffers/protobuf/releases/download/v3.7.1/protobuf-cpp-3.7.1.tar.gz
|
||||
$ tar xvfz protobuf-cpp-3.7.1.tar.gz
|
||||
$ cd protobuf-3.7.1
|
||||
$ ./autogen.sh
|
||||
$ ./configure
|
||||
$ make
|
||||
$ sudo make install
|
||||
$ sudo ldconfig
|
||||
~~~~~~
|
||||
|
||||
|
||||
|
||||
### <a name="download-and-build-linux">Clone GNSS-SDR's Git repository</a>:
|
||||
|
||||
~~~~~~
|
||||
|
|
@ -570,6 +594,7 @@ $ sudo port install gnutls
|
|||
$ sudo port install google-glog +gflags
|
||||
$ sudo port install matio
|
||||
$ sudo port install pugixml
|
||||
$ sudo port install protobuf3-cpp
|
||||
$ sudo port install py27-mako
|
||||
$ sudo port install py27-six
|
||||
$ sudo port install doxygen +docs
|
||||
|
|
@ -617,6 +642,7 @@ $ brew install libmatio
|
|||
$ brew install log4cpp
|
||||
$ brew install openssl
|
||||
$ brew install pugixml
|
||||
$ brew install protobuf
|
||||
$ pip install mako
|
||||
$ pip install six
|
||||
~~~~~~
|
||||
|
|
|
|||
|
|
@ -26,6 +26,7 @@
|
|||
- Fix bug in GLONASS dual frequency receiver.
|
||||
- Added a custom UDP/IP output for PVT data streaming.
|
||||
- Improved Monitor block with UDP/IP output for internal receiver's data streaming.
|
||||
- Custom output formats described with .proto files, making easier to other applications reading them in a forward and backward-compatible fashion upon future format changes.
|
||||
|
||||
|
||||
### Improvements in Maintainability:
|
||||
|
|
@ -51,6 +52,7 @@
|
|||
|
||||
- The receiver now admits FPGA off-loading, allowing for real time operation at high sampling rates and higher number of signals and channels.
|
||||
- Fixed program termination (avoiding hangs and segfaults in some platforms/configurations).
|
||||
- The Labsat_Signal_Source now terminates the receiver's execution when the end of file(s) is reached. It now accepts LabSat 2 filenames and series of LabSat 3 files.
|
||||
- CMake now generates a summary of enabled/disabled features. This info is also stored in a file called features.log in the building directory.
|
||||
- New parameter PVT.show_local_time_zone displays time in the local time zone. Subject to the proper system configuration of the machine running the software receiver.
|
||||
- Improved information provided to the user in case of failure.
|
||||
|
|
|
|||
|
|
@ -0,0 +1,19 @@
|
|||
# Custom structured data format definitions
|
||||
|
||||
Files in this folder describe structured data formats that are generated by
|
||||
GNSS-SDR. They use [Protocol Buffers](https://developers.google.com/protocol-buffers/)'
|
||||
[proto3](https://developers.google.com/protocol-buffers/docs/proto3) syntax.
|
||||
|
||||
From those files, the protocol buffer compiler creates classes that implement
|
||||
automatic encoding and parsing of the protocol buffer data with an efficient
|
||||
binary format. The generated classes provide getters and setters for the fields
|
||||
that make up a protocol buffer and take care of the details of reading and
|
||||
writing it as a unit. Importantly, the protocol buffer format supports the idea
|
||||
of extending the format over time in such a way that the code can still read
|
||||
data encoded with the old format.
|
||||
|
||||
Just grab these files if you are developing a client application for GNSS-SDR.
|
||||
You are free to use C++, Java, Python, C#, Dart, Go or Ruby, among other
|
||||
languages. A tutorial to create a simple application using Protocol Buffers and
|
||||
a `.proto` file in C++ is available at
|
||||
https://gnss-sdr.org/docs/tutorials/monitoring-software-receiver-internal-status/
|
||||
|
|
@ -0,0 +1,42 @@
|
|||
syntax = "proto3";
|
||||
|
||||
package gnss_sdr;
|
||||
|
||||
/* GnssSynchro represents the processing measurements at a given time taken by a given processing channel */
|
||||
message GnssSynchro {
|
||||
string system = 1; // GNSS constellation: "G" for GPS, "R" for Glonass, "S" for SBAS, "E" for Galileo and "C" for Beidou.
|
||||
string signal = 2; // GNSS signal: "1C" for GPS L1 C/A, "1B" for Galileo E1b/c, "1G" for Glonass L1 C/A, "2S" for GPS L2 L2C(M), "2G" for Glonass L2 C/A, "L5" for GPS L5 and "5X" for Galileo E5a
|
||||
|
||||
uint32 prn = 3; // PRN number
|
||||
int32 channel_id = 4; // Channel number
|
||||
|
||||
double acq_delay_samples = 5; // Coarse code delay estimation, in samples
|
||||
double acq_doppler_hz = 6; // Coarse Doppler estimation in each channel, in Hz
|
||||
uint64 acq_samplestamp_samples = 7; // Number of samples at signal SampleStamp
|
||||
uint32 acq_doppler_step = 8; // Step of the frequency bin in the search grid, in Hz
|
||||
bool flag_valid_acquisition = 9; // Acquisition status
|
||||
|
||||
int64 fs = 10; // Sampling frequency, in samples per second
|
||||
double prompt_i = 11; // In-phase (real) component of the prompt correlator output
|
||||
double prompt_q = 12; // Quadrature (imaginary) component of the prompt correlator output
|
||||
double cn0_db_hz = 13; // Carrier-to-Noise density ratio, in dB-Hz
|
||||
double carrier_doppler_hz = 14; // Doppler estimation, in [Hz].
|
||||
double carrier_phase_rads = 15; // Carrier phase estimation, in rad
|
||||
double code_phase_samples = 16; // Code phase in samples
|
||||
uint64 tracking_sample_counter = 17; // Sample counter indicating the number of processed samples
|
||||
bool flag_valid_symbol_output = 18; // Indicates the validity of signal tracking
|
||||
int32 correlation_length_ms = 19; // Time duration of coherent correlation integration, in ms
|
||||
|
||||
bool flag_valid_word = 20; // Indicates the validity of the decoded navigation message word
|
||||
uint32 tow_at_current_symbol_ms = 21; // Time of week of the current symbol, in ms
|
||||
|
||||
double pseudorange_m = 22; // Pseudorange computation, in m
|
||||
double rx_time = 23; // Receiving time after the start of the week, in s
|
||||
bool flag_valid_pseudorange = 24; // Pseudorange computation status
|
||||
double interp_tow_ms = 25; // Interpolated time of week, in ms
|
||||
}
|
||||
|
||||
/* Observables represents a collection of GnssSynchro annotations */
|
||||
message Observables {
|
||||
repeated GnssSynchro observable = 1;
|
||||
}
|
||||
|
|
@ -0,0 +1,41 @@
|
|||
syntax = "proto3";
|
||||
|
||||
package gnss_sdr;
|
||||
|
||||
/* MonitorPvt represents a search query, with pagination options to
|
||||
* indicate which results to include in the response. */
|
||||
message MonitorPvt {
|
||||
uint32 tow_at_current_symbol_ms = 1; // Time of week of the current symbol, in ms
|
||||
uint32 week = 2; // PVT GPS week
|
||||
double rx_time = 3; // PVT GPS time
|
||||
double user_clk_offset = 4; // User clock offset, in s
|
||||
|
||||
double pos_x = 5; // Position X component in ECEF, expressed in m
|
||||
double pos_y = 6; // Position Y component in ECEF, expressed in m
|
||||
double pos_z = 7; // Position Z component in ECEF, expressed in m
|
||||
double vel_x = 8; // Velocity X component in ECEF, in m/s
|
||||
double vel_y = 9; // Velocity Y component in ECEF, in m/s
|
||||
double vel_z = 10; // Velocity Z component in ECEF, in m/s
|
||||
|
||||
double cov_xx = 11; // Position variance in the Y component, in m2
|
||||
double cov_yy = 12; // Position variance in the Y component, in m2
|
||||
double cov_zz = 13; // Position variance in the Z component, in m2
|
||||
double cov_xy = 14; // Position XY covariance, in m2
|
||||
double cov_yz = 15; // Position YZ covariance, in m2
|
||||
double cov_zx = 16; // Position ZX covariance, in m2
|
||||
|
||||
double latitude = 17; // Latitude, in deg. Positive: North
|
||||
double longitude = 18; // Longitude, in deg. Positive: East
|
||||
double height = 19; // Height, in m
|
||||
|
||||
uint32 valid_sats = 20; // Number of valid satellites
|
||||
uint32 solution_status = 21; // RTKLIB solution status
|
||||
uint32 solution_type = 22; // RTKLIB solution type (0: xyz-ecef, 1: enu-baseline)
|
||||
float ar_ratio_factor = 23; // Ambiguity resolution ratio factor for validation
|
||||
float ar_ratio_threshold = 24; // Ambiguity resolution ratio threshold for validation
|
||||
|
||||
double gdop = 25; // Geometric Dilution of Precision
|
||||
double pdop = 26; // Position (3D) Dilution of Precision
|
||||
double hdop = 27; // Horizontal Dilution of Precision
|
||||
double vdop = 28; // Vertical Dilution of Precision
|
||||
}
|
||||
|
|
@ -741,6 +741,11 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
|
|||
pvt_output_parameters.monitor_enabled = configuration->property(role + ".enable_monitor", false);
|
||||
pvt_output_parameters.udp_addresses = configuration->property(role + ".monitor_client_addresses", std::string("127.0.0.1"));
|
||||
pvt_output_parameters.udp_port = configuration->property(role + ".monitor_udp_port", 1234);
|
||||
pvt_output_parameters.protobuf_enabled = configuration->property(role + ".enable_protobuf", true);
|
||||
if (configuration->property("Monitor.enable_protobuf", false) == true)
|
||||
{
|
||||
pvt_output_parameters.protobuf_enabled = true;
|
||||
}
|
||||
|
||||
// Show time in local zone
|
||||
pvt_output_parameters.show_local_time_zone = configuration->property(role + ".show_local_time_zone", false);
|
||||
|
|
|
|||
|
|
@ -347,7 +347,7 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
|
|||
std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
|
||||
udp_addr_vec.erase(std::unique(udp_addr_vec.begin(), udp_addr_vec.end()), udp_addr_vec.end());
|
||||
|
||||
udp_sink_ptr = std::unique_ptr<Monitor_Pvt_Udp_Sink>(new Monitor_Pvt_Udp_Sink(udp_addr_vec, conf_.udp_port));
|
||||
udp_sink_ptr = std::unique_ptr<Monitor_Pvt_Udp_Sink>(new Monitor_Pvt_Udp_Sink(udp_addr_vec, conf_.udp_port, conf_.protobuf_enabled));
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
|
|||
|
|
@ -16,6 +16,7 @@
|
|||
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
#
|
||||
|
||||
protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${CMAKE_SOURCE_DIR}/docs/protobuf/monitor_pvt.proto)
|
||||
|
||||
set(PVT_LIB_SOURCES
|
||||
pvt_solution.cc
|
||||
|
|
@ -31,6 +32,7 @@ set(PVT_LIB_SOURCES
|
|||
rtklib_solver.cc
|
||||
pvt_conf.cc
|
||||
monitor_pvt_udp_sink.cc
|
||||
${PROTO_SRCS}
|
||||
)
|
||||
|
||||
set(PVT_LIB_HEADERS
|
||||
|
|
@ -48,6 +50,8 @@ set(PVT_LIB_HEADERS
|
|||
pvt_conf.h
|
||||
monitor_pvt_udp_sink.h
|
||||
monitor_pvt.h
|
||||
serdes_monitor_pvt.h
|
||||
${PROTO_HDRS}
|
||||
)
|
||||
|
||||
list(SORT PVT_LIB_HEADERS)
|
||||
|
|
@ -61,6 +65,7 @@ target_link_libraries(pvt_libs
|
|||
PUBLIC
|
||||
Armadillo::armadillo
|
||||
Boost::date_time
|
||||
protobuf::libprotobuf
|
||||
algorithms_libs_rtklib
|
||||
core_system_parameters
|
||||
PRIVATE
|
||||
|
|
@ -72,9 +77,12 @@ target_link_libraries(pvt_libs
|
|||
Matio::matio
|
||||
)
|
||||
|
||||
get_filename_component(PROTO_INCLUDE_HEADERS ${PROTO_HDRS} DIRECTORY)
|
||||
|
||||
target_include_directories(pvt_libs
|
||||
PUBLIC
|
||||
${CMAKE_SOURCE_DIR}/src/core/receiver
|
||||
${PROTO_INCLUDE_HEADERS}
|
||||
)
|
||||
|
||||
target_compile_definitions(pvt_libs PRIVATE -DGNSS_SDR_VERSION="${VERSION}")
|
||||
|
|
|
|||
|
|
@ -35,7 +35,7 @@
|
|||
#include <sstream>
|
||||
|
||||
|
||||
Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port) : socket{io_service}
|
||||
Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool protobuf_enabled) : socket{io_service}
|
||||
{
|
||||
for (const auto& address : addresses)
|
||||
{
|
||||
|
|
@ -70,15 +70,29 @@ Monitor_Pvt_Udp_Sink::Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, c
|
|||
monitor_pvt.pdop = 0.0;
|
||||
monitor_pvt.hdop = 0.0;
|
||||
monitor_pvt.vdop = 0.0;
|
||||
|
||||
use_protobuf = protobuf_enabled;
|
||||
if (use_protobuf)
|
||||
{
|
||||
serdes = Serdes_Monitor_Pvt();
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
bool Monitor_Pvt_Udp_Sink::write_monitor_pvt(const Monitor_Pvt& monitor_pvt)
|
||||
{
|
||||
std::ostringstream archive_stream;
|
||||
boost::archive::binary_oarchive oa{archive_stream};
|
||||
oa << monitor_pvt;
|
||||
std::string outbound_data = archive_stream.str();
|
||||
std::string outbound_data;
|
||||
if (use_protobuf == false)
|
||||
{
|
||||
std::ostringstream archive_stream;
|
||||
boost::archive::binary_oarchive oa{archive_stream};
|
||||
oa << monitor_pvt;
|
||||
outbound_data = archive_stream.str();
|
||||
}
|
||||
else
|
||||
{
|
||||
outbound_data = serdes.createProtobuffer(monitor_pvt);
|
||||
}
|
||||
|
||||
for (const auto& endpoint : endpoints)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -33,12 +33,13 @@
|
|||
#define GNSS_SDR_MONITOR_PVT_UDP_SINK_H_
|
||||
|
||||
#include "monitor_pvt.h"
|
||||
#include "serdes_monitor_pvt.h"
|
||||
#include <boost/asio.hpp>
|
||||
|
||||
class Monitor_Pvt_Udp_Sink
|
||||
{
|
||||
public:
|
||||
Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t &port);
|
||||
Monitor_Pvt_Udp_Sink(std::vector<std::string> addresses, const uint16_t &port, bool protobuf_enabled);
|
||||
bool write_monitor_pvt(const Monitor_Pvt &monitor_pvt);
|
||||
|
||||
private:
|
||||
|
|
@ -47,6 +48,8 @@ private:
|
|||
boost::system::error_code error;
|
||||
std::vector<boost::asio::ip::udp::endpoint> endpoints;
|
||||
Monitor_Pvt monitor_pvt;
|
||||
Serdes_Monitor_Pvt serdes;
|
||||
bool use_protobuf;
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -69,6 +69,7 @@ Pvt_Conf::Pvt_Conf()
|
|||
rtcm_output_file_path = std::string(".");
|
||||
|
||||
monitor_enabled = false;
|
||||
protobuf_enabled = true;
|
||||
udp_port = 0;
|
||||
|
||||
show_local_time_zone = false;
|
||||
|
|
|
|||
|
|
@ -80,6 +80,7 @@ public:
|
|||
std::string rtcm_output_file_path;
|
||||
|
||||
bool monitor_enabled;
|
||||
bool protobuf_enabled;
|
||||
std::string udp_addresses;
|
||||
int udp_port;
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,138 @@
|
|||
/*!
|
||||
* \file serdes_monitor_pvt.h
|
||||
* \brief Serialization / Deserialization of Monitor_Pvt objects using
|
||||
* Protocol Buffers
|
||||
* \author Carles Fernandez-Prades, 2019. cfernandez(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_SERDES_MONITOR_PVT_H_
|
||||
#define GNSS_SDR_SERDES_MONITOR_PVT_H_
|
||||
|
||||
#include "monitor_pvt.h"
|
||||
#include "monitor_pvt.pb.h" // file created by Protocol Buffers at compile time
|
||||
|
||||
|
||||
/*!
|
||||
* \brief This class implements serialization and deserialization of
|
||||
* Monitor_Pvt objects using Protocol Buffers.
|
||||
*/
|
||||
class Serdes_Monitor_Pvt
|
||||
{
|
||||
public:
|
||||
Serdes_Monitor_Pvt()
|
||||
{
|
||||
// Verify that the version of the library that we linked against is
|
||||
// compatible with the version of the headers we compiled against.
|
||||
GOOGLE_PROTOBUF_VERIFY_VERSION;
|
||||
monitor_.New();
|
||||
}
|
||||
~Serdes_Monitor_Pvt()
|
||||
{
|
||||
// google::protobuf::ShutdownProtobufLibrary();
|
||||
}
|
||||
|
||||
inline std::string createProtobuffer(const Monitor_Pvt& monitor) //!< Serialization into a string
|
||||
{
|
||||
monitor_.Clear();
|
||||
|
||||
std::string data;
|
||||
|
||||
monitor_.set_tow_at_current_symbol_ms(monitor.TOW_at_current_symbol_ms);
|
||||
monitor_.set_week(monitor.week);
|
||||
monitor_.set_rx_time(monitor.RX_time);
|
||||
monitor_.set_user_clk_offset(monitor.user_clk_offset);
|
||||
monitor_.set_pos_x(monitor.pos_x);
|
||||
monitor_.set_pos_y(monitor.pos_y);
|
||||
monitor_.set_pos_z(monitor.pos_z);
|
||||
monitor_.set_vel_x(monitor.vel_x);
|
||||
monitor_.set_vel_y(monitor.vel_y);
|
||||
monitor_.set_vel_z(monitor.vel_z);
|
||||
monitor_.set_cov_xx(monitor.cov_xx);
|
||||
monitor_.set_cov_yy(monitor.cov_yy);
|
||||
monitor_.set_cov_zz(monitor.cov_zz);
|
||||
monitor_.set_cov_xy(monitor.cov_xy);
|
||||
monitor_.set_cov_yz(monitor.cov_yz);
|
||||
monitor_.set_cov_yz(monitor.cov_yz);
|
||||
monitor_.set_latitude(monitor.latitude);
|
||||
monitor_.set_longitude(monitor.longitude);
|
||||
monitor_.set_height(monitor.height);
|
||||
monitor_.set_valid_sats(monitor.valid_sats);
|
||||
monitor_.set_solution_status(monitor.solution_status);
|
||||
monitor_.set_solution_type(monitor.solution_type);
|
||||
monitor_.set_ar_ratio_factor(monitor.AR_ratio_factor);
|
||||
monitor_.set_ar_ratio_threshold(monitor.AR_ratio_threshold);
|
||||
monitor_.set_gdop(monitor.gdop);
|
||||
monitor_.set_pdop(monitor.pdop);
|
||||
monitor_.set_hdop(monitor.hdop);
|
||||
monitor_.set_vdop(monitor.vdop);
|
||||
|
||||
monitor_.SerializeToString(&data);
|
||||
return data;
|
||||
}
|
||||
|
||||
|
||||
inline Monitor_Pvt readProtobuffer(const gnss_sdr::MonitorPvt& mon) //!< Deserialization
|
||||
{
|
||||
Monitor_Pvt monitor;
|
||||
|
||||
monitor.TOW_at_current_symbol_ms = mon.tow_at_current_symbol_ms();
|
||||
monitor.week = mon.week();
|
||||
monitor.RX_time = mon.rx_time();
|
||||
monitor.user_clk_offset = mon.user_clk_offset();
|
||||
monitor.pos_x = mon.pos_x();
|
||||
monitor.pos_y = mon.pos_y();
|
||||
monitor.pos_z = mon.pos_z();
|
||||
monitor.vel_x = mon.vel_x();
|
||||
monitor.vel_y = mon.vel_y();
|
||||
monitor.vel_z = mon.vel_z();
|
||||
monitor.cov_xx = mon.cov_xx();
|
||||
monitor.cov_yy = mon.cov_yy();
|
||||
monitor.cov_zz = mon.cov_zz();
|
||||
monitor.cov_xy = mon.cov_xy();
|
||||
monitor.cov_yz = mon.cov_yz();
|
||||
monitor.cov_zx = mon.cov_zx();
|
||||
monitor.latitude = mon.latitude();
|
||||
monitor.longitude = mon.longitude();
|
||||
monitor.height = mon.height();
|
||||
monitor.valid_sats = static_cast<uint8_t>(mon.valid_sats());
|
||||
monitor.solution_status = static_cast<uint8_t>(mon.solution_status());
|
||||
monitor.solution_type = static_cast<uint8_t>(mon.solution_type());
|
||||
monitor.AR_ratio_factor = mon.ar_ratio_factor();
|
||||
monitor.AR_ratio_threshold = mon.ar_ratio_threshold();
|
||||
monitor.gdop = mon.gdop();
|
||||
monitor.pdop = mon.pdop();
|
||||
monitor.hdop = mon.hdop();
|
||||
monitor.vdop = mon.vdop();
|
||||
|
||||
return monitor;
|
||||
}
|
||||
|
||||
private:
|
||||
gnss_sdr::MonitorPvt monitor_;
|
||||
};
|
||||
|
||||
#endif // GNSS_SDR_SERDES_MONITOR_PVT_H_
|
||||
|
|
@ -16,15 +16,19 @@
|
|||
# along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
#
|
||||
|
||||
protobuf_generate_cpp(PROTO_SRCS PROTO_HDRS ${CMAKE_SOURCE_DIR}/docs/protobuf/gnss_synchro.proto)
|
||||
|
||||
set(CORE_MONITOR_LIBS_SOURCES
|
||||
gnss_synchro_monitor.cc
|
||||
gnss_synchro_udp_sink.cc
|
||||
${PROTO_SRCS}
|
||||
)
|
||||
|
||||
set(CORE_MONITOR_LIBS_HEADERS
|
||||
gnss_synchro_monitor.h
|
||||
gnss_synchro_udp_sink.h
|
||||
serdes_gnss_synchro.h
|
||||
${PROTO_HDRS}
|
||||
)
|
||||
|
||||
list(SORT CORE_MONITOR_LIBS_HEADERS)
|
||||
|
|
@ -42,11 +46,19 @@ target_link_libraries(core_monitor
|
|||
Boost::serialization
|
||||
Boost::system
|
||||
Gnuradio::runtime
|
||||
protobuf::libprotobuf
|
||||
core_system_parameters
|
||||
PRIVATE
|
||||
Gnuradio::pmt
|
||||
)
|
||||
|
||||
get_filename_component(PROTO_INCLUDE_HEADERS ${PROTO_HDRS} DIRECTORY)
|
||||
|
||||
target_include_directories(core_monitor
|
||||
PUBLIC
|
||||
${PROTO_INCLUDE_HEADERS}
|
||||
)
|
||||
|
||||
if(OS_IS_MACOSX)
|
||||
if(CMAKE_CXX_COMPILER_ID STREQUAL "Clang") # not AppleClang
|
||||
target_compile_definitions(core_monitor
|
||||
|
|
@ -65,7 +77,10 @@ if(ENABLE_CLANG_TIDY)
|
|||
endif()
|
||||
endif()
|
||||
|
||||
|
||||
|
||||
set_property(TARGET core_monitor
|
||||
APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
|
||||
$<BUILD_INTERFACE:${PROTO_INCLUDE_HEADERS}>
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>
|
||||
)
|
||||
|
|
|
|||
|
|
@ -41,26 +41,29 @@
|
|||
gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
|
||||
int decimation_factor,
|
||||
int udp_port,
|
||||
const std::vector<std::string>& udp_addresses)
|
||||
const std::vector<std::string>& udp_addresses,
|
||||
bool enable_protobuf)
|
||||
{
|
||||
return gnss_synchro_monitor_sptr(new gnss_synchro_monitor(n_channels,
|
||||
decimation_factor,
|
||||
udp_port,
|
||||
udp_addresses));
|
||||
udp_addresses,
|
||||
enable_protobuf));
|
||||
}
|
||||
|
||||
|
||||
gnss_synchro_monitor::gnss_synchro_monitor(unsigned int n_channels,
|
||||
int decimation_factor,
|
||||
int udp_port,
|
||||
const std::vector<std::string>& udp_addresses) : gr::sync_block("gnss_synchro_monitor",
|
||||
gr::io_signature::make(n_channels, n_channels, sizeof(Gnss_Synchro)),
|
||||
gr::io_signature::make(0, 0, 0))
|
||||
const std::vector<std::string>& udp_addresses,
|
||||
bool enable_protobuf) : gr::sync_block("gnss_synchro_monitor",
|
||||
gr::io_signature::make(n_channels, n_channels, sizeof(Gnss_Synchro)),
|
||||
gr::io_signature::make(0, 0, 0))
|
||||
{
|
||||
d_decimation_factor = decimation_factor;
|
||||
d_nchannels = n_channels;
|
||||
|
||||
udp_sink_ptr = std::unique_ptr<Gnss_Synchro_Udp_Sink>(new Gnss_Synchro_Udp_Sink(udp_addresses, udp_port));
|
||||
udp_sink_ptr = std::unique_ptr<Gnss_Synchro_Udp_Sink>(new Gnss_Synchro_Udp_Sink(udp_addresses, udp_port, enable_protobuf));
|
||||
|
||||
count = 0;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -50,7 +50,8 @@ using gnss_synchro_monitor_sptr = boost::shared_ptr<gnss_synchro_monitor>;
|
|||
gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
|
||||
int decimation_factor,
|
||||
int udp_port,
|
||||
const std::vector<std::string>& udp_addresses);
|
||||
const std::vector<std::string>& udp_addresses,
|
||||
bool enable_protobuf);
|
||||
|
||||
/*!
|
||||
* \brief This class implements a monitoring block which allows sending
|
||||
|
|
@ -63,12 +64,14 @@ private:
|
|||
friend gnss_synchro_monitor_sptr gnss_synchro_make_monitor(unsigned int n_channels,
|
||||
int decimation_factor,
|
||||
int udp_port,
|
||||
const std::vector<std::string>& udp_addresses);
|
||||
const std::vector<std::string>& udp_addresses,
|
||||
bool enable_protobuf);
|
||||
|
||||
gnss_synchro_monitor(unsigned int n_channels,
|
||||
int decimation_factor,
|
||||
int udp_port,
|
||||
const std::vector<std::string>& udp_addresses);
|
||||
const std::vector<std::string>& udp_addresses,
|
||||
bool enable_protobuf);
|
||||
|
||||
unsigned int d_nchannels;
|
||||
int d_decimation_factor;
|
||||
|
|
|
|||
|
|
@ -35,8 +35,13 @@
|
|||
#include <iostream>
|
||||
#include <sstream>
|
||||
|
||||
Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port) : socket{io_service}
|
||||
Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool enable_protobuf) : socket{io_service}
|
||||
{
|
||||
use_protobuf = enable_protobuf;
|
||||
if (enable_protobuf)
|
||||
{
|
||||
serdes = Serdes_Gnss_Synchro();
|
||||
}
|
||||
for (const auto& address : addresses)
|
||||
{
|
||||
boost::asio::ip::udp::endpoint endpoint(boost::asio::ip::address::from_string(address, error), port);
|
||||
|
|
@ -47,11 +52,18 @@ Gnss_Synchro_Udp_Sink::Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses,
|
|||
|
||||
bool Gnss_Synchro_Udp_Sink::write_gnss_synchro(const std::vector<Gnss_Synchro>& stocks)
|
||||
{
|
||||
std::ostringstream archive_stream;
|
||||
boost::archive::binary_oarchive oa{archive_stream};
|
||||
oa << stocks;
|
||||
std::string outbound_data = archive_stream.str();
|
||||
|
||||
std::string outbound_data;
|
||||
if (use_protobuf == false)
|
||||
{
|
||||
std::ostringstream archive_stream;
|
||||
boost::archive::binary_oarchive oa{archive_stream};
|
||||
oa << stocks;
|
||||
outbound_data = archive_stream.str();
|
||||
}
|
||||
else
|
||||
{
|
||||
outbound_data = serdes.createProtobuffer(stocks);
|
||||
}
|
||||
for (const auto& endpoint : endpoints)
|
||||
{
|
||||
socket.open(endpoint.protocol(), error);
|
||||
|
|
|
|||
|
|
@ -33,6 +33,7 @@
|
|||
#define GNSS_SDR_GNSS_SYNCHRO_UDP_SINK_H_
|
||||
|
||||
#include "gnss_synchro.h"
|
||||
#include "serdes_gnss_synchro.h"
|
||||
#include <boost/asio.hpp>
|
||||
#include <boost/system/error_code.hpp>
|
||||
#include <cstdint>
|
||||
|
|
@ -47,7 +48,7 @@
|
|||
class Gnss_Synchro_Udp_Sink
|
||||
{
|
||||
public:
|
||||
Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port);
|
||||
Gnss_Synchro_Udp_Sink(std::vector<std::string> addresses, const uint16_t& port, bool enable_protobuf);
|
||||
bool write_gnss_synchro(const std::vector<Gnss_Synchro>& stocks);
|
||||
|
||||
private:
|
||||
|
|
@ -56,6 +57,8 @@ private:
|
|||
boost::system::error_code error;
|
||||
std::vector<boost::asio::ip::udp::endpoint> endpoints;
|
||||
std::vector<Gnss_Synchro> stocks;
|
||||
Serdes_Gnss_Synchro serdes;
|
||||
bool use_protobuf;
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,160 @@
|
|||
/*!
|
||||
* \file serdes_gnss_synchro.h
|
||||
* \brief Serialization / Deserialization of Gnss_Synchro objects using
|
||||
* Protocol Buffers
|
||||
* \author Carles Fernandez-Prades, 2019. cfernandez(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#ifndef GNSS_SDR_SERDES_GNSS_SYNCHRO_H_
|
||||
#define GNSS_SDR_SERDES_GNSS_SYNCHRO_H_
|
||||
|
||||
#include "gnss_synchro.h"
|
||||
#include "gnss_synchro.pb.h" // file created by Protocol Buffers at compile time
|
||||
#include <cstring> // for memcpy
|
||||
#include <vector>
|
||||
|
||||
|
||||
/*!
|
||||
* \brief This class implements serialization and deserialization of
|
||||
* Gnss_Synchro objects using Protocol Buffers.
|
||||
*/
|
||||
class Serdes_Gnss_Synchro
|
||||
{
|
||||
public:
|
||||
Serdes_Gnss_Synchro()
|
||||
{
|
||||
// Verify that the version of the library that we linked against is
|
||||
// compatible with the version of the headers we compiled against.
|
||||
GOOGLE_PROTOBUF_VERIFY_VERSION;
|
||||
observables.New();
|
||||
}
|
||||
~Serdes_Gnss_Synchro()
|
||||
{
|
||||
google::protobuf::ShutdownProtobufLibrary();
|
||||
}
|
||||
|
||||
inline std::string createProtobuffer(const std::vector<Gnss_Synchro>& vgs) //!< Serialization into a string
|
||||
{
|
||||
observables.Clear();
|
||||
|
||||
std::string data;
|
||||
for (auto gs : vgs)
|
||||
{
|
||||
gnss_sdr::GnssSynchro* obs = observables.add_observable();
|
||||
char c[2];
|
||||
c[0] = gs.System;
|
||||
c[1] = '\0';
|
||||
const std::string sys(c);
|
||||
|
||||
char cc[3];
|
||||
cc[0] = gs.Signal[0];
|
||||
cc[1] = gs.Signal[1];
|
||||
cc[2] = '\0';
|
||||
const std::string sig(cc);
|
||||
|
||||
obs->set_system(sys);
|
||||
obs->set_signal(sig);
|
||||
obs->set_prn(gs.PRN);
|
||||
obs->set_channel_id(gs.Channel_ID);
|
||||
|
||||
obs->set_acq_delay_samples(gs.Acq_delay_samples);
|
||||
obs->set_acq_doppler_hz(gs.Acq_doppler_hz);
|
||||
obs->set_acq_samplestamp_samples(gs.Acq_samplestamp_samples);
|
||||
obs->set_acq_doppler_step(gs.Acq_doppler_step);
|
||||
obs->set_flag_valid_acquisition(gs.Flag_valid_acquisition);
|
||||
|
||||
obs->set_fs(gs.fs);
|
||||
obs->set_prompt_i(gs.Prompt_I);
|
||||
obs->set_prompt_q(gs.Prompt_Q);
|
||||
obs->set_cn0_db_hz(gs.CN0_dB_hz);
|
||||
obs->set_carrier_doppler_hz(gs.Carrier_Doppler_hz);
|
||||
obs->set_code_phase_samples(gs.Code_phase_samples);
|
||||
obs->set_tracking_sample_counter(gs.Tracking_sample_counter);
|
||||
obs->set_flag_valid_symbol_output(gs.Flag_valid_symbol_output);
|
||||
obs->set_correlation_length_ms(gs.correlation_length_ms);
|
||||
|
||||
obs->set_fs(gs.Flag_valid_word);
|
||||
obs->set_fs(gs.TOW_at_current_symbol_ms);
|
||||
|
||||
obs->set_pseudorange_m(gs.Pseudorange_m);
|
||||
obs->set_rx_time(gs.RX_time);
|
||||
obs->set_flag_valid_pseudorange(gs.Flag_valid_pseudorange);
|
||||
obs->set_interp_tow_ms(gs.interp_TOW_ms);
|
||||
}
|
||||
observables.SerializeToString(&data);
|
||||
return data;
|
||||
}
|
||||
|
||||
|
||||
inline std::vector<Gnss_Synchro> readProtobuffer(const gnss_sdr::Observables& obs) //!< Deserialization
|
||||
{
|
||||
std::vector<Gnss_Synchro> vgs;
|
||||
vgs.reserve(obs.observable_size());
|
||||
|
||||
for (int i = 0; i < obs.observable_size(); ++i)
|
||||
{
|
||||
const gnss_sdr::GnssSynchro& gs_read = obs.observable(i);
|
||||
Gnss_Synchro gs = Gnss_Synchro();
|
||||
const std::string& sys = gs_read.system();
|
||||
gs.System = *sys.c_str();
|
||||
const std::string& sig = gs_read.signal();
|
||||
std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
|
||||
gs.PRN = gs_read.prn();
|
||||
gs.Channel_ID = gs_read.channel_id();
|
||||
|
||||
gs.Acq_delay_samples = gs_read.acq_delay_samples();
|
||||
gs.Acq_doppler_hz = gs_read.acq_doppler_hz();
|
||||
gs.Acq_samplestamp_samples = gs_read.acq_samplestamp_samples();
|
||||
gs.Acq_doppler_step = gs_read.acq_doppler_step();
|
||||
gs.Flag_valid_acquisition = gs_read.flag_valid_acquisition();
|
||||
|
||||
gs.fs = gs_read.fs();
|
||||
gs.Prompt_I = gs_read.prompt_i();
|
||||
gs.Prompt_Q = gs_read.prompt_q();
|
||||
gs.CN0_dB_hz = gs_read.cn0_db_hz();
|
||||
gs.Carrier_Doppler_hz = gs_read.carrier_doppler_hz();
|
||||
gs.Tracking_sample_counter = gs_read.tracking_sample_counter();
|
||||
gs.Flag_valid_symbol_output = gs_read.flag_valid_symbol_output();
|
||||
gs.correlation_length_ms = gs_read.correlation_length_ms();
|
||||
|
||||
gs.Flag_valid_word = gs_read.flag_valid_word();
|
||||
gs.TOW_at_current_symbol_ms = gs_read.tow_at_current_symbol_ms();
|
||||
|
||||
gs.Pseudorange_m = gs_read.pseudorange_m();
|
||||
gs.RX_time = gs_read.rx_time();
|
||||
gs.Flag_valid_pseudorange = gs_read.flag_valid_pseudorange();
|
||||
gs.interp_TOW_ms = gs_read.interp_tow_ms();
|
||||
|
||||
vgs.push_back(gs);
|
||||
}
|
||||
return vgs;
|
||||
}
|
||||
private:
|
||||
gnss_sdr::Observables observables;
|
||||
};
|
||||
|
||||
#endif // GNSS_SDR_SERDES_GNSS_SYNCHRO_H_
|
||||
|
|
@ -215,7 +215,7 @@ void GNSSFlowgraph::connect()
|
|||
}
|
||||
|
||||
DLOG(INFO) << "blocks connected internally";
|
||||
// Signal Source (i) > Signal conditioner (i) >
|
||||
// Signal Source (i) > Signal conditioner (i) >
|
||||
#ifndef ENABLE_FPGA
|
||||
int RF_Channels = 0;
|
||||
int signal_conditioner_ID = 0;
|
||||
|
|
@ -444,20 +444,20 @@ void GNSSFlowgraph::connect()
|
|||
// create a FIR low pass filter
|
||||
std::vector<float> taps;
|
||||
|
||||
// float beta = 7.0;
|
||||
// float halfband = 0.5;
|
||||
// float fractional_bw = 0.4;
|
||||
// float rate = 1.0 / static_cast<float>(decimation);
|
||||
// float beta = 7.0;
|
||||
// float halfband = 0.5;
|
||||
// float fractional_bw = 0.4;
|
||||
// float rate = 1.0 / static_cast<float>(decimation);
|
||||
//
|
||||
// float trans_width = rate * (halfband - fractional_bw);
|
||||
// float mid_transition_band = rate * halfband - trans_width / 2.0;
|
||||
// float trans_width = rate * (halfband - fractional_bw);
|
||||
// float mid_transition_band = rate * halfband - trans_width / 2.0;
|
||||
//
|
||||
// taps = gr::filter::firdes::low_pass(1.0,
|
||||
// 1.0,
|
||||
// mid_transition_band,
|
||||
// trans_width,
|
||||
// gr::filter::firdes::win_type::WIN_KAISER,
|
||||
// beta);
|
||||
// taps = gr::filter::firdes::low_pass(1.0,
|
||||
// 1.0,
|
||||
// mid_transition_band,
|
||||
// trans_width,
|
||||
// gr::filter::firdes::win_type::WIN_KAISER,
|
||||
// beta);
|
||||
|
||||
taps = gr::filter::firdes::low_pass(1.0,
|
||||
fs,
|
||||
|
|
@ -526,7 +526,6 @@ void GNSSFlowgraph::connect()
|
|||
}
|
||||
#endif
|
||||
|
||||
|
||||
// Signal Source > Signal conditioner >> Channels >> Observables
|
||||
try
|
||||
{
|
||||
|
|
@ -556,6 +555,7 @@ void GNSSFlowgraph::connect()
|
|||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Put channels fixed to a given satellite at the beginning of the vector, then the rest
|
||||
std::vector<unsigned int> vector_of_channels;
|
||||
for (unsigned int i = 0; i < channels_count_; i++)
|
||||
|
|
@ -1169,7 +1169,6 @@ void GNSSFlowgraph::apply_action(unsigned int who, unsigned int what)
|
|||
}
|
||||
acq_channels_count_++;
|
||||
DLOG(INFO) << "Channel " << ch_index << " Starting acquisition " << channels_[ch_index]->get_signal().get_satellite() << ", Signal " << channels_[ch_index]->get_signal().get_signal_str();
|
||||
|
||||
#ifndef ENABLE_FPGA
|
||||
channels_[ch_index]->start_acquisition();
|
||||
#else
|
||||
|
|
@ -1704,7 +1703,11 @@ void GNSSFlowgraph::init()
|
|||
* Instantiate the receiver monitor block, if required
|
||||
*/
|
||||
enable_monitor_ = configuration_->property("Monitor.enable_monitor", false);
|
||||
|
||||
bool enable_protobuf = configuration_->property("Monitor.enable_protobuf", true);
|
||||
if (configuration_->property("PVT.enable_protobuf", false) == true)
|
||||
{
|
||||
enable_protobuf = true;
|
||||
}
|
||||
std::string address_string = configuration_->property("Monitor.client_addresses", std::string("127.0.0.1"));
|
||||
std::vector<std::string> udp_addr_vec = split_string(address_string, '_');
|
||||
std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
|
||||
|
|
@ -1715,7 +1718,7 @@ void GNSSFlowgraph::init()
|
|||
GnssSynchroMonitor_ = gnss_synchro_make_monitor(channels_count_,
|
||||
configuration_->property("Monitor.decimation_factor", 1),
|
||||
configuration_->property("Monitor.udp_port", 1234),
|
||||
udp_addr_vec);
|
||||
udp_addr_vec, enable_protobuf);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -66,6 +66,7 @@ DECLARE_string(log_dir);
|
|||
#include "unit-tests/control-plane/gnss_block_factory_test.cc"
|
||||
#include "unit-tests/control-plane/gnss_flowgraph_test.cc"
|
||||
#include "unit-tests/control-plane/in_memory_configuration_test.cc"
|
||||
#include "unit-tests/control-plane/protobuf_test.cc"
|
||||
#include "unit-tests/control-plane/string_converter_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_8ms_ambiguous_acquisition_gsoc2013_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/acquisition/galileo_e1_pcps_ambiguous_acquisition_gsoc2013_test.cc"
|
||||
|
|
@ -119,6 +120,7 @@ DECLARE_string(log_dir);
|
|||
#include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/pvt/rtcm_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/pvt/serdes_monitor_pvt_test.cc"
|
||||
#include "unit-tests/signal-processing-blocks/telemetry_decoder/galileo_fnav_inav_decoder_test.cc"
|
||||
#include "unit-tests/system-parameters/glonass_gnav_ephemeris_test.cc"
|
||||
#include "unit-tests/system-parameters/glonass_gnav_nav_message_test.cc"
|
||||
|
|
|
|||
|
|
@ -0,0 +1,107 @@
|
|||
/*!
|
||||
* \file protobuf_test.cc
|
||||
* \brief This file implements tests for Serdes_Gnss_Synchro
|
||||
* \author Carles Fernandez-Prades, 2019. cfernandez(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
|
||||
#include "serdes_gnss_synchro.h"
|
||||
|
||||
TEST(Protobuf, Works)
|
||||
{
|
||||
uint32_t prn_true = 17;
|
||||
uint32_t prn_true2 = 23;
|
||||
std::string sys = "G";
|
||||
std::string sig = "1C";
|
||||
|
||||
Gnss_Synchro gs = Gnss_Synchro();
|
||||
gs.System = *sys.c_str();
|
||||
std::memcpy(static_cast<void*>(gs.Signal), sig.c_str(), 3);
|
||||
gs.PRN = prn_true;
|
||||
|
||||
gs.Channel_ID = 3;
|
||||
|
||||
gs.Acq_delay_samples = 431;
|
||||
gs.Acq_doppler_hz = 1234;
|
||||
gs.Acq_samplestamp_samples = 10000;
|
||||
gs.Acq_doppler_step = 125;
|
||||
gs.Flag_valid_acquisition = true;
|
||||
|
||||
gs.fs = 10000000;
|
||||
gs.Prompt_I = 10000.0;
|
||||
gs.Prompt_Q = 0.01;
|
||||
gs.CN0_dB_hz = 39;
|
||||
gs.Carrier_Doppler_hz = 321;
|
||||
gs.Tracking_sample_counter = 11000;
|
||||
gs.Flag_valid_symbol_output = false;
|
||||
gs.correlation_length_ms = 1;
|
||||
|
||||
gs.Flag_valid_word = false;
|
||||
gs.TOW_at_current_symbol_ms = 12345;
|
||||
|
||||
gs.Pseudorange_m = 22000002.1;
|
||||
gs.RX_time = 4321;
|
||||
gs.Flag_valid_pseudorange = false;
|
||||
gs.interp_TOW_ms = 20;
|
||||
|
||||
gs.Pseudorange_m = 22000002.1;
|
||||
gs.Carrier_phase_rads = 45.4;
|
||||
gs.Carrier_Doppler_hz = 321;
|
||||
gs.CN0_dB_hz = 39;
|
||||
|
||||
Serdes_Gnss_Synchro serdes = Serdes_Gnss_Synchro();
|
||||
|
||||
// Create a vector of Gnss_Synchro objects
|
||||
std::vector<Gnss_Synchro> vgs;
|
||||
vgs.push_back(gs);
|
||||
gs.PRN = prn_true2;
|
||||
vgs.push_back(gs);
|
||||
|
||||
// Serialize data
|
||||
std::string serialized_data = serdes.createProtobuffer(vgs);
|
||||
|
||||
// Recover data from serialization
|
||||
gnss_sdr::Observables obs;
|
||||
obs.ParseFromString(serialized_data);
|
||||
|
||||
// Check that recovered data is ok
|
||||
|
||||
// We can access like this:
|
||||
std::vector<Gnss_Synchro> vgs_read = serdes.readProtobuffer(obs);
|
||||
Gnss_Synchro gs_read = vgs_read[0];
|
||||
uint32_t prn_read = gs_read.PRN;
|
||||
uint32_t prn_read2 = vgs_read[1].PRN;
|
||||
|
||||
// or without the need of gnss_synchro:
|
||||
int obs_size = obs.observable_size();
|
||||
uint32_t prn_read3 = obs.observable(0).prn();
|
||||
|
||||
EXPECT_EQ(prn_true, prn_read);
|
||||
EXPECT_EQ(prn_true2, prn_read2);
|
||||
EXPECT_EQ(prn_true, prn_read3);
|
||||
EXPECT_EQ(2, obs_size);
|
||||
}
|
||||
|
|
@ -0,0 +1,47 @@
|
|||
/*!
|
||||
* \file serdes_monitor_pvt_test.cc
|
||||
* \brief Implements Unit Test for the serdes_monitor_pvt class.
|
||||
* \author Carles Fernandez_prades, 2019. cfernandez(at)cttc.es
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*
|
||||
* Copyright (C) 2010-2019 (see AUTHORS file for a list of contributors)
|
||||
*
|
||||
* GNSS-SDR is a software defined Global Navigation
|
||||
* Satellite Systems receiver
|
||||
*
|
||||
* This file is part of GNSS-SDR.
|
||||
*
|
||||
* GNSS-SDR is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* GNSS-SDR is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
|
||||
*
|
||||
* -------------------------------------------------------------------------
|
||||
*/
|
||||
|
||||
#include "serdes_monitor_pvt.h"
|
||||
|
||||
TEST(Serdes_Monitor_Pvt_Test, Simpletest)
|
||||
{
|
||||
Monitor_Pvt monitor = Monitor_Pvt();
|
||||
double true_latitude = 23.4;
|
||||
monitor.latitude = true_latitude;
|
||||
|
||||
Serdes_Monitor_Pvt serdes = Serdes_Monitor_Pvt();
|
||||
std::string serialized_data = serdes.createProtobuffer(monitor);
|
||||
|
||||
gnss_sdr::MonitorPvt mon;
|
||||
mon.ParseFromString(serialized_data);
|
||||
|
||||
double read_latitude = mon.latitude();
|
||||
EXPECT_NEAR(true_latitude, read_latitude, 0.000001);
|
||||
}
|
||||
Loading…
Reference in New Issue