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TCP port and RTCM Station ID config can be done now by the Rtcm_Printer

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This commit is contained in:
Carles Fernandez 2016-05-06 14:00:13 +02:00
parent 3b2678daf3
commit e11e5545c8
2 changed files with 23 additions and 15 deletions
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35
src/core/system_parameters/rtcm.cc
View File

@ -39,25 +39,30 @@
#include <boost/crc.hpp> #include <boost/crc.hpp>
#include <boost/date_time/gregorian/gregorian.hpp> #include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/dynamic_bitset.hpp> #include <boost/dynamic_bitset.hpp>
#include <gflags/gflags.h>
#include <glog/logging.h> #include <glog/logging.h>
#include "Galileo_E1.h" #include "Galileo_E1.h"
using google::LogMessage; using google::LogMessage;
DEFINE_int32(RTCM_Ref_Station_ID, 1234, "Reference Station ID in RTCM messages");
DEFINE_int32(RTCM_Port, 2101 , "TCP port of the RTCM message server");
// 2101 is the standard RTCM port according to the Internet Assigned Numbers Authority (IANA)
// https://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xml
Rtcm::Rtcm() Rtcm::Rtcm()
{ {
// 2101 is the standard RTCM port according to the Internet Assigned Numbers Authority (IANA)
// https://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xml
unsigned short _default_port = 2101;
unsigned short _default_station_id = 1234;
Rtcm::Rtcm(_default_port, _default_station_id);
}
Rtcm::Rtcm(unsigned short port, unsigned short station_id)
{
RTCM_port = port;
RTCM_Station_ID = station_id;
preamble = std::bitset<8>("11010011"); preamble = std::bitset<8>("11010011");
reserved_field = std::bitset<6>("000000"); reserved_field = std::bitset<6>("000000");
rtcm_message_queue = std::make_shared< concurrent_queue<std::string> >(); rtcm_message_queue = std::make_shared< concurrent_queue<std::string> >();
boost::asio::ip::tcp::endpoint endpoint(boost::asio::ip::tcp::v4(), FLAGS_RTCM_Port); boost::asio::ip::tcp::endpoint endpoint(boost::asio::ip::tcp::v4(), RTCM_port);
servers.emplace_back(io_service, endpoint); servers.emplace_back(io_service, endpoint);
server_is_running = false; server_is_running = false;
} }
@ -80,10 +85,10 @@ Rtcm::~Rtcm()
// ***************************************************************************************************** // *****************************************************************************************************
void Rtcm::run_server() void Rtcm::run_server()
{ {
std::cout << "Starting a TCP Server on port " << FLAGS_RTCM_Port << std::endl; std::cout << "Starting a TCP Server on port " << RTCM_port << std::endl;
try try
{ {
std::thread tq([&]{ std::make_shared<Queue_Reader>(io_service, rtcm_message_queue, FLAGS_RTCM_Port)->do_read_queue(); }); std::thread tq([&]{ std::make_shared<Queue_Reader>(io_service, rtcm_message_queue, RTCM_port)->do_read_queue(); });
tq.detach(); tq.detach();
std::thread t([&]{ io_service.run(); }); std::thread t([&]{ io_service.run(); });
@ -105,7 +110,7 @@ void Rtcm::stop_service()
void Rtcm::stop_server() void Rtcm::stop_server()
{ {
std::cout << "Stopping TCP Server on port " << FLAGS_RTCM_Port << std::endl; std::cout << "Stopping TCP Server on port " << RTCM_port << std::endl;
rtcm_message_queue->push("Goodbye"); // this terminates tq rtcm_message_queue->push("Goodbye"); // this terminates tq
Rtcm::stop_service(); Rtcm::stop_service();
servers.front().close_server(); servers.front().close_server();
@ -448,7 +453,7 @@ std::bitset<58> Rtcm::get_MT1001_sat_content(const Gps_Ephemeris & eph, double o
std::string Rtcm::print_MT1001(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges) std::string Rtcm::print_MT1001(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
{ {
unsigned int ref_id = static_cast<unsigned int>(FLAGS_RTCM_Ref_Station_ID); unsigned int ref_id = static_cast<unsigned int>(RTCM_Station_ID);
unsigned int smooth_int = 0; unsigned int smooth_int = 0;
bool sync_flag = false; bool sync_flag = false;
bool divergence_free = false; bool divergence_free = false;
@ -498,7 +503,7 @@ std::string Rtcm::print_MT1001(const Gps_Ephemeris & gps_eph, double obs_time, c
std::string Rtcm::print_MT1002(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges) std::string Rtcm::print_MT1002(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
{ {
unsigned int ref_id = static_cast<unsigned int>(FLAGS_RTCM_Ref_Station_ID); unsigned int ref_id = static_cast<unsigned int>(RTCM_Station_ID);
unsigned int smooth_int = 0; unsigned int smooth_int = 0;
bool sync_flag = false; bool sync_flag = false;
bool divergence_free = false; bool divergence_free = false;
@ -570,7 +575,7 @@ std::bitset<74> Rtcm::get_MT1002_sat_content(const Gps_Ephemeris & eph, double o
std::string Rtcm::print_MT1003(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephemeris & ephL2, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges) std::string Rtcm::print_MT1003(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephemeris & ephL2, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
{ {
unsigned int ref_id = static_cast<unsigned int>(FLAGS_RTCM_Ref_Station_ID); unsigned int ref_id = static_cast<unsigned int>(RTCM_Station_ID);
unsigned int smooth_int = 0; unsigned int smooth_int = 0;
bool sync_flag = false; bool sync_flag = false;
bool divergence_free = false; bool divergence_free = false;
@ -680,7 +685,7 @@ std::bitset<101> Rtcm::get_MT1003_sat_content(const Gps_Ephemeris & ephL1, const
std::string Rtcm::print_MT1004(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephemeris & ephL2, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges) std::string Rtcm::print_MT1004(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephemeris & ephL2, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
{ {
unsigned int ref_id = static_cast<unsigned int>(FLAGS_RTCM_Ref_Station_ID); unsigned int ref_id = static_cast<unsigned int>(RTCM_Station_ID);
unsigned int smooth_int = 0; unsigned int smooth_int = 0;
bool sync_flag = false; bool sync_flag = false;
bool divergence_free = false; bool divergence_free = false;

3
src/core/system_parameters/rtcm.h
View File

@ -84,6 +84,7 @@ class Rtcm
{ {
public: public:
Rtcm(); //<! Default constructor Rtcm(); //<! Default constructor
Rtcm(unsigned short port, unsigned short station_id); //<! Constructor that sets non-default TCP port of the RTCM message server and RTCM Station ID
~Rtcm(); ~Rtcm();
/*! /*!
@ -346,6 +347,8 @@ private:
// //
// Classes for TCP communication // Classes for TCP communication
// //
unsigned short RTCM_port;
unsigned short RTCM_Station_ID;
class Rtcm_Message class Rtcm_Message
{ {
public: public: