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Code Issues Releases Wiki Activity

Make the PVT block to consume all items it can

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This commit is contained in:
Carles Fernandez 2017-04-27 08:29:44 +02:00
parent 4df575aadb
commit e16631ef89
2 changed files with 53 additions and 49 deletions
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101
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
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@ -287,7 +287,6 @@ rtklib_pvt_cc::rtklib_pvt_cc(unsigned int nchannels, bool dump, std::string dump
d_sample_counter = 0;
d_last_sample_nav_output = 0;
d_rx_time = 0.0;
b_rinex_header_written = false;
b_rinex_header_updated = false;
@ -439,49 +438,55 @@ bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
}
int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
int rtklib_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_items ,
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused)))
{
//std::cout << "noutput items: " << noutput_items << std::endl;
//std::cout << "ninput items: " << ninput_items[0] << std::endl;
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
double d_rx_time[noutput_items];
for(unsigned int item = 0; item < noutput_items; item++)
{
d_sample_counter++;
unsigned int gps_channel = 0;
unsigned int gal_channel = 0;
gnss_observables_map.clear();
Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; //Get the input pointer
print_receiver_status(in);
// ############ 1. READ PSEUDORANGES ####
for (unsigned int i = 0; i < d_nchannels; i++)
{
if (in[i][0].Flag_valid_pseudorange == true)
if (in[i][item].Flag_valid_pseudorange == true)
{
// store valid observables in a map.
gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(i, in[i][0]));
d_rx_time = in[i][0].RX_time;
gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(i, in[i][item]));
d_rx_time[item] = in[i][item].RX_time;
if(d_ls_pvt->gps_ephemeris_map.size() > 0)
{
std::map<int,Gps_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->gps_ephemeris_map.find(in[i][0].PRN);
std::map<int,Gps_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->gps_ephemeris_map.find(in[i][item].PRN);
if(tmp_eph_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][0].PRN)->second, d_rx_time, in[i][0]); // keep track of locking time
d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][item].PRN)->second, d_rx_time[item], in[i][item]); // keep track of locking time
}
}
if(d_ls_pvt->galileo_ephemeris_map.size() > 0)
{
std::map<int,Galileo_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(in[i][0].PRN);
std::map<int,Galileo_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(in[i][item].PRN);
if(tmp_eph_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][0].PRN)->second, d_rx_time, in[i][0]); // keep track of locking time
d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][item].PRN)->second, d_rx_time[item], in[i][item]); // keep track of locking time
}
}
if(d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
{
std::map<int,Gps_CNAV_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][0].PRN);
std::map<int,Gps_CNAV_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][item].PRN);
if(tmp_eph_iter != d_ls_pvt->gps_cnav_ephemeris_map.end())
{
d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][0].PRN)->second, d_rx_time, in[i][0]); // keep track of locking time
d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][item].PRN)->second, d_rx_time[item], in[i][item]); // keep track of locking time
}
}
}
@ -526,7 +531,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
if ((d_sample_counter % d_output_rate_ms) == 0)
{
bool pvt_result;
pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, d_flag_averaging);
pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time[item], d_flag_averaging);
if (pvt_result == true)
{
@ -562,7 +567,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time);
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time[item]);
rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
@ -571,7 +576,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
if (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end())
{
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time);
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time[item]);
rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_cnav_iono, d_ls_pvt->gps_cnav_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
@ -580,7 +585,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time);
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item]);
rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
@ -590,7 +595,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
std::string signal("5X");
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], signal);
rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
@ -600,7 +605,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
std::string signal("7X");
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], signal);
rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
@ -609,7 +614,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
{
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time);
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time[item]);
rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
@ -620,7 +625,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
{
std::string gal_signal("1B");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time[item], gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
@ -630,7 +635,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
{
std::string gal_signal("5X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time[item], gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
@ -640,7 +645,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
{
std::string gal_signal("7X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time[item], gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
@ -650,7 +655,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) )
{
std::string gal_signal("1B 5X");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gal_signal);
rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
@ -660,7 +665,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) )
{
std::string gal_signal("1B 7X");
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gal_signal);
rp->rinex_nav_header(rp->navGalFile, d_ls_pvt->galileo_iono, d_ls_pvt->galileo_utc_model, d_ls_pvt->galileo_almanac);
b_rinex_header_written = true; // do not write header anymore
}
@ -708,7 +713,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map);
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time[item], gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
{
@ -721,7 +726,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
if (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time[item], gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_cnav_utc_model.d_A0 != 0))
{
@ -734,7 +739,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B");
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, "1B");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
@ -747,7 +752,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "5X");
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, "5X");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
@ -760,7 +765,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "7X");
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, "7X");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
@ -773,7 +778,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
if( (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) )
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time[item], gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
{
@ -786,7 +791,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
if ((galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end()) && (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) )
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map);
}
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
{
@ -799,7 +804,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 5X");
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, "1B 5X");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
@ -812,7 +817,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 7X");
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, "1B 7X");
}
if (!b_rinex_header_updated && (d_ls_pvt->galileo_utc_model.A0_6 != 0))
{
@ -841,7 +846,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
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_ephemeris_iter->second, {}, {}, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
}
}
}
@ -860,7 +865,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin();
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
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_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
}
}
}
@ -881,7 +886,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.begin();
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()) )
{
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_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
}
}
}
@ -939,14 +944,14 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
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, {}, {}, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
}
}
if(((d_sample_counter % (d_rtcm_MT1077_rate_ms / 4) ) == 0) && (d_rtcm_MT1077_rate_ms != 0) )
{
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
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_ephemeris_iter->second, {}, {}, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
}
}
}
@ -966,7 +971,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
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_ephemeris_iter->second, {}, {}, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
@ -982,7 +987,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
{
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_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
@ -998,7 +1003,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.end()))
{
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_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, {}, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
@ -1051,12 +1056,12 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end() && (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);
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
}
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end() && (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);
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, d_rx_time[item], gnss_observables_map, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
@ -1089,11 +1094,11 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
double tmp_double;
for (unsigned int i = 0; i < d_nchannels; i++)
{
tmp_double = in[i][0].Pseudorange_m;
tmp_double = in[i][item].Pseudorange_m;
d_dump_file.write((char*)&tmp_double, sizeof(double));
tmp_double = 0;
d_dump_file.write((char*)&tmp_double, sizeof(double));
d_dump_file.write((char*)&d_rx_time, sizeof(double));
d_dump_file.write((char*)&d_rx_time[item], sizeof(double));
}
}
catch (const std::ifstream::failure& e)
@ -1102,7 +1107,7 @@ int rtklib_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
}
}
}
consume_each(1); //one by one
return 1;
}
consume_each(noutput_items); //one by one
return noutput_items;
}

1
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -141,7 +141,6 @@ private:
std::shared_ptr<Nmea_Printer> d_nmea_printer;
std::shared_ptr<GeoJSON_Printer> d_geojson_printer;
std::shared_ptr<Rtcm_Printer> d_rtcm_printer;
double d_rx_time;
std::shared_ptr<rtklib_solver> d_ls_pvt;
prcopt_t rtklib_options;