mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-12-15 12:40:35 +00:00
Handle RTCM printer exceptions
This commit is contained in:
Antonio Ramos
parent
74e8af01f9
commit
e4bada8176
@ -34,12 +34,14 @@
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#include <boost/archive/xml_oarchive.hpp>
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#include <boost/archive/xml_iarchive.hpp>
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#include <boost/serialization/map.hpp>
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#include <boost/exception/all.hpp>
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#include <glog/logging.h>
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#include <gnuradio/gr_complex.h>
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#include <gnuradio/io_signature.h>
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#include <algorithm>
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#include <iostream>
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#include <map>
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#include <exception>
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using google::LogMessage;
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@ -544,34 +546,46 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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// store valid observables in a map.
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gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(i, in[i][epoch]));
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}
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if (d_ls_pvt->gps_ephemeris_map.size() > 0)
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try
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{
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if (tmp_eph_iter_gps != d_ls_pvt->gps_ephemeris_map.end())
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if (d_ls_pvt->gps_ephemeris_map.size() > 0)
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{
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d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
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if (tmp_eph_iter_gps != d_ls_pvt->gps_ephemeris_map.end())
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{
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d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
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}
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}
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if (d_ls_pvt->galileo_ephemeris_map.size() > 0)
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{
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if (tmp_eph_iter_gal != d_ls_pvt->galileo_ephemeris_map.end())
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{
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d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
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}
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}
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if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
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{
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if (tmp_eph_iter_cnav != d_ls_pvt->gps_cnav_ephemeris_map.end())
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{
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d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
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}
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}
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if (d_ls_pvt->glonass_gnav_ephemeris_map.size() > 0)
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{
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if (tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end())
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{
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d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
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}
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}
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}
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if (d_ls_pvt->galileo_ephemeris_map.size() > 0)
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catch (const boost::exception& ex)
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{
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if (tmp_eph_iter_gal != d_ls_pvt->galileo_ephemeris_map.end())
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{
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d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
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}
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std::cout << "RTCM boost exception: " << boost::diagnostic_information(ex) << std::endl;
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LOG(ERROR) << "RTCM boost exception: " << boost::diagnostic_information(ex);
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}
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if (d_ls_pvt->gps_cnav_ephemeris_map.size() > 0)
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catch (const std::exception& ex)
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{
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if (tmp_eph_iter_cnav != d_ls_pvt->gps_cnav_ephemeris_map.end())
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{
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d_rtcm_printer->lock_time(d_ls_pvt->gps_cnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
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}
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}
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if (d_ls_pvt->glonass_gnav_ephemeris_map.size() > 0)
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{
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if (tmp_eph_iter_glo_gnav != d_ls_pvt->glonass_gnav_ephemeris_map.end())
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{
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d_rtcm_printer->lock_time(d_ls_pvt->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
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}
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std::cout << "RTCM std exception: " << ex.what() << std::endl;
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LOG(ERROR) << "RTCM std exception: " << ex.what();
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}
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}
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}
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@ -590,10 +604,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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// compute on the fly PVT solution
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if (flag_compute_pvt_output == true)
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{
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bool pvt_result;
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pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, false);
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if (pvt_result == true)
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if (d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, false))
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{
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if (std::fabs(current_RX_time - last_pvt_display_T_rx_s) * 1000.0 >= static_cast<double>(d_display_rate_ms))
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{
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@ -1177,88 +1188,350 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
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}
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// ####################### RTCM MESSAGES #################
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if (b_rtcm_writing_started)
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try
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{
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if (type_of_rx == 1) // GPS L1 C/A
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if (b_rtcm_writing_started)
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{
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if (flag_write_RTCM_1019_output == true)
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if (type_of_rx == 1) // GPS L1 C/A
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{
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if (flag_write_RTCM_1019_output == true)
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{
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for (std::map<int, Gps_Ephemeris>::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++)
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{
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d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
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}
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
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gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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}
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if ((type_of_rx == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo
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{
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if (flag_write_RTCM_1045_output == true)
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{
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for (std::map<int, Galileo_Ephemeris>::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++)
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{
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d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
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}
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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std::map<int, Galileo_Ephemeris>::const_iterator gal_ephemeris_iter;
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gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
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if (gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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}
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if (type_of_rx == 7) // GPS L1 C/A + GPS L2C
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{
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if (flag_write_RTCM_1019_output == true)
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{
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for (std::map<int, Gps_Ephemeris>::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++)
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{
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d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
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}
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
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gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
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std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
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gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin();
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if ((gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend()) && (gps_cnav_ephemeris_iter != d_ls_pvt->gps_cnav_ephemeris_map.cend()))
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{
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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);
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}
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}
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}
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if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B
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{
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if (flag_write_RTCM_1019_output == true)
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{
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for (gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++)
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{
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d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
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}
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}
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if (flag_write_RTCM_1045_output == true)
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{
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for (galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++)
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{
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d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
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}
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
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//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
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unsigned int i = 0;
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for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
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{
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std::string system(&gnss_observables_iter->second.System, 1);
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if (gps_channel == 0)
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{
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if (system.compare("G") == 0)
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{
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// This is a channel with valid GPS signal
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gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
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{
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gps_channel = i;
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}
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}
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}
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if (gal_channel == 0)
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{
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if (system.compare("E") == 0)
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{
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galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
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{
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gal_channel = i;
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}
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}
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}
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i++;
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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}
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}
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if ((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS
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{
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if (flag_write_RTCM_1020_output == true)
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{
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for (std::map<int, Glonass_Gnav_Ephemeris>::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++)
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{
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d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
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}
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}
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std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
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if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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b_rtcm_writing_started = true;
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}
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if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
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{
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if (flag_write_RTCM_1019_output == true)
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{
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for (gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++)
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{
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d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
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}
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}
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if (flag_write_RTCM_1020_output == true)
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{
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for (std::map<int, Glonass_Gnav_Ephemeris>::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++)
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{
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d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
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}
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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//gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.end();
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//galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.end();
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unsigned int i = 0;
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for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
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{
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std::string system(&gnss_observables_iter->second.System, 1);
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if (gps_channel == 0)
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{
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if (system.compare("G") == 0)
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{
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// This is a channel with valid GPS signal
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gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
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{
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gps_channel = i;
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}
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}
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}
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if (glo_channel == 0)
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{
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if (system.compare("R") == 0)
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{
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glonass_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
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if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
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{
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glo_channel = i;
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}
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}
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}
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i++;
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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if (glonass_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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if (flag_write_RTCM_MSM_output == true)
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{
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
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{
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d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
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}
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}
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}
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}
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if (type_of_rx == 27) // GLONASS L1 C/A + Galileo E1B
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{
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if (flag_write_RTCM_1020_output == true)
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{
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for (std::map<int, Glonass_Gnav_Ephemeris>::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++)
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{
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d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
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}
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}
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if (flag_write_RTCM_1045_output == true)
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{
|
||||
for (galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_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();
|
||||
unsigned int i = 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)
|
||||
{
|
||||
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_channel = i;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (glo_channel == 0)
|
||||
{
|
||||
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;
|
||||
}
|
||||
}
|
||||
}
|
||||
i++;
|
||||
}
|
||||
if (flag_write_RTCM_MSM_output == true)
|
||||
{
|
||||
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 (flag_write_RTCM_MSM_output == true)
|
||||
{
|
||||
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 (!b_rtcm_writing_started) // the first time
|
||||
{
|
||||
if (type_of_rx == 1) // GPS L1 C/A
|
||||
{
|
||||
for (std::map<int, Gps_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
if (flag_write_RTCM_MSM_output == true)
|
||||
{
|
||||
std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
|
||||
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
|
||||
|
||||
std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
|
||||
|
||||
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 == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo
|
||||
{
|
||||
if (flag_write_RTCM_1045_output == 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<int, Galileo_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
if (flag_write_RTCM_MSM_output == true)
|
||||
{
|
||||
std::map<int, Galileo_Ephemeris>::const_iterator gal_ephemeris_iter;
|
||||
gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
|
||||
|
||||
std::map<int, Galileo_Ephemeris>::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
|
||||
|
||||
if (gal_ephemeris_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);
|
||||
}
|
||||
b_rtcm_writing_started = true;
|
||||
}
|
||||
}
|
||||
if (type_of_rx == 7) // GPS L1 C/A + GPS L2C
|
||||
{
|
||||
if (flag_write_RTCM_1019_output == true)
|
||||
if (type_of_rx == 7) // GPS L1 C/A + GPS L2C
|
||||
{
|
||||
for (std::map<int, Gps_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
if (flag_write_RTCM_MSM_output == true)
|
||||
{
|
||||
std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
|
||||
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
|
||||
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
|
||||
gps_cnav_ephemeris_iter = d_ls_pvt->gps_cnav_ephemeris_map.cbegin();
|
||||
|
||||
std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
|
||||
std::map<int, Gps_CNAV_Ephemeris>::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()) && (gps_cnav_ephemeris_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);
|
||||
}
|
||||
b_rtcm_writing_started = true;
|
||||
}
|
||||
}
|
||||
if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B
|
||||
{
|
||||
if (flag_write_RTCM_1019_output == true)
|
||||
if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B
|
||||
{
|
||||
for (gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); 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<int, Gps_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_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++)
|
||||
if (d_rtcm_MT1045_rate_ms != 0)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
|
||||
for (galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); galileo_ephemeris_iter++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_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();
|
||||
|
||||
unsigned int i = 0;
|
||||
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
||||
{
|
||||
@ -1269,7 +1542,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
{
|
||||
// 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 (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
|
||||
{
|
||||
gps_channel = i;
|
||||
}
|
||||
@ -1280,7 +1553,7 @@ 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())
|
||||
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end())
|
||||
{
|
||||
gal_channel = i;
|
||||
}
|
||||
@ -1288,62 +1561,54 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
}
|
||||
i++;
|
||||
}
|
||||
if (flag_write_RTCM_MSM_output == true)
|
||||
|
||||
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end() && (d_rtcm_MT1077_rate_ms != 0))
|
||||
{
|
||||
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_ephemeris_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
if (flag_write_RTCM_MSM_output == true)
|
||||
|
||||
if (galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end() && (d_rtcm_MT1097_rate_ms != 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);
|
||||
}
|
||||
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
|
||||
{
|
||||
if (flag_write_RTCM_1020_output == true)
|
||||
if ((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS
|
||||
{
|
||||
for (std::map<int, Glonass_Gnav_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
|
||||
}
|
||||
}
|
||||
|
||||
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_ls_pvt->glonass_gnav_ephemeris_map.cbegin();
|
||||
std::map<int, Glonass_Gnav_Ephemeris>::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
|
||||
{
|
||||
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++)
|
||||
if (glo_gnav_ephemeris_iter != d_ls_pvt->glonass_gnav_ephemeris_map.cend())
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
|
||||
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 (flag_write_RTCM_1020_output == true)
|
||||
if (type_of_rx == 26) // GPS L1 C/A + GLONASS L1 C/A
|
||||
{
|
||||
for (std::map<int, Glonass_Gnav_Ephemeris>::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_MT1019_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 (gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend(); gps_ephemeris_iter++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
}
|
||||
if (flag_write_RTCM_MSM_output == true)
|
||||
{
|
||||
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
||||
{
|
||||
for (std::map<int, Glonass_Gnav_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_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();
|
||||
unsigned int i = 0;
|
||||
for (gnss_observables_iter = gnss_observables_map.begin(); gnss_observables_iter != gnss_observables_map.end(); gnss_observables_iter++)
|
||||
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)
|
||||
@ -1371,42 +1636,35 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
}
|
||||
i++;
|
||||
}
|
||||
if (flag_write_RTCM_MSM_output == true)
|
||||
if (glonass_gnav_ephemeris_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);
|
||||
}
|
||||
|
||||
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<int, Glonass_Gnav_Ephemeris>::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++)
|
||||
{
|
||||
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_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
|
||||
}
|
||||
}
|
||||
if (flag_write_RTCM_MSM_output == true)
|
||||
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
||||
{
|
||||
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.cend())
|
||||
for (galileo_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin(); galileo_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.cend(); galileo_ephemeris_iter++)
|
||||
{
|
||||
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_MT1045(galileo_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
if (type_of_rx == 27) // GLONASS L1 C/A + Galileo E1B
|
||||
{
|
||||
if (flag_write_RTCM_1020_output == true)
|
||||
{
|
||||
for (std::map<int, Glonass_Gnav_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_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();
|
||||
|
||||
unsigned int i = 0;
|
||||
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
||||
{
|
||||
@ -1436,266 +1694,32 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
|
||||
}
|
||||
i++;
|
||||
}
|
||||
if (flag_write_RTCM_MSM_output == true)
|
||||
if (galileo_ephemeris_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, {}, {}, galileo_ephemeris_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
if (flag_write_RTCM_MSM_output == true)
|
||||
if (glonass_gnav_ephemeris_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_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (!b_rtcm_writing_started) // the first time
|
||||
catch (const boost::exception& ex)
|
||||
{
|
||||
if (type_of_rx == 1) // GPS L1 C/A
|
||||
{
|
||||
for (std::map<int, Gps_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
|
||||
}
|
||||
|
||||
std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
|
||||
|
||||
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 == 4) || (type_of_rx == 5) || (type_of_rx == 6) || (type_of_rx == 14) || (type_of_rx == 15)) // Galileo
|
||||
{
|
||||
for (std::map<int, Galileo_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
|
||||
}
|
||||
|
||||
std::map<int, Galileo_Ephemeris>::const_iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.cbegin();
|
||||
|
||||
if (gal_ephemeris_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);
|
||||
}
|
||||
b_rtcm_writing_started = true;
|
||||
}
|
||||
if (type_of_rx == 7) // GPS L1 C/A + GPS L2C
|
||||
{
|
||||
for (std::map<int, Gps_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
|
||||
}
|
||||
|
||||
std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.cbegin();
|
||||
std::map<int, Gps_CNAV_Ephemeris>::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()) && (gps_cnav_ephemeris_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);
|
||||
}
|
||||
b_rtcm_writing_started = true;
|
||||
}
|
||||
if (type_of_rx == 9) // GPS L1 C/A + Galileo E1B
|
||||
{
|
||||
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
||||
{
|
||||
for (std::map<int, Gps_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
|
||||
unsigned int i = 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)
|
||||
{
|
||||
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.end())
|
||||
{
|
||||
gps_channel = i;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (gal_channel == 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;
|
||||
}
|
||||
}
|
||||
}
|
||||
i++;
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
b_rtcm_writing_started = true;
|
||||
}
|
||||
if ((type_of_rx == 23) || (type_of_rx == 24) || (type_of_rx == 25)) // GLONASS
|
||||
{
|
||||
for (std::map<int, Glonass_Gnav_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_ls_pvt->glonass_gnav_utc_model);
|
||||
}
|
||||
|
||||
std::map<int, Glonass_Gnav_Ephemeris>::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
|
||||
{
|
||||
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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
||||
{
|
||||
for (std::map<int, Glonass_Gnav_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_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();
|
||||
unsigned int i = 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)
|
||||
{
|
||||
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_channel = i;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (glo_channel == 0)
|
||||
{
|
||||
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;
|
||||
}
|
||||
}
|
||||
}
|
||||
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<int, Glonass_Gnav_Ephemeris>::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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_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++)
|
||||
{
|
||||
d_rtcm_printer->Print_Rtcm_MT1045(galileo_ephemeris_iter->second);
|
||||
}
|
||||
}
|
||||
|
||||
unsigned int i = 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)
|
||||
{
|
||||
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_channel = i;
|
||||
}
|
||||
}
|
||||
}
|
||||
if (glo_channel == 0)
|
||||
{
|
||||
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;
|
||||
}
|
||||
}
|
||||
}
|
||||
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);
|
||||
}
|
||||
}
|
||||
std::cout << "RTCM boost exception: " << boost::diagnostic_information(ex) << std::endl;
|
||||
LOG(ERROR) << "RTCM boost exception: " << boost::diagnostic_information(ex);
|
||||
}
|
||||
catch (const std::exception& ex)
|
||||
{
|
||||
std::cout << "RTCM std exception: " << ex.what() << std::endl;
|
||||
LOG(ERROR) << "RTCM std exception: " << ex.what();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// DEBUG MESSAGE: Display position in console output
|
||||
if ((d_ls_pvt->is_valid_position() == true) && (flag_display_pvt == true))
|
||||
if (d_ls_pvt->is_valid_position() and flag_display_pvt)
|
||||
{
|
||||
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->get_position_UTC_time())
|
||||
<< " UTC using " << d_ls_pvt->get_num_valid_observations() << " observations is Lat = " << d_ls_pvt->get_latitude() << " [deg], Long = " << d_ls_pvt->get_longitude()
|
||||
|
||||
@ -637,14 +637,7 @@ void dll_pll_veml_tracking::run_dll_pll(bool disable_costas_loop)
|
||||
|
||||
void dll_pll_veml_tracking::clear_tracking_vars()
|
||||
{
|
||||
if (d_veml)
|
||||
{
|
||||
*d_Very_Early = gr_complex(0.0, 0.0);
|
||||
*d_Very_Late = gr_complex(0.0, 0.0);
|
||||
}
|
||||
*d_Early = gr_complex(0.0, 0.0);
|
||||
*d_Prompt = gr_complex(0.0, 0.0);
|
||||
*d_Late = gr_complex(0.0, 0.0);
|
||||
std::fill_n(d_correlator_outs, d_n_correlator_taps, gr_complex(0.0, 0.0));
|
||||
d_carr_error_hz = 0.0;
|
||||
d_carr_error_filt_hz = 0.0;
|
||||
d_code_error_chips = 0.0;
|
||||
@ -1069,10 +1062,7 @@ int dll_pll_veml_tracking::general_work(int noutput_items __attribute__((unused)
|
||||
*out[0] = current_synchro_data;
|
||||
return 1;
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user