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Print IGM messages if TOW is available

This commit is contained in:
Carles Fernandez 2022-05-24 21:18:59 +02:00
parent 8622f51380
commit e92ef5c1c1
No known key found for this signature in database
GPG Key ID: 4C583C52B0C3877D
8 changed files with 32 additions and 6 deletions
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8
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc
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@ -1573,11 +1573,15 @@ void rtklib_pvt_gs::msg_handler_has_data(const pmt::pmt_t& msg) const
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
if (msg_type_hash_code == d_galileo_has_data_sptr_type_hash_code)
{
if (d_enable_has_messages)
const auto has_data = wht::any_cast<std::shared_ptr<Galileo_HAS_data>>(pmt::any_ref(msg));
if (d_has_simple_printer)
{
const auto has_data = wht::any_cast<std::shared_ptr<Galileo_HAS_data>>(pmt::any_ref(msg));
d_has_simple_printer->print_message(has_data.get());
}
if (d_rtcm_printer && has_data->tow <= 604800)
{
d_rtcm_printer->Print_IGM_Messages(*has_data.get());
}
}
}
catch (const wht::bad_any_cast& e)

8
src/algorithms/PVT/libs/rtcm.cc
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@ -3428,7 +3428,7 @@ std::string Rtcm::get_IGM01_header(const Galileo_HAS_data& has_data, uint8_t nsy
{
std::string header;
uint32_t tow = 0; // TODO
uint32_t tow = has_data.tow;
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?
@ -3505,7 +3505,7 @@ std::string Rtcm::get_IGM02_header(const Galileo_HAS_data& has_data, uint8_t nsy
{
std::string header;
uint32_t tow = 0; // TODO
uint32_t tow = has_data.tow;
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?
@ -3576,7 +3576,7 @@ std::string Rtcm::get_IGM03_header(const Galileo_HAS_data& has_data, uint8_t nsy
{
std::string header;
uint32_t tow = 0; // TODO
uint32_t tow = has_data.tow;
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?
@ -3661,7 +3661,7 @@ std::string Rtcm::get_IGM05_header(const Galileo_HAS_data& has_data, uint8_t nsy
{
std::string header;
uint32_t tow = 0; // TODO
uint32_t tow = has_data.tow;
uint16_t ssr_provider_id = 0; // ?
uint8_t igm_version = 0; // ?
uint8_t ssr_solution_id = 0; // ?

4
src/algorithms/telemetry_decoder/gnuradio_blocks/galileo_telemetry_decoder_gs.cc
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@ -570,6 +570,10 @@ void galileo_telemetry_decoder_gs::decode_CNAV_word(uint64_t time_stamp, float *
}
else
{
if (d_E6_TOW_set == true)
{
d_cnav_nav.set_tow(d_TOW_at_Preamble_ms / 1000);
}
const std::shared_ptr<Galileo_HAS_page> tmp_obj = std::make_shared<Galileo_HAS_page>(d_cnav_nav.get_HAS_encoded_page());
this->message_port_pub(pmt::mp("E6_HAS_from_TLM"), pmt::make_any(tmp_obj));
if (d_print_cnav_page == true)

8
src/core/libs/galileo_e6_has_msg_receiver.cc
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@ -26,6 +26,7 @@
#include <glog/logging.h> // for DLOG
#include <gnuradio/io_signature.h> // for gr::io_signature::make
#include <algorithm> // for std::find, std::count
#include <cmath> // for std::remainder
#include <cstddef> // for size_t
#include <iterator> // for std::back_inserter
#include <limits> // for std::numeric_limits
@ -111,6 +112,7 @@ void galileo_e6_has_msg_receiver::set_enable_navdata_monitor(bool enable)
std::shared_ptr<Galileo_HAS_data> galileo_e6_has_msg_receiver::process_test_page(const pmt::pmt_t& msg)
{
int64_t timestamp = std::numeric_limits<uint64_t>::max();
uint32_t tow = std::numeric_limits<uint32_t>::max();
try
{
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
@ -126,6 +128,7 @@ std::shared_ptr<Galileo_HAS_data> galileo_e6_has_msg_receiver::process_test_page
d_current_has_status = HAS_data_page->has_status;
d_current_message_id = HAS_data_page->message_id;
timestamp = HAS_data_page->time_stamp;
tow = HAS_data_page->tow;
if (d_printed_mids[d_current_message_id] == false)
{
process_HAS_page(*HAS_data_page.get());
@ -146,6 +149,7 @@ std::shared_ptr<Galileo_HAS_data> galileo_e6_has_msg_receiver::process_test_page
{
d_HAS_data.has_status = d_current_has_status;
d_HAS_data.message_id = d_current_message_id;
d_HAS_data.tow = tow - static_cast<uint32_t>(std::remainder(tow, 3600)) + d_HAS_data.header.toh;
auto has_data_ptr = std::make_shared<Galileo_HAS_data>(d_HAS_data);
d_new_message = false;
d_printed_mids[d_current_message_id] = true;
@ -160,6 +164,7 @@ void galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has(const pmt::pmt_t& m
{
gr::thread::scoped_lock lock(d_setlock); // require mutex with msg_handler_galileo_e6_has function called by the scheduler
int64_t timestamp = std::numeric_limits<uint64_t>::max();
uint32_t tow = std::numeric_limits<uint32_t>::max();
try
{
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
@ -175,6 +180,7 @@ void galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has(const pmt::pmt_t& m
d_current_has_status = HAS_data_page->has_status;
d_current_message_id = HAS_data_page->message_id;
timestamp = HAS_data_page->time_stamp;
tow = HAS_data_page->tow;
if (d_printed_mids[d_current_message_id] == false)
{
process_HAS_page(*HAS_data_page.get());
@ -195,6 +201,7 @@ void galileo_e6_has_msg_receiver::msg_handler_galileo_e6_has(const pmt::pmt_t& m
{
d_HAS_data.has_status = d_current_has_status;
d_HAS_data.message_id = d_current_message_id;
d_HAS_data.tow = tow - static_cast<uint32_t>(std::remainder(tow, 3600)) + d_HAS_data.header.toh;
d_printed_mids[d_current_message_id] = true;
d_printed_timestamps[d_current_message_id] = timestamp;
auto has_data_ptr = std::make_shared<Galileo_HAS_data>(d_HAS_data);
@ -399,6 +406,7 @@ int galileo_e6_has_msg_receiver::decode_message_type1(uint8_t message_id, uint8_
// Trigger HAS message content reading and fill the d_HAS_data object
d_HAS_data = Galileo_HAS_data();
d_HAS_data.tow = std::numeric_limits<uint32_t>::max(); // Unknown
read_MT1_header(decoded_message_type_1.substr(0, GALILEO_CNAV_MT1_HEADER_BITS));

2
src/core/system_parameters/galileo_cnav_message.cc
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@ -21,6 +21,7 @@
#include <boost/dynamic_bitset.hpp> // for boost::dynamic_bitset
#include <glog/logging.h>
#include <algorithm> // for reverse
#include <limits>
#include <vector>
using CRC_Galileo_CNAV_type = boost::crc_optimal<24, 0x1864CFBU, 0x0, 0x0, false, false>;
@ -60,6 +61,7 @@ void Galileo_Cnav_Message::read_HAS_page(const std::string& page_string)
const std::bitset<GALILEO_CNAV_CRC_LENGTH> checksum(CRC_data);
d_new_HAS_page = false;
has_page = Galileo_HAS_page();
has_page.tow = std::numeric_limits<uint32_t>::max(); // Unknown
d_flag_CRC_test = CRC_test(Word_for_CRC_bits, checksum.to_ulong());
if (d_flag_CRC_test == true)
{

5
src/core/system_parameters/galileo_cnav_message.h
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@ -74,6 +74,11 @@ public:
has_page.time_stamp = time_stamp;
}
inline void set_tow(uint32_t tow)
{
has_page.tow = tow;
}
private:
uint8_t read_has_page_header_parameter(const std::bitset<GALILEO_CNAV_PAGE_HEADER_BITS>& bits, const std::pair<int32_t, int32_t>& parameter) const;
bool CRC_test(const std::bitset<GALILEO_CNAV_BITS_FOR_CRC>& bits, uint32_t checksum) const;

2
src/core/system_parameters/galileo_has_data.h
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@ -104,6 +104,8 @@ public:
std::vector<std::vector<int16_t>> phase_bias; //!< PB - Phase bias for the m-th signal of the n-th SV. See HAS SIS ICD 1.0 Section 5.2.6
std::vector<std::vector<uint8_t>> phase_discontinuity_indicator; //!< PDI - Phase Discontinuity Indicator. See HAS SIS ICD 1.0 Section 5.2.6.
uint32_t tow; //!< Time of Week
mt1_header header; //!< MT1 Header parameters. See HAS SIS ICD 1.0 Section 5.1.1
uint8_t has_status; //!< HASS - HAS Status (from HAS page header). See HAS SIS ICD 1.0 Section 3.1.1
uint8_t message_id; //!< MID - Message ID (from HAS page header). See HAS SIS ICD 1.0 Section 3.1

1
src/core/system_parameters/galileo_has_page.h
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@ -39,6 +39,7 @@ public:
std::string has_message_string; //!< HAS message content
uint64_t time_stamp{}; //!< HAS page time stamp, in [s]
uint32_t tow{}; //!< HAS page time of week, in [s]
// HAS page header
uint8_t has_status{}; //!< HAS status