Add annotation rate parameter for KML, GPX, GeoJSON and NMEA outputs (default: 1s)

src/algorithms/PVT/adapters/rtklib_pvt.cc

@@ -138,6 +138,11 @@ Rtklib_Pvt::Rtklib_Pvt(ConfigurationInterface* configuration,
             pvt_output_parameters.rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
         }
 
+    pvt_output_parameters.kml_rate_ms = bc::lcm(configuration->property(role + ".kml_rate_ms", pvt_output_parameters.kml_rate_ms), pvt_output_parameters.output_rate_ms);
+    pvt_output_parameters.gpx_rate_ms = bc::lcm(configuration->property(role + ".gpx_rate_ms", pvt_output_parameters.gpx_rate_ms), pvt_output_parameters.output_rate_ms);
+    pvt_output_parameters.geojson_rate_ms = bc::lcm(configuration->property(role + ".geojson_rate_ms", pvt_output_parameters.geojson_rate_ms), pvt_output_parameters.output_rate_ms);
+    pvt_output_parameters.nmea_rate_ms = bc::lcm(configuration->property(role + ".nmea_rate_ms", pvt_output_parameters.nmea_rate_ms), pvt_output_parameters.output_rate_ms);
+
     // Infer the type of receiver
     /*
      *   TYPE  |  RECEIVER

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.cc

@@ -178,6 +178,11 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
     std::string kml_dump_filename;
     kml_dump_filename = d_dump_filename;
     d_kml_output_enabled = conf_.kml_output_enabled;
+    d_kml_rate_ms = conf_.kml_rate_ms;
+    if (d_kml_rate_ms == 0)
+        {
+            d_kml_output_enabled = false;
+        }
     if (d_kml_output_enabled)
         {
             d_kml_dump = std::make_shared<Kml_Printer>(conf_.kml_output_path);
@@ -192,6 +197,11 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
     std::string gpx_dump_filename;
     gpx_dump_filename = d_dump_filename;
     d_gpx_output_enabled = conf_.gpx_output_enabled;
+    d_gpx_rate_ms = conf_.gpx_rate_ms;
+    if (d_gpx_rate_ms == 0)
+        {
+            d_gpx_output_enabled = false;
+        }
     if (d_gpx_output_enabled)
         {
             d_gpx_dump = std::make_shared<Gpx_Printer>(conf_.gpx_output_path);
@@ -206,6 +216,11 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
     std::string geojson_dump_filename;
     geojson_dump_filename = d_dump_filename;
     d_geojson_output_enabled = conf_.geojson_output_enabled;
+    d_geojson_rate_ms = conf_.geojson_rate_ms;
+    if (d_geojson_rate_ms == 0)
+        {
+            d_geojson_output_enabled = false;
+        }
     if (d_geojson_output_enabled)
         {
             d_geojson_printer = std::make_shared<GeoJSON_Printer>(conf_.geojson_output_path);
@@ -218,6 +233,12 @@ rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
 
     // initialize nmea_printer
     d_nmea_output_file_enabled = (conf_.nmea_output_file_enabled or conf_.flag_nmea_tty_port);
+    d_nmea_rate_ms = conf_.nmea_rate_ms;
+    if (d_nmea_rate_ms == 0)
+        {
+            d_nmea_output_file_enabled = false;
+        }
+
     if (d_nmea_output_file_enabled)
         {
             d_nmea_printer = std::make_shared<Nmea_Printer>(conf_.nmea_dump_filename, conf_.nmea_output_file_enabled, conf_.flag_nmea_tty_port, conf_.nmea_dump_devname, conf_.nmea_output_file_path);
@@ -1798,21 +1819,33 @@ int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_item
                                                     first_fix = false;
                                                 }
                                             if (d_kml_output_enabled)
+                                                {
+                                                    if (current_RX_time_ms % d_kml_rate_ms == 0)
                                                         {
                                                             d_kml_dump->print_position(d_pvt_solver, false);
                                                         }
+                                                }
                                             if (d_gpx_output_enabled)
+                                                {
+                                                    if (current_RX_time_ms % d_gpx_rate_ms == 0)
                                                         {
                                                             d_gpx_dump->print_position(d_pvt_solver, false);
                                                         }
+                                                }
                                             if (d_geojson_output_enabled)
+                                                {
+                                                    if (current_RX_time_ms % d_geojson_rate_ms == 0)
                                                         {
                                                             d_geojson_printer->print_position(d_pvt_solver, false);
                                                         }
+                                                }
                                             if (d_nmea_output_file_enabled)
+                                                {
+                                                    if (current_RX_time_ms % d_nmea_rate_ms == 0)
                                                         {
                                                             d_nmea_printer->Print_Nmea_Line(d_pvt_solver, false);
                                                         }
+                                                }
 
                                             /*
                                              *   TYPE  |  RECEIVER

src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_gs.h

@@ -106,6 +106,11 @@ private:
     int32_t d_rtcm_MT1097_rate_ms;  // Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
     int32_t d_rtcm_MSM_rate_ms;
 
+    int32_t d_kml_rate_ms;
+    int32_t d_gpx_rate_ms;
+    int32_t d_geojson_rate_ms;
+    int32_t d_nmea_rate_ms;
+
     int32_t d_last_status_print_seg;  // for status printer
 
     uint32_t d_nchannels;

src/algorithms/PVT/libs/pvt_conf.cc

@@ -35,6 +35,10 @@ Pvt_Conf::Pvt_Conf()
     type_of_receiver = 0U;
     output_rate_ms = 0;
     display_rate_ms = 0;
+    kml_rate_ms = 1000;
+    gpx_rate_ms = 1000;
+    geojson_rate_ms = 1000;
+    nmea_rate_ms = 1000;
 
     rinex_version = 0;
     rinexobs_rate_ms = 0;

src/algorithms/PVT/libs/pvt_conf.h

@@ -41,6 +41,10 @@ public:
     uint32_t type_of_receiver;
     int32_t output_rate_ms;
     int32_t display_rate_ms;
+    int32_t kml_rate_ms;
+    int32_t gpx_rate_ms;
+    int32_t geojson_rate_ms;
+    int32_t nmea_rate_ms;
 
     int32_t rinex_version;
     int32_t rinexobs_rate_ms;