Add multi-band capability to the Galileo observables RINEX printer

src/algorithms/PVT/libs/rinex_printer.cc

@@ -35,6 +35,7 @@
 #include <cstdlib>   // for getenv()
 #include <iterator>
 #include <ostream>
+#include <set>
 #include <utility>
 #include <vector>
 #include <boost/date_time/time_zone_base.hpp>
@@ -102,7 +103,7 @@ Rinex_Printer::Rinex_Printer()
     observationCode["GALILEO_E1_ABC"] = "1Z";         // "1Z" GALILEO E1 A+B+C
     observationCode["GALILEO_E5a_I"] = "5I";          // "5I" GALILEO E5a I (F/NAV OS)
     observationCode["GALILEO_E5a_Q"] = "5Q";          // "5Q" GALILEO E5a Q  (no data)
-    observationCode["GALILEO_E5aIQ"] = "5X";          // "5X" GALILEO E5a I+Q
+    observationCode["GALILEO_E5a_IQ"] = "5X";          // "5X" GALILEO E5a I+Q
     observationCode["GALILEO_E5b_I"] = "7I";          // "7I" GALILEO E5b I
     observationCode["GALILEO_E5b_Q"] = "7Q";          // "7Q" GALILEO E5b Q
     observationCode["GALILEO_E5b_IQ"] = "7X";         // "7X" GALILEO E5b I+Q
@@ -2881,7 +2882,7 @@ void Rinex_Printer::rinex_obs_header(std::fstream & out, const Gps_Ephemeris & e
 }
 
 
-void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& eph, const double d_TOW_first_observation)
+void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands)
 {
     std::string line;
     version = 3;
@@ -3019,22 +3020,82 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
 
     // -------- SYS / OBS TYPES
     // one line per available system
+    unsigned int number_of_observations = 0;
+    std::string signal_("1B");
+    std::size_t found_1B = bands.find(signal_);
+    if(found_1B != std::string::npos)
+        {
+            number_of_observations = number_of_observations + 4;
+        }
+    signal_ = "5X";
+    std::size_t found_5X = bands.find(signal_);
+    if(found_5X != std::string::npos)
+        {
+            number_of_observations = number_of_observations + 4;
+        }
+
     line.clear();
+    signal_ = "7X";
+    std::size_t found_7X = bands.find(signal_);
+    if(found_7X != std::string::npos)
+        {
+            number_of_observations = number_of_observations + 4;
+        }
+
+    line.clear();
+
     line += satelliteSystem["Galileo"];
     line += std::string(2, ' ');
-    line += Rinex_Printer::rightJustify("4", 3);
+    line += Rinex_Printer::rightJustify(std::to_string(number_of_observations), 3);
-    line += std::string(1, ' ');
+
-    line += observationType["PSEUDORANGE"];
+    if(found_1B != std::string::npos)
-    line += observationCode["GALILEO_E1_B"];
+        {
-    line += std::string(1, ' ');
+            line += std::string(1, ' ');
-    line += observationType["CARRIER_PHASE"];
+            line += observationType["PSEUDORANGE"];
-    line += observationCode["GALILEO_E1_B"];
+            line += observationCode["GALILEO_E1_B"];
-    line += std::string(1, ' ');
+            line += std::string(1, ' ');
-    line += observationType["DOPPLER"];
+            line += observationType["CARRIER_PHASE"];
-    line += observationCode["GALILEO_E1_B"];
+            line += observationCode["GALILEO_E1_B"];
-    line += std::string(1, ' ');
+            line += std::string(1, ' ');
-    line += observationType["SIGNAL_STRENGTH"];
+            line += observationType["DOPPLER"];
-    line += observationCode["GALILEO_E1_B"];
+            line += observationCode["GALILEO_E1_B"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GALILEO_E1_B"];
+        }
+
+    if(found_5X != std::string::npos)
+        {
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GALILEO_E5a_IQ"];
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GALILEO_E5a_IQ"];
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GALILEO_E5a_IQ"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GALILEO_E5a_IQ"];
+        }
+
+    if(found_7X != std::string::npos)
+        {
+            line += std::string(1, ' ');
+            line += observationType["PSEUDORANGE"];
+            line += observationCode["GALILEO_E5b_IQ"];
+            line += std::string(1, ' ');
+            line += observationType["CARRIER_PHASE"];
+            line += observationCode["GALILEO_E5b_IQ"];
+            line += std::string(1, ' ');
+            line += observationType["DOPPLER"];
+            line += observationCode["GALILEO_E5b_IQ"];
+            line += std::string(1, ' ');
+            line += observationType["SIGNAL_STRENGTH"];
+            line += observationCode["GALILEO_E5b_IQ"];
+        }
+
     line += std::string(60-line.size(), ' ');
     line += Rinex_Printer::leftJustify("SYS / # / OBS TYPES", 20);
     Rinex_Printer::lengthCheck(line);
@@ -3048,7 +3109,6 @@ void Rinex_Printer::rinex_obs_header(std::fstream& out, const Galileo_Ephemeris&
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-
     // -------- TIME OF FIRST OBS
     line.clear();
     boost::posix_time::ptime p_galileo_time = Rinex_Printer::compute_Galileo_time(eph, d_TOW_first_observation);
@@ -4122,7 +4182,7 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
     // Add extra 0 if seconds are < 10
     if (seconds < 10)
         {
-            line +=std::string(1, '0');
+            line += std::string(1, '0');
         }
     line += Rinex_Printer::asString(seconds, 7);
     line += std::string(2, ' ');
@@ -4130,76 +4190,143 @@ void Rinex_Printer::log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& ep
     line += std::string(1, '0');
 
     //Number of satellites observed in current epoch
-    int numSatellitesObserved = 0;
+
+    //Get maps with Galileo observations
+    std::map<int, Gnss_Synchro> pseudorangesE1B;
+    std::map<int, Gnss_Synchro> pseudorangesE5A;
+    std::map<int, Gnss_Synchro> pseudorangesE5B;
     std::map<int, Gnss_Synchro>::const_iterator pseudoranges_iter;
+
     for(pseudoranges_iter = pseudoranges.begin();
             pseudoranges_iter != pseudoranges.end();
             pseudoranges_iter++)
         {
-            numSatellitesObserved++;
+            std::string system_(&pseudoranges_iter->second.System, 1);
+            std::string sig_(pseudoranges_iter->second.Signal);
+            if((system_.compare("E") == 0) && (sig_.compare("1B") == 0))
+                {
+                    pseudorangesE1B.insert(std::pair<int, Gnss_Synchro>(pseudoranges_iter->first, pseudoranges_iter->second));
+                }
+            if((system_.compare("E") == 0) && (sig_.compare("5X") == 0))
+                {
+                    pseudorangesE5A.insert(std::pair<int, Gnss_Synchro>(pseudoranges_iter->first, pseudoranges_iter->second));
+                }
+            if((system_.compare("E") == 0) && (sig_.compare("7X") == 0))
+                {
+                    pseudorangesE5B.insert(std::pair<int, Gnss_Synchro>(pseudoranges_iter->first, pseudoranges_iter->second));
+                }
         }
-    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
 
+    std::multimap<unsigned int, Gnss_Synchro> total_map;
+    std::multimap<unsigned int, Gnss_Synchro>::iterator total_iter;
+    std::set<unsigned int> available_prns;
+    std::set<unsigned int>::iterator it;
+    for(pseudoranges_iter = pseudorangesE1B.begin();
+            pseudoranges_iter != pseudorangesE1B.end();
+            pseudoranges_iter++)
+        {
+            unsigned int prn_ = pseudoranges_iter->second.PRN;
+            total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
+            it = available_prns.find(prn_);
+            if(it != available_prns.end())
+                {
+                    available_prns.insert(prn_);
+                }
+        }
+
+    for(pseudoranges_iter = pseudorangesE5A.begin();
+            pseudoranges_iter != pseudorangesE5A.end();
+            pseudoranges_iter++)
+        {
+            unsigned int prn_ = pseudoranges_iter->second.PRN;
+            total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
+            it = available_prns.find(prn_);
+            if(it != available_prns.end())
+                {
+                    available_prns.insert(prn_);
+                }
+        }
+
+    for(pseudoranges_iter = pseudorangesE5B.begin();
+            pseudoranges_iter != pseudorangesE5B.end();
+            pseudoranges_iter++)
+        {
+            unsigned int prn_ = pseudoranges_iter->second.PRN;
+            total_map.insert(std::pair<unsigned int, Gnss_Synchro>(prn_, pseudoranges_iter->second));
+            it = available_prns.find(prn_);
+            if(it != available_prns.end())
+                {
+                    available_prns.insert(prn_);
+                }
+        }
+
+    int numSatellitesObserved = available_prns.size();
+    line += Rinex_Printer::rightJustify(boost::lexical_cast<std::string>(numSatellitesObserved), 3);
     // Receiver clock offset (optional)
     //line += rightJustify(asString(clockOffset, 12), 15);
-
     line += std::string(80 - line.size(), ' ');
     Rinex_Printer::lengthCheck(line);
     out << line << std::endl;
 
-    for(pseudoranges_iter = pseudoranges.begin();
+    std::pair <std::multimap<unsigned int, Gnss_Synchro>::iterator, std::multimap<unsigned int, Gnss_Synchro>::iterator> ret;
-            pseudoranges_iter != pseudoranges.end();
+    for(total_iter = total_map.begin();
-            pseudoranges_iter++)
+            total_iter != total_map.end();
+            total_iter++)
         {
             std::string lineObs;
             lineObs.clear();
             lineObs += satelliteSystem["Galileo"];
-            if (static_cast<int>(pseudoranges_iter->first) < 10) lineObs += std::string(1, '0');
+            if (static_cast<int>(total_iter->first) < 10) lineObs += std::string(1, '0');
-            lineObs += boost::lexical_cast<std::string>(static_cast<int>(pseudoranges_iter->first));
+            lineObs += boost::lexical_cast<std::string>(static_cast<int>(total_iter->first));
             //lineObs += std::string(2, ' ');
-            lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Pseudorange_m, 3), 14);
+            ret = total_map.equal_range(total_iter->first);
+            for (std::multimap<unsigned int, Gnss_Synchro>::iterator iter = ret.first; iter != ret.second; ++iter)
+                {
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Pseudorange_m, 3), 14);
 
-            //Loss of lock indicator (LLI)
+                    //Loss of lock indicator (LLI)
-            int lli = 0; // Include in the observation!!
+                    int lli = 0; // Include in the observation!!
-            if (lli == 0)
+                    if (lli == 0)
-                {
+                        {
-                    lineObs += std::string(1, ' ');
+                            lineObs += std::string(1, ' ');
-                }
+                        }
-            else
+                    else
-                {
+                        {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+
+                    // Signal Strength Indicator (SSI)
+                    int ssi = Rinex_Printer::signalStrength(iter->second.CN0_dB_hz);
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+                    // Galileo CARRIER PHASE
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_phase_rads / (GALILEO_TWO_PI), 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+                    // Galileo  DOPPLER
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.Carrier_Doppler_hz, 3), 14);
+                    if (lli == 0)
+                        {
+                            lineObs += std::string(1, ' ');
+                        }
+                    else
+                        {
+                            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
+                        }
+                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
+
+                    // Galileo SIGNAL STRENGTH
+                    lineObs += Rinex_Printer::rightJustify(asString(iter->second.CN0_dB_hz, 3), 14);
                 }
 
-            // Signal Strength Indicator (SSI)
-            int ssi = Rinex_Printer::signalStrength(pseudoranges_iter->second.CN0_dB_hz);
-            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
-
-            // Galileo E1B PHASE
-            lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Carrier_phase_rads / (GALILEO_TWO_PI), 3), 14);
-            if (lli == 0)
-                {
-                    lineObs += std::string(1, ' ');
-                }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
-            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
-
-            // Galileo E1B DOPPLER
-            lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.Carrier_Doppler_hz, 3), 14);
-            if (lli == 0)
-                {
-                    lineObs += std::string(1, ' ');
-                }
-            else
-                {
-                    lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<short>(lli), 1);
-                }
-            lineObs += Rinex_Printer::rightJustify(Rinex_Printer::asString<int>(ssi), 1);
-
-            // Galileo E1B SIGNAL STRENGTH
-            lineObs += Rinex_Printer::rightJustify(asString(pseudoranges_iter->second.CN0_dB_hz, 3), 14);
             if (lineObs.size() < 80) lineObs += std::string(80 - lineObs.size(), ' ');
             out << lineObs << std::endl;
         }

src/algorithms/PVT/libs/rinex_printer.h

@@ -127,9 +127,9 @@ public:
     void rinex_obs_header(std::fstream & out, const Gps_Ephemeris & eph, const Gps_CNAV_Ephemeris & eph_cnav, const double d_TOW_first_observation);
 
     /*!
-     *  \brief Generates the Galileo Observation data header
+     *  \brief Generates the Galileo Observation data header. Example: bands("1B"), bands("1B 5X"), bands("5X"), ... Default: "1B".
      */
-    void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & eph, const double d_TOW_first_observation);
+    void rinex_obs_header(std::fstream & out, const Galileo_Ephemeris & eph, const double d_TOW_first_observation, const std::string bands = "1B");
 
     /*!
      *  \brief Generates the Mixed (GPS/Galileo) Observation data header
@@ -235,6 +235,12 @@ public:
     std::map<std::string,std::string> observationCode; //<! GNSS observation descriptors
     std::string stringVersion; //<! RINEX version (2.10/2.11 or 3.01/3.02)
 
+    std::string navfilename;
+    std::string obsfilename;
+    std::string sbsfilename;
+    std::string navGalfilename;
+    std::string navMixfilename;
+
 private:
     int version ;  // RINEX version (2 for 2.10/2.11 and 3 for 3.01)
     int numberTypesObservations; // Number of available types of observable in the system. Should be public?
@@ -261,12 +267,6 @@ private:
      */
     std::string createFilename(std::string type);
 
-    std::string navfilename;
-    std::string obsfilename;
-    std::string sbsfilename;
-    std::string navGalfilename;
-    std::string navMixfilename;
-
     /*
      * Generates the data for the PGM / RUN BY / DATE line
      */

src/tests/test_main.cc

@@ -122,7 +122,7 @@ DECLARE_string(log_dir);
 
 #include "unit-tests/signal-processing-blocks/pvt/rtcm_test.cc"
 #include "unit-tests/signal-processing-blocks/pvt/rtcm_printer_test.cc"
-
+#include "unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc"
 
 // For GPS NAVIGATION (L1)
 concurrent_queue<Gps_Acq_Assist> global_gps_acq_assist_queue;

src/tests/unit-tests/signal-processing-blocks/pvt/rinex_printer_test.cc

@@ -0,0 +1,157 @@
+/*!
+ * \file rinex_printer_test.cc
+ * \brief Implements Unit Tests for the Rinex_Printer class.
+ * \author Carles Fernandez-Prades, 2016. cfernandez(at)cttc.es
+ *
+ * -------------------------------------------------------------------------
+ *
+ * Copyright (C) 2010-2016  (see AUTHORS file for a list of contributors)
+ *
+ * GNSS-SDR is a software defined Global Navigation
+ *          Satellite Systems receiver
+ *
+ * This file is part of GNSS-SDR.
+ *
+ * GNSS-SDR is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * GNSS-SDR is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * -------------------------------------------------------------------------
+ */
+
+
+#include <string>
+#include "rinex_printer.h"
+
+
+TEST(Rinex_Printer_Test, GalileoObsHeader)
+{
+    std::string line_aux;
+    std::string line_str;
+    bool no_more_finds = false;
+    const Galileo_Ephemeris eph = Galileo_Ephemeris();
+
+    std::shared_ptr<Rinex_Printer> rp1;
+    rp1 = std::make_shared<Rinex_Printer>();
+    rp1->rinex_obs_header(rp1->obsFile, eph, 0.0);
+    rp1->obsFile.seekp(0);
+
+    while(!rp1->obsFile.eof())
+        {
+            std::getline(rp1->obsFile, line_str);
+            if(!no_more_finds)
+                {
+                    if (line_str.find("SYS / # / OBS TYPES", 59) != std::string::npos)
+                        {
+                            no_more_finds = true;
+                            line_aux = std::string(line_str);
+                        }
+                }
+        }
+    std::string expected_str("E    4 C1B L1B D1B S1B                                      SYS / # / OBS TYPES ");
+    EXPECT_EQ(0, expected_str.compare(line_aux));
+    if(remove(rp1->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
+    line_aux.clear();
+
+    std::shared_ptr<Rinex_Printer> rp2;
+    rp2 = std::make_shared<Rinex_Printer>();
+    std::string bands("1B 5X 7X");
+    rp2->rinex_obs_header(rp2->obsFile, eph, 0.0, bands);
+    rp2->obsFile.seekp(0);
+    no_more_finds = false;
+    while(!rp2->obsFile.eof())
+        {
+            std::getline(rp2->obsFile, line_str);
+            if(!no_more_finds)
+                {
+                    if (line_str.find("SYS / # / OBS TYPES", 59) != std::string::npos)
+                        {
+                            no_more_finds = true;
+                            line_aux = std::string(line_str);
+                        }
+                }
+        }
+    std::string expected_str2("E   12 C1B L1B D1B S1B C5X L5X D5X S5X C7X L7X D7X S7X      SYS / # / OBS TYPES ");
+    EXPECT_EQ(0, expected_str2.compare(line_aux));
+
+    if(remove(rp2->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
+}
+
+
+
+TEST(Rinex_Printer_Test, GalileoObsLog)
+{
+    std::string line_aux;
+    std::string line_str;
+    bool no_more_finds = false;
+    const Galileo_Ephemeris eph = Galileo_Ephemeris();
+
+    std::shared_ptr<Rinex_Printer> rp;
+    rp = std::make_shared<Rinex_Printer>();
+    rp->rinex_obs_header(rp->obsFile, eph, 0.0);
+
+    std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
+
+    Gnss_Synchro gs1 = Gnss_Synchro();
+    Gnss_Synchro gs2 = Gnss_Synchro();
+    Gnss_Synchro gs3 = Gnss_Synchro();
+    Gnss_Synchro gs4 = Gnss_Synchro();
+
+    std::string sys = "E";
+    gs1.System = *sys.c_str();
+    gs2.System = *sys.c_str();
+    gs3.System = *sys.c_str();
+    gs4.System = *sys.c_str();
+
+    std::string sig = "1B";
+    std::memcpy((void*)gs1.Signal, sig.c_str(), 3);
+    std::memcpy((void*)gs2.Signal, sig.c_str(), 3);
+    std::memcpy((void*)gs3.Signal, sig.c_str(), 3);
+    std::memcpy((void*)gs4.Signal, sig.c_str(), 3);
+
+    gs1.PRN = 3;
+    gs2.PRN = 8;
+    gs3.PRN = 10;
+    gs4.PRN = 22;
+
+    gs4.Pseudorange_m = 22000000;
+    gs4.Carrier_phase_rads = 23.4;
+    gs4.Carrier_Doppler_hz = 1534;
+    gs4.CN0_dB_hz = 42;
+
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(1,gs1) );
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(2,gs2) );
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(3,gs3) );
+    gnss_pseudoranges_map.insert( std::pair<int, Gnss_Synchro>(4,gs4) );
+
+    rp->log_rinex_obs(rp->obsFile, eph, 0.0, gnss_pseudoranges_map);
+    rp->obsFile.seekp(0);
+
+    while(!rp->obsFile.eof())
+        {
+            std::getline(rp->obsFile, line_str);
+            if(!no_more_finds)
+                {
+                    if (line_str.find("E22", 0) != std::string::npos)
+                        {
+                            no_more_finds = true;
+                            line_aux = std::string(line_str);
+                        }
+                }
+        }
+
+    std::string expected_str("E22  22000000.000 7         3.724 7      1534.000 7        42.000               ");
+    EXPECT_EQ(0, expected_str.compare(line_aux));
+
+    if(remove(rp->obsfilename.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
+}
+