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Integrating the RTCM message printer

Browse Source 
Now the GPS L1 receiver generates 1002 and 1019 messages. Bugs in the
Rtcm class fixed.
This commit is contained in:
Carles Fernandez 2015-12-24 20:56:41 +01:00
parent 354a19ad64
commit f70df3e581
13 changed files with 215 additions and 34 deletions
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10
src/algorithms/PVT/adapters/galileo_e1_pvt.cc
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@ -53,6 +53,7 @@ GalileoE1Pvt::GalileoE1Pvt(ConfigurationInterface* configuration,
std::string default_dump_filename = "./pvt.dat";
std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
std::string default_nmea_dump_devname = "/dev/tty1";
std::string default_rtcm_dump_devname = "/dev/pts/1";
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
@ -74,8 +75,15 @@ GalileoE1Pvt::GalileoE1Pvt(ConfigurationInterface* configuration,
nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
std::string nmea_dump_devname;
nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// RTCM Printer settings
bool flag_rtcm_tty_port;
flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
std::string rtcm_dump_devname;
rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
bool flag_rtcm_server;
flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
// make PVT object
pvt_ = galileo_e1_make_pvt_cc(in_streams_, queue_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname);
pvt_ = galileo_e1_make_pvt_cc(in_streams_, queue_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}

11
src/algorithms/PVT/adapters/gps_l1_ca_pvt.cc
View File

@ -52,6 +52,7 @@ GpsL1CaPvt::GpsL1CaPvt(ConfigurationInterface* configuration,
std::string default_dump_filename = "./pvt.dat";
std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
std::string default_nmea_dump_devname = "/dev/tty1";
std::string default_rtcm_dump_devname = "/dev/pts/1";
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
@ -73,8 +74,16 @@ GpsL1CaPvt::GpsL1CaPvt(ConfigurationInterface* configuration,
nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
std::string nmea_dump_devname;
nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// RTCM Printer settings
bool flag_rtcm_tty_port;
flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
std::string rtcm_dump_devname;
rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
bool flag_rtcm_server;
flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
// make PVT object
pvt_ = gps_l1_ca_make_pvt_cc(in_streams_, queue_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname);
pvt_ = gps_l1_ca_make_pvt_cc(in_streams_, queue_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname );
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}

10
src/algorithms/PVT/adapters/hybrid_pvt.cc
View File

@ -53,6 +53,7 @@ HybridPvt::HybridPvt(ConfigurationInterface* configuration,
std::string default_dump_filename = "./pvt.dat";
std::string default_nmea_dump_filename = "./nmea_pvt.nmea";
std::string default_nmea_dump_devname = "/dev/tty1";
std::string default_rtcm_dump_devname = "/dev/pts/1";
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
@ -74,8 +75,15 @@ HybridPvt::HybridPvt(ConfigurationInterface* configuration,
nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
std::string nmea_dump_devname;
nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
// RTCM Printer settings
bool flag_rtcm_tty_port;
flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
std::string rtcm_dump_devname;
rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
bool flag_rtcm_server;
flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
// make PVT object
pvt_ = hybrid_make_pvt_cc(in_streams_, queue_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname);
pvt_ = hybrid_make_pvt_cc(in_streams_, queue_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}

12
src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
View File

@ -51,13 +51,13 @@ extern concurrent_map<Galileo_Utc_Model> global_galileo_utc_model_map;
extern concurrent_map<Galileo_Almanac> global_galileo_almanac_map;
galileo_e1_pvt_cc_sptr
galileo_e1_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname)
galileo_e1_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
{
return galileo_e1_pvt_cc_sptr(new galileo_e1_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname));
return galileo_e1_pvt_cc_sptr(new galileo_e1_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname));
}
galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname) :
galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname) :
gr::block("galileo_e1_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(gr_complex)))
{
@ -84,6 +84,12 @@ galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, boost::shared_ptr<g
//initialize nmea_printer
d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
//initialize rtcm_printer
std::string rtcm_dump_filename;
rtcm_dump_filename = d_dump_filename;
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname);
d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");
d_averaging_depth = averaging_depth;

17
src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.h
View File

@ -47,6 +47,7 @@
#include "kml_printer.h"
#include "rinex_printer.h"
#include "geojson_printer.h"
#include "rtcm_printer.h"
#include "galileo_e1_ls_pvt.h"
#include "Galileo_E1.h"
@ -64,7 +65,10 @@ galileo_e1_pvt_cc_sptr galileo_e1_make_pvt_cc(unsigned int n_channels,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname);
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
std::string rtcm_dump_devname);
/*!
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
@ -82,7 +86,10 @@ private:
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname);
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
std::string rtcm_dump_devname);
galileo_e1_pvt_cc(unsigned int nchannels,
boost::shared_ptr<gr::msg_queue> queue,
bool dump, std::string dump_filename,
@ -92,7 +99,10 @@ private:
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname);
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
std::string rtcm_dump_devname);
boost::shared_ptr<gr::msg_queue> d_queue;
bool d_dump;
bool b_rinex_header_writen;
@ -110,6 +120,7 @@ private:
std::shared_ptr<Kml_Printer> d_kml_dump;
std::shared_ptr<Nmea_Printer> d_nmea_printer;
std::shared_ptr<GeoJSON_Printer> d_geojson_printer;
std::shared_ptr<Rtcm_Printer> d_rtcm_printer;
double d_rx_time;
std::shared_ptr<galileo_e1_ls_pvt> d_ls_pvt;

48
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
View File

@ -56,9 +56,9 @@ extern concurrent_map<Sbas_Satellite_Correction> global_sbas_sat_corr_map;
extern concurrent_map<Sbas_Ephemeris> global_sbas_ephemeris_map;
gps_l1_ca_pvt_cc_sptr
gps_l1_ca_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname)
gps_l1_ca_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
{
return gps_l1_ca_pvt_cc_sptr(new gps_l1_ca_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname));
return gps_l1_ca_pvt_cc_sptr(new gps_l1_ca_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname));
}
@ -71,7 +71,10 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname) :
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
std::string rtcm_dump_devname) :
gr::block("gps_l1_ca_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(gr_complex)) )
{
@ -98,6 +101,12 @@ gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
//initialize nmea_printer
d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
//initialize rtcm_printer
std::string rtcm_dump_filename;
rtcm_dump_filename = d_dump_filename;
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname);
b_rtcm_writing_started = false;
d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");
d_averaging_depth = averaging_depth;
@ -303,6 +312,39 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items, gr_vector_int &ninput_ite
b_rinex_header_updated = true;
}
}
if(b_rtcm_writing_started)
{
if((d_sample_counter % 1000) == 0)
{
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MT1002(gps_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map);
}
}
if((d_sample_counter % 5000) == 0)
{
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
}
}
}
if(!b_rtcm_writing_started) // the first time
{
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
d_rtcm_printer->Print_Rtcm_MT1002(gps_ephemeris_iter->second, d_rx_time, gnss_pseudoranges_map);
}
b_rtcm_writing_started = true;
}
}
}

19
src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.h
View File

@ -46,6 +46,7 @@
#include "kml_printer.h"
#include "rinex_printer.h"
#include "geojson_printer.h"
#include "rtcm_printer.h"
#include "gps_l1_ca_ls_pvt.h"
#include "GPS_L1_CA.h"
@ -63,7 +64,11 @@ gps_l1_ca_pvt_cc_sptr gps_l1_ca_make_pvt_cc(unsigned int n_channels,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname);
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
std::string rtcm_dump_devname
);
/*!
* \brief This class implements a block that computes the PVT solution
@ -81,7 +86,10 @@ private:
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname);
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
std::string rtcm_dump_devname);
gps_l1_ca_pvt_cc(unsigned int nchannels,
boost::shared_ptr<gr::msg_queue> queue,
bool dump,
@ -92,12 +100,16 @@ private:
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname);
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
std::string rtcm_dump_devname);
boost::shared_ptr<gr::msg_queue> d_queue;
bool d_dump;
bool b_rinex_header_writen;
bool b_rinex_sbs_header_writen;
bool b_rinex_header_updated;
bool b_rtcm_writing_started;
std::shared_ptr<Rinex_Printer> rp;
unsigned int d_nchannels;
std::string d_dump_filename;
@ -111,6 +123,7 @@ private:
std::shared_ptr<Kml_Printer> d_kml_printer;
std::shared_ptr<Nmea_Printer> d_nmea_printer;
std::shared_ptr<GeoJSON_Printer> d_geojson_printer;
std::shared_ptr<Rtcm_Printer> d_rtcm_printer;
double d_rx_time;
std::shared_ptr<gps_l1_ca_ls_pvt> d_ls_pvt;

11
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
View File

@ -55,13 +55,13 @@ extern concurrent_map<Gps_Iono> global_gps_iono_map;
extern concurrent_map<Gps_Utc_Model> global_gps_utc_model_map;
hybrid_pvt_cc_sptr
hybrid_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname)
hybrid_make_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
{
return hybrid_pvt_cc_sptr(new hybrid_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname));
return hybrid_pvt_cc_sptr(new hybrid_pvt_cc(nchannels, queue, dump, dump_filename, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname));
}
hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname) :
hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_queue> queue, bool dump, std::string dump_filename, int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port, std::string nmea_dump_filename, std::string nmea_dump_devname, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname) :
gr::block("hybrid_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(1, 1, sizeof(gr_complex)))
{
@ -89,6 +89,11 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, boost::shared_ptr<gr::msg_q
//initialize nmea_printer
d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
//initialize rtcm_printer
std::string rtcm_dump_filename;
rtcm_dump_filename = d_dump_filename;
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname);
d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");
d_averaging_depth = averaging_depth;

17
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h
View File

@ -51,6 +51,7 @@
#include "kml_printer.h"
#include "geojson_printer.h"
#include "rinex_printer.h"
#include "rtcm_printer.h"
#include "hybrid_ls_pvt.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
@ -69,7 +70,10 @@ hybrid_pvt_cc_sptr hybrid_make_pvt_cc(unsigned int n_channels,
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname);
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
std::string rtcm_dump_devname);
/*!
* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
@ -87,7 +91,10 @@ private:
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname);
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
std::string rtcm_dump_devname);
hybrid_pvt_cc(unsigned int nchannels,
boost::shared_ptr<gr::msg_queue> queue,
bool dump, std::string dump_filename,
@ -97,7 +104,10 @@ private:
int display_rate_ms,
bool flag_nmea_tty_port,
std::string nmea_dump_filename,
std::string nmea_dump_devname);
std::string nmea_dump_devname,
bool flag_rtcm_server,
bool flag_rtcm_tty_port,
std::string rtcm_dump_devname);
boost::shared_ptr<gr::msg_queue> d_queue;
bool d_dump;
bool b_rinex_header_writen;
@ -115,6 +125,7 @@ private:
std::shared_ptr<Kml_Printer> d_kml_dump;
std::shared_ptr<Nmea_Printer> d_nmea_printer;
std::shared_ptr<GeoJSON_Printer> d_geojson_printer;
std::shared_ptr<Rtcm_Printer> d_rtcm_printer;
double d_rx_time;
double d_TOW_at_curr_symbol_constellation;
std::shared_ptr<hybrid_ls_pvt> d_ls_pvt;

75
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -32,6 +32,9 @@
*/
#include "rtcm_printer.h"
#include <ctime>
#include <iostream>
#include <iomanip>
#include <fcntl.h> // for O_RDWR
#include <termios.h> // for tcgetattr
#include <gflags/gflags.h>
@ -40,9 +43,56 @@
using google::LogMessage;
Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_tty_port, std::string rtcm_dump_devname)
Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_devname, bool time_tag_name)
{
rtcm_filename = filename;
time_t rawtime;
struct tm * timeinfo;
time ( &rawtime );
timeinfo = localtime ( &rawtime );
if (time_tag_name)
{
std::stringstream strm0;
const int year = timeinfo->tm_year - 100;
strm0 << year;
const int month = timeinfo->tm_mon + 1;
if(month < 10)
{
strm0 << "0";
}
strm0 << month;
const int day = timeinfo->tm_mday;
if(day < 10)
{
strm0 << "0";
}
strm0 << day << "_";
const int hour = timeinfo->tm_hour;
if(hour < 10)
{
strm0 << "0";
}
strm0 << hour;
const int min = timeinfo->tm_min;
if(min < 10)
{
strm0 << "0";
}
strm0 << min;
const int sec = timeinfo->tm_sec;
if(sec < 10)
{
strm0 << "0";
}
strm0 << sec;
rtcm_filename = filename + "_" + strm0.str() + ".rtcm";
}
else
{
rtcm_filename = filename + ".rtcm";
}
rtcm_file_descriptor.open(rtcm_filename.c_str(), std::ios::out);
if (rtcm_file_descriptor.is_open())
{
@ -62,14 +112,21 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_tty_port, std::s
{
rtcm_dev_descriptor = -1;
}
rtcm = std::make_shared<Rtcm>();
if(flag_rtcm_server)
{
rtcm->run_server();
}
}
Rtcm_Printer::~Rtcm_Printer()
{
if(rtcm->is_server_running())
{
rtcm->stop_server();
}
if (rtcm_file_descriptor.is_open())
{
long pos;
@ -92,6 +149,14 @@ bool Rtcm_Printer::Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_ti
}
bool Rtcm_Printer::Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
{
std::string m1002 = rtcm->print_MT1002(gps_eph, obs_time, pseudoranges);
Rtcm_Printer::Print_Message(m1002);
return true;
}
bool Rtcm_Printer::Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph)
{
std::string m1019 = rtcm->print_MT1019(gps_eph);
@ -156,7 +221,7 @@ void Rtcm_Printer::close_serial()
bool Rtcm_Printer::Print_Message(std::string message)
bool Rtcm_Printer::Print_Message(const std::string & message)
{
//write to file
try

5
src/algorithms/PVT/libs/rtcm_printer.h
View File

@ -48,7 +48,7 @@ public:
/*!
* \brief Default constructor.
*/
Rtcm_Printer(std::string filename, bool flag_rtcm_tty_port, std::string rtcm_dump_filename);
Rtcm_Printer(std::string filename, bool flag_rtcm_server, bool flag_rtcm_tty_port, std::string rtcm_dump_filename, bool time_tag_name = true);
/*!
* \brief Default destructor.
@ -56,6 +56,7 @@ public:
~Rtcm_Printer();
bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
bool Print_Rtcm_MT1019(const Gps_Ephemeris & gps_eph); //<! GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
bool Print_Rtcm_MT1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
@ -69,7 +70,7 @@ private:
int init_serial (std::string serial_device); //serial port control
void close_serial ();
std::shared_ptr<Rtcm> rtcm;
bool Print_Message(std::string message);
bool Print_Message(const std::string & message);
};
#endif

8
src/core/system_parameters/rtcm.cc
View File

@ -409,7 +409,7 @@ std::string Rtcm::print_MT1001(const Gps_Ephemeris & gps_eph, double obs_time, c
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
{
std::string system_(pseudoranges_iter->second.System, 1);
std::string system_(&pseudoranges_iter->second.System, 1);
std::string sig_(pseudoranges_iter->second.Signal);
if((system_.compare("G") == 0) && (sig_.compare("1C") == 0))
{
@ -459,7 +459,7 @@ std::string Rtcm::print_MT1002(const Gps_Ephemeris & gps_eph, double obs_time, c
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
{
std::string system_(pseudoranges_iter->second.System, 1);
std::string system_(&pseudoranges_iter->second.System, 1);
std::string sig_(pseudoranges_iter->second.Signal);
if((system_.compare("G") == 0) && (sig_.compare("1C") == 0))
{
@ -533,7 +533,7 @@ std::string Rtcm::print_MT1003(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephem
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
{
std::string system_(pseudoranges_iter->second.System, 1);
std::string system_(&pseudoranges_iter->second.System, 1);
std::string sig_(pseudoranges_iter->second.Signal);
if((system_.compare("G") == 0) && (sig_.compare("1C") == 0))
{
@ -643,7 +643,7 @@ std::string Rtcm::print_MT1004(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephem
pseudoranges_iter != pseudoranges.end();
pseudoranges_iter++)
{
std::string system_(pseudoranges_iter->second.System, 1);
std::string system_(&pseudoranges_iter->second.System, 1);
std::string sig_(pseudoranges_iter->second.Signal);
if((system_.compare("G") == 0) && (sig_.compare("1C") == 0))
{

6
src/tests/gnss_block/rtcm_printer_test.cc
View File

@ -45,7 +45,8 @@ TEST(Rtcm_Printer_Test, Instantiate)
std::string filename = "hello.rtcm";
bool flag_rtcm_tty_port = false;
std::string rtcm_dump_devname = "/dev/pts/4";
std::unique_ptr<Rtcm_Printer> RTCM_printer(new Rtcm_Printer(filename, flag_rtcm_tty_port, rtcm_dump_devname));
bool flag_rtcm_server = false;
std::unique_ptr<Rtcm_Printer> RTCM_printer(new Rtcm_Printer(filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname));
}
TEST(Rtcm_Printer_Test, Run)
@ -69,8 +70,9 @@ TEST(Rtcm_Printer_Test, Run)
std::string filename = "test.rtcm";
bool flag_rtcm_tty_port = false;
std::string rtcm_dump_devname = "/dev/pts/4";
bool flag_rtcm_server = false;
std::unique_ptr<Rtcm_Printer> RTCM_printer(new Rtcm_Printer(filename, flag_rtcm_tty_port, rtcm_dump_devname));
std::unique_ptr<Rtcm_Printer> RTCM_printer(new Rtcm_Printer(filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_dump_devname));
std::string reference_msg = "D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98";
std::string testing_msg = RTCM_printer->print_MT1005_test();