mirrors
/
gnss-sdr
mirror of https://github.com/gnss-sdr/gnss-sdr
1
0
Fork 0
Code Issues Releases Wiki Activity

Integrating the RTCM message printer 

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
src/algorithms/PVT/adapters/galileo_e1_pvt.cc
View File

@ -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();