Add generation of IGM01 messages

src/algorithms/PVT/libs/rtcm.cc

@@ -3250,12 +3250,40 @@ std::string Rtcm::get_MSM_7_content_signal_data(const Gps_Ephemeris& ephNAV,
 }
 
 
-std::string Rtcm::get_IGM01_header(const Galileo_HAS_data& has_data, uint8_t nsys)
+std::vector<std::string> Rtcm::print_IGM01(const Galileo_HAS_data& has_data)
+{
+    std::vector<std::string> msgs;
+    const uint8_t nsys = has_data.Nsys;
+    bool ssr_multiple_msg_indicator = true;
+    for (uint8_t sys = 0; sys < nsys; sys++)
+        {
+            if (sys == nsys - 1)
+                {
+                    ssr_multiple_msg_indicator = false;  // last message of a sequence
+                }
+            const std::string header = Rtcm::get_IGM01_header(has_data, sys, ssr_multiple_msg_indicator);
+            const std::string sat_data = Rtcm::get_IGM01_content_sat(has_data, sys);
+            std::string message = build_message(header + sat_data);
+            if (server_is_running)
+                {
+                    rtcm_message_queue->push(message);
+                }
+            msgs.push_back(message);
+        }
+    return msgs;
+}
+
+
+std::string Rtcm::get_IGM01_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator)
 {
     std::string header;
-    uint32_t tow = 0;
+
+    uint32_t tow = 0;                            // TODO
     uint16_t ssr_provider_id = 0;                // ?
-    uint8_t igm_version = 0;
+    uint8_t igm_version = 0;                     // ?
+    uint8_t ssr_solution_id = 0;                 // ?
+    auto iod_ssr = has_data.header.iod_id % 15;  // ?? HAS IOD is 0-31
+    bool regional_indicator = false;             // ?
 
     uint8_t subtype_msg_number = 0;
     if (has_data.gnss_id_mask[nsys] == 0)  // GPS
@@ -3267,10 +3295,6 @@ std::string Rtcm::get_IGM01_header(const Galileo_HAS_data& has_data, uint8_t nsy
             subtype_msg_number = 61;
         }
 
-    uint8_t ssr_solution_id = 0;  // ?
-    bool ssr_multiple_msg_indicator = false;
-    bool regional_indicator = false;
-
     uint8_t validity_index = has_data.validity_interval_index_orbit_corrections;
     uint16_t validity_seconds = has_data.get_validity_interval_s(validity_index);
     uint8_t ssr_update_interval = 0;
@@ -3342,7 +3366,6 @@ std::string Rtcm::get_IGM01_header(const Galileo_HAS_data& has_data, uint8_t nsy
                 }
         }
 
-    auto iod_ssr = has_data.header.iod_id % 15;  // ?? HAS IOD is 0-31
     uint8_t Nsat = has_data.get_num_satellites()[nsys];
 
     Rtcm::set_DF002(4076);  // Always “4076” for IGS Proprietary Messages

src/algorithms/PVT/libs/rtcm.h

@@ -337,6 +337,11 @@ public:
         bool divergence_free,
         bool more_messages);
 
+    /*!
+     * \brief Prints messages of type IGM01 (SSR Orbit Correction)
+     */
+    std::vector<std::string> print_IGM01(const Galileo_HAS_data& has_data);
+
     uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);       //!< Returns the time period in which GPS L1 signals have been continually tracked.
     uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);  //!< Returns the time period in which GPS L2 signals have been continually tracked.
     uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);   //!< Returns the time period in which Galileo signals have been continually tracked.
@@ -477,7 +482,7 @@ private:
     std::string get_MSM_6_content_signal_data(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& ephCNAV, const Galileo_Ephemeris& ephFNAV, const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
     std::string get_MSM_7_content_signal_data(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& ephCNAV, const Galileo_Ephemeris& ephFNAV, const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
 
-    std::string get_IGM01_header(const Galileo_HAS_data& has_data, uint8_t nsys);
+    std::string get_IGM01_header(const Galileo_HAS_data& has_data, uint8_t nsys, bool ssr_multiple_msg_indicator);
     std::string get_IGM01_content_sat(const Galileo_HAS_data& has_data, uint8_t nsys_index);
 
 

src/algorithms/PVT/libs/rtcm_printer.cc

@@ -19,6 +19,7 @@
 
 #include "rtcm_printer.h"
 #include "galileo_ephemeris.h"
+#include "galileo_has_data.h"
 #include "glonass_gnav_ephemeris.h"
 #include "glonass_gnav_utc_model.h"
 #include "gnss_sdr_filesystem.h"
@@ -1599,6 +1600,21 @@ bool Rtcm_Printer::Print_Rtcm_MSM(uint32_t msm_number, const Gps_Ephemeris& gps_
 }
 
 
+bool Rtcm_Printer::Print_Rtcm_IGM01(const Galileo_HAS_data& has_data)
+{
+    const std::vector<std::string> msgs = rtcm->print_IGM01(has_data);
+    if (msgs.empty())
+        {
+            return false;
+        }
+    for (const auto& s : msgs)
+        {
+            Rtcm_Printer::Print_Message(s);
+        }
+    return true;
+}
+
+
 int Rtcm_Printer::init_serial(const std::string& serial_device)
 {
     /*

src/algorithms/PVT/libs/rtcm_printer.h

@@ -40,6 +40,7 @@ class Gps_CNAV_Ephemeris;
 class Gps_Ephemeris;
 class Rtcm;
 class Rtklib_Solver;
+class Galileo_HAS_data;
 
 /*!
  * \brief This class provides a implementation of a subset of the RTCM Standard 10403.2 messages
@@ -178,6 +179,8 @@ private:
         bool divergence_free,
         bool more_messages);
 
+    bool Print_Rtcm_IGM01(const Galileo_HAS_data& has_data);  // SSR Orbit Corrections
+
     int32_t init_serial(const std::string& serial_device);  // serial port control
     void close_serial() const;
     bool Print_Message(const std::string& message);