mirror of https://github.com/gnss-sdr/gnss-sdr
189 lines
6.1 KiB
C++
189 lines
6.1 KiB
C++
/*!
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* \file rtklib_pvt_cc.h
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* \brief Interface of a Position Velocity and Time computation block
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* \author Javier Arribas, 2017. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_RTKLIB_PVT_CC_H
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#define GNSS_SDR_RTKLIB_PVT_CC_H
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#include "nmea_printer.h"
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#include "kml_printer.h"
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#include "gpx_printer.h"
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#include "geojson_printer.h"
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#include "rinex_printer.h"
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#include "rtcm_printer.h"
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#include "rtklib_solver.h"
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#include <gnuradio/sync_block.h>
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#include <sys/types.h>
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#include <sys/ipc.h>
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#include <sys/msg.h>
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#include <chrono>
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#include <fstream>
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#include <utility>
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#include <string>
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class rtklib_pvt_cc;
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typedef boost::shared_ptr<rtklib_pvt_cc> rtklib_pvt_cc_sptr;
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rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int n_channels,
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bool dump,
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std::string dump_filename,
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int output_rate_ms,
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int display_rate_ms,
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bool flag_nmea_tty_port,
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std::string nmea_dump_filename,
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std::string nmea_dump_devname,
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int rinex_version,
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bool flag_rtcm_server,
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bool flag_rtcm_tty_port,
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unsigned short rtcm_tcp_port,
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unsigned short rtcm_station_id,
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std::map<int, int> rtcm_msg_rate_ms,
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std::string rtcm_dump_devname,
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const unsigned int type_of_receiver,
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rtk_t& rtk);
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/*!
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* \brief This class implements a block that computes the PVT solution with Galileo E1 signals
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*/
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class rtklib_pvt_cc : public gr::sync_block
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{
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private:
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friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(unsigned int nchannels,
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bool dump,
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std::string dump_filename,
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int output_rate_ms,
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int display_rate_ms,
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bool flag_nmea_tty_port,
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std::string nmea_dump_filename,
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std::string nmea_dump_devname,
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int rinex_version,
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bool flag_rtcm_server,
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bool flag_rtcm_tty_port,
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unsigned short rtcm_tcp_port,
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unsigned short rtcm_station_id,
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std::map<int, int> rtcm_msg_rate_ms,
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std::string rtcm_dump_devname,
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const unsigned int type_of_receiver,
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rtk_t& rtk);
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void msg_handler_telemetry(pmt::pmt_t msg);
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bool d_dump;
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bool b_rinex_header_written;
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bool b_rinex_header_updated;
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double d_rinex_version;
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bool b_rtcm_writing_started;
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int d_rtcm_MT1045_rate_ms; //!< Galileo Broadcast Ephemeris
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int d_rtcm_MT1019_rate_ms; //!< GPS Broadcast Ephemeris (orbits)
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int d_rtcm_MT1020_rate_ms; //!< GLONASS Broadcast Ephemeris (orbits)
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int d_rtcm_MT1077_rate_ms; //!< The type 7 Multiple Signal Message format for the USA’s GPS system, popular
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int d_rtcm_MT1087_rate_ms; //!< GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
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int d_rtcm_MT1097_rate_ms; //!< Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
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int d_rtcm_MSM_rate_ms;
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int d_last_status_print_seg; //for status printer
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unsigned int d_nchannels;
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std::string d_dump_filename;
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std::ofstream d_dump_file;
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int d_output_rate_ms;
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int d_display_rate_ms;
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std::shared_ptr<Rinex_Printer> rp;
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std::shared_ptr<Kml_Printer> d_kml_dump;
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std::shared_ptr<Gpx_Printer> d_gpx_dump;
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std::shared_ptr<Nmea_Printer> d_nmea_printer;
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std::shared_ptr<GeoJSON_Printer> d_geojson_printer;
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std::shared_ptr<Rtcm_Printer> d_rtcm_printer;
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double d_rx_time;
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double last_pvt_display_T_rx_s;
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double last_RTCM_1019_output_time;
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double last_RTCM_1020_output_time;
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double last_RTCM_1045_output_time;
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double last_RTCM_1077_output_time;
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double last_RTCM_1087_output_time;
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double last_RTCM_1097_output_time;
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double last_RTCM_MSM_output_time;
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double last_RINEX_obs_output_time;
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double last_RINEX_nav_output_time;
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std::shared_ptr<rtklib_solver> d_ls_pvt;
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std::map<int, Gnss_Synchro> gnss_observables_map;
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bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b);
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unsigned int type_of_rx;
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bool first_fix;
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key_t sysv_msg_key;
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int sysv_msqid;
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typedef struct
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{
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long mtype; //required by sys v message
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double ttff;
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} ttff_msgbuf;
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bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
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std::chrono::time_point<std::chrono::system_clock> start, end;
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public:
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rtklib_pvt_cc(unsigned int nchannels,
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bool dump, std::string dump_filename,
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int output_rate_ms,
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int display_rate_ms,
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bool flag_nmea_tty_port,
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std::string nmea_dump_filename,
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std::string nmea_dump_devname,
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int rinex_version,
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bool flag_rtcm_server,
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bool flag_rtcm_tty_port,
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unsigned short rtcm_tcp_port,
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unsigned short rtcm_station_id,
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std::map<int, int> rtcm_msg_rate_ms,
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std::string rtcm_dump_devname,
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const unsigned int type_of_receiver,
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rtk_t& rtk);
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/*!
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* \brief Get latest set of GPS L1 ephemeris from PVT block
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*
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* It is used to save the assistance data at the receiver shutdown
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*/
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std::map<int, Gps_Ephemeris> get_GPS_L1_ephemeris_map();
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~rtklib_pvt_cc(); //!< Default destructor
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int work(int noutput_items, gr_vector_const_void_star& input_items,
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gr_vector_void_star& output_items); //!< PVT Signal Processing
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};
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#endif
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