mirror of https://github.com/gnss-sdr/gnss-sdr
1135 lines
40 KiB
C++
1135 lines
40 KiB
C++
/*!
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* \file rtcm.h
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* \brief Interface for the RTCM 3.2 Standard
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* \author Carles Fernandez-Prades, 2015. cfernandez(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (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 <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_RTCM_H_
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#define GNSS_SDR_RTCM_H_
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#include <bitset>
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#include <deque>
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#include <map>
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#include <memory>
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#include <set>
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#include <string>
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#include <thread>
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#include <utility>
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#include <vector>
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#include <boost/asio.hpp>
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include "concurrent_queue.h"
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#include "gnss_synchro.h"
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#include "galileo_fnav_message.h"
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#include "gps_navigation_message.h"
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#include "gps_cnav_navigation_message.h"
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/*!
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* This class implements the generation and reading of some Message Types
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* defined in the RTCM 3.2 Standard, plus some utilities to handle messages.
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*
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* Generation of the following Message Types:
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* 1001, 1002, 1003, 1004, 1005, 1006, 1008, 1019, 1029, 1045
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*
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* Decoding of the following Message Types:
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* 1019, 1045
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*
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* Generation of the following Multiple Signal Messages:
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* MSM1 (message types 1071, 1091)
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* MSM2 (message types 1072, 1092)
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* MSM3 (message types 1073, 1093)
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* MSM4 (message types 1074, 1094)
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* MSM5 (message types 1075, 1095)
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* MSM6 (message types 1076, 1096)
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* MSM7 (message types 1077, 1097)
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*
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* RTCM 3 message format (size in bits):
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* +----------+--------+-----------+--------------------+----------+
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* | preamble | 000000 | length | data message | parity |
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* +----------+--------+-----------+--------------------+----------+
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* |<-- 8 --->|<- 6 -->|<-- 10 --->|<--- length x 8 --->|<-- 24 -->|
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* +----------+--------+-----------+--------------------+----------+
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*
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*
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* (C) Carles Fernandez-Prades, 2015. cfernandez(at)cttc.es
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*/
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class Rtcm
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{
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public:
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Rtcm(unsigned short port = 2101); //<! Default constructor that sets TCP port of the RTCM message server and RTCM Station ID. 2101 is the standard RTCM port according to the Internet Assigned Numbers Authority (IANA). See https://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xml
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~Rtcm();
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/*!
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* \brief Prints message type 1001 (L1-Only GPS RTK Observables)
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*/
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std::string print_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
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/*!
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* \brief Prints message type 1002 (Extended L1-Only GPS RTK Observables)
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*/
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std::string print_MT1002(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
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/*!
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* \brief Prints message type 1003 (L1 & L2 GPS RTK Observables)
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*/
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std::string print_MT1003(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephemeris & ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
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/*!
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* \brief Prints message type 1004 (Extended L1 & L2 GPS RTK Observables)
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*/
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std::string print_MT1004(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephemeris & ephL2, double obs_time, const std::map<int, Gnss_Synchro> & observables, unsigned short station_id);
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/*!
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* \brief Prints message type 1005 (Stationary Antenna Reference Point)
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*/
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std::string print_MT1005(unsigned int ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, unsigned int quarter_cycle_indicator);
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/*!
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* \brief Verifies and reads messages of type 1005 (Stationary Antenna Reference Point). Returns 1 if anything goes wrong, 0 otherwise.
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*/
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int read_MT1005(const std::string & message, unsigned int & ref_id, double & ecef_x, double & ecef_y, double & ecef_z, bool & gps, bool & glonass, bool & galileo);
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/*!
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* \brief Prints message type 1006 (Stationary Antenna Reference Point, with Height Information)
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*/
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std::string print_MT1006(unsigned int ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, unsigned int quarter_cycle_indicator, double height);
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std::string print_MT1005_test(); //<! For testing purposes
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/*!
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* \brief Prints message type 1008 (Antenna Descriptor & Serial Number)
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*/
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std::string print_MT1008(unsigned int ref_id, const std::string & antenna_descriptor, unsigned int antenna_setup_id, const std::string & antenna_serial_number);
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/*!
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* \brief Prints message type 1019 (GPS Ephemeris), should be broadcast in the event that
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* the IODC does not match the IODE, and every 2 minutes.
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*/
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std::string print_MT1019(const Gps_Ephemeris & gps_eph);
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/*!
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* \brief Verifies and reads messages of type 1019 (GPS Ephemeris). Returns 1 if anything goes wrong, 0 otherwise.
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*/
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int read_MT1019(const std::string & message, Gps_Ephemeris & gps_eph);
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/*!
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* \brief Prints message type 1029 (Unicode Text String)
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*/
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std::string print_MT1029(unsigned int ref_id, const Gps_Ephemeris & gps_eph, double obs_time, const std::string & message);
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/*!
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* \brief Prints message type 1045 (Galileo Ephemeris), should be broadcast every 2 minutes
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*/
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std::string print_MT1045(const Galileo_Ephemeris & gal_eph);
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/*!
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* \brief Verifies and reads messages of type 1045 (Galileo Ephemeris). Returns 1 if anything goes wrong, 0 otherwise.
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*/
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int read_MT1045(const std::string & message, Galileo_Ephemeris & gal_eph);
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/*!
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* \brief Prints messages of type MSM1 (Compact GNSS observables)
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*/
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std::string print_MSM_1( const Gps_Ephemeris & gps_eph,
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const Gps_CNAV_Ephemeris & gps_cnav_eph,
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const Galileo_Ephemeris & gal_eph,
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double obs_time,
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const std::map<int, Gnss_Synchro> & observables,
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unsigned int ref_id,
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unsigned int clock_steering_indicator,
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unsigned int external_clock_indicator,
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int smooth_int,
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bool divergence_free,
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bool more_messages);
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/*!
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* \brief Prints messages of type MSM2 (Compact GNSS phaseranges)
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*/
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std::string print_MSM_2( const Gps_Ephemeris & gps_eph,
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const Gps_CNAV_Ephemeris & gps_cnav_eph,
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const Galileo_Ephemeris & gal_eph,
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double obs_time,
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const std::map<int, Gnss_Synchro> & observables,
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unsigned int ref_id,
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unsigned int clock_steering_indicator,
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unsigned int external_clock_indicator,
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int smooth_int,
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bool divergence_free,
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bool more_messages);
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/*!
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* \brief Prints messages of type MSM3 (Compact GNSS pseudoranges and phaseranges)
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*/
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std::string print_MSM_3( const Gps_Ephemeris & gps_eph,
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const Gps_CNAV_Ephemeris & gps_cnav_eph,
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const Galileo_Ephemeris & gal_eph,
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double obs_time,
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const std::map<int, Gnss_Synchro> & observables,
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unsigned int ref_id,
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unsigned int clock_steering_indicator,
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unsigned int external_clock_indicator,
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int smooth_int,
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bool divergence_free,
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bool more_messages);
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/*!
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* \brief Prints messages of type MSM4 (Full GNSS pseudoranges and phaseranges plus CNR)
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*/
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std::string print_MSM_4( const Gps_Ephemeris & gps_eph,
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const Gps_CNAV_Ephemeris & gps_cnav_eph,
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const Galileo_Ephemeris & gal_eph,
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double obs_time,
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const std::map<int, Gnss_Synchro> & observables,
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unsigned int ref_id,
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unsigned int clock_steering_indicator,
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unsigned int external_clock_indicator,
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int smooth_int,
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bool divergence_free,
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bool more_messages);
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/*!
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* \brief Prints messages of type MSM5 (Full GNSS pseudoranges, phaseranges, phaserange rate and CNR)
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*/
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std::string print_MSM_5( const Gps_Ephemeris & gps_eph,
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const Gps_CNAV_Ephemeris & gps_cnav_eph,
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const Galileo_Ephemeris & gal_eph,
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double obs_time,
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const std::map<int, Gnss_Synchro> & observables,
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unsigned int ref_id,
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unsigned int clock_steering_indicator,
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unsigned int external_clock_indicator,
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int smooth_int,
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bool divergence_free,
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bool more_messages);
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/*!
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* \brief Prints messages of type MSM6 (Full GNSS pseudoranges and phaseranges plus CNR, high resolution)
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*/
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std::string print_MSM_6( const Gps_Ephemeris & gps_eph,
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const Gps_CNAV_Ephemeris & gps_cnav_eph,
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const Galileo_Ephemeris & gal_eph,
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double obs_time,
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const std::map<int, Gnss_Synchro> & observables,
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unsigned int ref_id,
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unsigned int clock_steering_indicator,
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unsigned int external_clock_indicator,
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int smooth_int,
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bool divergence_free,
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bool more_messages);
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/*!
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* \brief Prints messages of type MSM7 (Full GNSS pseudoranges, phaseranges, phaserange rate and CNR, high resolution)
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*/
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std::string print_MSM_7( const Gps_Ephemeris & gps_eph,
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const Gps_CNAV_Ephemeris & gps_cnav_eph,
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const Galileo_Ephemeris & gal_eph,
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double obs_time,
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const std::map<int, Gnss_Synchro> & observables,
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unsigned int ref_id,
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unsigned int clock_steering_indicator,
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unsigned int external_clock_indicator,
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int smooth_int,
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bool divergence_free,
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bool more_messages);
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unsigned int 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.
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unsigned int 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.
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unsigned int 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.
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std::string bin_to_hex(const std::string & s) const; //<! Returns a string of hexadecimal symbols from a string of binary symbols
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std::string hex_to_bin(const std::string & s) const; //<! Returns a string of binary symbols from a string of hexadecimal symbols
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std::string bin_to_binary_data(const std::string& s) const; //<! Returns a string of binary data from a string of binary symbols
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std::string binary_data_to_bin(const std::string& s) const; //<! Returns a string of binary symbols from a string of binary data
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unsigned long int bin_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of binary symbols
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long int bin_to_int(const std::string & s) const; //<! Returns a long int from a string of binary symbols
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double bin_to_double(const std::string & s) const; //<! Returns double from a string of binary symbols
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unsigned long int hex_to_uint(const std::string & s) const; //<! Returns an unsigned long int from a string of hexadecimal symbols
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long int hex_to_int(const std::string & s) const; //<! Returns a long int from a string of hexadecimal symbols
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bool check_CRC(const std::string & message) const; //<! Checks that the CRC of a RTCM package is correct
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void run_server(); //<! Starts running the server
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void stop_server(); //<! Stops the server
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void send_message(const std::string & message); //<! Sends a message through the server to all connected clients
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bool is_server_running() const; //<! Returns true if the server is running, false otherwise
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private:
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//
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// Generation of messages content
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//
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std::bitset<64> get_MT1001_4_header(unsigned int msg_number,
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double obs_time,
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const std::map<int, Gnss_Synchro> & observables,
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unsigned int ref_id,
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unsigned int smooth_int,
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bool sync_flag,
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bool divergence_free);
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std::bitset<58> get_MT1001_sat_content(const Gps_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
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std::bitset<74> get_MT1002_sat_content(const Gps_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
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std::bitset<101> get_MT1003_sat_content(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephemeris & ephL2, double obs_time, const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2);
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std::bitset<125> get_MT1004_sat_content(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephemeris & ephL2, double obs_time, const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2);
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std::bitset<152> get_MT1005_test();
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std::string get_MSM_header(unsigned int msg_number,
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double obs_time,
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const std::map<int, Gnss_Synchro> & observables,
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unsigned int ref_id,
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unsigned int clock_steering_indicator,
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unsigned int external_clock_indicator,
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int smooth_int,
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bool divergence_free,
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bool more_messages);
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std::string get_MSM_1_content_sat_data(const std::map<int, Gnss_Synchro> & observables);
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std::string get_MSM_4_content_sat_data(const std::map<int, Gnss_Synchro> & observables);
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std::string get_MSM_5_content_sat_data(const std::map<int, Gnss_Synchro> & observables);
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std::string get_MSM_1_content_signal_data(const std::map<int, Gnss_Synchro> & observables);
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std::string get_MSM_2_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
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std::string get_MSM_3_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
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std::string get_MSM_4_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
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std::string get_MSM_5_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
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std::string get_MSM_6_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
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std::string get_MSM_7_content_signal_data(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const std::map<int, Gnss_Synchro> & observables);
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//
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// Utilities
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//
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static std::map<std::string, int> galileo_signal_map;
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static std::map<std::string, int> gps_signal_map;
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std::vector<std::pair<int, Gnss_Synchro> > sort_by_signal(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map) const;
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std::vector<std::pair<int, Gnss_Synchro> > sort_by_PRN_mask(const std::vector<std::pair<int, Gnss_Synchro> > & synchro_map) const;
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boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const;
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boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris & eph, double obs_time) const;
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boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time) const;
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boost::posix_time::ptime gps_L1_last_lock_time[64];
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boost::posix_time::ptime gps_L2_last_lock_time[64];
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boost::posix_time::ptime gal_E1_last_lock_time[64];
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boost::posix_time::ptime gal_E5_last_lock_time[64];
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unsigned int lock_time_indicator(unsigned int lock_time_period_s);
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unsigned int msm_lock_time_indicator(unsigned int lock_time_period_s);
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unsigned int msm_extended_lock_time_indicator(unsigned int lock_time_period_s);
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//
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// Classes for TCP communication
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//
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unsigned short RTCM_port;
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//unsigned short RTCM_Station_ID;
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class Rtcm_Message
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{
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public:
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enum { header_length = 6 };
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enum { max_body_length = 1029 };
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Rtcm_Message()
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: body_length_(0)
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{ }
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const char* data() const
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{
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return data_;
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}
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char* data()
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{
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return data_;
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}
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inline std::size_t length() const
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{
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return header_length + body_length_;
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}
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const char* body() const
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{
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return data_ + header_length;
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}
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char* body()
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{
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return data_ + header_length;
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}
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std::size_t body_length() const
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{
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return body_length_;
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}
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void body_length(std::size_t new_length)
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{
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body_length_ = new_length;
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if (body_length_ > max_body_length)
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body_length_ = max_body_length;
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}
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inline bool decode_header()
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{
|
|
char header[header_length + 1] = "";
|
|
std::strncat(header, data_, header_length);
|
|
if(header[0] != 'G' || header[1] != 'S')
|
|
{
|
|
return false;
|
|
}
|
|
|
|
char header2_[header_length - 1] = "";
|
|
std::strncat(header2_, data_ + 2 , header_length - 2);
|
|
body_length_ = std::atoi(header2_);
|
|
if(body_length_ == 0)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
if (body_length_ > max_body_length)
|
|
{
|
|
body_length_ = 0;
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
inline void encode_header()
|
|
{
|
|
char header[header_length + 1] = "";
|
|
std::sprintf(header, "GS%4d", static_cast<int>(body_length_));
|
|
std::memcpy(data_, header, header_length);
|
|
}
|
|
|
|
private:
|
|
char data_[header_length + max_body_length];
|
|
std::size_t body_length_;
|
|
};
|
|
|
|
|
|
class Rtcm_Listener
|
|
{
|
|
public:
|
|
virtual ~Rtcm_Listener() {}
|
|
virtual void deliver(const Rtcm_Message & msg) = 0;
|
|
};
|
|
|
|
|
|
class Rtcm_Listener_Room
|
|
{
|
|
public:
|
|
inline void join(std::shared_ptr<Rtcm_Listener> participant)
|
|
{
|
|
participants_.insert(participant);
|
|
for (auto msg: recent_msgs_)
|
|
participant->deliver(msg);
|
|
}
|
|
|
|
inline void leave(std::shared_ptr<Rtcm_Listener> participant)
|
|
{
|
|
participants_.erase(participant);
|
|
}
|
|
|
|
inline void deliver(const Rtcm_Message & msg)
|
|
{
|
|
recent_msgs_.push_back(msg);
|
|
while (recent_msgs_.size() > max_recent_msgs)
|
|
recent_msgs_.pop_front();
|
|
|
|
for (auto participant: participants_)
|
|
participant->deliver(msg);
|
|
}
|
|
|
|
private:
|
|
std::set<std::shared_ptr<Rtcm_Listener> > participants_;
|
|
enum { max_recent_msgs = 1 };
|
|
std::deque<Rtcm_Message> recent_msgs_;
|
|
};
|
|
|
|
|
|
class Rtcm_Session
|
|
: public Rtcm_Listener,
|
|
public std::enable_shared_from_this<Rtcm_Session>
|
|
{
|
|
public:
|
|
Rtcm_Session(boost::asio::ip::tcp::socket socket, Rtcm_Listener_Room & room) : socket_(std::move(socket)), room_(room) { }
|
|
|
|
inline void start()
|
|
{
|
|
room_.join(shared_from_this());
|
|
do_read_message_header();
|
|
}
|
|
|
|
inline void deliver(const Rtcm_Message & msg)
|
|
{
|
|
bool write_in_progress = !write_msgs_.empty();
|
|
write_msgs_.push_back(msg);
|
|
if (!write_in_progress)
|
|
{
|
|
do_write();
|
|
}
|
|
}
|
|
|
|
private:
|
|
inline void do_read_message_header()
|
|
{
|
|
auto self(shared_from_this());
|
|
boost::asio::async_read(socket_,
|
|
boost::asio::buffer(read_msg_.data(), Rtcm_Message::header_length),
|
|
[this, self](boost::system::error_code ec, std::size_t /*length*/)
|
|
{
|
|
if (!ec && read_msg_.decode_header())
|
|
{
|
|
do_read_message_body();
|
|
}
|
|
else if(!ec && !read_msg_.decode_header())
|
|
{
|
|
client_says += read_msg_.data();
|
|
bool first = true;
|
|
while(client_says.length() >= 80)
|
|
{
|
|
if(first == true)
|
|
{
|
|
std::cout << "Client from " << socket_.remote_endpoint().address() << " says ";
|
|
first = false;
|
|
}
|
|
std::cout << client_says.substr(0, 80) << std::endl;
|
|
client_says = client_says.substr(80, client_says.length() - 80);
|
|
}
|
|
do_read_message_header();
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Closing connection with client from " << socket_.remote_endpoint().address() << std::endl;
|
|
room_.leave(shared_from_this());
|
|
}
|
|
});
|
|
}
|
|
|
|
inline void do_read_message_body()
|
|
{
|
|
auto self(shared_from_this());
|
|
boost::asio::async_read(socket_,
|
|
boost::asio::buffer(read_msg_.body(), read_msg_.body_length()),
|
|
[this, self](boost::system::error_code ec, std::size_t /*length*/)
|
|
{
|
|
if (!ec)
|
|
{
|
|
room_.deliver(read_msg_);
|
|
//std::cout << "Delivered message (session): ";
|
|
//std::cout.write(read_msg_.body(), read_msg_.body_length());
|
|
//std::cout << std::endl;
|
|
do_read_message_header();
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Closing connection with client from " << socket_.remote_endpoint().address() << std::endl;
|
|
room_.leave(shared_from_this());
|
|
}
|
|
});
|
|
}
|
|
|
|
inline void do_write()
|
|
{
|
|
auto self(shared_from_this());
|
|
boost::asio::async_write(socket_,
|
|
boost::asio::buffer(write_msgs_.front().body(),
|
|
write_msgs_.front().body_length()), [this, self](boost::system::error_code ec, std::size_t /*length*/)
|
|
{
|
|
if(!ec)
|
|
{
|
|
write_msgs_.pop_front();
|
|
if(!write_msgs_.empty())
|
|
{
|
|
do_write();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Closing connection with client from " << socket_.remote_endpoint().address() << std::endl;
|
|
room_.leave(shared_from_this());
|
|
}
|
|
});
|
|
}
|
|
|
|
boost::asio::ip::tcp::socket socket_;
|
|
Rtcm_Listener_Room & room_;
|
|
Rtcm_Message read_msg_;
|
|
std::deque<Rtcm_Message> write_msgs_;
|
|
std::string client_says;
|
|
};
|
|
|
|
|
|
class Tcp_Internal_Client
|
|
: public std::enable_shared_from_this<Tcp_Internal_Client>
|
|
{
|
|
public:
|
|
Tcp_Internal_Client(boost::asio::io_service& io_service,
|
|
boost::asio::ip::tcp::resolver::iterator endpoint_iterator)
|
|
: io_service_(io_service), socket_(io_service)
|
|
{
|
|
do_connect(endpoint_iterator);
|
|
}
|
|
|
|
inline void close()
|
|
{
|
|
io_service_.post([this]() { socket_.close(); });
|
|
}
|
|
|
|
inline void write(const Rtcm_Message & msg)
|
|
{
|
|
io_service_.post(
|
|
[this, msg]()
|
|
{
|
|
bool write_in_progress = !write_msgs_.empty();
|
|
write_msgs_.push_back(msg);
|
|
if (!write_in_progress)
|
|
{
|
|
do_write();
|
|
}
|
|
});
|
|
}
|
|
|
|
private:
|
|
inline void do_connect(boost::asio::ip::tcp::resolver::iterator endpoint_iterator)
|
|
{
|
|
boost::asio::async_connect(socket_, endpoint_iterator,
|
|
[this](boost::system::error_code ec, boost::asio::ip::tcp::resolver::iterator)
|
|
{
|
|
if (!ec)
|
|
{
|
|
do_read_message();
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Server is down." << std::endl;
|
|
}
|
|
});
|
|
}
|
|
|
|
inline void do_read_message()
|
|
{
|
|
boost::asio::async_read(socket_,
|
|
boost::asio::buffer(read_msg_.data(), 1029),
|
|
[this](boost::system::error_code ec, std::size_t /*length*/)
|
|
{
|
|
if (!ec )
|
|
{
|
|
do_read_message();
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Error in client" << std::endl;
|
|
socket_.close();
|
|
}
|
|
});
|
|
}
|
|
|
|
inline void do_write()
|
|
{
|
|
boost::asio::async_write(socket_,
|
|
boost::asio::buffer(write_msgs_.front().data(), write_msgs_.front().length()),
|
|
[this](boost::system::error_code ec, std::size_t /*length*/)
|
|
{
|
|
if (!ec)
|
|
{
|
|
write_msgs_.pop_front();
|
|
if (!write_msgs_.empty())
|
|
{
|
|
do_write();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
socket_.close();
|
|
}
|
|
});
|
|
}
|
|
|
|
boost::asio::io_service& io_service_;
|
|
boost::asio::ip::tcp::socket socket_;
|
|
Rtcm_Message read_msg_;
|
|
std::deque<Rtcm_Message> write_msgs_;
|
|
};
|
|
|
|
|
|
class Queue_Reader
|
|
{
|
|
public:
|
|
Queue_Reader(boost::asio::io_service& io_service, std::shared_ptr< concurrent_queue<std::string> > & queue, int port) : queue_(queue)
|
|
{
|
|
boost::asio::ip::tcp::resolver resolver(io_service);
|
|
std::string host("localhost");
|
|
std::string port_str = std::to_string(port);
|
|
auto queue_endpoint_iterator = resolver.resolve({ host.c_str(), port_str.c_str() });
|
|
c = std::make_shared<Tcp_Internal_Client>(io_service, queue_endpoint_iterator);
|
|
}
|
|
|
|
inline void do_read_queue()
|
|
{
|
|
for(;;)
|
|
{
|
|
std::string message;
|
|
Rtcm_Message msg;
|
|
queue_->wait_and_pop(message); //message += '\n';
|
|
if(message.compare("Goodbye") == 0) break;
|
|
const char *char_msg = message.c_str();
|
|
msg.body_length(message.length());
|
|
std::memcpy(msg.body(), char_msg, msg.body_length());
|
|
msg.encode_header();
|
|
c->write(msg);
|
|
}
|
|
}
|
|
private:
|
|
std::shared_ptr<Tcp_Internal_Client> c;
|
|
std::shared_ptr< concurrent_queue<std::string> > & queue_;
|
|
};
|
|
|
|
|
|
class Tcp_Server
|
|
{
|
|
public:
|
|
Tcp_Server(boost::asio::io_service& io_service, const boost::asio::ip::tcp::endpoint& endpoint)
|
|
: io_service_(io_service), acceptor_(io_service), socket_(io_service)
|
|
{
|
|
acceptor_.open(endpoint.protocol());
|
|
acceptor_.set_option(boost::asio::ip::tcp::acceptor::reuse_address(true));
|
|
acceptor_.bind(endpoint);
|
|
acceptor_.listen();
|
|
do_accept();
|
|
}
|
|
|
|
inline void close_server()
|
|
{
|
|
socket_.close();
|
|
acceptor_.close();
|
|
}
|
|
|
|
private:
|
|
inline void do_accept()
|
|
{
|
|
acceptor_.async_accept(socket_, [this](boost::system::error_code ec)
|
|
{
|
|
if (!ec)
|
|
{
|
|
if(first_client)
|
|
{
|
|
std::cout << "The TCP Server is up and running. Accepting connections ..." << std::endl;
|
|
first_client = false;
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Starting RTCM TCP server session..." << std::endl;
|
|
std::cout << "Serving client from " << socket_.remote_endpoint().address() << std::endl;
|
|
}
|
|
std::make_shared<Rtcm_Session>(std::move(socket_), room_)->start();
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Error when invoking a RTCM session. " << ec << std::endl;
|
|
}
|
|
do_accept();
|
|
});
|
|
}
|
|
|
|
boost::asio::io_service& io_service_;
|
|
boost::asio::ip::tcp::acceptor acceptor_;
|
|
boost::asio::ip::tcp::socket socket_;
|
|
Rtcm_Listener_Room room_;
|
|
bool first_client = true;
|
|
};
|
|
|
|
boost::asio::io_service io_service;
|
|
std::shared_ptr< concurrent_queue<std::string> > rtcm_message_queue;
|
|
std::thread t;
|
|
std::thread tq;
|
|
std::list<Rtcm::Tcp_Server> servers;
|
|
bool server_is_running;
|
|
void stop_service();
|
|
|
|
//
|
|
// Transport Layer
|
|
//
|
|
std::bitset<8> preamble;
|
|
std::bitset<6> reserved_field;
|
|
std::string add_CRC(const std::string & m) const;
|
|
std::string build_message(const std::string & data) const; // adds 0s to complete a byte and adds the CRC
|
|
|
|
//
|
|
// Data Fields
|
|
//
|
|
std::bitset<12> DF002;
|
|
int set_DF002(unsigned int message_number);
|
|
|
|
std::bitset<12> DF003;
|
|
int set_DF003(unsigned int ref_station_ID);
|
|
|
|
std::bitset<30> DF004;
|
|
int set_DF004(double obs_time);
|
|
|
|
std::bitset<1> DF005;
|
|
int set_DF005(bool sync_flag);
|
|
|
|
std::bitset<5> DF006;
|
|
int set_DF006(const std::map<int, Gnss_Synchro> & observables);
|
|
|
|
std::bitset<1> DF007;
|
|
int set_DF007(bool divergence_free_smoothing_indicator); // 0 - Divergence-free smoothing not used 1 - Divergence-free smoothing used
|
|
|
|
std::bitset<3> DF008;
|
|
int set_DF008(short int smoothing_interval);
|
|
|
|
std::bitset<6> DF009;
|
|
int set_DF009(const Gnss_Synchro & gnss_synchro);
|
|
int set_DF009(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<1> DF010;
|
|
int set_DF010(bool code_indicator);
|
|
|
|
std::bitset<24> DF011;
|
|
int set_DF011(const Gnss_Synchro & gnss_synchro);
|
|
|
|
std::bitset<20> DF012;
|
|
int set_DF012(const Gnss_Synchro & gnss_synchro);
|
|
|
|
std::bitset<7> DF013;
|
|
int set_DF013(const Gps_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
|
|
|
|
std::bitset<8> DF014;
|
|
int set_DF014(const Gnss_Synchro & gnss_synchro);
|
|
|
|
std::bitset<8> DF015;
|
|
int set_DF015(const Gnss_Synchro & gnss_synchro);
|
|
|
|
std::bitset<14> DF017;
|
|
int set_DF017(const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2);
|
|
|
|
std::bitset<20> DF018;
|
|
int set_DF018(const Gnss_Synchro & gnss_synchroL1, const Gnss_Synchro & gnss_synchroL2);
|
|
|
|
std::bitset<7> DF019;
|
|
int set_DF019(const Gps_CNAV_Ephemeris & eph, double obs_time, const Gnss_Synchro & gnss_synchro);
|
|
|
|
std::bitset<8> DF020;
|
|
int set_DF020(const Gnss_Synchro & gnss_synchro);
|
|
|
|
std::bitset<6> DF021;
|
|
int set_DF021();
|
|
|
|
std::bitset<1> DF022;
|
|
int set_DF022(bool gps_indicator);
|
|
|
|
std::bitset<1> DF023;
|
|
int set_DF023(bool glonass_indicator);
|
|
|
|
std::bitset<1> DF024;
|
|
int set_DF024(bool galileo_indicator);
|
|
|
|
std::bitset<38> DF025;
|
|
int set_DF025(double antenna_ECEF_X_m);
|
|
|
|
std::bitset<38> DF026;
|
|
int set_DF026(double antenna_ECEF_Y_m);
|
|
|
|
std::bitset<38> DF027;
|
|
int set_DF027(double antenna_ECEF_Z_m);
|
|
|
|
std::bitset<16> DF028;
|
|
int set_DF028(double height);
|
|
|
|
std::bitset<8> DF029;
|
|
|
|
std::bitset<8> DF031;
|
|
int set_DF031(unsigned int antenna_setup_id);
|
|
|
|
std::bitset<8> DF032;
|
|
|
|
std::bitset<16> DF051;
|
|
int set_DF051(const Gps_Ephemeris & gps_eph, double obs_time);
|
|
|
|
std::bitset<17> DF052;
|
|
int set_DF052(const Gps_Ephemeris & gps_eph, double obs_time);
|
|
|
|
// Contents of GPS Satellite Ephemeris Data, Message Type 1019
|
|
std::bitset<8> DF071;
|
|
int set_DF071(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<10> DF076;
|
|
int set_DF076(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<4> DF077;
|
|
int set_DF077(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<2> DF078;
|
|
int set_DF078(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<14> DF079;
|
|
int set_DF079(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<8> DF080;
|
|
int set_DF080(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<16> DF081;
|
|
int set_DF081(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<8> DF082;
|
|
int set_DF082(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<16> DF083;
|
|
int set_DF083(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<22> DF084;
|
|
int set_DF084(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<10> DF085;
|
|
int set_DF085(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<16> DF086;
|
|
int set_DF086(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<16> DF087;
|
|
int set_DF087(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<32> DF088;
|
|
int set_DF088(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<16> DF089;
|
|
int set_DF089(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<32> DF090;
|
|
int set_DF090(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<16> DF091;
|
|
int set_DF091(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<32> DF092;
|
|
int set_DF092(const Gps_Ephemeris & gps_eph);
|
|
|
|
std::bitset<16> DF093;
|
|
int set_DF093(const Gps_Ephemeris & gps_eph);
|
|
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std::bitset<16> DF094;
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int set_DF094(const Gps_Ephemeris & gps_eph);
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std::bitset<32> DF095;
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int set_DF095(const Gps_Ephemeris & gps_eph);
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std::bitset<16> DF096;
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int set_DF096(const Gps_Ephemeris & gps_eph);
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std::bitset<32> DF097;
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int set_DF097(const Gps_Ephemeris & gps_eph);
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std::bitset<16> DF098;
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int set_DF098(const Gps_Ephemeris & gps_eph);
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std::bitset<32> DF099;
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int set_DF099(const Gps_Ephemeris & gps_eph);
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std::bitset<24> DF100;
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int set_DF100(const Gps_Ephemeris & gps_eph);
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std::bitset<8> DF101;
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int set_DF101(const Gps_Ephemeris & gps_eph);
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std::bitset<6> DF102;
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int set_DF102(const Gps_Ephemeris & gps_eph);
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std::bitset<1> DF103;
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int set_DF103(const Gps_Ephemeris & gps_eph);
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std::bitset<1> DF137;
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int set_DF137(const Gps_Ephemeris & gps_eph);
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std::bitset<1> DF141;
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int set_DF141(const Gps_Ephemeris & gps_eph);
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std::bitset<1> DF142;
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int set_DF142(const Gps_Ephemeris & gps_eph);
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std::bitset<30> DF248;
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int set_DF248(double obs_time);
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// Contents of Galileo F/NAV Satellite Ephemeris Data, Message Type 1045
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std::bitset<6> DF252;
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int set_DF252(const Galileo_Ephemeris & gal_eph);
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std::bitset<12> DF289;
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int set_DF289(const Galileo_Ephemeris & gal_eph);
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std::bitset<10> DF290;
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int set_DF290(const Galileo_Ephemeris & gal_eph);
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std::bitset<8> DF291;
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int set_DF291(const Galileo_Ephemeris & gal_eph);
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std::bitset<14> DF292;
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int set_DF292(const Galileo_Ephemeris & gal_eph);
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std::bitset<14> DF293;
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int set_DF293(const Galileo_Ephemeris & gal_eph);
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std::bitset<6> DF294;
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int set_DF294(const Galileo_Ephemeris & gal_eph);
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std::bitset<21> DF295;
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int set_DF295(const Galileo_Ephemeris & gal_eph);
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std::bitset<31> DF296;
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int set_DF296(const Galileo_Ephemeris & gal_eph);
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std::bitset<16> DF297;
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int set_DF297(const Galileo_Ephemeris & gal_eph);
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std::bitset<16> DF298;
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int set_DF298(const Galileo_Ephemeris & gal_eph);
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std::bitset<32> DF299;
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int set_DF299(const Galileo_Ephemeris & gal_eph);
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std::bitset<16> DF300;
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int set_DF300(const Galileo_Ephemeris & gal_eph);
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std::bitset<32> DF301;
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int set_DF301(const Galileo_Ephemeris & gal_eph);
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std::bitset<16> DF302;
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int set_DF302(const Galileo_Ephemeris & gal_eph);
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std::bitset<32> DF303;
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int set_DF303(const Galileo_Ephemeris & gal_eph);
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std::bitset<14> DF304;
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int set_DF304(const Galileo_Ephemeris & gal_eph);
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std::bitset<16> DF305;
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int set_DF305(const Galileo_Ephemeris & gal_eph);
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std::bitset<32> DF306;
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int set_DF306(const Galileo_Ephemeris & gal_eph);
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std::bitset<16> DF307;
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int set_DF307(const Galileo_Ephemeris & gal_eph);
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std::bitset<32> DF308;
|
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int set_DF308(const Galileo_Ephemeris & gal_eph);
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std::bitset<16> DF309;
|
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int set_DF309(const Galileo_Ephemeris & gal_eph);
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std::bitset<32> DF310;
|
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int set_DF310(const Galileo_Ephemeris & gal_eph);
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std::bitset<24> DF311;
|
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int set_DF311(const Galileo_Ephemeris & gal_eph);
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std::bitset<10> DF312;
|
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int set_DF312(const Galileo_Ephemeris & gal_eph);
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std::bitset<10> DF313;
|
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int set_DF313(const Galileo_Ephemeris & gal_eph);
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std::bitset<2> DF314;
|
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int set_DF314(const Galileo_Ephemeris & gal_eph);
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std::bitset<1> DF315;
|
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int set_DF315(const Galileo_Ephemeris & gal_eph);
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std::bitset<2> DF364;
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|
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// Content of message header for MSM1, MSM2, MSM3, MSM4, MSM5, MSM6 and MSM7
|
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std::bitset<1> DF393;
|
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int set_DF393(bool more_messages); //1 indicates that more MSMs follow for given physical time and reference station ID
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std::bitset<64> DF394;
|
|
int set_DF394(const std::map<int, Gnss_Synchro> & observables);
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std::bitset<32> DF395;
|
|
int set_DF395(const std::map<int, Gnss_Synchro> & observables);
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|
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std::string set_DF396(const std::map<int, Gnss_Synchro> & observables);
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std::bitset<8> DF397;
|
|
int set_DF397(const Gnss_Synchro & gnss_synchro);
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std::bitset<10> DF398;
|
|
int set_DF398(const Gnss_Synchro & gnss_synchro);
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std::bitset<14> DF399;
|
|
int set_DF399(const Gnss_Synchro & gnss_synchro);
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std::bitset<15> DF400;
|
|
int set_DF400(const Gnss_Synchro & gnss_synchro);
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|
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std::bitset<22> DF401;
|
|
int set_DF401(const Gnss_Synchro & gnss_synchro);
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|
|
std::bitset<4> DF402;
|
|
int set_DF402(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
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|
|
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std::bitset<6> DF403;
|
|
int set_DF403(const Gnss_Synchro & gnss_synchro);
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|
|
std::bitset<15> DF404;
|
|
int set_DF404(const Gnss_Synchro & gnss_synchro);
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|
|
|
std::bitset<20> DF405;
|
|
int set_DF405(const Gnss_Synchro & gnss_synchro);
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|
|
|
std::bitset<24> DF406;
|
|
int set_DF406(const Gnss_Synchro & gnss_synchro);
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|
|
std::bitset<10> DF407;
|
|
int set_DF407(const Gps_Ephemeris & ephNAV, const Gps_CNAV_Ephemeris & ephCNAV, const Galileo_Ephemeris & ephFNAV, double obs_time, const Gnss_Synchro & gnss_synchro);
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|
|
|
std::bitset<10> DF408;
|
|
int set_DF408(const Gnss_Synchro & gnss_synchro);
|
|
|
|
std::bitset<3> DF409;
|
|
int set_DF409(unsigned int iods);
|
|
|
|
std::bitset<2> DF411;
|
|
int set_DF411(unsigned int clock_steering_indicator);
|
|
|
|
std::bitset<2> DF412;
|
|
int set_DF412(unsigned int external_clock_indicator);
|
|
|
|
std::bitset<1> DF417;
|
|
int set_DF417(bool using_divergence_free_smoothing);
|
|
|
|
std::bitset<3> DF418;
|
|
int set_DF418(int carrier_smoothing_interval_s);
|
|
|
|
std::bitset<1> DF420;
|
|
int set_DF420(const Gnss_Synchro & gnss_synchro);
|
|
};
|
|
|
|
#endif
|