mirror of https://github.com/gnss-sdr/gnss-sdr
2469 lines
129 KiB
C++
2469 lines
129 KiB
C++
/*!
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* \file rtklib_pvt_gs.cc
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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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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#include "rtklib_pvt_gs.h"
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#include "MATH_CONSTANTS.h"
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#include "an_packet_printer.h"
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#include "beidou_dnav_almanac.h"
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#include "beidou_dnav_ephemeris.h"
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#include "beidou_dnav_iono.h"
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#include "beidou_dnav_utc_model.h"
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#include "display.h"
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#include "galileo_almanac.h"
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#include "galileo_almanac_helper.h"
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#include "galileo_ephemeris.h"
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#include "galileo_has_data.h"
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#include "galileo_iono.h"
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#include "galileo_utc_model.h"
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#include "geohash.h"
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#include "geojson_printer.h"
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#include "glonass_gnav_almanac.h"
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#include "glonass_gnav_ephemeris.h"
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#include "glonass_gnav_utc_model.h"
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#include "gnss_frequencies.h"
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#include "gnss_satellite.h"
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#include "gnss_sdr_create_directory.h"
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#include "gnss_sdr_filesystem.h"
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#include "gnss_sdr_make_unique.h"
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#include "gps_almanac.h"
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#include "gps_cnav_ephemeris.h"
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#include "gps_cnav_iono.h"
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#include "gps_cnav_utc_model.h"
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#include "gps_ephemeris.h"
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#include "gps_iono.h"
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#include "gps_utc_model.h"
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#include "gpx_printer.h"
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#include "has_simple_printer.h"
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#include "kml_printer.h"
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#include "monitor_ephemeris_udp_sink.h"
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#include "monitor_pvt.h"
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#include "monitor_pvt_udp_sink.h"
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#include "nmea_printer.h"
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#include "pvt_conf.h"
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#include "rinex_printer.h"
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#include "rtcm_printer.h"
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#include "rtklib_rtkcmn.h"
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#include "rtklib_solver.h"
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#include "trackingcmd.h"
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#include <boost/archive/xml_iarchive.hpp> // for xml_iarchive
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#include <boost/archive/xml_oarchive.hpp> // for xml_oarchive
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#include <boost/exception/diagnostic_information.hpp>
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#include <boost/exception/exception.hpp>
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#include <boost/serialization/map.hpp>
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#include <boost/serialization/nvp.hpp> // for nvp, make_nvp
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#include <glog/logging.h> // for LOG
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#include <gnuradio/io_signature.h> // for io_signature
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#include <pmt/pmt_sugar.h> // for mp
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#include <algorithm> // for sort, unique
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#include <cerrno> // for errno
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#include <cstring> // for strerror
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#include <exception> // for exception
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#include <fstream> // for ofstream
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#include <iomanip> // for put_time, setprecision
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#include <iostream> // for operator<<
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#include <locale> // for locale
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#include <sstream> // for ostringstream
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#include <stdexcept> // for length_error
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#include <sys/ipc.h> // for IPC_CREAT
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#include <sys/msg.h> // for msgctl
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#include <typeinfo> // for std::type_info, typeid
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#include <utility> // for pair
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#if HAS_GENERIC_LAMBDA
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#else
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#include <boost/bind/bind.hpp>
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#endif
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#if USE_STD_COMMON_FACTOR
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#include <numeric>
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namespace bc = std;
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#else
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#if USE_OLD_BOOST_MATH_COMMON_FACTOR
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#include <boost/math/common_factor_rt.hpp>
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namespace bc = boost::math;
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#else
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#include <boost/integer/common_factor_rt.hpp>
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namespace bc = boost::integer;
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#endif
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#endif
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#if PMT_USES_BOOST_ANY
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#include <boost/any.hpp>
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namespace wht = boost;
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#else
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#include <any>
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namespace wht = std;
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#endif
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rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
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const Pvt_Conf& conf_,
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const rtk_t& rtk)
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{
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return rtklib_pvt_gs_sptr(new rtklib_pvt_gs(nchannels,
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conf_,
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rtk));
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}
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rtklib_pvt_gs::rtklib_pvt_gs(uint32_t nchannels,
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const Pvt_Conf& conf_,
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const rtk_t& rtk)
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: gr::sync_block("rtklib_pvt_gs",
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gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr::io_signature::make(0, 0, 0)),
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d_dump_filename(conf_.dump_filename),
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d_geohash(std::make_unique<Geohash>()),
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d_gps_ephemeris_sptr_type_hash_code(typeid(std::shared_ptr<Gps_Ephemeris>).hash_code()),
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d_gps_iono_sptr_type_hash_code(typeid(std::shared_ptr<Gps_Iono>).hash_code()),
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d_gps_utc_model_sptr_type_hash_code(typeid(std::shared_ptr<Gps_Utc_Model>).hash_code()),
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d_gps_cnav_ephemeris_sptr_type_hash_code(typeid(std::shared_ptr<Gps_CNAV_Ephemeris>).hash_code()),
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d_gps_cnav_iono_sptr_type_hash_code(typeid(std::shared_ptr<Gps_CNAV_Iono>).hash_code()),
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d_gps_cnav_utc_model_sptr_type_hash_code(typeid(std::shared_ptr<Gps_CNAV_Utc_Model>).hash_code()),
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d_gps_almanac_sptr_type_hash_code(typeid(std::shared_ptr<Gps_Almanac>).hash_code()),
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d_galileo_ephemeris_sptr_type_hash_code(typeid(std::shared_ptr<Galileo_Ephemeris>).hash_code()),
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d_galileo_iono_sptr_type_hash_code(typeid(std::shared_ptr<Galileo_Iono>).hash_code()),
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d_galileo_utc_model_sptr_type_hash_code(typeid(std::shared_ptr<Galileo_Utc_Model>).hash_code()),
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d_galileo_almanac_helper_sptr_type_hash_code(typeid(std::shared_ptr<Galileo_Almanac_Helper>).hash_code()),
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d_galileo_almanac_sptr_type_hash_code(typeid(std::shared_ptr<Galileo_Almanac>).hash_code()),
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d_glonass_gnav_ephemeris_sptr_type_hash_code(typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>).hash_code()),
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d_glonass_gnav_utc_model_sptr_type_hash_code(typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>).hash_code()),
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d_glonass_gnav_almanac_sptr_type_hash_code(typeid(std::shared_ptr<Glonass_Gnav_Almanac>).hash_code()),
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d_beidou_dnav_ephemeris_sptr_type_hash_code(typeid(std::shared_ptr<Beidou_Dnav_Ephemeris>).hash_code()),
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d_beidou_dnav_iono_sptr_type_hash_code(typeid(std::shared_ptr<Beidou_Dnav_Iono>).hash_code()),
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d_beidou_dnav_utc_model_sptr_type_hash_code(typeid(std::shared_ptr<Beidou_Dnav_Utc_Model>).hash_code()),
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d_beidou_dnav_almanac_sptr_type_hash_code(typeid(std::shared_ptr<Beidou_Dnav_Almanac>).hash_code()),
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d_galileo_has_data_sptr_type_hash_code(typeid(std::shared_ptr<Galileo_HAS_data>).hash_code()),
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d_rinex_version(conf_.rinex_version),
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d_rx_time(0.0),
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d_local_counter_ms(0ULL),
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d_timestamp_rx_clock_offset_correction_msg_ms(0LL),
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d_rinexobs_rate_ms(conf_.rinexobs_rate_ms),
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d_kml_rate_ms(conf_.kml_rate_ms),
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d_gpx_rate_ms(conf_.gpx_rate_ms),
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d_geojson_rate_ms(conf_.geojson_rate_ms),
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d_nmea_rate_ms(conf_.nmea_rate_ms),
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d_an_rate_ms(conf_.an_rate_ms),
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d_output_rate_ms(conf_.output_rate_ms),
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d_display_rate_ms(conf_.display_rate_ms),
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d_report_rate_ms(1000),
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d_max_obs_block_rx_clock_offset_ms(conf_.max_obs_block_rx_clock_offset_ms),
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d_nchannels(nchannels),
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d_type_of_rx(conf_.type_of_receiver),
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d_observable_interval_ms(conf_.observable_interval_ms),
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d_pvt_errors_counter(0),
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d_dump(conf_.dump),
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d_dump_mat(conf_.dump_mat && conf_.dump),
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d_rinex_output_enabled(conf_.rinex_output_enabled),
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d_geojson_output_enabled(conf_.geojson_output_enabled),
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d_gpx_output_enabled(conf_.gpx_output_enabled),
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d_kml_output_enabled(conf_.kml_output_enabled),
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d_nmea_output_file_enabled(conf_.nmea_output_file_enabled || conf_.flag_nmea_tty_port),
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d_xml_storage(conf_.xml_output_enabled),
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d_flag_monitor_pvt_enabled(conf_.monitor_enabled),
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d_flag_monitor_ephemeris_enabled(conf_.monitor_ephemeris_enabled),
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d_show_local_time_zone(conf_.show_local_time_zone),
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d_enable_rx_clock_correction(conf_.enable_rx_clock_correction),
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d_an_printer_enabled(conf_.an_output_enabled),
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d_log_timetag(conf_.log_source_timetag),
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d_use_has_corrections(conf_.use_has_corrections),
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d_use_unhealthy_sats(conf_.use_unhealthy_sats)
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{
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// Send feedback message to observables block with the receiver clock offset
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this->message_port_register_out(pmt::mp("pvt_to_observables"));
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// Experimental: VLT commands from PVT to tracking channels
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this->message_port_register_out(pmt::mp("pvt_to_trk"));
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// Send PVT status to gnss_flowgraph
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this->message_port_register_out(pmt::mp("status"));
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// GPS Ephemeris data message port in
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this->message_port_register_in(pmt::mp("telemetry"));
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this->set_msg_handler(pmt::mp("telemetry"),
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#if HAS_GENERIC_LAMBDA
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[this](auto&& PH1) { msg_handler_telemetry(PH1); });
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#else
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#if USE_BOOST_BIND_PLACEHOLDERS
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boost::bind(&rtklib_pvt_gs::msg_handler_telemetry, this, boost::placeholders::_1));
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#else
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boost::bind(&rtklib_pvt_gs::msg_handler_telemetry, this, _1));
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#endif
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#endif
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// Galileo E6 HAS messages port in
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this->message_port_register_in(pmt::mp("E6_HAS_to_PVT"));
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this->set_msg_handler(pmt::mp("E6_HAS_to_PVT"),
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#if HAS_GENERIC_LAMBDA
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[this](auto&& PH1) { msg_handler_has_data(PH1); });
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#else
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#if USE_BOOST_BIND_PLACEHOLDERS
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boost::bind(&rtklib_pvt_gs::msg_handler_has_data, this, boost::placeholders::_1));
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#else
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boost::bind(&rtklib_pvt_gs::msg_handler_has_data, this, _1));
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#endif
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#endif
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d_initial_carrier_phase_offset_estimation_rads = std::vector<double>(nchannels, 0.0);
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d_channel_initialized = std::vector<bool>(nchannels, false);
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std::string dump_ls_pvt_filename = conf_.dump_filename;
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if (d_dump)
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{
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std::string dump_path;
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// Get path
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if (d_dump_filename.find_last_of('/') != std::string::npos)
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{
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std::string dump_filename_ = d_dump_filename.substr(d_dump_filename.find_last_of('/') + 1);
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dump_path = d_dump_filename.substr(0, d_dump_filename.find_last_of('/'));
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d_dump_filename = dump_filename_;
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}
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else
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{
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dump_path = std::string(".");
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}
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if (d_dump_filename.empty())
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{
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d_dump_filename = "pvt";
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}
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// remove extension if any
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if (d_dump_filename.substr(1).find_last_of('.') != std::string::npos)
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{
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d_dump_filename = d_dump_filename.substr(0, d_dump_filename.find_last_of('.'));
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}
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dump_ls_pvt_filename = dump_path + fs::path::preferred_separator + d_dump_filename;
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dump_ls_pvt_filename.append(".dat");
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// create directory
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if (!gnss_sdr_create_directory(dump_path))
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{
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std::cerr << "GNSS-SDR cannot create dump file for the PVT block. Wrong permissions?\n";
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d_dump = false;
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}
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}
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// initialize kml_printer
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const std::string kml_dump_filename = d_dump_filename;
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if (d_kml_rate_ms == 0)
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{
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d_kml_output_enabled = false;
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}
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if (d_kml_output_enabled)
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{
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d_kml_dump = std::make_unique<Kml_Printer>(conf_.kml_output_path);
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d_kml_dump->set_headers(kml_dump_filename);
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}
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else
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{
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d_kml_dump = nullptr;
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}
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// initialize gpx_printer
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const std::string gpx_dump_filename = d_dump_filename;
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if (d_gpx_rate_ms == 0)
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{
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d_gpx_output_enabled = false;
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}
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if (d_gpx_output_enabled)
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{
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d_gpx_dump = std::make_unique<Gpx_Printer>(conf_.gpx_output_path);
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d_gpx_dump->set_headers(gpx_dump_filename);
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}
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else
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{
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d_gpx_dump = nullptr;
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}
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// initialize geojson_printer
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const std::string geojson_dump_filename = d_dump_filename;
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if (d_geojson_rate_ms == 0)
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{
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d_geojson_output_enabled = false;
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}
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if (d_geojson_output_enabled)
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{
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d_geojson_printer = std::make_unique<GeoJSON_Printer>(conf_.geojson_output_path);
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d_geojson_printer->set_headers(geojson_dump_filename);
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}
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else
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{
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d_geojson_printer = nullptr;
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}
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// initialize nmea_printer
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if (d_nmea_rate_ms == 0)
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{
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d_nmea_output_file_enabled = false;
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}
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if (d_nmea_output_file_enabled)
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{
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d_nmea_printer = std::make_unique<Nmea_Printer>(conf_.nmea_dump_filename, conf_.nmea_output_file_enabled, conf_.flag_nmea_tty_port, conf_.nmea_dump_devname, conf_.nmea_output_file_path);
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}
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else
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{
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d_nmea_printer = nullptr;
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}
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// initialize rtcm_printer
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const std::string rtcm_dump_filename = d_dump_filename;
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if (conf_.flag_rtcm_server || conf_.flag_rtcm_tty_port || conf_.rtcm_output_file_enabled)
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{
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d_rtcm_printer = std::make_unique<Rtcm_Printer>(rtcm_dump_filename, conf_.rtcm_output_file_enabled, conf_.flag_rtcm_server, conf_.flag_rtcm_tty_port, conf_.rtcm_tcp_port, conf_.rtcm_station_id, conf_.rtcm_dump_devname, true, conf_.rtcm_output_file_path);
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std::map<int, int> rtcm_msg_rate_ms = conf_.rtcm_msg_rate_ms;
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if (rtcm_msg_rate_ms.find(1019) != rtcm_msg_rate_ms.end())
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{
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d_rtcm_MT1019_rate_ms = rtcm_msg_rate_ms[1019];
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}
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else
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{
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d_rtcm_MT1019_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
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}
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if (rtcm_msg_rate_ms.find(1020) != rtcm_msg_rate_ms.end())
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{
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d_rtcm_MT1020_rate_ms = rtcm_msg_rate_ms[1020];
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}
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else
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{
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d_rtcm_MT1020_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
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}
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if (rtcm_msg_rate_ms.find(1045) != rtcm_msg_rate_ms.end())
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{
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d_rtcm_MT1045_rate_ms = rtcm_msg_rate_ms[1045];
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}
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else
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{
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d_rtcm_MT1045_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
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}
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if (rtcm_msg_rate_ms.find(1077) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
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{
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d_rtcm_MT1077_rate_ms = rtcm_msg_rate_ms[1077];
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}
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else
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{
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d_rtcm_MT1077_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
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}
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if (rtcm_msg_rate_ms.find(1087) != rtcm_msg_rate_ms.end()) // whatever between 1081 and 1087
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{
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d_rtcm_MT1087_rate_ms = rtcm_msg_rate_ms[1087];
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}
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else
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{
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d_rtcm_MT1087_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
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}
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if (rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097
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{
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d_rtcm_MT1097_rate_ms = rtcm_msg_rate_ms[1097];
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d_rtcm_MSM_rate_ms = rtcm_msg_rate_ms[1097];
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}
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else
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{
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d_rtcm_MT1097_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
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d_rtcm_MSM_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
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}
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d_rtcm_enabled = true;
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}
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else
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{
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d_rtcm_MT1019_rate_ms = 0;
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d_rtcm_MT1045_rate_ms = 0;
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d_rtcm_MT1020_rate_ms = 0;
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d_rtcm_MT1077_rate_ms = 0;
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d_rtcm_MT1087_rate_ms = 0;
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d_rtcm_MT1097_rate_ms = 0;
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d_rtcm_MSM_rate_ms = 0;
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d_rtcm_enabled = false;
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d_rtcm_printer = nullptr;
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}
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|
|
// initialize RINEX printer
|
|
if (d_rinex_output_enabled)
|
|
{
|
|
d_rp = std::make_unique<Rinex_Printer>(d_rinex_version, conf_.rinex_output_path, conf_.rinex_name);
|
|
d_rp->set_pre_2009_file(conf_.pre_2009_file);
|
|
}
|
|
else
|
|
{
|
|
d_rp = nullptr;
|
|
}
|
|
|
|
// XML printer
|
|
if (d_xml_storage)
|
|
{
|
|
d_xml_base_path = conf_.xml_output_path;
|
|
fs::path full_path(fs::current_path());
|
|
const fs::path p(d_xml_base_path);
|
|
if (!fs::exists(p))
|
|
{
|
|
std::string new_folder;
|
|
for (const auto& folder : fs::path(d_xml_base_path))
|
|
{
|
|
new_folder += folder.string();
|
|
errorlib::error_code ec;
|
|
if (!fs::exists(new_folder))
|
|
{
|
|
if (!fs::create_directory(new_folder, ec))
|
|
{
|
|
std::cout << "Could not create the " << new_folder << " folder.\n";
|
|
d_xml_base_path = full_path.string();
|
|
}
|
|
}
|
|
new_folder += fs::path::preferred_separator;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
d_xml_base_path = p.string();
|
|
}
|
|
if (d_xml_base_path != ".")
|
|
{
|
|
std::cout << "XML files will be stored at " << d_xml_base_path << '\n';
|
|
}
|
|
|
|
d_xml_base_path = d_xml_base_path + fs::path::preferred_separator;
|
|
}
|
|
|
|
// Initialize HAS simple printer
|
|
d_enable_has_messages = (((d_type_of_rx >= 100) && (d_type_of_rx < 107)) && (conf_.output_enabled));
|
|
if (d_enable_has_messages)
|
|
{
|
|
d_has_simple_printer = std::make_unique<Has_Simple_Printer>();
|
|
}
|
|
else
|
|
{
|
|
d_has_simple_printer = nullptr;
|
|
}
|
|
|
|
// Initialize AN printer
|
|
if (d_an_printer_enabled)
|
|
{
|
|
d_an_printer = std::make_unique<An_Packet_Printer>(conf_.an_dump_devname);
|
|
}
|
|
else
|
|
{
|
|
d_an_printer = nullptr;
|
|
}
|
|
|
|
// PVT MONITOR
|
|
if (d_flag_monitor_pvt_enabled)
|
|
{
|
|
std::string address_string = conf_.udp_addresses;
|
|
std::vector<std::string> udp_addr_vec = split_string(address_string, '_');
|
|
std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
|
|
udp_addr_vec.erase(std::unique(udp_addr_vec.begin(), udp_addr_vec.end()), udp_addr_vec.end());
|
|
|
|
d_udp_sink_ptr = std::make_unique<Monitor_Pvt_Udp_Sink>(udp_addr_vec, conf_.udp_port, conf_.protobuf_enabled);
|
|
}
|
|
else
|
|
{
|
|
d_udp_sink_ptr = nullptr;
|
|
}
|
|
|
|
// EPHEMERIS MONITOR
|
|
if (d_flag_monitor_ephemeris_enabled)
|
|
{
|
|
std::string address_string = conf_.udp_eph_addresses;
|
|
std::vector<std::string> udp_addr_vec = split_string(address_string, '_');
|
|
std::sort(udp_addr_vec.begin(), udp_addr_vec.end());
|
|
udp_addr_vec.erase(std::unique(udp_addr_vec.begin(), udp_addr_vec.end()), udp_addr_vec.end());
|
|
|
|
d_eph_udp_sink_ptr = std::make_unique<Monitor_Ephemeris_Udp_Sink>(udp_addr_vec, conf_.udp_eph_port, conf_.protobuf_enabled);
|
|
}
|
|
else
|
|
{
|
|
d_eph_udp_sink_ptr = nullptr;
|
|
}
|
|
|
|
// Create Sys V message queue
|
|
d_first_fix = true;
|
|
d_sysv_msg_key = 1101;
|
|
const int msgflg = IPC_CREAT | 0666;
|
|
if ((d_sysv_msqid = msgget(d_sysv_msg_key, msgflg)) == -1)
|
|
{
|
|
std::cout << "GNSS-SDR cannot create System V message queues.\n";
|
|
LOG(WARNING) << "The System V message queue is not available. Error: " << errno << " - " << strerror(errno);
|
|
}
|
|
|
|
// Display time in local time zone
|
|
std::ostringstream os;
|
|
#ifdef HAS_PUT_TIME
|
|
time_t when = std::time(nullptr);
|
|
auto const tm = *std::localtime(&when);
|
|
os << std::put_time(&tm, "%z");
|
|
#endif
|
|
std::string utc_diff_str = os.str(); // in ISO 8601 format: "+HHMM" or "-HHMM"
|
|
if (utc_diff_str.empty())
|
|
{
|
|
utc_diff_str = "+0000";
|
|
}
|
|
const int h = std::stoi(utc_diff_str.substr(0, 3), nullptr, 10);
|
|
const int m = std::stoi(utc_diff_str[0] + utc_diff_str.substr(3), nullptr, 10);
|
|
d_utc_diff_time = boost::posix_time::hours(h) + boost::posix_time::minutes(m);
|
|
std::ostringstream os2;
|
|
#ifdef HAS_PUT_TIME
|
|
os2 << std::put_time(&tm, "%Z");
|
|
#endif
|
|
const std::string time_zone_abrv = os2.str();
|
|
if (time_zone_abrv.empty())
|
|
{
|
|
if (utc_diff_str == "+0000")
|
|
{
|
|
d_local_time_str = " UTC";
|
|
}
|
|
else
|
|
{
|
|
d_local_time_str = " (UTC " + utc_diff_str.substr(0, 3) + ":" + utc_diff_str.substr(3, 2) + ")";
|
|
}
|
|
}
|
|
else
|
|
{
|
|
d_local_time_str = std::string(" ") + time_zone_abrv + " (UTC " + utc_diff_str.substr(0, 3) + ":" + utc_diff_str.substr(3, 2) + ")";
|
|
}
|
|
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
// setup two PVT solvers: internal solver for rx clock and user solver
|
|
// user PVT solver
|
|
d_user_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, conf_);
|
|
d_user_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
|
|
|
|
// internal PVT solver, mainly used to estimate the receiver clock
|
|
rtk_t internal_rtk = rtk;
|
|
internal_rtk.opt.mode = PMODE_SINGLE; // use single positioning mode in internal PVT solver
|
|
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(internal_rtk, dump_ls_pvt_filename, d_type_of_rx, false, false, conf_);
|
|
d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
|
|
}
|
|
else
|
|
{
|
|
// only one solver, customized by the user options
|
|
d_internal_pvt_solver = std::make_shared<Rtklib_Solver>(rtk, dump_ls_pvt_filename, d_type_of_rx, d_dump, d_dump_mat, conf_);
|
|
d_internal_pvt_solver->set_pre_2009_file(conf_.pre_2009_file);
|
|
d_user_pvt_solver = d_internal_pvt_solver;
|
|
}
|
|
|
|
// set the RTKLIB trace (debug) level
|
|
tracelevel(conf_.rtk_trace_level);
|
|
|
|
// timetag
|
|
if (d_log_timetag)
|
|
{
|
|
try
|
|
{
|
|
d_log_timetag_file.open(conf_.log_source_timetag_file, std::ios::out | std::ios::binary);
|
|
std::cout << "Log PVT timetag metadata enabled, log file: " << conf_.log_source_timetag_file << '\n';
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
std::cerr << "Log PVT timetag metadata file cannot be created: " << e.what() << '\n';
|
|
d_log_timetag = false;
|
|
}
|
|
}
|
|
|
|
d_start = std::chrono::system_clock::now();
|
|
}
|
|
|
|
|
|
rtklib_pvt_gs::~rtklib_pvt_gs()
|
|
{
|
|
DLOG(INFO) << "PVT block destructor called.";
|
|
if (d_sysv_msqid != -1)
|
|
{
|
|
msgctl(d_sysv_msqid, IPC_RMID, nullptr);
|
|
}
|
|
try
|
|
{
|
|
if (d_xml_storage)
|
|
{
|
|
// save GPS L2CM ephemeris to XML file
|
|
std::string file_name = d_xml_base_path + "gps_cnav_ephemeris.xml";
|
|
if (d_internal_pvt_solver->gps_cnav_ephemeris_map.empty() == false)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_cnav_ephemeris_map", d_internal_pvt_solver->gps_cnav_ephemeris_map);
|
|
LOG(INFO) << "Saved GPS L2CM or L5 Ephemeris map data";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save GPS L2CM or L5 Ephemeris, map is empty";
|
|
}
|
|
|
|
// save GPS L1 CA ephemeris to XML file
|
|
file_name = d_xml_base_path + "gps_ephemeris.xml";
|
|
if (d_internal_pvt_solver->gps_ephemeris_map.empty() == false)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_ephemeris_map", d_internal_pvt_solver->gps_ephemeris_map);
|
|
LOG(INFO) << "Saved GPS L1 CA Ephemeris map data";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save GPS L1 CA Ephemeris, map is empty";
|
|
}
|
|
|
|
// save Galileo E1 ephemeris to XML file
|
|
file_name = d_xml_base_path + "gal_ephemeris.xml";
|
|
if (d_internal_pvt_solver->galileo_ephemeris_map.empty() == false)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
// Annotate as full GPS week number
|
|
for (auto& gal_eph_iter : d_internal_pvt_solver->galileo_ephemeris_map)
|
|
{
|
|
gal_eph_iter.second.WN += 1024;
|
|
}
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", d_internal_pvt_solver->galileo_ephemeris_map);
|
|
LOG(INFO) << "Saved Galileo E1 Ephemeris map data";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save Galileo E1 Ephemeris, map is empty";
|
|
}
|
|
|
|
// save GLONASS GNAV ephemeris to XML file
|
|
file_name = d_xml_base_path + "eph_GLONASS_GNAV.xml";
|
|
if (d_internal_pvt_solver->glonass_gnav_ephemeris_map.empty() == false)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_gnav_ephemeris_map", d_internal_pvt_solver->glonass_gnav_ephemeris_map);
|
|
LOG(INFO) << "Saved GLONASS GNAV Ephemeris map data";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save GLONASS GNAV Ephemeris, map is empty";
|
|
}
|
|
|
|
// Save GPS UTC model parameters
|
|
file_name = d_xml_base_path + "gps_utc_model.xml";
|
|
if (d_internal_pvt_solver->gps_utc_model.valid)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_utc_model", d_internal_pvt_solver->gps_utc_model);
|
|
LOG(INFO) << "Saved GPS UTC model parameters";
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save GPS UTC model parameters, not valid data";
|
|
}
|
|
|
|
// Save Galileo UTC model parameters
|
|
file_name = d_xml_base_path + "gal_utc_model.xml";
|
|
if (d_internal_pvt_solver->galileo_utc_model.Delta_tLS != 0.0)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_gal_utc_model", d_internal_pvt_solver->galileo_utc_model);
|
|
LOG(INFO) << "Saved Galileo UTC model parameters";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save Galileo UTC model parameters, not valid data";
|
|
}
|
|
|
|
// Save GPS iono parameters
|
|
file_name = d_xml_base_path + "gps_iono.xml";
|
|
if (d_internal_pvt_solver->gps_iono.valid == true)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_iono_model", d_internal_pvt_solver->gps_iono);
|
|
LOG(INFO) << "Saved GPS ionospheric model parameters";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save GPS ionospheric model parameters, not valid data";
|
|
}
|
|
|
|
// Save GPS CNAV iono parameters
|
|
file_name = d_xml_base_path + "gps_cnav_iono.xml";
|
|
if (d_internal_pvt_solver->gps_cnav_iono.valid == true)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_cnav_iono_model", d_internal_pvt_solver->gps_cnav_iono);
|
|
LOG(INFO) << "Saved GPS CNAV ionospheric model parameters";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save GPS CNAV ionospheric model parameters, not valid data";
|
|
}
|
|
|
|
// Save Galileo iono parameters
|
|
file_name = d_xml_base_path + "gal_iono.xml";
|
|
if (d_internal_pvt_solver->galileo_iono.ai0 != 0.0)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_gal_iono_model", d_internal_pvt_solver->galileo_iono);
|
|
LOG(INFO) << "Saved Galileo ionospheric model parameters";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save Galileo ionospheric model parameters, not valid data";
|
|
}
|
|
|
|
// save GPS almanac to XML file
|
|
file_name = d_xml_base_path + "gps_almanac.xml";
|
|
if (d_internal_pvt_solver->gps_almanac_map.empty() == false)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_gps_almanac_map", d_internal_pvt_solver->gps_almanac_map);
|
|
LOG(INFO) << "Saved GPS almanac map data";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save GPS almanac, map is empty";
|
|
}
|
|
|
|
// Save Galileo almanac
|
|
file_name = d_xml_base_path + "gal_almanac.xml";
|
|
if (d_internal_pvt_solver->galileo_almanac_map.empty() == false)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_gal_almanac_map", d_internal_pvt_solver->galileo_almanac_map);
|
|
LOG(INFO) << "Saved Galileo almanac data";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save Galileo almanac, not valid data";
|
|
}
|
|
|
|
// Save GPS CNAV UTC model parameters
|
|
file_name = d_xml_base_path + "gps_cnav_utc_model.xml";
|
|
if (d_internal_pvt_solver->gps_cnav_utc_model.valid)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_cnav_utc_model", d_internal_pvt_solver->gps_cnav_utc_model);
|
|
LOG(INFO) << "Saved GPS CNAV UTC model parameters";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save GPS CNAV UTC model parameters, not valid data";
|
|
}
|
|
|
|
// save GLONASS GNAV ephemeris to XML file
|
|
file_name = d_xml_base_path + "glo_gnav_ephemeris.xml";
|
|
if (d_internal_pvt_solver->glonass_gnav_ephemeris_map.empty() == false)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_gnav_ephemeris_map", d_internal_pvt_solver->glonass_gnav_ephemeris_map);
|
|
LOG(INFO) << "Saved GLONASS GNAV ephemeris map data";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save GLONASS GNAV ephemeris, map is empty";
|
|
}
|
|
|
|
// save GLONASS UTC model parameters to XML file
|
|
file_name = d_xml_base_path + "glo_utc_model.xml";
|
|
if (d_internal_pvt_solver->glonass_gnav_utc_model.valid)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_gnav_utc_model", d_internal_pvt_solver->glonass_gnav_utc_model);
|
|
LOG(INFO) << "Saved GLONASS UTC model parameters";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save GLONASS GNAV ephemeris, not valid data";
|
|
}
|
|
|
|
// save BeiDou DNAV ephemeris to XML file
|
|
file_name = d_xml_base_path + "bds_dnav_ephemeris.xml";
|
|
if (d_internal_pvt_solver->beidou_dnav_ephemeris_map.empty() == false)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_bds_dnav_ephemeris_map", d_internal_pvt_solver->beidou_dnav_ephemeris_map);
|
|
LOG(INFO) << "Saved BeiDou DNAV Ephemeris map data";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save BeiDou DNAV Ephemeris, map is empty";
|
|
}
|
|
|
|
// Save BeiDou DNAV iono parameters
|
|
file_name = d_xml_base_path + "bds_dnav_iono.xml";
|
|
if (d_internal_pvt_solver->beidou_dnav_iono.valid)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_bds_dnav_iono_model", d_internal_pvt_solver->beidou_dnav_iono);
|
|
LOG(INFO) << "Saved BeiDou DNAV ionospheric model parameters";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save BeiDou DNAV ionospheric model parameters, not valid data";
|
|
}
|
|
|
|
// save BeiDou DNAV almanac to XML file
|
|
file_name = d_xml_base_path + "bds_dnav_almanac.xml";
|
|
if (d_internal_pvt_solver->beidou_dnav_almanac_map.empty() == false)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_bds_dnav_almanac_map", d_internal_pvt_solver->beidou_dnav_almanac_map);
|
|
LOG(INFO) << "Saved BeiDou DNAV almanac map data";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save BeiDou DNAV almanac, map is empty";
|
|
}
|
|
|
|
// Save BeiDou UTC model parameters
|
|
file_name = d_xml_base_path + "bds_dnav_utc_model.xml";
|
|
if (d_internal_pvt_solver->beidou_dnav_utc_model.valid)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_bds_dnav_utc_model", d_internal_pvt_solver->beidou_dnav_utc_model);
|
|
LOG(INFO) << "Saved BeiDou DNAV UTC model parameters";
|
|
}
|
|
catch (const boost::archive::archive_exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
catch (const std::ofstream::failure& e)
|
|
{
|
|
LOG(WARNING) << "Problem opening output XML file";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save BeiDou DNAV UTC model parameters, not valid data";
|
|
}
|
|
}
|
|
|
|
if (d_log_timetag_file.is_open())
|
|
{
|
|
try
|
|
{
|
|
d_log_timetag_file.close();
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << "Problem closing Log PVT timetag metadata file: " << e.what();
|
|
}
|
|
}
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
|
|
|
|
void rtklib_pvt_gs::msg_handler_telemetry(const pmt::pmt_t& msg)
|
|
{
|
|
try
|
|
{
|
|
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
|
|
// ************************* GPS telemetry *************************
|
|
if (msg_type_hash_code == d_gps_ephemeris_sptr_type_hash_code)
|
|
{
|
|
// ### GPS EPHEMERIS ###
|
|
const auto gps_eph = wht::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
|
|
DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
|
|
<< gps_eph->PRN << " (Block "
|
|
<< gps_eph->satelliteBlock[gps_eph->PRN] << ")"
|
|
<< "inserted with Toe=" << gps_eph->toe << " and GPS Week="
|
|
<< gps_eph->WN;
|
|
|
|
// todo: Send only new sets of ephemeris (new TOE), not sent to the client
|
|
// send the new eph to the eph monitor (if enabled)
|
|
if (d_flag_monitor_ephemeris_enabled)
|
|
{
|
|
d_eph_udp_sink_ptr->write_gps_ephemeris(gps_eph);
|
|
}
|
|
// update/insert new ephemeris record to the global ephemeris map
|
|
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
|
|
{
|
|
bool new_annotation = false;
|
|
if (d_internal_pvt_solver->gps_ephemeris_map.find(gps_eph->PRN) == d_internal_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
new_annotation = true;
|
|
}
|
|
else
|
|
{
|
|
if (d_internal_pvt_solver->gps_ephemeris_map[gps_eph->PRN].toe != gps_eph->toe)
|
|
{
|
|
new_annotation = true;
|
|
}
|
|
}
|
|
if (new_annotation == true)
|
|
{
|
|
// New record!
|
|
std::map<int32_t, Gps_Ephemeris> new_eph;
|
|
new_eph[gps_eph->PRN] = *gps_eph;
|
|
d_rp->log_rinex_nav_gps_nav(d_type_of_rx, new_eph);
|
|
}
|
|
}
|
|
d_internal_pvt_solver->gps_ephemeris_map[gps_eph->PRN] = *gps_eph;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->gps_ephemeris_map[gps_eph->PRN] = *gps_eph;
|
|
}
|
|
if (gps_eph->SV_health != 0)
|
|
{
|
|
std::cout << TEXT_RED << "Satellite " << Gnss_Satellite(std::string("GPS"), gps_eph->PRN)
|
|
<< " reports an unhealthy status,";
|
|
if (d_use_unhealthy_sats)
|
|
{
|
|
std::cout << " use PVT solutions at your own risk" << TEXT_RESET << '\n';
|
|
}
|
|
else
|
|
{
|
|
std::cout << " not used for navigation" << TEXT_RESET << '\n';
|
|
}
|
|
}
|
|
}
|
|
else if (msg_type_hash_code == d_gps_iono_sptr_type_hash_code)
|
|
{
|
|
// ### GPS IONO ###
|
|
const auto gps_iono = wht::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
|
|
d_internal_pvt_solver->gps_iono = *gps_iono;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->gps_iono = *gps_iono;
|
|
}
|
|
DLOG(INFO) << "New IONO record has arrived";
|
|
}
|
|
else if (msg_type_hash_code == d_gps_utc_model_sptr_type_hash_code)
|
|
{
|
|
// ### GPS UTC MODEL ###
|
|
const auto gps_utc_model = wht::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
|
|
d_internal_pvt_solver->gps_utc_model = *gps_utc_model;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->gps_utc_model = *gps_utc_model;
|
|
}
|
|
DLOG(INFO) << "New UTC record has arrived";
|
|
}
|
|
else if (msg_type_hash_code == d_gps_cnav_ephemeris_sptr_type_hash_code)
|
|
{
|
|
// ### GPS CNAV message ###
|
|
const auto gps_cnav_ephemeris = wht::any_cast<std::shared_ptr<Gps_CNAV_Ephemeris>>(pmt::any_ref(msg));
|
|
// update/insert new ephemeris record to the global ephemeris map
|
|
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
|
|
{
|
|
bool new_annotation = false;
|
|
if (d_internal_pvt_solver->gps_cnav_ephemeris_map.find(gps_cnav_ephemeris->PRN) == d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
|
|
{
|
|
new_annotation = true;
|
|
}
|
|
else
|
|
{
|
|
if (d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->PRN].toe1 != gps_cnav_ephemeris->toe1)
|
|
{
|
|
new_annotation = true;
|
|
}
|
|
}
|
|
if (new_annotation == true)
|
|
{
|
|
// New record!
|
|
std::map<int32_t, Gps_CNAV_Ephemeris> new_cnav_eph;
|
|
new_cnav_eph[gps_cnav_ephemeris->PRN] = *gps_cnav_ephemeris;
|
|
d_rp->log_rinex_nav_gps_cnav(d_type_of_rx, new_cnav_eph);
|
|
}
|
|
}
|
|
d_internal_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->PRN] = *gps_cnav_ephemeris;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->PRN] = *gps_cnav_ephemeris;
|
|
}
|
|
if (gps_cnav_ephemeris->signal_health != 0)
|
|
{
|
|
std::cout << "Satellite " << Gnss_Satellite(std::string("GPS"), gps_cnav_ephemeris->PRN)
|
|
<< " reports an unhealthy status in the CNAV message,";
|
|
if (d_use_unhealthy_sats)
|
|
{
|
|
std::cout << " use PVT solutions at your own risk.\n";
|
|
}
|
|
else
|
|
{
|
|
std::cout << " not used for navigation.\n";
|
|
}
|
|
}
|
|
DLOG(INFO) << "New GPS CNAV ephemeris record has arrived";
|
|
}
|
|
else if (msg_type_hash_code == d_gps_cnav_iono_sptr_type_hash_code)
|
|
{
|
|
// ### GPS CNAV IONO ###
|
|
const auto gps_cnav_iono = wht::any_cast<std::shared_ptr<Gps_CNAV_Iono>>(pmt::any_ref(msg));
|
|
d_internal_pvt_solver->gps_cnav_iono = *gps_cnav_iono;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->gps_cnav_iono = *gps_cnav_iono;
|
|
}
|
|
DLOG(INFO) << "New CNAV IONO record has arrived";
|
|
}
|
|
else if (msg_type_hash_code == d_gps_cnav_utc_model_sptr_type_hash_code)
|
|
{
|
|
// ### GPS CNAV UTC MODEL ###
|
|
const auto gps_cnav_utc_model = wht::any_cast<std::shared_ptr<Gps_CNAV_Utc_Model>>(pmt::any_ref(msg));
|
|
d_internal_pvt_solver->gps_cnav_utc_model = *gps_cnav_utc_model;
|
|
{
|
|
d_user_pvt_solver->gps_cnav_utc_model = *gps_cnav_utc_model;
|
|
}
|
|
DLOG(INFO) << "New CNAV UTC record has arrived";
|
|
}
|
|
|
|
else if (msg_type_hash_code == d_gps_almanac_sptr_type_hash_code)
|
|
{
|
|
// ### GPS ALMANAC ###
|
|
const auto gps_almanac = wht::any_cast<std::shared_ptr<Gps_Almanac>>(pmt::any_ref(msg));
|
|
d_internal_pvt_solver->gps_almanac_map[gps_almanac->PRN] = *gps_almanac;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->gps_almanac_map[gps_almanac->PRN] = *gps_almanac;
|
|
}
|
|
DLOG(INFO) << "New GPS almanac record has arrived";
|
|
}
|
|
|
|
// *********************** Galileo telemetry ***********************
|
|
else if (msg_type_hash_code == d_galileo_ephemeris_sptr_type_hash_code)
|
|
{
|
|
// ### Galileo EPHEMERIS ###
|
|
const auto galileo_eph = wht::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
|
|
// insert new ephemeris record
|
|
DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->tow
|
|
<< ", GALILEO Week Number =" << galileo_eph->WN
|
|
<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
|
|
// todo: Send only new sets of ephemeris (new TOE), not sent to the client
|
|
// send the new eph to the eph monitor (if enabled)
|
|
if (d_flag_monitor_ephemeris_enabled)
|
|
{
|
|
d_eph_udp_sink_ptr->write_galileo_ephemeris(galileo_eph);
|
|
}
|
|
// update/insert new ephemeris record to the global ephemeris map
|
|
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
|
|
{
|
|
bool new_annotation = false;
|
|
if (d_internal_pvt_solver->galileo_ephemeris_map.find(galileo_eph->PRN) == d_internal_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
new_annotation = true;
|
|
}
|
|
else
|
|
{
|
|
if (d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->PRN].toe != galileo_eph->toe)
|
|
{
|
|
new_annotation = true;
|
|
}
|
|
}
|
|
if (new_annotation == true)
|
|
{
|
|
// New record!
|
|
std::map<int32_t, Galileo_Ephemeris> new_gal_eph;
|
|
new_gal_eph[galileo_eph->PRN] = *galileo_eph;
|
|
d_rp->log_rinex_nav_gal_nav(d_type_of_rx, new_gal_eph);
|
|
}
|
|
}
|
|
d_internal_pvt_solver->galileo_ephemeris_map[galileo_eph->PRN] = *galileo_eph;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->galileo_ephemeris_map[galileo_eph->PRN] = *galileo_eph;
|
|
}
|
|
if (((galileo_eph->E1B_HS != 0) || (galileo_eph->E1B_DVS == true)) ||
|
|
((galileo_eph->E5a_HS != 0) || (galileo_eph->E5a_DVS == true)) ||
|
|
((galileo_eph->E5b_HS != 0) || (galileo_eph->E5b_DVS == true)))
|
|
{
|
|
std::cout << TEXT_RED << "Satellite " << Gnss_Satellite(std::string("Galileo"), galileo_eph->PRN)
|
|
<< " reports an unhealthy status,";
|
|
if (d_use_unhealthy_sats)
|
|
{
|
|
std::cout << " use PVT solutions at your own risk" << TEXT_RESET << '\n';
|
|
}
|
|
else
|
|
{
|
|
std::cout << " not used for navigation" << TEXT_RESET << '\n';
|
|
}
|
|
}
|
|
}
|
|
else if (msg_type_hash_code == d_galileo_iono_sptr_type_hash_code)
|
|
{
|
|
// ### Galileo IONO ###
|
|
const auto galileo_iono = wht::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
|
|
d_internal_pvt_solver->galileo_iono = *galileo_iono;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->galileo_iono = *galileo_iono;
|
|
}
|
|
DLOG(INFO) << "New IONO record has arrived";
|
|
}
|
|
else if (msg_type_hash_code == d_galileo_utc_model_sptr_type_hash_code)
|
|
{
|
|
// ### Galileo UTC MODEL ###
|
|
const auto galileo_utc_model = wht::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
|
|
d_internal_pvt_solver->galileo_utc_model = *galileo_utc_model;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->galileo_utc_model = *galileo_utc_model;
|
|
}
|
|
DLOG(INFO) << "New UTC record has arrived";
|
|
}
|
|
else if (msg_type_hash_code == d_galileo_almanac_helper_sptr_type_hash_code)
|
|
{
|
|
// ### Galileo Almanac ###
|
|
const auto galileo_almanac_helper = wht::any_cast<std::shared_ptr<Galileo_Almanac_Helper>>(pmt::any_ref(msg));
|
|
const Galileo_Almanac sv1 = galileo_almanac_helper->get_almanac(1);
|
|
const Galileo_Almanac sv2 = galileo_almanac_helper->get_almanac(2);
|
|
const Galileo_Almanac sv3 = galileo_almanac_helper->get_almanac(3);
|
|
|
|
if (sv1.PRN != 0)
|
|
{
|
|
d_internal_pvt_solver->galileo_almanac_map[sv1.PRN] = sv1;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->galileo_almanac_map[sv1.PRN] = sv1;
|
|
}
|
|
}
|
|
if (sv2.PRN != 0)
|
|
{
|
|
d_internal_pvt_solver->galileo_almanac_map[sv2.PRN] = sv2;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->galileo_almanac_map[sv2.PRN] = sv2;
|
|
}
|
|
}
|
|
if (sv3.PRN != 0)
|
|
{
|
|
d_internal_pvt_solver->galileo_almanac_map[sv3.PRN] = sv3;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->galileo_almanac_map[sv3.PRN] = sv3;
|
|
}
|
|
}
|
|
DLOG(INFO) << "New Galileo Almanac data have arrived";
|
|
}
|
|
else if (msg_type_hash_code == d_galileo_almanac_sptr_type_hash_code)
|
|
{
|
|
// ### Galileo Almanac ###
|
|
const auto galileo_alm = wht::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
|
|
// update/insert new almanac record to the global almanac map
|
|
d_internal_pvt_solver->galileo_almanac_map[galileo_alm->PRN] = *galileo_alm;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->galileo_almanac_map[galileo_alm->PRN] = *galileo_alm;
|
|
}
|
|
}
|
|
|
|
// **************** GLONASS GNAV Telemetry *************************
|
|
else if (msg_type_hash_code == d_glonass_gnav_ephemeris_sptr_type_hash_code)
|
|
{
|
|
// ### GLONASS GNAV EPHEMERIS ###
|
|
const auto glonass_gnav_eph = wht::any_cast<std::shared_ptr<Glonass_Gnav_Ephemeris>>(pmt::any_ref(msg));
|
|
// TODO Add GLONASS with gps week number and tow,
|
|
// insert new ephemeris record
|
|
DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW
|
|
<< ", Week Number =" << glonass_gnav_eph->d_WN
|
|
<< " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
|
|
<< " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
|
|
// update/insert new ephemeris record to the global ephemeris map
|
|
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
|
|
{
|
|
bool new_annotation = false;
|
|
if (d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(glonass_gnav_eph->PRN) == d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
new_annotation = true;
|
|
}
|
|
else
|
|
{
|
|
if (d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->PRN].d_t_b != glonass_gnav_eph->d_t_b)
|
|
{
|
|
new_annotation = true;
|
|
}
|
|
}
|
|
if (new_annotation == true)
|
|
{
|
|
// New record!
|
|
std::map<int32_t, Glonass_Gnav_Ephemeris> new_glo_eph;
|
|
new_glo_eph[glonass_gnav_eph->PRN] = *glonass_gnav_eph;
|
|
d_rp->log_rinex_nav_glo_gnav(d_type_of_rx, new_glo_eph);
|
|
}
|
|
}
|
|
d_internal_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->PRN] = *glonass_gnav_eph;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->PRN] = *glonass_gnav_eph;
|
|
}
|
|
}
|
|
else if (msg_type_hash_code == d_glonass_gnav_utc_model_sptr_type_hash_code)
|
|
{
|
|
// ### GLONASS GNAV UTC MODEL ###
|
|
const auto glonass_gnav_utc_model = wht::any_cast<std::shared_ptr<Glonass_Gnav_Utc_Model>>(pmt::any_ref(msg));
|
|
d_internal_pvt_solver->glonass_gnav_utc_model = *glonass_gnav_utc_model;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->glonass_gnav_utc_model = *glonass_gnav_utc_model;
|
|
}
|
|
DLOG(INFO) << "New GLONASS GNAV UTC record has arrived";
|
|
}
|
|
else if (msg_type_hash_code == d_glonass_gnav_almanac_sptr_type_hash_code)
|
|
{
|
|
// ### GLONASS GNAV Almanac ###
|
|
const auto glonass_gnav_almanac = wht::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
|
|
d_internal_pvt_solver->glonass_gnav_almanac = *glonass_gnav_almanac;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->glonass_gnav_almanac = *glonass_gnav_almanac;
|
|
}
|
|
DLOG(INFO) << "New GLONASS GNAV Almanac has arrived"
|
|
<< ", GLONASS GNAV Slot Number =" << glonass_gnav_almanac->d_n_A;
|
|
}
|
|
|
|
// *********************** BeiDou telemetry ************************
|
|
else if (msg_type_hash_code == d_beidou_dnav_ephemeris_sptr_type_hash_code)
|
|
{
|
|
// ### Beidou EPHEMERIS ###
|
|
const auto bds_dnav_eph = wht::any_cast<std::shared_ptr<Beidou_Dnav_Ephemeris>>(pmt::any_ref(msg));
|
|
DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
|
|
<< bds_dnav_eph->PRN << " (Block "
|
|
<< bds_dnav_eph->satelliteBlock[bds_dnav_eph->PRN] << ")"
|
|
<< "inserted with Toe=" << bds_dnav_eph->toe << " and BDS Week="
|
|
<< bds_dnav_eph->WN;
|
|
// update/insert new ephemeris record to the global ephemeris map
|
|
if (d_rinex_output_enabled && d_rp->is_rinex_header_written()) // The header is already written, we can now log the navigation message data
|
|
{
|
|
bool new_annotation = false;
|
|
if (d_internal_pvt_solver->beidou_dnav_ephemeris_map.find(bds_dnav_eph->PRN) == d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend())
|
|
{
|
|
new_annotation = true;
|
|
}
|
|
else
|
|
{
|
|
if (d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->PRN].toc != bds_dnav_eph->toc)
|
|
{
|
|
new_annotation = true;
|
|
}
|
|
}
|
|
if (new_annotation == true)
|
|
{
|
|
// New record!
|
|
std::map<int32_t, Beidou_Dnav_Ephemeris> new_bds_eph;
|
|
new_bds_eph[bds_dnav_eph->PRN] = *bds_dnav_eph;
|
|
d_rp->log_rinex_nav_bds_dnav(d_type_of_rx, new_bds_eph);
|
|
}
|
|
}
|
|
d_internal_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->PRN] = *bds_dnav_eph;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->beidou_dnav_ephemeris_map[bds_dnav_eph->PRN] = *bds_dnav_eph;
|
|
}
|
|
if (bds_dnav_eph->SV_health != 0)
|
|
{
|
|
std::cout << TEXT_RED << "Satellite " << Gnss_Satellite(std::string("Beidou"), bds_dnav_eph->PRN)
|
|
<< " reports an unhealthy status,";
|
|
if (d_use_unhealthy_sats)
|
|
{
|
|
std::cout << " use PVT solutions at your own risk" << TEXT_RESET << '\n';
|
|
}
|
|
else
|
|
{
|
|
std::cout << " not used for navigation" << TEXT_RESET << '\n';
|
|
}
|
|
}
|
|
}
|
|
else if (msg_type_hash_code == d_beidou_dnav_iono_sptr_type_hash_code)
|
|
{
|
|
// ### BeiDou IONO ###
|
|
const auto bds_dnav_iono = wht::any_cast<std::shared_ptr<Beidou_Dnav_Iono>>(pmt::any_ref(msg));
|
|
d_internal_pvt_solver->beidou_dnav_iono = *bds_dnav_iono;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->beidou_dnav_iono = *bds_dnav_iono;
|
|
}
|
|
DLOG(INFO) << "New BeiDou DNAV IONO record has arrived";
|
|
}
|
|
else if (msg_type_hash_code == d_beidou_dnav_utc_model_sptr_type_hash_code)
|
|
{
|
|
// ### BeiDou UTC MODEL ###
|
|
const auto bds_dnav_utc_model = wht::any_cast<std::shared_ptr<Beidou_Dnav_Utc_Model>>(pmt::any_ref(msg));
|
|
d_internal_pvt_solver->beidou_dnav_utc_model = *bds_dnav_utc_model;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->beidou_dnav_utc_model = *bds_dnav_utc_model;
|
|
}
|
|
DLOG(INFO) << "New BeiDou DNAV UTC record has arrived";
|
|
}
|
|
else if (msg_type_hash_code == d_beidou_dnav_almanac_sptr_type_hash_code)
|
|
{
|
|
// ### BeiDou ALMANAC ###
|
|
const auto bds_dnav_almanac = wht::any_cast<std::shared_ptr<Beidou_Dnav_Almanac>>(pmt::any_ref(msg));
|
|
d_internal_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->PRN] = *bds_dnav_almanac;
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->beidou_dnav_almanac_map[bds_dnav_almanac->PRN] = *bds_dnav_almanac;
|
|
}
|
|
DLOG(INFO) << "New BeiDou DNAV almanac record has arrived";
|
|
}
|
|
else
|
|
{
|
|
LOG(WARNING) << "msg_handler_telemetry unknown object type!";
|
|
}
|
|
}
|
|
catch (const wht::bad_any_cast& e)
|
|
{
|
|
LOG(WARNING) << "msg_handler_telemetry Bad any_cast: " << e.what();
|
|
}
|
|
}
|
|
|
|
|
|
void rtklib_pvt_gs::msg_handler_has_data(const pmt::pmt_t& msg)
|
|
{
|
|
try
|
|
{
|
|
const size_t msg_type_hash_code = pmt::any_ref(msg).type().hash_code();
|
|
if (msg_type_hash_code == d_galileo_has_data_sptr_type_hash_code)
|
|
{
|
|
const auto has_data = wht::any_cast<std::shared_ptr<Galileo_HAS_data>>(pmt::any_ref(msg));
|
|
if (d_use_has_corrections && (has_data->has_status == 1)) // operational mode
|
|
{
|
|
d_internal_pvt_solver->store_has_data(*has_data);
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->store_has_data(*has_data);
|
|
}
|
|
}
|
|
if (d_has_simple_printer)
|
|
{
|
|
d_has_simple_printer->print_message(has_data.get());
|
|
}
|
|
if (d_rtcm_printer && has_data->tow <= 604800)
|
|
{
|
|
d_rtcm_printer->Print_IGM_Messages(*has_data.get());
|
|
}
|
|
}
|
|
}
|
|
catch (const wht::bad_any_cast& e)
|
|
{
|
|
LOG(WARNING) << "msg_handler_has_data Bad any_cast: " << e.what();
|
|
}
|
|
}
|
|
|
|
|
|
std::map<int, Gps_Ephemeris> rtklib_pvt_gs::get_gps_ephemeris_map() const
|
|
{
|
|
return d_internal_pvt_solver->gps_ephemeris_map;
|
|
}
|
|
|
|
|
|
std::map<int, Gps_Almanac> rtklib_pvt_gs::get_gps_almanac_map() const
|
|
{
|
|
return d_internal_pvt_solver->gps_almanac_map;
|
|
}
|
|
|
|
|
|
std::map<int, Galileo_Ephemeris> rtklib_pvt_gs::get_galileo_ephemeris_map() const
|
|
{
|
|
return d_internal_pvt_solver->galileo_ephemeris_map;
|
|
}
|
|
|
|
|
|
std::map<int, Galileo_Almanac> rtklib_pvt_gs::get_galileo_almanac_map() const
|
|
{
|
|
return d_internal_pvt_solver->galileo_almanac_map;
|
|
}
|
|
|
|
|
|
std::map<int, Beidou_Dnav_Ephemeris> rtklib_pvt_gs::get_beidou_dnav_ephemeris_map() const
|
|
{
|
|
return d_internal_pvt_solver->beidou_dnav_ephemeris_map;
|
|
}
|
|
|
|
|
|
std::map<int, Beidou_Dnav_Almanac> rtklib_pvt_gs::get_beidou_dnav_almanac_map() const
|
|
{
|
|
return d_internal_pvt_solver->beidou_dnav_almanac_map;
|
|
}
|
|
|
|
|
|
void rtklib_pvt_gs::clear_ephemeris()
|
|
{
|
|
d_internal_pvt_solver->gps_ephemeris_map.clear();
|
|
d_internal_pvt_solver->gps_almanac_map.clear();
|
|
d_internal_pvt_solver->galileo_ephemeris_map.clear();
|
|
d_internal_pvt_solver->galileo_almanac_map.clear();
|
|
d_internal_pvt_solver->beidou_dnav_ephemeris_map.clear();
|
|
d_internal_pvt_solver->beidou_dnav_almanac_map.clear();
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_user_pvt_solver->gps_ephemeris_map.clear();
|
|
d_user_pvt_solver->gps_almanac_map.clear();
|
|
d_user_pvt_solver->galileo_ephemeris_map.clear();
|
|
d_user_pvt_solver->galileo_almanac_map.clear();
|
|
d_user_pvt_solver->beidou_dnav_ephemeris_map.clear();
|
|
d_user_pvt_solver->beidou_dnav_almanac_map.clear();
|
|
}
|
|
}
|
|
|
|
|
|
bool rtklib_pvt_gs::send_sys_v_ttff_msg(d_ttff_msgbuf ttff) const
|
|
{
|
|
if (d_sysv_msqid != -1)
|
|
{
|
|
// Fill Sys V message structures
|
|
int msgsend_size;
|
|
d_ttff_msgbuf msg;
|
|
msg.ttff = ttff.ttff;
|
|
msgsend_size = sizeof(msg.ttff);
|
|
msg.mtype = 1; // default message ID
|
|
|
|
// SEND SOLUTION OVER A MESSAGE QUEUE
|
|
// non-blocking Sys V message send
|
|
msgsnd(d_sysv_msqid, &msg, msgsend_size, IPC_NOWAIT);
|
|
return true;
|
|
}
|
|
return false;
|
|
}
|
|
|
|
|
|
bool rtklib_pvt_gs::save_gnss_synchro_map_xml(const std::string& file_name)
|
|
{
|
|
if (d_gnss_observables_map.empty() == false)
|
|
{
|
|
std::ofstream ofs;
|
|
try
|
|
{
|
|
ofs.open(file_name.c_str(), std::ofstream::trunc | std::ofstream::out);
|
|
boost::archive::xml_oarchive xml(ofs);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", d_gnss_observables_map);
|
|
LOG(INFO) << "Saved gnss_sychro map data";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
LOG(WARNING) << "Failed to save gnss_synchro, map is empty";
|
|
return false;
|
|
}
|
|
|
|
|
|
void rtklib_pvt_gs::log_source_timetag_info(double RX_time_ns, double TAG_time_ns)
|
|
{
|
|
if (d_log_timetag_file.is_open())
|
|
{
|
|
try
|
|
{
|
|
d_log_timetag_file.write(reinterpret_cast<char*>(&RX_time_ns), sizeof(double));
|
|
d_log_timetag_file.write(reinterpret_cast<char*>(&TAG_time_ns), sizeof(double));
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
std::cerr << "Problem writing at the log PVT timetag metadata file: " << e.what() << '\n';
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
bool rtklib_pvt_gs::load_gnss_synchro_map_xml(const std::string& file_name)
|
|
{
|
|
// load from xml (boost serialize)
|
|
std::ifstream ifs;
|
|
try
|
|
{
|
|
ifs.open(file_name.c_str(), std::ifstream::binary | std::ifstream::in);
|
|
boost::archive::xml_iarchive xml(ifs);
|
|
d_gnss_observables_map.clear();
|
|
xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", d_gnss_observables_map);
|
|
// std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges\n";
|
|
}
|
|
catch (const std::exception& e)
|
|
{
|
|
std::cout << e.what() << "File: " << file_name;
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
std::vector<std::string> rtklib_pvt_gs::split_string(const std::string& s, char delim) const
|
|
{
|
|
std::vector<std::string> v;
|
|
std::stringstream ss(s);
|
|
std::string item;
|
|
|
|
while (std::getline(ss, item, delim))
|
|
{
|
|
*(std::back_inserter(v)++) = item;
|
|
}
|
|
|
|
return v;
|
|
}
|
|
|
|
|
|
bool rtklib_pvt_gs::get_latest_PVT(double* longitude_deg,
|
|
double* latitude_deg,
|
|
double* height_m,
|
|
double* ground_speed_kmh,
|
|
double* course_over_ground_deg,
|
|
time_t* UTC_time) const
|
|
{
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
if (d_user_pvt_solver->is_valid_position())
|
|
{
|
|
*latitude_deg = d_user_pvt_solver->get_latitude();
|
|
*longitude_deg = d_user_pvt_solver->get_longitude();
|
|
*height_m = d_user_pvt_solver->get_height();
|
|
*ground_speed_kmh = d_user_pvt_solver->get_speed_over_ground() * 3600.0 / 1000.0;
|
|
*course_over_ground_deg = d_user_pvt_solver->get_course_over_ground();
|
|
*UTC_time = convert_to_time_t(d_user_pvt_solver->get_position_UTC_time());
|
|
|
|
return true;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (d_internal_pvt_solver->is_valid_position())
|
|
{
|
|
*latitude_deg = d_internal_pvt_solver->get_latitude();
|
|
*longitude_deg = d_internal_pvt_solver->get_longitude();
|
|
*height_m = d_internal_pvt_solver->get_height();
|
|
*ground_speed_kmh = d_internal_pvt_solver->get_speed_over_ground() * 3600.0 / 1000.0;
|
|
*course_over_ground_deg = d_internal_pvt_solver->get_course_over_ground();
|
|
*UTC_time = convert_to_time_t(d_internal_pvt_solver->get_position_UTC_time());
|
|
|
|
return true;
|
|
}
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
|
|
void rtklib_pvt_gs::apply_rx_clock_offset(std::map<int, Gnss_Synchro>& observables_map,
|
|
double rx_clock_offset_s)
|
|
{
|
|
// apply corrections according to Rinex 3.04, Table 1: Observation Corrections for Receiver Clock Offset
|
|
std::map<int, Gnss_Synchro>::iterator observables_iter;
|
|
|
|
for (observables_iter = observables_map.begin(); observables_iter != observables_map.end(); observables_iter++)
|
|
{
|
|
// all observables in the map are valid
|
|
observables_iter->second.RX_time -= rx_clock_offset_s;
|
|
observables_iter->second.Pseudorange_m -= rx_clock_offset_s * SPEED_OF_LIGHT_M_S;
|
|
const auto it_freq_map = SIGNAL_FREQ_MAP.find(std::string(observables_iter->second.Signal, 2));
|
|
if (it_freq_map != SIGNAL_FREQ_MAP.cend())
|
|
{
|
|
observables_iter->second.Carrier_phase_rads -= rx_clock_offset_s * it_freq_map->second * TWO_PI;
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
std::map<int, Gnss_Synchro> rtklib_pvt_gs::interpolate_observables(const std::map<int, Gnss_Synchro>& observables_map_t0,
|
|
const std::map<int, Gnss_Synchro>& observables_map_t1,
|
|
double rx_time_s)
|
|
{
|
|
std::map<int, Gnss_Synchro> interp_observables_map;
|
|
// Linear interpolation: y(t) = y(t0) + (y(t1) - y(t0)) * (t - t0) / (t1 - t0)
|
|
|
|
// check TOW rollover
|
|
double time_factor;
|
|
if ((observables_map_t1.cbegin()->second.RX_time -
|
|
observables_map_t0.cbegin()->second.RX_time) > 0)
|
|
{
|
|
time_factor = (rx_time_s - observables_map_t0.cbegin()->second.RX_time) /
|
|
(observables_map_t1.cbegin()->second.RX_time -
|
|
observables_map_t0.cbegin()->second.RX_time);
|
|
}
|
|
else
|
|
{
|
|
// TOW rollover situation
|
|
time_factor = (604800000.0 + rx_time_s - observables_map_t0.cbegin()->second.RX_time) /
|
|
(604800000.0 + observables_map_t1.cbegin()->second.RX_time -
|
|
observables_map_t0.cbegin()->second.RX_time);
|
|
}
|
|
|
|
std::map<int, Gnss_Synchro>::const_iterator observables_iter;
|
|
for (observables_iter = observables_map_t0.cbegin(); observables_iter != observables_map_t0.cend(); observables_iter++)
|
|
{
|
|
// 1. Check if the observable exist in t0 and t1
|
|
// the map key is the channel ID (see work())
|
|
try
|
|
{
|
|
if (observables_map_t1.at(observables_iter->first).PRN == observables_iter->second.PRN)
|
|
{
|
|
interp_observables_map.insert(std::pair<int, Gnss_Synchro>(observables_iter->first, observables_iter->second));
|
|
interp_observables_map.at(observables_iter->first).RX_time = rx_time_s; // interpolation point
|
|
interp_observables_map.at(observables_iter->first).Pseudorange_m += (observables_map_t1.at(observables_iter->first).Pseudorange_m - observables_iter->second.Pseudorange_m) * time_factor;
|
|
interp_observables_map.at(observables_iter->first).Carrier_phase_rads += (observables_map_t1.at(observables_iter->first).Carrier_phase_rads - observables_iter->second.Carrier_phase_rads) * time_factor;
|
|
interp_observables_map.at(observables_iter->first).Carrier_Doppler_hz += (observables_map_t1.at(observables_iter->first).Carrier_Doppler_hz - observables_iter->second.Carrier_Doppler_hz) * time_factor;
|
|
}
|
|
}
|
|
catch (const std::out_of_range& oor)
|
|
{
|
|
// observable does not exist in t1
|
|
}
|
|
}
|
|
return interp_observables_map;
|
|
}
|
|
|
|
|
|
void rtklib_pvt_gs::initialize_and_apply_carrier_phase_offset()
|
|
{
|
|
// we have a valid PVT. First check if we need to reset the initial carrier phase offsets to match their pseudoranges
|
|
std::map<int, Gnss_Synchro>::iterator observables_iter;
|
|
for (observables_iter = d_gnss_observables_map.begin(); observables_iter != d_gnss_observables_map.end(); observables_iter++)
|
|
{
|
|
// check if an initialization is required (new satellite or loss of lock)
|
|
// it is set to false by the work function if the gnss_synchro is not valid
|
|
if (d_channel_initialized.at(observables_iter->second.Channel_ID) == false)
|
|
{
|
|
double wavelength_m = 1.0;
|
|
const auto it_freq_map = SIGNAL_FREQ_MAP.find(std::string(observables_iter->second.Signal, 2));
|
|
if (it_freq_map != SIGNAL_FREQ_MAP.cend())
|
|
{
|
|
wavelength_m = SPEED_OF_LIGHT_M_S / it_freq_map->second;
|
|
}
|
|
const double wrap_carrier_phase_rad = fmod(observables_iter->second.Carrier_phase_rads, TWO_PI);
|
|
d_initial_carrier_phase_offset_estimation_rads.at(observables_iter->second.Channel_ID) = TWO_PI * round(observables_iter->second.Pseudorange_m / wavelength_m) - observables_iter->second.Carrier_phase_rads + wrap_carrier_phase_rad;
|
|
d_channel_initialized.at(observables_iter->second.Channel_ID) = true;
|
|
DLOG(INFO) << "initialized carrier phase at channel " << observables_iter->second.Channel_ID;
|
|
}
|
|
// apply the carrier phase offset to this satellite
|
|
observables_iter->second.Carrier_phase_rads = observables_iter->second.Carrier_phase_rads + d_initial_carrier_phase_offset_estimation_rads.at(observables_iter->second.Channel_ID);
|
|
}
|
|
}
|
|
|
|
|
|
void rtklib_pvt_gs::update_HAS_corrections()
|
|
{
|
|
this->d_internal_pvt_solver->update_has_corrections(this->d_gnss_observables_map);
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
this->d_user_pvt_solver->update_has_corrections(this->d_gnss_observables_map);
|
|
}
|
|
}
|
|
|
|
|
|
int rtklib_pvt_gs::work(int noutput_items, gr_vector_const_void_star& input_items,
|
|
gr_vector_void_star& output_items __attribute__((unused)))
|
|
{
|
|
// *************** time tags ****************
|
|
if (d_enable_rx_clock_correction == false) // todo: currently only works if clock correction is disabled
|
|
{
|
|
std::vector<gr::tag_t> tags_vec;
|
|
// time tag from obs to pvt is always propagated in channel 0
|
|
this->get_tags_in_range(tags_vec, 0, this->nitems_read(0), this->nitems_read(0) + noutput_items);
|
|
for (const auto& it : tags_vec)
|
|
{
|
|
try
|
|
{
|
|
if (pmt::any_ref(it.value).type().hash_code() == typeid(const std::shared_ptr<GnssTime>).hash_code())
|
|
{
|
|
const auto timetag = wht::any_cast<const std::shared_ptr<GnssTime>>(pmt::any_ref(it.value));
|
|
// std::cout << "PVT timetag: " << timetag->rx_time << '\n';
|
|
d_TimeChannelTagTimestamps.push(*timetag);
|
|
}
|
|
else
|
|
{
|
|
std::cout << "hash code not match\n";
|
|
}
|
|
}
|
|
catch (const wht::bad_any_cast& e)
|
|
{
|
|
std::cout << "msg Bad any_cast: " << e.what();
|
|
}
|
|
}
|
|
}
|
|
// ************ end time tags **************
|
|
|
|
for (int32_t epoch = 0; epoch < noutput_items; epoch++)
|
|
{
|
|
bool flag_display_pvt = false;
|
|
bool flag_compute_pvt_output = false;
|
|
bool flag_write_RTCM_1019_output = false;
|
|
bool flag_write_RTCM_1020_output = false;
|
|
bool flag_write_RTCM_1045_output = false;
|
|
bool flag_write_RTCM_MSM_output = false;
|
|
bool flag_write_RINEX_obs_output = false;
|
|
d_local_counter_ms += static_cast<uint64_t>(d_observable_interval_ms);
|
|
|
|
d_gnss_observables_map.clear();
|
|
const auto** in = reinterpret_cast<const Gnss_Synchro**>(&input_items[0]); // Get the input buffer pointer
|
|
// ############ 1. READ PSEUDORANGES ####
|
|
for (uint32_t i = 0; i < d_nchannels; i++)
|
|
{
|
|
if (in[i][epoch].Flag_valid_pseudorange)
|
|
{
|
|
const auto tmp_eph_iter_gps = d_internal_pvt_solver->gps_ephemeris_map.find(in[i][epoch].PRN);
|
|
const auto tmp_eph_iter_gal = d_internal_pvt_solver->galileo_ephemeris_map.find(in[i][epoch].PRN);
|
|
const auto tmp_eph_iter_cnav = d_internal_pvt_solver->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
|
|
const auto tmp_eph_iter_glo_gnav = d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
|
|
const auto tmp_eph_iter_bds_dnav = d_internal_pvt_solver->beidou_dnav_ephemeris_map.find(in[i][epoch].PRN);
|
|
|
|
bool store_valid_observable = false;
|
|
|
|
if (tmp_eph_iter_gps != d_internal_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
const uint32_t prn_aux = tmp_eph_iter_gps->second.PRN;
|
|
if ((prn_aux == in[i][epoch].PRN) && (std::string(in[i][epoch].Signal, 2) == std::string("1C")) && (d_use_unhealthy_sats || (tmp_eph_iter_gps->second.SV_health == 0)))
|
|
{
|
|
store_valid_observable = true;
|
|
}
|
|
}
|
|
if (tmp_eph_iter_gal != d_internal_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
const uint32_t prn_aux = tmp_eph_iter_gal->second.PRN;
|
|
if ((prn_aux == in[i][epoch].PRN) &&
|
|
(((std::string(in[i][epoch].Signal, 2) == std::string("1B")) && (d_use_unhealthy_sats || ((tmp_eph_iter_gal->second.E1B_DVS == false) && (tmp_eph_iter_gal->second.E1B_HS == 0)))) ||
|
|
((std::string(in[i][epoch].Signal, 2) == std::string("5X")) && (d_use_unhealthy_sats || ((tmp_eph_iter_gal->second.E5a_DVS == false) && (tmp_eph_iter_gal->second.E5a_HS == 0)))) ||
|
|
((std::string(in[i][epoch].Signal, 2) == std::string("7X")) && (d_use_unhealthy_sats || ((tmp_eph_iter_gal->second.E5b_DVS == false) && (tmp_eph_iter_gal->second.E5b_HS == 0))))))
|
|
{
|
|
store_valid_observable = true;
|
|
}
|
|
}
|
|
if (tmp_eph_iter_cnav != d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
|
|
{
|
|
const uint32_t prn_aux = tmp_eph_iter_cnav->second.PRN;
|
|
if ((prn_aux == in[i][epoch].PRN) && (((std::string(in[i][epoch].Signal, 2) == std::string("2S")) || (std::string(in[i][epoch].Signal, 2) == std::string("L5")))))
|
|
{
|
|
store_valid_observable = true;
|
|
}
|
|
}
|
|
if (tmp_eph_iter_glo_gnav != d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
const uint32_t prn_aux = tmp_eph_iter_glo_gnav->second.PRN;
|
|
if ((prn_aux == in[i][epoch].PRN) && ((std::string(in[i][epoch].Signal, 2) == std::string("1G")) || (std::string(in[i][epoch].Signal, 2) == std::string("2G"))))
|
|
{
|
|
store_valid_observable = true;
|
|
}
|
|
}
|
|
if (tmp_eph_iter_bds_dnav != d_internal_pvt_solver->beidou_dnav_ephemeris_map.cend())
|
|
{
|
|
const uint32_t prn_aux = tmp_eph_iter_bds_dnav->second.PRN;
|
|
if ((prn_aux == in[i][epoch].PRN) && (((std::string(in[i][epoch].Signal, 2) == std::string("B1")) || (std::string(in[i][epoch].Signal, 2) == std::string("B3"))) && (d_use_unhealthy_sats || (tmp_eph_iter_bds_dnav->second.SV_health == 0))))
|
|
{
|
|
store_valid_observable = true;
|
|
}
|
|
}
|
|
if (std::string(in[i][epoch].Signal, 2) == std::string("E6"))
|
|
{
|
|
store_valid_observable = true;
|
|
}
|
|
|
|
if (store_valid_observable)
|
|
{
|
|
// store valid observables in a map.
|
|
d_gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(i, in[i][epoch]));
|
|
}
|
|
|
|
if (d_rtcm_enabled)
|
|
{
|
|
try
|
|
{
|
|
if (d_internal_pvt_solver->gps_ephemeris_map.empty() == false)
|
|
{
|
|
if (tmp_eph_iter_gps != d_internal_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->lock_time(d_internal_pvt_solver->gps_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
|
|
}
|
|
}
|
|
if (d_internal_pvt_solver->galileo_ephemeris_map.empty() == false)
|
|
{
|
|
if (tmp_eph_iter_gal != d_internal_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->lock_time(d_internal_pvt_solver->galileo_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
|
|
}
|
|
}
|
|
if (d_internal_pvt_solver->gps_cnav_ephemeris_map.empty() == false)
|
|
{
|
|
if (tmp_eph_iter_cnav != d_internal_pvt_solver->gps_cnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->lock_time(d_internal_pvt_solver->gps_cnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
|
|
}
|
|
}
|
|
if (d_internal_pvt_solver->glonass_gnav_ephemeris_map.empty() == false)
|
|
{
|
|
if (tmp_eph_iter_glo_gnav != d_internal_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->lock_time(d_internal_pvt_solver->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN)->second, in[i][epoch].RX_time, in[i][epoch]); // keep track of locking time
|
|
}
|
|
}
|
|
}
|
|
catch (const boost::exception& ex)
|
|
{
|
|
std::cout << "RTCM boost exception: " << boost::diagnostic_information(ex) << '\n';
|
|
LOG(ERROR) << "RTCM boost exception: " << boost::diagnostic_information(ex);
|
|
}
|
|
catch (const std::exception& ex)
|
|
{
|
|
std::cout << "RTCM std exception: " << ex.what() << '\n';
|
|
LOG(ERROR) << "RTCM std exception: " << ex.what();
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
d_channel_initialized.at(i) = false; // the current channel is not reporting valid observable
|
|
}
|
|
}
|
|
|
|
// ############ 2. APPLY HAS CORRECTIONS IF AVAILABLE ####
|
|
if (d_use_has_corrections && !d_gnss_observables_map.empty())
|
|
{
|
|
this->update_HAS_corrections();
|
|
}
|
|
|
|
// ############ 2 COMPUTE THE PVT ################################
|
|
bool flag_pvt_valid = false;
|
|
if (d_gnss_observables_map.empty() == false)
|
|
{
|
|
// LOG(INFO) << "diff raw obs time: " << d_gnss_observables_map.cbegin()->second.RX_time * 1000.0 - old_time_debug;
|
|
// old_time_debug = d_gnss_observables_map.cbegin()->second.RX_time * 1000.0;
|
|
uint32_t current_RX_time_ms = 0;
|
|
// #### solve PVT and store the corrected observable set
|
|
if (d_internal_pvt_solver->get_PVT(d_gnss_observables_map, d_observable_interval_ms / 1000.0))
|
|
{
|
|
d_pvt_errors_counter = 0; // Reset consecutive PVT error counter
|
|
const double Rx_clock_offset_s = d_internal_pvt_solver->get_time_offset_s();
|
|
|
|
// **************** time tags ****************
|
|
if (d_enable_rx_clock_correction == false) // todo: currently only works if clock correction is disabled (computed clock offset is applied here)
|
|
{
|
|
// ************ Source TimeTag comparison with GNSS computed TOW *************
|
|
|
|
if (!d_TimeChannelTagTimestamps.empty())
|
|
{
|
|
double delta_rxtime_to_tag_ms;
|
|
GnssTime current_tag;
|
|
// 1. Find the nearest timetag to the current rx_time (it is relative to the receiver's start operation)
|
|
do
|
|
{
|
|
current_tag = d_TimeChannelTagTimestamps.front();
|
|
delta_rxtime_to_tag_ms = d_rx_time * 1000.0 - current_tag.rx_time;
|
|
d_TimeChannelTagTimestamps.pop();
|
|
}
|
|
while (fabs(delta_rxtime_to_tag_ms) >= 100 and !d_TimeChannelTagTimestamps.empty());
|
|
|
|
// 2. If both timestamps (relative to the receiver's start) are closer than 100 ms (the granularituy of the PVT)
|
|
if (fabs(delta_rxtime_to_tag_ms) <= 100) // [ms]
|
|
{
|
|
std::cout << "GNSS-SDR RX TIME: " << d_rx_time << " TAG RX TIME: " << current_tag.rx_time / 1000.0 << " [s]\n";
|
|
if (d_log_timetag == true)
|
|
{
|
|
double current_corrected_RX_clock_ns = (d_rx_time - Rx_clock_offset_s) * 1e9;
|
|
double TAG_time_ns = (static_cast<double>(current_tag.tow_ms) + current_tag.tow_ms_fraction + delta_rxtime_to_tag_ms) * 1e6;
|
|
log_source_timetag_info(current_corrected_RX_clock_ns, TAG_time_ns);
|
|
double tow_error_ns = current_corrected_RX_clock_ns - TAG_time_ns;
|
|
std::cout << "[Time ch] RX TimeTag Week: " << current_tag.week
|
|
<< ", TOW: " << current_tag.tow_ms
|
|
<< " [ms], TOW fraction: " << current_tag.tow_ms_fraction
|
|
<< " [ms], GNSS-SDR OBS CORRECTED TOW - EXTERNAL TIMETAG TOW: " << tow_error_ns << " [ns] \n";
|
|
}
|
|
}
|
|
}
|
|
}
|
|
// **********************************************
|
|
|
|
if (fabs(Rx_clock_offset_s) * 1000.0 > d_max_obs_block_rx_clock_offset_ms)
|
|
{
|
|
// check if the message was just sent to not duplicate it while it is being applied
|
|
if ((d_local_counter_ms - d_timestamp_rx_clock_offset_correction_msg_ms) > 1000)
|
|
{
|
|
this->message_port_pub(pmt::mp("pvt_to_observables"), pmt::make_any(Rx_clock_offset_s));
|
|
d_timestamp_rx_clock_offset_correction_msg_ms = d_local_counter_ms;
|
|
LOG(INFO) << "PVT: Sent clock offset correction to observables: " << Rx_clock_offset_s << "[s]";
|
|
}
|
|
}
|
|
else
|
|
{
|
|
if (d_enable_rx_clock_correction == true)
|
|
{
|
|
d_gnss_observables_map_t0 = d_gnss_observables_map_t1;
|
|
apply_rx_clock_offset(d_gnss_observables_map, Rx_clock_offset_s);
|
|
d_gnss_observables_map_t1 = d_gnss_observables_map;
|
|
|
|
// ### select the rx_time and interpolate observables at that time
|
|
if (!d_gnss_observables_map_t0.empty())
|
|
{
|
|
const auto t0_int_ms = static_cast<uint32_t>(d_gnss_observables_map_t0.cbegin()->second.RX_time * 1000.0);
|
|
const uint32_t adjust_next_obs_interval_ms = d_observable_interval_ms - t0_int_ms % d_observable_interval_ms;
|
|
current_RX_time_ms = t0_int_ms + adjust_next_obs_interval_ms;
|
|
|
|
if (current_RX_time_ms % d_output_rate_ms == 0)
|
|
{
|
|
d_rx_time = static_cast<double>(current_RX_time_ms) / 1000.0;
|
|
// std::cout << " obs time t0: " << d_gnss_observables_map_t0.cbegin()->second.RX_time
|
|
// << " t1: " << d_gnss_observables_map_t1.cbegin()->second.RX_time
|
|
// << " interp time: " << d_rx_time << '\n';
|
|
d_gnss_observables_map = interpolate_observables(d_gnss_observables_map_t0,
|
|
d_gnss_observables_map_t1,
|
|
d_rx_time);
|
|
flag_compute_pvt_output = true;
|
|
// d_rx_time = current_RX_time;
|
|
// std::cout.precision(17);
|
|
// std::cout << "current_RX_time: " << current_RX_time << " map time: " << d_gnss_observables_map.begin()->second.RX_time << '\n';
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
d_rx_time = d_gnss_observables_map.begin()->second.RX_time;
|
|
current_RX_time_ms = static_cast<uint32_t>(d_rx_time * 1000.0);
|
|
if (current_RX_time_ms % d_output_rate_ms == 0)
|
|
{
|
|
flag_compute_pvt_output = true;
|
|
// std::cout.precision(17);
|
|
// std::cout << "current_RX_time: " << current_RX_time_ms << " map time: " << d_gnss_observables_map.begin()->second.RX_time << '\n';
|
|
}
|
|
flag_pvt_valid = true;
|
|
}
|
|
}
|
|
}
|
|
else
|
|
{
|
|
// sanity check: If the PVT solver is getting 100 consecutive errors, send a reset command to observables block
|
|
d_pvt_errors_counter++;
|
|
if (d_pvt_errors_counter >= 100)
|
|
{
|
|
int command = 1;
|
|
this->message_port_pub(pmt::mp("pvt_to_observables"), pmt::make_any(command));
|
|
LOG(INFO) << "PVT: Number of consecutive position solver error reached, Sent reset to observables.";
|
|
d_pvt_errors_counter = 0;
|
|
}
|
|
}
|
|
|
|
// compute on the fly PVT solution
|
|
if (flag_compute_pvt_output == true)
|
|
{
|
|
flag_pvt_valid = d_user_pvt_solver->get_PVT(d_gnss_observables_map, d_output_rate_ms / 1000.0);
|
|
}
|
|
|
|
if (flag_pvt_valid == true)
|
|
{
|
|
// experimental VTL tests
|
|
// send tracking command
|
|
// const std::shared_ptr<TrackingCmd> trk_cmd_test = std::make_shared<TrackingCmd>(TrackingCmd());
|
|
// trk_cmd_test->carrier_freq_hz = 12345.4;
|
|
// trk_cmd_test->sample_counter = d_gnss_observables_map.begin()->second.Tracking_sample_counter;
|
|
// this->message_port_pub(pmt::mp("pvt_to_trk"), pmt::make_any(trk_cmd_test));
|
|
|
|
// initialize (if needed) the accumulated phase offset and apply it to the active channels
|
|
// required to report accumulated phase cycles comparable to pseudoranges
|
|
initialize_and_apply_carrier_phase_offset();
|
|
|
|
const double Rx_clock_offset_s = d_user_pvt_solver->get_time_offset_s();
|
|
if (d_enable_rx_clock_correction == true and fabs(Rx_clock_offset_s) > 0.000001) // 1us !!
|
|
{
|
|
LOG(INFO) << "Warning: Rx clock offset at interpolated RX time: " << Rx_clock_offset_s * 1000.0 << "[ms]"
|
|
<< " at RX time: " << static_cast<uint32_t>(d_rx_time * 1000.0) << " [ms]";
|
|
}
|
|
else
|
|
{
|
|
DLOG(INFO) << "Rx clock offset at interpolated RX time: " << Rx_clock_offset_s * 1000.0 << "[s]"
|
|
<< " at RX time: " << static_cast<uint32_t>(d_rx_time * 1000.0) << " [ms]";
|
|
// Optional debug code: export observables snapshot for rtklib unit testing
|
|
// std::cout << "step 1: save gnss_synchro map\n";
|
|
// save_gnss_synchro_map_xml("./gnss_synchro_map.xml");
|
|
// getchar(); // stop the execution
|
|
// end debug
|
|
if (d_display_rate_ms != 0)
|
|
{
|
|
if (current_RX_time_ms % d_display_rate_ms == 0)
|
|
{
|
|
flag_display_pvt = true;
|
|
}
|
|
}
|
|
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
if (current_RX_time_ms % d_rtcm_MT1019_rate_ms == 0)
|
|
{
|
|
flag_write_RTCM_1019_output = true;
|
|
}
|
|
}
|
|
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
if (current_RX_time_ms % d_rtcm_MT1020_rate_ms == 0)
|
|
{
|
|
flag_write_RTCM_1020_output = true;
|
|
}
|
|
}
|
|
if (d_rtcm_MT1045_rate_ms != 0)
|
|
{
|
|
if (current_RX_time_ms % d_rtcm_MT1045_rate_ms == 0)
|
|
{
|
|
flag_write_RTCM_1045_output = true;
|
|
}
|
|
}
|
|
// TODO: RTCM 1077, 1087 and 1097 are not used, so, disable the output rates
|
|
// if (current_RX_time_ms % d_rtcm_MT1077_rate_ms==0 && d_rtcm_MT1077_rate_ms != 0)
|
|
// {
|
|
// last_RTCM_1077_output_time = current_RX_time;
|
|
// }
|
|
// if (current_RX_time_ms % d_rtcm_MT1087_rate_ms==0 && d_rtcm_MT1087_rate_ms != 0)
|
|
// {
|
|
// last_RTCM_1087_output_time = current_RX_time;
|
|
// }
|
|
// if (current_RX_time_ms % d_rtcm_MT1097_rate_ms==0 && d_rtcm_MT1097_rate_ms != 0)
|
|
// {
|
|
// last_RTCM_1097_output_time = current_RX_time;
|
|
// }
|
|
if (d_rtcm_MSM_rate_ms != 0)
|
|
{
|
|
if (current_RX_time_ms % d_rtcm_MSM_rate_ms == 0)
|
|
{
|
|
flag_write_RTCM_MSM_output = true;
|
|
}
|
|
}
|
|
if (d_rinexobs_rate_ms != 0)
|
|
{
|
|
if (current_RX_time_ms % static_cast<uint32_t>(d_rinexobs_rate_ms) == 0)
|
|
{
|
|
flag_write_RINEX_obs_output = true;
|
|
}
|
|
}
|
|
|
|
if (d_first_fix == true)
|
|
{
|
|
if (d_show_local_time_zone)
|
|
{
|
|
const boost::posix_time::ptime time_first_solution = d_user_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
|
|
std::cout << "First position fix at " << time_first_solution << d_local_time_str;
|
|
}
|
|
else
|
|
{
|
|
std::cout << "First position fix at " << d_user_pvt_solver->get_position_UTC_time() << " UTC";
|
|
}
|
|
std::cout << " is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
|
|
<< " [deg], Height= " << d_user_pvt_solver->get_height() << " [m]\n";
|
|
d_ttff_msgbuf ttff;
|
|
ttff.mtype = 1;
|
|
d_end = std::chrono::system_clock::now();
|
|
std::chrono::duration<double> elapsed_seconds = d_end - d_start;
|
|
ttff.ttff = elapsed_seconds.count();
|
|
send_sys_v_ttff_msg(ttff);
|
|
d_first_fix = false;
|
|
}
|
|
if (d_kml_output_enabled)
|
|
{
|
|
if (current_RX_time_ms % d_kml_rate_ms == 0)
|
|
{
|
|
d_kml_dump->print_position(d_user_pvt_solver.get());
|
|
}
|
|
}
|
|
if (d_gpx_output_enabled)
|
|
{
|
|
if (current_RX_time_ms % d_gpx_rate_ms == 0)
|
|
{
|
|
d_gpx_dump->print_position(d_user_pvt_solver.get());
|
|
}
|
|
}
|
|
if (d_geojson_output_enabled)
|
|
{
|
|
if (current_RX_time_ms % d_geojson_rate_ms == 0)
|
|
{
|
|
d_geojson_printer->print_position(d_user_pvt_solver.get());
|
|
}
|
|
}
|
|
if (d_nmea_output_file_enabled)
|
|
{
|
|
if (current_RX_time_ms % d_nmea_rate_ms == 0)
|
|
{
|
|
d_nmea_printer->Print_Nmea_Line(d_user_pvt_solver.get());
|
|
}
|
|
}
|
|
if (d_rinex_output_enabled)
|
|
{
|
|
d_rp->print_rinex_annotation(d_user_pvt_solver.get(), d_gnss_observables_map, d_rx_time, d_type_of_rx, flag_write_RINEX_obs_output);
|
|
}
|
|
if (d_rtcm_enabled)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_Messages(d_user_pvt_solver.get(),
|
|
d_gnss_observables_map,
|
|
d_rx_time,
|
|
d_type_of_rx,
|
|
d_rtcm_MSM_rate_ms,
|
|
d_rtcm_MT1019_rate_ms,
|
|
d_rtcm_MT1020_rate_ms,
|
|
d_rtcm_MT1045_rate_ms,
|
|
d_rtcm_MT1077_rate_ms,
|
|
d_rtcm_MT1097_rate_ms,
|
|
flag_write_RTCM_MSM_output,
|
|
flag_write_RTCM_1019_output,
|
|
flag_write_RTCM_1020_output,
|
|
flag_write_RTCM_1045_output,
|
|
d_enable_rx_clock_correction);
|
|
}
|
|
}
|
|
}
|
|
|
|
// DEBUG MESSAGE: Display position in console output
|
|
if (d_user_pvt_solver->is_valid_position() && flag_display_pvt)
|
|
{
|
|
boost::posix_time::ptime time_solution;
|
|
std::string UTC_solution_str;
|
|
if (d_show_local_time_zone)
|
|
{
|
|
time_solution = d_user_pvt_solver->get_position_UTC_time() + d_utc_diff_time;
|
|
UTC_solution_str = d_local_time_str;
|
|
}
|
|
else
|
|
{
|
|
time_solution = d_user_pvt_solver->get_position_UTC_time();
|
|
UTC_solution_str = " UTC";
|
|
}
|
|
std::streamsize ss = std::cout.precision(); // save current precision
|
|
std::cout.setf(std::ios::fixed, std::ios::floatfield);
|
|
auto* facet = new boost::posix_time::time_facet("%Y-%b-%d %H:%M:%S.%f %z");
|
|
std::cout.imbue(std::locale(std::cout.getloc(), facet));
|
|
std::cout
|
|
<< TEXT_BOLD_GREEN
|
|
<< "Position at " << time_solution << UTC_solution_str
|
|
<< " using " << d_user_pvt_solver->get_num_valid_observations()
|
|
<< std::fixed << std::setprecision(9)
|
|
<< " observations is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
|
|
<< std::fixed << std::setprecision(3)
|
|
<< " [deg], Height = " << d_user_pvt_solver->get_height() << " [m]" << TEXT_RESET << '\n';
|
|
|
|
std::cout << std::setprecision(ss);
|
|
DLOG(INFO) << "RX clock offset: " << d_user_pvt_solver->get_time_offset_s() << "[s]";
|
|
|
|
std::cout
|
|
<< TEXT_BOLD_GREEN
|
|
<< "Velocity: " << std::fixed << std::setprecision(3)
|
|
<< "East: " << d_user_pvt_solver->get_rx_vel()[0] << " [m/s], North: " << d_user_pvt_solver->get_rx_vel()[1]
|
|
<< " [m/s], Up = " << d_user_pvt_solver->get_rx_vel()[2] << " [m/s]" << TEXT_RESET << '\n';
|
|
|
|
std::cout << std::setprecision(ss);
|
|
DLOG(INFO) << "RX clock drift: " << d_user_pvt_solver->get_clock_drift_ppm() << " [ppm]";
|
|
|
|
// boost::posix_time::ptime p_time;
|
|
// gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_user_pvt_solver->gps_ephemeris_map.cbegin()->second.i_GPS_week), d_rx_time);
|
|
// p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
|
|
// p_time += boost::posix_time::microseconds(round(rtklib_utc_time.sec * 1e6));
|
|
// std::cout << TEXT_MAGENTA << "Observable RX time (GPST) " << boost::posix_time::to_simple_string(p_time) << TEXT_RESET << '\n';
|
|
|
|
DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
|
|
<< " UTC using " << d_user_pvt_solver->get_num_valid_observations() << " observations is Lat = " << d_user_pvt_solver->get_latitude() << " [deg], Long = " << d_user_pvt_solver->get_longitude()
|
|
<< " [deg], Height = " << d_user_pvt_solver->get_height() << " [m]";
|
|
|
|
/* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_user_pvt_solver->get_position_UTC_time())
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<< " UTC using "<< d_user_pvt_solver->get_num_valid_observations() <<" observations is HDOP = " << d_user_pvt_solver->get_hdop() << " VDOP = "
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<< d_user_pvt_solver->get_vdop()
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<< " GDOP = " << d_user_pvt_solver->get_gdop() << '\n'; */
|
|
}
|
|
}
|
|
|
|
// PVT MONITOR
|
|
if (d_user_pvt_solver->is_valid_position() && flag_compute_pvt_output == true)
|
|
{
|
|
const std::shared_ptr<Monitor_Pvt> monitor_pvt = std::make_shared<Monitor_Pvt>(d_user_pvt_solver->get_monitor_pvt());
|
|
monitor_pvt->geohash = d_geohash->encode(d_user_pvt_solver->get_latitude(), d_user_pvt_solver->get_longitude());
|
|
DLOG(INFO) << "geohash=" << monitor_pvt->geohash;
|
|
// publish new position to the gnss_flowgraph channel status monitor
|
|
if (current_RX_time_ms % d_report_rate_ms == 0)
|
|
{
|
|
this->message_port_pub(pmt::mp("status"), pmt::make_any(monitor_pvt));
|
|
}
|
|
if (d_flag_monitor_pvt_enabled)
|
|
{
|
|
d_udp_sink_ptr->write_monitor_pvt(monitor_pvt.get());
|
|
}
|
|
}
|
|
}
|
|
if (d_an_printer_enabled)
|
|
{
|
|
if (d_local_counter_ms % static_cast<uint64_t>(d_an_rate_ms) == 0)
|
|
{
|
|
d_an_printer->print_packet(d_user_pvt_solver.get(), d_gnss_observables_map);
|
|
}
|
|
}
|
|
}
|
|
|
|
return noutput_items;
|
|
}
|