mirror of
https://github.com/gnss-sdr/gnss-sdr
synced 2024-06-13 16:56:52 +00:00
506 lines
24 KiB
C++
506 lines
24 KiB
C++
/*!
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* \file gps_l1_ca_pvt_cc.cc
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* \brief Implementation of a Position Velocity and Time computation block for GPS L1 C/A
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* \author Javier Arribas, 2011. jarribas(at)cttc.es
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2015 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <http://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "gps_l1_ca_pvt_cc.h"
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#include <algorithm>
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#include <iostream>
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#include <map>
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#include <utility>
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#include <boost/math/common_factor_rt.hpp>
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <gnuradio/gr_complex.h>
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#include <gnuradio/io_signature.h>
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#include <glog/logging.h>
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#include "concurrent_map.h"
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#include "sbas_telemetry_data.h"
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#include "sbas_ionospheric_correction.h"
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using google::LogMessage;
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gps_l1_ca_pvt_cc_sptr
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gps_l1_ca_make_pvt_cc(unsigned int nchannels,
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bool dump, std::string dump_filename,
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int averaging_depth,
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bool flag_averaging,
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int output_rate_ms,
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int display_rate_ms,
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bool flag_nmea_tty_port,
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std::string nmea_dump_filename,
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std::string nmea_dump_devname,
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bool flag_rtcm_server,
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bool flag_rtcm_tty_port,
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unsigned short rtcm_tcp_port,
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unsigned short rtcm_station_id,
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std::map<int,int> rtcm_msg_rate_ms,
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std::string rtcm_dump_devname,
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int rinex_version)
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{
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return gps_l1_ca_pvt_cc_sptr(new gps_l1_ca_pvt_cc(nchannels,
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dump,
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dump_filename,
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averaging_depth,
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flag_averaging,
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output_rate_ms,
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display_rate_ms,
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flag_nmea_tty_port,
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nmea_dump_filename,
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nmea_dump_devname,
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flag_rtcm_server,
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flag_rtcm_tty_port,
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rtcm_tcp_port,
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rtcm_station_id,
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rtcm_msg_rate_ms,
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rtcm_dump_devname,
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rinex_version));
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}
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void gps_l1_ca_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
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{
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try {
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if( pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Ephemeris>) )
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{
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// ### GPS EPHEMERIS ###
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std::shared_ptr<Gps_Ephemeris> gps_eph;
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gps_eph = boost::any_cast<std::shared_ptr<Gps_Ephemeris>>(pmt::any_ref(msg));
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DLOG(INFO) << "Ephemeris record has arrived from SAT ID "
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<< gps_eph->i_satellite_PRN << " (Block "
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<< gps_eph->satelliteBlock[gps_eph->i_satellite_PRN] << ")"
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<< "inserted with Toe="<< gps_eph->d_Toe<<" and GPS Week="
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<< gps_eph->i_GPS_week;
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// update/insert new ephemeris record to the global ephemeris map
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d_ls_pvt->gps_ephemeris_map[gps_eph->i_satellite_PRN] = *gps_eph;
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Iono>) )
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{
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// ### GPS IONO ###
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std::shared_ptr<Gps_Iono> gps_iono;
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gps_iono = boost::any_cast<std::shared_ptr<Gps_Iono>>(pmt::any_ref(msg));
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d_ls_pvt->gps_iono = *gps_iono;
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DLOG(INFO) << "New IONO record has arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Utc_Model>) )
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{
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// ### GPS UTC MODEL ###
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std::shared_ptr<Gps_Utc_Model> gps_utc_model;
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gps_utc_model = boost::any_cast<std::shared_ptr<Gps_Utc_Model>>(pmt::any_ref(msg));
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d_ls_pvt->gps_utc_model = *gps_utc_model;
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DLOG(INFO) << "New UTC record has arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Sbas_Ionosphere_Correction>) )
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{
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// ### SBAS IONO ###
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std::shared_ptr<Sbas_Ionosphere_Correction> sbas_iono;
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sbas_iono = boost::any_cast<std::shared_ptr<Sbas_Ionosphere_Correction>>(pmt::any_ref(msg));
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d_ls_pvt->sbas_iono = *sbas_iono;
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DLOG(INFO) << "New SBAS IONO record has arrived ";
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}
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//TODO: add SBAS correction maps here
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//d_ls_pvt->sbas_sat_corr_map = global_sbas_sat_corr_map.get_map_copy();
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//d_ls_pvt->sbas_ephemeris_map = global_sbas_ephemeris_map.get_map_copy();
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Sbas_Raw_Msg>) )
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{
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std::shared_ptr<Sbas_Raw_Msg> sbas_raw_msg_ptr;
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sbas_raw_msg_ptr = boost::any_cast<std::shared_ptr<Sbas_Raw_Msg>>(pmt::any_ref(msg));
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Sbas_Raw_Msg sbas_raw_msg = *sbas_raw_msg_ptr;
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// read SBAS raw messages directly from queue and write them into rinex file
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// create the header of not yet done
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if(!b_rinex_sbs_header_written)
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{
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rp->rinex_sbs_header(rp->sbsFile);
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b_rinex_sbs_header_written = true;
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}
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// Define the RX time of the SBAS message by using the GPS time.
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// It has only an effect if there has not been yet a SBAS MT12 available
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// when the message was received.
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if(sbas_raw_msg.get_rx_time_obj().is_related() == false
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&& gnss_observables_map.size() > 0
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&& d_ls_pvt->gps_ephemeris_map.size() > 0)
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{
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// doesn't matter which channel/satellite we choose
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Gnss_Synchro gs = gnss_observables_map.begin()->second;
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Gps_Ephemeris eph = d_ls_pvt->gps_ephemeris_map.begin()->second;
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double relative_rx_time = gs.Tracking_timestamp_secs;
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int gps_week = eph.i_GPS_week;
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double gps_sec = gs.d_TOW_at_current_symbol;
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Sbas_Time_Relation time_rel(relative_rx_time, gps_week, gps_sec);
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sbas_raw_msg.relate(time_rel);
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}
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// send the message to the rinex logger if it has a valid GPS time stamp
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if(sbas_raw_msg.get_rx_time_obj().is_related())
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{
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rp->log_rinex_sbs(rp->sbsFile, sbas_raw_msg);
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}
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}
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else
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{
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LOG(WARNING) << "msg_handler_telemetry unknown object type!";
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}
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}
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catch(boost::bad_any_cast& e)
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{
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LOG(WARNING) << "msg_handler_telemetry Bad any cast!\n";
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}
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}
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std::map<int,Gps_Ephemeris> gps_l1_ca_pvt_cc::get_GPS_L1_ephemeris_map()
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{
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return d_ls_pvt->gps_ephemeris_map;
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}
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bool gps_l1_ca_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
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{
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/* Fill Sys V message structures */
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int msgsend_size;
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ttff_msgbuf msg;
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msg.ttff = ttff.ttff;
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msgsend_size = sizeof(msg.ttff);
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msg.mtype = 1; /* default message ID */
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/* SEND SOLUTION OVER A MESSAGE QUEUE */
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/* non-blocking Sys V message send */
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msgsnd(sysv_msqid, &msg, msgsend_size, IPC_NOWAIT);
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return true;
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}
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gps_l1_ca_pvt_cc::gps_l1_ca_pvt_cc(unsigned int nchannels,
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bool dump, std::string dump_filename,
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int averaging_depth,
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bool flag_averaging,
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int output_rate_ms,
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int display_rate_ms,
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bool flag_nmea_tty_port,
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std::string nmea_dump_filename,
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std::string nmea_dump_devname,
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bool flag_rtcm_server,
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bool flag_rtcm_tty_port,
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unsigned short rtcm_tcp_port,
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unsigned short rtcm_station_id,
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std::map<int,int> rtcm_msg_rate_ms,
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std::string rtcm_dump_devname,
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int rinex_version) :
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gr::block("gps_l1_ca_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
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gr::io_signature::make(0, 0, sizeof(gr_complex)) )
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{
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d_output_rate_ms = output_rate_ms;
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d_display_rate_ms = display_rate_ms;
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d_dump = dump;
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d_nchannels = nchannels;
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d_dump_filename = dump_filename;
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std::string dump_ls_pvt_filename = dump_filename;
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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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boost::bind(&gps_l1_ca_pvt_cc::msg_handler_telemetry, this, _1));
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// initialize kml_printer
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std::string kml_dump_filename;
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kml_dump_filename = d_dump_filename;
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d_kml_printer = std::make_shared<Kml_Printer>();
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d_kml_printer->set_headers(kml_dump_filename);
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// initialize geojson_printer
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std::string geojson_dump_filename;
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geojson_dump_filename = d_dump_filename;
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d_geojson_printer = std::make_shared<GeoJSON_Printer>();
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d_geojson_printer->set_headers(geojson_dump_filename);
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// initialize nmea_printer
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d_nmea_printer = std::make_shared<Nmea_Printer>(nmea_dump_filename, flag_nmea_tty_port, nmea_dump_devname);
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// initialize rtcm_printer
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std::string rtcm_dump_filename;
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rtcm_dump_filename = d_dump_filename;
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d_rtcm_tcp_port = rtcm_tcp_port;
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d_rtcm_station_id = rtcm_station_id;
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d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, d_rtcm_tcp_port, d_rtcm_station_id, rtcm_dump_devname);
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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 = boost::math::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(1071) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
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{
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d_rtcm_MSM_rate_ms = rtcm_msg_rate_ms[1071];
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}
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else
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{
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d_rtcm_MSM_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
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}
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b_rtcm_writing_started = false;
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d_dump_filename.append("_raw.dat");
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dump_ls_pvt_filename.append("_ls_pvt.dat");
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d_averaging_depth = averaging_depth;
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d_flag_averaging = flag_averaging;
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d_ls_pvt = std::make_shared<gps_l1_ca_ls_pvt>((int)nchannels, dump_ls_pvt_filename, d_dump);
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d_ls_pvt->set_averaging_depth(d_averaging_depth);
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d_sample_counter = 0;
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d_last_sample_nav_output = 0;
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d_rx_time = 0.0;
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d_last_status_print_seg = 0;
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b_rinex_header_written = false;
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b_rinex_header_updated = false;
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b_rinex_sbs_header_written = false;
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rp = std::make_shared<Rinex_Printer>(rinex_version);
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// ############# ENABLE DATA FILE LOG #################
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if (d_dump == true)
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{
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if (d_dump_file.is_open() == false)
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{
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try
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{
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d_dump_file.exceptions (std::ifstream::failbit | std::ifstream::badbit );
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d_dump_file.open(d_dump_filename.c_str(), std::ios::out | std::ios::binary);
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LOG(INFO) << "PVT dump enabled Log file: " << d_dump_filename.c_str();
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}
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catch (const std::ifstream::failure & e)
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{
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LOG(INFO) << "Exception opening PVT dump file " << e.what();
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}
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}
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}
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// Create Sys V message queue
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first_fix = true;
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sysv_msg_key = 1101;
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int msgflg = IPC_CREAT | 0666;
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if ((sysv_msqid = msgget(sysv_msg_key, msgflg )) == -1)
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{
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std::cout << "GNSS-SDR can not create message queues!" << std::endl;
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throw new std::exception();
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}
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}
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gps_l1_ca_pvt_cc::~gps_l1_ca_pvt_cc()
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{
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msgctl(sysv_msqid, IPC_RMID, NULL);
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}
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void gps_l1_ca_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchronization_data)
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{
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// Print the current receiver status using std::cout every second
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int current_rx_seg = floor(channels_synchronization_data[0][0].Tracking_timestamp_secs);
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if ( current_rx_seg!= d_last_status_print_seg)
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{
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d_last_status_print_seg = current_rx_seg;
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std::cout << "Current input signal time = " << current_rx_seg << " [s]" << std::endl << std::flush;
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//DLOG(INFO) << "GPS L1 C/A Tracking CH " << d_channel << ": Satellite " << Gnss_Satellite(systemName[sys], d_acquisition_gnss_synchro->PRN)
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// << ", CN0 = " << d_CN0_SNV_dB_Hz << " [dB-Hz]";
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}
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}
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int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
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gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused)))
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{
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gnss_observables_map.clear();
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d_sample_counter++;
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Gnss_Synchro **in = (Gnss_Synchro **) &input_items[0]; // Get the input pointer
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print_receiver_status(in);
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// ############ 1. READ PSEUDORANGES ####
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for (unsigned int i = 0; i < d_nchannels; i++)
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{
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if (in[i][0].Flag_valid_pseudorange == true)
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{
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gnss_observables_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map
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d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
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if(d_ls_pvt->gps_ephemeris_map.size() > 0)
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{
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std::map<int,Gps_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->gps_ephemeris_map.find(in[i][0].PRN);
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if(tmp_eph_iter != d_ls_pvt->gps_ephemeris_map.end())
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{
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d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][0].PRN)->second, d_rx_time, in[i][0]); // keep track of locking time
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}
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}
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}
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}
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// ############ 2 COMPUTE THE PVT ################################
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if (gnss_observables_map.size() > 0 and d_ls_pvt->gps_ephemeris_map.size() > 0)
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{
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// compute on the fly PVT solution
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if ((d_sample_counter % d_output_rate_ms) == 0)
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{
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bool pvt_result;
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pvt_result = d_ls_pvt->get_PVT(gnss_observables_map, d_rx_time, d_flag_averaging);
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if (pvt_result == true)
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{
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// correct the observable to account for the receiver clock offset
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for (std::map<int,Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.end(); ++it)
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{
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it->second.Pseudorange_m = it->second.Pseudorange_m - d_ls_pvt->d_rx_dt_s * GPS_C_m_s;
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}
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if(first_fix == true)
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{
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std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
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<< " UTC is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
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<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl;
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ttff_msgbuf ttff;
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ttff.mtype = 1;
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ttff.ttff = d_sample_counter;
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send_sys_v_ttff_msg(ttff);
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first_fix = false;
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}
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d_kml_printer->print_position(d_ls_pvt, d_flag_averaging);
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d_geojson_printer->print_position(d_ls_pvt, d_flag_averaging);
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d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
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if (!b_rinex_header_written)
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{
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std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
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gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
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if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
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{
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rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time);
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rp->rinex_nav_header(rp->navFile, d_ls_pvt->gps_iono, d_ls_pvt->gps_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
}
|
|
if(b_rinex_header_written)
|
|
{
|
|
// Limit the RINEX navigation output rate to 1/6 seg
|
|
// Notice that d_sample_counter period is 1ms (for GPS correlators)
|
|
if ((d_sample_counter - d_last_sample_nav_output) >= 6000)
|
|
{
|
|
rp->log_rinex_nav(rp->navFile, d_ls_pvt->gps_ephemeris_map);
|
|
d_last_sample_nav_output = d_sample_counter;
|
|
}
|
|
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
|
|
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
|
|
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated && (d_ls_pvt->gps_utc_model.d_A0 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_ls_pvt->gps_utc_model);
|
|
rp->update_nav_header(rp->navFile, d_ls_pvt->gps_utc_model, d_ls_pvt->gps_iono);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
}
|
|
if(b_rtcm_writing_started)
|
|
{
|
|
if((d_sample_counter % d_rtcm_MT1019_rate_ms) == 0)
|
|
{
|
|
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
|
|
}
|
|
}
|
|
if((d_sample_counter % d_rtcm_MSM_rate_ms) == 0)
|
|
{
|
|
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
|
|
gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
|
|
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
}
|
|
|
|
if(!b_rtcm_writing_started) // the first time
|
|
{
|
|
for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
|
|
}
|
|
|
|
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
|
|
|
|
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
}
|
|
}
|
|
}
|
|
|
|
// DEBUG MESSAGE: Display position in console output
|
|
if (((d_sample_counter % d_display_rate_ms) == 0) and d_ls_pvt->b_valid_position == true)
|
|
{
|
|
std::cout << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
|
|
<< " UTC is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
|
|
<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl;
|
|
|
|
LOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
|
|
<< " UTC is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
|
|
<< " [deg], Height= " << d_ls_pvt->d_height_m << " [m]";
|
|
|
|
LOG(INFO) << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
|
|
<< " is HDOP = " << d_ls_pvt->d_HDOP << " VDOP = "
|
|
<< d_ls_pvt->d_VDOP <<" TDOP = " << d_ls_pvt->d_TDOP << " GDOP = " << d_ls_pvt->d_GDOP;
|
|
}
|
|
// MULTIPLEXED FILE RECORDING - Record results to file
|
|
if(d_dump == true)
|
|
{
|
|
try
|
|
{
|
|
double tmp_double;
|
|
for (unsigned int i = 0; i < d_nchannels ; i++)
|
|
{
|
|
tmp_double = in[i][0].Pseudorange_m;
|
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
|
tmp_double = 0;
|
|
d_dump_file.write((char*)&tmp_double, sizeof(double));
|
|
d_dump_file.write((char*)&d_rx_time, sizeof(double));
|
|
}
|
|
}
|
|
catch (const std::ifstream::failure & e)
|
|
{
|
|
LOG(WARNING) << "Exception writing observables dump file " << e.what();
|
|
}
|
|
}
|
|
}
|
|
|
|
consume_each(1); //one by one
|
|
return 1;
|
|
}
|