mirror of https://github.com/gnss-sdr/gnss-sdr
2848 lines
239 KiB
C++
2848 lines
239 KiB
C++
/*!
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* \file rtklib_pvt_cc.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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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#include "rtklib_pvt_cc.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 "gnss_sdr_create_directory.h"
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#include "pvt_conf.h"
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#include <boost/archive/xml_iarchive.hpp>
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#include <boost/archive/xml_oarchive.hpp>
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#include <boost/exception/all.hpp>
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#include <boost/filesystem/path.hpp>
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#include <boost/serialization/map.hpp>
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#include <glog/logging.h>
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#include <gnuradio/gr_complex.h>
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#include <gnuradio/io_signature.h>
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#include <algorithm>
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#include <exception>
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#include <iostream>
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#include <map>
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#if OLD_BOOST
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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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using google::LogMessage;
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rtklib_pvt_cc_sptr rtklib_make_pvt_cc(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_cc_sptr(new rtklib_pvt_cc(nchannels,
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conf_,
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rtk));
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}
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void rtklib_pvt_cc::msg_handler_telemetry(pmt::pmt_t msg)
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{
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try
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{
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// ************* GPS telemetry *****************
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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_pvt_solver->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_pvt_solver->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_pvt_solver->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<Gps_CNAV_Ephemeris>))
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{
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// ### GPS CNAV message ###
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std::shared_ptr<Gps_CNAV_Ephemeris> gps_cnav_ephemeris;
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gps_cnav_ephemeris = boost::any_cast<std::shared_ptr<Gps_CNAV_Ephemeris>>(pmt::any_ref(msg));
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// update/insert new ephemeris record to the global ephemeris map
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d_pvt_solver->gps_cnav_ephemeris_map[gps_cnav_ephemeris->i_satellite_PRN] = *gps_cnav_ephemeris;
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DLOG(INFO) << "New GPS CNAV ephemeris record has arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Iono>))
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{
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// ### GPS CNAV IONO ###
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std::shared_ptr<Gps_CNAV_Iono> gps_cnav_iono;
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gps_cnav_iono = boost::any_cast<std::shared_ptr<Gps_CNAV_Iono>>(pmt::any_ref(msg));
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d_pvt_solver->gps_cnav_iono = *gps_cnav_iono;
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DLOG(INFO) << "New CNAV IONO record has arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_CNAV_Utc_Model>))
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{
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// ### GPS CNAV UTC MODEL ###
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std::shared_ptr<Gps_CNAV_Utc_Model> gps_cnav_utc_model;
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gps_cnav_utc_model = boost::any_cast<std::shared_ptr<Gps_CNAV_Utc_Model>>(pmt::any_ref(msg));
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d_pvt_solver->gps_cnav_utc_model = *gps_cnav_utc_model;
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DLOG(INFO) << "New CNAV UTC record has arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Gps_Almanac>))
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{
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// ### GPS ALMANAC ###
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std::shared_ptr<Gps_Almanac> gps_almanac;
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gps_almanac = boost::any_cast<std::shared_ptr<Gps_Almanac>>(pmt::any_ref(msg));
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d_pvt_solver->gps_almanac_map[gps_almanac->i_satellite_PRN] = *gps_almanac;
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DLOG(INFO) << "New GPS almanac record has arrived ";
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}
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// **************** Galileo telemetry ********************
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Ephemeris>))
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{
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// ### Galileo EPHEMERIS ###
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std::shared_ptr<Galileo_Ephemeris> galileo_eph;
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galileo_eph = boost::any_cast<std::shared_ptr<Galileo_Ephemeris>>(pmt::any_ref(msg));
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// insert new ephemeris record
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DLOG(INFO) << "Galileo New Ephemeris record inserted in global map with TOW =" << galileo_eph->TOW_5
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<< ", GALILEO Week Number =" << galileo_eph->WN_5
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<< " and Ephemeris IOD = " << galileo_eph->IOD_ephemeris;
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// update/insert new ephemeris record to the global ephemeris map
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d_pvt_solver->galileo_ephemeris_map[galileo_eph->i_satellite_PRN] = *galileo_eph;
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Iono>))
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{
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// ### Galileo IONO ###
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std::shared_ptr<Galileo_Iono> galileo_iono;
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galileo_iono = boost::any_cast<std::shared_ptr<Galileo_Iono>>(pmt::any_ref(msg));
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d_pvt_solver->galileo_iono = *galileo_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<Galileo_Utc_Model>))
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{
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// ### Galileo UTC MODEL ###
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std::shared_ptr<Galileo_Utc_Model> galileo_utc_model;
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galileo_utc_model = boost::any_cast<std::shared_ptr<Galileo_Utc_Model>>(pmt::any_ref(msg));
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d_pvt_solver->galileo_utc_model = *galileo_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<Galileo_Almanac_Helper>))
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{
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// ### Galileo Almanac ###
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std::shared_ptr<Galileo_Almanac_Helper> galileo_almanac_helper;
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galileo_almanac_helper = boost::any_cast<std::shared_ptr<Galileo_Almanac_Helper>>(pmt::any_ref(msg));
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Galileo_Almanac sv1 = galileo_almanac_helper->get_almanac(1);
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Galileo_Almanac sv2 = galileo_almanac_helper->get_almanac(2);
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Galileo_Almanac sv3 = galileo_almanac_helper->get_almanac(3);
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if (sv1.i_satellite_PRN != 0) d_pvt_solver->galileo_almanac_map[sv1.i_satellite_PRN] = sv1;
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if (sv2.i_satellite_PRN != 0) d_pvt_solver->galileo_almanac_map[sv2.i_satellite_PRN] = sv2;
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if (sv3.i_satellite_PRN != 0) d_pvt_solver->galileo_almanac_map[sv3.i_satellite_PRN] = sv3;
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DLOG(INFO) << "New Galileo Almanac data have arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Galileo_Almanac>))
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{
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// ### Galileo Almanac ###
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std::shared_ptr<Galileo_Almanac> galileo_alm;
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galileo_alm = boost::any_cast<std::shared_ptr<Galileo_Almanac>>(pmt::any_ref(msg));
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// update/insert new almanac record to the global almanac map
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d_pvt_solver->galileo_almanac_map[galileo_alm->i_satellite_PRN] = *galileo_alm;
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}
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// **************** GLONASS GNAV Telemetry **************************
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Ephemeris>))
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{
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// ### GLONASS GNAV EPHEMERIS ###
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std::shared_ptr<Glonass_Gnav_Ephemeris> glonass_gnav_eph;
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glonass_gnav_eph = boost::any_cast<std::shared_ptr<Glonass_Gnav_Ephemeris>>(pmt::any_ref(msg));
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// TODO Add GLONASS with gps week number and tow,
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// insert new ephemeris record
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DLOG(INFO) << "GLONASS GNAV New Ephemeris record inserted in global map with TOW =" << glonass_gnav_eph->d_TOW
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<< ", Week Number =" << glonass_gnav_eph->d_WN
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<< " and Ephemeris IOD in UTC = " << glonass_gnav_eph->compute_GLONASS_time(glonass_gnav_eph->d_t_b)
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<< " from SV = " << glonass_gnav_eph->i_satellite_slot_number;
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// update/insert new ephemeris record to the global ephemeris map
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d_pvt_solver->glonass_gnav_ephemeris_map[glonass_gnav_eph->i_satellite_PRN] = *glonass_gnav_eph;
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Utc_Model>))
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{
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// ### GLONASS GNAV UTC MODEL ###
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std::shared_ptr<Glonass_Gnav_Utc_Model> glonass_gnav_utc_model;
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glonass_gnav_utc_model = boost::any_cast<std::shared_ptr<Glonass_Gnav_Utc_Model>>(pmt::any_ref(msg));
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d_pvt_solver->glonass_gnav_utc_model = *glonass_gnav_utc_model;
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DLOG(INFO) << "New GLONASS GNAV UTC record has arrived ";
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}
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else if (pmt::any_ref(msg).type() == typeid(std::shared_ptr<Glonass_Gnav_Almanac>))
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{
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// ### GLONASS GNAV Almanac ###
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std::shared_ptr<Glonass_Gnav_Almanac> glonass_gnav_almanac;
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glonass_gnav_almanac = boost::any_cast<std::shared_ptr<Glonass_Gnav_Almanac>>(pmt::any_ref(msg));
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d_pvt_solver->glonass_gnav_almanac = *glonass_gnav_almanac;
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DLOG(INFO) << "New GLONASS GNAV Almanac has arrived "
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<< ", GLONASS GNAV Slot Number =" << glonass_gnav_almanac->d_n_A;
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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!";
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}
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}
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std::map<int, Gps_Ephemeris> rtklib_pvt_cc::get_gps_ephemeris_map() const
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{
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return d_pvt_solver->gps_ephemeris_map;
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}
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std::map<int, Gps_Almanac> rtklib_pvt_cc::get_gps_almanac_map() const
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{
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return d_pvt_solver->gps_almanac_map;
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}
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std::map<int, Galileo_Ephemeris> rtklib_pvt_cc::get_galileo_ephemeris_map() const
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{
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return d_pvt_solver->galileo_ephemeris_map;
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}
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std::map<int, Galileo_Almanac> rtklib_pvt_cc::get_galileo_almanac_map() const
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{
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return d_pvt_solver->galileo_almanac_map;
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}
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void rtklib_pvt_cc::clear_ephemeris()
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{
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d_pvt_solver->gps_ephemeris_map.clear();
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d_pvt_solver->gps_almanac_map.clear();
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d_pvt_solver->galileo_ephemeris_map.clear();
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d_pvt_solver->galileo_almanac_map.clear();
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}
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rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
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const Pvt_Conf& conf_,
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const rtk_t& rtk) : gr::sync_block("rtklib_pvt_cc",
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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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{
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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_dump = conf_.dump;
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d_dump_mat = conf_.dump_mat and d_dump;
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d_dump_filename = conf_.dump_filename;
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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 + boost::filesystem::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?" << std::endl;
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d_dump = false;
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}
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}
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d_nchannels = nchannels;
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type_of_rx = conf_.type_of_receiver;
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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"), boost::bind(&rtklib_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_output_enabled = conf_.kml_output_enabled;
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if (d_kml_output_enabled)
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{
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d_kml_dump = std::make_shared<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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std::string gpx_dump_filename;
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gpx_dump_filename = d_dump_filename;
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d_gpx_output_enabled = conf_.gpx_output_enabled;
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if (d_gpx_output_enabled)
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{
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d_gpx_dump = std::make_shared<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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std::string geojson_dump_filename;
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geojson_dump_filename = d_dump_filename;
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d_geojson_output_enabled = conf_.geojson_output_enabled;
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if (d_geojson_output_enabled)
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{
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d_geojson_printer = std::make_shared<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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d_nmea_output_file_enabled = (conf_.nmea_output_file_enabled or conf_.flag_nmea_tty_port);
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if (d_nmea_output_file_enabled)
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{
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d_nmea_printer = std::make_shared<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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std::string rtcm_dump_filename;
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rtcm_dump_filename = d_dump_filename;
|
|
if (conf_.flag_rtcm_server or conf_.flag_rtcm_tty_port or conf_.rtcm_output_file_enabled)
|
|
{
|
|
d_rtcm_printer = std::make_shared<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);
|
|
std::map<int, int> rtcm_msg_rate_ms = conf_.rtcm_msg_rate_ms;
|
|
if (rtcm_msg_rate_ms.find(1019) != rtcm_msg_rate_ms.end())
|
|
{
|
|
d_rtcm_MT1019_rate_ms = rtcm_msg_rate_ms[1019];
|
|
}
|
|
else
|
|
{
|
|
d_rtcm_MT1019_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
|
|
}
|
|
if (rtcm_msg_rate_ms.find(1020) != rtcm_msg_rate_ms.end())
|
|
{
|
|
d_rtcm_MT1020_rate_ms = rtcm_msg_rate_ms[1020];
|
|
}
|
|
else
|
|
{
|
|
d_rtcm_MT1020_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
|
|
}
|
|
if (rtcm_msg_rate_ms.find(1045) != rtcm_msg_rate_ms.end())
|
|
{
|
|
d_rtcm_MT1045_rate_ms = rtcm_msg_rate_ms[1045];
|
|
}
|
|
else
|
|
{
|
|
d_rtcm_MT1045_rate_ms = bc::lcm(5000, d_output_rate_ms); // default value if not set
|
|
}
|
|
if (rtcm_msg_rate_ms.find(1077) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
|
|
{
|
|
d_rtcm_MT1077_rate_ms = rtcm_msg_rate_ms[1077];
|
|
}
|
|
else
|
|
{
|
|
d_rtcm_MT1077_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
|
|
}
|
|
if (rtcm_msg_rate_ms.find(1087) != rtcm_msg_rate_ms.end()) // whatever between 1081 and 1087
|
|
{
|
|
d_rtcm_MT1087_rate_ms = rtcm_msg_rate_ms[1087];
|
|
}
|
|
else
|
|
{
|
|
d_rtcm_MT1087_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
|
|
}
|
|
if (rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1091 and 1097
|
|
{
|
|
d_rtcm_MT1097_rate_ms = rtcm_msg_rate_ms[1097];
|
|
d_rtcm_MSM_rate_ms = rtcm_msg_rate_ms[1097];
|
|
}
|
|
else
|
|
{
|
|
d_rtcm_MT1097_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
|
|
d_rtcm_MSM_rate_ms = bc::lcm(1000, d_output_rate_ms); // default value if not set
|
|
}
|
|
b_rtcm_writing_started = false;
|
|
b_rtcm_enabled = true;
|
|
}
|
|
else
|
|
{
|
|
d_rtcm_MT1019_rate_ms = 0;
|
|
d_rtcm_MT1045_rate_ms = 0;
|
|
d_rtcm_MT1020_rate_ms = 0;
|
|
d_rtcm_MT1077_rate_ms = 0;
|
|
d_rtcm_MT1087_rate_ms = 0;
|
|
d_rtcm_MT1097_rate_ms = 0;
|
|
d_rtcm_MSM_rate_ms = 0;
|
|
b_rtcm_enabled = false;
|
|
b_rtcm_writing_started = false;
|
|
d_rtcm_printer = nullptr;
|
|
}
|
|
|
|
// initialize RINEX printer
|
|
b_rinex_header_written = false;
|
|
b_rinex_header_updated = false;
|
|
b_rinex_output_enabled = conf_.rinex_output_enabled;
|
|
d_rinex_version = conf_.rinex_version;
|
|
if (b_rinex_output_enabled)
|
|
{
|
|
rp = std::make_shared<Rinex_Printer>(d_rinex_version, conf_.rinex_output_path);
|
|
}
|
|
else
|
|
{
|
|
rp = nullptr;
|
|
}
|
|
d_rinexobs_rate_ms = conf_.rinexobs_rate_ms;
|
|
d_rinexnav_rate_ms = conf_.rinexnav_rate_ms;
|
|
|
|
// XML printer
|
|
d_xml_storage = conf_.xml_output_enabled;
|
|
if (d_xml_storage)
|
|
{
|
|
xml_base_path = conf_.xml_output_path;
|
|
boost::filesystem::path full_path(boost::filesystem::current_path());
|
|
const boost::filesystem::path p(xml_base_path);
|
|
if (!boost::filesystem::exists(p))
|
|
{
|
|
std::string new_folder;
|
|
for (auto& folder : boost::filesystem::path(xml_base_path))
|
|
{
|
|
new_folder += folder.string();
|
|
boost::system::error_code ec;
|
|
if (!boost::filesystem::exists(new_folder))
|
|
{
|
|
if (!boost::filesystem::create_directory(new_folder, ec))
|
|
{
|
|
std::cout << "Could not create the " << new_folder << " folder." << std::endl;
|
|
xml_base_path = full_path.string();
|
|
}
|
|
}
|
|
new_folder += boost::filesystem::path::preferred_separator;
|
|
}
|
|
}
|
|
else
|
|
{
|
|
xml_base_path = p.string();
|
|
}
|
|
if (xml_base_path != ".")
|
|
{
|
|
std::cout << "XML files will be stored at " << xml_base_path << std::endl;
|
|
}
|
|
|
|
xml_base_path = xml_base_path + boost::filesystem::path::preferred_separator;
|
|
}
|
|
|
|
d_pvt_solver = std::make_shared<rtklib_solver>(static_cast<int32_t>(nchannels), dump_ls_pvt_filename, d_dump, d_dump_mat, rtk);
|
|
d_pvt_solver->set_averaging_depth(1);
|
|
|
|
d_rx_time = 0.0;
|
|
|
|
d_last_status_print_seg = 0;
|
|
|
|
// Create Sys V message queue
|
|
first_fix = true;
|
|
sysv_msg_key = 1101;
|
|
int msgflg = IPC_CREAT | 0666;
|
|
if ((sysv_msqid = msgget(sysv_msg_key, msgflg)) == -1)
|
|
{
|
|
std::cout << "GNSS-SDR can not create message queues!" << std::endl;
|
|
throw std::exception();
|
|
}
|
|
start = std::chrono::system_clock::now();
|
|
}
|
|
|
|
|
|
rtklib_pvt_cc::~rtklib_pvt_cc()
|
|
{
|
|
msgctl(sysv_msqid, IPC_RMID, NULL);
|
|
if (d_xml_storage)
|
|
{
|
|
// save GPS L2CM ephemeris to XML file
|
|
std::string file_name = xml_base_path + "gps_cnav_ephemeris.xml";
|
|
if (d_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_pvt_solver->gps_cnav_ephemeris_map);
|
|
LOG(INFO) << "Saved GPS L2CM or L5 Ephemeris map data";
|
|
}
|
|
catch (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 = xml_base_path + "gps_ephemeris.xml";
|
|
if (d_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_pvt_solver->gps_ephemeris_map);
|
|
LOG(INFO) << "Saved GPS L1 CA Ephemeris map data";
|
|
}
|
|
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 = xml_base_path + "gal_ephemeris.xml";
|
|
if (d_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);
|
|
xml << boost::serialization::make_nvp("GNSS-SDR_gal_ephemeris_map", d_pvt_solver->galileo_ephemeris_map);
|
|
LOG(INFO) << "Saved Galileo E1 Ephemeris map data";
|
|
}
|
|
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 = xml_base_path + "eph_GLONASS_GNAV.xml";
|
|
if (d_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_pvt_solver->glonass_gnav_ephemeris_map);
|
|
LOG(INFO) << "Saved GLONASS GNAV Ephemeris map data";
|
|
}
|
|
catch (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 = xml_base_path + "gps_utc_model.xml";
|
|
if (d_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_pvt_solver->gps_utc_model);
|
|
LOG(INFO) << "Saved GPS UTC model parameters";
|
|
}
|
|
catch (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 = xml_base_path + "gal_utc_model.xml";
|
|
if (d_pvt_solver->galileo_utc_model.Delta_tLS_6 != 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_pvt_solver->galileo_utc_model);
|
|
LOG(INFO) << "Saved Galileo UTC model parameters";
|
|
}
|
|
catch (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 = xml_base_path + "gps_iono.xml";
|
|
if (d_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_pvt_solver->gps_iono);
|
|
LOG(INFO) << "Saved GPS ionospheric model parameters";
|
|
}
|
|
catch (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 = xml_base_path + "gps_cnav_iono.xml";
|
|
if (d_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_pvt_solver->gps_cnav_iono);
|
|
LOG(INFO) << "Saved GPS CNAV ionospheric model parameters";
|
|
}
|
|
catch (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 = xml_base_path + "gal_iono.xml";
|
|
if (d_pvt_solver->galileo_iono.ai0_5 != 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_pvt_solver->galileo_iono);
|
|
LOG(INFO) << "Saved Galileo ionospheric model parameters";
|
|
}
|
|
catch (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 = xml_base_path + "gps_almanac.xml";
|
|
if (d_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_pvt_solver->gps_almanac_map);
|
|
LOG(INFO) << "Saved GPS almanac map data";
|
|
}
|
|
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 = xml_base_path + "gal_almanac.xml";
|
|
if (d_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_pvt_solver->galileo_almanac_map);
|
|
LOG(INFO) << "Saved Galileo almanac data";
|
|
}
|
|
catch (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 = xml_base_path + "gps_cnav_utc_model.xml";
|
|
if (d_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_pvt_solver->gps_cnav_utc_model);
|
|
LOG(INFO) << "Saved GPS CNAV UTC model parameters";
|
|
}
|
|
catch (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 = xml_base_path + "glo_gnav_ephemeris.xml";
|
|
if (d_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_pvt_solver->glonass_gnav_ephemeris_map);
|
|
LOG(INFO) << "Saved GLONASS GNAV ephemeris map data";
|
|
}
|
|
catch (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 = xml_base_path + "glo_utc_model.xml";
|
|
if (d_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_pvt_solver->glonass_gnav_utc_model);
|
|
LOG(INFO) << "Saved GLONASS UTC model parameters";
|
|
}
|
|
catch (std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
LOG(INFO) << "Failed to save GLONASS GNAV ephemeris, not valid data";
|
|
}
|
|
}
|
|
}
|
|
|
|
|
|
bool rtklib_pvt_cc::observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b)
|
|
{
|
|
return (a.second.Pseudorange_m) < (b.second.Pseudorange_m);
|
|
}
|
|
|
|
|
|
bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
|
|
{
|
|
// Fill Sys V message structures
|
|
int msgsend_size;
|
|
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(sysv_msqid, &msg, msgsend_size, IPC_NOWAIT);
|
|
return true;
|
|
}
|
|
|
|
|
|
bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string& file_name)
|
|
{
|
|
if (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", gnss_observables_map);
|
|
LOG(INFO) << "Saved gnss_sychro map data";
|
|
}
|
|
catch (std::exception& e)
|
|
{
|
|
LOG(WARNING) << e.what();
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
LOG(WARNING) << "Failed to save gnss_synchro, map is empty";
|
|
return false;
|
|
}
|
|
|
|
|
|
bool rtklib_pvt_cc::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);
|
|
gnss_observables_map.clear();
|
|
xml >> boost::serialization::make_nvp("GNSS-SDR_gnss_synchro_map", gnss_observables_map);
|
|
//std::cout << "Loaded gnss_synchro map data with " << gnss_synchro_map.size() << " pseudoranges" << std::endl;
|
|
}
|
|
catch (std::exception& e)
|
|
{
|
|
std::cout << e.what() << "File: " << file_name;
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
|
|
bool rtklib_pvt_cc::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)
|
|
{
|
|
gr::thread::scoped_lock lock(d_setlock);
|
|
if (d_pvt_solver->is_valid_position())
|
|
{
|
|
*latitude_deg = d_pvt_solver->get_latitude();
|
|
*longitude_deg = d_pvt_solver->get_longitude();
|
|
*height_m = d_pvt_solver->get_height();
|
|
*ground_speed_kmh = d_pvt_solver->get_speed_over_ground() * 3600.0 / 1000.0;
|
|
*course_over_ground_deg = d_pvt_solver->get_course_over_ground();
|
|
*UTC_time = to_time_t(d_pvt_solver->get_position_UTC_time());
|
|
|
|
return true;
|
|
}
|
|
|
|
return false;
|
|
}
|
|
|
|
|
|
int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_items,
|
|
gr_vector_void_star& output_items __attribute__((unused)))
|
|
{
|
|
gr::thread::scoped_lock l(d_setlock);
|
|
|
|
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;
|
|
bool flag_write_RINEX_nav_output = false;
|
|
|
|
gnss_observables_map.clear();
|
|
const Gnss_Synchro** 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)
|
|
{
|
|
std::map<int, Gps_Ephemeris>::const_iterator tmp_eph_iter_gps = d_pvt_solver->gps_ephemeris_map.find(in[i][epoch].PRN);
|
|
std::map<int, Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_pvt_solver->galileo_ephemeris_map.find(in[i][epoch].PRN);
|
|
std::map<int, Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_pvt_solver->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
|
|
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_pvt_solver->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
|
|
if (((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1C")) or
|
|
((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "2S")) or
|
|
((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1B")) or
|
|
((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "5X")) or
|
|
((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1G")) or
|
|
((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "2G")) or
|
|
((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "L5")))
|
|
{
|
|
// store valid observables in a map.
|
|
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(i, in[i][epoch]));
|
|
}
|
|
if (b_rtcm_enabled)
|
|
{
|
|
try
|
|
{
|
|
if (d_pvt_solver->gps_ephemeris_map.empty() == false)
|
|
{
|
|
if (tmp_eph_iter_gps != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->lock_time(d_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_pvt_solver->galileo_ephemeris_map.empty() == false)
|
|
{
|
|
if (tmp_eph_iter_gal != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->lock_time(d_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_pvt_solver->gps_cnav_ephemeris_map.empty() == false)
|
|
{
|
|
if (tmp_eph_iter_cnav != d_pvt_solver->gps_cnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->lock_time(d_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_pvt_solver->glonass_gnav_ephemeris_map.empty() == false)
|
|
{
|
|
if (tmp_eph_iter_glo_gnav != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->lock_time(d_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) << std::endl;
|
|
LOG(ERROR) << "RTCM boost exception: " << boost::diagnostic_information(ex);
|
|
}
|
|
catch (const std::exception& ex)
|
|
{
|
|
std::cout << "RTCM std exception: " << ex.what() << std::endl;
|
|
LOG(ERROR) << "RTCM std exception: " << ex.what();
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// ############ 2 COMPUTE THE PVT ################################
|
|
if (gnss_observables_map.empty() == false)
|
|
{
|
|
double current_RX_time = gnss_observables_map.begin()->second.RX_time;
|
|
auto current_RX_time_ms = static_cast<uint32_t>(current_RX_time * 1000.0);
|
|
if (current_RX_time_ms % d_output_rate_ms == 0)
|
|
{
|
|
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: " << gnss_observables_map.begin()->second.RX_time << std::endl;
|
|
}
|
|
|
|
// compute on the fly PVT solution
|
|
if (flag_compute_pvt_output == true)
|
|
{
|
|
// receiver clock correction is disabled to be coherent with the RINEX and RTCM standard
|
|
// std::cout << TEXT_RED << "(internal) accumulated RX clock offset: " << d_pvt_solver->get_time_offset_s() << "[s]" << TEXT_RESET << std::endl;
|
|
// for (std::map<int, Gnss_Synchro>::iterator it = gnss_observables_map.begin(); it != gnss_observables_map.cend(); ++it)
|
|
// {
|
|
// todo: check if it has effect to correct the receiver time for the internal pvt solution
|
|
// take into account that the RINEX obs with the RX time (integer ms) CAN NOT be corrected to keep the coherence in obs time
|
|
// it->second.Pseudorange_m = it->second.Pseudorange_m - d_pvt_solver->get_time_offset_s() * GPS_C_m_s;
|
|
// }
|
|
|
|
if (d_pvt_solver->get_PVT(gnss_observables_map, false))
|
|
{
|
|
//Optional debug code: export observables snapshot for rtklib unit testing
|
|
//std::cout << "step 1: save gnss_synchro map" << std::endl;
|
|
//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 and 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 and 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 and 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_rinexnav_rate_ms != 0)
|
|
{
|
|
if (current_RX_time_ms % static_cast<uint32_t>(d_rinexnav_rate_ms) == 0)
|
|
{
|
|
flag_write_RINEX_nav_output = true;
|
|
}
|
|
}
|
|
|
|
if (first_fix == true)
|
|
{
|
|
std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_pvt_solver->get_position_UTC_time())
|
|
<< " UTC is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
|
|
<< " [deg], Height= " << d_pvt_solver->get_height() << " [m]" << std::endl;
|
|
ttff_msgbuf ttff;
|
|
ttff.mtype = 1;
|
|
end = std::chrono::system_clock::now();
|
|
std::chrono::duration<double> elapsed_seconds = end - start;
|
|
ttff.ttff = elapsed_seconds.count();
|
|
send_sys_v_ttff_msg(ttff);
|
|
first_fix = false;
|
|
}
|
|
if (d_kml_output_enabled) d_kml_dump->print_position(d_pvt_solver, false);
|
|
if (d_gpx_output_enabled) d_gpx_dump->print_position(d_pvt_solver, false);
|
|
if (d_geojson_output_enabled) d_geojson_printer->print_position(d_pvt_solver, false);
|
|
if (d_nmea_output_file_enabled) d_nmea_printer->Print_Nmea_Line(d_pvt_solver, false);
|
|
|
|
/*
|
|
* TYPE | RECEIVER
|
|
* 0 | Unknown
|
|
* 1 | GPS L1 C/A
|
|
* 2 | GPS L2C
|
|
* 3 | GPS L5
|
|
* 4 | Galileo E1B
|
|
* 5 | Galileo E5a
|
|
* 6 | Galileo E5b
|
|
* 7 | GPS L1 C/A + GPS L2C
|
|
* 8 | GPS L1 C/A + GPS L5
|
|
* 9 | GPS L1 C/A + Galileo E1B
|
|
* 10 | GPS L1 C/A + Galileo E5a
|
|
* 11 | GPS L1 C/A + Galileo E5b
|
|
* 12 | Galileo E1B + GPS L2C
|
|
* 13 | Galileo E1B + GPS L5
|
|
* 14 | Galileo E1B + Galileo E5a
|
|
* 15 | Galileo E1B + Galileo E5b
|
|
* 16 | GPS L2C + GPS L5
|
|
* 17 | GPS L2C + Galileo E5a
|
|
* 18 | GPS L2C + Galileo E5b
|
|
* 19 | GPS L5 + Galileo E5a
|
|
* 20 | GPS L5 + Galileo E5b
|
|
* 21 | GPS L1 C/A + Galileo E1B + GPS L2C
|
|
* 22 | GPS L1 C/A + Galileo E1B + GPS L5
|
|
* 23 | GLONASS L1 C/A
|
|
* 24 | GLONASS L2 C/A
|
|
* 25 | GLONASS L1 C/A + GLONASS L2 C/A
|
|
* 26 | GPS L1 C/A + GLONASS L1 C/A
|
|
* 27 | Galileo E1B + GLONASS L1 C/A
|
|
* 28 | GPS L2C + GLONASS L1 C/A
|
|
* 29 | GPS L1 C/A + GLONASS L2 C/A
|
|
* 30 | Galileo E1B + GLONASS L2 C/A
|
|
* 31 | GPS L2C + GLONASS L2 C/A
|
|
* 32 | GPS L1 C/A + Galileo E1B + GPS L5 + Galileo E5a
|
|
*/
|
|
|
|
// ####################### RINEX FILES #################
|
|
if (b_rinex_output_enabled)
|
|
{
|
|
std::map<int, Galileo_Ephemeris>::const_iterator galileo_ephemeris_iter;
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_ephemeris_iter;
|
|
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_ephemeris_iter;
|
|
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter;
|
|
if (!b_rinex_header_written) // & we have utc data in nav message!
|
|
{
|
|
galileo_ephemeris_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
gps_ephemeris_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
gps_cnav_ephemeris_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
|
|
glonass_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
|
|
switch (type_of_rx)
|
|
{
|
|
case 1: // GPS L1 C/A only
|
|
if (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, d_rx_time);
|
|
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 2: // GPS L2C only
|
|
if (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
|
|
{
|
|
std::string signal("2S");
|
|
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
|
|
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 3: // GPS L5 only
|
|
if (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
|
|
{
|
|
std::string signal("L5");
|
|
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
|
|
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 4: // Galileo E1B only
|
|
if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time);
|
|
rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 5: // Galileo E5a only
|
|
if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
std::string signal("5X");
|
|
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
|
|
rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 6: // Galileo E5b only
|
|
if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
std::string signal("7X");
|
|
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, signal);
|
|
rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 7: // GPS L1 C/A + GPS L2C
|
|
if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
|
|
{
|
|
std::string signal("1C 2S");
|
|
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
|
|
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 8: // GPS L1 + GPS L5
|
|
if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
|
|
{
|
|
std::string signal("1C L5");
|
|
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, signal);
|
|
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 9: // GPS L1 C/A + Galileo E1B
|
|
if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
|
|
{
|
|
std::string gal_signal("1B");
|
|
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
|
|
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 10: // GPS L1 C/A + Galileo E5a
|
|
if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
|
|
{
|
|
std::string gal_signal("5X");
|
|
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
|
|
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 11: // GPS L1 C/A + Galileo E5b
|
|
if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
|
|
{
|
|
std::string gal_signal("7X");
|
|
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
|
|
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 13: // L5+E5a
|
|
if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
|
|
{
|
|
std::string gal_signal("5X");
|
|
std::string gps_signal("L5");
|
|
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
|
|
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 14: // Galileo E1B + Galileo E5a
|
|
if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
|
|
{
|
|
std::string gal_signal("1B 5X");
|
|
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
|
|
rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 15: // Galileo E1B + Galileo E5b
|
|
if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
|
|
{
|
|
std::string gal_signal("1B 7X");
|
|
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
|
|
rp->rinex_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 23: // GLONASS L1 C/A only
|
|
if (glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
std::string signal("1G");
|
|
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
|
|
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 24: // GLONASS L2 C/A only
|
|
if (glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
std::string signal("2G");
|
|
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
|
|
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 25: // GLONASS L1 C/A + GLONASS L2 C/A
|
|
if (glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
std::string signal("1G 2G");
|
|
rp->rinex_obs_header(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, signal);
|
|
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 26: // GPS L1 C/A + GLONASS L1 C/A
|
|
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
|
|
{
|
|
std::string glo_signal("1G");
|
|
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
|
|
if (d_rinex_version == 3)
|
|
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
if (d_rinex_version == 2)
|
|
{
|
|
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
|
|
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
|
|
}
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 27: // Galileo E1B + GLONASS L1 C/A
|
|
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
|
|
{
|
|
std::string glo_signal("1G");
|
|
std::string gal_signal("1B");
|
|
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
|
|
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 28: // GPS L2C + GLONASS L1 C/A
|
|
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
|
|
{
|
|
std::string glo_signal("1G");
|
|
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
|
|
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 29: // GPS L1 C/A + GLONASS L2 C/A
|
|
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
|
|
{
|
|
std::string glo_signal("2G");
|
|
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
|
|
if (d_rinex_version == 3)
|
|
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
if (d_rinex_version == 2)
|
|
{
|
|
rp->rinex_nav_header(rp->navFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model);
|
|
rp->rinex_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, glonass_gnav_ephemeris_iter->second);
|
|
}
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 30: // Galileo E1B + GLONASS L2 C/A
|
|
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
|
|
{
|
|
std::string glo_signal("2G");
|
|
std::string gal_signal("1B");
|
|
rp->rinex_obs_header(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal, gal_signal);
|
|
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 31: // GPS L2C + GLONASS L2 C/A
|
|
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
|
|
{
|
|
std::string glo_signal("2G");
|
|
rp->rinex_obs_header(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, glo_signal);
|
|
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 32: // L1+E1+L5+E5a
|
|
if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and
|
|
(gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()) and
|
|
(galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
|
|
{
|
|
std::string gal_signal("1B 5X");
|
|
std::string gps_signal("1C L5");
|
|
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gps_signal, gal_signal);
|
|
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_written = true; // do not write header anymore
|
|
}
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
if (b_rinex_header_written) // The header is already written, we can now log the navigation message data
|
|
{
|
|
if (flag_write_RINEX_nav_output)
|
|
{
|
|
switch (type_of_rx)
|
|
{
|
|
case 1: // GPS L1 C/A only
|
|
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
|
|
break;
|
|
case 2: // GPS L2C only
|
|
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
|
|
break;
|
|
case 3: // GPS L5 only
|
|
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
|
|
break;
|
|
case 4:
|
|
case 5:
|
|
case 6:
|
|
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
|
|
break;
|
|
case 7: // GPS L1 C/A + GPS L2C
|
|
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map);
|
|
break;
|
|
case 8: // L1+L5
|
|
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
|
|
break;
|
|
case 9:
|
|
case 10:
|
|
case 11:
|
|
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
|
|
break;
|
|
case 13: // L5+E5a
|
|
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
|
|
break;
|
|
case 14:
|
|
case 15:
|
|
rp->log_rinex_nav(rp->navGalFile, d_pvt_solver->galileo_ephemeris_map);
|
|
break;
|
|
case 23:
|
|
case 24:
|
|
case 25:
|
|
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
|
|
break;
|
|
case 26: // GPS L1 C/A + GLONASS L1 C/A
|
|
if (d_rinex_version == 3)
|
|
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
|
if (d_rinex_version == 2)
|
|
{
|
|
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
|
|
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
|
|
}
|
|
break;
|
|
case 27: // Galileo E1B + GLONASS L1 C/A
|
|
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
|
break;
|
|
case 28: // GPS L2C + GLONASS L1 C/A
|
|
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
|
break;
|
|
case 29: // GPS L1 C/A + GLONASS L2 C/A
|
|
if (d_rinex_version == 3)
|
|
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
|
if (d_rinex_version == 2)
|
|
{
|
|
rp->log_rinex_nav(rp->navFile, d_pvt_solver->gps_ephemeris_map);
|
|
rp->log_rinex_nav(rp->navGloFile, d_pvt_solver->glonass_gnav_ephemeris_map);
|
|
}
|
|
break;
|
|
case 30: // Galileo E1B + GLONASS L2 C/A
|
|
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->galileo_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
|
break;
|
|
case 31: // GPS L2C + GLONASS L2 C/A
|
|
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_cnav_ephemeris_map, d_pvt_solver->glonass_gnav_ephemeris_map);
|
|
break;
|
|
case 32: // L1+E1+L5+E5a
|
|
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
galileo_ephemeris_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
gps_ephemeris_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
gps_cnav_ephemeris_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
|
|
glonass_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
|
|
|
|
// Log observables into the RINEX file
|
|
if (flag_write_RINEX_obs_output)
|
|
{
|
|
switch (type_of_rx)
|
|
{
|
|
case 1: // GPS L1 C/A only
|
|
if (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
|
|
rp->update_nav_header(rp->navFile, d_pvt_solver->gps_utc_model, d_pvt_solver->gps_iono);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 2: // GPS L2C only
|
|
if (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
|
|
rp->update_nav_header(rp->navFile, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->gps_cnav_iono);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 3: // GPS L5
|
|
if (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
|
|
rp->update_nav_header(rp->navFile, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->gps_cnav_iono);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 4: // Galileo E1B only
|
|
if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B");
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
|
|
{
|
|
rp->update_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 5: // Galileo E5a only
|
|
if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "5X");
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
|
|
{
|
|
rp->update_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 6: // Galileo E5b only
|
|
if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "7X");
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
|
|
{
|
|
rp->update_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 7: // GPS L1 C/A + GPS L2C
|
|
if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
|
|
rp->update_nav_header(rp->navFile, d_pvt_solver->gps_utc_model, d_pvt_solver->gps_iono);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 8: // L1+L5
|
|
if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and ((d_pvt_solver->gps_cnav_utc_model.d_A0 != 0) or (d_pvt_solver->gps_utc_model.d_A0 != 0)))
|
|
{
|
|
if (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0)
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
|
|
rp->update_nav_header(rp->navFile, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->gps_cnav_iono);
|
|
}
|
|
else
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
|
|
rp->update_nav_header(rp->navFile, d_pvt_solver->gps_utc_model, d_pvt_solver->gps_iono);
|
|
}
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 9: // GPS L1 C/A + Galileo E1B
|
|
if ((galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
|
|
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 13: // L5+E5a
|
|
if ((gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0) and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
|
|
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->gps_cnav_iono, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_updated = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 14: // Galileo E1B + Galileo E5a
|
|
if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 5X");
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
|
|
{
|
|
rp->update_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 15: // Galileo E1B + Galileo E5b
|
|
if (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1B 7X");
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
|
|
{
|
|
rp->update_nav_header(rp->navGalFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 23: // GLONASS L1 C/A only
|
|
if (glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C");
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->glonass_gnav_utc_model.d_tau_c != 0))
|
|
{
|
|
rp->update_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->glonass_gnav_utc_model);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 24: // GLONASS L2 C/A only
|
|
if (glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "2C");
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->glonass_gnav_utc_model.d_tau_c != 0))
|
|
{
|
|
rp->update_nav_header(rp->navGloFile, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->glonass_gnav_utc_model);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 25: // GLONASS L1 C/A + GLONASS L2 C/A
|
|
if (glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, "1C 2C");
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->glonass_gnav_utc_model.d_tau_c != 0))
|
|
{
|
|
rp->update_nav_header(rp->navMixFile, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->glonass_gnav_utc_model);
|
|
b_rinex_header_updated = true;
|
|
}
|
|
break;
|
|
case 26: // GPS L1 C/A + GLONASS L1 C/A
|
|
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
|
|
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
b_rinex_header_updated = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 27: // Galileo E1B + GLONASS L1 C/A
|
|
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
|
|
rp->update_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
b_rinex_header_updated = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 28: // GPS L2C + GLONASS L1 C/A
|
|
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
|
|
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
b_rinex_header_updated = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 29: // GPS L1 C/A + GLONASS L2 C/A
|
|
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()))
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
|
|
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
b_rinex_header_updated = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 30: // Galileo E1B + GLONASS L2 C/A
|
|
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, galileo_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->galileo_utc_model);
|
|
rp->update_nav_header(rp->navMixFile, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
b_rinex_header_updated = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 31: // GPS L2C + GLONASS L2 C/A
|
|
if ((glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_cnav_ephemeris_iter->second, glonass_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0))
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
|
|
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_iono, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->glonass_gnav_utc_model, d_pvt_solver->glonass_gnav_almanac);
|
|
b_rinex_header_updated = true; // do not write header anymore
|
|
}
|
|
break;
|
|
case 32: // L1+E1+L5+E5a
|
|
if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_ephemeris_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
|
|
{
|
|
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, gps_cnav_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
|
|
}
|
|
if (!b_rinex_header_updated and ((d_pvt_solver->gps_cnav_utc_model.d_A0 != 0) or (d_pvt_solver->gps_utc_model.d_A0 != 0)) and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
|
|
{
|
|
if (d_pvt_solver->gps_cnav_utc_model.d_A0 != 0)
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_cnav_utc_model);
|
|
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_cnav_utc_model, d_pvt_solver->gps_cnav_iono, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
}
|
|
else
|
|
{
|
|
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
|
|
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
|
|
}
|
|
b_rinex_header_updated = true; // do not write header anymore
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
// ####################### RTCM MESSAGES #################
|
|
try
|
|
{
|
|
if (b_rtcm_writing_started and b_rtcm_enabled)
|
|
{
|
|
switch (type_of_rx)
|
|
{
|
|
case 1: // GPS L1 C/A
|
|
if (flag_write_RTCM_1019_output == true)
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_MSM_output == true)
|
|
{
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
break;
|
|
case 4:
|
|
case 5:
|
|
case 6:
|
|
if (flag_write_RTCM_1045_output == true)
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_MSM_output == true)
|
|
{
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
break;
|
|
case 7: // GPS L1 C/A + GPS L2C
|
|
if (flag_write_RTCM_1019_output == true)
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_MSM_output == true)
|
|
{
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
|
|
if ((gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
break;
|
|
case 8: // L1+L5
|
|
if (flag_write_RTCM_1019_output == true)
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_MSM_output == true)
|
|
{
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
|
|
if ((gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
break;
|
|
case 9: // GPS L1 C/A + Galileo E1B
|
|
if (flag_write_RTCM_1019_output == true)
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_1045_output == true)
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_MSM_output == true)
|
|
{
|
|
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
int gps_channel = 0;
|
|
int gal_channel = 0;
|
|
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
|
{
|
|
std::string system(&gnss_observables_iter->second.System, 1);
|
|
if (gps_channel == 0)
|
|
{
|
|
if (system == "G")
|
|
{
|
|
// This is a channel with valid GPS signal
|
|
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
gps_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
if (gal_channel == 0)
|
|
{
|
|
if (system == "E")
|
|
{
|
|
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
gal_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
break;
|
|
case 13: // L5+E5a
|
|
if (flag_write_RTCM_1045_output == true)
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
|
|
if (flag_write_RTCM_MSM_output == true)
|
|
{
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
|
|
if (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
break;
|
|
case 14:
|
|
case 15:
|
|
if (flag_write_RTCM_1045_output == true)
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_MSM_output == true)
|
|
{
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
break;
|
|
case 23:
|
|
case 24:
|
|
case 25:
|
|
if (flag_write_RTCM_1020_output == true)
|
|
{
|
|
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_MSM_output == true)
|
|
{
|
|
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
|
|
if (glo_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
case 26: // GPS L1 C/A + GLONASS L1 C/A
|
|
if (flag_write_RTCM_1019_output == true)
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_1020_output == true)
|
|
{
|
|
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_ephemeris_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_ephemeris_iter->second, d_pvt_solver->glonass_gnav_utc_model);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_MSM_output == true)
|
|
{
|
|
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
|
|
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
int gps_channel = 0;
|
|
int glo_channel = 0;
|
|
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
|
{
|
|
std::string system(&gnss_observables_iter->second.System, 1);
|
|
if (gps_channel == 0)
|
|
{
|
|
if (system == "G")
|
|
{
|
|
// This is a channel with valid GPS signal
|
|
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
gps_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
if (glo_channel == 0)
|
|
{
|
|
if (system == "R")
|
|
{
|
|
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
glo_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
break;
|
|
case 27: // GLONASS L1 C/A + Galileo E1B
|
|
if (flag_write_RTCM_1020_output == true)
|
|
{
|
|
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_1045_output == true)
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_MSM_output == true)
|
|
{
|
|
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
|
|
int gal_channel = 0;
|
|
int glo_channel = 0;
|
|
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
|
{
|
|
std::string system(&gnss_observables_iter->second.System, 1);
|
|
if (gal_channel == 0)
|
|
{
|
|
if (system == "E")
|
|
{
|
|
// This is a channel with valid GPS signal
|
|
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
gal_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
if (glo_channel == 0)
|
|
{
|
|
if (system == "R")
|
|
{
|
|
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
glo_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
break;
|
|
case 29: // GPS L1 C/A + GLONASS L2 C/A
|
|
if (flag_write_RTCM_1019_output == true)
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_1020_output == true)
|
|
{
|
|
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_MSM_output == true)
|
|
{
|
|
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
|
|
int gps_channel = 0;
|
|
int glo_channel = 0;
|
|
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
|
{
|
|
std::string system(&gnss_observables_iter->second.System, 1);
|
|
if (gps_channel == 0)
|
|
{
|
|
if (system == "G")
|
|
{
|
|
// This is a channel with valid GPS signal
|
|
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
gps_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
if (glo_channel == 0)
|
|
{
|
|
if (system == "R")
|
|
{
|
|
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
glo_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
break;
|
|
case 30: // GLONASS L2 C/A + Galileo E1B
|
|
if (flag_write_RTCM_1020_output == true)
|
|
{
|
|
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_1045_output == true)
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_MSM_output == true)
|
|
{
|
|
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
|
|
int gal_channel = 0;
|
|
int glo_channel = 0;
|
|
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
|
{
|
|
std::string system(&gnss_observables_iter->second.System, 1);
|
|
if (gal_channel == 0)
|
|
{
|
|
if (system == "E")
|
|
{
|
|
// This is a channel with valid GPS signal
|
|
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
gal_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
if (glo_channel == 0)
|
|
{
|
|
if (system == "R")
|
|
{
|
|
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
glo_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
break;
|
|
case 32: // L1+E1+L5+E5a
|
|
if (flag_write_RTCM_1019_output == true)
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_1045_output == true)
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
if (flag_write_RTCM_MSM_output == true)
|
|
{
|
|
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
int gal_channel = 0;
|
|
int gps_channel = 0;
|
|
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
|
{
|
|
std::string system(&gnss_observables_iter->second.System, 1);
|
|
if (gal_channel == 0)
|
|
{
|
|
if (system == "E")
|
|
{
|
|
// This is a channel with valid GPS signal
|
|
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
gal_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
if (gps_channel == 0)
|
|
{
|
|
if (system == "G")
|
|
{
|
|
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
gps_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
|
|
if (!b_rtcm_writing_started and b_rtcm_enabled) // the first time
|
|
{
|
|
switch (type_of_rx)
|
|
{
|
|
case 1: // GPS L1 C/A
|
|
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MSM_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
case 4:
|
|
case 5:
|
|
case 6:
|
|
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MSM_rate_ms != 0)
|
|
{
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
case 7: // GPS L1 C/A + GPS L2C
|
|
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MSM_rate_ms != 0)
|
|
{
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
|
|
if ((gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
case 8: // L1+L5
|
|
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MSM_rate_ms != 0)
|
|
{
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
|
|
if ((gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend()))
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
case 9: // GPS L1 C/A + Galileo E1B
|
|
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MT1045_rate_ms != 0)
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MSM_rate_ms != 0)
|
|
{
|
|
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
int gps_channel = 0;
|
|
int gal_channel = 0;
|
|
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
|
{
|
|
std::string system(&gnss_observables_iter->second.System, 1);
|
|
if (gps_channel == 0)
|
|
{
|
|
if (system == "G")
|
|
{
|
|
// This is a channel with valid GPS signal
|
|
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
gps_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
if (gal_channel == 0)
|
|
{
|
|
if (system == "E")
|
|
{
|
|
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
gal_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
|
|
case 13: // L5+E5a
|
|
if (d_rtcm_MT1045_rate_ms != 0)
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MSM_rate_ms != 0)
|
|
{
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend() and (d_rtcm_MT1097_rate_ms != 0))
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
case 14:
|
|
case 15:
|
|
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MSM_rate_ms != 0)
|
|
{
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
case 23:
|
|
case 24:
|
|
case 25:
|
|
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
|
|
}
|
|
}
|
|
if (d_rtcm_MSM_rate_ms != 0)
|
|
{
|
|
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glo_gnav_ephemeris_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
|
|
if (glo_gnav_ephemeris_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glo_gnav_ephemeris_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
case 26: // GPS L1 C/A + GLONASS L1 C/A
|
|
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
|
|
}
|
|
}
|
|
if (d_rtcm_MSM_rate_ms != 0)
|
|
{
|
|
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
|
|
int gps_channel = 0;
|
|
int glo_channel = 0;
|
|
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
|
{
|
|
std::string system(&gnss_observables_iter->second.System, 1);
|
|
if (gps_channel == 0)
|
|
{
|
|
if (system == "G")
|
|
{
|
|
// This is a channel with valid GPS signal
|
|
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
gps_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
if (glo_channel == 0)
|
|
{
|
|
if (system == "R")
|
|
{
|
|
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
glo_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
case 27: // GLONASS L1 C/A + Galileo E1B
|
|
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
|
|
}
|
|
}
|
|
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MSM_rate_ms != 0)
|
|
{
|
|
int gal_channel = 0;
|
|
int glo_channel = 0;
|
|
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
|
|
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
|
{
|
|
std::string system(&gnss_observables_iter->second.System, 1);
|
|
if (gal_channel == 0)
|
|
{
|
|
if (system == "E")
|
|
{
|
|
// This is a channel with valid GPS signal
|
|
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
gal_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
if (glo_channel == 0)
|
|
{
|
|
if (system == "R")
|
|
{
|
|
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
glo_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
case 29: // GPS L1 C/A + GLONASS L2 C/A
|
|
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
|
|
}
|
|
}
|
|
if (d_rtcm_MSM_rate_ms != 0)
|
|
{
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
|
|
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
|
|
int gps_channel = 0;
|
|
int glo_channel = 0;
|
|
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
|
{
|
|
std::string system(&gnss_observables_iter->second.System, 1);
|
|
if (gps_channel == 0)
|
|
{
|
|
if (system == "G")
|
|
{
|
|
// This is a channel with valid GPS signal
|
|
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
gps_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
if (glo_channel == 0)
|
|
{
|
|
if (system == "R")
|
|
{
|
|
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
glo_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
case 30: // GLONASS L2 C/A + Galileo E1B
|
|
if (d_rtcm_MT1020_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin(); glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend(); glonass_gnav_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1020(glonass_gnav_eph_iter->second, d_pvt_solver->glonass_gnav_utc_model);
|
|
}
|
|
}
|
|
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MSM_rate_ms != 0)
|
|
{
|
|
int gal_channel = 0;
|
|
int glo_channel = 0;
|
|
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.cbegin();
|
|
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
|
{
|
|
std::string system(&gnss_observables_iter->second.System, 1);
|
|
if (gal_channel == 0)
|
|
{
|
|
if (system == "E")
|
|
{
|
|
// This is a channel with valid GPS signal
|
|
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
gal_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
if (glo_channel == 0)
|
|
{
|
|
if (system == "R")
|
|
{
|
|
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
glo_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, {}, glonass_gnav_eph_iter->second, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
case 32: // L1+E1+L5+E5a
|
|
if (d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin(); gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend(); gps_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1019(gps_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MT1045_rate_ms != 0) // allows deactivating messages by setting rate = 0
|
|
{
|
|
for (std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin(); gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend(); gal_eph_iter++)
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MT1045(gal_eph_iter->second);
|
|
}
|
|
}
|
|
if (d_rtcm_MSM_rate_ms != 0)
|
|
{
|
|
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
|
|
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
|
|
std::map<int, Gps_Ephemeris>::const_iterator gps_eph_iter = d_pvt_solver->gps_ephemeris_map.cbegin();
|
|
int gps_channel = 0;
|
|
int gal_channel = 0;
|
|
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
|
|
{
|
|
std::string system(&gnss_observables_iter->second.System, 1);
|
|
if (gps_channel == 0)
|
|
{
|
|
if (system == "G")
|
|
{
|
|
// This is a channel with valid GPS signal
|
|
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
gps_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
if (gal_channel == 0)
|
|
{
|
|
if (system == "E")
|
|
{
|
|
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
gal_channel = 1;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, gps_eph_iter->second, {}, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
|
|
{
|
|
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
|
|
}
|
|
}
|
|
b_rtcm_writing_started = true;
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
catch (const boost::exception& ex)
|
|
{
|
|
std::cout << "RTCM boost exception: " << boost::diagnostic_information(ex) << std::endl;
|
|
LOG(ERROR) << "RTCM boost exception: " << boost::diagnostic_information(ex);
|
|
}
|
|
catch (const std::exception& ex)
|
|
{
|
|
std::cout << "RTCM std exception: " << ex.what() << std::endl;
|
|
LOG(ERROR) << "RTCM std exception: " << ex.what();
|
|
}
|
|
}
|
|
}
|
|
|
|
// DEBUG MESSAGE: Display position in console output
|
|
if (d_pvt_solver->is_valid_position() and flag_display_pvt)
|
|
{
|
|
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 " << d_pvt_solver->get_position_UTC_time()
|
|
<< " UTC using " << d_pvt_solver->get_num_valid_observations()
|
|
<< std::fixed << std::setprecision(9)
|
|
<< " observations is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
|
|
<< std::fixed << std::setprecision(3)
|
|
<< " [deg], Height = " << d_pvt_solver->get_height() << " [m]" << TEXT_RESET << std::endl;
|
|
std::cout << std::setprecision(ss);
|
|
DLOG(INFO) << "RX clock offset: " << d_pvt_solver->get_time_offset_s() << "[s]";
|
|
|
|
// boost::posix_time::ptime p_time;
|
|
// gtime_t rtklib_utc_time = gpst2time(adjgpsweek(d_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 << std::endl;
|
|
|
|
DLOG(INFO) << "Position at " << boost::posix_time::to_simple_string(d_pvt_solver->get_position_UTC_time())
|
|
<< " UTC using " << d_pvt_solver->get_num_valid_observations() << " observations is Lat = " << d_pvt_solver->get_latitude() << " [deg], Long = " << d_pvt_solver->get_longitude()
|
|
<< " [deg], Height = " << d_pvt_solver->get_height() << " [m]";
|
|
|
|
/* std::cout << "Dilution of Precision at " << boost::posix_time::to_simple_string(d_pvt_solver->get_position_UTC_time())
|
|
<< " UTC using "<< d_pvt_solver->get_num_valid_observations() <<" observations is HDOP = " << d_pvt_solver->get_hdop() << " VDOP = "
|
|
<< d_pvt_solver->get_vdop()
|
|
<< " GDOP = " << d_pvt_solver->get_gdop() << std::endl; */
|
|
}
|
|
}
|
|
}
|
|
|
|
return noutput_items;
|
|
}
|