mirror of https://github.com/gnss-sdr/gnss-sdr
195 lines
6.2 KiB
C++
195 lines
6.2 KiB
C++
/*!
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* \file rtklib_pvt_cc.h
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* \brief Interface of a Position Velocity and Time computation block
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* \author Javier Arribas, 2017. jarribas(at)cttc.es
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*
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* -------------------------------------------------------------------------
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*
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* Copyright (C) 2010-2018 (see AUTHORS file for a list of contributors)
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*
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* GNSS-SDR is a software defined Global Navigation
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* Satellite Systems receiver
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*
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* This file is part of GNSS-SDR.
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*
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* GNSS-SDR is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* GNSS-SDR is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with GNSS-SDR. If not, see <https://www.gnu.org/licenses/>.
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*
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* -------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_RTKLIB_PVT_CC_H
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#define GNSS_SDR_RTKLIB_PVT_CC_H
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#include "geojson_printer.h"
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#include "gps_ephemeris.h"
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#include "gpx_printer.h"
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#include "kml_printer.h"
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#include "monitor_pvt_udp_sink.h"
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#include "nmea_printer.h"
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#include "pvt_conf.h"
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#include "rinex_printer.h"
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#include "rtcm_printer.h"
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#include "rtklib_solver.h"
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#include <boost/date_time/gregorian/gregorian.hpp>
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <gnuradio/sync_block.h>
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#include <chrono>
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#include <cstdint>
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#include <fstream>
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#include <string>
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#include <sys/ipc.h>
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#include <sys/msg.h>
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#include <sys/types.h>
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#include <utility>
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class rtklib_pvt_cc;
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using rtklib_pvt_cc_sptr = boost::shared_ptr<rtklib_pvt_cc>;
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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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* \brief This class implements a block that computes the PVT solution using the RTKLIB integrated library
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*/
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class rtklib_pvt_cc : public gr::sync_block
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{
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private:
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friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
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const Pvt_Conf& conf_,
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const rtk_t& rtk);
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void msg_handler_telemetry(const pmt::pmt_t& msg);
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bool d_dump;
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bool d_dump_mat;
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bool b_rinex_output_enabled;
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bool b_rinex_header_written;
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bool b_rinex_header_updated;
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double d_rinex_version;
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int32_t d_rinexobs_rate_ms;
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int32_t d_rinexnav_rate_ms;
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bool b_rtcm_writing_started;
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bool b_rtcm_enabled;
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int32_t d_rtcm_MT1045_rate_ms; // Galileo Broadcast Ephemeris
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int32_t d_rtcm_MT1019_rate_ms; // GPS Broadcast Ephemeris (orbits)
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int32_t d_rtcm_MT1020_rate_ms; // GLONASS Broadcast Ephemeris (orbits)
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int32_t d_rtcm_MT1077_rate_ms; // The type 7 Multiple Signal Message format for the USA’s GPS system, popular
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int32_t d_rtcm_MT1087_rate_ms; // GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
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int32_t d_rtcm_MT1097_rate_ms; // Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
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int32_t d_rtcm_MSM_rate_ms;
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int32_t d_last_status_print_seg; // for status printer
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uint32_t d_nchannels;
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std::string d_dump_filename;
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int32_t d_output_rate_ms;
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int32_t d_display_rate_ms;
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std::shared_ptr<Rinex_Printer> rp;
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std::shared_ptr<Kml_Printer> d_kml_dump;
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std::shared_ptr<Gpx_Printer> d_gpx_dump;
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std::shared_ptr<Nmea_Printer> d_nmea_printer;
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std::shared_ptr<GeoJSON_Printer> d_geojson_printer;
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std::shared_ptr<Rtcm_Printer> d_rtcm_printer;
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double d_rx_time;
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bool d_geojson_output_enabled;
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bool d_gpx_output_enabled;
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bool d_kml_output_enabled;
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bool d_nmea_output_file_enabled;
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std::shared_ptr<Rtklib_Solver> d_pvt_solver;
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std::map<int, Gnss_Synchro> gnss_observables_map;
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bool observables_pairCompare_min(const std::pair<int, Gnss_Synchro>& a, const std::pair<int, Gnss_Synchro>& b);
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uint32_t type_of_rx;
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bool first_fix;
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key_t sysv_msg_key;
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int sysv_msqid;
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typedef struct
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{
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long mtype; //required by sys v message
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double ttff;
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} ttff_msgbuf;
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bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
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std::chrono::time_point<std::chrono::system_clock> start, end;
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bool save_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
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bool load_gnss_synchro_map_xml(const std::string& file_name); // debug helper function
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bool d_xml_storage;
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std::string xml_base_path;
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inline std::time_t convert_to_time_t(const boost::posix_time::ptime pt) const
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{
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return (pt - boost::posix_time::ptime(boost::gregorian::date(1970, 1, 1))).total_seconds();
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}
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bool flag_monitor_pvt_enabled;
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std::unique_ptr<Monitor_Pvt_Udp_Sink> udp_sink_ptr;
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std::vector<std::string> split_string(const std::string& s, char delim);
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public:
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rtklib_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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~rtklib_pvt_cc(); //!< Default destructor
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/*!
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* \brief Get latest set of GPS ephemeris from PVT block
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*
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*/
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std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;
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std::map<int, Gps_Almanac> get_gps_almanac_map() const;
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std::map<int, Galileo_Ephemeris> get_galileo_ephemeris_map() const;
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std::map<int, Galileo_Almanac> get_galileo_almanac_map() const;
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std::map<int, Beidou_Dnav_Ephemeris> get_beidou_dnav_ephemeris_map() const;
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std::map<int, Beidou_Dnav_Almanac> get_beidou_dnav_almanac_map() const;
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/*!
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* \brief Clear all ephemeris information and the almanacs for GPS and Galileo
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*
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*/
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void clear_ephemeris();
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/*!
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* \brief Get the latest Position WGS84 [deg], Ground Velocity, Course over Ground, and UTC Time, if available
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*/
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bool get_latest_PVT(double* longitude_deg,
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double* latitude_deg,
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double* height_m,
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double* ground_speed_kmh,
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double* course_over_ground_deg,
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time_t* UTC_time) const;
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int work(int noutput_items, gr_vector_const_void_star& input_items,
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gr_vector_void_star& output_items); //!< PVT Signal Processing
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};
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#endif
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