mirror of https://github.com/gnss-sdr/gnss-sdr
287 lines
9.6 KiB
C++
287 lines
9.6 KiB
C++
/*!
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* \file rtklib_pvt_gs.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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* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
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* This file is part of GNSS-SDR.
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*
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* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
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* SPDX-License-Identifier: GPL-3.0-or-later
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*
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* -----------------------------------------------------------------------------
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*/
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#ifndef GNSS_SDR_RTKLIB_PVT_GS_H
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#define GNSS_SDR_RTKLIB_PVT_GS_H
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#include "gnss_block_interface.h"
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#include "gnss_synchro.h"
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#include "gnss_time.h"
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#include "rtklib.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> // for sync_block
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#include <gnuradio/types.h> // for gr_vector_const_void_star
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#include <pmt/pmt.h> // for pmt_t
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#include <chrono> // for system_clock
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#include <cstddef> // for size_t
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#include <cstdint> // for int32_t
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#include <ctime> // for time_t
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#include <fstream> // for std::fstream
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#include <map> // for map
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#include <memory> // for shared_ptr, unique_ptr
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#include <queue> // for std::queue
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#include <string> // for string
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#include <sys/types.h> // for key_t
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#include <vector> // for vector
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/** \addtogroup PVT
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* \{ */
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/** \addtogroup PVT_gnuradio_blocks pvt_gr_blocks
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* GNU Radio blocks for the computation of PVT solutions.
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* \{ */
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class Beidou_Dnav_Almanac;
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class Beidou_Dnav_Ephemeris;
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class Galileo_Almanac;
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class Galileo_Ephemeris;
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class Galileo_HAS_data;
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class Geohash;
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class GeoJSON_Printer;
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class Gps_Almanac;
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class Gps_Ephemeris;
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class Gpx_Printer;
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class Kml_Printer;
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class Monitor_Pvt_Udp_Sink;
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class Monitor_Ephemeris_Udp_Sink;
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class Nmea_Printer;
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class Pvt_Conf;
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class Rinex_Printer;
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class Rtcm_Printer;
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class An_Packet_Printer;
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class Has_Simple_Printer;
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class Rtklib_Solver;
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class rtklib_pvt_gs;
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using rtklib_pvt_gs_sptr = gnss_shared_ptr<rtklib_pvt_gs>;
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rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
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const Pvt_Conf& conf_,
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const rtk_t& rtk);
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/*!
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* \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_gs : public gr::sync_block
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{
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public:
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~rtklib_pvt_gs(); //!< 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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std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;
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/*!
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* \brief Get latest set of GPS almanac from PVT block
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*/
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std::map<int, Gps_Almanac> get_gps_almanac_map() const;
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/*!
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* \brief Get latest set of Galileo ephemeris from PVT block
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*/
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std::map<int, Galileo_Ephemeris> get_galileo_ephemeris_map() const;
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/*!
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* \brief Get latest set of Galileo almanac from PVT block
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*/
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std::map<int, Galileo_Almanac> get_galileo_almanac_map() const;
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/*!
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* \brief Get latest set of BeiDou DNAV ephemeris from PVT block
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*/
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std::map<int, Beidou_Dnav_Ephemeris> get_beidou_dnav_ephemeris_map() const;
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/*!
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* \brief Get latest set of BeiDou DNAV almanac from PVT block
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*/
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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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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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private:
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friend rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
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const Pvt_Conf& conf_,
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const rtk_t& rtk);
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rtklib_pvt_gs(uint32_t nchannels,
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const Pvt_Conf& conf_,
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const rtk_t& rtk);
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void log_source_timetag_info(double RX_time_ns, double TAG_time_ns);
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void msg_handler_telemetry(const pmt::pmt_t& msg);
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void msg_handler_has_data(const pmt::pmt_t& msg);
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void initialize_and_apply_carrier_phase_offset();
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void apply_rx_clock_offset(std::map<int, Gnss_Synchro>& observables_map,
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double rx_clock_offset_s);
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void update_HAS_corrections();
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std::map<int, Gnss_Synchro> interpolate_observables(const std::map<int, Gnss_Synchro>& observables_map_t0,
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const std::map<int, Gnss_Synchro>& observables_map_t1,
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double rx_time_s);
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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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std::vector<std::string> split_string(const std::string& s, char delim) const;
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typedef struct
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{
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long mtype; // NOLINT(google-runtime-int)
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double ttff;
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} d_ttff_msgbuf;
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bool send_sys_v_ttff_msg(d_ttff_msgbuf ttff) const;
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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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std::fstream d_log_timetag_file;
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std::shared_ptr<Rtklib_Solver> d_internal_pvt_solver;
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std::shared_ptr<Rtklib_Solver> d_user_pvt_solver;
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std::unique_ptr<Rinex_Printer> d_rp;
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std::unique_ptr<Kml_Printer> d_kml_dump;
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std::unique_ptr<Gpx_Printer> d_gpx_dump;
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std::unique_ptr<Nmea_Printer> d_nmea_printer;
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std::unique_ptr<GeoJSON_Printer> d_geojson_printer;
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std::unique_ptr<Rtcm_Printer> d_rtcm_printer;
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std::unique_ptr<Monitor_Pvt_Udp_Sink> d_udp_sink_ptr;
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std::unique_ptr<Monitor_Ephemeris_Udp_Sink> d_eph_udp_sink_ptr;
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std::unique_ptr<Has_Simple_Printer> d_has_simple_printer;
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std::unique_ptr<An_Packet_Printer> d_an_printer;
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std::chrono::time_point<std::chrono::system_clock> d_start;
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std::chrono::time_point<std::chrono::system_clock> d_end;
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std::string d_dump_filename;
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std::string d_xml_base_path;
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std::string d_local_time_str;
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std::vector<bool> d_channel_initialized;
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std::vector<double> d_initial_carrier_phase_offset_estimation_rads;
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std::map<int, Gnss_Synchro> d_gnss_observables_map;
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std::map<int, Gnss_Synchro> d_gnss_observables_map_t0;
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std::map<int, Gnss_Synchro> d_gnss_observables_map_t1;
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std::queue<GnssTime> d_TimeChannelTagTimestamps;
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boost::posix_time::time_duration d_utc_diff_time;
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std::unique_ptr<Geohash> d_geohash;
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size_t d_gps_ephemeris_sptr_type_hash_code;
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size_t d_gps_iono_sptr_type_hash_code;
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size_t d_gps_utc_model_sptr_type_hash_code;
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size_t d_gps_cnav_ephemeris_sptr_type_hash_code;
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size_t d_gps_cnav_iono_sptr_type_hash_code;
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size_t d_gps_cnav_utc_model_sptr_type_hash_code;
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size_t d_gps_almanac_sptr_type_hash_code;
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size_t d_galileo_ephemeris_sptr_type_hash_code;
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size_t d_galileo_iono_sptr_type_hash_code;
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size_t d_galileo_utc_model_sptr_type_hash_code;
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size_t d_galileo_almanac_helper_sptr_type_hash_code;
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size_t d_galileo_almanac_sptr_type_hash_code;
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size_t d_glonass_gnav_ephemeris_sptr_type_hash_code;
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size_t d_glonass_gnav_utc_model_sptr_type_hash_code;
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size_t d_glonass_gnav_almanac_sptr_type_hash_code;
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size_t d_beidou_dnav_ephemeris_sptr_type_hash_code;
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size_t d_beidou_dnav_iono_sptr_type_hash_code;
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size_t d_beidou_dnav_utc_model_sptr_type_hash_code;
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size_t d_beidou_dnav_almanac_sptr_type_hash_code;
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size_t d_galileo_has_data_sptr_type_hash_code;
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double d_rinex_version;
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double d_rx_time;
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uint64_t d_local_counter_ms;
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uint64_t d_timestamp_rx_clock_offset_correction_msg_ms;
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key_t d_sysv_msg_key;
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int d_sysv_msqid;
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int32_t d_rinexobs_rate_ms;
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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_kml_rate_ms;
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int32_t d_gpx_rate_ms;
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int32_t d_geojson_rate_ms;
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int32_t d_nmea_rate_ms;
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int32_t d_an_rate_ms;
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int32_t d_output_rate_ms;
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int32_t d_display_rate_ms;
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int32_t d_report_rate_ms;
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int32_t d_max_obs_block_rx_clock_offset_ms;
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uint32_t d_nchannels;
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uint32_t d_type_of_rx;
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uint32_t d_observable_interval_ms;
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uint32_t d_pvt_errors_counter;
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bool d_dump;
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bool d_dump_mat;
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bool d_rinex_output_enabled;
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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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bool d_rtcm_enabled;
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bool d_first_fix;
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bool d_xml_storage;
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bool d_flag_monitor_pvt_enabled;
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bool d_flag_monitor_ephemeris_enabled;
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bool d_show_local_time_zone;
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bool d_enable_rx_clock_correction;
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bool d_enable_has_messages;
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bool d_an_printer_enabled;
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bool d_log_timetag;
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bool d_use_has_corrections;
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bool d_use_unhealthy_sats;
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};
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/** \} */
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/** \} */
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#endif // GNSS_SDR_RTKLIB_PVT_GS_H
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