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gnss-sdr/src/algorithms/PVT/libs/rinex_printer.h

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/*!
* \file rinex_printer.h
* \brief Interface of a RINEX 2.11 / 3.01 printer
* See ftp://igs.org/pub/data/format/rinex301.pdf
*
* Receiver Independent EXchange Format (RINEX):
* The first proposal for the Receiver Independent Exchange Format RINEX
* was developed by the Astronomical Institute of the University of Berne
* for the easy exchange of the GPS data to be collected during the large
* European GPS campaign EUREF 89, which involved more than 60 GPS receivers
* of 4 different manufacturers.
* The governing aspect during the development was the fact that most geodetic
* processing software for GPS data use a well-defined set of observables:
* 1) The carrier-phase measurement at one or both carriers (actually being a
* measurement on the beat frequency between the received carrier of the
* satellite signal and a receiver-generated reference frequency).
* 2) The pseudorange (code) measurement , equivalent to the difference
* of the time of reception (expressed in the time frame of the receiver)
* and the time of transmission (expressed in the time frame of the satellite)
* of a distinct satellite signal.
* 3) The observation time being the reading of the receiver clock at the
* instant of validity of the carrier-phase and/or the code measurements.
* Note: A collection of the formats currently used by the IGS can be found
* here: https://kb.igs.org/hc/en-us/articles/201096516-IGS-Formats
* \author Carles Fernandez Prades, 2011. cfernandez(at)cttc.es
*
* -----------------------------------------------------------------------------
*
* GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
* This file is part of GNSS-SDR.
*
* Copyright (C) 2010-2020 (see AUTHORS file for a list of contributors)
* SPDX-License-Identifier: GPL-3.0-or-later
*
* -----------------------------------------------------------------------------
*/
#ifndef GNSS_SDR_RINEX_PRINTER_H
#define GNSS_SDR_RINEX_PRINTER_H
#include <boost/date_time/posix_time/posix_time.hpp>
#include <cstdint> // for int32_t
#include <cstdlib> // for strtol, strtod
#include <fstream> // for fstream
#include <iomanip> // for setprecision
#include <map> // for map
#include <sstream> // for stringstream
#include <string> // for string
#include <vector>
/** \addtogroup PVT
* \{ */
/** \addtogroup PVT_libs
* \{ */
class Beidou_Dnav_Ephemeris;
class Beidou_Dnav_Iono;
class Beidou_Dnav_Utc_Model;
class Galileo_Ephemeris;
class Galileo_Iono;
class Galileo_Utc_Model;
class Glonass_Gnav_Almanac;
class Glonass_Gnav_Ephemeris;
class Glonass_Gnav_Utc_Model;
class Gnss_Synchro;
class Gps_CNAV_Ephemeris;
class Gps_CNAV_Iono;
class Gps_CNAV_Utc_Model;
class Gps_Ephemeris;
class Gps_Iono;
class Gps_Navigation_Message;
class Gps_Utc_Model;
class Rtklib_Solver;
/*!
* \brief Class that handles the generation of Receiver
* INdependent EXchange format (RINEX) files
*/
class Rinex_Printer
{
public:
/*!
* \brief Constructor. Creates GNSS Navigation and Observables RINEX files.
*/
explicit Rinex_Printer(int version = 0,
const std::string& base_path = ".",
const std::string& base_name = "-");
/*!
* \brief Destructor. Removes created files if empty.
*/
~Rinex_Printer();
/*!
* \brief Print RINEX annotation. If it is the first annotation, it also
* prints the RINEX headers for navigation and observation files. If it is
* not the first annotation, it only annotates the observation, and updates
* the navigation header if UTC data was not available when writting it for
* the first time. The meaning of type_of_rx is as follows:
*
* type_of_rx | Signals
* ------------- | -------------
* 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 E5a + GPS L5
* 14 | Galileo E1B + Galileo E5a
* 15 | Galileo E1B + Galileo E5b
* 16 | GPS L2C + GPS L5
* 17 | GPS L2C + 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
* 33 | GPS L1 C/A + Galileo E1B + Galileo E5a
* 100 | Galileo E6B
* 101 | Galileo E1B + Galileo E6B
* 102 | Galileo E5a + Galileo E6B
* 103 | Galileo E5b + Galileo E6B
* 104 | Galileo E1B + Galileo E5a + Galileo E6B
* 105 | Galileo E1B + Galileo E5b + Galileo E6B
* 106 | GPS L1 C/A + Galileo E1B + Galileo E6B
* 500 | BeiDou B1I
* 501 | BeiDou B1I + GPS L1 C/A
* 502 | BeiDou B1I + Galileo E1B
* 503 | BeiDou B1I + GLONASS L1 C/A
* 504 | BeiDou B1I + GPS L1 C/A + Galileo E1B
* 505 | BeiDou B1I + GPS L1 C/A + GLONASS L1 C/A + Galileo E1B
* 506 | BeiDou B1I + Beidou B3I
* 600 | BeiDou B3I
* 601 | BeiDou B3I + GPS L2C
* 602 | BeiDou B3I + GLONASS L2 C/A
* 603 | BeiDou B3I + GPS L2C + GLONASS L2 C/A
* 604 | BeiDou B3I + GPS L1 C/A
* 605 | BeiDou B3I + Galileo E1B
* 606 | BeiDou B3I + GLONASS L1 C/A
* 607 | BeiDou B3I + GPS L1 C/A + Galileo E1B
* 608 | BeiDou B3I + GPS L1 C/A + Galileo E1B + BeiDou B1I
* 609 | BeiDou B3I + GPS L1 C/A + Galileo E1B + GLONASS L1 C/A
* 610 | BeiDou B3I + GPS L1 C/A + Galileo E1B + GLONASS L1 C/A + BeiDou B1I
* 1000 | GPS L1 C/A + GPS L2C + GPS L5
* 1001 | GPS L1 C/A + Galileo E1B + GPS L2C + GPS L5 + Galileo E5a
*
*/
void print_rinex_annotation(const Rtklib_Solver* pvt_solver,
const std::map<int, Gnss_Synchro>& gnss_observables_map,
double rx_time,
int type_of_rx,
bool flag_write_RINEX_obs_output);
/*!
* \brief Print RINEX annotation for GPS NAV message
*/
void log_rinex_nav_gps_nav(int type_of_rx,
const std::map<int32_t, Gps_Ephemeris>& new_eph);
/*!
* \brief Print RINEX annotation for GPS CNAV message
*/
void log_rinex_nav_gps_cnav(int type_of_rx,
const std::map<int32_t, Gps_CNAV_Ephemeris>& new_cnav_eph);
/*!
* \brief Print RINEX annotation for Galileo NAV message
*/
void log_rinex_nav_gal_nav(int type_of_rx,
const std::map<int32_t, Galileo_Ephemeris>& new_gal_eph);
/*!
* \brief Print RINEX annotation for Glonass GNAV message
*/
void log_rinex_nav_glo_gnav(int type_of_rx,
const std::map<int32_t, Glonass_Gnav_Ephemeris>& new_glo_eph);
/*!
* \brief Print RINEX annotation for BeiDou DNAV message
*/
void log_rinex_nav_bds_dnav(int type_of_rx,
const std::map<int32_t, Beidou_Dnav_Ephemeris>& new_bds_eph);
/*!
* \brief Set processing for signals older than 2009
*/
void set_pre_2009_file(bool pre_2009_file);
/*!
* \brief Returns true is the RINEX file headers are already written
*/
inline bool is_rinex_header_written() const
{
return d_rinex_header_written;
}
/*!
* \brief Returns name of RINEX navigation file(s)
*/
inline std::vector<std::string> get_navfilename() const
{
return output_navfilename;
}
/*!
* \brief Returns name of RINEX observation file
*/
inline std::string get_obsfilename() const
{
return obsfilename;
}
private:
/*
* Generates the GPS Observation data header
*/
void rinex_obs_header(std::fstream& out,
const Gps_Ephemeris& eph,
double d_TOW_first_observation);
/*
* Generates the GPS L2 Observation data header
*/
void rinex_obs_header(std::fstream& out,
const Gps_CNAV_Ephemeris& eph,
double d_TOW_first_observation,
const std::string& gps_bands = "2S");
/*
* Generates the dual frequency GPS L1 & L2/L5 Observation data header
*/
void rinex_obs_header(std::fstream& out,
const Gps_Ephemeris& eph,
const Gps_CNAV_Ephemeris& eph_cnav,
double d_TOW_first_observation,
const std::string& gps_bands = "1C 2S");
/*
* Generates the Galileo Observation data header.
* Example: bands("1B"), bands("1B 5X"), bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream& out,
const Galileo_Ephemeris& eph,
double d_TOW_first_observation,
const std::string& bands = "1B");
/*
* Generates the Mixed (GPS/Galileo) Observation data header.
* Example: galileo_bands("1B"), galileo_bands("1B 5X"),
* galileo_bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream& out,
const Gps_Ephemeris& gps_eph,
const Galileo_Ephemeris& galileo_eph,
double d_TOW_first_observation,
const std::string& galileo_bands = "1B");
/*
* Generates the Mixed (GPS/Galileo) Observation data header.
* Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream& out,
const Gps_Ephemeris& gps_eph,
const Gps_CNAV_Ephemeris& eph_cnav,
const Galileo_Ephemeris& galileo_eph,
double d_TOW_first_observation,
const std::string& gps_bands = "1C 2S",
const std::string& galileo_bands = "1B");
/*
* Generates the Mixed (GPS/Galileo) Observation data header.
* Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream& out,
const Gps_CNAV_Ephemeris& eph_cnav,
const Galileo_Ephemeris& galileo_eph,
double d_TOW_first_observation,
const std::string& gps_bands = "2S",
const std::string& galileo_bands = "1B");
/*
* Generates the GLONASS GNAV Observation data header.
* Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C".
*/
void rinex_obs_header(std::fstream& out,
const Glonass_Gnav_Ephemeris& eph,
double d_TOW_first_observation,
const std::string& bands = "1G");
/*
* Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header.
* Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream& out,
const Gps_Ephemeris& gps_eph,
const Glonass_Gnav_Ephemeris& glonass_gnav_eph,
double d_TOW_first_observation,
const std::string& glonass_bands = "1C");
/*
* Generates the Mixed (Galileo/GLONASS) Observation data header.
* Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream& out,
const Galileo_Ephemeris& galileo_eph,
const Glonass_Gnav_Ephemeris& glonass_gnav_eph,
double d_TOW_first_observation,
const std::string& galileo_bands = "1B",
const std::string& glonass_bands = "1C");
/*
* Generates the Mixed (GPS L2C/GLONASS) Observation data header.
* Example: galileo_bands("1G")... Default: "1G".
*/
void rinex_obs_header(std::fstream& out,
const Gps_CNAV_Ephemeris& gps_cnav_eph,
const Glonass_Gnav_Ephemeris& glonass_gnav_eph,
double d_TOW_first_observation,
const std::string& glonass_bands = "1G");
/*
* Generates the a Beidou B1I Observation data header. Example: beidou_bands("B1")
*/
void rinex_obs_header(std::fstream& out,
const Beidou_Dnav_Ephemeris& eph,
double d_TOW_first_observation,
const std::string& bands);
/*
* Generates the SBAS raw data header
*/
void rinex_sbs_header(std::fstream& out) const;
/*
* Writes GPS L1 observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out,
const Gps_Ephemeris& eph,
double obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
/*
* Writes GPS L2 observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out,
const Gps_CNAV_Ephemeris& eph,
double obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
/*
* Writes dual frequency GPS L1 and L2 observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out,
const Gps_Ephemeris& eph,
const Gps_CNAV_Ephemeris& eph_cnav,
double obs_time,
const std::map<int32_t, Gnss_Synchro>& observables,
bool triple_band = false) const;
/*
* Writes Galileo observables into the RINEX file.
* Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void log_rinex_obs(std::fstream& out,
const Galileo_Ephemeris& eph,
double obs_time,
const std::map<int32_t, Gnss_Synchro>& observables,
const std::string& galileo_bands = "1B") const;
/*
* Writes Mixed GPS / Galileo observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out,
const Gps_Ephemeris& gps_eph,
const Galileo_Ephemeris& galileo_eph,
double gps_obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
/*
* Writes Mixed GPS / Galileo observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out,
const Gps_CNAV_Ephemeris& eph,
const Galileo_Ephemeris& galileo_eph,
double gps_obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
/*
* Writes Mixed GPS / Galileo observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out,
const Gps_Ephemeris& gps_eph,
const Gps_CNAV_Ephemeris& gps_cnav_eph,
const Galileo_Ephemeris& galileo_eph,
double gps_obs_time,
const std::map<int32_t, Gnss_Synchro>& observables,
bool triple_band = false) const;
/*
* Writes GLONASS GNAV observables into the RINEX file.
* Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void log_rinex_obs(std::fstream& out,
const Glonass_Gnav_Ephemeris& eph,
double obs_time,
const std::map<int32_t, Gnss_Synchro>& observables,
const std::string& glonass_bands = "1C") const;
/*
* Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out,
const Gps_Ephemeris& gps_eph,
const Glonass_Gnav_Ephemeris& glonass_gnav_eph,
double gps_obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
/*
* Writes Mixed GPS L2C - GLONASS observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out,
const Gps_CNAV_Ephemeris& gps_eph,
const Glonass_Gnav_Ephemeris& glonass_gnav_eph,
double gps_obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
/*
* Writes Mixed Galileo/GLONASS observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out,
const Galileo_Ephemeris& galileo_eph,
const Glonass_Gnav_Ephemeris& glonass_gnav_eph,
double galileo_obs_time,
const std::map<int32_t, Gnss_Synchro>& observables) const;
/*
* Writes BDS B1I observables into the RINEX file
*/
void log_rinex_obs(std::fstream& out,
const Beidou_Dnav_Ephemeris& eph,
double obs_time,
const std::map<int32_t, Gnss_Synchro>& observables,
const std::string& bds_bands) const;
/*
* Generates the GPS L1 C/A Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Gps_Iono& iono,
const Gps_Utc_Model& utc_model,
const Gps_Ephemeris& eph) const;
/*
* Generates the GPS L2C(M) Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Gps_CNAV_Iono& iono,
const Gps_CNAV_Utc_Model& utc_model) const;
/*
* Generates the Galileo Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Galileo_Iono& iono,
const Galileo_Utc_Model& utc_model) const;
/*
* Generates the Mixed (GPS/Galileo) Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Gps_Iono& gps_iono,
const Gps_Utc_Model& gps_utc_model,
const Gps_Ephemeris& eph,
const Galileo_Iono& galileo_iono,
const Galileo_Utc_Model& galileo_utc_model) const;
/*
* Generates the Mixed (GPS CNAV/Galileo) Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Gps_CNAV_Iono& iono,
const Gps_CNAV_Utc_Model& utc_model,
const Galileo_Iono& galileo_iono,
const Galileo_Utc_Model& galileo_utc_model) const;
/*
* Generates the GLONASS L1, L2 C/A Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Glonass_Gnav_Utc_Model& utc_model,
const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
/*
* Generates the Mixed (Galileo/GLONASS) Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Galileo_Iono& galileo_iono,
const Galileo_Utc_Model& galileo_utc_model,
const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model,
const Glonass_Gnav_Almanac& glonass_gnav_almanac) const;
/*
* Generates the Mixed (GPS L1 C/A/GLONASS L1, L2) Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Gps_Iono& gps_iono,
const Gps_Utc_Model& gps_utc_model,
const Gps_Ephemeris& eph,
const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model,
const Glonass_Gnav_Almanac& glonass_gnav_almanac);
/*
* Generates the Mixed (GPS L2C C/A/GLONASS L1, L2) Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Gps_CNAV_Iono& gps_iono,
const Gps_CNAV_Utc_Model& gps_utc_model,
const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model,
const Glonass_Gnav_Almanac& glonass_gnav_almanac);
/*
* Generates the BDS B1I or B3I Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Beidou_Dnav_Iono& iono,
const Beidou_Dnav_Utc_Model& utc_model) const;
/*
* Generates the Mixed GPS L1,L5 + BDS B1I, B3I Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Gps_Iono& gps_iono,
const Gps_Utc_Model& gps_utc_model,
const Gps_Ephemeris& eph,
const Beidou_Dnav_Iono& bds_dnav_iono,
const Beidou_Dnav_Utc_Model& bds_dnav_utc_model) const;
/*
* Generates the Mixed GPS L2C + BDS B1I, B3I Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Gps_CNAV_Iono& gps_cnav_iono,
const Gps_CNAV_Utc_Model& gps_cnav_utc_model,
const Beidou_Dnav_Iono& bds_dnav_iono,
const Beidou_Dnav_Utc_Model& bds_dnav_utc_model);
/*
* Generates the Mixed GLONASS L1,L2 + BDS B1I, B3I Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Glonass_Gnav_Utc_Model& glo_gnav_utc_model,
const Beidou_Dnav_Iono& bds_dnav_iono,
const Beidou_Dnav_Utc_Model& bds_dnav_utc_model) const;
/*
* Generates the Mixed (Galileo/BDS B1I, B3I) Navigation Data header
*/
void rinex_nav_header(std::fstream& out,
const Galileo_Iono& galileo_iono,
const Galileo_Utc_Model& galileo_utc_model,
const Beidou_Dnav_Iono& bds_dnav_iono,
const Beidou_Dnav_Utc_Model& bds_dnav_utc_model) const;
/*
* Writes data from the GPS L1 C/A navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out,
const std::map<int32_t, Gps_Ephemeris>& eph_map) const;
/*
* Writes data from the GPS L2 navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out,
const std::map<int32_t, Gps_CNAV_Ephemeris>& eph_map);
/*
* Writes data from the Galileo navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out,
const std::map<int32_t, Galileo_Ephemeris>& eph_map) const;
/*
* Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out,
const std::map<int32_t, Gps_Ephemeris>& gps_eph_map,
const std::map<int32_t, Galileo_Ephemeris>& galileo_eph_map);
/*
* Writes data from the Mixed (GPS/Galileo) navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out,
const std::map<int32_t, Gps_CNAV_Ephemeris>& gps_cnav_eph_map,
const std::map<int32_t, Galileo_Ephemeris>& galileo_eph_map);
/*
* Writes data from the GLONASS GNAV navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out,
const std::map<int32_t, Glonass_Gnav_Ephemeris>& eph_map) const;
/*
* Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out,
const std::map<int32_t, Gps_Ephemeris>& gps_eph_map,
const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map) const;
/*
* Writes data from the Mixed (GPS/GLONASS GNAV) navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out,
const std::map<int32_t, Gps_CNAV_Ephemeris>& gps_cnav_eph_map,
const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*
* Writes data from the Mixed (Galileo/ GLONASS GNAV) navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out,
const std::map<int32_t, Galileo_Ephemeris>& galileo_eph_map,
const std::map<int32_t, Glonass_Gnav_Ephemeris>& glonass_gnav_eph_map);
/*
* Writes data from the Beidou B1I navigation message into the RINEX file
*/
void log_rinex_nav(std::fstream& out,
const std::map<int32_t, Beidou_Dnav_Ephemeris>& eph_map) const;
/*
* Computes the BDS Time and returns a boost::posix_time::ptime object
* \details Function used to convert the observation time into BDT time which is used
* as the default time for RINEX files
* \param eph BeiDou DNAV Ephemeris object
* \param obs_time Observation time in BDT seconds of week
*/
boost::posix_time::ptime compute_BDS_time(const Beidou_Dnav_Ephemeris& eph, double obs_time) const;
/*
* Computes the UTC time and returns a boost::posix_time::ptime object
*/
boost::posix_time::ptime compute_UTC_time(const Gps_Navigation_Message& nav_msg) const;
/*
* Computes the GPS time and returns a boost::posix_time::ptime object
*/
boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const;
/*
* Computes the GPS time and returns a boost::posix_time::ptime object
*/
boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris& eph, double obs_time) const;
/*
* Computes the Galileo time and returns a boost::posix_time::ptime object
*/
boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time) const;
/*
* Computes the UTC Time and returns a boost::posix_time::ptime object
* \details Function used as a method to convert the observation time into UTC time which is used
* as the default time for RINEX files
* \param eph GLONASS GNAV Ephemeris object
* \param obs_time Observation time in GPS seconds of week
*/
boost::posix_time::ptime compute_UTC_time(const Glonass_Gnav_Ephemeris& eph, double obs_time) const;
/*
* Computes number of leap seconds of GPS relative to UTC
* \param eph GLONASS GNAV Ephemeris object
* \param gps_obs_time Observation time in GPS seconds of week
*/
double get_leap_second(const Glonass_Gnav_Ephemeris& eph, double gps_obs_time) const;
/*
* Represents GPS time in the date time format. Leap years are considered, but leap seconds are not.
*/
void to_date_time(int gps_week,
int gps_tow,
int& year,
int& month,
int& day,
int& hour,
int& minute,
int& second) const;
/*
* Writes raw SBAS messages into the RINEX file
*/
// void log_rinex_sbs(std::fstream & out, const Sbas_Raw_Msg & sbs_message);
void update_nav_header(std::fstream& out,
const Gps_Utc_Model& utc_model,
const Gps_Iono& gps_iono, const Gps_Ephemeris& eph) const;
void update_nav_header(std::fstream& out,
const Gps_CNAV_Utc_Model& utc_model,
const Gps_CNAV_Iono& iono) const;
void update_nav_header(std::fstream& out,
const Gps_Iono& gps_iono,
const Gps_Utc_Model& gps_utc_model,
const Gps_Ephemeris& eph,
const Galileo_Iono& galileo_iono,
const Galileo_Utc_Model& galileo_utc_model) const;
void update_nav_header(std::fstream& out,
const Gps_CNAV_Utc_Model& utc_model,
const Gps_CNAV_Iono& iono,
const Galileo_Iono& galileo_iono,
const Galileo_Utc_Model& galileo_utc_model) const;
void update_nav_header(std::fstream& out,
const Galileo_Iono& galileo_iono,
const Galileo_Utc_Model& utc_model) const;
void update_nav_header(std::fstream& out,
const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model,
const Glonass_Gnav_Almanac& glonass_gnav_almanac) const;
void update_nav_header(std::fstream& out,
const Gps_Iono& gps_iono,
const Gps_Utc_Model& gps_utc,
const Gps_Ephemeris& eph,
const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model,
const Glonass_Gnav_Almanac& glonass_gnav_almanac) const;
void update_nav_header(std::fstream& out,
const Gps_CNAV_Iono& gps_iono,
const Gps_CNAV_Utc_Model& gps_utc_model,
const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model,
const Glonass_Gnav_Almanac& glonass_gnav_almanac) const;
void update_nav_header(std::fstream& out,
const Galileo_Iono& galileo_iono,
const Galileo_Utc_Model& galileo_utc_model,
const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model,
const Glonass_Gnav_Almanac& glonass_gnav_almanac) const;
void update_nav_header(std::fstream& out,
const Beidou_Dnav_Utc_Model& utc_model,
const Beidou_Dnav_Iono& beidou_dnav_iono) const;
void update_obs_header(std::fstream& out,
const Gps_Utc_Model& utc_model) const;
void update_obs_header(std::fstream& out,
const Gps_CNAV_Utc_Model& utc_model) const;
void update_obs_header(std::fstream& out,
const Galileo_Utc_Model& galileo_utc_model) const;
void update_obs_header(std::fstream& out,
const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model) const;
void update_obs_header(std::fstream& out,
const Beidou_Dnav_Utc_Model& utc_model) const;
/*
* Generation of RINEX signal strength indicators
*/
int signalStrength(double snr) const;
/* Creates RINEX file names according to the naming convention
*
* See ftp://igs.org/pub/data/format/rinex301.pdf
* Section 4, page 6
*
* \param[in] type of RINEX file. Can be:
* "RINEX_FILE_TYPE_OBS" - Observation file.
* "RINEX_FILE_TYPE_GPS_NAV" - GPS navigation message file.
* "RINEX_FILE_TYPE_MET" - Meteorological data file.
* "RINEX_FILE_TYPE_GLO_NAV" - GLONASS navigation file.
* "RINEX_FILE_TYPE_GAL_NAV" - Galileo navigation message file.
* "RINEX_FILE_TYPE_MIXED_NAV" - Mixed GNSS navigation message file.
* "RINEX_FILE_TYPE_GEO_NAV" - SBAS Payload navigation message file.
* "RINEX_FILE_TYPE_SBAS" - SBAS broadcast data file.
* "RINEX_FILE_TYPE_CLK" - Clock file.
*/
std::string createFilename(const std::string& type, const std::string& base_name) const;
/*
* Generates the data for the PGM / RUN BY / DATE line
*/
std::string getLocalTime() const;
/*
* Checks that the line is 80 characters length
*/
void lengthCheck(const std::string& line) const;
/*
* If the string is bigger than length, truncate it from the right.
* otherwise, add pad characters to its right.
*
* Left-justifies the input in a string of the specified
* length. If the new length (\a length) is larger than the
* current length, the string is extended by the pad
* character (\a pad). The default pad character is a
* blank.
* \param[in] s string to be modified.
* \param[in] length new desired length of string.
* \param[in] pad character to pad string with (blank by default).
* \return a reference to \a s. */
inline std::string& leftJustify(std::string& s,
std::string::size_type length,
char pad = ' ') const;
/*
* If the string is bigger than length, truncate it from the right.
* otherwise, add pad characters to its right.
*
* Left-justifies the receiver in a string of the specified
* length (const version). If the new length (\a length) is larger
* than the current length, the string is extended by the pad
* character (\a pad). The default pad character is a
* blank.
* \param[in] s string to be modified.
* \param[in] length new desired length of string.
* \param[in] pad character to pad string with (blank by default).
* \return a reference to \a s. */
inline std::string leftJustify(const std::string& s,
std::string::size_type length,
char pad = ' ') const
{
std::string t(s);
return leftJustify(t, length, pad);
}
/*
* Right-justifies the receiver in a string of the specified
* length. If the receiver's data is shorter than the
* requested length (\a length), it is padded on the left with
* the pad character (\a pad). The default pad
* character is a blank. */
inline std::string& rightJustify(std::string& s,
std::string::size_type length,
char pad = ' ') const;
/*
* Right-justifies the receiver in a string of the specified
* length (const version). If the receiver's data is shorter than the
* requested length (\a length), it is padded on the left with
* the pad character (\a pad). The default pad
* character is a blank.*/
inline std::string rightJustify(const std::string& s,
std::string::size_type length,
char pad = ' ') const
{
std::string t(s);
return rightJustify(t, length, pad);
}
/*
* Convert a double to a scientific notation number.
* @param d the double to convert
* @param length length (in characters) of output, including exponent
* @param expLen length (in characters) of the exponent, with sign
* @param showSign if true, reserves 1 character for +/- sign
* @param checkSwitch if true, keeps the exponential sanity check for
* exponentials above three characters in length. If false, it removes
* that check.
*/
inline std::string doub2sci(double d,
std::string::size_type length,
std::string::size_type expLen,
bool showSign = true,
bool checkSwitch = true) const;
/*
* Convert scientific notation to FORTRAN notation.
* As an example, the string "1.5636E5" becomes " .15636D6".
* Note that the first character of the string will be '-' if
* the number is negative or ' ' if the first character is positive.
* @param aStr string with number to convert
* @param startPos start position of number in string
* @param length length (in characters) of number, including exponent.
* @param expLen length (in characters of exponent, not including sign.
* @param checkSwitch will keep the method running as originally programmed
* when set to true. If false, the method will always resize exponentials,
* produce an exponential with an E instead of a D, and always have a leading
* zero. For example -> 0.87654E-0004 or -0.1234E00005.
*/
inline std::string& sci2for(std::string& aStr,
std::string::size_type startPos = 0,
std::string::size_type length = std::string::npos,
std::string::size_type expLen = 3,
bool checkSwitch = true) const;
/*
* Convert double precision floating point to a string
* containing the number in FORTRAN notation.
* As an example, the number 156360 becomes ".15636D6".
* @param d number to convert.
* @param length length (in characters) of number, including exponent.
* @param expLen length (in characters of exponent, including sign.
* @param checkSwitch if true, keeps the exponential sanity check for
* exponentials above three characters in length. If false, it removes
* that check.
* @return a string containing \a d in FORTRAN notation.
*/
inline std::string doub2for(double d,
std::string::size_type length,
std::string::size_type expLen,
bool checkSwitch = true) const;
/*
* Convert a string to a double precision floating point number.
* @param s string containing a number.
* @return double representation of string.
*/
inline double asDouble(const std::string& s) const
{
return strtod(s.c_str(), nullptr);
}
inline int toInt(const std::string& bitString, int sLength) const;
/*
* Convert a string to an integer.
* @param s string containing a number.
* @return int64_t integer representation of string.
*/
inline int64_t asInt(const std::string& s) const
{
return strtol(s.c_str(), nullptr, 10);
}
/*
* Convert a double to a string in fixed notation.
* @param x double.
* @param precision the number of decimal places you want displayed.
* @return string representation of \a x.
*/
inline std::string asString(double x,
std::string::size_type precision = 17) const;
/*
* Convert a long double to a string in fixed notation.
* @param x long double.
* @param precision the number of decimal places you want displayed.
* @return string representation of \a x.
*/
inline std::string asString(long double x,
std::string::size_type precision = 21) const;
/*
* Convert any old object to a string.
* The class must have stream operators defined.
* @param x object to turn into a string.
* @return string representation of \a x.
*/
template <class X>
inline std::string asString(const X x) const;
inline std::string asFixWidthString(int x, int width, char fill_digit) const;
std::map<std::string, std::string> satelliteSystem; // GPS, GLONASS, SBAS payload, Galileo or Beidou
std::map<std::string, std::string> observationType; // PSEUDORANGE, CARRIER_PHASE, DOPPLER, SIGNAL_STRENGTH
std::map<std::string, std::string> observationCode; // GNSS observation descriptors
std::fstream obsFile; // Output file stream for RINEX observation file
std::fstream navFile; // Output file stream for RINEX navigation data file
std::fstream sbsFile; // Output file stream for RINEX SBAS raw data file
std::fstream navGalFile; // Output file stream for RINEX Galileo navigation data file
std::fstream navGloFile; // Output file stream for RINEX GLONASS navigation data file
std::fstream navBdsFile; // Output file stream for RINEX Galileo navigation data file
std::fstream navMixFile; // Output file stream for RINEX Mixed navigation data file
std::string navfilename; // Name of RINEX navigation file for GPS L1
std::string obsfilename; // Name of RINEX observation file
std::string sbsfilename; // Name of RINEX SBAS file
std::string navGalfilename; // Name of RINEX navigation file for Galileo
std::string navGlofilename; // Name of RINEX navigation file for Glonass
std::string navBdsfilename; // Name of RINEX navigation file for BeiDou
std::string navMixfilename; // Name of RINEX navigation file for fixed signals
std::vector<std::string> output_navfilename; // Name of output RINEX navigation file(s)
std::string d_stringVersion; // RINEX version (2.10/2.11 or 3.01/3.02)
double d_fake_cnav_iode;
int d_version; // RINEX version (2 for 2.10/2.11 and 3 for 3.01)
int d_numberTypesObservations; // Number of available types of observable in the system. Should be public?
bool d_rinex_header_updated;
bool d_rinex_header_written;
bool d_pre_2009_file;
};
// Implementation of inline functions (modified versions from GPSTk https://github.com/SGL-UT/GPSTk)
inline std::string& Rinex_Printer::leftJustify(std::string& s,
std::string::size_type length,
char pad) const
{
if (length < s.length())
{
s = s.substr(0, length);
}
else
{
s.append(length - s.length(), pad);
}
return s;
}
// if the string is bigger than length, truncate it from the left.
// otherwise, add pad characters to its left.
inline std::string& Rinex_Printer::rightJustify(std::string& s,
std::string::size_type length,
char pad) const
{
if (length < s.length())
{
s = s.substr(s.length() - length, std::string::npos);
}
else
{
s.insert(static_cast<std::string::size_type>(0), length - s.length(), pad);
}
return s;
}
inline std::string Rinex_Printer::doub2for(double d,
std::string::size_type length,
std::string::size_type expLen,
bool checkSwitch) const
{
int16_t exponentLength = expLen;
/* Validate the assumptions regarding the input arguments */
if (exponentLength < 0)
{
exponentLength = 1;
}
if (exponentLength > 3 && checkSwitch)
{
exponentLength = 3;
}
std::string toReturn = doub2sci(d, length, exponentLength, true, checkSwitch);
sci2for(toReturn, 0, length, exponentLength, checkSwitch);
return toReturn;
}
inline std::string Rinex_Printer::doub2sci(double d,
std::string::size_type length,
std::string::size_type expLen,
bool showSign,
bool checkSwitch) const
{
std::string toReturn;
int16_t exponentLength = expLen;
/* Validate the assumptions regarding the input arguments */
if (exponentLength < 0)
{
exponentLength = 1;
}
if (exponentLength > 3 && checkSwitch)
{
exponentLength = 3;
}
std::stringstream c;
c.setf(std::ios::scientific, std::ios::floatfield);
// length - 3 for special characters ('.', 'e', '+' or '-')
// - exponentlength (e04)
// - 1 for the digit before the decimal (2.)
// and if showSign == true,
// an extra -1 for '-' or ' ' if it's positive or negative
int expSize = 0;
if (showSign)
{
expSize = 1;
}
c.precision(length - 3 - exponentLength - 1 - expSize);
c << d;
c >> toReturn;
return toReturn;
}
inline std::string& Rinex_Printer::sci2for(std::string& aStr,
std::string::size_type startPos,
std::string::size_type length,
std::string::size_type expLen,
bool checkSwitch) const
{
std::string::size_type idx = aStr.find('.', startPos);
int expAdd = 0;
std::string exp;
int64_t iexp;
// If checkSwitch is false, always redo the exponential. Otherwise,
// set it to false.
bool redoexp = !checkSwitch;
// Check for decimal place within specified boundaries
if ((idx <= 0) || (idx >= (startPos + length - expLen - 1)))
{
// Error: no decimal point in string
return aStr;
}
// Here, account for the possibility that there are
// no numbers to the left of the decimal, but do not
// account for the possibility of non-scientific
// notation (more than one digit to the left of the
// decimal)
if (idx > startPos)
{
redoexp = true;
// Swap digit and decimal.
aStr[idx] = aStr[idx - 1];
aStr[idx - 1] = '.';
// Only add one to the exponent if the number is non-zero
if (asDouble(aStr.substr(startPos, length)) != 0.0)
{
expAdd = 1;
}
}
idx = aStr.find('e', startPos);
if (idx == std::string::npos)
{
idx = aStr.find('E', startPos);
if (idx == std::string::npos)
{
// Error: no 'e' or 'E' in string";
}
}
// Change the exponent character to D normally, or E of checkSwitch is false.
if (checkSwitch)
{
aStr[idx] = 'D';
}
else
{
aStr[idx] = 'E';
}
// Change the exponent itself
if (redoexp)
{
exp = aStr.substr(idx + 1, std::string::npos);
iexp = asInt(exp);
iexp += expAdd;
aStr.erase(idx + 1);
if (iexp < 0)
{
aStr += "-";
iexp -= iexp * 2;
}
else
{
aStr += "+";
}
aStr += Rinex_Printer::rightJustify(asString(iexp), expLen, '0');
}
// if the number is positive, append a space
// (if it's negative, there's a leading '-'
if (aStr[0] == '.')
{
aStr.insert(static_cast<std::string::size_type>(0), 1, ' ');
}
// If checkSwitch is false, add on one leading zero to the string
if (!checkSwitch)
{
aStr.insert(static_cast<std::string::size_type>(1), 1, '0');
}
return aStr;
} // end sci2for
inline std::string asString(long double x, std::string::size_type precision)
{
std::ostringstream ss;
ss << std::fixed << std::setprecision(precision) << x;
return ss.str();
}
inline std::string Rinex_Printer::asString(double x, std::string::size_type precision) const
{
std::ostringstream ss;
ss << std::fixed << std::setprecision(precision) << x;
return ss.str();
}
inline std::string Rinex_Printer::asFixWidthString(int x, int width, char fill_digit) const
{
std::ostringstream ss;
ss << std::setfill(fill_digit) << std::setw(width) << x;
return ss.str().substr(ss.str().size() - width);
}
inline int64_t asInt(const std::string& s)
{
return strtol(s.c_str(), nullptr, 10);
}
inline int Rinex_Printer::toInt(const std::string& bitString, int sLength) const
{
int tempInt;
int num = 0;
for (int i = 0; i < sLength; i++)
{
tempInt = bitString[i] - '0';
num |= (1 << (sLength - 1 - i)) * tempInt;
}
return num;
}
template <class X>
inline std::string Rinex_Printer::asString(const X x) const
{
std::ostringstream ss;
ss << x;
return ss.str();
}
/** \} */
/** \} */
#endif // GNSS_SDR_RINEX_PRINTER_H
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