mirror of https://github.com/gnss-sdr/gnss-sdr
1476 lines
57 KiB
C++
1476 lines
57 KiB
C++
/*!
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* \file rtcm.h
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* \brief Interface for the RTCM 3.2 Standard
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* \author Carles Fernandez-Prades, 2015. cfernandez(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_RTCM_H
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#define GNSS_SDR_RTCM_H
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#include "concurrent_queue.h"
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#include "galileo_ephemeris.h"
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#include "glonass_gnav_ephemeris.h"
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#include "glonass_gnav_utc_model.h"
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#include "gnss_synchro.h"
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#include "gps_cnav_ephemeris.h"
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#include "gps_ephemeris.h"
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#include <boost/asio.hpp>
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <glog/logging.h>
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#include <algorithm> // for min
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#include <array>
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#include <bitset>
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#include <cstddef> // for size_t
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#include <cstdint>
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#include <cstring> // for memcpy
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#include <deque>
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#include <list>
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#include <map>
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#include <memory>
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#include <set>
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#include <string>
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#include <thread>
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#include <utility>
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#include <vector>
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/** \addtogroup PVT
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* \{ */
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/** \addtogroup PVT_libs
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* \{ */
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#if USE_BOOST_ASIO_IO_CONTEXT
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using b_io_context = boost::asio::io_context;
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#else
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using b_io_context = boost::asio::io_service;
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#endif
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/*!
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* \brief This class implements the generation and reading of some Message Types
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* defined in the RTCM 3.2 Standard, plus some utilities to handle messages.
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*
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* Generation of the following Message Types:
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* 1001, 1002, 1003, 1004, 1005, 1006, 1008, 1019, 1020, 1029, 1045
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*
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* Decoding of the following Message Types:
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* 1019, 1045
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*
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* Generation of the following Multiple Signal Messages:
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* MSM1 (message types 1071, 1091)
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* MSM2 (message types 1072, 1092)
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* MSM3 (message types 1073, 1093)
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* MSM4 (message types 1074, 1094)
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* MSM5 (message types 1075, 1095)
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* MSM6 (message types 1076, 1096)
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* MSM7 (message types 1077, 1097)
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*
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* RTCM 3 message format (size in bits):
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* +----------+--------+-----------+--------------------+----------+
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* | preamble | 000000 | length | data message | parity |
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* +----------+--------+-----------+--------------------+----------+
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* |<-- 8 --->|<- 6 -->|<-- 10 --->|<--- length x 8 --->|<-- 24 -->|
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* +----------+--------+-----------+--------------------+----------+
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*
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*
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* (C) Carles Fernandez-Prades, 2015. cfernandez(at)cttc.es
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*/
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class Rtcm
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{
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public:
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explicit Rtcm(uint16_t port = 2101); //!< Default constructor that sets TCP port of the RTCM message server and RTCM Station ID. 2101 is the standard RTCM port according to the Internet Assigned Numbers Authority (IANA). See https://www.iana.org/assignments/service-names-port-numbers/service-names-port-numbers.xml
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~Rtcm();
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/*!
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* \brief Prints message type 1001 (L1-Only GPS RTK Observables)
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*/
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std::string print_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
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/*!
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* \brief Prints message type 1002 (Extended L1-Only GPS RTK Observables)
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*/
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std::string print_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
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/*!
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* \brief Prints message type 1003 (L1 & L2 GPS RTK Observables)
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*/
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std::string print_MT1003(const Gps_Ephemeris& ephL1, const Gps_CNAV_Ephemeris& ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
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/*!
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* \brief Prints message type 1004 (Extended L1 & L2 GPS RTK Observables)
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*/
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std::string print_MT1004(const Gps_Ephemeris& ephL1, const Gps_CNAV_Ephemeris& ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
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/*!
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* \brief Prints message type 1005 (Stationary Antenna Reference Point)
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*/
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std::string print_MT1005(uint32_t ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, uint32_t quarter_cycle_indicator);
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/*!
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* \brief Verifies and reads messages of type 1005 (Stationary Antenna Reference Point). Returns 1 if anything goes wrong, 0 otherwise.
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*/
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int32_t read_MT1005(const std::string& message, uint32_t& ref_id, double& ecef_x, double& ecef_y, double& ecef_z, bool& gps, bool& glonass, bool& galileo);
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/*!
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* \brief Prints message type 1006 (Stationary Antenna Reference Point, with Height Information)
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*/
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std::string print_MT1006(uint32_t ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, uint32_t quarter_cycle_indicator, double height);
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std::string print_MT1005_test(); //!< For testing purposes
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/*!
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* \brief Prints message type 1008 (Antenna Descriptor & Serial Number)
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*/
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std::string print_MT1008(uint32_t ref_id, const std::string& antenna_descriptor, uint32_t antenna_setup_id, const std::string& antenna_serial_number);
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/*!
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* \brief Prints L1-Only GLONASS RTK Observables
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* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred.
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* \note Code added as part of GSoC 2017 program
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* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
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* \param obs_time Time of observation at the moment of printing
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* \param observables Set of observables as defined by the platform
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* \return string with message contents
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*/
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std::string print_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
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/*!
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* \brief Prints Extended L1-Only GLONASS RTK Observables
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* \details This GLONASS message type is used when only L1 data is present and bandwidth is very tight, often 1012 is used in such cases.
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* \note Code added as part of GSoC 2017 program
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* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
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* \param obs_time Time of observation at the moment of printing
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* \param observables Set of observables as defined by the platform
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* \return string with message contents
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*/
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std::string print_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
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/*!
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* \brief Prints L1&L2 GLONASS RTK Observables
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* \details This GLONASS message type is not generally used or supported; type 1012 is to be preferred
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* \note Code added as part of GSoC 2017 program
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* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
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* \param obs_time Time of observation at the moment of printing
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* \param observables Set of observables as defined by the platform
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* \return string with message contents
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*/
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std::string print_MT1011(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
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/*!
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* \brief Prints Extended L1&L2 GLONASS RTK Observables
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* \details This GLONASS message type is the most common observational message type, with L1/L2/SNR content. This is one of the most common messages found.
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* \note Code added as part of GSoC 2017 program
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* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
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* \param obs_time Time of observation at the moment of printing
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* \param observables Set of observables as defined by the platform
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* \return string with message contents
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*/
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std::string print_MT1012(const Glonass_Gnav_Ephemeris& glonass_gnav_ephL1, const Glonass_Gnav_Ephemeris& glonass_gnav_ephL2, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, uint16_t station_id);
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/*!
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* \brief Prints message type 1019 (GPS Ephemeris), should be broadcast in the event that
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* the IODC does not match the IODE, and every 2 minutes.
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*/
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std::string print_MT1019(const Gps_Ephemeris& gps_eph);
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/*!
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* \brief Verifies and reads messages of type 1019 (GPS Ephemeris). Returns 1 if anything goes wrong, 0 otherwise.
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*/
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int32_t read_MT1019(const std::string& message, Gps_Ephemeris& gps_eph);
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/*!
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* \brief Prints message type 1020 (GLONASS Ephemeris).
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* \note Code added as part of GSoC 2017 program
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* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
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* \param glonass_gnav_utc_model GLONASS GNAV Clock Information
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* \return Returns message type as a string type
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*/
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std::string print_MT1020(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model);
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/*!
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* \brief Verifies and reads messages of type 1020 (GLONASS Ephemeris).
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* \note Code added as part of GSoC 2017 program
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* \param message Message to read as a string type
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* \param glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
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* \param glonass_gnav_utc_model GLONASS GNAV Clock Information
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* \return Returns 1 if anything goes wrong, 0 otherwise.
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*/
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int32_t read_MT1020(const std::string& message, Glonass_Gnav_Ephemeris& glonass_gnav_eph, Glonass_Gnav_Utc_Model& glonass_gnav_utc_model);
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/*!
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* \brief Prints message type 1029 (Unicode Text String)
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*/
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std::string print_MT1029(uint32_t ref_id, const Gps_Ephemeris& gps_eph, double obs_time, const std::string& message);
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/*!
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* \brief Prints message type 1045 (Galileo Ephemeris), should be broadcast every 2 minutes
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*/
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std::string print_MT1045(const Galileo_Ephemeris& gal_eph);
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/*!
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* \brief Verifies and reads messages of type 1045 (Galileo Ephemeris). Returns 1 if anything goes wrong, 0 otherwise.
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*/
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int32_t read_MT1045(const std::string& message, Galileo_Ephemeris& gal_eph);
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/*!
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* \brief Prints messages of type MSM1 (Compact GNSS observables)
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*/
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std::string print_MSM_1(const Gps_Ephemeris& gps_eph,
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const Gps_CNAV_Ephemeris& gps_cnav_eph,
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const Galileo_Ephemeris& gal_eph,
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const Glonass_Gnav_Ephemeris& glo_gnav_eph,
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double obs_time,
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const std::map<int32_t, Gnss_Synchro>& observables,
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uint32_t ref_id,
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uint32_t clock_steering_indicator,
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uint32_t external_clock_indicator,
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int32_t smooth_int,
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bool divergence_free,
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bool more_messages);
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/*!
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* \brief Prints messages of type MSM2 (Compact GNSS phaseranges)
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*/
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std::string print_MSM_2(const Gps_Ephemeris& gps_eph,
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const Gps_CNAV_Ephemeris& gps_cnav_eph,
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const Galileo_Ephemeris& gal_eph,
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const Glonass_Gnav_Ephemeris& glo_gnav_eph,
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double obs_time,
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const std::map<int32_t, Gnss_Synchro>& observables,
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uint32_t ref_id,
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uint32_t clock_steering_indicator,
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uint32_t external_clock_indicator,
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int32_t smooth_int,
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bool divergence_free,
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bool more_messages);
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/*!
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* \brief Prints messages of type MSM3 (Compact GNSS pseudoranges and phaseranges)
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*/
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std::string print_MSM_3(const Gps_Ephemeris& gps_eph,
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const Gps_CNAV_Ephemeris& gps_cnav_eph,
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const Galileo_Ephemeris& gal_eph,
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const Glonass_Gnav_Ephemeris& glo_gnav_eph,
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double obs_time,
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const std::map<int32_t, Gnss_Synchro>& observables,
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uint32_t ref_id,
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uint32_t clock_steering_indicator,
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uint32_t external_clock_indicator,
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int32_t smooth_int,
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bool divergence_free,
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bool more_messages);
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/*!
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* \brief Prints messages of type MSM4 (Full GNSS pseudoranges and phaseranges plus CNR)
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*/
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std::string print_MSM_4(const Gps_Ephemeris& gps_eph,
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const Gps_CNAV_Ephemeris& gps_cnav_eph,
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const Galileo_Ephemeris& gal_eph,
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const Glonass_Gnav_Ephemeris& glo_gnav_eph,
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double obs_time,
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const std::map<int32_t, Gnss_Synchro>& observables,
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uint32_t ref_id,
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uint32_t clock_steering_indicator,
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uint32_t external_clock_indicator,
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int32_t smooth_int,
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bool divergence_free,
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bool more_messages);
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/*!
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* \brief Prints messages of type MSM5 (Full GNSS pseudoranges, phaseranges, phaserange rate and CNR)
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*/
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std::string print_MSM_5(const Gps_Ephemeris& gps_eph,
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const Gps_CNAV_Ephemeris& gps_cnav_eph,
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const Galileo_Ephemeris& gal_eph,
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const Glonass_Gnav_Ephemeris& glo_gnav_eph,
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double obs_time,
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const std::map<int32_t, Gnss_Synchro>& observables,
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uint32_t ref_id,
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uint32_t clock_steering_indicator,
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uint32_t external_clock_indicator,
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int32_t smooth_int,
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bool divergence_free,
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bool more_messages);
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/*!
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* \brief Prints messages of type MSM6 (Full GNSS pseudoranges and phaseranges plus CNR, high resolution)
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*/
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std::string print_MSM_6(const Gps_Ephemeris& gps_eph,
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const Gps_CNAV_Ephemeris& gps_cnav_eph,
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const Galileo_Ephemeris& gal_eph,
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const Glonass_Gnav_Ephemeris& glo_gnav_eph,
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double obs_time,
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const std::map<int32_t, Gnss_Synchro>& observables,
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uint32_t ref_id,
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uint32_t clock_steering_indicator,
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uint32_t external_clock_indicator,
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int32_t smooth_int,
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bool divergence_free,
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bool more_messages);
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/*!
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* \brief Prints messages of type MSM7 (Full GNSS pseudoranges, phaseranges, phaserange rate and CNR, high resolution)
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*/
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std::string print_MSM_7(const Gps_Ephemeris& gps_eph,
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const Gps_CNAV_Ephemeris& gps_cnav_eph,
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const Galileo_Ephemeris& gal_eph,
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const Glonass_Gnav_Ephemeris& glo_gnav_eph,
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double obs_time,
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const std::map<int32_t, Gnss_Synchro>& observables,
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uint32_t ref_id,
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uint32_t clock_steering_indicator,
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uint32_t external_clock_indicator,
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int32_t smooth_int,
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bool divergence_free,
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bool more_messages);
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uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L1 signals have been continually tracked.
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uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which GPS L2 signals have been continually tracked.
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uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro); //!< Returns the time period in which Galileo signals have been continually tracked.
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/*!
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* \brief Locks time period in which GLONASS signals have been continually tracked.
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* \note Code added as part of GSoC 2017 program
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* \param eph GLONASS GNAV Broadcast Ephemeris
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* \param obs_time Time of observation at the moment of printing
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* \param observables Set of observables as defined by the platform
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* \return Returns the time period in which GLONASS signals have been continually tracked.
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*/
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uint32_t lock_time(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
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std::string bin_to_hex(const std::string& s) const; //!< Returns a string of hexadecimal symbols from a string of binary symbols
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std::string hex_to_bin(const std::string& s) const; //!< Returns a string of binary symbols from a string of hexadecimal symbols
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std::string bin_to_binary_data(const std::string& s) const; //!< Returns a string of binary data from a string of binary symbols
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std::string binary_data_to_bin(const std::string& s) const; //!< Returns a string of binary symbols from a string of binary data
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uint32_t bin_to_uint(const std::string& s) const; //!< Returns an uint32_t from a string of binary symbols
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int32_t bin_to_int(const std::string& s) const;
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double bin_to_double(const std::string& s) const; //!< Returns double from a string of binary symbols
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int32_t bin_to_sint(const std::string& s) const;
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uint64_t hex_to_uint(const std::string& s) const; //!< Returns an uint64_t from a string of hexadecimal symbols
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int64_t hex_to_int(const std::string& s) const; //!< Returns a int64_t from a string of hexadecimal symbols
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bool check_CRC(const std::string& message) const; //!< Checks that the CRC of a RTCM package is correct
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void run_server(); //!< Starts running the server
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void stop_server(); //!< Stops the server
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void send_message(const std::string& msg); //!< Sends a message through the server to all connected clients
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bool is_server_running() const; //!< Returns true if the server is running, false otherwise
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private:
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//
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// Generation of messages content
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//
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std::bitset<64> get_MT1001_4_header(uint32_t msg_number,
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double obs_time,
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const std::map<int32_t, Gnss_Synchro>& observables,
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uint32_t ref_id,
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uint32_t smooth_int,
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bool sync_flag,
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bool divergence_free);
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std::bitset<58> get_MT1001_sat_content(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
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std::bitset<74> get_MT1002_sat_content(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
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std::bitset<101> get_MT1003_sat_content(const Gps_Ephemeris& ephL1, const Gps_CNAV_Ephemeris& ephL2, double obs_time, const Gnss_Synchro& gnss_synchroL1, const Gnss_Synchro& gnss_synchroL2);
|
|
std::bitset<125> get_MT1004_sat_content(const Gps_Ephemeris& ephL1, const Gps_CNAV_Ephemeris& ephL2, double obs_time, const Gnss_Synchro& gnss_synchroL1, const Gnss_Synchro& gnss_synchroL2);
|
|
|
|
std::bitset<152> get_MT1005_test();
|
|
|
|
/*!
|
|
* \brief Generates contents of message header for types 1009, 1010, 1011 and 1012. GLONASS RTK Message
|
|
* \note Code added as part of GSoC 2017 program
|
|
* \param msg_number Message type number, acceptable options include 1009 to 1012
|
|
* \param obs_time Time of observation at the moment of printing
|
|
* \param observables Set of observables as defined by the platform
|
|
* \param ref_id
|
|
* \param smooth_int
|
|
* \param divergence_free
|
|
* \return Returns the message header content as set of bits
|
|
*/
|
|
std::bitset<61> get_MT1009_12_header(uint32_t msg_number,
|
|
double obs_time,
|
|
const std::map<int32_t, Gnss_Synchro>& observables,
|
|
uint32_t ref_id,
|
|
uint32_t smooth_int,
|
|
bool sync_flag,
|
|
bool divergence_free);
|
|
|
|
/*!
|
|
* \brief Get the contents of the satellite specific portion of a type 1009 Message (GLONASS Basic RTK, L1 Only)
|
|
* \details Contents generated for each satellite. See table 3.5-11
|
|
* \note Code added as part of GSoC 2017 program
|
|
* \param ephGNAV Ephemeris for GLONASS GNAV in L1 satellites
|
|
* \param obs_time Time of observation at the moment of printing
|
|
* \param gnss_synchro Information generated by channels while processing the satellite
|
|
* \return Returns the message content as set of bits
|
|
*/
|
|
std::bitset<64> get_MT1009_sat_content(const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const Gnss_Synchro& gnss_synchro);
|
|
/*!
|
|
* \brief Get the contents of the satellite specific portion of a type 1010 Message (GLONASS Extended RTK, L1 Only)
|
|
* \details Contents generated for each satellite. See table 3.5-12
|
|
* \note Code added as part of GSoC 2017 program
|
|
* \param ephGNAV Ephemeris for GLONASS GNAV in L1 satellites
|
|
* \param obs_time Time of observation at the moment of printing
|
|
* \param gnss_synchro Information generated by channels while processing the satellite
|
|
* \return Returns the message content as set of bits
|
|
*/
|
|
std::bitset<79> get_MT1010_sat_content(const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const Gnss_Synchro& gnss_synchro);
|
|
/*!
|
|
* \brief Get the contents of the satellite specific portion of a type 1011 Message (GLONASS Basic RTK, L1 & L2)
|
|
* \details Contents generated for each satellite. See table 3.5-13
|
|
* \note Code added as part of GSoC 2017 program
|
|
* \param ephGNAVL1 Ephemeris for GLONASS GNAV in L1 satellites
|
|
* \param ephGNAVL2 Ephemeris for GLONASS GNAV in L2 satellites
|
|
* \param obs_time Time of observation at the moment of printing
|
|
* \param gnss_synchroL1 Information generated by channels while processing the GLONASS GNAV L1 satellite
|
|
* \param gnss_synchroL2 Information generated by channels while processing the GLONASS GNAV L2 satellite
|
|
* \return Returns the message content as set of bits
|
|
*/
|
|
std::bitset<107> get_MT1011_sat_content(const Glonass_Gnav_Ephemeris& ephL1, const Glonass_Gnav_Ephemeris& ephL2, double obs_time, const Gnss_Synchro& gnss_synchroL1, const Gnss_Synchro& gnss_synchroL2);
|
|
/*!
|
|
* \brief Get the contents of the satellite specific portion of a type 1012 Message (GLONASS Extended RTK, L1 & L2)
|
|
* \details Contents generated for each satellite. See table 3.5-14
|
|
* \note Code added as part of GSoC 2017 program
|
|
* \param ephGNAVL1 Ephemeris for GLONASS GNAV in L1 satellites
|
|
* \param ephGNAVL2 Ephemeris for GLONASS GNAV in L2 satellites
|
|
* \param obs_time Time of observation at the moment of printing
|
|
* \param gnss_synchroL1 Information generated by channels while processing the GLONASS GNAV L1 satellite
|
|
* \param gnss_synchroL2 Information generated by channels while processing the GLONASS GNAV L2 satellite
|
|
* \return Returns the message content as set of bits
|
|
*/
|
|
std::bitset<130> get_MT1012_sat_content(const Glonass_Gnav_Ephemeris& ephL1, const Glonass_Gnav_Ephemeris& ephL2, double obs_time, const Gnss_Synchro& gnss_synchroL1, const Gnss_Synchro& gnss_synchroL2);
|
|
|
|
std::string get_MSM_header(uint32_t msg_number,
|
|
double obs_time,
|
|
const std::map<int32_t, Gnss_Synchro>& observables,
|
|
uint32_t ref_id,
|
|
uint32_t clock_steering_indicator,
|
|
uint32_t external_clock_indicator,
|
|
int32_t smooth_int,
|
|
bool divergence_free,
|
|
bool more_messages);
|
|
|
|
std::string get_MSM_1_content_sat_data(const std::map<int32_t, Gnss_Synchro>& observables);
|
|
std::string get_MSM_4_content_sat_data(const std::map<int32_t, Gnss_Synchro>& observables);
|
|
std::string get_MSM_5_content_sat_data(const std::map<int32_t, Gnss_Synchro>& observables);
|
|
|
|
std::string get_MSM_1_content_signal_data(const std::map<int32_t, Gnss_Synchro>& observables);
|
|
std::string get_MSM_2_content_signal_data(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& ephCNAV, const Galileo_Ephemeris& ephFNAV, const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
|
|
std::string get_MSM_3_content_signal_data(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& ephCNAV, const Galileo_Ephemeris& ephFNAV, const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
|
|
std::string get_MSM_4_content_signal_data(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& ephCNAV, const Galileo_Ephemeris& ephFNAV, const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
|
|
std::string get_MSM_5_content_signal_data(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& ephCNAV, const Galileo_Ephemeris& ephFNAV, const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
|
|
std::string get_MSM_6_content_signal_data(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& ephCNAV, const Galileo_Ephemeris& ephFNAV, const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
|
|
std::string get_MSM_7_content_signal_data(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& ephCNAV, const Galileo_Ephemeris& ephFNAV, const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
|
|
|
|
//
|
|
// Utilities
|
|
//
|
|
static std::map<std::string, int> galileo_signal_map;
|
|
static std::map<std::string, int> gps_signal_map;
|
|
std::vector<std::pair<int32_t, Gnss_Synchro> > sort_by_signal(const std::vector<std::pair<int32_t, Gnss_Synchro> >& synchro_map) const;
|
|
std::vector<std::pair<int32_t, Gnss_Synchro> > sort_by_PRN_mask(const std::vector<std::pair<int32_t, Gnss_Synchro> >& synchro_map) const;
|
|
boost::posix_time::ptime compute_GPS_time(const Gps_Ephemeris& eph, double obs_time) const;
|
|
boost::posix_time::ptime compute_GPS_time(const Gps_CNAV_Ephemeris& eph, double obs_time) const;
|
|
boost::posix_time::ptime compute_Galileo_time(const Galileo_Ephemeris& eph, double obs_time) const;
|
|
boost::posix_time::ptime compute_GLONASS_time(const Glonass_Gnav_Ephemeris& eph, double obs_time) const;
|
|
boost::posix_time::ptime gps_L1_last_lock_time[64];
|
|
boost::posix_time::ptime gps_L2_last_lock_time[64];
|
|
boost::posix_time::ptime gal_E1_last_lock_time[64];
|
|
boost::posix_time::ptime gal_E5_last_lock_time[64];
|
|
boost::posix_time::ptime glo_L1_last_lock_time[64];
|
|
boost::posix_time::ptime glo_L2_last_lock_time[64];
|
|
uint32_t lock_time_indicator(uint32_t lock_time_period_s);
|
|
uint32_t msm_lock_time_indicator(uint32_t lock_time_period_s);
|
|
uint32_t msm_extended_lock_time_indicator(uint32_t lock_time_period_s);
|
|
|
|
//
|
|
// Classes for TCP communication
|
|
//
|
|
uint16_t RTCM_port;
|
|
// uint16_t RTCM_Station_ID;
|
|
class Rtcm_Message
|
|
{
|
|
public:
|
|
static const std::size_t header_length = 6;
|
|
static const std::size_t max_body_length = 1029;
|
|
|
|
Rtcm_Message()
|
|
: body_length_(0)
|
|
{
|
|
}
|
|
|
|
const char* data() const
|
|
{
|
|
return data_.data();
|
|
}
|
|
|
|
char* data()
|
|
{
|
|
return data_.data();
|
|
}
|
|
|
|
inline std::size_t length() const
|
|
{
|
|
return header_length + body_length_;
|
|
}
|
|
|
|
const char* body() const
|
|
{
|
|
return data_.data() + header_length;
|
|
}
|
|
|
|
char* body()
|
|
{
|
|
return data_.data() + header_length;
|
|
}
|
|
|
|
std::size_t body_length() const
|
|
{
|
|
return body_length_;
|
|
}
|
|
|
|
void body_length(std::size_t new_length)
|
|
{
|
|
body_length_ = new_length;
|
|
if (body_length_ > max_body_length)
|
|
{
|
|
body_length_ = max_body_length;
|
|
}
|
|
}
|
|
|
|
inline bool decode_header()
|
|
{
|
|
char header[header_length + 1] = "";
|
|
std::strncat(header, data_.data(), header_length);
|
|
if (header[0] != 'G' || header[1] != 'S')
|
|
{
|
|
return false;
|
|
}
|
|
|
|
char header2_[header_length - 1] = "";
|
|
std::strncat(header2_, data_.data() + 2, header_length - 2);
|
|
body_length_ = std::atoi(header2_);
|
|
if (body_length_ == 0)
|
|
{
|
|
return false;
|
|
}
|
|
|
|
if (body_length_ > max_body_length)
|
|
{
|
|
body_length_ = 0;
|
|
return false;
|
|
}
|
|
return true;
|
|
}
|
|
|
|
inline void encode_header()
|
|
{
|
|
char header[header_length + 1] = "";
|
|
std::snprintf(header, header_length + 1, "GS%4d", std::max(std::min(static_cast<int>(body_length_), static_cast<int>(max_body_length)), 0));
|
|
std::memcpy(data_.data(), header, header_length);
|
|
}
|
|
|
|
private:
|
|
std::array<char, header_length + max_body_length> data_{};
|
|
std::size_t body_length_;
|
|
};
|
|
|
|
|
|
class RtcmListener
|
|
{
|
|
public:
|
|
virtual ~RtcmListener() = default;
|
|
virtual void deliver(const Rtcm_Message& msg) = 0;
|
|
};
|
|
|
|
|
|
class Rtcm_Listener_Room
|
|
{
|
|
public:
|
|
inline void join(const std::shared_ptr<RtcmListener>& participant)
|
|
{
|
|
participants_.insert(participant);
|
|
for (auto msg : recent_msgs_)
|
|
{
|
|
participant->deliver(msg);
|
|
}
|
|
}
|
|
|
|
inline void leave(const std::shared_ptr<RtcmListener>& participant)
|
|
{
|
|
participants_.erase(participant);
|
|
}
|
|
|
|
inline void deliver(const Rtcm_Message& msg)
|
|
{
|
|
recent_msgs_.push_back(msg);
|
|
while (recent_msgs_.size() > max_recent_msgs)
|
|
{
|
|
recent_msgs_.pop_front();
|
|
}
|
|
|
|
for (const auto& participant : participants_)
|
|
{
|
|
participant->deliver(msg);
|
|
}
|
|
}
|
|
|
|
private:
|
|
std::set<std::shared_ptr<RtcmListener> > participants_;
|
|
enum
|
|
{
|
|
max_recent_msgs = 1
|
|
};
|
|
std::deque<Rtcm_Message> recent_msgs_;
|
|
};
|
|
|
|
|
|
class Rtcm_Session
|
|
: public RtcmListener,
|
|
public std::enable_shared_from_this<Rtcm_Session>
|
|
{
|
|
public:
|
|
Rtcm_Session(boost::asio::ip::tcp::socket socket, Rtcm_Listener_Room& room) : socket_(std::move(socket)), room_(room) {}
|
|
inline void start()
|
|
{
|
|
room_.join(shared_from_this());
|
|
do_read_message_header();
|
|
}
|
|
|
|
inline void deliver(const Rtcm_Message& msg)
|
|
{
|
|
bool write_in_progress = !write_msgs_.empty();
|
|
write_msgs_.push_back(msg);
|
|
if (!write_in_progress)
|
|
{
|
|
do_write();
|
|
}
|
|
}
|
|
|
|
private:
|
|
inline void do_read_message_header()
|
|
{
|
|
auto self(shared_from_this());
|
|
boost::asio::async_read(socket_,
|
|
boost::asio::buffer(read_msg_.data(), Rtcm_Message::header_length),
|
|
[this, self](boost::system::error_code ec, std::size_t /*length*/) {
|
|
if (!ec and read_msg_.decode_header())
|
|
{
|
|
do_read_message_body();
|
|
}
|
|
else if (!ec and !read_msg_.decode_header())
|
|
{
|
|
client_says += read_msg_.data();
|
|
bool first = true;
|
|
while (client_says.length() >= 80)
|
|
{
|
|
if (first == true)
|
|
{
|
|
LOG(INFO) << "Client says:";
|
|
first = false;
|
|
}
|
|
LOG(INFO) << client_says;
|
|
client_says = client_says.substr(80, client_says.length() - 80);
|
|
}
|
|
do_read_message_header();
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Closing connection with RTCM client\n";
|
|
room_.leave(shared_from_this());
|
|
}
|
|
});
|
|
}
|
|
|
|
inline void do_read_message_body()
|
|
{
|
|
auto self(shared_from_this());
|
|
boost::asio::async_read(socket_,
|
|
boost::asio::buffer(read_msg_.body(), read_msg_.body_length()),
|
|
[this, self](boost::system::error_code ec, std::size_t /*length*/) {
|
|
if (!ec)
|
|
{
|
|
room_.deliver(read_msg_);
|
|
// std::cout << "Delivered message (session): ";
|
|
// std::cout.write(read_msg_.body(), read_msg_.body_length());
|
|
// std::cout << '\n';
|
|
do_read_message_header();
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Closing connection with RTCM client\n";
|
|
room_.leave(shared_from_this());
|
|
}
|
|
});
|
|
}
|
|
|
|
inline void do_write()
|
|
{
|
|
auto self(shared_from_this());
|
|
boost::asio::async_write(socket_,
|
|
boost::asio::buffer(write_msgs_.front().body(), write_msgs_.front().body_length()),
|
|
[this, self](boost::system::error_code ec, std::size_t /*length*/) {
|
|
if (!ec)
|
|
{
|
|
write_msgs_.pop_front();
|
|
if (!write_msgs_.empty())
|
|
{
|
|
do_write();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Closing connection with RTCM client\n";
|
|
room_.leave(shared_from_this());
|
|
}
|
|
});
|
|
}
|
|
|
|
boost::asio::ip::tcp::socket socket_;
|
|
Rtcm_Listener_Room& room_;
|
|
Rtcm_Message read_msg_;
|
|
std::deque<Rtcm_Message> write_msgs_;
|
|
std::string client_says;
|
|
};
|
|
|
|
|
|
class Tcp_Internal_Client
|
|
: public std::enable_shared_from_this<Tcp_Internal_Client>
|
|
{
|
|
public:
|
|
Tcp_Internal_Client(b_io_context& io_context,
|
|
boost::asio::ip::tcp::resolver::iterator endpoint_iterator)
|
|
: io_context_(io_context), socket_(io_context)
|
|
{
|
|
do_connect(std::move(endpoint_iterator));
|
|
}
|
|
|
|
inline void close()
|
|
{
|
|
io_context_.post([this]() { socket_.close(); });
|
|
}
|
|
|
|
inline void write(const Rtcm_Message& msg)
|
|
{
|
|
io_context_.post(
|
|
[this, msg]() {
|
|
bool write_in_progress = !write_msgs_.empty();
|
|
write_msgs_.push_back(msg);
|
|
if (!write_in_progress)
|
|
{
|
|
do_write();
|
|
}
|
|
});
|
|
}
|
|
|
|
private:
|
|
inline void do_connect(boost::asio::ip::tcp::resolver::iterator endpoint_iterator)
|
|
{
|
|
boost::asio::async_connect(socket_, std::move(endpoint_iterator),
|
|
[this](boost::system::error_code ec, boost::asio::ip::tcp::resolver::iterator) {
|
|
if (!ec)
|
|
{
|
|
do_read_message();
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Server is down.\n";
|
|
}
|
|
});
|
|
}
|
|
|
|
inline void do_read_message()
|
|
{
|
|
boost::asio::async_read(socket_,
|
|
boost::asio::buffer(read_msg_.data(), 1029),
|
|
[this](boost::system::error_code ec, std::size_t /*length*/) {
|
|
if (!ec)
|
|
{
|
|
do_read_message();
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Error in client\n";
|
|
socket_.close();
|
|
}
|
|
});
|
|
}
|
|
|
|
inline void do_write()
|
|
{
|
|
boost::asio::async_write(socket_,
|
|
boost::asio::buffer(write_msgs_.front().data(), write_msgs_.front().length()),
|
|
[this](boost::system::error_code ec, std::size_t /*length*/) {
|
|
if (!ec)
|
|
{
|
|
write_msgs_.pop_front();
|
|
if (!write_msgs_.empty())
|
|
{
|
|
do_write();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
socket_.close();
|
|
}
|
|
});
|
|
}
|
|
|
|
b_io_context& io_context_;
|
|
boost::asio::ip::tcp::socket socket_;
|
|
Rtcm_Message read_msg_;
|
|
std::deque<Rtcm_Message> write_msgs_;
|
|
};
|
|
|
|
|
|
class Queue_Reader
|
|
{
|
|
public:
|
|
Queue_Reader(b_io_context& io_context, std::shared_ptr<Concurrent_Queue<std::string> >& queue, int32_t port) : queue_(queue)
|
|
{
|
|
boost::asio::ip::tcp::resolver resolver(io_context);
|
|
std::string host("localhost");
|
|
std::string port_str = std::to_string(port);
|
|
auto queue_endpoint_iterator = resolver.resolve({host.c_str(), port_str.c_str()});
|
|
c = std::make_shared<Tcp_Internal_Client>(io_context, queue_endpoint_iterator);
|
|
}
|
|
|
|
inline void do_read_queue()
|
|
{
|
|
for (;;)
|
|
{
|
|
std::string message;
|
|
Rtcm_Message msg;
|
|
queue_->wait_and_pop(message); // message += '\n';
|
|
if (message == "Goodbye")
|
|
{
|
|
break;
|
|
}
|
|
|
|
const char* char_msg = message.c_str();
|
|
msg.body_length(message.length());
|
|
std::memcpy(msg.body(), char_msg, msg.body_length());
|
|
msg.encode_header();
|
|
c->write(msg);
|
|
}
|
|
}
|
|
|
|
private:
|
|
std::shared_ptr<Tcp_Internal_Client> c;
|
|
std::shared_ptr<Concurrent_Queue<std::string> >& queue_;
|
|
};
|
|
|
|
|
|
class Tcp_Server
|
|
{
|
|
public:
|
|
Tcp_Server(b_io_context& io_context, const boost::asio::ip::tcp::endpoint& endpoint)
|
|
: acceptor_(io_context), socket_(io_context)
|
|
{
|
|
acceptor_.open(endpoint.protocol());
|
|
acceptor_.set_option(boost::asio::ip::tcp::acceptor::reuse_address(true));
|
|
acceptor_.bind(endpoint);
|
|
acceptor_.listen();
|
|
do_accept();
|
|
}
|
|
|
|
inline void close_server()
|
|
{
|
|
socket_.close();
|
|
acceptor_.close();
|
|
}
|
|
|
|
private:
|
|
inline void do_accept()
|
|
{
|
|
acceptor_.async_accept(socket_, [this](boost::system::error_code ec) {
|
|
if (!ec)
|
|
{
|
|
if (first_client)
|
|
{
|
|
std::cout << "The TCP/IP server of RTCM messages is up and running. Accepting connections ...\n";
|
|
first_client = false;
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Starting RTCM TCP/IP server session...\n";
|
|
boost::system::error_code ec2;
|
|
boost::asio::ip::tcp::endpoint endpoint = socket_.remote_endpoint(ec2);
|
|
if (ec2)
|
|
{
|
|
// Error creating remote_endpoint
|
|
std::cout << "Error getting remote IP address, closing session.\n";
|
|
LOG(INFO) << "Error getting remote IP address";
|
|
start_session = false;
|
|
}
|
|
else
|
|
{
|
|
std::string remote_addr = endpoint.address().to_string();
|
|
std::cout << "Serving client from " << remote_addr << '\n';
|
|
LOG(INFO) << "Serving client from " << remote_addr;
|
|
}
|
|
}
|
|
if (start_session)
|
|
{
|
|
std::make_shared<Rtcm_Session>(std::move(socket_), room_)->start();
|
|
}
|
|
}
|
|
else
|
|
{
|
|
std::cout << "Error when invoking a RTCM session. " << ec << '\n';
|
|
}
|
|
start_session = true;
|
|
do_accept();
|
|
});
|
|
}
|
|
|
|
boost::asio::ip::tcp::acceptor acceptor_;
|
|
boost::asio::ip::tcp::socket socket_;
|
|
Rtcm_Listener_Room room_;
|
|
bool first_client = true;
|
|
bool start_session = true;
|
|
};
|
|
|
|
b_io_context io_context;
|
|
std::shared_ptr<Concurrent_Queue<std::string> > rtcm_message_queue;
|
|
std::thread t;
|
|
std::thread tq;
|
|
std::list<Rtcm::Tcp_Server> servers;
|
|
bool server_is_running;
|
|
void stop_service();
|
|
|
|
//
|
|
// Transport Layer
|
|
//
|
|
std::bitset<8> preamble;
|
|
std::bitset<6> reserved_field;
|
|
std::string add_CRC(const std::string& m) const;
|
|
std::string build_message(const std::string& data) const; // adds 0s to complete a byte and adds the CRC
|
|
|
|
//
|
|
// Data Fields
|
|
//
|
|
std::bitset<12> DF002;
|
|
int32_t set_DF002(uint32_t message_number);
|
|
|
|
std::bitset<12> DF003;
|
|
int32_t set_DF003(uint32_t ref_station_ID);
|
|
|
|
std::bitset<30> DF004;
|
|
int32_t set_DF004(double obs_time);
|
|
|
|
std::bitset<1> DF005;
|
|
int32_t set_DF005(bool sync_flag);
|
|
|
|
std::bitset<5> DF006;
|
|
int32_t set_DF006(const std::map<int32_t, Gnss_Synchro>& observables);
|
|
|
|
std::bitset<1> DF007;
|
|
int32_t set_DF007(bool divergence_free_smoothing_indicator); // 0 - Divergence-free smoothing not used 1 - Divergence-free smoothing used
|
|
|
|
std::bitset<3> DF008;
|
|
int32_t set_DF008(int16_t smoothing_interval);
|
|
|
|
std::bitset<6> DF009;
|
|
int32_t set_DF009(const Gnss_Synchro& gnss_synchro);
|
|
int32_t set_DF009(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<1> DF010;
|
|
int32_t set_DF010(bool code_indicator);
|
|
|
|
std::bitset<24> DF011;
|
|
int32_t set_DF011(const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<20> DF012;
|
|
int32_t set_DF012(const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<7> DF013;
|
|
int32_t set_DF013(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<8> DF014;
|
|
int32_t set_DF014(const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<8> DF015;
|
|
int32_t set_DF015(const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<14> DF017;
|
|
int32_t set_DF017(const Gnss_Synchro& gnss_synchroL1, const Gnss_Synchro& gnss_synchroL2);
|
|
|
|
std::bitset<20> DF018;
|
|
int32_t set_DF018(const Gnss_Synchro& gnss_synchroL1, const Gnss_Synchro& gnss_synchroL2);
|
|
|
|
std::bitset<7> DF019;
|
|
int32_t set_DF019(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<8> DF020;
|
|
int32_t set_DF020(const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<6> DF021;
|
|
int32_t set_DF021();
|
|
|
|
std::bitset<1> DF022;
|
|
int32_t set_DF022(bool gps_indicator);
|
|
|
|
std::bitset<1> DF023;
|
|
int32_t set_DF023(bool glonass_indicator);
|
|
|
|
std::bitset<1> DF024;
|
|
int32_t set_DF024(bool galileo_indicator);
|
|
|
|
std::bitset<38> DF025;
|
|
int32_t set_DF025(double antenna_ECEF_X_m);
|
|
|
|
std::bitset<38> DF026;
|
|
int32_t set_DF026(double antenna_ECEF_Y_m);
|
|
|
|
std::bitset<38> DF027;
|
|
int32_t set_DF027(double antenna_ECEF_Z_m);
|
|
|
|
std::bitset<16> DF028;
|
|
int32_t set_DF028(double height);
|
|
|
|
std::bitset<8> DF029;
|
|
|
|
std::bitset<8> DF031;
|
|
int32_t set_DF031(uint32_t antenna_setup_id);
|
|
|
|
std::bitset<8> DF032;
|
|
|
|
/*!
|
|
* \brief Sets the Data Field value
|
|
* \note Code added as part of GSoC 2017 program
|
|
* \param obs_time Time of observation at the moment of printing
|
|
* \return returns 0 upon success
|
|
*/
|
|
int32_t set_DF034(double obs_time);
|
|
std::bitset<27> DF034; //!< GLONASS Epoch Time (tk)
|
|
|
|
std::bitset<5> DF035; //!< No. of GLONASS Satellite Signals Processed
|
|
int32_t set_DF035(const std::map<int32_t, Gnss_Synchro>& observables);
|
|
|
|
std::bitset<1> DF036; //!< GLONASS Divergence-free Smoothing Indicator
|
|
int32_t set_DF036(bool divergence_free_smoothing_indicator);
|
|
|
|
std::bitset<3> DF037; //!< GLONASS Smoothing Interval
|
|
int32_t set_DF037(int16_t smoothing_interval);
|
|
|
|
std::bitset<6> DF038; //!< GLONASS Satellite ID (Satellite Slot Number)
|
|
int32_t set_DF038(const Gnss_Synchro& gnss_synchro);
|
|
int32_t set_DF038(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<1> DF039; //!< GLONASS L1 Code Indicator
|
|
int32_t set_DF039(bool code_indicator);
|
|
|
|
std::bitset<5> DF040; //!< GLONASS Satellite Frequency Number
|
|
int32_t set_DF040(int32_t frequency_channel_number);
|
|
int32_t set_DF040(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<25> DF041; //!< GLONASS L1 Pseudorange
|
|
int32_t set_DF041(const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<20> DF042; //!< GLONASS L1 PhaseRange - L1 Pseudorange
|
|
int32_t set_DF042(const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<7> DF043; //!< GLONASS L1 Lock Time Indicator
|
|
int32_t set_DF043(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<7> DF044; //!< GLONASS Integer L1 Pseudorange Modulus Ambiguity
|
|
int32_t set_DF044(const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<8> DF045; //!< GLONASS L1 CNR
|
|
int32_t set_DF045(const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<2> DF046; //!< GLONASS L2 code indicator
|
|
int32_t set_DF046(uint16_t code_indicator);
|
|
|
|
std::bitset<14> DF047; //!< GLONASS L2 - L1 Pseudorange Difference
|
|
int32_t set_DF047(const Gnss_Synchro& gnss_synchroL1, const Gnss_Synchro& gnss_synchroL2);
|
|
|
|
std::bitset<20> DF048; //!< GLONASS L2 PhaseRange - L1 Pseudorange
|
|
int32_t set_DF048(const Gnss_Synchro& gnss_synchroL1, const Gnss_Synchro& gnss_synchroL2);
|
|
|
|
std::bitset<7> DF049; //!< GLONASS L2 Lock Time Indicator
|
|
int32_t set_DF049(const Glonass_Gnav_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<8> DF050; //!< GLONASS L2 CNR
|
|
int32_t set_DF050(const Gnss_Synchro& gnss_synchro);
|
|
|
|
std::bitset<16> DF051;
|
|
int32_t set_DF051(const Gps_Ephemeris& gps_eph, double obs_time);
|
|
|
|
std::bitset<17> DF052;
|
|
int32_t set_DF052(const Gps_Ephemeris& gps_eph, double obs_time);
|
|
|
|
// Contents of GPS Satellite Ephemeris Data, Message Type 1019
|
|
std::bitset<8> DF071;
|
|
int32_t set_DF071(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<10> DF076;
|
|
int32_t set_DF076(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<4> DF077;
|
|
int32_t set_DF077(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<2> DF078;
|
|
int32_t set_DF078(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<14> DF079;
|
|
int32_t set_DF079(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<8> DF080;
|
|
int32_t set_DF080(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<16> DF081;
|
|
int32_t set_DF081(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<8> DF082;
|
|
int32_t set_DF082(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<16> DF083;
|
|
int32_t set_DF083(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<22> DF084;
|
|
int32_t set_DF084(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<10> DF085;
|
|
int32_t set_DF085(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<16> DF086;
|
|
int32_t set_DF086(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<16> DF087;
|
|
int32_t set_DF087(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<32> DF088;
|
|
int32_t set_DF088(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<16> DF089;
|
|
int32_t set_DF089(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<32> DF090;
|
|
int32_t set_DF090(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<16> DF091;
|
|
int32_t set_DF091(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<32> DF092;
|
|
int32_t set_DF092(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<16> DF093;
|
|
int32_t set_DF093(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<16> DF094;
|
|
int32_t set_DF094(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<32> DF095;
|
|
int32_t set_DF095(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<16> DF096;
|
|
int32_t set_DF096(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<32> DF097;
|
|
int32_t set_DF097(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<16> DF098;
|
|
int32_t set_DF098(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<32> DF099;
|
|
int32_t set_DF099(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<24> DF100;
|
|
int32_t set_DF100(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<8> DF101;
|
|
int32_t set_DF101(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<6> DF102;
|
|
int32_t set_DF102(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<1> DF103;
|
|
int32_t set_DF103(const Gps_Ephemeris& gps_eph);
|
|
|
|
std::bitset<1> DF104; //!< GLONASS Almanac Health
|
|
int32_t set_DF104(uint32_t glonass_gnav_alm_health);
|
|
|
|
std::bitset<1> DF105; //!< GLONASS Almanac Health Availability Indicator
|
|
int32_t set_DF105(uint32_t glonass_gnav_alm_health_ind);
|
|
|
|
std::bitset<2> DF106; //!< GLONASS P1 Word
|
|
int32_t set_DF106(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<12> DF107; //!< GLONASS Epoch (tk)
|
|
int32_t set_DF107(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<1> DF108; //!< GLONASS MSB of Bn Word
|
|
int32_t set_DF108(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<1> DF109; //!< GLONASS P2 Word
|
|
int32_t set_DF109(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<7> DF110; //!< GLONASS Ephmeris Epoch (tb)
|
|
int32_t set_DF110(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<24> DF111; //!< GLONASS Xn first derivative
|
|
int32_t set_DF111(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<27> DF112; //!< GLONASS Xn
|
|
int32_t set_DF112(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<5> DF113; //!< GLONASS Xn second derivative
|
|
int32_t set_DF113(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<24> DF114; //!< GLONASS Yn first derivative
|
|
int32_t set_DF114(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<27> DF115; //!< GLONASS Yn
|
|
int32_t set_DF115(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<5> DF116; //!< GLONASS Yn second derivative
|
|
int32_t set_DF116(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<24> DF117; //!< GLONASS Zn first derivative
|
|
int32_t set_DF117(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<27> DF118; //!< GLONASS Zn
|
|
int32_t set_DF118(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<5> DF119; //!< GLONASS Zn second derivative
|
|
int32_t set_DF119(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<1> DF120; //!< GLONASS P3
|
|
int32_t set_DF120(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<11> DF121; //!< GLONASS GAMMA_N
|
|
int32_t set_DF121(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<2> DF122; //!< GLONASS P
|
|
int32_t set_DF122(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<1> DF123; //!< GLONASS ln (third string)
|
|
int32_t set_DF123(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<22> DF124; //!< GLONASS TAU_N
|
|
int32_t set_DF124(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<5> DF125; //!< GLONASS DELTA_TAU_N
|
|
int32_t set_DF125(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
|
|
|
|
std::bitset<5> DF126; //!< GLONASS Eccentricity
|
|
int32_t set_DF126(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
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std::bitset<1> DF127; //!< GLONASS P4
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int32_t set_DF127(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
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std::bitset<4> DF128; //!< GLONASS F_T
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int32_t set_DF128(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
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std::bitset<11> DF129; //!< GLONASS N_T
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int32_t set_DF129(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
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std::bitset<2> DF130; //!< GLONASS M
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int32_t set_DF130(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
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std::bitset<1> DF131; //!< GLONASS Availability of additional data
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int32_t set_DF131(uint32_t fifth_str_additional_data_ind);
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std::bitset<11> DF132; //!< GLONASS N_A
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int32_t set_DF132(const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model);
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std::bitset<32> DF133; //!< GLONASS TAU_C
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int32_t set_DF133(const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model);
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std::bitset<5> DF134; //!< GLONASS N_4
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int32_t set_DF134(const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model);
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std::bitset<22> DF135; //!< GLONASS TAU_GPS
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int32_t set_DF135(const Glonass_Gnav_Utc_Model& glonass_gnav_utc_model);
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std::bitset<1> DF136; //!< GLONASS L_N (FIFTH STRING)
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int32_t set_DF136(const Glonass_Gnav_Ephemeris& glonass_gnav_eph);
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std::bitset<1> DF137;
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int32_t set_DF137(const Gps_Ephemeris& gps_eph);
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std::bitset<1> DF141;
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int32_t set_DF141(const Gps_Ephemeris& gps_eph);
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std::bitset<1> DF142;
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int32_t set_DF142(const Gps_Ephemeris& gps_eph);
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std::bitset<30> DF248;
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int32_t set_DF248(double obs_time);
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// Contents of Galileo F/NAV Satellite Ephemeris Data, Message Type 1045
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std::bitset<6> DF252;
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int32_t set_DF252(const Galileo_Ephemeris& gal_eph);
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std::bitset<12> DF289;
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int32_t set_DF289(const Galileo_Ephemeris& gal_eph);
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std::bitset<10> DF290;
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int32_t set_DF290(const Galileo_Ephemeris& gal_eph);
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std::bitset<8> DF291;
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int32_t set_DF291(const Galileo_Ephemeris& gal_eph);
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std::bitset<14> DF292;
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int32_t set_DF292(const Galileo_Ephemeris& gal_eph);
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std::bitset<14> DF293;
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int32_t set_DF293(const Galileo_Ephemeris& gal_eph);
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std::bitset<6> DF294;
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int32_t set_DF294(const Galileo_Ephemeris& gal_eph);
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std::bitset<21> DF295;
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int32_t set_DF295(const Galileo_Ephemeris& gal_eph);
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std::bitset<31> DF296;
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int32_t set_DF296(const Galileo_Ephemeris& gal_eph);
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std::bitset<16> DF297;
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int32_t set_DF297(const Galileo_Ephemeris& gal_eph);
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std::bitset<16> DF298;
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int32_t set_DF298(const Galileo_Ephemeris& gal_eph);
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std::bitset<32> DF299;
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int32_t set_DF299(const Galileo_Ephemeris& gal_eph);
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std::bitset<16> DF300;
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int32_t set_DF300(const Galileo_Ephemeris& gal_eph);
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std::bitset<32> DF301;
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int32_t set_DF301(const Galileo_Ephemeris& gal_eph);
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std::bitset<16> DF302;
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int32_t set_DF302(const Galileo_Ephemeris& gal_eph);
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std::bitset<32> DF303;
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int32_t set_DF303(const Galileo_Ephemeris& gal_eph);
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std::bitset<14> DF304;
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int32_t set_DF304(const Galileo_Ephemeris& gal_eph);
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std::bitset<16> DF305;
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int32_t set_DF305(const Galileo_Ephemeris& gal_eph);
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std::bitset<32> DF306;
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int32_t set_DF306(const Galileo_Ephemeris& gal_eph);
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std::bitset<16> DF307;
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int32_t set_DF307(const Galileo_Ephemeris& gal_eph);
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std::bitset<32> DF308;
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int32_t set_DF308(const Galileo_Ephemeris& gal_eph);
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std::bitset<16> DF309;
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int32_t set_DF309(const Galileo_Ephemeris& gal_eph);
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std::bitset<32> DF310;
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int32_t set_DF310(const Galileo_Ephemeris& gal_eph);
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std::bitset<24> DF311;
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int32_t set_DF311(const Galileo_Ephemeris& gal_eph);
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std::bitset<10> DF312;
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int32_t set_DF312(const Galileo_Ephemeris& gal_eph);
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std::bitset<10> DF313;
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int32_t set_DF313(const Galileo_Ephemeris& gal_eph);
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std::bitset<2> DF314;
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int32_t set_DF314(const Galileo_Ephemeris& gal_eph);
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std::bitset<1> DF315;
|
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int32_t set_DF315(const Galileo_Ephemeris& gal_eph);
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std::bitset<2> DF364;
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// Content of message header for MSM1, MSM2, MSM3, MSM4, MSM5, MSM6 and MSM7
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std::bitset<1> DF393;
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int32_t set_DF393(bool more_messages); // 1 indicates that more MSMs follow for given physical time and reference station ID
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std::bitset<64> DF394;
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int32_t set_DF394(const std::map<int32_t, Gnss_Synchro>& gnss_synchro);
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std::bitset<32> DF395;
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int32_t set_DF395(const std::map<int32_t, Gnss_Synchro>& gnss_synchro);
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std::string set_DF396(const std::map<int32_t, Gnss_Synchro>& observables);
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std::bitset<8> DF397;
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int32_t set_DF397(const Gnss_Synchro& gnss_synchro);
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std::bitset<10> DF398;
|
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int32_t set_DF398(const Gnss_Synchro& gnss_synchro);
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std::bitset<14> DF399;
|
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int32_t set_DF399(const Gnss_Synchro& gnss_synchro);
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std::bitset<15> DF400;
|
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int32_t set_DF400(const Gnss_Synchro& gnss_synchro);
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std::bitset<22> DF401;
|
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int32_t set_DF401(const Gnss_Synchro& gnss_synchro);
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std::bitset<4> DF402;
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int32_t set_DF402(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& ephCNAV, const Galileo_Ephemeris& ephFNAV, const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const Gnss_Synchro& gnss_synchro);
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std::bitset<6> DF403;
|
|
int32_t set_DF403(const Gnss_Synchro& gnss_synchro);
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std::bitset<15> DF404;
|
|
int32_t set_DF404(const Gnss_Synchro& gnss_synchro);
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std::bitset<20> DF405;
|
|
int32_t set_DF405(const Gnss_Synchro& gnss_synchro);
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std::bitset<24> DF406;
|
|
int32_t set_DF406(const Gnss_Synchro& gnss_synchro);
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std::bitset<10> DF407;
|
|
int32_t set_DF407(const Gps_Ephemeris& ephNAV, const Gps_CNAV_Ephemeris& ephCNAV, const Galileo_Ephemeris& ephFNAV, const Glonass_Gnav_Ephemeris& ephGNAV, double obs_time, const Gnss_Synchro& gnss_synchro);
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std::bitset<10> DF408;
|
|
int32_t set_DF408(const Gnss_Synchro& gnss_synchro);
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std::bitset<3> DF409;
|
|
int32_t set_DF409(uint32_t iods);
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std::bitset<2> DF411;
|
|
int32_t set_DF411(uint32_t clock_steering_indicator);
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std::bitset<2> DF412;
|
|
int32_t set_DF412(uint32_t external_clock_indicator);
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std::bitset<1> DF417;
|
|
int32_t set_DF417(bool using_divergence_free_smoothing);
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std::bitset<3> DF418;
|
|
int32_t set_DF418(int32_t carrier_smoothing_interval_s);
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std::bitset<1> DF420;
|
|
int32_t set_DF420(const Gnss_Synchro& gnss_synchro);
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|
};
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/** \} */
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/** \} */
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#endif // GNSS_SDR_RTCM_H
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