mirror of https://github.com/gnss-sdr/gnss-sdr
201 lines
8.6 KiB
C++
201 lines
8.6 KiB
C++
/*!
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* \file rtcm_printer.h
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* \brief Interface of a RTCM 3.2 printer for GNSS-SDR
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* This class provides a implementation of a subset of the RTCM Standard 10403.2
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* for Differential GNSS Services
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*
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* \author Carles Fernandez-Prades, 2014. 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_PRINTER_H
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#define GNSS_SDR_RTCM_PRINTER_H
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#include <cstdint> // for int32_t
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#include <fstream> // for std::ofstream
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#include <map> // for std::map
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#include <memory> // std::shared_ptr
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#include <string>
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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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class Galileo_Ephemeris;
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class Glonass_Gnav_Ephemeris;
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class Glonass_Gnav_Utc_Model;
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class Gnss_Synchro;
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class Gps_CNAV_Ephemeris;
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class Gps_Ephemeris;
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class Rtcm;
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class Rtklib_Solver;
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/*!
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* \brief This class provides a implementation of a subset of the RTCM Standard 10403.2 messages
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*/
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class Rtcm_Printer
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{
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public:
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/*!
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* \brief Default constructor.
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*/
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Rtcm_Printer(const std::string& filename,
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bool flag_rtcm_file_dump,
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bool flag_rtcm_server,
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bool flag_rtcm_tty_port,
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uint16_t rtcm_tcp_port,
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uint16_t rtcm_station_id,
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const std::string& rtcm_dump_devname,
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bool time_tag_name = true,
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const std::string& base_path = ".");
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/*!
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* \brief Default destructor.
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*/
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~Rtcm_Printer();
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/*!
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* \brief Print RTCM messages.
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*/
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void Print_Rtcm_Messages(const Rtklib_Solver* pvt_solver,
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const std::map<int, Gnss_Synchro>& gnss_observables_map,
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double rx_time,
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int32_t type_of_rx,
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int32_t rtcm_MSM_rate_ms,
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int32_t rtcm_MT1019_rate_ms,
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int32_t rtcm_MT1020_rate_ms,
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int32_t rtcm_MT1045_rate_ms,
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int32_t rtcm_MT1077_rate_ms,
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int32_t rtcm_MT1097_rate_ms,
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bool flag_write_RTCM_MSM_output,
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bool flag_write_RTCM_1019_output,
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bool flag_write_RTCM_1020_output,
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bool flag_write_RTCM_1045_output,
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bool enable_rx_clock_correction);
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uint32_t lock_time(const Gps_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
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uint32_t lock_time(const Gps_CNAV_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
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uint32_t lock_time(const Galileo_Ephemeris& eph, double obs_time, const Gnss_Synchro& gnss_synchro);
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/*!
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* \brief Locks time for logging given GLONASS GNAV Broadcast Ephemeris
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* \note Code added as part of GSoC 2017 program
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* \params glonass_gnav_eph GLONASS GNAV Broadcast Ephemeris
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* \params obs_time Time of observation at the moment of printing
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* \params observables Set of observables as defined by the platform
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* \return locked time during logging process
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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 print_MT1005_test(); //!< For testing purposes
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private:
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bool Print_Rtcm_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
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bool Print_Rtcm_MT1002(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
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bool Print_Rtcm_MT1003(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
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bool Print_Rtcm_MT1004(const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& cnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
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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 true or false upon operation success
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*/
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bool Print_Rtcm_MT1009(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
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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 true or false upon operation success
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*/
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bool Print_Rtcm_MT1010(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables);
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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_ephL1 GLONASS L1 GNAV Broadcast Ephemeris for satellite
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* \param glonass_gnav_ephL2 GLONASS L2 GNAV Broadcast Ephemeris for satellite
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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 true or false upon operation success
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*/
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bool Print_Rtcm_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);
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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_ephL1 GLONASS L1 GNAV Broadcast Ephemeris for satellite
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* \param glonass_gnav_ephL2 GLONASS L2 GNAV Broadcast Ephemeris for satellite
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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 true or false upon operation success
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*/
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bool Print_Rtcm_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);
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bool Print_Rtcm_MT1019(const Gps_Ephemeris& gps_eph); // GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
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bool Print_Rtcm_MT1045(const Galileo_Ephemeris& gal_eph); // Galileo Ephemeris, should be broadcast every 2 minutes
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/*
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* \brief Prints GLONASS GNAV Ephemeris
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* \details This GLONASS message should be broadcast every 2 minutes
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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 utc_model GLONASS GNAV Clock Information broadcast in string 5
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* \return true or false upon operation success
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*/
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bool Print_Rtcm_MT1020(const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const Glonass_Gnav_Utc_Model& utc_model);
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bool Print_Rtcm_MSM(uint32_t msm_number,
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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 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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int32_t init_serial(const std::string& serial_device); // serial port control
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void close_serial();
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bool Print_Message(const std::string& message);
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std::unique_ptr<Rtcm> rtcm;
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std::ofstream rtcm_file_descriptor; // Output file stream for RTCM log file
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std::string rtcm_filename; // String with the RTCM log filename
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std::string rtcm_base_path;
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std::string rtcm_devname;
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int32_t rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port)
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uint16_t port;
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uint16_t station_id;
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bool d_rtcm_writing_started;
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bool d_rtcm_file_dump;
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};
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/** \} */
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/** \} */
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#endif // GNSS_SDR_RTCM_PRINTER_H
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