mirror of https://github.com/gnss-sdr/gnss-sdr
131 lines
5.7 KiB
C++
131 lines
5.7 KiB
C++
/*!
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* \file an_packet_printer.h
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* \brief Interface of a class that prints PVT solutions in a serial device
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* following a custom version of the Advanced Navigation Packet Protocol
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* \author Carles Fernandez-Prades, 2021. cfernandez(at)cttc.es
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* \author Miguel Angel Gomez Lopez, 2021. gomezlma(at)inta.es
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*
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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) 2010-2021 (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_AN_PACKET_PRINTER_H
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#define GNSS_SDR_AN_PACKET_PRINTER_H
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#include "gnss_synchro.h"
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#include <array>
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#include <cstddef>
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#include <cstdint>
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#include <map>
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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 Rtklib_Solver;
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struct sdr_gnss_packet_t
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{
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uint8_t nsvfix; // number of sats used in PVT fix
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uint8_t gps_satellites; // number of tracked GPS satellites
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uint8_t galileo_satellites; // number of tracked Galileo satellites
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uint32_t microseconds; // from start of receiver operation
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double latitude; // in [rad]
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double longitude; // in [rad]
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double height; // in [m]
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float velocity[3]; // North, East, Down, in [m/s]
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struct
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{
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uint8_t prn; // PRN ID. Galileo sats expressed as PRN + 100
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uint8_t snr; // in [dB-Hz]
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int16_t doppler; // in [Hz], saturates at +32767 / -32768 Hz
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} sats[6];
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uint32_t reserved;
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uint16_t status;
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};
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struct an_packet_t
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{
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uint8_t id;
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uint8_t length;
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uint8_t header[5]; // AN_PACKET_HEADER_SIZE
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uint8_t data[126]; // AN_MAXIMUM_PACKET_SIZE
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};
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/*!
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* \brief class that prints PVT solutions in a serial device following a custom
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* version of the Advanced Navigation Packet Protocol.
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*/
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class An_Packet_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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explicit An_Packet_Printer(const std::string& an_dump_devname);
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/*!
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* \brief Default destructor.
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*/
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~An_Packet_Printer();
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/*!
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* \brief Print AN packet to the initialized device.
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*/
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bool print_packet(const Rtklib_Solver* const pvt_data, const std::map<int, Gnss_Synchro>& gnss_observables_map);
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/*!
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* \brief Close serial port. Also done in the destructor, this is only
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* for testing.
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*/
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void close_serial() const;
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private:
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const std::array<uint16_t, 256> d_crc16_table = {
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{0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273,
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0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 0xb54b, 0x8528,
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0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886,
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0x78a7, 0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf,
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0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, 0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, 0x6eb6, 0x5ed5,
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0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2,
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0x20e3, 0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8,
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0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 0x36f2, 0x0691,
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0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f,
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0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64,
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0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1, 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0}};
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const size_t SDR_GNSS_PACKET_LENGTH = 73;
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const uint8_t SDR_GNSS_PACKET_ID = 201;
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int init_serial(const std::string& serial_device);
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void update_sdr_gnss_packet(sdr_gnss_packet_t* _packet, const Rtklib_Solver* const pvt, const std::map<int, Gnss_Synchro>& gnss_observables_map) const;
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void encode_gnss_cttc_packet(sdr_gnss_packet_t* sdr_gnss_packet, an_packet_t* _packet) const;
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uint16_t calculate_crc16(const void* data, uint16_t length) const;
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uint8_t calculate_header_lrc(const uint8_t* data) const;
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void an_packet_encode(an_packet_t* an_packet) const;
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void encode_sdr_gnss_packet(sdr_gnss_packet_t* sdr_gnss_packet, an_packet_t* _packet) const;
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void LSB_bytes_to_array(void* _in, int offset, uint8_t* _out, uint8_t var_size) const;
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std::string d_an_devname;
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int d_an_dev_descriptor; // serial device descriptor (i.e. COM port)
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};
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/** \} */
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/** \} */
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#endif // GNSS_SDR_AN_PACKET_PRINTER_H
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