[hamradio-commits] [gnss-sdr] 43/126: Now the Rtcm class can generate and read MT1019 (GPS ephemeris)
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Sat Dec 26 18:38:00 UTC 2015
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carles_fernandez-guest pushed a commit to branch next
in repository gnss-sdr.
commit c0f1d7241f41a0e887e553cffd0371db1d4df579
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Mon Nov 23 00:56:29 2015 +0100
Now the Rtcm class can generate and read MT1019 (GPS ephemeris)
---
src/core/system_parameters/rtcm.cc | 410 ++++++++++++++++++++++++-------------
src/core/system_parameters/rtcm.h | 49 +++--
src/tests/formats/rtcm_test.cc | 73 ++++++-
3 files changed, 369 insertions(+), 163 deletions(-)
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index 2221c91..89b5453 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -30,6 +30,7 @@
#include "rtcm.h"
#include <algorithm> // for std::reverse
+#include <cmath> // for std::fmod
#include <cstdlib> // for strtol
#include <sstream> // for std::stringstream
#include <boost/algorithm/string.hpp> // for to_upper_copy
@@ -86,7 +87,6 @@ std::string Rtcm::add_CRC (const std::string& message_without_crc)
bool Rtcm::check_CRC(const std::string & message)
{
crc_24_q_type CRC_RTCM_CHECK;
-
// Convert message to binary
std::string message_bin = Rtcm::hex_to_bin(message);
// Check CRC
@@ -116,16 +116,29 @@ std::string Rtcm::bin_to_hex(const std::string& s)
{
std::string s_aux;
std::stringstream ss;
- for(int i = 0; i < s.length() - 1; i = i + 32)
+ int remainder = static_cast<int>(std::fmod(s.length(), 4));
+
+ if (remainder != 0)
+ {
+ s_aux.assign(s, 0 , remainder);
+ boost::dynamic_bitset<> rembits(s_aux);
+ unsigned n = rembits.to_ulong();
+ ss << std::hex << n;
+ }
+
+ int start = std::max(remainder, 0);
+ for(int i = start; i < s.length() - 1; i = i + 4)
{
- s_aux.assign(s, i, 32);
- std::bitset<32> bs(s_aux);
+ s_aux.assign(s, i, 4);
+ std::bitset<4> bs(s_aux);
unsigned n = bs.to_ulong();
ss << std::hex << n;
}
+
return boost::to_upper_copy(ss.str());
}
+
std::string Rtcm::hex_to_bin(const std::string& s)
{
std::string s_aux;
@@ -143,6 +156,7 @@ std::string Rtcm::hex_to_bin(const std::string& s)
return s_aux;
}
+
unsigned long int Rtcm::bin_to_uint(const std::string& s)
{
if(s.length() > 32)
@@ -154,6 +168,7 @@ unsigned long int Rtcm::bin_to_uint(const std::string& s)
return reading;
}
+
long int Rtcm::bin_to_int(const std::string& s)
{
if(s.length() > 32)
@@ -161,7 +176,20 @@ long int Rtcm::bin_to_int(const std::string& s)
LOG(WARNING) << "Cannot convert to a long int";
return 0;
}
- long int reading = strtol(s.c_str(), NULL, 2);
+ long int reading;
+
+ // Handle negative numbers
+ if(s.substr(0,1).compare("0"))
+ {
+ // Computing two's complement
+ boost::dynamic_bitset<> original_bitset(s);
+ original_bitset.flip();
+ reading = - (original_bitset.to_ulong() + 1);
+ }
+ else
+ {
+ reading = strtol(s.c_str(), NULL, 2);
+ }
return reading;
}
@@ -175,7 +203,7 @@ double Rtcm::bin_to_double(const std::string& s)
return 0;
}
- long long int reading_int = strtoll(s.c_str(), NULL, 2);
+ long long int reading_int;
// Handle negative numbers
if(s.substr(0,1).compare("0"))
@@ -185,6 +213,10 @@ double Rtcm::bin_to_double(const std::string& s)
original_bitset.flip();
reading_int = - (original_bitset.to_ulong() + 1);
}
+ else
+ {
+ reading_int = strtoll(s.c_str(), NULL, 2);
+ }
reading = static_cast<double>(reading_int);
return reading;
@@ -239,6 +271,104 @@ std::string Rtcm::build_message(std::string data)
// *****************************************************************************************************
+
+// **********************************************
+//
+// MESSAGE TYPE 1001 (GPS L1 OBSERVATIONS)
+//
+// **********************************************
+
+std::bitset<64> Rtcm::get_M1001_header(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges,
+ unsigned int ref_id, unsigned int smooth_int, bool sync_flag, bool divergence_free)
+{
+ unsigned int m1001 = 1001;
+ unsigned int reference_station_id = ref_id; // Max: 4095
+ const std::map<int, Gnss_Synchro> pseudoranges_ = pseudoranges;
+ bool synchronous_GNSS_flag = sync_flag;
+ bool divergence_free_smoothing_indicator = divergence_free;
+ unsigned int smoothing_interval = smooth_int;
+ Rtcm::set_DF002(m1001);
+ Rtcm::set_DF003(reference_station_id);
+ Rtcm::set_DF004(gps_eph, obs_time);
+ Rtcm::set_DF005(synchronous_GNSS_flag);
+ Rtcm::set_DF006(pseudoranges_);
+ Rtcm::set_DF007(divergence_free_smoothing_indicator);
+ Rtcm::set_DF008(smoothing_interval);
+
+ std::string header = DF002.to_string() +
+ DF003.to_string() +
+ DF004.to_string() +
+ DF005.to_string() +
+ DF006.to_string() +
+ DF007.to_string() +
+ DF008.to_string();
+
+ std::bitset<64> header_msg(header);
+ return header_msg;
+}
+
+
+std::bitset<58> Rtcm::get_M1001_sat_content(const Gnss_Synchro & gnss_synchro)
+{
+ Gnss_Synchro gnss_synchro_ = gnss_synchro;
+ bool code_indicator = false; // code indicator 0: C/A code 1: P(Y) code direct
+ Rtcm::set_DF009(gnss_synchro_);
+ Rtcm::set_DF010(code_indicator); // code indicator 0: C/A code 1: P(Y) code direct
+ Rtcm::set_DF011(gnss_synchro_);
+
+ long int gps_L1_phaserange_minus_L1_pseudorange;
+ long int phaserange_m = (gnss_synchro.Carrier_phase_rads * GPS_C_m_s) / (GPS_TWO_PI * GPS_L1_FREQ_HZ);
+ gps_L1_phaserange_minus_L1_pseudorange = phaserange_m; // TODO
+ DF012 = std::bitset<20>(gps_L1_phaserange_minus_L1_pseudorange);
+
+ unsigned int lock_time_indicator = 0; // TODO
+ DF013 = std::bitset<7>(lock_time_indicator);
+
+ std::string content = DF009.to_string() +
+ DF010.to_string() +
+ DF011.to_string() +
+ DF012.to_string() +
+ DF013.to_string();
+
+ std::bitset<58> content_msg(content);
+ return content_msg;
+}
+
+
+
+std::string Rtcm::print_M1001(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
+{
+ unsigned int ref_id = static_cast<unsigned int>(FLAGS_RTCM_Ref_Station_ID);
+ unsigned int smooth_int = 0;
+ bool sync_flag = false;
+ bool divergence_free = false;
+
+ std::bitset<64> header = Rtcm::get_M1001_header(gps_eph, obs_time, pseudoranges, ref_id, smooth_int, sync_flag, divergence_free);
+ std::string data = header.to_string();
+
+ std::map<int, Gnss_Synchro>::const_iterator pseudoranges_iter;
+ for(pseudoranges_iter = pseudoranges.begin();
+ pseudoranges_iter != pseudoranges.end();
+ pseudoranges_iter++)
+ {
+
+ std::bitset<58> content = Rtcm::get_M1001_sat_content(pseudoranges_iter->second);
+ data += content.to_string();
+ }
+
+ return Rtcm::build_message(data);
+}
+
+
+
+
+// **********************************************
+//
+// MESSAGE TYPE 1005 (STATION DESCRIPTION)
+//
+// **********************************************
+
+
/* Stationary Antenna Reference Point, No Height Information
* Reference Station Id = 2003
GPS Service supported, but not GLONASS or Galileo
@@ -290,6 +420,42 @@ std::bitset<152> Rtcm::get_M1005_test ()
return test_msg;
}
+std::string Rtcm::print_M1005( unsigned int ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, unsigned int quarter_cycle_indicator)
+{
+ unsigned int msg_number = 1005;
+ std::bitset<1> DF001_;
+
+ Rtcm::set_DF002(msg_number);
+ Rtcm::set_DF003(ref_id);
+ Rtcm::set_DF021();
+ Rtcm::set_DF022(gps);
+ Rtcm::set_DF023(glonass);
+ Rtcm::set_DF024(galileo);
+ DF141 = std::bitset<1>(non_physical);
+ DF001_ = std::bitset<1>("0");
+ Rtcm::set_DF025(ecef_x);
+ DF142 = std::bitset<1>(single_oscillator);
+ Rtcm::set_DF026(ecef_y);
+ DF364 = std::bitset<2>(quarter_cycle_indicator);
+ Rtcm::set_DF027(ecef_z);
+
+ std::string data = DF002.to_string() +
+ DF003.to_string() +
+ DF021.to_string() +
+ DF022.to_string() +
+ DF023.to_string() +
+ DF024.to_string() +
+ DF141.to_string() +
+ DF025.to_string() +
+ DF142.to_string() +
+ DF001_.to_string() +
+ DF026.to_string() +
+ DF364.to_string() +
+ DF027.to_string() ;
+
+ std::string message = build_message(data);
+ return message;
+}
int Rtcm::read_M1005(const std::string & message, unsigned int & ref_id, double & ecef_x, double & ecef_y, double & ecef_z, bool & gps, bool & glonass, bool & galileo)
{
@@ -368,88 +534,12 @@ std::string Rtcm::print_M1005_test()
}
-std::bitset<64> Rtcm::get_M1001_header(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges,
- unsigned int ref_id, unsigned int smooth_int, bool sync_flag, bool divergence_free)
-{
- unsigned int m1001 = 1001;
- unsigned int reference_station_id = ref_id; // Max: 4095
- const std::map<int, Gnss_Synchro> pseudoranges_ = pseudoranges;
- bool synchronous_GNSS_flag = sync_flag;
- bool divergence_free_smoothing_indicator = divergence_free;
- unsigned int smoothing_interval = smooth_int;
- Rtcm::set_DF002(m1001);
- Rtcm::set_DF003(reference_station_id);
- Rtcm::set_DF004(gps_eph, obs_time);
- Rtcm::set_DF005(synchronous_GNSS_flag);
- Rtcm::set_DF006(pseudoranges_);
- Rtcm::set_DF007(divergence_free_smoothing_indicator);
- Rtcm::set_DF008(smoothing_interval);
-
- std::string header = DF002.to_string() +
- DF003.to_string() +
- DF004.to_string() +
- DF005.to_string() +
- DF006.to_string() +
- DF007.to_string() +
- DF008.to_string();
-
- std::bitset<64> header_msg(header);
- return header_msg;
-}
-
-
-std::bitset<58> Rtcm::get_M1001_sat_content(const Gnss_Synchro & gnss_synchro)
-{
- Gnss_Synchro gnss_synchro_ = gnss_synchro;
- bool code_indicator = false; // code indicator 0: C/A code 1: P(Y) code direct
- Rtcm::set_DF009(gnss_synchro_);
- Rtcm::set_DF010(code_indicator); // code indicator 0: C/A code 1: P(Y) code direct
- Rtcm::set_DF011(gnss_synchro_);
-
- long int gps_L1_phaserange_minus_L1_pseudorange;
- long int phaserange_m = (gnss_synchro.Carrier_phase_rads * GPS_C_m_s) / (GPS_TWO_PI * GPS_L1_FREQ_HZ);
- gps_L1_phaserange_minus_L1_pseudorange = phaserange_m; // TODO
- DF012 = std::bitset<20>(gps_L1_phaserange_minus_L1_pseudorange);
-
- unsigned int lock_time_indicator = 0; // TODO
- DF013 = std::bitset<7>(lock_time_indicator);
-
- std::string content = DF009.to_string() +
- DF010.to_string() +
- DF011.to_string() +
- DF012.to_string() +
- DF013.to_string();
-
- std::bitset<58> content_msg(content);
- return content_msg;
-}
-
-
-
-std::string Rtcm::print_M1001(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges)
-{
- unsigned int ref_id = static_cast<unsigned int>(FLAGS_RTCM_Ref_Station_ID);
- unsigned int smooth_int = 0;
- bool sync_flag = false;
- bool divergence_free = false;
-
- std::bitset<64> header = Rtcm::get_M1001_header(gps_eph, obs_time, pseudoranges, ref_id, smooth_int, sync_flag, divergence_free);
- std::string data = header.to_string();
-
- std::map<int, Gnss_Synchro>::const_iterator pseudoranges_iter;
- for(pseudoranges_iter = pseudoranges.begin();
- pseudoranges_iter != pseudoranges.end();
- pseudoranges_iter++)
- {
-
- std::bitset<58> content = Rtcm::get_M1001_sat_content(pseudoranges_iter->second);
- data += content.to_string();
- }
-
- return Rtcm::build_message(data);
-}
-
+// **********************************************
+//
+// MESSAGE TYPE 1019 (GPS EPHEMERIS)
+//
+// **********************************************
std::string Rtcm::print_M1019(const Gps_Ephemeris & gps_eph)
{
@@ -540,13 +630,12 @@ int Rtcm::read_M1019(const std::string & message, Gps_Ephemeris & gps_eph)
if(!Rtcm::check_CRC(message) )
{
LOG(WARNING) << " Bad CRC detected in RTCM message M1019";
- std::cout << " ----- Bad CRC detected in RTCM message M1019 " << std::endl;
return 1;
}
unsigned int preamble_length = 8;
unsigned int reserved_field_length = 6;
- unsigned int index = preamble_length + reserved_field_length - 1;
+ unsigned int index = preamble_length + reserved_field_length;
unsigned int read_message_length = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
index += 10;
@@ -558,59 +647,117 @@ int Rtcm::read_M1019(const std::string & message, Gps_Ephemeris & gps_eph)
}
// Check than the message number is correct
- unsigned int msg_number = 1019;
- Rtcm::set_DF002(msg_number);
- std::bitset<12> read_msg_number(message_bin.substr(index, 12));
+ unsigned int read_msg_number = Rtcm::bin_to_uint(message_bin.substr(index, 12));
index += 12;
- if (DF002 != read_msg_number)
+ if (1019 != read_msg_number)
{
LOG(WARNING) << " This is not a M1019 message";
return 1;
}
+ // Fill Gps Ephemeris with message data content
gps_eph.i_satellite_PRN = static_cast<unsigned int>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
index += 6;
- // idea: define get_DFXXX?
-
-// Rtcm::set_DF002(msg_number);
-// Rtcm::set_DF009(gps_eph);
-// Rtcm::set_DF076(gps_eph);
-// Rtcm::set_DF077(gps_eph);
-// Rtcm::set_DF078(gps_eph);
-// Rtcm::set_DF079(gps_eph);
-// Rtcm::set_DF071(gps_eph);
-// Rtcm::set_DF081(gps_eph);
-// Rtcm::set_DF082(gps_eph);
-// Rtcm::set_DF083(gps_eph);
-// Rtcm::set_DF084(gps_eph);
-// Rtcm::set_DF085(gps_eph);
-// Rtcm::set_DF086(gps_eph);
-// Rtcm::set_DF087(gps_eph);
-// Rtcm::set_DF088(gps_eph);
-// Rtcm::set_DF089(gps_eph);
-// Rtcm::set_DF090(gps_eph);
-// Rtcm::set_DF091(gps_eph);
-// Rtcm::set_DF092(gps_eph);
-// Rtcm::set_DF093(gps_eph);
-// Rtcm::set_DF094(gps_eph);
-// Rtcm::set_DF095(gps_eph);
-// Rtcm::set_DF096(gps_eph);
-// Rtcm::set_DF097(gps_eph);
-// Rtcm::set_DF098(gps_eph);
-// Rtcm::set_DF099(gps_eph);
-// Rtcm::set_DF100(gps_eph);
-// Rtcm::set_DF101(gps_eph);
-// Rtcm::set_DF102(gps_eph);
-// Rtcm::set_DF103(gps_eph);
-// Rtcm::set_DF137(gps_eph);
+ gps_eph.i_GPS_week = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
+ index += 10;
+
+ gps_eph.i_SV_accuracy = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 4)));
+ index += 4;
+
+ gps_eph.i_code_on_L2 = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 2)));
+ index += 2;
+
+ gps_eph.d_IDOT = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 14))) * I_DOT_LSB;
+ index += 14;
+
+ gps_eph.d_IODE_SF2 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
+ gps_eph.d_IODE_SF3 = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 8)));
+ index += 8;
+
+ gps_eph.d_Toc = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 16))) * T_OC_LSB;
+ index += 16;
+
+ gps_eph.d_A_f2 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 8))) * A_F2_LSB;
+ index += 8;
+
+ gps_eph.d_A_f1 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * A_F1_LSB;
+ index += 16;
+
+ gps_eph.d_A_f0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 22))) * A_F0_LSB;
+ index += 22;
+
+ gps_eph.d_IODC = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 10)));
+ index += 10;
+
+ gps_eph.d_Crs = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RS_LSB;
+ index += 16;
+
+ gps_eph.d_Delta_n = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * DELTA_N_LSB;
+ index += 16;
+
+ gps_eph.d_M_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * M_0_LSB;
+ index += 32;
+
+ gps_eph.d_Cuc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_UC_LSB;
+ index += 16;
+
+ gps_eph.d_e_eccentricity = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * E_LSB;
+ index += 32;
+
+ gps_eph.d_Cus = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_US_LSB;
+ index += 16;
+
+ gps_eph.d_sqrt_A = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 32))) * SQRT_A_LSB;
+ index += 32;
+
+ gps_eph.d_Toe = static_cast<double>(Rtcm::bin_to_uint(message_bin.substr(index, 16))) * T_OE_LSB;
+ index += 16;
+
+ gps_eph.d_Cic = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IC_LSB;
+ index += 16;
+
+ gps_eph.d_OMEGA0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_0_LSB;
+ index += 32;
+
+ gps_eph.d_Cis = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_IS_LSB;
+ index += 16;
+
+ gps_eph.d_i_0 = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * I_0_LSB;
+ index += 32;
+
+ gps_eph.d_Crc = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 16))) * C_RC_LSB;
+ index += 16;
+
+ gps_eph.d_OMEGA = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 32))) * OMEGA_LSB;
+ index += 32;
+
+ gps_eph.d_OMEGA_DOT = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 24))) * OMEGA_DOT_LSB;
+ index += 24;
+
+ gps_eph.d_TGD = static_cast<double>(Rtcm::bin_to_int(message_bin.substr(index, 8))) * T_GD_LSB;
+ index += 8;
+
+ gps_eph.i_SV_health = static_cast<int>(Rtcm::bin_to_uint(message_bin.substr(index, 6)));
+ index += 6;
+
+ gps_eph.b_L2_P_data_flag = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
+ index += 1;
+ gps_eph.b_fit_interval_flag = static_cast<bool>(Rtcm::bin_to_uint(message_bin.substr(index, 1)));
return 0;
}
+
+// **********************************************
+//
+// MESSAGE TYPE 1045 (GALILEO EPHEMERIS)
+//
+// **********************************************
+
std::string Rtcm::print_M1045(const Galileo_Ephemeris & gal_eph)
{
unsigned int msg_number = 1045;
@@ -688,17 +835,6 @@ std::string Rtcm::print_M1045(const Galileo_Ephemeris & gal_eph)
-std::bitset<138> Rtcm::get_M1002 ()
-{
- std::bitset<138> fake_msg;
- fake_msg.reset();
- return fake_msg;
-}
-
-
-
-
-
// *****************************************************************************************************
//
// DATA FIELDS AS DEFINED AT RTCM STANDARD 10403.2
diff --git a/src/core/system_parameters/rtcm.h b/src/core/system_parameters/rtcm.h
index 2e99bca..fc547bb 100644
--- a/src/core/system_parameters/rtcm.h
+++ b/src/core/system_parameters/rtcm.h
@@ -43,42 +43,57 @@
#include "gps_navigation_message.h"
/*!
- * \brief This class implements the RTCM 3.2 Stardard
+ * \brief This class implements the RTCM 3.2 Standard
*
*/
class Rtcm
{
public:
- Rtcm();
+ Rtcm(); //<! Default constructor
std::string print_M1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
- std::string print_M1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
+ /*!
+ * \brief Prints message type 1005 (Stationary Antenna Reference Point)
+ */
+ std::string print_M1005(unsigned int ref_id, double ecef_x, double ecef_y, double ecef_z, bool gps, bool glonass, bool galileo, bool non_physical, bool single_oscillator, unsigned int quarter_cycle_indicator);
/*!
- * \brief GPS Ephemeris, should be broadcast in the event that the IODC does not match the IODE, and every 2 minutes.
+ * \brief Verifies and reads messages of type 1005 (Stationary Antenna Reference Point)
+ */
+ int read_M1005(const std::string & message, unsigned int & ref_id, double & ecef_x, double & ecef_y, double & ecef_z, bool & gps, bool & glonass, bool & galileo);
+
+ /*!
+ * \brief Prints message type 1019 (GPS Ephemeris), should be broadcast in the event that
+ * the IODC does not match the IODE, and every 2 minutes.
*/
std::string print_M1019(const Gps_Ephemeris & gps_eph);
- int read_M1019(const std::string & message, Gps_Ephemeris & gps_eph);
+ /*!
+ * \brief Verifies and reads messages of type 1019 (GPS Ephemeris)
+ */
+ int read_M1019(const std::string & message, Gps_Ephemeris & gps_eph);
+ /*!
+ * \brief Prints message type 1045 (Galileo Ephemeris)
+ */
+ std::string print_M1045(const Galileo_Ephemeris & gal_eph); //<! Galileo Ephemeris, should be broadcast every 2 minutes
- std::string bin_to_hex(const std::string& s);
- std::string hex_to_bin(const std::string& s);
+ std::string bin_to_hex(const std::string& s); //<! Returns a string of hexadecimal symbols from a string of binary symbols
+ std::string hex_to_bin(const std::string& s); //<! Returns a string of binary symbols from a string of hexadecimal symbols
- unsigned long int bin_to_uint(const std::string& s);
- long int bin_to_int(const std::string& s);
+ unsigned long int bin_to_uint(const std::string& s); //<! Returns an unsigned long int from a string of binary symbols
+ long int bin_to_int(const std::string& s); //<! Returns a long int from a string of binary symbols
- unsigned long int hex_to_uint(const std::string& s);
- long int hex_to_int(const std::string& s);
+ unsigned long int hex_to_uint(const std::string& s); //<! Returns an unsigned long int from a string of hexadecimal symbols
+ long int hex_to_int(const std::string& s); //<! Returns a long int from a string of hexadecimal symbols
- double bin_to_double(const std::string& s);
+ double bin_to_double(const std::string& s); //<! Returns double from a string of binary symbols
- std::string print_M1005_test(); //<! For testing purposes
- int read_M1005(const std::string & message, unsigned int & ref_id, double & ecef_x, double & ecef_y, double & ecef_z, bool & gps, bool & glonass, bool & galileo);
+ std::string print_M1005_test(); //<! For testing purposes
- bool check_CRC(const std::string & message);
+ bool check_CRC(const std::string & message); //<! Checks that the CRC of a RTCM package is correct
private:
//
// Messages
@@ -109,7 +124,7 @@ private:
std::bitset<58> get_M1001_sat_content(const Gnss_Synchro & gnss_synchro);
- std::bitset<138> get_M1002(); // GPS observables
+ //std::bitset<138> get_M1002(); // GPS observables
//std::bitset<488> get_M1019(); // GPS ephemeris
//std::bitset<496> get_M1045(); // Galileo ephemeris
std::bitset<152> get_M1005_test();
@@ -124,9 +139,7 @@ private:
std::bitset<10> message_length;
std::bitset<24> crc_frame;
typedef boost::crc_optimal<24, 0x1864CFBu, 0x0, 0x0, false, false> crc_24_q_type;
-
std::string add_CRC(const std::string& m);
-
std::string build_message(std::string data); // adds 0s to complete a byte and adds the CRC
diff --git a/src/tests/formats/rtcm_test.cc b/src/tests/formats/rtcm_test.cc
index 0d5be61..4a25a4c 100644
--- a/src/tests/formats/rtcm_test.cc
+++ b/src/tests/formats/rtcm_test.cc
@@ -34,7 +34,7 @@
TEST(Rtcm_Test, Hex_to_bin)
{
- auto rtcm = std::make_shared<Rtcm>();
+ auto rtcm = std::make_shared<Rtcm>();
std::string test1 = "2A";
std::string test1_bin = rtcm->hex_to_bin(test1);
@@ -64,7 +64,7 @@ TEST(Rtcm_Test, Hex_to_bin)
TEST(Rtcm_Test, Bin_to_hex)
{
- auto rtcm = std::make_shared<Rtcm>();
+ auto rtcm = std::make_shared<Rtcm>();
std::string test1 = "00101010";
std::string test1_hex = rtcm->bin_to_hex(test1);
@@ -108,6 +108,14 @@ TEST(Rtcm_Test, Hex_to_int)
}
+TEST(Rtcm_Test, Hex_to_uint)
+{
+ auto rtcm = std::make_shared<Rtcm>();
+ long unsigned int expected1 = 42;
+ EXPECT_EQ(expected1, rtcm->hex_to_uint(rtcm->bin_to_hex("00101010")));
+}
+
+
TEST(Rtcm_Test, Bin_to_double)
{
auto rtcm = std::make_shared<Rtcm>();
@@ -124,11 +132,47 @@ TEST(Rtcm_Test, Bin_to_double)
EXPECT_DOUBLE_EQ(0, rtcm->bin_to_double(test3.to_string()));
}
-TEST(Rtcm_Test, Test_Read_M1005)
+
+TEST(Rtcm_Test, Bin_to_uint)
+{
+ auto rtcm = std::make_shared<Rtcm>();
+ long unsigned int expected1 = 42;
+ EXPECT_EQ(expected1, rtcm->bin_to_uint("00101010"));
+ long unsigned int expected2 = 214;
+ EXPECT_EQ(expected2, rtcm->bin_to_uint("11010110"));
+}
+
+
+TEST(Rtcm_Test, Bin_to_int)
+{
+ auto rtcm = std::make_shared<Rtcm>();
+ long unsigned int expected1 = 42;
+ EXPECT_EQ(expected1, rtcm->bin_to_int("00101010"));
+ long unsigned int expected2 = -42;
+ EXPECT_EQ(expected2, rtcm->bin_to_int("11010110"));
+}
+
+
+TEST(Rtcm_Test, Check_CRC)
+{
+ auto rtcm = std::make_shared<Rtcm>();
+ EXPECT_EQ(true, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98"));
+ EXPECT_EQ(false, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B99"));
+
+ EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_M1005_test()));
+ EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_M1005_test())); // Run twice to check that CRC has no memory
+}
+
+
+TEST(Rtcm_Test, Test_MT1005)
{
auto rtcm = std::make_shared<Rtcm>();
std::string reference_msg = rtcm->print_M1005_test();
+ std::string reference_msg2 = rtcm->print_M1005(2003, 1114104.5999, -4850729.7108, 3975521.4643, true, false, false, false, false, 0);
+
+ EXPECT_EQ(0, reference_msg.compare(reference_msg2));
+
unsigned int ref_id;
double ecef_x;
double ecef_y;
@@ -160,13 +204,26 @@ TEST(Rtcm_Test, Test_Read_M1005)
EXPECT_DOUBLE_EQ(3975521.4643, ecef_z);
}
-TEST(Rtcm_Test, Check_CRC)
+
+
+TEST(Rtcm_Test, Test_MT1019)
{
auto rtcm = std::make_shared<Rtcm>();
- EXPECT_EQ(true, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B98"));
- EXPECT_EQ(false, rtcm->check_CRC("D300133ED7D30202980EDEEF34B4BD62AC0941986F33360B99"));
- EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_M1005_test()));
- EXPECT_EQ(true, rtcm->check_CRC(rtcm->print_M1005_test()));
+ Gps_Ephemeris gps_eph = Gps_Ephemeris();
+ Gps_Ephemeris gps_eph_read = Gps_Ephemeris();
+
+ gps_eph.i_satellite_PRN = 3;
+ gps_eph.d_IODC = 4;
+ gps_eph.d_e_eccentricity = 2.0 * E_LSB;
+ gps_eph.b_fit_interval_flag = true;
+ std::string tx_msg = rtcm->print_M1019(gps_eph);
+
+ EXPECT_EQ(0, rtcm->read_M1019(tx_msg, gps_eph_read));
+ EXPECT_EQ(3, gps_eph_read.i_satellite_PRN);
+ EXPECT_DOUBLE_EQ(4, gps_eph_read.d_IODC);
+ EXPECT_DOUBLE_EQ( 2.0 * E_LSB, gps_eph_read.d_e_eccentricity);
+ EXPECT_EQ(true, gps_eph_read.b_fit_interval_flag);
+ EXPECT_EQ(1, rtcm->read_M1019("FFFFFFFFFFF", gps_eph_read));
}
--
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