[hamradio-commits] [gnss-sdr] 74/126: working on the RTCM class. Advances in MSM messages
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Sat Dec 26 18:38:03 UTC 2015
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carles_fernandez-guest pushed a commit to branch next
in repository gnss-sdr.
commit ed89b70241eb3e2cd17a0a26eacd07078074a804
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Sun Nov 29 01:10:10 2015 +0100
working on the RTCM class. Advances in MSM messages
---
src/core/system_parameters/rtcm.cc | 395 ++++++++++++++++++++++++++++++-------
src/core/system_parameters/rtcm.h | 9 +-
src/tests/formats/rtcm_test.cc | 84 ++++++++
3 files changed, 419 insertions(+), 69 deletions(-)
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index 021bdd5..3f7a87d 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -279,16 +279,15 @@ std::string Rtcm::build_message(std::string data)
//
// **********************************************
-std::bitset<64> Rtcm::get_MT1001_header(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges,
+std::bitset<64> Rtcm::get_MT1001_4_header(unsigned int msg_number, 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_DF002(msg_number);
Rtcm::set_DF003(reference_station_id);
Rtcm::set_DF004(gps_eph, obs_time);
Rtcm::set_DF005(synchronous_GNSS_flag);
@@ -339,7 +338,7 @@ std::string Rtcm::print_MT1001(const Gps_Ephemeris & gps_eph, double obs_time, c
bool sync_flag = false;
bool divergence_free = false;
- std::bitset<64> header = Rtcm::get_MT1001_header(gps_eph, obs_time, pseudoranges, ref_id, smooth_int, sync_flag, divergence_free);
+ std::bitset<64> header = Rtcm::get_MT1001_4_header(1001, 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;
@@ -355,6 +354,58 @@ std::string Rtcm::print_MT1001(const Gps_Ephemeris & gps_eph, double obs_time, c
}
+// **********************************************
+//
+// MESSAGE TYPE 1002 (EXTENDED GPS L1 OBSERVATIONS)
+//
+// **********************************************
+
+std::string Rtcm::print_MT1002(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_MT1001_4_header(1002, 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<74> content = Rtcm::get_MT1002_sat_content(pseudoranges_iter->second);
+ data += content.to_string();
+ }
+
+ return Rtcm::build_message(data);
+}
+
+
+std::bitset<74> Rtcm::get_MT1002_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_);
+ Rtcm::set_DF012(gnss_synchro_);
+
+ 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() +
+ DF014.to_string() +
+ DF015.to_string();
+
+ std::bitset<74> content_msg(content);
+ return content_msg;
+}
// **********************************************
@@ -969,6 +1020,7 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
bool more_messages)
{
unsigned int msg_number = 1071; /// check for Galileo, it's 1091
+
std::string header = Rtcm::get_MSM_header(msg_number, gps_eph,
gal_eph,
obs_time,
@@ -981,8 +1033,13 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
divergence_free,
more_messages);
+ //std::cout << "MSM1 header: " << header << std::endl;
+
std::string sat_data = Rtcm::get_MSM_1_content_sat_data(pseudoranges);
+ //std::cout << "MSM1 sat data: " << sat_data << std::endl;
+
std::string signal_data = Rtcm::get_MSM_1_content_signal_data(pseudoranges);
+ //std::cout << "MSM1 signal data: " << signal_data << std::endl;
std::string message = build_message(header + sat_data + signal_data);
return message;
@@ -1017,8 +1074,11 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number, const Gps_Ephemeris &
Rtcm::set_DF412(external_clock_indicator);
Rtcm::set_DF417(divergence_free);
Rtcm::set_DF418(smooth_int);
+
Rtcm::set_DF394(pseudoranges);
+ //std::cout << "Satellite mask DF394: " << DF394.to_string() << std::endl;
Rtcm::set_DF395(pseudoranges);
+ //std::cout << "Signal mask DF395: " << DF395.to_string() << std::endl;
std::string header = DF002.to_string() + DF003.to_string();
if(gps_eph.i_satellite_PRN != 0)
@@ -1042,6 +1102,7 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number, const Gps_Ephemeris &
return header;
}
+
std::string Rtcm::get_MSM_1_content_sat_data(const std::map<int, Gnss_Synchro> & pseudoranges)
{
std::string sat_data;
@@ -1066,14 +1127,16 @@ std::string Rtcm::get_MSM_1_content_sat_data(const std::map<int, Gnss_Synchro> &
if (it == pos.end())
{
pos.push_back(65 - gnss_synchro_iter->second.PRN);
+ //std::cout << 65 - gnss_synchro_iter->second.PRN << std::endl;
}
}
std::sort(pos.begin(), pos.end());
std::reverse(pos.begin(), pos.end());
- for(unsigned int Nsat = 1; Nsat < num_satellites; Nsat++)
+ for(unsigned int Nsat = 1; Nsat < num_satellites+1; Nsat++)
{
+ //std::cout << "pos:" << pos.at(Nsat-1) << std::endl;
Rtcm::set_DF398(pseudoranges_ordered.at( pos.at(Nsat-1) ));
sat_data += DF398.to_string();
}
@@ -1081,12 +1144,51 @@ std::string Rtcm::get_MSM_1_content_sat_data(const std::map<int, Gnss_Synchro> &
return sat_data;
}
+
std::string Rtcm::get_MSM_1_content_signal_data(const std::map<int, Gnss_Synchro> & pseudoranges)
{
- std::string s("Not implemented");
- return s;
+ std::string signal_data;
+ signal_data.clear();
+ boost::dynamic_bitset<> db(Rtcm::set_DF396(pseudoranges));
+ unsigned int Ncells = db.count();
+ //std::cout << "Ncells: " << Ncells << std::endl;
+
+ std::map<int, Gnss_Synchro> pseudoranges_ordered;
+
+ std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_iter;
+ std::vector<unsigned int> pos;
+ std::vector<unsigned int>::iterator it;
+
+ for(gnss_synchro_iter = pseudoranges.begin();
+ gnss_synchro_iter != pseudoranges.end();
+ gnss_synchro_iter++)
+ {
+ pseudoranges_ordered.insert(std::pair<int, Gnss_Synchro>(65 - gnss_synchro_iter->second.PRN, gnss_synchro_iter->second));
+ it = std::find (pos.begin(), pos.end(), 65 - gnss_synchro_iter->second.PRN);
+ if (it == pos.end())
+ {
+ pos.push_back(65 - gnss_synchro_iter->second.PRN);
+ }
+ }
+
+ std::sort(pos.begin(), pos.end());
+ std::reverse(pos.begin(), pos.end());
+
+
+
+
+
+
+ for(unsigned int cell = 1; cell < Ncells+1; cell++)
+ {
+ Rtcm::set_DF400(pseudoranges_ordered.at( pos.at(cell - 1) )); // GET THE RIGHT SYSTEM ORDER!!
+ signal_data += DF400.to_string();
+ }
+
+ return signal_data;
}
+
std::string Rtcm::get_MSM_4_content_sat_data(const std::map<int, Gnss_Synchro> & pseudoranges)
{
//std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_iter;
@@ -1094,10 +1196,7 @@ std::string Rtcm::get_MSM_4_content_sat_data(const std::map<int, Gnss_Synchro> &
return data;
}
-//std::string Rtcm::get_MSM_1_content(const std::map<int, Gnss_Synchro> & pseudoranges)
-//{
-// std::string DF396 = set_DF396(pseudoranges);
-//}
+
// *****************************************************************************************************
@@ -1198,6 +1297,7 @@ int Rtcm::reset_data_fields()
DF399.reset();
DF409.reset();
+ DF400.reset();
DF411.reset();
DF412.reset();
@@ -1338,7 +1438,7 @@ int Rtcm::set_DF012(const Gnss_Synchro & gnss_synchro)
double ambiguity = std::floor( gnss_synchro.Pseudorange_m / 299792.458 );
double gps_L1_pseudorange = std::round(( gnss_synchro.Pseudorange_m - ambiguity * 299792.458) / 0.02 );
double gps_L1_pseudorange_c = static_cast<double>(gps_L1_pseudorange) * 0.02 + ambiguity * 299792.458;
- double L1_phaserange_c = gnss_synchro.Carrier_phase_rads * GPS_TWO_PI;
+ double L1_phaserange_c = gnss_synchro.Carrier_phase_rads / GPS_TWO_PI;
double L1_phaserange_c_r = std::fmod(L1_phaserange_c - gps_L1_pseudorange_c / lambda + 1500.0, 3000.0) - 1500.0;
long int gps_L1_phaserange_minus_L1_pseudorange = static_cast<long int>(std::round(L1_phaserange_c_r * lambda / 0.0005 ));
DF012 = std::bitset<20>(gps_L1_phaserange_minus_L1_pseudorange);
@@ -1931,7 +2031,7 @@ int Rtcm::set_DF394(const std::map<int, Gnss_Synchro> & gnss_synchro)
gnss_synchro_iter != gnss_synchro.end();
gnss_synchro_iter++)
{
- mask_position = 65 - gnss_synchro_iter->second.PRN;
+ mask_position = 64 - gnss_synchro_iter->second.PRN;
DF394.set(mask_position, true);
}
return 0;
@@ -1941,6 +2041,10 @@ int Rtcm::set_DF394(const std::map<int, Gnss_Synchro> & gnss_synchro)
int Rtcm::set_DF395(const std::map<int, Gnss_Synchro> & gnss_synchro)
{
DF395.reset();
+ if(gnss_synchro.size() == 0)
+ {
+ return 1;
+ }
std::map<int, Gnss_Synchro>::const_iterator gnss_synchro_iter;
std::string sig;
unsigned int mask_position;
@@ -1951,44 +2055,46 @@ int Rtcm::set_DF395(const std::map<int, Gnss_Synchro> & gnss_synchro)
std::string sig_(gnss_synchro_iter->second.Signal);
sig = sig_.substr(0,2);
- std::string sys(gnss_synchro_iter->second.System, 1);
+ std::string sys(&gnss_synchro_iter->second.System, 1);
if ((sig.compare("1C") == 0) && (sys.compare("G") == 0 ) )
{
- mask_position = 33 - 2;
+ mask_position = 32 - 2;
DF395.set(mask_position, true);
}
if ((sig.compare("2S") == 0) && (sys.compare("G") == 0 ) )
{
- mask_position = 33 - 15;
+ mask_position = 32 - 15;
DF395.set(mask_position, true);
}
if ((sig.compare("5X") == 0) && (sys.compare("G") == 0 ) )
{
- mask_position = 33 - 24;
+ mask_position = 32 - 24;
DF395.set(mask_position, true);
}
if ((sig.compare("1B") == 0) && (sys.compare("E") == 0 ) )
{
- mask_position = 33 - 4;
+ mask_position = 32 - 4;
DF395.set(mask_position, true);
}
if ((sig.compare("5X") == 0) && (sys.compare("E") == 0 ) )
{
- mask_position = 33 - 24;
+ mask_position = 32 - 24;
DF395.set(mask_position, true);
}
if ((sig.compare("7X") == 0) && (sys.compare("E") == 0 ) )
{
- mask_position = 33 - 16;
+ mask_position = 32 - 16;
DF395.set(mask_position, true);
}
}
+
return 0;
}
+
std::string Rtcm::set_DF396(const std::map<int, Gnss_Synchro> & pseudoranges)
{
std::string DF396;
@@ -1997,69 +2103,188 @@ std::string Rtcm::set_DF396(const std::map<int, Gnss_Synchro> & pseudoranges)
Rtcm::set_DF395(pseudoranges);
unsigned int num_signals = DF395.count();
unsigned int num_satellites = DF394.count();
- std::vector<std::vector<bool> > matrix( num_signals, std::vector<bool>(num_satellites) );
- unsigned int element = 0;
+ if ((num_signals == 0) || (num_satellites == 0))
+ {
+ std::string s("");
+ return s;
+ }
+ std::vector<std::vector<bool> > matrix(num_signals, std::vector<bool>());
+
std::string sig;
- // fill matrix
- for(unsigned int row = 0; row < num_signals - 1; row++)
+ std::vector<unsigned int> list_of_sats;
+ std::vector<int> list_of_signals;
+
+ for(pseudoranges_iter = pseudoranges.begin();
+ pseudoranges_iter != pseudoranges.end();
+ pseudoranges_iter++)
{
- for (unsigned int signal_id = 1; signal_id < 32; signal_id++)
+ list_of_sats.push_back(pseudoranges_iter->second.PRN);
+
+ std::string sig_(pseudoranges_iter->second.Signal);
+ sig = sig_.substr(0,2);
+
+ std::string sys(&pseudoranges_iter->second.System, 1);
+
+ if ((sig.compare("1C") == 0) && (sys.compare("G") == 0 ) )
+ {
+ list_of_signals.push_back(32 - 2);
+ }
+ if ((sig.compare("2S") == 0) && (sys.compare("G") == 0 ) )
+ {
+ list_of_signals.push_back(32 - 15);
+ }
+
+ if ((sig.compare("5X") == 0) && (sys.compare("G") == 0 ) )
{
- bool we_have_signal_for_this_sat = false;
+ list_of_signals.push_back(32 - 24);
+ }
+ if ((sig.compare("1B") == 0) && (sys.compare("E") == 0 ) )
+ {
+ list_of_signals.push_back(32 - 4);
+ }
+
+ if ((sig.compare("5X") == 0) && (sys.compare("E") == 0 ) )
+ {
+ list_of_signals.push_back(32 - 24);
+ }
+ if ((sig.compare("7X") == 0) && (sys.compare("E") == 0 ) )
+ {
+ list_of_signals.push_back(32 - 16);
+ }
+ }
+
+
+ std::sort( list_of_sats.begin(), list_of_sats.end() );
+ list_of_sats.erase( std::unique( list_of_sats.begin(), list_of_sats.end() ), list_of_sats.end() );
- if(static_cast<bool>(DF395.test(signal_id)))
+ std::sort( list_of_signals.begin(), list_of_signals.end() );
+ std::reverse(list_of_signals.begin(), list_of_signals.end());
+ list_of_signals.erase( std::unique( list_of_signals.begin(), list_of_signals.end() ), list_of_signals.end() );
+ //std::cout << "List of signals: " << list_of_signals.at(0) << " " << list_of_signals.at(1) << std::endl;
+
+ // fill the matrix
+ for(unsigned int row = 0; row < num_signals; row++)
+ {
+ for(unsigned int sat = 0; sat < num_satellites; sat++)
+ {
+ for(pseudoranges_iter = pseudoranges.begin();
+ pseudoranges_iter != pseudoranges.end();
+ pseudoranges_iter++)
{
- for(pseudoranges_iter = pseudoranges.begin();
- pseudoranges_iter != pseudoranges.end();
- pseudoranges_iter++)
+ std::string sig_(pseudoranges_iter->second.Signal);
+ sig = sig_.substr(0,2);
+ std::string sys(&pseudoranges_iter->second.System, 1);
+
+ if ((sig.compare("1C") == 0) && (sys.compare("G") == 0 ) && (list_of_signals.at(row) == 32 - 2))
{
- std::string sig_(pseudoranges_iter->second.Signal);
- sig = sig_.substr(0,2);
- std::string sys(pseudoranges_iter->second.System, 1);
- bool this_sat = static_cast<bool>(DF394.test(65 - pseudoranges_iter->second.PRN));
- if (this_sat)
+ if(pseudoranges_iter->second.PRN == list_of_sats.at(sat))
{
- if( (signal_id == 2) && (sig.compare("1C") == 0) && (sys.compare("G") == 0 ) )
- {
- we_have_signal_for_this_sat = true;
- }
-
- if( (signal_id == 4) && (sig.compare("1B") == 0) && (sys.compare("E") == 0 ) )
- {
- we_have_signal_for_this_sat = true;
- }
-
- if( (signal_id == 15) && (sig.compare("2S") == 0) && (sys.compare("G") == 0 ) )
- {
- we_have_signal_for_this_sat = true;
- }
-
- if( (signal_id == 24) && (sig.compare("5X") == 0) && (sys.compare("E") == 0 ) )
- {
- we_have_signal_for_this_sat = true;
- }
-
- matrix[row].push_back(we_have_signal_for_this_sat);
+ matrix[row].push_back(true);
}
}
- }
+ else
+ {
+ if((pseudoranges_iter->second.PRN == list_of_sats.at(sat)) && (list_of_signals.at(row) == 32 - 2) )
+ {
+ matrix[row].push_back(false);
+ }
+ }
+ if ((sig.compare("2S") == 0) && (sys.compare("G") == 0 ) && (list_of_signals.at(row) == 32 - 15))
+ {
+ if(pseudoranges_iter->second.PRN == list_of_sats.at(sat))
+ {
+ matrix[row].push_back(true);
+ }
+ }
+ else
+ {
+ if((pseudoranges_iter->second.PRN == list_of_sats.at(sat)) && (list_of_signals.at(row) == 32 - 15) )
+ {
+ matrix[row].push_back(false);
+ }
+ }
+ if ((sig.compare("5X") == 0) && (sys.compare("G") == 0 ) && (list_of_signals.at(row) == 32 - 24))
+ {
+ if(pseudoranges_iter->second.PRN == list_of_sats.at(sat))
+ {
+ matrix[row].push_back(true);
+ }
+ }
+ else
+ {
+ if((pseudoranges_iter->second.PRN == list_of_sats.at(sat)) && (list_of_signals.at(row) == 32 - 24) )
+ {
+ matrix[row].push_back(false);
+ }
+ }
+
+ if ((sig.compare("1B") == 0) && (sys.compare("E") == 0 ) && (list_of_signals.at(row) == 32 - 4))
+ {
+ if(pseudoranges_iter->second.PRN == list_of_sats.at(sat))
+ {
+ matrix[row].push_back(true);
+ }
+ }
+ else
+ {
+ if((pseudoranges_iter->second.PRN == list_of_sats.at(sat)) && (list_of_signals.at(row) == 32 - 4) )
+ {
+ matrix[row].push_back(false);
+ }
+ }
+ if ((sig.compare("5X") == 0) && (sys.compare("E") == 0 ) && (list_of_signals.at(row) == 32 - 24))
+ {
+ if(pseudoranges_iter->second.PRN == list_of_sats.at(sat))
+ {
+ matrix[row].push_back(true);
+ }
+ }
+ else
+ {
+ if((pseudoranges_iter->second.PRN == list_of_sats.at(sat)) && (list_of_signals.at(row) == 32 - 24) )
+ {
+ matrix[row].push_back(false);
+ }
+ }
+ if ((sig.compare("7X") == 0) && (sys.compare("E") == 0 ) && (list_of_signals.at(row) == 32 - 16))
+ {
+ if(pseudoranges_iter->second.PRN == list_of_sats.at(sat))
+ {
+ matrix[row].push_back(true);
+ }
+ }
+ else
+ {
+ if((pseudoranges_iter->second.PRN == list_of_sats.at(sat)) && (list_of_signals.at(row) == 32 - 16) )
+ {
+ matrix[row].push_back(false);
+ }
+ }
+ }
}
}
- // write matrix
+ // write the matrix column-wise
DF396.clear();
- std::stringstream ss;
- for(unsigned int row = 0; row < num_signals - 1; row++)
+ for(unsigned int col = 0; col < num_satellites; col++)
{
- for(unsigned int col = 0; col < num_satellites - 1; col++)
+ for(unsigned int row = 0; row < num_signals; row++)
{
- ss << std::boolalpha << matrix[row].at(col);
- DF396 += ss.str();
+ std::string ss;
+ if(matrix[row].at(col))
+ {
+ ss = "1";
+ }
+ else
+ {
+ ss = "0";
+ }
+ DF396 += ss;
}
}
-
+ //std::cout << "DF396: " << DF396 << std::endl;
return DF396;
}
@@ -2068,21 +2293,21 @@ std::string Rtcm::set_DF396(const std::map<int, Gnss_Synchro> & pseudoranges)
int Rtcm::set_DF397(const Gnss_Synchro & gnss_synchro)
{
double meters_to_miliseconds = GPS_C_m_s * 0.001;
- double rough_range_ms = std::round(gnss_synchro.Pseudorange_m / meters_to_miliseconds / TWO_N10) * meters_to_miliseconds * TWO_N10;
+ double rough_range_s = std::round(gnss_synchro.Pseudorange_m / meters_to_miliseconds / TWO_N10) * meters_to_miliseconds * TWO_N10;
unsigned int int_ms = 0;
- if (rough_range_ms == 0.0)
+ if (rough_range_s == 0.0)
{
int_ms = 255;
}
- else if((rough_range_ms < 0.0) || (rough_range_ms > meters_to_miliseconds * 255.0))
+ else if((rough_range_s < 0.0) || (rough_range_s > meters_to_miliseconds * 255.0))
{
int_ms = 255;
}
else
{
- int_ms = static_cast<unsigned int>(std::floor(rough_range_ms / meters_to_miliseconds / TWO_N10) + 0.5) >> 10;
+ int_ms = static_cast<unsigned int>(std::floor(rough_range_s / meters_to_miliseconds / TWO_N10) + 0.5) >> 10;
}
DF397 = std::bitset<8>(int_ms);
@@ -2129,6 +2354,40 @@ int Rtcm::set_DF399(const Gnss_Synchro & gnss_synchro)
}
+int Rtcm::set_DF400(const Gnss_Synchro & gnss_synchro)
+{
+ double meters_to_miliseconds = GPS_C_m_s * 0.001;
+ double rough_range_s = std::round(gnss_synchro.Pseudorange_m / meters_to_miliseconds / TWO_N10) * meters_to_miliseconds * TWO_N10;
+ double psrng_s;
+ double lambda;
+ std::string sig_(gnss_synchro.Signal);
+ std::string sig = sig_.substr(0,2);
+
+ if (sig.compare("1C") == 0 )
+ {
+ lambda = GPS_C_m_s / GPS_L1_FREQ_HZ;
+ }
+ if (sig.compare("2S") == 0 )
+ {
+ lambda = GPS_C_m_s / GPS_L2_FREQ_HZ;
+ }
+
+ if (sig.compare("5X") == 0 )
+ {
+ lambda = GPS_C_m_s / Galileo_E5a_FREQ_HZ;
+ }
+ if (sig.compare("1B") == 0 )
+ {
+ lambda = GPS_C_m_s / Galileo_E1_FREQ_HZ;
+ }
+ psrng_s = (gnss_synchro.Carrier_phase_rads / GPS_TWO_PI) * lambda - rough_range_s;
+
+
+ DF400 = std::bitset<15>(static_cast<int>( psrng_s)); // Units!!
+ return 0;
+}
+
+
int Rtcm::set_DF409(unsigned int iods)
{
DF409 = std::bitset<3>(iods);
diff --git a/src/core/system_parameters/rtcm.h b/src/core/system_parameters/rtcm.h
index 1784594..5296fcf 100644
--- a/src/core/system_parameters/rtcm.h
+++ b/src/core/system_parameters/rtcm.h
@@ -54,6 +54,8 @@ public:
std::string print_MT1001(const Gps_Ephemeris& gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
+ std::string print_MT1002(const Gps_Ephemeris & gps_eph, double obs_time, const std::map<int, Gnss_Synchro> & pseudoranges);
+
/*!
* \brief Prints message type 1005 (Stationary Antenna Reference Point)
*/
@@ -125,7 +127,8 @@ private:
std::vector<std::bitset<18> > MSM4_content; // 18 * Nsat
std::vector<std::bitset<36> > MSM5_content; // 36 * Nsat
- std::bitset<64> get_MT1001_header(const Gps_Ephemeris & gps_eph,
+ std::bitset<64> get_MT1001_4_header(unsigned int msg_number,
+ const Gps_Ephemeris & gps_eph,
double obs_time,
const std::map<int, Gnss_Synchro> & pseudoranges,
unsigned int ref_id,
@@ -134,6 +137,7 @@ private:
bool divergence_free);
std::bitset<58> get_MT1001_sat_content(const Gnss_Synchro & gnss_synchro);
+ std::bitset<74>get_MT1002_sat_content(const Gnss_Synchro & gnss_synchro);
std::bitset<152> get_MT1005_test();
@@ -443,6 +447,9 @@ private:
std::bitset<14> DF399;
int set_DF399(const Gnss_Synchro & gnss_synchro);
+ std::bitset<15> DF400;
+ int set_DF400(const Gnss_Synchro & gnss_synchro);
+
std::bitset<3> DF409;
int set_DF409(unsigned int iods);
diff --git a/src/tests/formats/rtcm_test.cc b/src/tests/formats/rtcm_test.cc
index 8e7e674..aae9469 100644
--- a/src/tests/formats/rtcm_test.cc
+++ b/src/tests/formats/rtcm_test.cc
@@ -247,3 +247,87 @@ TEST(Rtcm_Test, Test_MT1045)
EXPECT_EQ(1, rtcm->read_MT1045("FFFFFFFFFFF", gal_eph_read));
}
+
+TEST(Rtcm_Test, MT1001)
+{
+ auto rtcm = std::make_shared<Rtcm>();
+ Gps_Ephemeris gps_eph = Gps_Ephemeris();
+ Gnss_Synchro gnss_synchro;
+ gnss_synchro.PRN = 2;
+ std::string sys = "G";
+
+ std::string sig = "1C";
+ gnss_synchro.System = *sys.c_str();
+ std::memcpy((void*)gnss_synchro.Signal, sig.c_str(), 3);
+ gnss_synchro.Pseudorange_m = 20000000.0;
+ double obs_time = 25.0;
+ std::map<int, Gnss_Synchro> pseudoranges;
+ pseudoranges.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro));
+
+ std::string MT1001 = rtcm->print_MT1001(gps_eph, obs_time, pseudoranges);
+ EXPECT_EQ(true, rtcm->check_CRC(MT1001));
+}
+
+
+TEST(Rtcm_Test, MSM1)
+{
+ auto rtcm = std::make_shared<Rtcm>();
+ Gps_Ephemeris gps_eph = Gps_Ephemeris();
+ Galileo_Ephemeris gal_eph = Galileo_Ephemeris();
+ std::map<int, Gnss_Synchro> pseudoranges;
+
+ Gnss_Synchro gnss_synchro;
+ Gnss_Synchro gnss_synchro2;
+ Gnss_Synchro gnss_synchro3;
+
+ gnss_synchro.PRN = 2;
+ gnss_synchro2.PRN = 4;
+ gnss_synchro3.PRN = 32;
+
+ std::string sys = "G";
+
+ std::string sig = "1C";
+ std::string sig2 = "2S";
+
+ gnss_synchro.System = *sys.c_str();
+ gnss_synchro2.System = *sys.c_str();
+ gnss_synchro3.System = *sys.c_str();
+
+ std::memcpy((void*)gnss_synchro.Signal, sig.c_str(), 3);
+ std::memcpy((void*)gnss_synchro2.Signal, sig.c_str(), 3);
+ std::memcpy((void*)gnss_synchro3.Signal, sig2.c_str(), 3);
+
+ gnss_synchro.Pseudorange_m = 20000000.0;
+ gnss_synchro2.Pseudorange_m = 20000010.0;
+ gnss_synchro3.Pseudorange_m = 20000020.0;
+
+ pseudoranges.insert(std::pair<int, Gnss_Synchro>(1, gnss_synchro));
+ pseudoranges.insert(std::pair<int, Gnss_Synchro>(2, gnss_synchro2));
+ pseudoranges.insert(std::pair<int, Gnss_Synchro>(3, gnss_synchro3));
+
+ unsigned int ref_id = 1234;
+ unsigned int clock_steering_indicator = 0;
+ unsigned int external_clock_indicator = 0;
+ int smooth_int = 0;
+ bool sync_flag = false;
+ bool divergence_free = false;
+ bool more_messages = false;
+ double obs_time = 25.0;
+
+ gps_eph.i_satellite_PRN = gnss_synchro.PRN;
+
+ std::string MSM1 = rtcm->print_MSM_1(gps_eph,
+ gal_eph,
+ obs_time,
+ pseudoranges,
+ ref_id,
+ clock_steering_indicator,
+ external_clock_indicator,
+ smooth_int,
+ sync_flag,
+ divergence_free,
+ more_messages);
+
+ EXPECT_EQ(true, rtcm->check_CRC(MSM1));
+}
+
--
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