[hamradio-commits] [gnss-sdr] 18/80: fix TOW formatting in RTCM messages
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Sun May 15 20:11:53 UTC 2016
This is an automated email from the git hooks/post-receive script.
carles_fernandez-guest pushed a commit to branch upstream
in repository gnss-sdr.
commit eb8539a725964e38b95cfe6e03ab9abe1dcea870
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Tue May 3 11:01:10 2016 +0200
fix TOW formatting in RTCM messages
---
.../PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc | 6 +-
src/core/system_parameters/rtcm.cc | 81 ++++++----------------
src/core/system_parameters/rtcm.h | 10 +--
3 files changed, 26 insertions(+), 71 deletions(-)
diff --git a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
index 3aa6289..42e7dea 100644
--- a/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/gps_l1_ca_pvt_cc.cc
@@ -339,10 +339,10 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
if((d_sample_counter % 1000) == 0)
{
std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter;
- gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();
+ gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin();std::cout << d_rx_time << std::endl;
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
- d_rtcm_printer->Print_Rtcm_MSM(4, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 1234, 0, 0, 0, 0, 0);
+ d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 1234, 0, 0, 0, 0, 0);
}
}
}
@@ -358,7 +358,7 @@ int gps_l1_ca_pvt_cc::general_work (int noutput_items __attribute__((unused)), g
if (gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end())
{
- d_rtcm_printer->Print_Rtcm_MSM(4, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 1234, 0, 0, 0, 0, 0);
+ d_rtcm_printer->Print_Rtcm_MSM(7, gps_ephemeris_iter->second, {}, {}, d_rx_time, gnss_pseudoranges_map, 1234, 0, 0, 0, 0, 0);
}
b_rtcm_writing_started = true;
}
diff --git a/src/core/system_parameters/rtcm.cc b/src/core/system_parameters/rtcm.cc
index e716070..f339c1d 100644
--- a/src/core/system_parameters/rtcm.cc
+++ b/src/core/system_parameters/rtcm.cc
@@ -397,7 +397,7 @@ std::string Rtcm::build_message(const std::string & data) const
//
// ********************************************************
-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,
+std::bitset<64> Rtcm::get_MT1001_4_header(unsigned int msg_number, 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 reference_station_id = ref_id; // Max: 4095
@@ -407,7 +407,7 @@ std::bitset<64> Rtcm::get_MT1001_4_header(unsigned int msg_number, const Gps_Eph
unsigned int smoothing_interval = smooth_int;
Rtcm::set_DF002(msg_number);
Rtcm::set_DF003(reference_station_id);
- Rtcm::set_DF004(gps_eph, obs_time);
+ Rtcm::set_DF004(obs_time);
Rtcm::set_DF005(synchronous_GNSS_flag);
Rtcm::set_DF006(pseudoranges_);
Rtcm::set_DF007(divergence_free_smoothing_indicator);
@@ -469,7 +469,7 @@ std::string Rtcm::print_MT1001(const Gps_Ephemeris & gps_eph, double obs_time, c
}
}
- std::bitset<64> header = Rtcm::get_MT1001_4_header(1001, gps_eph, obs_time, pseudorangesL1, ref_id, smooth_int, sync_flag, divergence_free);
+ std::bitset<64> header = Rtcm::get_MT1001_4_header(1001, obs_time, pseudorangesL1, ref_id, smooth_int, sync_flag, divergence_free);
std::string data = header.to_string();
for(pseudoranges_iter = pseudorangesL1.begin();
@@ -519,7 +519,7 @@ std::string Rtcm::print_MT1002(const Gps_Ephemeris & gps_eph, double obs_time, c
}
}
- std::bitset<64> header = Rtcm::get_MT1001_4_header(1002, gps_eph, obs_time, pseudorangesL1, ref_id, smooth_int, sync_flag, divergence_free);
+ std::bitset<64> header = Rtcm::get_MT1001_4_header(1002, obs_time, pseudorangesL1, ref_id, smooth_int, sync_flag, divergence_free);
std::string data = header.to_string();
for(pseudoranges_iter = pseudorangesL1.begin();
@@ -623,7 +623,7 @@ std::string Rtcm::print_MT1003(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephem
}
}
- std::bitset<64> header = Rtcm::get_MT1001_4_header(1003, ephL1, obs_time, pseudorangesL1_with_L2, ref_id, smooth_int, sync_flag, divergence_free);
+ std::bitset<64> header = Rtcm::get_MT1001_4_header(1003, obs_time, pseudorangesL1_with_L2, ref_id, smooth_int, sync_flag, divergence_free);
std::string data = header.to_string();
for(common_pseudoranges_iter = common_pseudoranges.begin();
@@ -733,7 +733,7 @@ std::string Rtcm::print_MT1004(const Gps_Ephemeris & ephL1, const Gps_CNAV_Ephem
}
}
- std::bitset<64> header = Rtcm::get_MT1001_4_header(1004, ephL1, obs_time, pseudorangesL1_with_L2, ref_id, smooth_int, sync_flag, divergence_free);
+ std::bitset<64> header = Rtcm::get_MT1001_4_header(1004, obs_time, pseudorangesL1_with_L2, ref_id, smooth_int, sync_flag, divergence_free);
std::string data = header.to_string();
for(common_pseudoranges_iter = common_pseudoranges.begin();
@@ -1600,8 +1600,7 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
msg_number = 1071;
}
- std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
- gal_eph,
+ std::string header = Rtcm::get_MSM_header(msg_number,
obs_time,
pseudoranges,
ref_id,
@@ -1626,9 +1625,7 @@ std::string Rtcm::print_MSM_1( const Gps_Ephemeris & gps_eph,
}
-std::string Rtcm::get_MSM_header(unsigned int msg_number, const Gps_Ephemeris & gps_eph,
- const Gps_CNAV_Ephemeris & gps_cnav_eph,
- const Galileo_Ephemeris & gal_eph,
+std::string Rtcm::get_MSM_header(unsigned int msg_number,
double obs_time,
const std::map<int, Gnss_Synchro> & pseudoranges,
unsigned int ref_id,
@@ -1640,18 +1637,7 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number, const Gps_Ephemeris &
{
Rtcm::set_DF002(msg_number);
Rtcm::set_DF003(ref_id);
- if(gps_eph.i_satellite_PRN != 0)
- {
- Rtcm::set_DF004(gps_eph, obs_time);
- }
- else if(gps_cnav_eph.i_satellite_PRN != 0)
- {
- Rtcm::set_DF004(gps_cnav_eph, obs_time);
- }
- else
- {
- Rtcm::set_DF248(gal_eph, obs_time);
- }
+ Rtcm::set_DF004(obs_time);
Rtcm::set_DF393(more_messages);
Rtcm::set_DF409(0); // Issue of Data Station. 0: not utilized
std::bitset<7> DF001_ = std::bitset<7>("0000000");
@@ -1664,14 +1650,7 @@ std::string Rtcm::get_MSM_header(unsigned int msg_number, const Gps_Ephemeris &
Rtcm::set_DF395(pseudoranges);
std::string header = DF002.to_string() + DF003.to_string();
- if(gps_eph.i_satellite_PRN != 0)
- {
- header += DF004.to_string();
- }
- else
- {
- header += DF248.to_string();
- }
+ header += DF004.to_string();
header = header + DF393.to_string() +
DF409.to_string() +
DF001_.to_string() +
@@ -1786,8 +1765,7 @@ std::string Rtcm::print_MSM_2( const Gps_Ephemeris & gps_eph,
msg_number = 1072;
}
- std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
- gal_eph,
+ std::string header = Rtcm::get_MSM_header(msg_number,
obs_time,
pseudoranges,
ref_id,
@@ -1882,8 +1860,7 @@ std::string Rtcm::print_MSM_3( const Gps_Ephemeris & gps_eph,
msg_number = 1073;
}
- std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
- gal_eph,
+ std::string header = Rtcm::get_MSM_header(msg_number,
obs_time,
pseudoranges,
ref_id,
@@ -1980,8 +1957,7 @@ std::string Rtcm::print_MSM_4( const Gps_Ephemeris & gps_eph,
msg_number = 1074;
}
- std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
- gal_eph,
+ std::string header = Rtcm::get_MSM_header(msg_number,
obs_time,
pseudoranges,
ref_id,
@@ -2121,8 +2097,7 @@ std::string Rtcm::print_MSM_5( const Gps_Ephemeris & gps_eph,
msg_number = 1075;
}
- std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
- gal_eph,
+ std::string header = Rtcm::get_MSM_header(msg_number,
obs_time,
pseudoranges,
ref_id,
@@ -2272,8 +2247,7 @@ std::string Rtcm::print_MSM_6( const Gps_Ephemeris & gps_eph,
msg_number = 1076;
}
- std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
- gal_eph,
+ std::string header = Rtcm::get_MSM_header(msg_number,
obs_time,
pseudoranges,
ref_id,
@@ -2374,8 +2348,7 @@ std::string Rtcm::print_MSM_7( const Gps_Ephemeris & gps_eph,
msg_number = 1076;
}
- std::string header = Rtcm::get_MSM_header(msg_number, gps_eph, gps_cnav_eph,
- gal_eph,
+ std::string header = Rtcm::get_MSM_header(msg_number,
obs_time,
pseudoranges,
ref_id,
@@ -2776,24 +2749,10 @@ int Rtcm::set_DF003(unsigned int ref_station_ID)
}
-int Rtcm::set_DF004(const Gps_Ephemeris & gps_eph, double obs_time)
-{
- // TOW in milliseconds from the beginning of the GPS week, measured in GPS time
- unsigned long int tow = static_cast<unsigned long int>(std::round((obs_time + 604800 * static_cast<double>(gps_eph.i_GPS_week % 1024)) * 1000));
- if(tow > 604799999)
- {
- LOG(WARNING) << "To large TOW! Set to the last millisecond of the week";
- tow = 604799999;
- }
- DF004 = std::bitset<30>(tow);
- return 0;
-}
-
-
-int Rtcm::set_DF004(const Gps_CNAV_Ephemeris & gps_eph, double obs_time)
+int Rtcm::set_DF004(double obs_time)
{
// TOW in milliseconds from the beginning of the GPS week, measured in GPS time
- unsigned long int tow = static_cast<unsigned long int>(std::round((obs_time + 604800 * static_cast<double>(gps_eph.i_GPS_week % 1024)) * 1000));
+ unsigned long int tow = static_cast<unsigned long int>(std::round(obs_time * 1000));
if(tow > 604799999)
{
LOG(WARNING) << "To large TOW! Set to the last millisecond of the week";
@@ -3331,10 +3290,10 @@ int Rtcm::set_DF137(const Gps_Ephemeris & gps_eph)
}
-int Rtcm::set_DF248(const Galileo_Ephemeris & gal_eph, double obs_time)
+int Rtcm::set_DF248(double obs_time)
{
// TOW in milliseconds from the beginning of the Galileo week, measured in Galileo time
- unsigned long int tow = static_cast<unsigned long int>(std::round((obs_time + 604800 * static_cast<double>(gal_eph.WN_5)) * 1000));
+ unsigned long int tow = static_cast<unsigned long int>(std::round(obs_time * 1000));
if(tow > 604799999)
{
LOG(WARNING) << "To large TOW! Set to the last millisecond of the week";
diff --git a/src/core/system_parameters/rtcm.h b/src/core/system_parameters/rtcm.h
index 2460e6c..3931583 100644
--- a/src/core/system_parameters/rtcm.h
+++ b/src/core/system_parameters/rtcm.h
@@ -289,7 +289,6 @@ private:
// Generation of messages content
//
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,
@@ -304,9 +303,7 @@ private:
std::bitset<152> get_MT1005_test();
- std::string get_MSM_header(unsigned int msg_number, const Gps_Ephemeris & gps_eph,
- const Gps_CNAV_Ephemeris & gps_cnav_eph,
- const Galileo_Ephemeris & gal_eph,
+ std::string get_MSM_header(unsigned int msg_number,
double obs_time,
const std::map<int, Gnss_Synchro> & pseudoranges,
unsigned int ref_id,
@@ -794,8 +791,7 @@ private:
int set_DF003(unsigned int ref_station_ID);
std::bitset<30> DF004;
- int set_DF004(const Gps_Ephemeris & gps_eph, double obs_time);
- int set_DF004(const Gps_CNAV_Ephemeris & gps_eph, double obs_time);
+ int set_DF004(double obs_time);
std::bitset<1> DF005;
int set_DF005(bool sync_flag);
@@ -979,7 +975,7 @@ private:
int set_DF142(const Gps_Ephemeris & gps_eph);
std::bitset<30> DF248;
- int set_DF248(const Galileo_Ephemeris & gal_eph, double obs_time);
+ int set_DF248(double obs_time);
// Contents of Galileo F/NAV Satellite Ephemeris Data, Message Type 1045
std::bitset<6> DF252;
--
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