[hamradio-commits] [gnss-sdr] 55/80: Set configuration of RTCM messages rate
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Sun May 15 20:11:57 UTC 2016
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carles_fernandez-guest pushed a commit to branch upstream
in repository gnss-sdr.
commit b1188e9c920ee64c8e126bb52e5ce4237300f796
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Mon May 9 19:28:02 2016 +0200
Set configuration of RTCM messages rate
---
src/algorithms/PVT/adapters/hybrid_pvt.cc | 55 +++++++++------
.../PVT/gnuradio_blocks/hybrid_pvt_cc.cc | 79 +++++++++++++++++++++-
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h | 8 +++
3 files changed, 118 insertions(+), 24 deletions(-)
diff --git a/src/algorithms/PVT/adapters/hybrid_pvt.cc b/src/algorithms/PVT/adapters/hybrid_pvt.cc
index c254b23..ff50776 100644
--- a/src/algorithms/PVT/adapters/hybrid_pvt.cc
+++ b/src/algorithms/PVT/adapters/hybrid_pvt.cc
@@ -35,6 +35,7 @@
#include <glog/logging.h>
#include <boost/archive/xml_oarchive.hpp>
#include <boost/archive/xml_iarchive.hpp>
+#include <boost/math/common_factor_rt.hpp>
#include <boost/serialization/map.hpp>
#include "configuration_interface.h"
@@ -57,34 +58,44 @@ HybridPvt::HybridPvt(ConfigurationInterface* configuration,
DLOG(INFO) << "role " << role;
dump_ = configuration->property(role + ".dump", false);
dump_filename_ = configuration->property(role + ".dump_filename", default_dump_filename);
+
// moving average depth parameters
- int averaging_depth;
- averaging_depth = configuration->property(role + ".averaging_depth", 10);
- bool flag_averaging;
- flag_averaging = configuration->property(role + ".flag_averaging", false);
+ int averaging_depth = configuration->property(role + ".averaging_depth", 10);
+ bool flag_averaging = configuration->property(role + ".flag_averaging", false);
+
// output rate
- int output_rate_ms;
- output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
+ int output_rate_ms = configuration->property(role + ".output_rate_ms", 500);
+
// display rate
- int display_rate_ms;
- display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
+ int display_rate_ms = configuration->property(role + ".display_rate_ms", 500);
+
// NMEA Printer settings
- bool flag_nmea_tty_port;
- flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
- std::string nmea_dump_filename;
- nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
- std::string nmea_dump_devname;
- nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
+ bool flag_nmea_tty_port = configuration->property(role + ".flag_nmea_tty_port", false);
+ std::string nmea_dump_filename = configuration->property(role + ".nmea_dump_filename", default_nmea_dump_filename);
+ std::string nmea_dump_devname = configuration->property(role + ".nmea_dump_devname", default_nmea_dump_devname);
+
// RTCM Printer settings
- bool flag_rtcm_tty_port;
- flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
- std::string rtcm_dump_devname;
- rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
- bool flag_rtcm_server;
- flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
+ bool flag_rtcm_tty_port = configuration->property(role + ".flag_rtcm_tty_port", false);
+ std::string rtcm_dump_devname = configuration->property(role + ".rtcm_dump_devname", default_rtcm_dump_devname);
+ bool flag_rtcm_server = configuration->property(role + ".flag_rtcm_server", false);
unsigned short rtcm_tcp_port = configuration->property(role + ".rtcm_tcp_port", 2101);
unsigned short rtcm_station_id = configuration->property(role + ".rtcm_station_id", 1234);
-
+ // RTCM message rates: least common multiple with output_rate_ms
+ int rtcm_MT1019_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1019_rate_ms", 5000), output_rate_ms);
+ int rtcm_MT1045_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1045_rate_ms", 5000), output_rate_ms);
+ int rtcm_MSM_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MSM_rate_ms", 1000), output_rate_ms);
+ int rtcm_MT1077_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1077_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
+ int rtcm_MT1097_rate_ms = boost::math::lcm(configuration->property(role + ".rtcm_MT1097_rate_ms", rtcm_MSM_rate_ms), output_rate_ms);
+ std::map<int,int> rtcm_msg_rate_ms;
+ rtcm_msg_rate_ms[1045] = rtcm_MT1045_rate_ms;
+ for (int k = 1071; k < 1078; k++) // All GPS MSM
+ {
+ rtcm_msg_rate_ms[k] = rtcm_MT1077_rate_ms;
+ }
+ for (int k = 1091; k < 1098; k++) // All Galileo MSM
+ {
+ rtcm_msg_rate_ms[k] = rtcm_MT1097_rate_ms;
+ }
// getting names from the config file, if available
// default filename for assistance data
const std::string eph_default_xml_filename = "./gps_ephemeris.xml";
@@ -99,7 +110,7 @@ HybridPvt::HybridPvt(ConfigurationInterface* configuration,
//std::string ref_location_xml_filename = configuration_->property("GNSS-SDR.SUPL_gps_ref_location_xml", ref_location_default_xml_filename);
// make PVT object
- pvt_ = hybrid_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_dump_devname);
+ pvt_ = hybrid_make_pvt_cc(in_streams_, dump_, dump_filename_, averaging_depth, flag_averaging, output_rate_ms, display_rate_ms, flag_nmea_tty_port, nmea_dump_filename, nmea_dump_devname, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_msg_rate_ms, rtcm_dump_devname);
DLOG(INFO) << "pvt(" << pvt_->unique_id() << ")";
}
diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
index 68a6ea4..0fc6700 100644
--- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
@@ -33,6 +33,7 @@
#include <iostream>
#include <map>
#include <boost/date_time/posix_time/posix_time.hpp>
+#include <boost/math/common_factor_rt.hpp>
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
#include <glog/logging.h>
@@ -55,6 +56,7 @@ hybrid_make_pvt_cc(unsigned int nchannels,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
+ std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname)
{
return hybrid_pvt_cc_sptr(new hybrid_pvt_cc(nchannels,
@@ -71,6 +73,7 @@ hybrid_make_pvt_cc(unsigned int nchannels,
flag_rtcm_tty_port,
rtcm_tcp_port,
rtcm_station_id,
+ rtcm_msg_rate_ms,
rtcm_dump_devname));
}
@@ -168,7 +171,7 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, bool dump, std::string dump
int averaging_depth, bool flag_averaging, int output_rate_ms, int display_rate_ms, bool flag_nmea_tty_port,
std::string nmea_dump_filename, std::string nmea_dump_devname,
bool flag_rtcm_server, bool flag_rtcm_tty_port, unsigned short rtcm_tcp_port,
- unsigned short rtcm_station_id, std::string rtcm_dump_devname) :
+ unsigned short rtcm_station_id, std::map<int,int> rtcm_msg_rate_ms, std::string rtcm_dump_devname) :
gr::block("hybrid_pvt_cc", gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, sizeof(gr_complex)))
@@ -203,6 +206,39 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, bool dump, std::string dump
std::string rtcm_dump_filename;
rtcm_dump_filename = d_dump_filename;
d_rtcm_printer = std::make_shared<Rtcm_Printer>(rtcm_dump_filename, flag_rtcm_server, flag_rtcm_tty_port, rtcm_tcp_port, rtcm_station_id, rtcm_dump_devname);
+ if(rtcm_msg_rate_ms.find(1019) != rtcm_msg_rate_ms.end())
+ {
+ d_rtcm_MT1019_rate_ms = rtcm_msg_rate_ms[1019];
+ }
+ else
+ {
+ d_rtcm_MT1019_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
+ }
+ if(rtcm_msg_rate_ms.find(1045) != rtcm_msg_rate_ms.end())
+ {
+ d_rtcm_MT1045_rate_ms = rtcm_msg_rate_ms[1045];
+ }
+ else
+ {
+ d_rtcm_MT1045_rate_ms = boost::math::lcm(5000, d_output_rate_ms); // default value if not set
+ }
+ if(rtcm_msg_rate_ms.find(1077) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
+ {
+ d_rtcm_MT1077_rate_ms = rtcm_msg_rate_ms[1077];
+ }
+ else
+ {
+ d_rtcm_MT1077_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
+ }
+ if(rtcm_msg_rate_ms.find(1097) != rtcm_msg_rate_ms.end()) // whatever between 1071 and 1077
+ {
+ d_rtcm_MT1097_rate_ms = rtcm_msg_rate_ms[1097];
+ }
+ else
+ {
+ d_rtcm_MT1097_rate_ms = boost::math::lcm(1000, d_output_rate_ms); // default value if not set
+ }
+ b_rtcm_writing_started = false;
d_dump_filename.append("_raw.dat");
dump_ls_pvt_filename.append("_ls_pvt.dat");
@@ -273,6 +309,8 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
{
d_sample_counter++;
bool arrived_galileo_almanac = false;
+ unsigned int gps_channel = 0;
+ unsigned int gal_channel = 0;
gnss_pseudoranges_map.clear();
@@ -280,14 +318,31 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
print_receiver_status(in);
+ // ############ 1. READ PSEUDORANGES ####
for (unsigned int i = 0; i < d_nchannels; i++)
{
if (in[i][0].Flag_valid_pseudorange == true)
{
- gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map
+ gnss_pseudoranges_map.insert(std::pair<int,Gnss_Synchro>(in[i][0].PRN, in[i][0])); // store valid pseudoranges in a map. PROBLEM: sats with the same PRN!!
//d_rx_time = in[i][0].d_TOW_at_current_symbol; // all the channels have the same RX timestamp (common RX time pseudoranges)
d_TOW_at_curr_symbol_constellation = in[i][0].d_TOW_at_current_symbol; // d_TOW_at_current_symbol not corrected by delta t (just for debug)
d_rx_time = in[i][0].d_TOW_hybrid_at_current_symbol; // hybrid rx time, all the channels have the same RX timestamp (common RX time pseudoranges)
+ if(d_ls_pvt->gps_ephemeris_map.size() > 0)
+ {
+ std::map<int,Gps_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->gps_ephemeris_map.find(in[i][0].PRN);
+ if(tmp_eph_iter != d_ls_pvt->gps_ephemeris_map.end())
+ {
+ d_rtcm_printer->lock_time(d_ls_pvt->gps_ephemeris_map.find(in[i][0].PRN)->second, d_rx_time, in[i][0]); // keep track of locking time
+ }
+ }
+ if(d_ls_pvt->galileo_ephemeris_map.size() > 0)
+ {
+ std::map<int,Galileo_Ephemeris>::iterator tmp_eph_iter = d_ls_pvt->galileo_ephemeris_map.find(in[i][0].PRN);
+ if(tmp_eph_iter != d_ls_pvt->galileo_ephemeris_map.end())
+ {
+ d_rtcm_printer->lock_time(d_ls_pvt->galileo_ephemeris_map.find(in[i][0].PRN)->second, d_rx_time, in[i][0]); // keep track of locking time
+ }
+ }
}
}
@@ -349,6 +404,26 @@ int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_v
b_rinex_header_updated = true;
}
}
+
+ if(!b_rtcm_writing_started) // the first time
+ {
+ if(d_rtcm_MT1019_rate_ms != 0) // allows deactivating messages by setting rate = 0
+ {
+ for(std::map<int,Gps_Ephemeris>::iterator gps_ephemeris_iter = d_ls_pvt->gps_ephemeris_map.begin(); gps_ephemeris_iter != d_ls_pvt->gps_ephemeris_map.end(); gps_ephemeris_iter++ )
+ {
+ d_rtcm_printer->Print_Rtcm_MT1019(gps_ephemeris_iter->second);
+ }
+ }
+ if(d_rtcm_MT1045_rate_ms != 0)
+ {
+ for(std::map<int,Galileo_Ephemeris>::iterator gal_ephemeris_iter = d_ls_pvt->galileo_ephemeris_map.begin(); gal_ephemeris_iter != d_ls_pvt->galileo_ephemeris_map.end(); gal_ephemeris_iter++ )
+ {
+ d_rtcm_printer->Print_Rtcm_MT1045(gal_ephemeris_iter->second);
+ }
+ }
+ // TODO: print observables...
+ // b_rtcm_writing_started = true;
+ }
}
}
diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h
index d11f954..10e7b42 100644
--- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h
+++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h
@@ -61,6 +61,7 @@ hybrid_pvt_cc_sptr hybrid_make_pvt_cc(unsigned int n_channels,
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
+ std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname);
/*!
@@ -83,6 +84,7 @@ private:
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
+ std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname);
hybrid_pvt_cc(unsigned int nchannels,
bool dump, std::string dump_filename,
@@ -97,6 +99,7 @@ private:
bool flag_rtcm_tty_port,
unsigned short rtcm_tcp_port,
unsigned short rtcm_station_id,
+ std::map<int,int> rtcm_msg_rate_ms,
std::string rtcm_dump_devname);
void msg_handler_telemetry(pmt::pmt_t msg);
@@ -104,6 +107,11 @@ private:
bool d_dump;
bool b_rinex_header_writen;
bool b_rinex_header_updated;
+ bool b_rtcm_writing_started;
+ int d_rtcm_MT1045_rate_ms;
+ int d_rtcm_MT1019_rate_ms;
+ int d_rtcm_MT1077_rate_ms;
+ int d_rtcm_MT1097_rate_ms;
void print_receiver_status(Gnss_Synchro** channels_synchronization_data);
int d_last_status_print_seg; //for status printer
--
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