rtklib_pvt_gs.h

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/*!
 * \file rtklib_pvt_gs.h
 * \brief Interface of a Position Velocity and Time computation block
 * \author Javier Arribas, 2017. jarribas(at)cttc.es
 *
 * -----------------------------------------------------------------------------
 *
 * GNSS-SDR is a Global Navigation Satellite System software-defined receiver.
 * This file is part of GNSS-SDR.
 *
 * Copyright (C) 2010-2020  (see AUTHORS file for a list of contributors)
 * SPDX-License-Identifier: GPL-3.0-or-later
 *
 * -----------------------------------------------------------------------------
 */

#ifndef GNSS_SDR_RTKLIB_PVT_GS_H
#define GNSS_SDR_RTKLIB_PVT_GS_H

#include "gnss_block_interface.h"
#include "gnss_sdr_make_unique.h"
#include "gnss_synchro.h"
#include "gnss_time.h"
#include "osnma_data.h"
#include "rtklib.h"
#include "sensor_data/sensor_data_aggregator.h"
#include "sensor_data/sensor_data_source_configuration.h"
#include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/interprocess/ipc/message_queue.hpp>
#include <gnuradio/sync_block.h>  // for sync_block
#include <gnuradio/types.h>       // for gr_vector_const_void_star
#include <pmt/pmt.h>              // for pmt_t
#include <chrono>                 // for system_clock
#include <cstddef>                // for size_t
#include <cstdint>                // for int32_t
#include <ctime>                  // for time_t
#include <fstream>                // for std::fstream
#include <map>                    // for map
#include <memory>                 // for shared_ptr, unique_ptr
#include <queue>                  // for std::queue
#include <set>                    // for std::set
#include <string>                 // for string
#include <vector>                 // for vector

/** \addtogroup PVT
 * \{ */
/** \addtogroup PVT_gnuradio_blocks pvt_gr_blocks
 * GNU Radio blocks for the computation of PVT solutions.
 * \{ */


class Beidou_Dnav_Almanac;
class Beidou_Dnav_Ephemeris;
class Galileo_Almanac;
class Galileo_Ephemeris;
class Galileo_HAS_data;
class Geohash;
class GeoJSON_Printer;
class Gps_Almanac;
class Gps_Ephemeris;
class Gpx_Printer;
class Kml_Printer;
class Monitor_Pvt_Udp_Sink;
class Monitor_Ephemeris_Udp_Sink;
class Nmea_Printer;
class Pvt_Conf;
class Rinex_Printer;
class Rtcm_Printer;
class An_Packet_Printer;
class Has_Simple_Printer;
class Rtklib_Solver;
class rtklib_pvt_gs;

using rtklib_pvt_gs_sptr = gnss_shared_ptr<rtklib_pvt_gs>;

rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
    const Pvt_Conf& conf_,
    const rtk_t& rtk,
    const SensorDataSourceConfiguration& sensor_data_configuration);

/*!
 * \brief This class implements a block that computes the PVT solution using the RTKLIB integrated library
 */
class rtklib_pvt_gs : public gr::sync_block
{
public:
    ~rtklib_pvt_gs();  //!< Default destructor

    /*!
     * \brief Get latest set of GPS ephemeris from PVT block
     */
    std::map<int, Gps_Ephemeris> get_gps_ephemeris_map() const;

    /*!
     * \brief Get latest set of GPS almanac from PVT block
     */
    std::map<int, Gps_Almanac> get_gps_almanac_map() const;

    /*!
     * \brief Get latest set of Galileo ephemeris from PVT block
     */
    std::map<int, Galileo_Ephemeris> get_galileo_ephemeris_map() const;

    /*!
     * \brief Get latest set of Galileo almanac from PVT block
     */
    std::map<int, Galileo_Almanac> get_galileo_almanac_map() const;

    /*!
     * \brief Get latest set of BeiDou DNAV ephemeris from PVT block
     */
    std::map<int, Beidou_Dnav_Ephemeris> get_beidou_dnav_ephemeris_map() const;

    /*!
     * \brief Get latest set of BeiDou DNAV almanac from PVT block
     */
    std::map<int, Beidou_Dnav_Almanac> get_beidou_dnav_almanac_map() const;

    /*!
     * \brief Clear all ephemeris information and the almanacs for GPS and Galileo
     */
    void clear_ephemeris();

    /*!
     * \brief Get the latest Position WGS84 [deg], Ground Velocity, Course over Ground, and UTC Time, if available
     */
    bool get_latest_PVT(double* longitude_deg,
        double* latitude_deg,
        double* height_m,
        double* ground_speed_kmh,
        double* course_over_ground_deg,
        time_t* UTC_time) const;

    int work(int noutput_items, gr_vector_const_void_star& input_items,
        gr_vector_void_star& output_items);  //!< PVT Signal Processing

private:
    friend rtklib_pvt_gs_sptr rtklib_make_pvt_gs(uint32_t nchannels,
        const Pvt_Conf& conf_,
        const rtk_t& rtk,
        const SensorDataSourceConfiguration& sensor_data_configuration);

    rtklib_pvt_gs(uint32_t nchannels,
        const Pvt_Conf& conf_,
        const rtk_t& rtk,
        const SensorDataSourceConfiguration& sensor_data_configuration);

    void log_source_timetag_info(double RX_time_ns, double TAG_time_ns);

    void msg_handler_telemetry(const pmt::pmt_t& msg);

    void msg_handler_has_data(const pmt::pmt_t& msg);

    void msg_handler_osnma(const pmt::pmt_t& msg);

    void initialize_and_apply_carrier_phase_offset();

    void apply_rx_clock_offset(std::map<int, Gnss_Synchro>& observables_map,
        double rx_clock_offset_s);

    void update_HAS_corrections();

    std::map<int, Gnss_Synchro> interpolate_observables(const std::map<int, Gnss_Synchro>& observables_map_t0,
        const std::map<int, Gnss_Synchro>& observables_map_t1,
        double rx_time_s);

    inline std::time_t convert_to_time_t(const boost::posix_time::ptime pt) const
    {
        return (pt - boost::posix_time::ptime(boost::gregorian::date(1970, 1, 1))).total_seconds();
    }

    std::vector<std::string> split_string(const std::string& s, char delim) const;

    bool send_ttff_msg(double ttff) const;
    bool save_gnss_synchro_map_xml(const std::string& file_name);  // debug helper function
    bool load_gnss_synchro_map_xml(const std::string& file_name);  // debug helper function

    std::fstream d_log_timetag_file;

    std::unique_ptr<SensorDataAggregator> d_sensor_data_aggregator;

    std::shared_ptr<Rtklib_Solver> d_internal_pvt_solver;
    std::shared_ptr<Rtklib_Solver> d_user_pvt_solver;

    std::unique_ptr<boost::interprocess::message_queue> d_mq;

    std::unique_ptr<Rinex_Printer> d_rp;
    std::unique_ptr<Kml_Printer> d_kml_dump;
    std::unique_ptr<Gpx_Printer> d_gpx_dump;
    std::unique_ptr<Nmea_Printer> d_nmea_printer;
    std::unique_ptr<GeoJSON_Printer> d_geojson_printer;
    std::unique_ptr<Rtcm_Printer> d_rtcm_printer;
    std::unique_ptr<Monitor_Pvt_Udp_Sink> d_udp_sink_ptr;
    std::unique_ptr<Monitor_Ephemeris_Udp_Sink> d_eph_udp_sink_ptr;
    std::unique_ptr<Has_Simple_Printer> d_has_simple_printer;
    std::unique_ptr<An_Packet_Printer> d_an_printer;

    std::chrono::time_point<std::chrono::system_clock> d_start;
    std::chrono::time_point<std::chrono::system_clock> d_end;

    const std::string d_queue_name;
    std::string d_dump_filename;
    std::string d_xml_base_path;
    std::string d_local_time_str;

    std::vector<bool> d_channel_initialized;
    std::vector<double> d_initial_carrier_phase_offset_estimation_rads;

    std::map<int, Gnss_Synchro> d_gnss_observables_map;
    std::map<int, Gnss_Synchro> d_gnss_observables_map_t0;
    std::map<int, Gnss_Synchro> d_gnss_observables_map_t1;
    std::map<uint32_t, std::set<uint32_t>> d_auth_nav_data_map;

    std::queue<GnssTime> d_TimeChannelTagTimestamps;

    boost::posix_time::time_duration d_utc_diff_time;
    const std::unique_ptr<Geohash> d_geohash;

    const size_t d_gps_ephemeris_sptr_type_hash_code;
    const size_t d_gps_iono_sptr_type_hash_code;
    const size_t d_gps_utc_model_sptr_type_hash_code;
    const size_t d_gps_cnav_ephemeris_sptr_type_hash_code;
    const size_t d_gps_cnav_iono_sptr_type_hash_code;
    const size_t d_gps_cnav_utc_model_sptr_type_hash_code;
    const size_t d_gps_almanac_sptr_type_hash_code;
    const size_t d_galileo_ephemeris_sptr_type_hash_code;
    const size_t d_galileo_iono_sptr_type_hash_code;
    const size_t d_galileo_utc_model_sptr_type_hash_code;
    const size_t d_galileo_almanac_helper_sptr_type_hash_code;
    const size_t d_galileo_almanac_sptr_type_hash_code;
    const size_t d_glonass_gnav_ephemeris_sptr_type_hash_code;
    const size_t d_glonass_gnav_utc_model_sptr_type_hash_code;
    const size_t d_glonass_gnav_almanac_sptr_type_hash_code;
    const size_t d_beidou_dnav_ephemeris_sptr_type_hash_code;
    const size_t d_beidou_dnav_iono_sptr_type_hash_code;
    const size_t d_beidou_dnav_utc_model_sptr_type_hash_code;
    const size_t d_beidou_dnav_almanac_sptr_type_hash_code;
    const size_t d_galileo_has_data_sptr_type_hash_code;

    const double d_rinex_version;
    double d_rx_time;
    uint64_t d_local_counter_ms;
    uint64_t d_timestamp_rx_clock_offset_correction_msg_ms;

    const int32_t d_rinexobs_rate_ms;
    int32_t d_rtcm_MT1045_rate_ms;  // Galileo Broadcast Ephemeris
    int32_t d_rtcm_MT1019_rate_ms;  // GPS Broadcast Ephemeris (orbits)
    int32_t d_rtcm_MT1020_rate_ms;  // GLONASS Broadcast Ephemeris (orbits)
    int32_t d_rtcm_MT1077_rate_ms;  // The type 7 Multiple Signal Message format for the USA’s GPS system, popular
    int32_t d_rtcm_MT1087_rate_ms;  // GLONASS MSM7. The type 7 Multiple Signal Message format for the Russian GLONASS system
    int32_t d_rtcm_MT1097_rate_ms;  // Galileo MSM7. The type 7 Multiple Signal Message format for Europe’s Galileo system
    int32_t d_rtcm_MSM_rate_ms;
    const int32_t d_kml_rate_ms;
    const int32_t d_gpx_rate_ms;
    const int32_t d_geojson_rate_ms;
    const int32_t d_nmea_rate_ms;
    const int32_t d_an_rate_ms;
    const int32_t d_output_rate_ms;
    const int32_t d_display_rate_ms;
    const int32_t d_report_rate_ms;
    const int32_t d_max_obs_block_rx_clock_offset_ms;

    const uint32_t d_nchannels;
    const uint32_t d_signal_enabled_flags;
    const uint32_t d_observable_interval_ms;
    uint32_t d_pvt_errors_counter;

    bool d_dump;
    const bool d_dump_mat;
    const bool d_rinex_output_enabled;
    bool d_geojson_output_enabled;
    bool d_gpx_output_enabled;
    bool d_kml_output_enabled;
    bool d_nmea_output_file_enabled;
    bool d_rtcm_enabled;
    bool d_first_fix;
    bool d_xml_storage;
    const bool d_flag_monitor_pvt_enabled;
    const bool d_flag_monitor_ephemeris_enabled;
    const bool d_show_local_time_zone;
    const bool d_enable_rx_clock_correction;
    bool d_enable_has_messages;
    const bool d_an_printer_enabled;
    bool d_log_timetag;
    const bool d_use_has_corrections;
    const bool d_use_unhealthy_sats;
    const bool d_osnma_strict;
};


/** \} */
/** \} */
#endif  // GNSS_SDR_RTKLIB_PVT_GS_H