[hamradio-commits] [gnss-sdr] 66/303: Inform about TTFF
Carles Fernandez
carles_fernandez-guest at moszumanska.debian.org
Mon Feb 13 22:35:48 UTC 2017
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carles_fernandez-guest pushed a commit to branch master
in repository gnss-sdr.
commit 3a10f3c26b01d8fe1b09103d79c55f3e42cd5b65
Author: Carles Fernandez <carles.fernandez at gmail.com>
Date: Sun Oct 2 01:55:48 2016 +0200
Inform about TTFF
---
.../PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc | 36 ++++++++++++++++++++++
.../PVT/gnuradio_blocks/galileo_e1_pvt_cc.h | 12 ++++++++
.../PVT/gnuradio_blocks/hybrid_pvt_cc.cc | 26 ++++++++++++++++
src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h | 12 ++++++++
4 files changed, 86 insertions(+)
diff --git a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
index a9717e5..0b17a2b 100644
--- a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.cc
@@ -198,6 +198,16 @@ galileo_e1_pvt_cc::galileo_e1_pvt_cc(unsigned int nchannels, bool dump, std::str
}
}
}
+
+ // Create Sys V message queue
+ first_fix = true;
+ sysv_msg_key = 1101;
+ int msgflg = IPC_CREAT | 0666;
+ if ((sysv_msqid = msgget(sysv_msg_key, msgflg )) == -1)
+ {
+ std::cout << "GNSS-SDR can not create message queues!" << std::endl;
+ throw new std::exception();
+ }
}
@@ -227,6 +237,21 @@ void galileo_e1_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchroniz
}
+bool galileo_e1_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
+{
+ /* Fill Sys V message structures */
+ int msgsend_size;
+ ttff_msgbuf msg;
+ msg.ttff = ttff.ttff;
+ msgsend_size = sizeof(msg.ttff);
+ msg.mtype = 1; /* default message ID */
+
+ /* SEND SOLUTION OVER A MESSAGE QUEUE */
+ /* non-blocking Sys V message send */
+ msgsnd(sysv_msqid, &msg, msgsend_size, IPC_NOWAIT);
+ return true;
+}
+
int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused)))
{
@@ -267,6 +292,17 @@ int galileo_e1_pvt_cc::general_work (int noutput_items __attribute__((unused)),
if (pvt_result == true)
{
+ if( first_fix == true)
+ {
+ std::cout << "First position fix at " << boost::posix_time::to_simple_string(d_ls_pvt->d_position_UTC_time)
+ << " UTC is Lat = " << d_ls_pvt->d_latitude_d << " [deg], Long = " << d_ls_pvt->d_longitude_d
+ << " [deg], Height= " << d_ls_pvt->d_height_m << " [m]" << std::endl;
+ ttff_msgbuf ttff;
+ ttff.mtype = 1;
+ ttff.ttff = d_sample_counter;
+ send_sys_v_ttff_msg(ttff);
+ first_fix = false;
+ }
d_kml_dump->print_position(d_ls_pvt, d_flag_averaging);
d_geojson_printer->print_position(d_ls_pvt, d_flag_averaging);
d_nmea_printer->Print_Nmea_Line(d_ls_pvt, d_flag_averaging);
diff --git a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.h
index bcb1313..6384179 100644
--- a/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.h
+++ b/src/algorithms/PVT/gnuradio_blocks/galileo_e1_pvt_cc.h
@@ -33,6 +33,9 @@
#include <fstream>
#include <string>
+#include <sys/types.h>
+#include <sys/ipc.h>
+#include <sys/msg.h>
#include <utility>
#include <gnuradio/block.h>
#include "nmea_printer.h"
@@ -134,6 +137,15 @@ private:
std::shared_ptr<galileo_e1_ls_pvt> d_ls_pvt;
bool pseudoranges_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b);
+ bool first_fix;
+ key_t sysv_msg_key;
+ int sysv_msqid;
+ typedef struct {
+ long mtype;//required by sys v message
+ double ttff;
+ } ttff_msgbuf;
+ bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
+
public:
~galileo_e1_pvt_cc (); //!< Default destructor
diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
index af5f0b2..9f4aabe 100644
--- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
+++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.cc
@@ -275,6 +275,16 @@ hybrid_pvt_cc::hybrid_pvt_cc(unsigned int nchannels, bool dump, std::string dump
}
}
}
+
+ // Create Sys V message queue
+ first_fix = true;
+ sysv_msg_key = 1101;
+ int msgflg = IPC_CREAT | 0666;
+ if ((sysv_msqid = msgget(sysv_msg_key, msgflg )) == -1)
+ {
+ std::cout << "GNSS-SDR can not create message queues!" << std::endl;
+ throw new std::exception();
+ }
}
@@ -304,6 +314,22 @@ void hybrid_pvt_cc::print_receiver_status(Gnss_Synchro** channels_synchronizatio
}
+bool hybrid_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
+{
+ /* Fill Sys V message structures */
+ int msgsend_size;
+ ttff_msgbuf msg;
+ msg.ttff = ttff.ttff;
+ msgsend_size = sizeof(msg.ttff);
+ msg.mtype = 1; /* default message ID */
+
+ /* SEND SOLUTION OVER A MESSAGE QUEUE */
+ /* non-blocking Sys V message send */
+ msgsnd(sysv_msqid, &msg, msgsend_size, IPC_NOWAIT);
+ return true;
+}
+
+
int hybrid_pvt_cc::general_work (int noutput_items __attribute__((unused)), gr_vector_int &ninput_items __attribute__((unused)),
gr_vector_const_void_star &input_items, gr_vector_void_star &output_items __attribute__((unused)))
{
diff --git a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h
index 10e7b42..21ccfef 100644
--- a/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h
+++ b/src/algorithms/PVT/gnuradio_blocks/hybrid_pvt_cc.h
@@ -34,6 +34,9 @@
#include <fstream>
#include <utility>
#include <string>
+#include <sys/types.h>
+#include <sys/ipc.h>
+#include <sys/msg.h>
#include <gnuradio/block.h>
#include "nmea_printer.h"
#include "kml_printer.h"
@@ -137,6 +140,15 @@ private:
std::map<int,Gnss_Synchro> gnss_pseudoranges_map;
bool pseudoranges_pairCompare_min(const std::pair<int,Gnss_Synchro>& a, const std::pair<int,Gnss_Synchro>& b);
+ bool first_fix;
+ key_t sysv_msg_key;
+ int sysv_msqid;
+ typedef struct {
+ long mtype;//required by sys v message
+ double ttff;
+ } ttff_msgbuf;
+ bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
+
public:
/*!
* \brief Get latest set of GPS L1 ephemeris from PVT block
--
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