spacecruft
/
galmon
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

various speedups, C/NAV support for Galileo

pull/141/head
bert hubert 2020-09-27 16:49:59 +02:00
parent 5d1cc3d75f
commit 37077b8296
2 changed files with 68 additions and 59 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

125
navparse.cc
View File

@ -1874,12 +1874,12 @@ try
Point sat{0,0,0}; Point sat{0,0,0};
//cout<<"Got recdata for "<<id.gnss<<","<<id.sv<<","<<id.sigid<<": count="<<g_svstats.count(id)<<endl; //cout<<"Got recdata for "<<id.gnss<<","<<id.sv<<","<<id.sigid<<": count="<<g_svstats.count(id)<<endl;
if(g_svstats[id].completeIOD() && (id.gnss != 6 || !(random() % 16))) { // glonass is too slow if(g_svstats[id].completeIOD() && !(random() % 16)) {
g_svstats[id].getCoordinates(g_svstats[id].tow(), &sat); g_svstats[id].getCoordinates(g_svstats[id].tow(), &sat);
} }
if(sat.x != 0 && g_srcpos[nmm.sourceid()].pos.x != 0) { if(sat.x != 0 && g_srcpos[nmm.sourceid()].pos.x != 0) {
if(doLogRFData && !(random() % 4)) if(doLogRFData && !(random() % 16))
idb.addValue(id, "recdata", idb.addValue(id, "recdata",
{ {
{"db", nmm.rd().db()}, {"db", nmm.rd().db()},
@ -1909,7 +1909,6 @@ try
auto& gm = svstat.galmsg; auto& gm = svstat.galmsg;
unsigned int wtype = gm.parse(inav); unsigned int wtype = gm.parse(inav);
if(wtype == 5 && svstat.galmsgTyped.count(5)) { if(wtype == 5 && svstat.galmsgTyped.count(5)) {
const auto& old5gm = svstat.galmsgTyped[5]; const auto& old5gm = svstat.galmsgTyped[5];
if(make_tuple(old5gm.e5bhs, old5gm.e1bhs, old5gm.e5bdvs, old5gm.e1bdvs) != if(make_tuple(old5gm.e5bhs, old5gm.e1bhs, old5gm.e5bdvs, old5gm.e1bdvs) !=
@ -1940,18 +1939,18 @@ try
} }
} }
g_svstats[id].perrecv[nmm.sourceid()].t = nmm.localutcseconds(); svstat.perrecv[nmm.sourceid()].t = nmm.localutcseconds();
if(wtype >=1 && wtype <= 4) { // ephemeris if(wtype >=1 && wtype <= 4) { // ephemeris
if(wtype == 3) { if(wtype == 3) {
idb.addValue(id, "sisa", {{"value", g_svstats[id].galmsg.sisa}}, satUTCTime(id)); idb.addValue(id, "sisa", {{"value", svstat.galmsg.sisa}}, satUTCTime(id));
} }
else if(wtype == 4) { else if(wtype == 4) {
idb.addValue(id, "clock", {{"offset_ns", svstat.galmsg.getAtomicOffset(svstat.tow()).first}, idb.addValue(id, "clock", {{"offset_ns", svstat.galmsg.getAtomicOffset(svstat.tow()).first},
{"t0c", g_svstats[id].galmsg.t0c*60}, // getT0c()?? {"t0c", svstat.galmsg.t0c*60}, // getT0c()??
{"af0", g_svstats[id].galmsg.af0}, {"af0", svstat.galmsg.af0},
{"af1", g_svstats[id].galmsg.af1}, {"af1", svstat.galmsg.af1},
{"af2", g_svstats[id].galmsg.af2}}, satUTCTime(id)); {"af2", svstat.galmsg.af2}}, satUTCTime(id));
if(oldgm.af0 && oldgm.t0c != svstat.galmsg.t0c) { if(oldgm.af0 && oldgm.t0c != svstat.galmsg.t0c) {
@ -1977,29 +1976,29 @@ try
} }
else if(wtype == 5) { else if(wtype == 5) {
idb.addValue(id, "iono", { idb.addValue(id, "iono", {
{"ai0", g_svstats[id].galmsg.ai0}, {"ai0", svstat.galmsg.ai0},
{"ai1", g_svstats[id].galmsg.ai1}, {"ai1", svstat.galmsg.ai1},
{"ai2", g_svstats[id].galmsg.ai2}, {"ai2", svstat.galmsg.ai2},
{"sf1", g_svstats[id].galmsg.sf1}, {"sf1", svstat.galmsg.sf1},
{"sf2", g_svstats[id].galmsg.sf2}, {"sf2", svstat.galmsg.sf2},
{"sf3", g_svstats[id].galmsg.sf3}, {"sf3", svstat.galmsg.sf3},
{"sf4", g_svstats[id].galmsg.sf4}, {"sf4", svstat.galmsg.sf4},
{"sf5", g_svstats[id].galmsg.sf5}}, satUTCTime(id)); {"sf5", svstat.galmsg.sf5}}, satUTCTime(id));
idb.addValue(id, "galbgd", { idb.addValue(id, "galbgd", {
{"BGDE1E5a", g_svstats[id].galmsg.BGDE1E5a}, {"BGDE1E5a", svstat.galmsg.BGDE1E5a},
{"BGDE1E5b", g_svstats[id].galmsg.BGDE1E5b}}, satUTCTime(id)); {"BGDE1E5b", svstat.galmsg.BGDE1E5b}}, satUTCTime(id));
idb.addValue(id, "galhealth", { idb.addValue(id, "galhealth", {
{"e1bhs", g_svstats[id].galmsg.e1bhs}, {"e1bhs", svstat.galmsg.e1bhs},
{"e5bhs", g_svstats[id].galmsg.e5bhs}, {"e5bhs", svstat.galmsg.e5bhs},
{"e5bdvs", g_svstats[id].galmsg.e5bdvs}, {"e5bdvs", svstat.galmsg.e5bdvs},
{"e1bdvs", g_svstats[id].galmsg.e1bdvs}}, satUTCTime(id)); {"e1bdvs", svstat.galmsg.e1bdvs}}, satUTCTime(id));
} }
else if(wtype == 6) { // GST-UTC else if(wtype == 6) { // GST-UTC
const auto& sv = g_svstats[id]; const auto& sv = svstat;
g_GSTUTCOffset = sv.galmsg.getUTCOffset(sv.tow(), sv.wn()).first; g_GSTUTCOffset = sv.galmsg.getUTCOffset(sv.tow(), sv.wn()).first;
idb.addValue(id, "utcoffset", { idb.addValue(id, "utcoffset", {
{"a0", sv.galmsg.a0}, {"a0", sv.galmsg.a0},
@ -2038,16 +2037,19 @@ try
g_galileoalma[gm.alma3.svid] = gm.alma3; g_galileoalma[gm.alma3.svid] = gm.alma3;
} }
g_GSTGPSOffset = gm.getGPSOffset(gm.tow, gm.wn).first; g_GSTGPSOffset = gm.getGPSOffset(gm.tow, gm.wn).first;
idb.addValue(id, "gpsoffset", {{"a0g", g_svstats[id].galmsg.a0g}, idb.addValue(id, "gpsoffset", {{"a0g", svstat.galmsg.a0g},
{"a1g", g_svstats[id].galmsg.a1g}, {"a1g", svstat.galmsg.a1g},
{"t0g", g_svstats[id].galmsg.t0g}, {"t0g", svstat.galmsg.t0g},
{"wn0g", g_svstats[id].galmsg.wn0g}, {"wn0g", svstat.galmsg.wn0g},
{"delta", g_GSTGPSOffset} {"delta", g_GSTGPSOffset}
}, satUTCTime(id)); }, satUTCTime(id));
} }
} }
else if(nmm.type() == NavMonMessage::GalileoCnavType) { else if(nmm.type() == NavMonMessage::GalileoCnavType) {
SatID id={2,(uint32_t) nmm.gc().gnsssv(), 8}; // E6
idb.addValue(id, "galcnav", {{"msg", makeHexDump(nmm.gc().contents())}},
nmm.localutcseconds());
// ... no idea what this contains // ... no idea what this contains
} }
else if(nmm.type() == NavMonMessage::GalileoFnavType) { else if(nmm.type() == NavMonMessage::GalileoFnavType) {
@ -2077,46 +2079,51 @@ try
idb.addValue(id, "ephemeris", {{"iod-live", svstat.galmsg.iodnav}, idb.addValue(id, "ephemeris", {{"iod-live", svstat.galmsg.iodnav},
{"eph-age", ephAge(gm.tow, gm.getT0e())}}, satUTCTime(id)); {"eph-age", ephAge(gm.tow, gm.getT0e())}}, satUTCTime(id));
int w = 2; int w = 1;
for(; w < 5; ++w) { for(; w < 5; ++w) {
if(!svstat.galmsgTyped.count(w)) if(!svstat.galmsgTyped.count(w))
break; break;
if(w > 2 && svstat.galmsgTyped[w-1].iodnav != svstat.galmsgTyped[w].iodnav) if(w > 1 && svstat.galmsgTyped[w-1].iodnav != svstat.galmsgTyped[w].iodnav)
break; break;
} }
if(w==5) { // have complete new ephemeris if(w==5) { // have complete new ephemeris
if(svstat.ephgalmsg.iodnav != svstat.galmsgTyped[2].iodnav) { if(svstat.ephgalmsg.iodnav != svstat.galmsgTyped[2].iodnav) {
cout<<"New F/NAV ephemeris for "<<makeSatIDName(id)<<" iod " << svstat.galmsgTyped[2].iodnav << " t0e " << svstat.galmsgTyped[3].t0e <<endl; // cout<<"New F/NAV ephemeris for "<<makeSatIDName(id)<<" iod " << svstat.galmsgTyped[1].iodnav << " t0e " << svstat.galmsgTyped[3].t0e << " af0 "<< gm.af0 <<" iod1 "<<svstat.galmsgTyped[1].iodnav;
/*
cout<<" iod2 "<<svstat.galmsgTyped[2].iodnav;
cout<<" iod3 "<<svstat.galmsgTyped[3].iodnav;
cout<<" iod4 "<<svstat.galmsgTyped[4].iodnav << endl;
*/
svstat.oldephgalmsg = svstat.ephgalmsg; svstat.oldephgalmsg = svstat.ephgalmsg;
svstat.ephgalmsg = svstat.galmsgTyped[wtype]; svstat.ephgalmsg = svstat.galmsg;
svstat.reportNewEphemeris(id, idb); svstat.reportNewEphemeris(id, idb);
} }
} }
} }
g_svstats[id].perrecv[nmm.sourceid()].t = nmm.localutcseconds(); svstat.perrecv[nmm.sourceid()].t = nmm.localutcseconds();
if(wtype >=1 && wtype <= 4) { // ephemeris if(wtype >=1 && wtype <= 4) { // ephemeris
if(wtype == 1) { if(wtype == 1) {
idb.addValue(id, "sisa", {{"value", g_svstats[id].galmsg.sisa}}, satUTCTime(id)); idb.addValue(id, "sisa", {{"value", svstat.galmsg.sisa}}, satUTCTime(id));
idb.addValue(id, "galbgd", { idb.addValue(id, "galbgd", {
{"BGDE1E5a", g_svstats[id].galmsg.BGDE1E5a}, {"BGDE1E5a", svstat.galmsg.BGDE1E5a},
}, satUTCTime(id)); }, satUTCTime(id));
idb.addValue(id, "galhealth", { idb.addValue(id, "galhealth", {
{"e5ahs", g_svstats[id].galmsg.e5bhs}, {"e5ahs", svstat.galmsg.e5bhs},
{"e5advs", g_svstats[id].galmsg.e5bdvs} {"e5advs", svstat.galmsg.e5bdvs}
}, satUTCTime(id)); }, satUTCTime(id));
idb.addValue(id, "clock", {{"offset_ns", svstat.galmsg.getAtomicOffset(svstat.tow()).first}, idb.addValue(id, "clock", {{"offset_ns", svstat.galmsg.getAtomicOffset(svstat.tow()).first},
{"t0c", g_svstats[id].galmsg.t0c*60}, // getT0c()?? {"t0c", svstat.galmsg.t0c*60}, // getT0c()??
{"af0", g_svstats[id].galmsg.af0}, {"af0", svstat.galmsg.af0},
{"af1", g_svstats[id].galmsg.af1}, {"af1", svstat.galmsg.af1},
{"af2", g_svstats[id].galmsg.af2}}, satUTCTime(id)); {"af2", svstat.galmsg.af2}}, satUTCTime(id));
if(oldgm.af0 && oldgm.t0c != svstat.galmsg.t0c) { if(oldgm.af0 && oldgm.t0c != svstat.galmsg.t0c) {
auto oldOffset = oldgm.getAtomicOffset(svstat.tow()); auto oldOffset = oldgm.getAtomicOffset(svstat.tow());
@ -2139,14 +2146,14 @@ try
} }
idb.addValue(id, "iono", { idb.addValue(id, "iono", {
{"ai0", g_svstats[id].galmsg.ai0}, {"ai0", svstat.galmsg.ai0},
{"ai1", g_svstats[id].galmsg.ai1}, {"ai1", svstat.galmsg.ai1},
{"ai2", g_svstats[id].galmsg.ai2}, {"ai2", svstat.galmsg.ai2},
{"sf1", g_svstats[id].galmsg.sf1}, {"sf1", svstat.galmsg.sf1},
{"sf2", g_svstats[id].galmsg.sf2}, {"sf2", svstat.galmsg.sf2},
{"sf3", g_svstats[id].galmsg.sf3}, {"sf3", svstat.galmsg.sf3},
{"sf4", g_svstats[id].galmsg.sf4}, {"sf4", svstat.galmsg.sf4},
{"sf5", g_svstats[id].galmsg.sf5}}, satUTCTime(id)); {"sf5", svstat.galmsg.sf5}}, satUTCTime(id));
} }
} }
@ -2163,10 +2170,10 @@ try
g_dtLS = sv.galmsg.dtLS; g_dtLS = sv.galmsg.dtLS;
g_GSTGPSOffset = gm.getGPSOffset(gm.tow, gm.wn).first; g_GSTGPSOffset = gm.getGPSOffset(gm.tow, gm.wn).first;
idb.addValue(id, "gpsoffset", {{"a0g", g_svstats[id].galmsg.a0g}, idb.addValue(id, "gpsoffset", {{"a0g", svstat.galmsg.a0g},
{"a1g", g_svstats[id].galmsg.a1g}, {"a1g", svstat.galmsg.a1g},
{"t0g", g_svstats[id].galmsg.t0g}, {"t0g", svstat.galmsg.t0g},
{"wn0g", g_svstats[id].galmsg.wn0g}, {"wn0g", svstat.galmsg.wn0g},
{"delta", g_GSTGPSOffset} {"delta", g_GSTGPSOffset}
}, satUTCTime(id)); }, satUTCTime(id));
} }
@ -2693,8 +2700,8 @@ try
} }
else if(nmm.type()== NavMonMessage::BeidouInavTypeD1) { else if(nmm.type()== NavMonMessage::BeidouInavTypeD1) {
// if(doGalileoReportSpeedup) if(doGalileoReportSpeedup)
// continue; // speedup continue; // speedup
try { try {
SatID id{nmm.bid1().gnssid(), nmm.bid1().gnsssv(), nmm.bid1().sigid()}; SatID id{nmm.bid1().gnssid(), nmm.bid1().gnsssv(), nmm.bid1().sigid()};
@ -2730,7 +2737,7 @@ try
auto newOffset = bm.getAtomicOffset(bm.sow); auto newOffset = bm.getAtomicOffset(bm.sow);
svstat.timeDisco = oldOffset.first - newOffset.first; svstat.timeDisco = oldOffset.first - newOffset.first;
if(fabs(svstat.timeDisco) < 10000) if(fabs(svstat.timeDisco) < 10000)
idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id)); idb.addValue(id, "clock_jump_ns", {{"jump", svstat.timeDisco}}, satUTCTime(id));
} }
svstat.lastBeidouMessage1 = bm; svstat.lastBeidouMessage1 = bm;
} }
@ -2794,8 +2801,8 @@ try
*/ */
} }
else if(nmm.type()== NavMonMessage::GlonassInavType) { else if(nmm.type()== NavMonMessage::GlonassInavType) {
// if(doGalileoReportSpeedup) if(doGalileoReportSpeedup)
// continue; // speedup continue; // speedup
SatID id{nmm.gloi().gnssid(), nmm.gloi().gnsssv(), nmm.gloi().sigid()}; SatID id{nmm.gloi().gnssid(), nmm.gloi().gnsssv(), nmm.gloi().sigid()};
auto& svstat = g_svstats[id]; auto& svstat = g_svstats[id];
@ -2828,7 +2835,7 @@ try
if(oldgm.taun && oldgm.taun != gm.taun) { if(oldgm.taun && oldgm.taun != gm.taun) {
if(gm.getGloTime() - oldgm.getGloTime() < 300) { if(gm.getGloTime() - oldgm.getGloTime() < 300) {
svstat.timeDisco = gm.getTaunNS() - oldgm.getTaunNS(); svstat.timeDisco = gm.getTaunNS() - oldgm.getTaunNS();
idb.addValue(id, "clock_jump_ns", {{"value", svstat.timeDisco}}, satUTCTime(id)); idb.addValue(id, "clock_jump_ns", {{"jump", svstat.timeDisco}}, satUTCTime(id));
} }
} }
} }

2
navparse.hh
View File

@ -49,6 +49,8 @@ struct SVStat
GalileoMessage ephgalmsg, galmsg, oldephgalmsg; GalileoMessage ephgalmsg, galmsg, oldephgalmsg;
// internal // internal
map<int, GalileoMessage> galmsgTyped; map<int, GalileoMessage> galmsgTyped;
bool osnma{false};
time_t osnmaTime{0};
// Glonass // Glonass
GlonassMessage ephglomsg, glonassMessage, oldephglomsg; GlonassMessage ephglomsg, glonassMessage, oldephglomsg;