622 lines
21 KiB
C++
622 lines
21 KiB
C++
#include <sys/types.h>
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#include <sys/time.h>
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#include <map>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <termios.h>
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#include <stdio.h>
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#include <unistd.h>
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#include <strings.h>
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#include <stdlib.h>
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#include <string>
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#include <stdint.h>
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#include "ubx.hh"
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#include <iostream>
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#include <fstream>
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#include <string.h>
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#include "fmt/format.h"
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#include "fmt/printf.h"
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#include "bits.hh"
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#include "galileo.hh"
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#include <arpa/inet.h>
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#include "navmon.pb.h"
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struct timespec g_gstutc;
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uint16_t g_wn;
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using namespace std;
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uint16_t g_srcid{2};
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#define BAUDRATE B921600
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#define MODEMDEVICE "/dev/ttyACM0"
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namespace {
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struct EofException{};
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}
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size_t readn2(int fd, void* buffer, size_t len)
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{
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size_t pos=0;
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ssize_t res;
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for(;;) {
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res = read(fd, (char*)buffer + pos, len - pos);
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if(res == 0)
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throw EofException();
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if(res < 0) {
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throw runtime_error("failed in readn2: "+string(strerror(errno)));
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}
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pos+=(size_t)res;
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if(pos == len)
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break;
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}
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return len;
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}
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size_t writen2(int fd, const void *buf, size_t count)
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{
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const char *ptr = (char*)buf;
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const char *eptr = ptr + count;
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ssize_t res;
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while(ptr != eptr) {
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res = ::write(fd, ptr, eptr - ptr);
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if(res < 0) {
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throw runtime_error("failed in writen2: "+string(strerror(errno)));
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}
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else if (res == 0)
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throw EofException();
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ptr += (size_t) res;
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}
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return count;
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}
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/* inav schedule:
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1) Find plausible start time of next cycle
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Current cycle: TOW - (TOW%30)
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Next cycle: TOW - (TOW%30) + 30
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t n w
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0 1: 2 wn % 30 == 0
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2 2: 4 wn % 30 == 2
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4 3: 6 WN/TOW 4 -> set startTow, startTowFresh
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6 4: 7/9
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8 5: 8/10
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10 6: 0 TOW
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12 7: 0 WN/TOW
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14 8: 0 WN/TOW
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16 9: 0 WN/TOW
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18 10: 0 WN/TOW
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20 11: 1
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22 12: 3
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24 13: 5 WN/TOW
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26 14: 0 WN/TOW
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28 15: 0 WN/TOW
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*/
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/*
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if(ubxClass == 2 && ubxType == 89) { // SAR
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string hexstring;
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for(int n = 0; n < 15; ++n)
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hexstring+=fmt::format("%x", (int)getbitu(msg.c_str(), 36 + 4*n, 4));
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// int sv = (int)msg[2];
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// wk.emitLine(sv, "SAR "+hexstring);
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// cout<<"SAR: sv = "<< (int)msg[2] <<" ";
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// for(int n=4; n < 12; ++n)
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// fmt::printf("%02x", (int)msg[n]);
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// for(int n = 0; n < 15; ++n)
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// fmt::printf("%x", (int)getbitu(msg.c_str(), 36 + 4*n, 4));
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// cout << " Type: "<< (int) msg[12] <<"\n";
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// cout<<"Parameter: (len = "<<msg.length()<<") ";
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// for(unsigned int n = 13; n < msg.length(); ++n)
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// fmt::printf("%02x ", (int)msg[n]);
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// cout<<"\n";
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}
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*/
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class UBXMessage
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{
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public:
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struct BadChecksum{};
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explicit UBXMessage(basic_string_view<uint8_t> src)
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{
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d_raw = src;
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if(d_raw.size() < 6)
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throw std::runtime_error("Partial UBX message");
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uint16_t csum = calcUbxChecksum(getClass(), getType(), d_raw.substr(6, d_raw.size()-8));
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if(csum != d_raw.at(d_raw.size()-2) + 256*d_raw.at(d_raw.size()-1))
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throw BadChecksum();
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}
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uint8_t getClass() const
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{
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return d_raw.at(2);
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}
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uint8_t getType() const
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{
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return d_raw.at(3);
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}
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std::basic_string<uint8_t> getPayload() const
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{
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return d_raw.substr(6, d_raw.size()-8);
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}
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std::basic_string<uint8_t> d_raw;
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};
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std::pair<UBXMessage, struct timeval> getUBXMessage(int fd)
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{
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uint8_t marker[2]={0};
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for(;;) {
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marker[0] = marker[1];
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int res = readn2(fd, marker+1, 1);
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if(res < 0)
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throw EofException();
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// cerr<<"marker now: "<< (int)marker[0]<<" " <<(int)marker[1]<<endl;
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if(marker[0]==0xb5 && marker[1]==0x62) { // bingo
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struct timeval tv;
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gettimeofday(&tv, 0);
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basic_string<uint8_t> msg;
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msg.append(marker, 2); // 0,1
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uint8_t b[4];
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readn2(fd, b, 4);
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msg.append(b, 4); // class, type, len1, len2
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uint16_t len = b[2] + 256*b[3];
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// cerr<<"Got class "<<(int)msg[2]<<" type "<<(int)msg[3]<<", len = "<<len<<endl;
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uint8_t buffer[len+2];
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res=readn2(fd, buffer, len+2);
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msg.append(buffer, len+2); // checksum
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return make_pair(UBXMessage(msg), tv);
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}
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}
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}
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UBXMessage waitForUBX(int fd, int seconds, uint8_t ubxClass, uint8_t ubxType)
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{
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for(int n=0; n < seconds*20; ++n) {
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auto [msg, tv] = getUBXMessage(fd);
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(void) tv;
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// cerr<<"Got: "<<(int)msg.getClass() << " " <<(int)msg.getType() <<endl;
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if(msg.getClass() == ubxClass && msg.getType() == ubxType) {
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return msg;
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}
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}
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throw std::runtime_error("Did not get response on time");
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}
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bool waitForUBXAckNack(int fd, int seconds)
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{
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for(int n=0; n < seconds*4; ++n) {
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auto [msg, tv] = getUBXMessage(fd);
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(void)tv;
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// cerr<<"Got: "<<(int)msg.getClass() << " " <<(int)msg.getType() <<endl;
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if(msg.getClass() == 0x05 && msg.getType() == 0x01) {
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return true;
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}
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else if(msg.getClass() == 0x05 && msg.getType() == 0x00) {
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return false;
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}
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}
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throw std::runtime_error("Did not get ACK/NACK response on time");
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}
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void emitNMM(int fd, const NavMonMessage& nmm)
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{
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string out;
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nmm.SerializeToString(& out);
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writen2(fd, "bert", 4);
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uint16_t len = htons(out.size());
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writen2(fd, &len, 2);
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writen2(fd, out.c_str(), out.size());
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}
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void enableUBXMessageUSB(int fd, uint8_t ubxClass, uint8_t ubxType)
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{
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auto msg = buildUbxMessage(0x06, 0x01, {ubxClass, ubxType, 0, 0, 0, 1, 0, 0});
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writen2(fd, msg.c_str(), msg.size());
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if(waitForUBXAckNack(fd, 2))
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return;
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else
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throw std::runtime_error("Got NACK enabling UBX message "+to_string((int)ubxClass)+" "+to_string((int)ubxType));
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}
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int main(int argc, char** argv)
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{
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struct termios oldtio,newtio;
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int fd;
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bool fromFile=false;
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if(argc > 1) {
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fromFile = true;
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fd = open(argv[1], O_RDONLY );
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}
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else
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fd = open(MODEMDEVICE, O_RDWR | O_NOCTTY );
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if (fd <0) {perror(MODEMDEVICE); exit(-1); }
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if(!fromFile) {
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tcgetattr(fd,&oldtio); /* save current port settings */
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bzero(&newtio, sizeof(newtio));
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newtio.c_cflag = BAUDRATE | CRTSCTS | CS8 | CLOCAL | CREAD;
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newtio.c_iflag = IGNPAR;
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newtio.c_oflag = 0;
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/* set input mode (non-canonical, no echo,...) */
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newtio.c_lflag = 0;
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newtio.c_cc[VTIME] = 0; /* inter-character timer unused */
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newtio.c_cc[VMIN] = 5; /* blocking read until 5 chars received */
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tcflush(fd, TCIFLUSH);
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tcsetattr(fd,TCSANOW,&newtio);
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for(int n=0; n < 5; ++n) {
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auto [msg, timestamp] = getUBXMessage(fd);
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(void)timestamp;
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cerr<<"Read some init: "<<(int)msg.getClass() << " " <<(int)msg.getType() <<endl;
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// if(msg.getClass() == 0x2)
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//cerr<<string((char*)msg.getPayload().c_str(), msg.getPayload().size()) <<endl;
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}
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std::basic_string<uint8_t> msg;
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cerr<<"Asking for rate"<<endl;
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msg = buildUbxMessage(0x06, 0x01, {0x02, 89}); // ask for rates of class 0x02 type 89, RLM
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writen2(fd, msg.c_str(), msg.size());
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UBXMessage um=waitForUBX(fd, 2, 0x06, 0x01);
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cerr<<"Message rate: "<<endl;
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for(const auto& c : um.getPayload())
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cerr<<(int)c<< " ";
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cerr<<endl;
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msg = buildUbxMessage(0x06, 0x01, {0x02, 89, 0, 0, 0, 1, 0, 0});
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writen2(fd, msg.c_str(), msg.size());
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if(waitForUBXAckNack(fd, 2))
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cerr<<"Got ack on rate setting"<<endl;
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else
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cerr<<"Got nack on rate setting"<<endl;
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msg = buildUbxMessage(0x06, 0x01, {0x02, 89});
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writen2(fd, msg.c_str(), msg.size());
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um=waitForUBX(fd, 2, 0x06, 0x01); // ignore
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cerr<<"Disabling NMEA"<<endl;
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msg = buildUbxMessage(0x06, 0x00, {0x03,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x03,0x00,0x01,0x00,0x00,0x00,0x00,0x00});
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writen2(fd, msg.c_str(), msg.size());
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if(waitForUBXAckNack(fd, 2))
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cerr<<"NMEA disabled"<<endl;
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else
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cerr<<"Got NACK disabling NMEA"<<endl;
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msg = buildUbxMessage(0x06, 0x00, {0x03});
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writen2(fd, msg.c_str(), msg.size());
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um=waitForUBX(fd, 2, 0x06, 0x00);
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cerr<<"Protocol settings on USB: \n";
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for(const auto& c : um.getPayload())
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cerr<<(int)c<< " ";
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cerr<<endl;
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cerr<<"Enabling UBX-RXM-RAWX"<<endl;
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enableUBXMessageUSB(fd, 0x02, 0x15);
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cerr<<"Enabling UBX-RXM-SFRBX"<<endl;
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enableUBXMessageUSB(fd, 0x02, 0x13);
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cerr<<"Enabling UBX-NAV-POSECEF"<<endl;
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enableUBXMessageUSB(fd, 0x01, 0x01);
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cerr<<"Enabling UBX-NAV-SAT"<<endl;
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enableUBXMessageUSB(fd, 0x01, 0x35);
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cerr<<"Enabling UBX-NAV-PVT"<<endl; // position, velocity, time fix
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enableUBXMessageUSB(fd, 0x01, 0x07);
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}
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/* goal: isolate UBX messages, ignore everyting else.
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The challenge is that we might sometimes hit the 0xb5 0x62 marker
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in the middle of a message, which will cause us to possibly jump over valid messages
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This program sits on the serial link and therefore has the best timestamps.
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At least Galileo messages sometimes rely on the timestamp-of-receipt, but the promise
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is that such messages are sent at whole second intervals.
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We therefore perform a layering violation and peer into the message to see
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what timestamp it claims to have, so that we can set subsequent timestamps correctly.
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*/
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std::map<pair<int,int>, struct timeval> lasttv, tv;
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unsigned int nextCycleTOW{0};
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unsigned int curCycleTOW{0};
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bool curCycleTOWFresh=false;
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for(;;) {
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try {
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auto [msg, timestamp] = getUBXMessage(fd);
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(void)timestamp;
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auto payload = msg.getPayload();
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// should turn this into protobuf
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if(msg.getClass() == 0x01 && msg.getType() == 0x07) { // UBX-NAV-PVT
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struct PVT
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{
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uint32_t itow;
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uint16_t year;
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uint8_t month; // jan = 1
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uint8_t day;
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uint8_t hour; // 24
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uint8_t min;
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uint8_t sec;
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uint8_t valid;
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uint32_t tAcc;
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int32_t nano;
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uint8_t fixtype;
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} __attribute__((packed));
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PVT pvt;
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memcpy(&pvt, &payload[0], sizeof(pvt));
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struct tm tm;
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memset(&tm, 0, sizeof(tm));
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tm.tm_year = pvt.year - 1900;
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tm.tm_mon = pvt.month - 1;
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tm.tm_mday = pvt.day;
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tm.tm_hour = pvt.hour;
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tm.tm_min = pvt.min;
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tm.tm_sec = pvt.sec;
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uint32_t satt = timegm(&tm);
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double satutc = timegm(&tm) + pvt.nano/1000000000.0; // negative is no problem here
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if(pvt.nano < 0) {
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pvt.sec--;
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satt--;
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pvt.nano += 1000000000;
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}
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g_gstutc.tv_sec = satt;
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g_gstutc.tv_nsec = pvt.nano;
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double seconds= pvt.sec + pvt.nano/1000000000.0;
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fmt::fprintf(stderr, "Satellite UTC: %02d:%02d:%06.4f -> %.4f or %d:%f\n", tm.tm_hour, tm.tm_min, seconds, satutc, timegm(&tm), pvt.nano/1000.0);
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if(!fromFile) {
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struct tm ourtime;
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time_t ourt = timestamp.tv_sec;
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gmtime_r(&ourt, &ourtime);
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double ourutc = ourt + timestamp.tv_usec/1000000.0;
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seconds = ourtime.tm_sec + timestamp.tv_usec/1000000.0;
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fmt::fprintf(stderr, "Our UTC : %02d:%02d:%06.4f -> %.4f or %d:%f -> delta = %.4fs\n", tm.tm_hour, tm.tm_min, seconds, ourutc, timestamp.tv_sec, 1.0*timestamp.tv_usec, ourutc - satutc);
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}
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}
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else if(msg.getClass() == 0x02 && msg.getType() == 0x15) { // RAWX
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// cerr<<"Got "<<(int)payload[11] <<" measurements "<<endl;
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double rcvTow;
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memcpy(&rcvTow, &payload[0], 8);
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for(int n=0 ; n < payload[11]; ++n) {
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double prMes;
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double cpMes;
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float doppler;
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memcpy(&prMes, &payload[16+32*n], 8);
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memcpy(&cpMes, &payload[24+32*n], 8);
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memcpy(&doppler, &payload[32+32*n], 4);
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int gnssid = payload[36+32*n];
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int sv = payload[37+32*n];
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uint16_t locktimems;
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memcpy(&locktimems, &payload[40+32*n], 2);
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uint8_t prStddev = payload[43+23*n] & 0xf;
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uint8_t cpStddev = payload[44+23*n] & 0xf;
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uint8_t doStddev = payload[45+23*n] & 0xf;
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uint8_t trkStat = payload[46+23*n] & 0xf;
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NavMonMessage nmm;
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nmm.set_type(NavMonMessage::RFDataType);
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nmm.set_localutcseconds(g_gstutc.tv_sec);
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nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
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nmm.set_sourceid(g_srcid); // XXX source id
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nmm.mutable_rfd()->set_gnssid(gnssid);
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nmm.mutable_rfd()->set_gnsssv(sv);
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nmm.mutable_rfd()->set_rcvtow(rcvTow);
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nmm.mutable_rfd()->set_doppler(doppler);
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nmm.mutable_rfd()->set_carrierphase(cpMes);
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nmm.mutable_rfd()->set_pseudorange(prMes);
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nmm.mutable_rfd()->set_prstd(ldexp(0.01, prStddev));
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nmm.mutable_rfd()->set_dostd(ldexp(0.002, doStddev));
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nmm.mutable_rfd()->set_cpstd(cpStddev*0.4);
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nmm.mutable_rfd()->set_locktimems(locktimems);
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emitNMM(1, nmm);
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}
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}
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else if(msg.getClass() == 0x01 && msg.getType() == 0x01) { // POSECF
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struct pos
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{
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uint32_t iTOW;
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int32_t ecefX;
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int32_t ecefY;
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int32_t ecefZ;
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uint32_t pAcc;
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};
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pos p;
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memcpy(&p, payload.c_str(), sizeof(pos));
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cerr<<"Position: ("<< p.ecefX / 100000.0<<", "
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<< p.ecefY / 100000.0<<", "
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<< p.ecefZ / 100000.0<<") +- "<<p.pAcc<<" cm"<<endl;
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|
|
|
NavMonMessage nmm;
|
|
nmm.set_type(NavMonMessage::ObserverPositionType);
|
|
nmm.set_localutcseconds(g_gstutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
|
|
nmm.set_sourceid(g_srcid); // XXX source id
|
|
nmm.mutable_op()->set_x(p.ecefX /100.0);
|
|
nmm.mutable_op()->set_y(p.ecefY /100.0);
|
|
nmm.mutable_op()->set_z(p.ecefZ /100.0);
|
|
nmm.mutable_op()->set_acccm(p.pAcc /100.0);
|
|
emitNMM(1, nmm);
|
|
}
|
|
else if(msg.getClass() == 2 && msg.getType() == 0x13) { // SFRBX
|
|
try {
|
|
pair<int,int> id = make_pair(payload[0], payload[1]);
|
|
if(id.first != 2)
|
|
continue; // not Galileo
|
|
auto inav = getInavFromSFRBXMsg(payload);
|
|
unsigned int wtype = getbitu(&inav[0], 0, 6);
|
|
tv[id] = timestamp;
|
|
|
|
cerr<<"gnssid "<<id.first<<" sv "<<id.second<<" " << wtype << endl;
|
|
uint32_t satTOW;
|
|
int msgTOW{0};
|
|
if(getTOWFromInav(inav, &satTOW, &g_wn)) {
|
|
cerr<<" "<<wtype<<" sv "<<id.second<<" tow "<<satTOW << " % 30 = "<< satTOW % 30<<", implied start of cycle: "<<(satTOW - (satTOW %30)) <<endl;
|
|
if(curCycleTOW != satTOW - (satTOW %30))
|
|
curCycleTOWFresh=false;
|
|
msgTOW = satTOW;
|
|
curCycleTOW = satTOW - (satTOW %30);
|
|
nextCycleTOW = curCycleTOW + 30;
|
|
}
|
|
else {
|
|
cerr<<" "<<wtype<<" sv "<<id.second<<" tow ";
|
|
if(wtype == 2) {
|
|
cerr<<"infered to be 1 "<<nextCycleTOW + 1<<endl;
|
|
curCycleTOWFresh=false;
|
|
msgTOW = nextCycleTOW + 1;
|
|
}
|
|
else if(wtype == 4) {
|
|
cerr<<"infered to be 3 "<<nextCycleTOW + 3<<endl;
|
|
msgTOW = nextCycleTOW + 3;
|
|
curCycleTOWFresh=false;
|
|
} // next have '6' which sets TOW
|
|
else if(wtype==7 || wtype == 9) {
|
|
if(curCycleTOWFresh) {
|
|
cerr<<"infered to be 7 "<< curCycleTOW + 7<<endl;
|
|
msgTOW = curCycleTOW + 7;
|
|
}
|
|
else {
|
|
cerr<<"infered to be 7 "<< nextCycleTOW + 7<<endl;
|
|
msgTOW = nextCycleTOW + 7;
|
|
}
|
|
}
|
|
else if(wtype==8 || wtype == 10) {
|
|
if(curCycleTOWFresh) {
|
|
cerr<<"infered to be 9 "<< curCycleTOW + 9<<endl;
|
|
msgTOW = curCycleTOW + 9;
|
|
}
|
|
else {
|
|
cerr<<"infered to be 9 "<< nextCycleTOW + 9<<endl;
|
|
msgTOW = nextCycleTOW + 9;
|
|
}
|
|
}
|
|
else if(wtype==1) {
|
|
if(curCycleTOWFresh) {
|
|
cerr<<"infered to be 21 "<< curCycleTOW + 21<<endl;
|
|
msgTOW = curCycleTOW + 21;
|
|
}
|
|
else {
|
|
cerr<<"infered to be 21 "<< nextCycleTOW + 21<<endl;
|
|
msgTOW = nextCycleTOW + 21;
|
|
}
|
|
}
|
|
else if(wtype==3) {
|
|
if(curCycleTOWFresh) {
|
|
msgTOW = curCycleTOW + 23;
|
|
cerr<<"infered to be 23 "<< curCycleTOW + 23 <<endl;
|
|
}
|
|
else {
|
|
cerr<<"infered to be 23 "<< nextCycleTOW + 23 <<endl;
|
|
msgTOW = nextCycleTOW + 23;
|
|
}
|
|
}
|
|
else { // dummy
|
|
cerr<<"what kind of wtype is this"<<endl;
|
|
continue;
|
|
}
|
|
}
|
|
NavMonMessage nmm;
|
|
nmm.set_sourceid(g_srcid);
|
|
nmm.set_type(NavMonMessage::GalileoInavType);
|
|
nmm.set_localutcseconds(g_gstutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
|
|
|
|
nmm.mutable_gi()->set_gnsswn(g_wn);
|
|
nmm.mutable_gi()->set_gnsstow(msgTOW);
|
|
nmm.mutable_gi()->set_gnssid(id.first);
|
|
nmm.mutable_gi()->set_gnsssv(id.second);
|
|
nmm.mutable_gi()->set_contents((const char*)&inav[0], inav.size());
|
|
|
|
emitNMM(1, nmm);
|
|
|
|
|
|
if(0 && lasttv.count(id)) {
|
|
fmt::fprintf(stderr, "gnssid %d sv %d wtype %d, %d:%d -> %d:%d, delta=%d\n",
|
|
payload[0], payload[1], wtype, lasttv[id].tv_sec, lasttv[id].tv_usec, tv[id].tv_sec, tv[id].tv_usec, tv[id].tv_usec - lasttv[id].tv_usec);
|
|
}
|
|
lasttv[id]=tv[id];
|
|
}
|
|
catch(CRCMismatch& cm) {
|
|
cerr<<"Had CRC mismatch!"<<endl;
|
|
}
|
|
}
|
|
else if(msg.getClass() == 1 && msg.getType() == 0x35) { // UBX-NAV-SAT
|
|
// cerr<< "Info for "<<(int) payload[5]<<" svs: \n";
|
|
for(unsigned int n = 0 ; n < payload[5]; ++n) {
|
|
/*
|
|
cerr << " "<<(payload[8+12*n] ? 'E' : 'G') << (int)payload[9+12*n] <<" db=";
|
|
cerr << (int)payload[10+12*n]<<" elev="<<(int)(char)payload[11+12*n]<<" azi=";
|
|
cerr << ((int)payload[13+12*n]*256 + payload[12+12*n])<<" prres="<< *((int16_t*)(payload.c_str()+ 14 +12*n)) *0.1 << " signal="<< ((int)(payload[16+12*n])&7) << " used="<< (payload[16+12*n]&8);
|
|
|
|
fmt::fprintf(stderr, " | %02x %02x %02x %02x\n", (int)payload[16+12*n], (int)payload[17+12*n],
|
|
(int)payload[18+12*n], (int)payload[19+12*n]);
|
|
*/
|
|
if(payload[8+12*n]==2) { // galileo
|
|
int sv = payload[9+12*n];
|
|
auto el = (int)(char)payload[11+12*n];
|
|
auto azi = ((int)payload[13+12*n]*256 + payload[12+12*n]);
|
|
auto db = (int)payload[10+12*n];
|
|
|
|
NavMonMessage nmm;
|
|
nmm.set_sourceid(g_srcid);
|
|
nmm.set_localutcseconds(g_gstutc.tv_sec);
|
|
nmm.set_localutcnanoseconds(g_gstutc.tv_nsec);
|
|
|
|
nmm.set_type(NavMonMessage::ReceptionDataType);
|
|
nmm.mutable_rd()->set_gnssid(payload[8+12*n]);
|
|
nmm.mutable_rd()->set_gnsssv(sv);
|
|
nmm.mutable_rd()->set_db(db);
|
|
nmm.mutable_rd()->set_el(el);
|
|
nmm.mutable_rd()->set_azi(azi);
|
|
nmm.mutable_rd()->set_prres(*((int16_t*)(payload.c_str()+ 14 +12*n)) *0.1);
|
|
emitNMM(1, nmm);
|
|
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
// writen2(1, payload.d_raw.c_str(),msg.d_raw.size());
|
|
}
|
|
catch(UBXMessage::BadChecksum &e) {
|
|
cerr<<"Bad UBX checksum, skipping message"<<endl;
|
|
}
|
|
}
|
|
if(!fromFile)
|
|
tcsetattr(fd,TCSANOW,&oldtio);
|
|
}
|
|
|