Skip to content

updated .gitignore and Makefile to cleanly handle githash // cleanup cerr messages // wait for timestamp #63

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
mahtin wants to merge 3 commits into
base: master
Choose a base branch
from
Open

updated .gitignore and Makefile to cleanly handle githash // cleanup cerr messages // wait for timestamp #63

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
62e29ce
updated .gitignore and Makefile to cleanly handle githash
mahtin Jan 1, 2020
4f6399c
cleaned cerr - now with added times and corrected newlines where needed
mahtin Jan 4, 2020
00edddc
wait for timestamp before processing any messages
mahtin Jan 4, 2020
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions .gitignore
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,7 @@ navcat
navdisplay
navdump
navnexus
navparse
navrecv
testrunner
tlecatch
Expand All @@ -18,6 +19,7 @@ glo-ops.txt
gps-ops.txt
# - git version internals
githash.h
githash

#
*.csv
Expand Down
1 change: 1 addition & 0 deletions Makefile
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@ SIMPLESOCKETS=ext/powerblog/ext/simplesocket/swrappers.o ext/powerblog/ext/simpl
clean:
rm -f *~ *.o *.d ext/*/*.o $(PROGRAMS) navmon.pb.h navmon.pb.cc $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) $(H2OPP) $(SIMPLESOCKETS)
rm -f ext/fmt-5.2.1/src/format.o
rm -f githash.h githash


navparse: navparse.o ext/fmt-5.2.1/src/format.o $(H2OPP) $(SIMPLESOCKETS) minicurl.o ubx.o bits.o navmon.pb.o gps.o ephemeris.o beidou.o glonass.o $(patsubst %.cc,%.o,$(wildcard ext/sgp4/libsgp4/*.cc)) tle.o navmon.o coverage.o osen.o
Expand Down
36 changes: 21 additions & 15 deletions ubxtool.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -232,7 +232,7 @@ UBXMessage sendAndWaitForUBX(int fd, int seconds, basic_string_view<uint8_t> msg
catch(...) {
if(n==1)
throw;
cerr<<"Retransmit"<<endl;
cerr<<humanTimeNow()<<" sendAndWaitForUBX Retransmit"<<endl;
}
}
// we actually never get here, but if you remove this line, we get a warning
Expand All @@ -255,7 +255,7 @@ bool waitForUBXAckNack(int fd, int seconds, int ubxClass, int ubxType)

const auto& payload = msg.getPayload();
if(payload.size() != 2) {
if (doDEBUG) { cerr<<"Wrong payload size for ack/nack: "<<payload.size()<<endl; }
if (doDEBUG) { cerr<<humanTimeNow()<<" Wrong payload size for ack/nack: "<<payload.size()<<endl; }
continue;
}
if (doDEBUG) { cerr<<humanTimeNow()<<" Got an " << (msg.getType() ? "ack" : "nack")<<" for "<<(int)payload[0] <<" " << (int)payload[1]<<" while waiting for "<<ubxClass<<" " <<ubxType<<endl; }
Expand All @@ -280,7 +280,7 @@ bool sendAndWaitForUBXAckNack(int fd, int seconds, basic_string_view<uint8_t> ms
catch(...) {
if(n==1)
throw;
cerr<<"Retransmit"<<endl;
cerr<<humanTimeNow()<<" sendAndWaitForUBXAckNack Retransmit"<<endl;
}
}
return false;
Expand Down Expand Up @@ -361,7 +361,7 @@ class NMMSender
if (doDEBUG) { cerr<<humanTimeNow()<<" Sending thread for "<<d->dst.toStringWithPort()<<" had error"; }
{
std::lock_guard<std::mutex> mut(d->mut);
if (doDEBUG) { cerr<<"There are now "<<d->queue.size()<<" messages queued for "<<d->dst.toStringWithPort()<<endl; }
if (doDEBUG) { cerr<<humanTimeNow()<<" There are now "<<d->queue.size()<<" messages queued for "<<d->dst.toStringWithPort()<<endl; }
}
sleep(1);
}
Expand Down Expand Up @@ -464,7 +464,7 @@ void readSome(int fd)
if (doDEBUG) { cerr<<humanTimeNow()<<" "<<string((char*)msg.getPayload().c_str(), msg.getPayload().size()) <<endl; }
}
catch(TimeoutError& te) {
cerr<<"Timeout"<<endl;
cerr<<humanTimeNow()<<" readSome Timeout"<<endl;
}
}

Expand Down Expand Up @@ -692,7 +692,7 @@ int main(int argc, char** argv)
if (doDEBUG) { cerr<<humanTimeNow()<<" Got ACK for our poll of GNSS settings"<<endl; }
}
}catch(...) {
cerr<<"Got timeout waiting for ack of poll, no problem"<<endl;
cerr<<humanTimeNow()<<" Got timeout waiting for ack of poll, no problem"<<endl;
}
if(!version9) {
// ver RO maxch cfgs
Expand Down Expand Up @@ -803,7 +803,7 @@ int main(int argc, char** argv)

UBXMessage um=sendAndWaitForUBX(fd, 4, msg, 0x06, 0x00); // UBX-CFG-PRT
if (doDEBUG) {
cerr<<humanTimeNow()<<" Protocol settings on port: "<<endl;
cerr<<humanTimeNow()<<" Protocol settings on port: ";
for(const auto& c : um.getPayload())
cerr<<(int)c<< " ";
cerr<<endl;
Expand All @@ -813,7 +813,7 @@ int main(int argc, char** argv)
if (doDEBUG) { cerr<<humanTimeNow()<<" Got ACK for our poll of port protocol settings"<<endl; }
}
}catch(...) {
cerr<<"Got timeout waiting for ack of port protocol poll, no problem"<<endl;
cerr<<humanTimeNow()<<" Got timeout waiting for ack of port protocol poll, no problem"<<endl;
}


Expand Down Expand Up @@ -915,8 +915,14 @@ int main(int argc, char** argv)
PVT pvt;

memcpy(&pvt, &payload[0], sizeof(pvt));
// cerr << "Ground speed: "<<pvt.gSpeed<<", "<<pvt.velN<<" "<<pvt.velE<<" "<<pvt.velD << endl;
// cerr<<humanTimeNow()<<" Ground speed: "<<pvt.gSpeed<<", "<<pvt.velN<<" "<<pvt.velE<<" "<<pvt.velD<<endl;

if ((pvt.valid&0x07) != 0x07) {
// no validDate, validTime, or fullyResolved bits set yet
if (doDEBUG) { cerr<<humanTimeNow()<<" No timestamp. validMag,fullyResolved,validTime,validDate="<<(int)(pvt.valid&0x08>>3)<<","<<(int)(pvt.valid&0x04>>2)<<","<<(int)(pvt.valid&0x02>>1)<<","<<(int)(pvt.valid&0x01>>0)<<endl; }
continue;
}

g_fixtype = pvt.fixtype;
g_speed = pvt.gSpeed / 1000.0;

Expand Down Expand Up @@ -1287,7 +1293,7 @@ int main(int argc, char** argv)
if (doDEBUG) { cerr<<humanTimeNow()<<" SBAS "<<id.second<<" frame, numwords: "<<(int)payload[4]<<", version: "<<(int)payload[6]<<", totsize "<<payload.size()<<endl; }

auto sbas = getSBASFromSFRBXMsg(payload);
if (doDEBUG) { cerr<<"SBAS Preamble: "<<(int)sbas[0]<<", type "<<getbitu(&sbas[0], 8, 6)<<endl; }
if (doDEBUG) { cerr<<humanTimeNow()<<" SBAS Preamble: "<<(int)sbas[0]<<", type "<<getbitu(&sbas[0], 8, 6)<<endl; }

}
else
Expand All @@ -1310,7 +1316,7 @@ int main(int argc, char** argv)
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];
// if (doDEBUG) { cerr<<"gnssid "<<gnssid<<" sv "<<sv<<" el "<<el<<endl; }
// if (doDEBUG) { cerr<<humanTimeNow()<<" gnssid "<<gnssid<<" sv "<<sv<<" el "<<el<<endl; }
NavMonMessage nmm;
nmm.set_sourceid(g_srcid);
nmm.set_localutcseconds(g_gnssutc.tv_sec);
Expand Down Expand Up @@ -1368,7 +1374,7 @@ int main(int argc, char** argv)
}

auto db = (int)payload[14+16*n];
// if (doDEBUG) { cerr<<"gnssid "<<gnssid<<" sv "<<sv<<" el "<<el<<endl; }
// if (doDEBUG) { cerr<<humanTimeNow()<<" gnssid "<<gnssid<<" sv "<<sv<<" el "<<el<<endl; }
NavMonMessage nmm;
nmm.set_sourceid(g_srcid);
nmm.set_localutcseconds(g_gnssutc.tv_sec);
Expand Down Expand Up @@ -1402,8 +1408,8 @@ int main(int argc, char** argv)
uint32_t fAcc;
} nc;
memcpy(&nc, &payload[0], sizeof(nc));
// cerr<<"Clock offset "<< nc.clkBNS<<" nanoseconds, drift "<< nc.clkDNS<<" nanoseconds/second, accuracy " << nc.tAcc<<" ns, frequency accuracy "<<nc.fAcc << " ps/s"<<endl;
// cerr<<"hwversion "<<hwversion<<" swversion "<< swversion <<" mods "<< mods <<" serialno "<<serialno<<endl;
// cerr<<humanTimeNow()<<" Clock offset "<< nc.clkBNS<<" nanoseconds, drift "<< nc.clkDNS<<" nanoseconds/second, accuracy " << nc.tAcc<<" ns, frequency accuracy "<<nc.fAcc << " ps/s"<<endl;
// cerr<<humanTimeNow()<<" hwversion "<<hwversion<<" swversion "<< swversion <<" mods "<< mods <<" serialno "<<serialno<<endl;


NavMonMessage nmm;
Expand Down Expand Up @@ -1507,7 +1513,7 @@ int main(int argc, char** argv)
if (doDEBUG) { cerr<<humanTimeNow()<<" Bad UBX checksum, skipping message"<<endl; }
}
catch(EofException& em) {
cerr<<"EOF, break"<<endl;
cerr<<humanTimeNow()<<" EOF, break"<<endl;
break;
}
}
Expand Down