merge

.gitignore

@@ -39,6 +39,147 @@ gps-sdr-sim-lut
 # Temporary files
 *.swp
 
+*~
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+
 # Netbeans project folder
 nbproject/*
 

Makefile

@@ -5,11 +5,12 @@ all: gps-sdr-sim
 
 SHELL=/bin/bash
 CC=gcc
+LDFLAGS=-lm -lpthread
 CFLAGS=-O3 -Wall -D_FILE_OFFSET_BITS=64
 ifdef USER_MOTION_SIZE
 CFLAGS+=-DUSER_MOTION_SIZE=$(USER_MOTION_SIZE)
 endif
-LDFLAGS=-lm
+
 
 gps-sdr-sim: gpssim.o
 	${CC} $< ${LDFLAGS} -o $@

README.md

@@ -1,4 +1,4 @@
-# GPS-SDR-SIM
+# GPS-SDR-SIM realtime
 
 GPS-SDR-SIM generates GPS baseband signal data streams, which can be converted 
 to RF using software-defined radio (SDR) platforms, such as 
@@ -15,9 +15,38 @@ to RF using software-defined radio (SDR) platforms, such as
 ### Building with GCC
 
 ```
-$ gcc gpssim.c -lm -O3 -o gps-sdr-sim
+$ gcc gpssim.c -lm -lpthread -O3 -o gps-sdr-sim
 ```
 
+
+### Realtime by Gnuradio
+
+Use -n option can connect to a TCP source in Gnuradio for realtime simulation.
+
+The tcp source should be set in "Server" mode.
+
+See tcp.grc as an example.
+
+### Map
+
+Run gps-sdr-sim with -w option, and 
+
+cd into /mapserver, and run
+
+```
+python mapper.py
+```
+
+Then visit http://127.0.0.1:8080/static/baidumap.html to use the Online map.
+
+You can write an map which can POST data to http://127.0.0.1:8080/post like this
+
+```
+lon=116&lat=39&hgt=10
+```
+
+
+
 ### Using bigger user motion files
 
 In order to use user motion files with more than 30000 samples (at 10Hz), the `USER_MOTION_SIZE`
@@ -34,6 +63,7 @@ This variable can also be set when compiling directly with GCC:
 $ gcc gpssim.c -lm -O3 -o gps-sdr-sim -DUSER_MOTION_SIZE=4000
 ```
 
+
 ### Generating the GPS signal file
 
 A user-defined trajectory can be specified in either a CSV file, which contains 
@@ -86,6 +116,8 @@ Options:
   -b <iq_bits>     I/Q data format [1/8/16] (default: 16)
   -i               Disable ionospheric delay for spacecraft scenario
   -v               Show details about simulated channels
+  -n <port>        Use TCP connection to Gnuradio TCP-Source for realtime simulation.
+  -w               Connect with map server(/mapserver/mapper.py) by udp on port 5678.
 ```
 
 The user motion can be specified in either dynamic or static mode:
@@ -102,6 +134,12 @@ The user motion can be specified in either dynamic or static mode:
 > gps-sdr-sim -e brdc3540.14n -l 30.286502,120.032669,100
 ```
 
+Use Gnuradio to realtime simulate 3000s:
+
+```
+> gps-sdr-sim -e brdc3540.14n -l 30.286502,120.032669,100 -n 1234 -d 3000
+```
+
 ### Transmitting the samples
 
 The TX port of a particular SDR platform is connected to the GPS receiver 

gpssim.c

@@ -11,6 +11,8 @@
 #include <unistd.h>
 #endif
 #include "gpssim.h"
+#include "socket.c"
+#include <pthread.h>
 
 int sinTable512[] = {
 	   2,   5,   8,  11,  14,  17,  20,  23,  26,  29,  32,  35,  38,  41,  44,  47,
@@ -1663,8 +1665,10 @@ void usage(void)
 		"  -s <frequency>   Sampling frequency [Hz] (default: 2600000)\n"
 		"  -b <iq_bits>     I/Q data format [1/8/16] (default: 16)\n"
 		"  -i               Disable ionospheric delay for spacecraft scenario\n"
-		"  -v               Show details about simulated channels\n",
+		"  -v               Show details about simulated channels\n"
-		((double)USER_MOTION_SIZE) / 10.0, STATIC_MAX_DURATION);
+		"  -n <port>        Use TCP connect to Gnuradio TCP-Source for\n realtime simulation.\n"
+		"-w               Connect with map server(/mapserver/mapper.py) by udp on port 5678.\n",
+		(double)((USER_MOTION_SIZE)/10.0),(int)STATIC_MAX_DURATION);
 
 	return;
 }
@@ -1730,6 +1734,12 @@ int main(int argc, char *argv[])
 	int timeoverwrite = FALSE; // Overwrite the TOC and TOE in the RINEX file
 
 	ionoutc_t ionoutc;
+	
+	
+	int usesocket=false;
+	int webflag=0;
+	int sockc=0;
+	short port=1234;
 
 	////////////////////////////////////////////////////////////
 	// Read options
@@ -1753,7 +1763,7 @@ int main(int argc, char *argv[])
 		exit(1);
 	}
 
-	while ((result=getopt(argc,argv,"e:u:g:c:l:o:s:b:T:t:d:iv"))!=-1)
+	while ((result=getopt(argc,argv,"e:u:g:c:l:o:s:b:T:t:d:ivn:w"))!=-1)
 	{
 		switch (result)
 		{
@@ -1846,10 +1856,26 @@ int main(int argc, char *argv[])
 		case '?':
 			usage();
 			exit(1);
+		case 'n':
+			sscanf(optarg,"%hd",&port);
+			
+			usesocket=true;
+			break;
+		case  'w':
+			staticLocationMode = TRUE;
+			webflag=1;
+			break;
+			
 		default:
 			break;
 		}
 	}
+	if(webflag==1){
+		pthread_t th;
+		pthread_create(&th,NULL,(void *)threadrecv,NULL);
+	}	
+	if(usesocket==1)
+		sockc=sockinit(port);
 
 	if (navfile[0]==0)
 	{
@@ -1866,7 +1892,7 @@ int main(int argc, char *argv[])
 		llh[2] = 10.0;
 	}
 
-	if (duration<0.0 || (duration>((double)USER_MOTION_SIZE)/10.0 && !staticLocationMode) || (duration>STATIC_MAX_DURATION && staticLocationMode))
+	if (duration<0.0 || (duration>((double)USER_MOTION_SIZE)/10.0 && !staticLocationMode) || (duration>STATIC_MAX_DURATION && staticLocationMode&&usesocket==false))
 	{
 		fprintf(stderr, "ERROR: Invalid duration.\n");
 		exit(1);
@@ -2092,7 +2118,7 @@ int main(int argc, char *argv[])
 			exit(1);
 		}
 	}
-
+	if(usesocket==false){
 	// Open output file
 	// "-" can be used as name for stdout
 	if(strcmp("-", outfile)){
@@ -2104,7 +2130,7 @@ int main(int argc, char *argv[])
 	}else{
 		fp = stdout;
 	}
-
+	}
 	////////////////////////////////////////////////////////////
 	// Initialize channels
 	////////////////////////////////////////////////////////////
@@ -2142,7 +2168,7 @@ int main(int argc, char *argv[])
 	////////////////////////////////////////////////////////////
 
 	tstart = clock();
-
+	long int  timestart=timem();
 	// Update receiver time
 	grx = incGpsTime(grx, 0.1);
 
@@ -2258,7 +2284,7 @@ int main(int argc, char *argv[])
 			iq_buff[isamp*2+1] = (short)q_acc;
 		}
 
-		if (data_format==SC01)
+		if (data_format==SC01&&usesocket==false)
 		{
 			for (isamp=0; isamp<2*iq_buff_size; isamp++)
 			{
@@ -2270,17 +2296,26 @@ int main(int argc, char *argv[])
 
 			fwrite(iq8_buff, 1, iq_buff_size/4, fp);
 		}
-		else if (data_format==SC08)
+		else if (data_format==SC08&&usesocket==false)
 		{
 			for (isamp=0; isamp<2*iq_buff_size; isamp++)
 				iq8_buff[isamp] = iq_buff[isamp]>>4; // 12-bit bladeRF -> 8-bit HackRF
 
 			fwrite(iq8_buff, 1, 2*iq_buff_size, fp);
 		} 
-		else // data_format==SC16
+		else if(data_format==SC16&&usesocket==false)
 		{
 			fwrite(iq_buff, 2, 2*iq_buff_size, fp);
 		}
+		if(usesocket==true){
+			float *datap=(float*)calloc(iq_buff_size*2,sizeof(float));
+			int l=0;
+			for(l=0;l<iq_buff_size*2;l++){
+				datap[l]=(float)iq_buff[l];
+			}
+			socksend(sockc,datap,iq_buff_size*2*sizeof(float));
+			free(datap);
+		}
 
 		//
 		// Update navigation message and channel allocation every 30 seconds
@@ -2338,7 +2373,16 @@ int main(int argc, char *argv[])
 				}
 			}
 		}
-
+		if(subGpsTime(grx, g0)-(float)(timem()-timestart)/1000>0.1&&usesocket==true){
+			usleep(100000);
+		}
+		
+		if(webflag==1){
+			memcpy(llh,llhr,3*sizeof(double));
+			llh[0] = llh[0] / R2D; // convert to RAD
+			llh[1] = llh[1] / R2D; // convert to RAD
+			llh2xyz(llh,xyz[0]);
+		}
 		// Update receiver time
 		grx = incGpsTime(grx, 0.1);
 
@@ -2346,7 +2390,7 @@ int main(int argc, char *argv[])
 		fprintf(stderr, "\rTime into run = %4.1f", subGpsTime(grx, g0));
 		fflush(stdout);
 	}
-
+ 
 	tend = clock();
 
 	fprintf(stderr, "\nDone!\n");
@@ -2355,10 +2399,14 @@ int main(int argc, char *argv[])
 	free(iq_buff);
 
 	// Close file
+	if(usesocket==false)
 	fclose(fp);
-
+	else sockclose(sockc);
 	// Process time
 	fprintf(stderr, "Process time = %.1f [sec]\n", (double)(tend-tstart)/CLOCKS_PER_SEC);
 
 	return(0);
 }
+
+
+