From 03b14a02126c5da2c514202ee3c789e6960c17a1 Mon Sep 17 00:00:00 2001 From: Javier Arribas Date: Sun, 5 Dec 2021 19:31:43 +0100 Subject: [PATCH] Fix cpplint format defects --- src/algorithms/PVT/adapters/rtklib_pvt.cc | 2 +- .../adapters/file_timestamp_signal_source.cc | 1 + .../adapters/file_timestamp_signal_source.h | 5 +- .../adapters/limesdr_signal_source.cc | 11 ++-- .../adapters/limesdr_signal_source.h | 1 - .../signal_source/libs/gnss_sdr_timestamp.cc | 1 + .../gnuradio_blocks/kf_vtl_tracking.cc | 52 +++++++++---------- .../gnuradio_blocks/kf_vtl_tracking.h | 31 +++++------ 8 files changed, 51 insertions(+), 53 deletions(-) diff --git a/src/algorithms/PVT/adapters/rtklib_pvt.cc b/src/algorithms/PVT/adapters/rtklib_pvt.cc index 49bdf5c82..32d94a2f6 100644 --- a/src/algorithms/PVT/adapters/rtklib_pvt.cc +++ b/src/algorithms/PVT/adapters/rtklib_pvt.cc @@ -854,7 +854,7 @@ Rtklib_Pvt::Rtklib_Pvt(const ConfigurationInterface* configuration, pvt_output_parameters.max_obs_block_rx_clock_offset_ms = configuration->property(role + ".max_clock_offset_ms", pvt_output_parameters.max_obs_block_rx_clock_offset_ms); - //Source timetag + // Source timetag pvt_output_parameters.log_source_timetag = configuration->property(role + ".log_timetag", pvt_output_parameters.log_source_timetag); pvt_output_parameters.log_source_timetag_file = configuration->property(role + ".log_source_timetag_file", pvt_output_parameters.log_source_timetag_file); diff --git a/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc b/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc index dfe9249f9..1cc29e40a 100644 --- a/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc +++ b/src/algorithms/signal_source/adapters/file_timestamp_signal_source.cc @@ -18,6 +18,7 @@ #include "gnss_sdr_string_literals.h" #include "gnss_sdr_timestamp.h" #include +#include using namespace std::string_literals; diff --git a/src/algorithms/signal_source/adapters/file_timestamp_signal_source.h b/src/algorithms/signal_source/adapters/file_timestamp_signal_source.h index 75a8d2450..f95b3622e 100644 --- a/src/algorithms/signal_source/adapters/file_timestamp_signal_source.h +++ b/src/algorithms/signal_source/adapters/file_timestamp_signal_source.h @@ -21,6 +21,7 @@ #include "configuration_interface.h" #include "file_source_base.h" #include "gnss_sdr_timestamp.h" +#include /** \addtogroup Signal_Source * \{ */ @@ -42,8 +43,8 @@ public: ~FileTimestampSignalSource() = default; protected: - //std::tuple itemTypeToSize() override; - //double packetsPerSample() const override; + // std::tuple itemTypeToSize() override; + // double packetsPerSample() const override; gnss_shared_ptr source() const override; void create_file_source_hook() override; void pre_connect_hook(gr::top_block_sptr top_block) override; diff --git a/src/algorithms/signal_source/adapters/limesdr_signal_source.cc b/src/algorithms/signal_source/adapters/limesdr_signal_source.cc index aadb7b014..6c688921b 100644 --- a/src/algorithms/signal_source/adapters/limesdr_signal_source.cc +++ b/src/algorithms/signal_source/adapters/limesdr_signal_source.cc @@ -42,20 +42,19 @@ LimesdrSignalSource::LimesdrSignalSource(const ConfigurationInterface* configura // Driver parameters channel_ = configuration->property(role + ".channel", 0); - //AGC_enabled_ = configuration->property(role + ".AGC_enabled", true); freq_ = configuration->property(role + ".freq", 1575420000); gain_ = configuration->property(role + ".gain", 40.0); sample_rate_ = configuration->property(role + ".sampling_frequency", 2.0e6); - //todo: check aif bw is within limits - analog_bw_hz_ = configuration->property(role + ".analog_bw", sample_rate_ / 2); //LPF analog filters in I,Q branches - digital_bw_hz_ = configuration->property(role + ".digital_bw", 0); //disable by default + // todo: check if bw is within limits + analog_bw_hz_ = configuration->property(role + ".analog_bw", sample_rate_ / 2); // LPF analog filters in I,Q branches + digital_bw_hz_ = configuration->property(role + ".digital_bw", 0); // disable by default item_type_ = configuration->property(role + ".item_type", default_item_type); limesdr_serial_ = configuration->property(role + ".limesdr_serial", std::string()); limesdr_file_ = configuration->property(role + ".limesdr_file", std::string()); antenna_ = configuration->property(role + ".antenna", 255); PPS_mode_ = configuration->property(role + ".PPS_mode", false); - ext_clock_MHz_ = configuration->property(role + ".ext_clock_MHz", 0.0); //external clock: 0.0 MHz will enable the internal clock + ext_clock_MHz_ = configuration->property(role + ".ext_clock_MHz", 0.0); // external clock: 0.0 MHz will enable the internal clock limechannel_mode_ = configuration->property(role + ".limechannel_mode", 0); if (limechannel_mode_ < 0 && limechannel_mode_ > 2) { @@ -73,7 +72,7 @@ LimesdrSignalSource::LimesdrSignalSource(const ConfigurationInterface* configura else if (item_type_ == "gr_complex") { item_size_ = sizeof(gr_complex); - //1. Make the driver instance + // 1. Make the driver instance try { diff --git a/src/algorithms/signal_source/adapters/limesdr_signal_source.h b/src/algorithms/signal_source/adapters/limesdr_signal_source.h index 86de65172..6f87fa55b 100644 --- a/src/algorithms/signal_source/adapters/limesdr_signal_source.h +++ b/src/algorithms/signal_source/adapters/limesdr_signal_source.h @@ -87,7 +87,6 @@ private: int limechannel_mode_; bool PPS_mode_; - //bool AGC_enabled_; bool dump_; }; diff --git a/src/algorithms/signal_source/libs/gnss_sdr_timestamp.cc b/src/algorithms/signal_source/libs/gnss_sdr_timestamp.cc index d28f6499c..cbfcff601 100644 --- a/src/algorithms/signal_source/libs/gnss_sdr_timestamp.cc +++ b/src/algorithms/signal_source/libs/gnss_sdr_timestamp.cc @@ -24,6 +24,7 @@ #include // for min #include #include // for memcpy +#include Gnss_Sdr_Timestamp::Gnss_Sdr_Timestamp(size_t sizeof_stream_item, std::string timestamp_file, double clock_offset_ms) : gr::sync_block("Timestamp", diff --git a/src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc b/src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc index 350d6e935..d5de4de0f 100644 --- a/src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc +++ b/src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.cc @@ -846,7 +846,7 @@ void kf_vtl_tracking::start_tracking() void kf_vtl_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz) { - //Kalman Filter class variables + // Kalman Filter class variables double Ti = d_correlation_length_ms * 0.001; // state vector: code_phase_chips, carrier_phase_rads, carrier_freq_hz,carrier_freq_rate_hz, code_freq_chips_s F = arma::mat(5, 5); @@ -856,7 +856,7 @@ void kf_vtl_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz << 0 << 0 << 0 << 1 << 0 << arma::endr << 0 << 0 << 0 << 0 << 1 << arma::endr; - double B = d_code_chip_rate / d_signal_carrier_freq; //carrier to code rate factor + double B = d_code_chip_rate / d_signal_carrier_freq; // carrier to code rate factor H = arma::mat(2, 5); H << 1 << 0 << -B * Ti / 2.0 << B * (Ti * Ti) / 6.0 << 0 << arma::endr @@ -878,7 +878,7 @@ void kf_vtl_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz R << pow(d_trk_parameters.code_disc_sd_chips, 2.0) << 0 << arma::endr << 0 << pow(d_trk_parameters.carrier_disc_sd_rads, 2.0) << arma::endr; - //system covariance matrix (static) + // system covariance matrix (static) Q = arma::mat(5, 5); Q << pow(d_trk_parameters.code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr << 0 << pow(d_trk_parameters.carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr @@ -896,10 +896,10 @@ void kf_vtl_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz << 0 << 0 << 0 << 0 << pow(d_trk_parameters.init_code_rate_sd_chips_s, 2.0) << arma::endr; - //init state vector + // init state vector x_old_old = arma::vec(5); - //states: code_phase_chips, carrier_phase_rads, carrier_freq_hz, carrier_freq_rate_hz_s, code_freq_rate_chips_s + // states: code_phase_chips, carrier_phase_rads, carrier_freq_hz, carrier_freq_rate_hz_s, code_freq_rate_chips_s x_old_old << acq_code_phase_chips << 0 << acq_doppler_hz << 0 << 0 << arma::endr; // std::cout << "F: " << F << "\n"; @@ -912,7 +912,7 @@ void kf_vtl_tracking::init_kf(double acq_code_phase_chips, double acq_doppler_hz void kf_vtl_tracking::update_kf_narrow_intgration_time() { - //Kalman Filter class variables + // Kalman Filter class variables double Ti = d_current_correlation_time_s; std::cout << "Ti:" << Ti << std::endl; // state vector: code_phase_chips, carrier_phase_rads, carrier_freq_hz,carrier_freq_rate_hz, code_freq_chips_s @@ -938,7 +938,7 @@ void kf_vtl_tracking::update_kf_narrow_intgration_time() R << pow(d_trk_parameters.code_disc_sd_chips, 2.0) << 0 << arma::endr << 0 << pow(d_trk_parameters.carrier_disc_sd_rads, 2.0) << arma::endr; - //system covariance matrix (static) + // system covariance matrix (static) Q << pow(d_trk_parameters.narrow_code_phase_sd_chips, 2.0) << 0 << 0 << 0 << 0 << arma::endr << 0 << pow(d_trk_parameters.narrow_carrier_phase_sd_rad, 2.0) << 0 << 0 << 0 << arma::endr << 0 << 0 << pow(d_trk_parameters.narrow_carrier_freq_sd_hz, 2.0) << 0 << 0 << arma::endr @@ -948,7 +948,7 @@ void kf_vtl_tracking::update_kf_narrow_intgration_time() void kf_vtl_tracking::update_kf_cn0(double current_cn0_dbhz) { - //Kalman Filter class variables + // Kalman Filter class variables double Ti = d_correlation_length_ms * 0.001; double B = d_code_chip_rate / d_signal_carrier_freq; //carrier to code rate factor @@ -1163,46 +1163,46 @@ void kf_vtl_tracking::run_Kf() d_code_error_disc_chips = dll_nc_e_minus_l_normalized(d_E_accu, d_L_accu, d_trk_parameters.spc, d_trk_parameters.slope, d_trk_parameters.y_intercept); // [chips/Ti] } - //Kalman loop + // Kalman loop - //Prediction + // Prediction x_new_old = F * x_old_old; P_new_old = F * P_old_old * F.t() + Q; - //Innovation + // Innovation arma::vec z = {d_code_error_disc_chips, d_carr_phase_error_disc_hz * TWO_PI}; // Measurement update - arma::mat K = P_new_old * H.t() * arma::inv(H * P_new_old * H.t() + R); //Kalman gain + arma::mat K = P_new_old * H.t() * arma::inv(H * P_new_old * H.t() + R); // Kalman gain x_new_new = x_new_old + K * z; P_new_new = (arma::eye(5, 5) - K * H) * P_new_old; - //new code phase estimation + // new code phase estimation d_code_error_kf_chips = x_new_new(0); - x_new_new(0) = 0; //reset error estimation because the NCO corrects the code phase + x_new_new(0) = 0; // reset error estimation because the NCO corrects the code phase - //new carrier phase estimation + // new carrier phase estimation d_carrier_phase_kf_rad = x_new_new(1); // New carrier Doppler frequency estimation - d_carrier_doppler_kf_hz = x_new_new(2); //d_carrier_loop_filter.get_carrier_error(0, static_cast(d_carr_phase_error_hz), static_cast(d_current_correlation_time_s)); + d_carrier_doppler_kf_hz = x_new_new(2); // d_carrier_loop_filter.get_carrier_error(0, static_cast(d_carr_phase_error_hz), static_cast(d_current_correlation_time_s)); d_carrier_doppler_rate_kf_hz_s = x_new_new(3); - //std::cout << "d_carrier_doppler_hz: " << d_carrier_doppler_hz << '\n'; - //std::cout << "d_CN0_SNV_dB_Hz: " << this->d_CN0_SNV_dB_Hz << '\n'; + // std::cout << "d_carrier_doppler_hz: " << d_carrier_doppler_hz << '\n'; + // std::cout << "d_CN0_SNV_dB_Hz: " << this->d_CN0_SNV_dB_Hz << '\n'; // New code Doppler frequency estimation if (d_trk_parameters.carrier_aiding) { - //estimate the code rate exclusively based on the carrier Doppler + // estimate the code rate exclusively based on the carrier Doppler d_code_freq_kf_chips_s = d_code_chip_rate + d_carrier_doppler_kf_hz * d_code_chip_rate / d_signal_carrier_freq; } else { - //use its own KF code rate estimation + // use its own KF code rate estimation d_code_freq_kf_chips_s -= x_new_new(4); } x_new_new(4) = 0; @@ -1254,7 +1254,7 @@ void kf_vtl_tracking::clear_tracking_vars() d_code_phase_rate_step_chips = 0.0; } -//todo: IT DOES NOT WORK WHEN NO KF IS RUNNING (extended correlation epochs!!) +// todo: IT DOES NOT WORK WHEN NO KF IS RUNNING (extended correlation epochs!!) void kf_vtl_tracking::update_tracking_vars() { d_T_chip_seconds = 1.0 / d_code_freq_kf_chips_s; @@ -1264,15 +1264,15 @@ void kf_vtl_tracking::update_tracking_vars() // keep alignment parameters for the next input buffer // Compute the next buffer length based in the new period of the PRN sequence and the code phase error estimation d_T_prn_samples = d_T_prn_seconds * d_trk_parameters.fs_in; - //d_K_blk_samples = d_T_prn_samples + d_rem_code_phase_samples + d_trk_parameters.fs_in * d_code_error_kf_chips / d_code_freq_kf_chips_s; - //KF will update d_rem_code_phase_samples + // d_K_blk_samples = d_T_prn_samples + d_rem_code_phase_samples + d_trk_parameters.fs_in * d_code_error_kf_chips / d_code_freq_kf_chips_s; + // KF will update d_rem_code_phase_samples d_K_blk_samples = d_T_prn_samples + d_rem_code_phase_samples; d_current_prn_length_samples = static_cast(std::floor(d_K_blk_samples)); // round to a discrete number of samples // ################### PLL COMMANDS ################################################# // carrier phase step (NCO phase increment per sample) [rads/sample] d_carrier_phase_step_rad = TWO_PI * d_carrier_doppler_kf_hz / d_trk_parameters.fs_in; - //d_rem_carr_phase_rad = d_carrier_phase_kf_rad; + // d_rem_carr_phase_rad = d_carrier_phase_kf_rad; // remnant carrier phase to prevent overflow in the code NCO d_rem_carr_phase_rad += static_cast(d_carrier_phase_step_rad * static_cast(d_current_prn_length_samples) + 0.5 * d_carrier_phase_rate_step_rad * static_cast(d_current_prn_length_samples) * static_cast(d_current_prn_length_samples)); @@ -1297,7 +1297,7 @@ void kf_vtl_tracking::update_tracking_vars() // ################### DLL COMMANDS ################################################# // code phase step (Code resampler phase increment per sample) [chips/sample] d_code_phase_step_chips = d_code_freq_kf_chips_s / d_trk_parameters.fs_in; - //todo: extend kf to estimate code rate + // todo: extend kf to estimate code rate // if (d_trk_parameters.high_dyn) // { // d_code_phase_rate_step_chips = d_code_freq_kf_rate_chips_s / d_trk_parameters.fs_in; @@ -1817,7 +1817,7 @@ int kf_vtl_tracking::general_work(int noutput_items __attribute__((unused)), gr_ d_cn0_smoother.reset(); d_carrier_lock_test_smoother.reset(); - //init KF + // init KF // d_T_chip_seconds = 1.0 / d_code_freq_chips; // d_T_prn_seconds = d_T_chip_seconds * static_cast(samples_offset); // // keep alignment parameters for the next input buffer diff --git a/src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.h b/src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.h index c67d13c95..cdbc3d6cb 100644 --- a/src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.h +++ b/src/algorithms/tracking/gnuradio_blocks/kf_vtl_tracking.h @@ -22,7 +22,12 @@ #include "cpu_multicorrelator_real_codes.h" #include "exponential_smoother.h" +#include "gnss_block_interface.h" +#include "gnss_time.h" //for timetags produced by File_Timestamp_Signal_Source #include "kf_conf.h" +#include "tracking_FLL_PLL_filter.h" // for PLL/FLL filter +#include "tracking_loop_filter.h" // for DLL filter +#include #include #include // for block #include // for gr_complex @@ -35,13 +40,6 @@ #include // for string #include // for typeid #include // for pair -#if GNURADIO_USES_STD_POINTERS -#include -#else -#include -#endif - -#include class Gnss_Synchro; class kf_vtl_tracking; @@ -118,7 +116,7 @@ private: const size_t int_type_hash_code = typeid(int).hash_code(); - //Kalman Filter class variables + // Kalman Filter class variables arma::mat F; arma::mat H; arma::mat R; @@ -130,26 +128,26 @@ private: arma::vec x_new_old; arma::vec x_new_new; - //nominal signal parameters + // nominal signal parameters double d_signal_carrier_freq; double d_code_period; double d_code_chip_rate; - //acquisition + // acquisition double d_acq_code_phase_samples; double d_acq_carrier_doppler_hz; double d_current_correlation_time_s; - //carrier and code discriminators output + // carrier and code discriminators output double d_carr_phase_error_disc_hz; double d_carr_freq_error_disc_hz; double d_code_error_disc_chips; - //estimated parameters - //code + // estimated parameters + // code double d_code_error_kf_chips; double d_code_freq_kf_chips_s; - //carrier + // carrier double d_carrier_phase_kf_rad; double d_carrier_doppler_kf_hz; double d_carrier_doppler_rate_kf_hz_s; @@ -165,12 +163,11 @@ private: double d_CN0_SNV_dB_Hz; double d_carrier_lock_threshold; - //carrier NCO - + // carrier NCO double d_carrier_phase_step_rad; double d_carrier_phase_rate_step_rad; - //code NCO + // code NCO double d_code_phase_step_chips; double d_code_phase_rate_step_chips; double d_rem_code_phase_chips;