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Merge branch 'next' of https://github.com/gnss-sdr/gnss-sdr into next

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This commit is contained in:
Damian Miralles 2018-12-17 13:01:13 -06:00
commit 0b0d2bd5fb
626 changed files with 8531 additions and 7629 deletions
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13
.clang-format
View File

@ -47,13 +47,20 @@ DerivePointerAlignment: true
DisableFormat: false
ExperimentalAutoDetectBinPacking: false
ForEachMacros: [ foreach, Q_FOREACH, BOOST_FOREACH ]
IncludeBlocks: Merge
IncludeCategories:
- Regex: '^<.*\.h>'
- Regex: '^.*.h"'
Priority: 1
- Regex: '^<.*'
- Regex: '^.*(boost|gflags|glog|gnsssdr|gpstk|gtest|gnuradio|pmt|uhd|volk)/'
Priority: 2
- Regex: '^.*(armadillo|matio|pugixml)'
Priority: 2
- Regex: '.*'
Priority: 3
- Regex: '^<.*\.h>'
Priority: 4
- Regex: '^<.*'
Priority: 5
IndentCaseLabels: false
IndentWidth: 4
IndentWrappedFunctionNames: false
@ -73,7 +80,7 @@ PenaltyExcessCharacter: 1000000
PenaltyReturnTypeOnItsOwnLine: 200
PointerAlignment: Left
ReflowComments: true
SortIncludes: false
SortIncludes: true
SpaceAfterCStyleCast: false
SpaceBeforeAssignmentOperators: true
SpaceBeforeParens: ControlStatements

3
.clang-tidy Normal file
View File

@ -0,0 +1,3 @@
---
Checks: '-*,boost-use-to-string,cert-dcl21-cpp,cert-dcl58-cpp,cert-env33-c,cert-err52-cpp,cert-err60-cpp,cert-flp30-c,clang-analyzer-cplusplus*,cppcoreguidelines-pro-type-static-cast-downcast,cppcoreguidelines-slicing,google-build-namespaces,google-runtime-int,google-runtime-references,llvm-header-guard,misc-misplaced-const,misc-new-delete-overloads,misc-non-copyable-objects,misc-static-assert,misc-throw-by-value-catch-by-reference,misc-uniqueptr-reset-release,modernize-deprecated-headers,modernize-loop-convert,modernize-pass-by-value,modernize-raw-string-literal,modernize-use-auto,modernize-use-bool-literals,modernize-use-equals-default,modernize-use-equals-delete,modernize-use-noexcept,modernize-use-nullptr,modernize-use-using,performance-faster-string-find,performance-inefficient-algorithm,performance-move-const-arg,performance-type-promotion-in-math-fn,performance-unnecessary-copy-initialization,performance-unnecessary-value-param,readability-container-size-empty,readability-named-parameter,readability-non-const-parameter,readability-string-compare'
HeaderFilterRegex: '.*'

32
CMakeLists.txt
View File

@ -115,9 +115,9 @@ endif()
set(VERSION_INFO_MAJOR_VERSION 0)
set(VERSION_INFO_API_COMPAT 0)
if(${THIS_IS_A_RELEASE})
set(VERSION_INFO_MINOR_VERSION 9)
set(VERSION_INFO_MINOR_VERSION 10)
else()
set(VERSION_INFO_MINOR_VERSION 9.git-${GIT_BRANCH}-${GIT_COMMIT_HASH})
set(VERSION_INFO_MINOR_VERSION 10.git-${GIT_BRANCH}-${GIT_COMMIT_HASH})
endif()
set(VERSION ${VERSION_INFO_MAJOR_VERSION}.${VERSION_INFO_API_COMPAT}.${VERSION_INFO_MINOR_VERSION})
@ -1131,7 +1131,13 @@ if(NOT MATIO_FOUND OR MATIO_VERSION_STRING VERSION_LESS ${GNSSSDR_MATIO_MIN_VERS
endif()
message(FATAL_ERROR "libtool is required to build matio from source")
endif()
if(EXISTS "/usr/bin/aclocal" OR EXISTS "/usr/bin/aclocal-1.16" OR EXISTS "/usr/bin/aclocal-1.15" OR EXISTS "/usr/bin/aclocal-1.14" OR EXISTS "/usr/bin/aclocal-1.13" OR EXISTS "/usr/bin/aclocal-1.11" OR EXISTS "/usr/bin/aclocal-1.10")
if(EXISTS "/usr/bin/aclocal" OR
EXISTS "/usr/bin/aclocal-1.16" OR
EXISTS "/usr/bin/aclocal-1.15" OR
EXISTS "/usr/bin/aclocal-1.14" OR
EXISTS "/usr/bin/aclocal-1.13" OR
EXISTS "/usr/bin/aclocal-1.11" OR
EXISTS "/usr/bin/aclocal-1.10")
message(STATUS "Automake found.")
else()
message(" aclocal has not been found.")
@ -1612,6 +1618,26 @@ if((CMAKE_CXX_COMPILER_ID MATCHES "Clang" OR CMAKE_CXX_COMPILER_ID STREQUAL "GNU
endif()
########################################################################
# clang-tidy https://clang.llvm.org/extra/clang-tidy/index.html
########################################################################
if(CMAKE_CXX_COMPILER_ID MATCHES "Clang")
if(NOT (CMAKE_VERSION VERSION_LESS "3.6"))
find_program(
CLANG_TIDY_EXE
NAMES "clang-tidy"
DOC "Path to clang-tidy executable"
)
if(NOT CLANG_TIDY_EXE)
message(STATUS "clang-tidy not found.")
else()
message(STATUS "clang-tidy found: ${CLANG_TIDY_EXE}")
set(DO_CLANG_TIDY "${CLANG_TIDY_EXE}" "-checks=*")
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
endif()
endif()
endif()
########################################################################
# Create uninstall target

13
cmake/Modules/FindGFLAGS.cmake
View File

@ -17,8 +17,9 @@
# - Try to find GFlags
#
# The following variables are optionally searched for defaults
# GFlags_ROOT_DIR: Base directory where all GFlags components are found
# The following CMake and environment variables are optionally searched
# for defaults:
# GFLAGS_ROOT: Base directory where all GFlags components are found
#
# The following are set after configuration is done:
# GFlags_FOUND
@ -32,6 +33,8 @@ if(APPLE)
PATHS
/opt/local/lib
/usr/local/lib
${GFLAGS_ROOT}/lib
$ENV{GFLAGS_ROOT}/lib
)
else()
find_path(GFlags_ROOT_DIR
@ -63,6 +66,10 @@ else()
/usr/lib/alpha-linux-gnu
/usr/lib64
/usr/lib
${GFLAGS_ROOT}/lib
$ENV{GFLAGS_ROOT}/lib
${GFLAGS_ROOT}/lib64
$ENV{GFLAGS_ROOT}/lib64
)
endif()
@ -75,6 +82,8 @@ if(GFlags_ROOT_DIR)
/usr/local/include
/usr/include
${GFlags_ROOT_DIR}/src
${GFLAGS_ROOT}/include
$ENV{GFLAGS_ROOT}/include
)
# Find the libraries

2
cmake/Modules/FindGFORTRAN.cmake
View File

@ -142,6 +142,8 @@ find_library(GFORTRAN NAMES gfortran
/usr/lib/gcc/powerpc64le-linux-gnu/8
/usr/lib/gcc/s390x-linux-gnu/8
/usr/lib/gcc/alpha-linux-gnu/8
${GFORTRAN_ROOT}/lib
$ENV{GFORTRAN_ROOT}/lib
)
include(FindPackageHandleStandardArgs)

4
cmake/Modules/FindGLOG.cmake
View File

@ -68,6 +68,10 @@ macro(_FIND_GLOG_LIBRARIES _var)
/usr/lib/alpha-linux-gnu
/usr/lib64
/usr/lib
${GLOG_ROOT}/lib
$ENV{GLOG_ROOT}/lib
${GLOG_ROOT}/lib64
$ENV{GLOG_ROOT}/lib64
PATH_SUFFIXES lib
)
mark_as_advanced(${_var})

5
cmake/Modules/FindGNSSSIMULATOR.cmake
View File

@ -20,7 +20,10 @@ find_program(SW_GENERATOR_BIN gnss_sim
/usr/local/bin
/opt/local/bin
${CMAKE_INSTALL_PREFIX}/bin
PATH_SUFFIXES bin)
${GNSSSIMULATOR_ROOT}/bin
$ENV{GNSSSIMULATOR_ROOT}/bin
PATH_SUFFIXES bin
)
include(FindPackageHandleStandardArgs)
find_package_handle_standard_args(GNSSSIMULATOR DEFAULT_MSG SW_GENERATOR_BIN)

22
cmake/Modules/FindGNURADIO.cmake
View File

@ -65,8 +65,7 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
set(PC_LIBDIR ${PC_GNURADIO_${EXTVAR}_LIBDIR})
# look for include files
find_path(
${INCVAR_NAME}
find_path(${INCVAR_NAME}
NAMES ${INCFILE}
HINTS $ENV{GNURADIO_RUNTIME_DIR}/include
${PC_INCDIR}
@ -75,18 +74,19 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
PATHS /usr/local/include
/usr/include
${GNURADIO_INSTALL_PREFIX}/include
${GNURADIO_ROOT}/include
$ENV{GNURADIO_ROOT}/include
)
# look for libs
foreach(libname ${PC_GNURADIO_${EXTVAR}_LIBRARIES})
find_library(
${LIBVAR_NAME}_${libname}
find_library(${LIBVAR_NAME}_${libname}
NAMES ${libname} ${libname}-${PC_GNURADIO_RUNTIME_VERSION}
HINTS $ENV{GNURADIO_RUNTIME_DIR}/lib
${PC_LIBDIR}
${CMAKE_INSTALL_PREFIX}/lib/
${CMAKE_INSTALL_PREFIX}/lib64/
${GNURADIO_INSTALL_PREFIX}/lib/
${CMAKE_INSTALL_PREFIX}/lib
${CMAKE_INSTALL_PREFIX}/lib64
${GNURADIO_INSTALL_PREFIX}/lib
${GNURADIO_INSTALL_PREFIX}/lib64
PATHS /usr/local/lib
/usr/lib/x86_64-linux-gnu
@ -115,6 +115,10 @@ function(GR_MODULE EXTVAR PCNAME INCFILE LIBFILE)
/usr/lib64
/usr/lib
${GNURADIO_INSTALL_PREFIX}/lib
${GNURADIO_ROOT}/lib
$ENV{GNURADIO_ROOT}/lib
${GNURADIO_ROOT}/lib64
$ENV{GNURADIO_ROOT}/lib64
)
list(APPEND ${LIBVAR_NAME} ${${LIBVAR_NAME}_${libname}})
endforeach()
@ -174,6 +178,8 @@ if(NOT PC_GNURADIO_RUNTIME_VERSION)
PATHS /usr/local/include
/usr/include
${GNURADIO_INSTALL_PREFIX}/include
${GNURADIO_ROOT}/include
$ENV{GNURADIO_ROOT}/include
)
if(GNURADIO_VERSION_GREATER_THAN_373)
set(PC_GNURADIO_RUNTIME_VERSION "3.7.4+")
@ -187,6 +193,8 @@ if(NOT PC_GNURADIO_RUNTIME_VERSION)
PATHS /usr/local/include
/usr/include
${GNURADIO_INSTALL_PREFIX}/include
${GNURADIO_ROOT}/include
$ENV{GNURADIO_ROOT}/include
)
if(GNURADIO_VERSION_GREATER_THAN_38)
set(PC_GNURADIO_RUNTIME_VERSION "3.8.0+")

28
cmake/Modules/FindGPERFTOOLS.cmake
View File

@ -24,7 +24,7 @@
# Variables used by this module, they can change the default behaviour and need
# to be set before calling find_package:
#
# Gperftools_ROOT_DIR Set this variable to the root installation of
# GPERFTOOLS_ROOT Set this variable to the root installation of
# Gperftools if the module has problems finding
# the proper installation path.
#
@ -36,19 +36,37 @@
find_library(GPERFTOOLS_TCMALLOC
NAMES tcmalloc
HINTS ${Gperftools_ROOT_DIR}/lib)
HINTS ${Gperftools_ROOT_DIR}/lib
${GPERFTOOLS_ROOT}/lib
$ENV{GPERFTOOLS_ROOT}/lib
${GPERFTOOLS_ROOT}/lib64
$ENV{GPERFTOOLS_ROOT}/lib64
)
find_library(GPERFTOOLS_PROFILER
NAMES profiler
HINTS ${Gperftools_ROOT_DIR}/lib)
HINTS ${Gperftools_ROOT_DIR}/lib
${GPERFTOOLS_ROOT}/lib
$ENV{GPERFTOOLS_ROOT}/lib
${GPERFTOOLS_ROOT}/lib64
$ENV{GPERFTOOLS_ROOT}/lib64
)
find_library(GPERFTOOLS_TCMALLOC_AND_PROFILER
NAMES tcmalloc_and_profiler
HINTS ${Gperftools_ROOT_DIR}/lib)
HINTS ${Gperftools_ROOT_DIR}/lib
${GPERFTOOLS_ROOT}/lib
$ENV{GPERFTOOLS_ROOT}/lib
${GPERFTOOLS_ROOT}/lib64
$ENV{GPERFTOOLS_ROOT}/lib64
)
find_path(GPERFTOOLS_INCLUDE_DIR
NAMES gperftools/heap-profiler.h
HINTS ${Gperftools_ROOT_DIR}/include)
HINTS ${Gperftools_ROOT_DIR}/include
${GPERFTOOLS_ROOT}/include
$ENV{GPERFTOOLS_ROOT}/include
)
set(GPERFTOOLS_LIBRARIES ${GPERFTOOLS_TCMALLOC_AND_PROFILER})

13
cmake/Modules/FindGPSTK.cmake
View File

@ -25,13 +25,22 @@
find_path(GPSTK_INCLUDE_DIR gpstk/Rinex3ObsBase.hpp
HINTS /usr/include
/usr/local/include
/opt/local/include)
/opt/local/include
${GPSTK_ROOT}/include
$ENV{GPSTK_ROOT}/include
)
set(GPSTK_NAMES ${GPSTK_NAMES} gpstk libgpstk)
find_library(GPSTK_LIBRARY NAMES ${GPSTK_NAMES}
HINTS /usr/lib
/usr/local/lib
/opt/local/lib)
/opt/local/lib
${GPSTK_ROOT}/lib
$ENV{GPSTK_ROOT}/lib
${GPSTK_ROOT}/lib64
$ENV{GPSTK_ROOT}/lib64
)
# handle the QUIETLY and REQUIRED arguments and set GPSTK_FOUND to TRUE if
# all listed variables are TRUE

6
cmake/Modules/FindGRDBFCTTC.cmake
View File

@ -30,6 +30,8 @@ find_path(
PATHS ${CMAKE_INSTALL_PREFIX}/include
/usr/include
/usr/local/include
${GRDBFCTTC_ROOT}/include
$ENV{GRDBFCTTC_ROOT}/include
)
find_library(
@ -43,6 +45,10 @@ find_library(
/usr/lib64
/usr/local/lib
/usr/local/lib64
${GRDBFCTTC_ROOT}/lib
$ENV{GRDBFCTTC_ROOT}/lib
${GRDBFCTTC_ROOT}/lib64
$ENV{GRDBFCTTC_ROOT}/lib64
)
include(FindPackageHandleStandardArgs)

6
cmake/Modules/FindGRGN3S.cmake
View File

@ -30,6 +30,8 @@ find_path(
PATHS ${CMAKE_INSTALL_PREFIX}/include
/usr/local/include
/usr/include
${GRGN3S_ROOT}/include
$ENV{GRGN3S_ROOT}/include
)
find_library(
@ -43,6 +45,10 @@ find_library(
/usr/local/lib64
/usr/lib
/usr/lib64
${GRGN3S_ROOT}/lib
$ENV{GRGN3S_ROOT}/lib
${GRGN3S_ROOT}/lib64
$ENV{GRGN3S_ROOT}/lib64
)
include(FindPackageHandleStandardArgs)

12
cmake/Modules/FindGRIIO.cmake
View File

@ -18,18 +18,18 @@
include(FindPkgConfig)
pkg_check_modules(PC_IIO gnuradio-iio)
find_path(
IIO_INCLUDE_DIRS
find_path(IIO_INCLUDE_DIRS
NAMES gnuradio/iio/api.h
HINTS $ENV{IIO_DIR}/include
${PC_IIO_INCLUDEDIR}
PATHS ${CMAKE_INSTALL_PREFIX}/include
/usr/local/include
/usr/include
${GRIIO_ROOT}/include
$ENV{GRIIO_ROOT}/include
)
find_library(
IIO_LIBRARIES
find_library(IIO_LIBRARIES
NAMES gnuradio-iio
HINTS $ENV{IIO_DIR}/lib
${PC_IIO_LIBDIR}
@ -61,6 +61,10 @@ find_library(
/usr/lib/sparc64-linux-gnu
/usr/lib/x86_64-linux-gnux32
/usr/lib/sh4-linux-gnu
${GRIIO_ROOT}/lib
$ENV{GRIIO_ROOT}/lib
${GRIIO_ROOT}/lib64
$ENV{GRIIO_ROOT}/lib64
)
include(FindPackageHandleStandardArgs)

13
cmake/Modules/FindGROSMOSDR.cmake
View File

@ -34,14 +34,20 @@
# GROSMOSDR_LIBRARIES The gr-osmosdr libraries (gnuradio-osmosdr)
# GROSMOSDR_INCLUDE_DIR The location of gr-osmosdr headers
include(FindPkgConfig)
pkg_check_modules(GROSMOSDR_PKG gnuradio-osmosdr)
find_path(GROSMOSDR_INCLUDE_DIR
NAMES osmosdr/source.h
NAMES
osmosdr/source.h
osmosdr/api.h
PATHS
${GROSMOSDR_PKG_INCLUDE_DIRS}
/usr/include
/usr/local/include
/opt/local/include
${GROSMOSDR_ROOT}/include
$ENV{GROSMOSDR_ROOT}/include
)
find_library(GROSMOSDR_LIBRARIES
@ -50,6 +56,7 @@ find_library(GROSMOSDR_LIBRARIES
${GROSMOSDR_PKG_LIBRARY_DIRS}
/usr/lib
/usr/local/lib
/opt/local/lib
/usr/lib/x86_64-linux-gnu
/usr/lib/i386-linux-gnu
/usr/lib/arm-linux-gnueabihf
@ -74,6 +81,10 @@ find_library(GROSMOSDR_LIBRARIES
/usr/lib/x86_64-linux-gnux32
/usr/lib/alpha-linux-gnu
/usr/lib64
${GROSMOSDR_ROOT}/lib
$ENV{GROSMOSDR_ROOT}/lib
${GROSMOSDR_ROOT}/lib64
$ENV{GROSMOSDR_ROOT}/lib64
)
include(FindPackageHandleStandardArgs)

6
cmake/Modules/FindLIBIIO.cmake
View File

@ -27,6 +27,8 @@ find_path(
/usr/local/include
/usr/include
/opt/local/include
${LIBIIO_ROOT}/include
$ENV{LIBIIO_ROOT}/include
)
find_library(
@ -63,6 +65,10 @@ find_library(
/usr/lib/x86_64-linux-gnux32
/usr/lib/sh4-linux-gnu
/Library/Frameworks/iio.framework/
${LIBIIO_ROOT}/lib
$ENV{LIBIIO_ROOT}/lib
${LIBIIO_ROOT}/lib64
$ENV{LIBIIO_ROOT}/lib64
)
include(FindPackageHandleStandardArgs)

8
cmake/Modules/FindLIBOSMOSDR.cmake
View File

@ -28,12 +28,16 @@
# LIBOSMOSDR_LIBRARIES The libosmosdr libraries
# LIBOSMOSDR_INCLUDE_DIR The location of libosmosdr headers
include(FindPkgConfig)
pkg_check_modules(LIBOSMOSDR_PKG libosmosdr)
find_path(LIBOSMOSDR_INCLUDE_DIR NAMES osmosdr.h
PATHS
${LIBOSMOSDR_PKG_INCLUDE_DIRS}
/usr/include
/usr/local/include
${LIBOSMOSDR_ROOT}/include
$ENV{LIBOSMOSDR_ROOT}/include
)
find_library(LIBOSMOSDR_LIBRARIES NAMES osmosdr
@ -65,6 +69,10 @@ find_library(LIBOSMOSDR_LIBRARIES NAMES osmosdr
/usr/lib/x86_64-linux-gnux32
/usr/lib/alpha-linux-gnu
/usr/lib64
${LIBOSMOSDR_ROOT}/lib
$ENV{LIBOSMOSDR_ROOT}/lib
${LIBOSMOSDR_ROOT}/lib64
$ENV{LIBOSMOSDR_ROOT}/lib64
)
include(FindPackageHandleStandardArgs)

6
cmake/Modules/FindLOG4CPP.cmake
View File

@ -32,6 +32,8 @@ find_path(LOG4CPP_INCLUDE_DIR log4cpp/Category.hh
/opt/local/include
/usr/local/include
/usr/include
${LOG4CPP_ROOT}/include
$ENV{LOG4CPP_ROOT}/include
)
set(LOG4CPP_NAMES log4cpp)
@ -68,6 +70,10 @@ find_library(LOG4CPP_LIBRARY
/usr/lib
/usr/local/lib
/opt/local/lib
${LOG4CPP_ROOT}/lib
$ENV{LOG4CPP_ROOT}/lib
${LOG4CPP_ROOT}/lib64
$ENV{LOG4CPP_ROOT}/lib64
)
if(LOG4CPP_INCLUDE_DIR AND LOG4CPP_LIBRARY)

18
cmake/Modules/FindMATIO.cmake
View File

@ -60,10 +60,24 @@
#
# Look for the header file.
find_path(MATIO_INCLUDE_DIR NAMES matio.h DOC "The MATIO include directory")
find_path(MATIO_INCLUDE_DIR
NAMES matio.h
HINTS
${MATIO_ROOT}/include
$ENV{MATIO_ROOT}/include
DOC "The MATIO include directory"
)
# Look for the library.
find_library(MATIO_LIBRARY NAMES matio DOC "The MATIO library")
find_library(MATIO_LIBRARY
NAMES matio
HINTS
${MATIO_ROOT}/lib
$ENV{MATIO_ROOT}/lib
${MATIO_ROOT}/lib64
$ENV{MATIO_ROOT}/lib64
DOC "The MATIO library"
)
if(MATIO_INCLUDE_DIR)
# ---------------------------------------------------

7
cmake/Modules/FindOPENBLAS.cmake
View File

@ -20,7 +20,8 @@
# The following environment variable is optionally searched
# OPENBLAS_HOME: Base directory where all OpenBlas components are found
set(OPEN_BLAS_SEARCH_PATHS /lib/
set(OPEN_BLAS_SEARCH_PATHS
/lib
/lib64/
/usr/lib
/usr/lib64
@ -30,6 +31,10 @@ set(OPEN_BLAS_SEARCH_PATHS /lib/
/opt/local/lib
/usr/lib/openblas-base
$ENV{OPENBLAS_HOME}/lib
${OPENBLAS_ROOT}/lib
$ENV{OPENBLAS_ROOT}/lib
${OPENBLAS_ROOT}/lib64
$ENV{OPENBLAS_ROOT}/lib64
)
find_library(OPENBLAS NAMES openblas PATHS ${OPEN_BLAS_SEARCH_PATHS})

29
cmake/Modules/FindORC.cmake
View File

@ -20,14 +20,19 @@ pkg_check_modules(PC_ORC "orc-0.4 > 0.4.22")
find_program(ORCC_EXECUTABLE orcc
HINTS ${PC_ORC_TOOLSDIR}
PATHS ${ORC_ROOT}/bin ${CMAKE_INSTALL_PREFIX}/bin)
PATHS ${ORC_ROOT}/bin
${CMAKE_INSTALL_PREFIX}/bin
)
find_path(ORC_INCLUDE_DIR NAMES orc/orc.h
find_path(ORC_INCLUDE_DIR
NAMES orc/orc.h
HINTS ${PC_ORC_INCLUDEDIR}
PATHS ${ORC_ROOT}/include/orc-0.4 ${CMAKE_INSTALL_PREFIX}/include/orc-0.4)
PATHS ${ORC_ROOT}/include/orc-0.4
${CMAKE_INSTALL_PREFIX}/include/orc-0.4
)
find_path(ORC_LIBRARY_DIR NAMES ${CMAKE_SHARED_LIBRARY_PREFIX}orc-0.4${CMAKE_SHARED_LIBRARY_SUFFIX}
find_path(ORC_LIBRARY_DIR
NAMES ${CMAKE_SHARED_LIBRARY_PREFIX}orc-0.4${CMAKE_SHARED_LIBRARY_SUFFIX}
HINTS ${PC_ORC_LIBDIR}
/usr/local/lib
/usr/lib/x86_64-linux-gnu
@ -45,16 +50,20 @@ find_path(ORC_LIBRARY_DIR NAMES ${CMAKE_SHARED_LIBRARY_PREFIX}orc-0.4${CMAKE_SHA
/usr/lib/s390x-linux-gnu
/usr/lib64
/usr/lib
PATHS ${ORC_ROOT}/lib${LIB_SUFFIX} ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX})
${ORC_ROOT}/lib
$ENV{ORC_ROOT}/lib
PATHS
${ORC_ROOT}/lib${LIB_SUFFIX}
${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
)
find_library(ORC_LIB orc-0.4
HINTS ${PC_ORC_LIBRARY_DIRS}
PATHS ${ORC_ROOT}/lib${LIB_SUFFIX} ${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX})
list(APPEND ORC_LIBRARY
${ORC_LIB}
PATHS ${ORC_ROOT}/lib${LIB_SUFFIX}
${CMAKE_INSTALL_PREFIX}/lib${LIB_SUFFIX}
)
list(APPEND ORC_LIBRARY ${ORC_LIB})
set(ORC_INCLUDE_DIRS ${ORC_INCLUDE_DIR})
set(ORC_LIBRARIES ${ORC_LIBRARY})

11
cmake/Modules/FindPCAP.cmake
View File

@ -52,6 +52,8 @@ if(EXISTS $ENV{PCAPDIR})
pcap.h
PATHS
$ENV{PCAPDIR}
${PCAP_ROOT}/include
$ENV{PCAP_ROOT}/include
NO_DEFAULT_PATH
)
find_library(PCAP_LIBRARY
@ -59,6 +61,8 @@ if(EXISTS $ENV{PCAPDIR})
pcap
PATHS
$ENV{PCAPDIR}
${PCAP_ROOT}/lib
$ENV{PCAP_ROOT}/lib
NO_DEFAULT_PATH
)
else()
@ -66,11 +70,16 @@ else()
NAMES
pcap/pcap.h
pcap.h
HINTS
${PCAP_ROOT}/include
$ENV{PCAP_ROOT}/include
)
find_library(PCAP_LIBRARY
NAMES
pcap
HINTS
${PCAP_ROOT}/lib
$ENV{PCAP_ROOT}/lib
)
endif()

12
cmake/Modules/FindPUGIXML.cmake
View File

@ -28,7 +28,10 @@ find_path(PUGIXML_INCLUDE_DIR
PATHS ${PUGIXML_HOME}/include
/usr/include
/usr/local/include
/opt/local/include)
/opt/local/include
${PUGIXML_ROOT}/include
$ENV{PUGIXML_ROOT}/include
)
find_library(PUGIXML_LIBRARY
NAMES pugixml
@ -47,7 +50,12 @@ find_library(PUGIXML_LIBRARY
/opt/local/lib
/usr/lib
/usr/lib64
/usr/local/lib64)
/usr/local/lib64
${PUGIXML_ROOT}/lib
$ENV{PUGIXML_ROOT}/lib
${PUGIXML_ROOT}/lib64
$ENV{PUGIXML_ROOT}/lib64
)
# Support the REQUIRED and QUIET arguments, and set PUGIXML_FOUND if found.
include(FindPackageHandleStandardArgs)

12
cmake/Modules/FindTELEORBIT.cmake
View File

@ -18,18 +18,18 @@
include(FindPkgConfig)
pkg_check_modules(PC_TELEORBIT teleorbit)
find_path(
TELEORBIT_INCLUDE_DIRS
find_path(TELEORBIT_INCLUDE_DIRS
NAMES teleorbit/api.h
HINTS $ENV{TELEORBIT_DIR}/include
${PC_TELEORBIT_INCLUDEDIR}
PATHS ${CMAKE_INSTALL_PREFIX}/include
/usr/local/include
/usr/include
${TELEORBIT_ROOT}/include
$ENV{TELEORBIT_ROOT}/include
)
find_library(
TELEORBIT_LIBRARIES
find_library(TELEORBIT_LIBRARIES
NAMES gnuradio-teleorbit
HINTS $ENV{TELEORBIT_DIR}/lib
${PC_TELEORBIT_LIBDIR}
@ -39,6 +39,10 @@ find_library(
/usr/local/lib64
/usr/lib
/usr/lib64
${TELEORBIT_ROOT}/lib
$ENV{TELEORBIT_ROOT}/lib
${TELEORBIT_ROOT}/lib64
$ENV{TELEORBIT_ROOT}/lib64
)
include(FindPackageHandleStandardArgs)

12
cmake/Modules/FindUHD.cmake
View File

@ -22,18 +22,18 @@
include(FindPkgConfig)
pkg_check_modules(PC_UHD uhd)
find_path(
UHD_INCLUDE_DIRS
find_path(UHD_INCLUDE_DIRS
NAMES uhd/config.hpp
HINTS $ENV{UHD_DIR}/include
${PC_UHD_INCLUDEDIR}
PATHS /usr/local/include
/usr/include
${GNURADIO_INSTALL_PREFIX}/include
${UHD_ROOT}/include
$ENV{UHD_ROOT}/include
)
find_library(
UHD_LIBRARIES
find_library(UHD_LIBRARIES
NAMES uhd
HINTS $ENV{UHD_DIR}/lib
${PC_UHD_LIBDIR}
@ -64,6 +64,10 @@ find_library(
/usr/lib64
/usr/lib
${GNURADIO_INSTALL_PREFIX}/lib
${UHD_ROOT}/lib
$ENV{UHD_ROOT}/lib
${UHD_ROOT}/lib64
$ENV{UHD_ROOT}/lib64
)
include(FindPackageHandleStandardArgs)

12
cmake/Modules/FindVOLK.cmake
View File

@ -22,18 +22,18 @@
include(FindPkgConfig)
pkg_check_modules(PC_VOLK volk)
find_path(
VOLK_INCLUDE_DIRS
find_path(VOLK_INCLUDE_DIRS
NAMES volk/volk.h
HINTS $ENV{VOLK_DIR}/include
${PC_VOLK_INCLUDEDIR}
PATHS /usr/local/include
/usr/include
${CMAKE_INSTALL_PREFIX}/include
${VOLK_ROOT}/include
$ENV{VOLK_ROOT}/include
)
find_library(
VOLK_LIBRARIES
find_library(VOLK_LIBRARIES
NAMES volk
HINTS $ENV{VOLK_DIR}/lib
${PC_VOLK_LIBDIR}
@ -65,6 +65,10 @@ find_library(
/usr/lib/alpha-linux-gnu
/usr/lib64
${CMAKE_INSTALL_PREFIX}/lib
${VOLK_ROOT}/lib
$ENV{VOLK_ROOT}/lib
${VOLK_ROOT}/lib64
$ENV{VOLK_ROOT}/lib64
)
include(FindPackageHandleStandardArgs)

12
cmake/Modules/FindVOLKGNSSSDR.cmake
View File

@ -22,18 +22,18 @@
include(FindPkgConfig)
pkg_check_modules(PC_VOLK_GNSSSDR volk_gnsssdr)
find_path(
VOLK_GNSSSDR_INCLUDE_DIRS
find_path(VOLK_GNSSSDR_INCLUDE_DIRS
NAMES volk_gnsssdr/volk_gnsssdr.h
HINTS $ENV{VOLK_GNSSSDR_DIR}/include
${PC_VOLK_GNSSSDR_INCLUDEDIR}
PATHS /usr/local/include
/usr/include
${GNURADIO_INSTALL_PREFIX}/include
${VOLKGNSSSDR_ROOT}/include
$ENV{VOLKGNSSSDR_ROOT}/include
)
find_library(
VOLK_GNSSSDR_LIBRARIES
find_library(VOLK_GNSSSDR_LIBRARIES
NAMES volk_gnsssdr
HINTS $ENV{VOLK_GNSSSDR_DIR}/lib
${PC_VOLK_GNSSSDR_LIBDIR}
@ -42,6 +42,10 @@ find_library(
/usr/lib
/usr/lib64
${GNURADIO_INSTALL_PREFIX}/lib
${VOLKGNSSSDR_ROOT}/lib
$ENV{VOLKGNSSSDR_ROOT}/lib
${VOLKGNSSSDR_ROOT}/lib64
$ENV{VOLKGNSSSDR_ROOT}/lib64
)
include(FindPackageHandleStandardArgs)

10
cmake/cmake_uninstall.cmake.in
View File

@ -17,7 +17,7 @@
if(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
message(FATAL_ERROR "Cannot find install manifest: @CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
endif()
file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
string(REGEX REPLACE "\n" ";" files "${files}")
@ -31,8 +31,8 @@ foreach(file ${files})
)
if(NOT "${rm_retval}" STREQUAL 0)
message(FATAL_ERROR "Problem when removing $ENV{DESTDIR}${file}")
endif(NOT "${rm_retval}" STREQUAL 0)
else(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
endif()
else()
message(STATUS "File $ENV{DESTDIR}${file} does not exist.")
endif(IS_SYMLINK "$ENV{DESTDIR}${file}" OR EXISTS "$ENV{DESTDIR}${file}")
endforeach(file)
endif()
endforeach()

22
docs/changelog
View File

@ -1,6 +1,6 @@
## [Unreleased](https://github.com/gnss-sdr/gnss-sdr/tree/next)
## [0.0.10](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.10)
Next release will have several improvements in different dimensions, addition of new features and bug fixes:
This release has several improvements in different dimensions, addition of new features and bug fixes:
### Improvements in Accuracy:
@ -14,7 +14,7 @@ Next release will have several improvements in different dimensions, addition of
- Internal Finite State Machines rewritten for improved continuity in delivering position fixes. This fixes a bug that was stalling the receiver after about six hours of continuous operation.
- Redesign of the time counter for enhanced continuity.
- Improved flow graph in multisystem configurations: the receiver does not get stalled anymore if no signal is found from the first system.
- Improved flow graph in multi-system configurations: the receiver does not get stalled anymore if no signal is found from the first system.
- Improved acquisition and tracking sensitivity.
- Added mechanisms for Assisted GNSS, thus shortening the Time-To-First-Fix. Provision of data via XML files or via SUPL v1.0. Documented at https://gnss-sdr.org/docs/sp-blocks/global-parameters/
- Other minor bug fixes.
@ -23,7 +23,7 @@ Next release will have several improvements in different dimensions, addition of
### Improvements in Efficiency:
- Added the possibility of non-blocking acquisition, which works well when using real-time data from an RF front-end.
- Improved flow graph in multiband configurations: satellites acquired in one band are immediately searched in others.
- Improved flow graph in multi-band configurations: satellites acquired in one band are immediately searched in others.
- Complex local codes have been replaced by real codes, alleviating the computational burden.
- New volk_gnsssdr kernels: volk_gnsssdr_16i_xn_resampler_16i_xn.h, volk_gnsssdr_16ic_16i_rotator_dot_prod_16ic_xn.h, volk_gnsssdr_32f_xn_resampler_32f_xn.h, volk_gnsssdr_32fc_32f_rotator_dot_prod_32fc_xn.h
- Some AVX2 implementations added to the volk_gnsssdr library.
@ -71,6 +71,7 @@ Next release will have several improvements in different dimensions, addition of
- Improvement in C++ usage: The override special identifier is now used when overriding a virtual function. This helps the compiler to check for type changes in the base class, making the detection of errors easier.
- Improvement in C++ usage: A number of unused includes have been removed. Order of includes set to: local (in-source) headers, then library headers, then system headers. This helps to detect missing includes.
- Improvement in C++ usage: Enhanced const correctness. Misuses of those variables are detected by the compiler.
- Improved code with clang-tidy and generation of a compile_commands.json file containing the exact compiler calls for all translation units of the project in machine-readable form if clang-tidy is detected.
- Applied some style rules to CMake scripts.
- Minimal versions of dependencies identified and detected.
@ -83,13 +84,13 @@ Next release will have several improvements in different dimensions, addition of
- The software builds with C++11, C++14 and C++17 standards.
- The software can now be built using GCC >= 4.7.2 or LLVM/Clang >= 3.4.0 compilers on GNU/Linux, and with Clang/AppleClang on MacOS.
- The Ninja build system can be used in replacement of make.
- The volk_gnsssdr library can be built using Python 2.7 or Python 3.6.
- The volk_gnsssdr library can be built using Python 2.7+ or Python 3.6+.
- The volk_gnsssdr library is now ready for AArch64 NEON instructions.
- Ready for GNU Radio 3.8 C++ API (as per current master branch of GNU Radio upstream repository).
- Improved detection of required and optional dependencies in many GNU/Linux distributions and processor architectures.
- Improvement in C++ usage: The <ctime> library has been replaced by the more modern and portable <chrono> (except for the interaction with RTKLIB).
- Improvement in C++ usage: The <stdio.h> library has been replaced by the more modern and portable <fstream> for file handling.
- Improvement in C++ usage: C++ libraries preferred over C libraries (e.g., <cctype> instead of <ctype.h>, <cmath> instead of <math.h>).
- Fix compatibility with Boost 1.67 (closes Debian bug #911882 https://bugs.debian.org/cgi-bin/bugreport.cgi?bug=911882)
- Fixes required by Debian packaging.
- Fixes required by Macports packaging.
- A downside in portability: BLAS and LAPACK libraries are now required even in ARM devices.
@ -100,7 +101,7 @@ Next release will have several improvements in different dimensions, addition of
### Improvements in Reliability:
- Introduced 3 new Input Filter implementations for pulsed and narrowband interference mitigation: `Pulse_Blanking_Filter`, `Notch_Filter` and `Notch_Filter_Lite`. Documented in https://gnss-sdr.org/docs/sp-blocks/input-filter/
- Improved flow graph stabiliy.
- Improved flow graph stability.
- Introduction of high-integrity C++ practices into the source code and included in the coding style guide. See https://gnss-sdr.org/coding-style/
- Fixed a number of defects detected by Coverity Scan.
- Improvement of QA code and addition of a number of new tests. Documented at https://gnss-sdr.org/docs/tutorials/testing-software-receiver-2/
@ -125,7 +126,12 @@ Next release will have several improvements in different dimensions, addition of
### Improvements in Testability:
- Several Unit Tests added. Documentation of testing concepts and available tests at https://gnss-sdr.org/docs/tutorials/testing-software-receiver/
- New extra unit test AcquisitionPerformanceTest checks the performance of Acquisition blocks.
- New extra unit test TrackingPullInTest checks acquisition to tracking transition.
- New extra unit test HybridObservablesTest checks the generation of observables.
- Improved system testing: position_test accepts a wide list of parameters and can be used with external files.
- Receiver channels can now be fixed to a given satellite.
- Testing integrated in a Continuous Reproducibility system (see above).
- Improved CTest support in volk_gnsssdr.
@ -141,6 +147,7 @@ Next release will have several improvements in different dimensions, addition of
- Added a changelog, a code of conduct, a contributing guide and a pull-request template in the source tree.
- Added colors to the commandline user interface.
- Updated manfiles.
- Updated examples of configuration files under the conf/ folder.
@ -149,7 +156,6 @@ See the definitions of concepts and metrics at https://gnss-sdr.org/design-force
## [0.0.9](https://github.com/gnss-sdr/gnss-sdr/releases/tag/v0.0.9)
DOI: https://doi.org/10.5281/zenodo.291371

2
docs/manpage/gnss-sdr-manpage
View File

@ -1,6 +1,6 @@
.\" Manpage for gnss\-sdr.
.\" Contact carles.fernandez@cttc.es to correct errors or typos.
.TH gnss\-sdr 1 "24 Feb 2018" "0.0.9" "gnss\-sdr man page"
.TH gnss\-sdr 1 "12 Dec 2018" "0.0.10" "gnss\-sdr man page"
.SH NAME
\fBgnss\-sdr\fR \- GNSS Software Defined Receiver.
.SH SYNOPSIS

8
docs/xml-schemas/cnav_ephemeris_map.xsd
View File

@ -15,15 +15,15 @@
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="i_satellite_PRN"/>
<xs:element type="xs:float" name="d_TOW"/>
<xs:element type="xs:int" name="d_TOW"/>
<xs:element type="xs:float" name="d_Crs"/>
<xs:element type="xs:float" name="d_M_0"/>
<xs:element type="xs:float" name="d_Cuc"/>
<xs:element type="xs:float" name="d_e_eccentricity"/>
<xs:element type="xs:float" name="d_Cus"/>
<xs:element type="xs:float" name="d_Toe1"/>
<xs:element type="xs:float" name="d_Toe2"/>
<xs:element type="xs:float" name="d_Toc"/>
<xs:element type="xs:int" name="d_Toe1"/>
<xs:element type="xs:int" name="d_Toe2"/>
<xs:element type="xs:byte" name="d_Toc"/>
<xs:element type="xs:float" name="d_Cic"/>
<xs:element type="xs:float" name="d_OMEGA0"/>
<xs:element type="xs:float" name="d_Cis"/>

12
docs/xml-schemas/ephemeris_map.xsd
View File

@ -15,9 +15,9 @@
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="i_satellite_PRN"/>
<xs:element type="xs:float" name="d_TOW"/>
<xs:element type="xs:float" name="d_IODE_SF2"/>
<xs:element type="xs:float" name="d_IODE_SF3"/>
<xs:element type="xs:int" name="d_TOW"/>
<xs:element type="xs:byte" name="d_IODE_SF2"/>
<xs:element type="xs:byte" name="d_IODE_SF3"/>
<xs:element type="xs:float" name="d_Crs"/>
<xs:element type="xs:float" name="d_Delta_n"/>
<xs:element type="xs:float" name="d_M_0"/>
@ -25,8 +25,8 @@
<xs:element type="xs:float" name="d_e_eccentricity"/>
<xs:element type="xs:float" name="d_Cus"/>
<xs:element type="xs:float" name="d_sqrt_A"/>
<xs:element type="xs:float" name="d_Toe"/>
<xs:element type="xs:float" name="d_Toc"/>
<xs:element type="xs:int" name="d_Toe"/>
<xs:element type="xs:int" name="d_Toc"/>
<xs:element type="xs:float" name="d_Cic"/>
<xs:element type="xs:float" name="d_OMEGA0"/>
<xs:element type="xs:float" name="d_Cis"/>
@ -41,7 +41,7 @@
<xs:element type="xs:byte" name="i_SV_accuracy"/>
<xs:element type="xs:byte" name="i_SV_health"/>
<xs:element type="xs:float" name="d_TGD"/>
<xs:element type="xs:float" name="d_IODC"/>
<xs:element type="xs:byte" name="d_IODC"/>
<xs:element type="xs:short" name="i_AODO"/>
<xs:element type="xs:byte" name="b_fit_interval_flag"/>
<xs:element type="xs:float" name="d_spare1"/>

4
docs/xml-schemas/gal_almanac_map.xsd
View File

@ -12,10 +12,10 @@
<xs:sequence>
<xs:element type="xs:byte" name="first"/>
<xs:element name="second">
<xs:complexType mixed="true">
<xs:complexType>
<xs:sequence>
<xs:element type="xs:byte" name="i_satellite_PRN"/>
<xs:element type="xs:byte" name="i_Toa"/>
<xs:element type="xs:int" name="i_Toa"/>
<xs:element type="xs:byte" name="i_WNa"/>
<xs:element type="xs:byte" name="i_IODa"/>
<xs:element type="xs:float" name="d_Delta_i"/>

20
docs/xml-schemas/gal_ephemeris_map.xsd
View File

@ -1,4 +1,4 @@
<<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:schema attributeFormDefault="unqualified" elementFormDefault="qualified" xmlns:xs="http://www.w3.org/2001/XMLSchema">
<xs:element name="boost_serialization">
<xs:complexType>
<xs:sequence>
@ -30,25 +30,25 @@
<xs:element type="xs:float" name="C_rs_3"/>
<xs:element type="xs:float" name="C_ic_4"/>
<xs:element type="xs:float" name="C_is_4"/>
<xs:element type="xs:float" name="t0e_1"/>
<xs:element type="xs:float" name="t0c_4"/>
<xs:element type="xs:int" name="t0e_1"/>
<xs:element type="xs:int" name="t0c_4"/>
<xs:element type="xs:float" name="af0_4"/>
<xs:element type="xs:float" name="af1_4"/>
<xs:element type="xs:float" name="af2_4"/>
<xs:element type="xs:float" name="WN_5"/>
<xs:element type="xs:float" name="TOW_5"/>
<xs:element type="xs:short" name="WN_5"/>
<xs:element type="xs:int" name="TOW_5"/>
<xs:element type="xs:float" name="Galileo_satClkDrift"/>
<xs:element type="xs:float" name="Galileo_dtr"/>
<xs:element type="xs:byte" name="flag_all_ephemeris"/>
<xs:element type="xs:byte" name="IOD_ephemeris"/>
<xs:element type="xs:byte" name="IOD_nav_1"/>
<xs:element type="xs:float" name="SISA_3"/>
<xs:element type="xs:byte" name="SISA_3"/>
<xs:element type="xs:byte" name="E5a_HS"/>
<xs:element type="xs:float" name="E5b_HS_5"/>
<xs:element type="xs:float" name="E1B_HS_5"/>
<xs:element type="xs:byte" name="E5b_HS_5"/>
<xs:element type="xs:byte" name="E1B_HS_5"/>
<xs:element type="xs:byte" name="E5a_DVS"/>
<xs:element type="xs:float" name="E5b_DVS_5"/>
<xs:element type="xs:float" name="E1B_DVS_5"/>
<xs:element type="xs:byte" name="E5b_DVS_5"/>
<xs:element type="xs:byte" name="E1B_DVS_5"/>
<xs:element type="xs:float" name="BGD_E1E5a_5"/>
<xs:element type="xs:float" name="BGD_E1E5b_5"/>
</xs:sequence>

4
docs/xml-schemas/gal_iono_model.xsd
View File

@ -13,8 +13,8 @@
<xs:element type="xs:byte" name="Region3_flag_5"/>
<xs:element type="xs:byte" name="Region4_flag_5"/>
<xs:element type="xs:byte" name="Region5_flag_5"/>
<xs:element type="xs:float" name="TOW_5"/>
<xs:element type="xs:float" name="WN_5"/>
<xs:element type="xs:int" name="TOW_5"/>
<xs:element type="xs:short" name="WN_5"/>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id"/>
<xs:attribute type="xs:byte" name="tracking_level"/>

12
docs/xml-schemas/gal_utc_model.xsd
View File

@ -7,12 +7,12 @@
<xs:sequence>
<xs:element type="xs:float" name="A0_6"/>
<xs:element type="xs:float" name="A1_6"/>
<xs:element type="xs:float" name="Delta_tLS_6"/>
<xs:element type="xs:float" name="t0t_6"/>
<xs:element type="xs:float" name="WNot_6"/>
<xs:element type="xs:float" name="WN_LSF_6"/>
<xs:element type="xs:float" name="DN_6"/>
<xs:element type="xs:float" name="Delta_tLSF_6"/>
<xs:element type="xs:byte" name="Delta_tLS_6"/>
<xs:element type="xs:int" name="t0t_6"/>
<xs:element type="xs:short" name="WNot_6"/>
<xs:element type="xs:short" name="WN_LSF_6"/>
<xs:element type="xs:byte" name="DN_6"/>
<xs:element type="xs:byte" name="Delta_tLSF_6"/>
<xs:element type="xs:byte" name="flag_utc_model"/>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id"/>

6
docs/xml-schemas/utc_model.xsd
View File

@ -8,12 +8,12 @@
<xs:element type="xs:byte" name="valid"/>
<xs:element type="xs:float" name="d_A1"/>
<xs:element type="xs:float" name="d_A0"/>
<xs:element type="xs:float" name="d_t_OT"/>
<xs:element type="xs:int" name="d_t_OT"/>
<xs:element type="xs:short" name="i_WN_T"/>
<xs:element type="xs:float" name="d_DeltaT_LS"/>
<xs:element type="xs:byte" name="d_DeltaT_LS"/>
<xs:element type="xs:short" name="i_WN_LSF"/>
<xs:element type="xs:byte" name="i_DN"/>
<xs:element type="xs:float" name="d_DeltaT_LSF"/>
<xs:element type="xs:byte" name="d_DeltaT_LSF"/>
</xs:sequence>
<xs:attribute type="xs:byte" name="class_id"/>
<xs:attribute type="xs:byte" name="tracking_level"/>

107
src/algorithms/PVT/adapters/rtklib_pvt.cc
View File

@ -30,11 +30,11 @@
#include "rtklib_pvt.h"
#include "pvt_conf.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include <boost/archive/xml_oarchive.hpp>
#include "pvt_conf.h"
#include <boost/archive/xml_iarchive.hpp>
#include <boost/archive/xml_oarchive.hpp>
#include <boost/serialization/map.hpp>
#include <glog/logging.h>
#if OLD_BOOST
@ -49,30 +49,10 @@ namespace bc = boost::integer;
using google::LogMessage;
bool RtklibPvt::get_latest_PVT(double* longitude_deg,
double* latitude_deg,
double* height_m,
double* ground_speed_kmh,
double* course_over_ground_deg,
time_t* UTC_time)
{
return pvt_->get_latest_PVT(longitude_deg,
latitude_deg,
height_m,
ground_speed_kmh,
course_over_ground_deg,
UTC_time);
}
void RtklibPvt::clear_ephemeris()
{
pvt_->clear_ephemeris();
}
RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string role,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
unsigned int out_streams) : role_(std::move(role)),
in_streams_(in_streams),
out_streams_(out_streams)
{
@ -100,27 +80,27 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
// RINEX version
pvt_output_parameters.rinex_version = configuration->property(role + ".rinex_version", 3);
if (FLAGS_RINEX_version.compare("3.01") == 0)
if (FLAGS_RINEX_version == "3.01")
{
pvt_output_parameters.rinex_version = 3;
}
else if (FLAGS_RINEX_version.compare("3.02") == 0)
else if (FLAGS_RINEX_version == "3.02")
{
pvt_output_parameters.rinex_version = 3;
}
else if (FLAGS_RINEX_version.compare("3") == 0)
else if (FLAGS_RINEX_version == "3")
{
pvt_output_parameters.rinex_version = 3;
}
else if (FLAGS_RINEX_version.compare("2.11") == 0)
else if (FLAGS_RINEX_version == "2.11")
{
pvt_output_parameters.rinex_version = 2;
}
else if (FLAGS_RINEX_version.compare("2.10") == 0)
else if (FLAGS_RINEX_version == "2.10")
{
pvt_output_parameters.rinex_version = 2;
}
else if (FLAGS_RINEX_version.compare("2") == 0)
else if (FLAGS_RINEX_version == "2")
{
pvt_output_parameters.rinex_version = 2;
}
@ -234,17 +214,18 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
if ((gps_1C_count == 0) && (gps_2S_count != 0) && (gps_L5_count == 0) && (gal_1B_count == 0) && (gal_E5a_count == 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count != 0)) pvt_output_parameters.type_of_receiver = 31;
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count != 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 32; // L1+E1+L5+E5a
if ((gps_1C_count != 0) && (gps_2S_count == 0) && (gps_L5_count == 0) && (gal_1B_count != 0) && (gal_E5a_count != 0) && (gal_E5b_count == 0) && (glo_1G_count == 0) && (glo_2G_count == 0)) pvt_output_parameters.type_of_receiver = 33; // L1+E1+E5a
// RTKLIB PVT solver options
// Settings 1
int positioning_mode = -1;
std::string default_pos_mode("Single");
std::string positioning_mode_str = configuration->property(role + ".positioning_mode", default_pos_mode); // (PMODE_XXX) see src/algorithms/libs/rtklib/rtklib.h
if (positioning_mode_str.compare("Single") == 0) positioning_mode = PMODE_SINGLE;
if (positioning_mode_str.compare("Static") == 0) positioning_mode = PMODE_STATIC;
if (positioning_mode_str.compare("Kinematic") == 0) positioning_mode = PMODE_KINEMA;
if (positioning_mode_str.compare("PPP_Static") == 0) positioning_mode = PMODE_PPP_STATIC;
if (positioning_mode_str.compare("PPP_Kinematic") == 0) positioning_mode = PMODE_PPP_KINEMA;
if (positioning_mode_str == "Single") positioning_mode = PMODE_SINGLE;
if (positioning_mode_str == "Static") positioning_mode = PMODE_STATIC;
if (positioning_mode_str == "Kinematic") positioning_mode = PMODE_KINEMA;
if (positioning_mode_str == "PPP_Static") positioning_mode = PMODE_PPP_STATIC;
if (positioning_mode_str == "PPP_Kinematic") positioning_mode = PMODE_PPP_KINEMA;
if (positioning_mode == -1)
{
@ -289,12 +270,12 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_iono_model("OFF");
std::string iono_model_str = configuration->property(role + ".iono_model", default_iono_model); /* (IONOOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
int iono_model = -1;
if (iono_model_str.compare("OFF") == 0) iono_model = IONOOPT_OFF;
if (iono_model_str.compare("Broadcast") == 0) iono_model = IONOOPT_BRDC;
if (iono_model_str.compare("SBAS") == 0) iono_model = IONOOPT_SBAS;
if (iono_model_str.compare("Iono-Free-LC") == 0) iono_model = IONOOPT_IFLC;
if (iono_model_str.compare("Estimate_STEC") == 0) iono_model = IONOOPT_EST;
if (iono_model_str.compare("IONEX") == 0) iono_model = IONOOPT_TEC;
if (iono_model_str == "OFF") iono_model = IONOOPT_OFF;
if (iono_model_str == "Broadcast") iono_model = IONOOPT_BRDC;
if (iono_model_str == "SBAS") iono_model = IONOOPT_SBAS;
if (iono_model_str == "Iono-Free-LC") iono_model = IONOOPT_IFLC;
if (iono_model_str == "Estimate_STEC") iono_model = IONOOPT_EST;
if (iono_model_str == "IONEX") iono_model = IONOOPT_TEC;
if (iono_model == -1)
{
//warn user and set the default
@ -308,11 +289,11 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_trop_model("OFF");
int trop_model = -1;
std::string trop_model_str = configuration->property(role + ".trop_model", default_trop_model); /* (TROPOPT_XXX) see src/algorithms/libs/rtklib/rtklib.h */
if (trop_model_str.compare("OFF") == 0) trop_model = TROPOPT_OFF;
if (trop_model_str.compare("Saastamoinen") == 0) trop_model = TROPOPT_SAAS;
if (trop_model_str.compare("SBAS") == 0) trop_model = TROPOPT_SBAS;
if (trop_model_str.compare("Estimate_ZTD") == 0) trop_model = TROPOPT_EST;
if (trop_model_str.compare("Estimate_ZTD_Grad") == 0) trop_model = TROPOPT_ESTG;
if (trop_model_str == "OFF") trop_model = TROPOPT_OFF;
if (trop_model_str == "Saastamoinen") trop_model = TROPOPT_SAAS;
if (trop_model_str == "SBAS") trop_model = TROPOPT_SBAS;
if (trop_model_str == "Estimate_ZTD") trop_model = TROPOPT_EST;
if (trop_model_str == "Estimate_ZTD_Grad") trop_model = TROPOPT_ESTG;
if (trop_model == -1)
{
//warn user and set the default
@ -357,11 +338,11 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
std::string default_gps_ar("Continuous");
std::string integer_ambiguity_resolution_gps_str = configuration->property(role + ".AR_GPS", default_gps_ar); /* Integer Ambiguity Resolution mode for GPS (0:off,1:continuous,2:instantaneous,3:fix and hold,4:ppp-ar) */
int integer_ambiguity_resolution_gps = -1;
if (integer_ambiguity_resolution_gps_str.compare("OFF") == 0) integer_ambiguity_resolution_gps = ARMODE_OFF;
if (integer_ambiguity_resolution_gps_str.compare("Continuous") == 0) integer_ambiguity_resolution_gps = ARMODE_CONT;
if (integer_ambiguity_resolution_gps_str.compare("Instantaneous") == 0) integer_ambiguity_resolution_gps = ARMODE_INST;
if (integer_ambiguity_resolution_gps_str.compare("Fix-and-Hold") == 0) integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
if (integer_ambiguity_resolution_gps_str.compare("PPP-AR") == 0) integer_ambiguity_resolution_gps = ARMODE_PPPAR;
if (integer_ambiguity_resolution_gps_str == "OFF") integer_ambiguity_resolution_gps = ARMODE_OFF;
if (integer_ambiguity_resolution_gps_str == "Continuous") integer_ambiguity_resolution_gps = ARMODE_CONT;
if (integer_ambiguity_resolution_gps_str == "Instantaneous") integer_ambiguity_resolution_gps = ARMODE_INST;
if (integer_ambiguity_resolution_gps_str == "Fix-and-Hold") integer_ambiguity_resolution_gps = ARMODE_FIXHOLD;
if (integer_ambiguity_resolution_gps_str == "PPP-AR") integer_ambiguity_resolution_gps = ARMODE_PPPAR;
if (integer_ambiguity_resolution_gps == -1)
{
//warn user and set the default
@ -391,7 +372,7 @@ RtklibPvt::RtklibPvt(ConfigurationInterface* configuration,
double min_ratio_to_fix_ambiguity = configuration->property(role + ".min_ratio_to_fix_ambiguity", 3.0); /* Set the integer ambiguity validation threshold for ratio‐test,
which uses the ratio of squared residuals of the best integer vector to the second‐best vector. */
int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity.
int min_lock_to_fix_ambiguity = configuration->property(role + ".min_lock_to_fix_ambiguity", 0); /* Set the minimum lock count to fix integer ambiguity.FLAGS_RINEX_version.
If the lock count is less than the value, the ambiguity is excluded from the fixed integer vector. */
double min_elevation_to_fix_ambiguity = configuration->property(role + ".min_elevation_to_fix_ambiguity", 0.0); /* Set the minimum elevation (deg) to fix integer ambiguity.
@ -537,6 +518,28 @@ RtklibPvt::~RtklibPvt()
}
bool RtklibPvt::get_latest_PVT(double* longitude_deg,
double* latitude_deg,
double* height_m,
double* ground_speed_kmh,
double* course_over_ground_deg,
time_t* UTC_time)
{
return pvt_->get_latest_PVT(longitude_deg,
latitude_deg,
height_m,
ground_speed_kmh,
course_over_ground_deg,
UTC_time);
}
void RtklibPvt::clear_ephemeris()
{
pvt_->clear_ephemeris();
}
std::map<int, Gps_Ephemeris> RtklibPvt::get_gps_ephemeris() const
{
return pvt_->get_gps_ephemeris_map();

4
src/algorithms/PVT/adapters/rtklib_pvt.h
View File

@ -46,7 +46,7 @@ class RtklibPvt : public PvtInterface
{
public:
RtklibPvt(ConfigurationInterface* configuration,
std::string role,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
@ -94,7 +94,7 @@ public:
private:
rtklib_pvt_cc_sptr pvt_;
rtk_t rtk;
rtk_t rtk{};
std::string role_;
unsigned int in_streams_;
unsigned int out_streams_;

166
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.cc
View File

@ -29,13 +29,13 @@
*/
#include "rtklib_pvt_cc.h"
#include "display.h"
#include "galileo_almanac.h"
#include "galileo_almanac_helper.h"
#include "pvt_conf.h"
#include "display.h"
#include "gnss_sdr_create_directory.h"
#include <boost/archive/xml_oarchive.hpp>
#include "pvt_conf.h"
#include <boost/archive/xml_iarchive.hpp>
#include <boost/archive/xml_oarchive.hpp>
#include <boost/exception/all.hpp>
#include <boost/filesystem/path.hpp>
#include <boost/serialization/map.hpp>
@ -43,9 +43,9 @@
#include <gnuradio/gr_complex.h>
#include <gnuradio/io_signature.h>
#include <algorithm>
#include <exception>
#include <iostream>
#include <map>
#include <exception>
#if OLD_BOOST
#include <boost/math/common_factor_rt.hpp>
namespace bc = boost::math;
@ -59,7 +59,7 @@ using google::LogMessage;
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
const Pvt_Conf& conf_,
rtk_t& rtk)
const rtk_t& rtk)
{
return rtklib_pvt_cc_sptr(new rtklib_pvt_cc(nchannels,
conf_,
@ -268,7 +268,7 @@ void rtklib_pvt_cc::clear_ephemeris()
rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
const Pvt_Conf& conf_,
rtk_t& rtk) : gr::sync_block("rtklib_pvt_cc",
const rtk_t& rtk) : gr::sync_block("rtklib_pvt_cc",
gr::io_signature::make(nchannels, nchannels, sizeof(Gnss_Synchro)),
gr::io_signature::make(0, 0, 0))
{
@ -492,7 +492,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
{
xml_base_path = p.string();
}
if (xml_base_path.compare(".") != 0)
if (xml_base_path != ".")
{
std::cout << "XML files will be stored at " << xml_base_path << std::endl;
}
@ -514,7 +514,7 @@ rtklib_pvt_cc::rtklib_pvt_cc(uint32_t nchannels,
if ((sysv_msqid = msgget(sysv_msg_key, msgflg)) == -1)
{
std::cout << "GNSS-SDR can not create message queues!" << std::endl;
throw new std::exception();
throw std::exception();
}
start = std::chrono::system_clock::now();
}
@ -858,7 +858,7 @@ bool rtklib_pvt_cc::send_sys_v_ttff_msg(ttff_msgbuf ttff)
}
bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string file_name)
bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string& file_name)
{
if (gnss_observables_map.empty() == false)
{
@ -877,15 +877,13 @@ bool rtklib_pvt_cc::save_gnss_synchro_map_xml(const std::string file_name)
}
return true;
}
else
{
LOG(WARNING) << "Failed to save gnss_synchro, map is empty";
return false;
}
}
bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string file_name)
bool rtklib_pvt_cc::load_gnss_synchro_map_xml(const std::string& file_name)
{
// load from xml (boost serialize)
std::ifstream ifs;
@ -925,11 +923,9 @@ bool rtklib_pvt_cc::get_latest_PVT(double* longitude_deg,
return true;
}
else
{
return false;
}
}
int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_items,
@ -959,7 +955,13 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::map<int, Galileo_Ephemeris>::const_iterator tmp_eph_iter_gal = d_pvt_solver->galileo_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Gps_CNAV_Ephemeris>::const_iterator tmp_eph_iter_cnav = d_pvt_solver->gps_cnav_ephemeris_map.find(in[i][epoch].PRN);
std::map<int, Glonass_Gnav_Ephemeris>::const_iterator tmp_eph_iter_glo_gnav = d_pvt_solver->glonass_gnav_ephemeris_map.find(in[i][epoch].PRN);
if (((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("1C") == 0)) or ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("2S") == 0)) or ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("1B") == 0)) or ((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("5X") == 0)) or ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("1G") == 0)) or ((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("2G") == 0)) or ((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal).compare("L5") == 0)))
if (((tmp_eph_iter_gps->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1C")) or
((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "2S")) or
((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1B")) or
((tmp_eph_iter_gal->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "5X")) or
((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "1G")) or
((tmp_eph_iter_glo_gnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "2G")) or
((tmp_eph_iter_cnav->second.i_satellite_PRN == in[i][epoch].PRN) and (std::string(in[i][epoch].Signal) == "L5")))
{
// store valid observables in a map.
gnss_observables_map.insert(std::pair<int, Gnss_Synchro>(i, in[i][epoch]));
@ -1015,7 +1017,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
if (gnss_observables_map.empty() == false)
{
double current_RX_time = gnss_observables_map.begin()->second.RX_time;
uint32_t current_RX_time_ms = static_cast<uint32_t>(current_RX_time * 1000.0);
auto current_RX_time_ms = static_cast<uint32_t>(current_RX_time * 1000.0);
if (current_RX_time_ms % d_output_rate_ms == 0)
{
flag_compute_pvt_output = true;
@ -1408,6 +1410,16 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
b_rinex_header_written = true; // do not write header anymore
}
break;
case 33: // L1+E1+E5a
if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and
(galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
{
std::string gal_signal("1B 5X");
rp->rinex_obs_header(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gal_signal);
rp->rinex_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
b_rinex_header_written = true; // do not write header anymore
}
break;
default:
break;
}
@ -1488,6 +1500,9 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
case 32: // L1+E1+L5+E5a
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
break;
case 33: // L1+E1+E5a
rp->log_rinex_nav(rp->navMixFile, d_pvt_solver->gps_ephemeris_map, d_pvt_solver->galileo_ephemeris_map);
break;
default:
break;
}
@ -1782,6 +1797,20 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
b_rinex_header_updated = true; // do not write header anymore
}
break;
case 33: // L1+E1+E5a
if ((gps_ephemeris_iter != d_pvt_solver->gps_ephemeris_map.cend()) and (galileo_ephemeris_iter != d_pvt_solver->galileo_ephemeris_map.cend()))
{
rp->log_rinex_obs(rp->obsFile, gps_ephemeris_iter->second, galileo_ephemeris_iter->second, d_rx_time, gnss_observables_map);
}
if (!b_rinex_header_updated and (d_pvt_solver->gps_utc_model.d_A0 != 0) and (d_pvt_solver->galileo_utc_model.A0_6 != 0))
{
rp->update_obs_header(rp->obsFile, d_pvt_solver->gps_utc_model);
rp->update_nav_header(rp->navMixFile, d_pvt_solver->gps_iono, d_pvt_solver->gps_utc_model, d_pvt_solver->galileo_iono, d_pvt_solver->galileo_utc_model);
b_rinex_header_updated = true; // do not write header anymore
}
break;
default:
break;
}
}
}
@ -1893,7 +1922,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::string system(&gnss_observables_iter->second.System, 1);
if (gps_channel == 0)
{
if (system.compare("G") == 0)
if (system == "G")
{
// This is a channel with valid GPS signal
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -1905,7 +1934,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (gal_channel == 0)
{
if (system.compare("E") == 0)
if (system == "E")
{
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
@ -1934,18 +1963,49 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
}
if (flag_write_RTCM_MSM_output == true)
if (flag_write_RTCM_MSM_output and d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
std::map<int, Gps_CNAV_Ephemeris>::const_iterator gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.cbegin();
int gal_channel = 0;
int gps_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
if (gps_channel == 0)
{
if (system == "G")
{
// This is a channel with valid GPS signal
gps_cnav_eph_iter = d_pvt_solver->gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend())
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
gps_channel = 1;
}
}
}
if (gal_channel == 0)
{
if (system == "E")
{
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
}
}
}
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend() and (d_rtcm_MT1097_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
if (gps_cnav_eph_iter != d_pvt_solver->gps_cnav_ephemeris_map.cend() and (d_rtcm_MT1077_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, gps_cnav_eph_iter->second, {}, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
}
}
break;
case 14:
@ -2013,7 +2073,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::string system(&gnss_observables_iter->second.System, 1);
if (gps_channel == 0)
{
if (system.compare("G") == 0)
if (system == "G")
{
// This is a channel with valid GPS signal
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -2025,7 +2085,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (glo_channel == 0)
{
if (system.compare("R") == 0)
if (system == "R")
{
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
@ -2073,7 +2133,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::string system(&gnss_observables_iter->second.System, 1);
if (gal_channel == 0)
{
if (system.compare("E") == 0)
if (system == "E")
{
// This is a channel with valid GPS signal
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -2085,7 +2145,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (glo_channel == 0)
{
if (system.compare("R") == 0)
if (system == "R")
{
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
@ -2132,7 +2192,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::string system(&gnss_observables_iter->second.System, 1);
if (gps_channel == 0)
{
if (system.compare("G") == 0)
if (system == "G")
{
// This is a channel with valid GPS signal
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -2144,7 +2204,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (glo_channel == 0)
{
if (system.compare("R") == 0)
if (system == "R")
{
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
@ -2191,7 +2251,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::string system(&gnss_observables_iter->second.System, 1);
if (gal_channel == 0)
{
if (system.compare("E") == 0)
if (system == "E")
{
// This is a channel with valid GPS signal
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -2203,7 +2263,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (glo_channel == 0)
{
if (system.compare("R") == 0)
if (system == "R")
{
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
@ -2250,7 +2310,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::string system(&gnss_observables_iter->second.System, 1);
if (gal_channel == 0)
{
if (system.compare("E") == 0)
if (system == "E")
{
// This is a channel with valid GPS signal
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -2262,7 +2322,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (gps_channel == 0)
{
if (system.compare("G") == 0)
if (system == "G")
{
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_eph_iter != d_pvt_solver->gps_ephemeris_map.cend())
@ -2395,7 +2455,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::string system(&gnss_observables_iter->second.System, 1);
if (gps_channel == 0)
{
if (system.compare("G") == 0)
if (system == "G")
{
// This is a channel with valid GPS signal
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -2407,7 +2467,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (gal_channel == 0)
{
if (system.compare("E") == 0)
if (system == "E")
{
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
@ -2439,7 +2499,25 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (d_rtcm_MSM_rate_ms != 0)
{
std::map<int, Gnss_Synchro>::const_iterator gnss_observables_iter;
std::map<int, Galileo_Ephemeris>::const_iterator gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.cbegin();
int gal_channel = 0;
for (gnss_observables_iter = gnss_observables_map.cbegin(); gnss_observables_iter != gnss_observables_map.cend(); gnss_observables_iter++)
{
std::string system(&gnss_observables_iter->second.System, 1);
if (gal_channel == 0)
{
if (system == "E")
{
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())
{
gal_channel = 1;
}
}
}
}
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend() and (d_rtcm_MT1097_rate_ms != 0))
{
d_rtcm_printer->Print_Rtcm_MSM(7, {}, {}, gal_eph_iter->second, {}, d_rx_time, gnss_observables_map, 0, 0, 0, 0, 0);
@ -2513,7 +2591,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::string system(&gnss_observables_iter->second.System, 1);
if (gps_channel == 0)
{
if (system.compare("G") == 0)
if (system == "G")
{
// This is a channel with valid GPS signal
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -2525,7 +2603,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (glo_channel == 0)
{
if (system.compare("R") == 0)
if (system == "R")
{
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
@ -2573,7 +2651,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::string system(&gnss_observables_iter->second.System, 1);
if (gal_channel == 0)
{
if (system.compare("E") == 0)
if (system == "E")
{
// This is a channel with valid GPS signal
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -2585,7 +2663,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (glo_channel == 0)
{
if (system.compare("R") == 0)
if (system == "R")
{
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
@ -2633,7 +2711,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::string system(&gnss_observables_iter->second.System, 1);
if (gps_channel == 0)
{
if (system.compare("G") == 0)
if (system == "G")
{
// This is a channel with valid GPS signal
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -2645,7 +2723,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (glo_channel == 0)
{
if (system.compare("R") == 0)
if (system == "R")
{
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
@ -2694,7 +2772,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::string system(&gnss_observables_iter->second.System, 1);
if (gal_channel == 0)
{
if (system.compare("E") == 0)
if (system == "E")
{
// This is a channel with valid GPS signal
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -2706,7 +2784,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (glo_channel == 0)
{
if (system.compare("R") == 0)
if (system == "R")
{
glonass_gnav_eph_iter = d_pvt_solver->glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (glonass_gnav_eph_iter != d_pvt_solver->glonass_gnav_ephemeris_map.cend())
@ -2754,7 +2832,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
std::string system(&gnss_observables_iter->second.System, 1);
if (gps_channel == 0)
{
if (system.compare("G") == 0)
if (system == "G")
{
// This is a channel with valid GPS signal
gps_eph_iter = d_pvt_solver->gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -2766,7 +2844,7 @@ int rtklib_pvt_cc::work(int noutput_items, gr_vector_const_void_star& input_item
}
if (gal_channel == 0)
{
if (system.compare("E") == 0)
if (system == "E")
{
gal_eph_iter = d_pvt_solver->galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gal_eph_iter != d_pvt_solver->galileo_ephemeris_map.cend())

30
src/algorithms/PVT/gnuradio_blocks/rtklib_pvt_cc.h
View File

@ -31,26 +31,26 @@
#ifndef GNSS_SDR_RTKLIB_PVT_CC_H
#define GNSS_SDR_RTKLIB_PVT_CC_H
#include "gps_ephemeris.h"
#include "nmea_printer.h"
#include "kml_printer.h"
#include "gpx_printer.h"
#include "geojson_printer.h"
#include "gps_ephemeris.h"
#include "gpx_printer.h"
#include "kml_printer.h"
#include "nmea_printer.h"
#include "pvt_conf.h"
#include "rinex_printer.h"
#include "rtcm_printer.h"
#include "pvt_conf.h"
#include "rtklib_solver.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <boost/date_time/gregorian/gregorian.hpp>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <gnuradio/sync_block.h>
#include <sys/types.h>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <chrono>
#include <cstdint>
#include <fstream>
#include <utility>
#include <string>
#include <sys/ipc.h>
#include <sys/msg.h>
#include <sys/types.h>
#include <utility>
class rtklib_pvt_cc;
@ -59,7 +59,7 @@ typedef boost::shared_ptr<rtklib_pvt_cc> rtklib_pvt_cc_sptr;
rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t n_channels,
const Pvt_Conf& conf_,
rtk_t& rtk);
const rtk_t& rtk);
/*!
* \brief This class implements a block that computes the PVT solution using the RTKLIB integrated library
@ -69,7 +69,7 @@ class rtklib_pvt_cc : public gr::sync_block
private:
friend rtklib_pvt_cc_sptr rtklib_make_pvt_cc(uint32_t nchannels,
const Pvt_Conf& conf_,
rtk_t& rtk);
const rtk_t& rtk);
void msg_handler_telemetry(pmt::pmt_t msg);
@ -131,9 +131,9 @@ private:
bool send_sys_v_ttff_msg(ttff_msgbuf ttff);
std::chrono::time_point<std::chrono::system_clock> start, end;
bool save_gnss_synchro_map_xml(const std::string file_name); //debug helper function
bool save_gnss_synchro_map_xml(const std::string& file_name); //debug helper function
bool load_gnss_synchro_map_xml(const std::string file_name); //debug helper function
bool load_gnss_synchro_map_xml(const std::string& file_name); //debug helper function
bool d_xml_storage;
std::string xml_base_path;
@ -147,7 +147,7 @@ private:
public:
rtklib_pvt_cc(uint32_t nchannels,
const Pvt_Conf& conf_,
rtk_t& rtk);
const rtk_t& rtk);
/*!
* \brief Get latest set of ephemeris from PVT block

3
src/algorithms/PVT/libs/CMakeLists.txt
View File

@ -80,8 +80,7 @@ else()
)
endif()
target_link_libraries(
pvt_lib
target_link_libraries(pvt_lib
rtklib_lib
gnss_sdr_flags
gnss_sp_libs

27
src/algorithms/PVT/libs/geojson_printer.cc
View File

@ -68,7 +68,7 @@ GeoJSON_Printer::GeoJSON_Printer(const std::string& base_path)
{
geojson_base_path = p.string();
}
if (geojson_base_path.compare(".") != 0)
if (geojson_base_path != ".")
{
std::cout << "GeoJSON files will be stored at " << geojson_base_path << std::endl;
}
@ -83,7 +83,7 @@ GeoJSON_Printer::~GeoJSON_Printer()
}
bool GeoJSON_Printer::set_headers(std::string filename, bool time_tag_name)
bool GeoJSON_Printer::set_headers(const std::string& filename, bool time_tag_name)
{
boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
tm timeinfo = boost::posix_time::to_tm(pt);
@ -140,29 +140,25 @@ bool GeoJSON_Printer::set_headers(std::string filename, bool time_tag_name)
DLOG(INFO) << "GeoJSON printer writing on " << filename.c_str();
// Set iostream numeric format and precision
geojson_file.setf(geojson_file.fixed, geojson_file.floatfield);
geojson_file.setf(geojson_file.std::ofstream::fixed, geojson_file.std::ofstream::floatfield);
geojson_file << std::setprecision(14);
// Writing the header
geojson_file << "{" << std::endl;
geojson_file << " \"type\": \"Feature\"," << std::endl;
geojson_file << R"( "type": "Feature",)" << std::endl;
geojson_file << " \"properties\": {" << std::endl;
geojson_file << " \"name\": \"Locations generated by GNSS-SDR\" " << std::endl;
geojson_file << R"( "name": "Locations generated by GNSS-SDR" )" << std::endl;
geojson_file << " }," << std::endl;
geojson_file << " \"geometry\": {" << std::endl;
geojson_file << " \"type\": \"MultiPoint\"," << std::endl;
geojson_file << R"( "type": "MultiPoint",)" << std::endl;
geojson_file << " \"coordinates\": [" << std::endl;
return true;
}
else
{
std::cout << "File " << filename_ << " cannot be saved. Wrong permissions?" << std::endl;
return false;
}
}
bool GeoJSON_Printer::print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values)
@ -171,7 +167,7 @@ bool GeoJSON_Printer::print_position(const std::shared_ptr<Pvt_Solution>& positi
double longitude;
double height;
std::shared_ptr<Pvt_Solution> position_ = position;
const std::shared_ptr<Pvt_Solution>& position_ = position;
if (print_average_values == false)
{
@ -200,11 +196,8 @@ bool GeoJSON_Printer::print_position(const std::shared_ptr<Pvt_Solution>& positi
}
return true;
}
else
{
return false;
}
}
bool GeoJSON_Printer::close_file()
@ -222,11 +215,7 @@ bool GeoJSON_Printer::close_file()
{
if (remove(filename_.c_str()) != 0) LOG(INFO) << "Error deleting temporary file";
}
return true;
}
else
{
return false;
}
}

2
src/algorithms/PVT/libs/geojson_printer.h
View File

@ -55,7 +55,7 @@ private:
public:
GeoJSON_Printer(const std::string& base_path = ".");
~GeoJSON_Printer();
bool set_headers(std::string filename, bool time_tag_name = true);
bool set_headers(const std::string& filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<Pvt_Solution>& position, bool print_average_values);
bool close_file();
};

21
src/algorithms/PVT/libs/gpx_printer.cc
View File

@ -70,7 +70,7 @@ Gpx_Printer::Gpx_Printer(const std::string& base_path)
{
gpx_base_path = p.string();
}
if (gpx_base_path.compare(".") != 0)
if (gpx_base_path != ".")
{
std::cout << "GPX files will be stored at " << gpx_base_path << std::endl;
}
@ -79,7 +79,7 @@ Gpx_Printer::Gpx_Printer(const std::string& base_path)
}
bool Gpx_Printer::set_headers(std::string filename, bool time_tag_name)
bool Gpx_Printer::set_headers(const std::string& filename, bool time_tag_name)
{
boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
tm timeinfo = boost::posix_time::to_tm(pt);
@ -134,10 +134,10 @@ bool Gpx_Printer::set_headers(std::string filename, bool time_tag_name)
{
DLOG(INFO) << "GPX printer writing on " << filename.c_str();
// Set iostream numeric format and precision
gpx_file.setf(gpx_file.fixed, gpx_file.floatfield);
gpx_file.setf(gpx_file.std::ofstream::fixed, gpx_file.std::ofstream::floatfield);
gpx_file << std::setprecision(14);
gpx_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
<< "<gpx version=\"1.1\" creator=\"GNSS-SDR\"" << std::endl
gpx_file << R"(<?xml version="1.0" encoding="UTF-8"?>)" << std::endl
<< R"(<gpx version="1.1" creator="GNSS-SDR")" << std::endl
<< indent << "xsi:schemaLocation=\"http://www.topografix.com/GPX/1/1 http://www.topografix.com/GPX/1/1/gpx.xsd http://www.garmin.com/xmlschemas/GpxExtensions/v3 http://www.garmin.com/xmlschemas/GpxExtensionsv3.xsd http://www.garmin.com/xmlschemas/TrackPointExtension/v2 http://www.garmin.com/xmlschemas/TrackPointExtensionv2.xsd\"" << std::endl
<< indent << "xmlns=\"http://www.topografix.com/GPX/1/1\"" << std::endl
<< indent << "xmlns:gpxx=\"http://www.garmin.com/xmlschemas/GpxExtensions/v3\"" << std::endl
@ -149,12 +149,9 @@ bool Gpx_Printer::set_headers(std::string filename, bool time_tag_name)
<< indent << indent << "<trkseg>" << std::endl;
return true;
}
else
{
std::cout << "File " << gpx_filename << " cannot be saved. Wrong permissions?" << std::endl;
return false;
}
}
bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values)
@ -164,7 +161,7 @@ bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
double height;
positions_printed = true;
std::shared_ptr<rtklib_solver> position_ = position;
const std::shared_ptr<rtklib_solver>& position_ = position;
double speed_over_ground = position_->get_speed_over_ground(); // expressed in m/s
double course_over_ground = position_->get_course_over_ground(); // expressed in deg
@ -201,11 +198,8 @@ bool Gpx_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
<< "</gpxtpx:TrackPointExtension></extensions></trkpt>" << std::endl;
return true;
}
else
{
return false;
}
}
bool Gpx_Printer::close_file()
@ -218,11 +212,8 @@ bool Gpx_Printer::close_file()
gpx_file.close();
return true;
}
else
{
return false;
}
}
Gpx_Printer::~Gpx_Printer()

2
src/algorithms/PVT/libs/gpx_printer.h
View File

@ -57,7 +57,7 @@ private:
public:
Gpx_Printer(const std::string& base_path = ".");
~Gpx_Printer();
bool set_headers(std::string filename, bool time_tag_name = true);
bool set_headers(const std::string& filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values);
bool close_file();
};

11
src/algorithms/PVT/libs/hybrid_ls_pvt.cc
View File

@ -30,11 +30,12 @@
*/
#include "hybrid_ls_pvt.h"
#include "Galileo_E1.h"
#include "GPS_L1_CA.h"
#include "GPS_L2C.h"
#include "Galileo_E1.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <glog/logging.h>
#include <utility>
using google::LogMessage;
@ -43,7 +44,7 @@ hybrid_ls_pvt::hybrid_ls_pvt(int nchannels, std::string dump_filename, bool flag
{
// init empty ephemeris for all the available GNSS channels
d_nchannels = nchannels;
d_dump_filename = dump_filename;
d_dump_filename = std::move(dump_filename);
d_flag_dump_enabled = flag_dump_to_file;
d_galileo_current_time = 0;
count_valid_position = 0;
@ -173,7 +174,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
{
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
std::string sig_(gnss_observables_iter->second.Signal);
if (sig_.compare("1C") == 0)
if (sig_ == "1C")
{
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.end())
@ -228,7 +229,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
DLOG(INFO) << "No ephemeris data for SV " << gnss_observables_iter->first;
}
}
if (sig_.compare("2S") == 0)
if (sig_ == "2S")
{
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.end())
@ -333,7 +334,7 @@ bool hybrid_ls_pvt::get_PVT(std::map<int, Gnss_Synchro> gnss_observables_map, do
}
// get time string Gregorian calendar
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>(utc * 1000.0));
boost::posix_time::time_duration t = boost::posix_time::milliseconds(static_cast<long>(utc * 1000.0)); // NOLINT(google-runtime-int)
// 22 August 1999 00:00 last Galileo start GST epoch (ICD sec 5.1.2)
boost::posix_time::ptime p_time(boost::gregorian::date(1999, 8, 22), t);
this->set_position_UTC_time(p_time);

8
src/algorithms/PVT/libs/hybrid_ls_pvt.h
View File

@ -32,12 +32,12 @@
#ifndef GNSS_SDR_HYBRID_LS_PVT_H_
#define GNSS_SDR_HYBRID_LS_PVT_H_
#include "ls_pvt.h"
#include "galileo_navigation_message.h"
#include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h"
#include "galileo_almanac.h"
#include "galileo_navigation_message.h"
#include "gnss_synchro.h"
#include "gps_cnav_navigation_message.h"
#include "gps_navigation_message.h"
#include "ls_pvt.h"
#include "rtklib_rtkcmn.h"
#include <fstream>
#include <map>

23
src/algorithms/PVT/libs/kml_printer.cc
View File

@ -70,7 +70,7 @@ Kml_Printer::Kml_Printer(const std::string& base_path)
{
kml_base_path = p.string();
}
if (kml_base_path.compare(".") != 0)
if (kml_base_path != ".")
{
std::cout << "KML files will be stored at " << kml_base_path << std::endl;
}
@ -87,7 +87,7 @@ Kml_Printer::Kml_Printer(const std::string& base_path)
}
bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
bool Kml_Printer::set_headers(const std::string& filename, bool time_tag_name)
{
boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
tm timeinfo = boost::posix_time::to_tm(pt);
@ -143,14 +143,14 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
{
DLOG(INFO) << "KML printer writing on " << filename.c_str();
// Set iostream numeric format and precision
kml_file.setf(kml_file.fixed, kml_file.floatfield);
kml_file.setf(kml_file.std::ofstream::fixed, kml_file.std::ofstream::floatfield);
kml_file << std::setprecision(14);
tmp_file.setf(tmp_file.fixed, tmp_file.floatfield);
tmp_file.setf(tmp_file.std::ofstream::fixed, tmp_file.std::ofstream::floatfield);
tmp_file << std::setprecision(14);
kml_file << "<?xml version=\"1.0\" encoding=\"UTF-8\"?>" << std::endl
<< "<kml xmlns=\"http://www.opengis.net/kml/2.2\" xmlns:gx=\"http://www.google.com/kml/ext/2.2\">" << std::endl
kml_file << R"(<?xml version="1.0" encoding="UTF-8"?>)" << std::endl
<< R"(<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:gx="http://www.google.com/kml/ext/2.2">)" << std::endl
<< indent << "<Document>" << std::endl
<< indent << indent << "<name>GNSS Track</name>" << std::endl
<< indent << indent << "<description><![CDATA[" << std::endl
@ -206,12 +206,9 @@ bool Kml_Printer::set_headers(std::string filename, bool time_tag_name)
return true;
}
else
{
std::cout << "File " << kml_filename << " cannot be saved. Wrong permissions?" << std::endl;
return false;
}
}
bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values)
@ -222,7 +219,7 @@ bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
positions_printed = true;
std::shared_ptr<rtklib_solver> position_ = position;
const std::shared_ptr<rtklib_solver>& position_ = position;
double speed_over_ground = position_->get_speed_over_ground(); // expressed in m/s
double course_over_ground = position_->get_course_over_ground(); // expressed in deg
@ -282,11 +279,8 @@ bool Kml_Printer::print_position(const std::shared_ptr<rtklib_solver>& position,
return true;
}
else
{
return false;
}
}
bool Kml_Printer::close_file()
@ -319,11 +313,8 @@ bool Kml_Printer::close_file()
return true;
}
else
{
return false;
}
}
Kml_Printer::~Kml_Printer()

2
src/algorithms/PVT/libs/kml_printer.h
View File

@ -60,7 +60,7 @@ private:
public:
Kml_Printer(const std::string& base_path = std::string("."));
~Kml_Printer();
bool set_headers(std::string filename, bool time_tag_name = true);
bool set_headers(const std::string& filename, bool time_tag_name = true);
bool print_position(const std::shared_ptr<rtklib_solver>& position, bool print_average_values);
bool close_file();
};

7
src/algorithms/PVT/libs/ls_pvt.cc
View File

@ -44,6 +44,7 @@ Ls_Pvt::Ls_Pvt() : Pvt_Solution()
{
}
arma::vec Ls_Pvt::bancroftPos(const arma::mat& satpos, const arma::vec& obs)
{
// BANCROFT Calculation of preliminary coordinates for a GPS receiver based on pseudoranges
@ -233,9 +234,9 @@ arma::vec Ls_Pvt::leastSquarePos(const arma::mat& satpos, const arma::vec& obs,
Rot_X = Ls_Pvt::rotateSatellite(traveltime, X.col(i)); //armadillo
//--- Find DOA and range of satellites
double* azim = 0;
double* elev = 0;
double* dist = 0;
double* azim = nullptr;
double* elev = nullptr;
double* dist = nullptr;
topocent(azim, elev, dist, pos.subvec(0, 2), Rot_X - pos.subvec(0, 2));
if (traveltime < 0.1 && nmbOfSatellites > 3)

22
src/algorithms/PVT/libs/nmea_printer.cc
View File

@ -1,5 +1,5 @@
/*!
* \file kml_printer.cc
* \file nmea_printer.cc
* \brief Implementation of a NMEA 2.1 printer for GNSS-SDR
* This class provides a implementation of a subset of the NMEA-0183 standard for interfacing
* marine electronic devices as defined by the National Marine Electronics Association (NMEA).
@ -48,7 +48,7 @@
using google::LogMessage;
Nmea_Printer::Nmea_Printer(std::string filename, bool flag_nmea_output_file, bool flag_nmea_tty_port, std::string nmea_dump_devname, const std::string& base_path)
Nmea_Printer::Nmea_Printer(const std::string& filename, bool flag_nmea_output_file, bool flag_nmea_tty_port, std::string nmea_dump_devname, const std::string& base_path)
{
nmea_base_path = base_path;
d_flag_nmea_output_file = flag_nmea_output_file;
@ -79,7 +79,7 @@ Nmea_Printer::Nmea_Printer(std::string filename, bool flag_nmea_output_file, boo
nmea_base_path = p.string();
}
if ((nmea_base_path.compare(".") != 0) and (d_flag_nmea_output_file == true))
if ((nmea_base_path != ".") and (d_flag_nmea_output_file == true))
{
std::cout << "NMEA files will be stored at " << nmea_base_path << std::endl;
}
@ -99,10 +99,10 @@ Nmea_Printer::Nmea_Printer(std::string filename, bool flag_nmea_output_file, boo
}
}
nmea_devname = nmea_dump_devname;
nmea_devname = std::move(nmea_dump_devname);
if (flag_nmea_tty_port == true)
{
nmea_dev_descriptor = init_serial(nmea_devname.c_str());
nmea_dev_descriptor = init_serial(nmea_devname);
if (nmea_dev_descriptor != -1)
{
DLOG(INFO) << "NMEA printer writing on " << nmea_devname.c_str();
@ -126,20 +126,22 @@ Nmea_Printer::~Nmea_Printer()
}
int Nmea_Printer::init_serial(std::string serial_device)
int Nmea_Printer::init_serial(const std::string& serial_device)
{
/*!
* Opens the serial device and sets the default baud rate for a NMEA transmission (9600,8,N,1)
*/
int fd = 0;
struct termios options;
struct termios options
{
};
int64_t BAUD;
int64_t DATABITS;
int64_t STOPBITS;
int64_t PARITYON;
int64_t PARITY;
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY | O_CLOEXEC);
if (fd == -1) return fd; // failed to open TTY port
if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O
@ -246,9 +248,9 @@ char Nmea_Printer::checkSum(std::string sentence)
{
char check = 0;
// iterate over the string, XOR each byte with the total sum:
for (unsigned int c = 0; c < sentence.length(); c++)
for (char c : sentence)
{
check = char(check ^ sentence.at(c));
check = char(check ^ c);
}
// return the result
return check;

6
src/algorithms/PVT/libs/nmea_printer.h
View File

@ -53,12 +53,12 @@ public:
/*!
* \brief Default constructor.
*/
Nmea_Printer(std::string filename, bool flag_nmea_output_file, bool flag_nmea_tty_port, std::string nmea_dump_filename, const std::string& base_path = ".");
Nmea_Printer(const std::string& filename, bool flag_nmea_output_file, bool flag_nmea_tty_port, std::string nmea_dump_devname, const std::string& base_path = ".");
/*!
* \brief Print NMEA PVT and satellite info to the initialized device
*/
bool Print_Nmea_Line(const std::shared_ptr<rtklib_solver>& position, bool print_average_values);
bool Print_Nmea_Line(const std::shared_ptr<rtklib_solver>& pvt_data, bool print_average_values);
/*!
* \brief Default destructor.
@ -72,7 +72,7 @@ private:
std::string nmea_devname;
int nmea_dev_descriptor; // NMEA serial device descriptor (i.e. COM port)
std::shared_ptr<rtklib_solver> d_PVT_data;
int init_serial(std::string serial_device); //serial port control
int init_serial(const std::string& serial_device); //serial port control
void close_serial();
std::string get_GPGGA(); // fix data
std::string get_GPGSV(); // satellite data

2
src/algorithms/PVT/libs/pvt_conf.h
View File

@ -33,8 +33,8 @@
#include <cstddef>
#include <cstdint>
#include <string>
#include <map>
#include <string>
class Pvt_Conf
{

2
src/algorithms/PVT/libs/pvt_solution.cc
View File

@ -188,7 +188,7 @@ int Pvt_Solution::tropo(double *ddr_m, double sinel, double hsta_km, double p_mb
double b;
double rtop;
while (1)
while (true)
{
rtop = pow((a_e + htop), 2) - pow((a_e + hsta_km), 2) * (1 - pow(sinel, 2));

2
src/algorithms/PVT/libs/pvt_solution.h
View File

@ -33,9 +33,9 @@
#define GNSS_SDR_PVT_SOLUTION_H_
#include <armadillo>
#include <boost/date_time/posix_time/posix_time.hpp>
#include <deque>
#include <armadillo>
const unsigned int PVT_MAX_CHANNELS = 90;
const unsigned int PVT_MAX_PRN = 127; // 126 is SBAS

574
src/algorithms/PVT/libs/rinex_printer.cc
View File

File diff suppressed because it is too large Load Diff

46
src/algorithms/PVT/libs/rinex_printer.h
View File

@ -51,21 +51,21 @@
#ifndef GNSS_SDR_RINEX_PRINTER_H_
#define GNSS_SDR_RINEX_PRINTER_H_
#include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h"
#include "galileo_navigation_message.h"
#include "glonass_gnav_navigation_message.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "GLONASS_L1_L2_CA.h"
#include "galileo_navigation_message.h"
#include "glonass_gnav_navigation_message.h"
#include "gnss_synchro.h"
#include "gps_cnav_navigation_message.h"
#include "gps_navigation_message.h"
#include <boost/date_time/posix_time/posix_time.hpp>
#include <cstdint>
#include <string>
#include <fstream>
#include <sstream> // for stringstream
#include <iomanip> // for setprecision
#include <map>
#include <sstream> // for stringstream
#include <string>
class Sbas_Raw_Msg;
@ -146,52 +146,52 @@ public:
/*!
* \brief Generates the GPS L2 Observation data header
*/
void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& eph, const double d_TOW_first_observation, const std::string gps_bands = "2S");
void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& eph, const double d_TOW_first_observation, const std::string& gps_bands = "2S");
/*!
* \brief Generates the dual frequency GPS L1 & L2/L5 Observation data header
*/
void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, const double d_TOW_first_observation, const std::string gps_bands = "1C 2S");
void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& eph, const Gps_CNAV_Ephemeris& eph_cnav, const double d_TOW_first_observation, const std::string& gps_bands = "1C 2S");
/*!
* \brief Generates the Galileo Observation data header. Example: bands("1B"), bands("1B 5X"), bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands = "1B");
void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& eph, const double d_TOW_first_observation, const std::string& bands = "1B");
/*!
* \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B");
void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation, const std::string& galileo_bands = "1B");
/*!
* \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& eph_cnav, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation, const std::string gps_bands = "1C 2S", const std::string galileo_bands = "1B");
void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Gps_CNAV_Ephemeris& eph_cnav, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation, const std::string& gps_bands = "1C 2S", const std::string& galileo_bands = "1B");
/*!
* \brief Generates the Mixed (GPS/Galileo) Observation data header. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& eph_cnav, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation, const std::string gps_bands = "2S", const std::string galileo_bands = "1B");
void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& eph_cnav, const Galileo_Ephemeris& galileo_eph, const double d_TOW_first_observation, const std::string& gps_bands = "2S", const std::string& galileo_bands = "1B");
/*!
* \brief Generates the GLONASS GNAV Observation data header. Example: bands("1C"), bands("1C 2C"), bands("2C"), ... Default: "1C".
*/
void rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string bands = "1G");
void rinex_obs_header(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, const double d_TOW_first_observation, const std::string& bands = "1G");
/*!
* \brief Generates the Mixed (GPS L1 C/A /GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1C");
void rinex_obs_header(std::fstream& out, const Gps_Ephemeris& gps_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& glo_bands = "1C");
/*!
* \brief Generates the Mixed (Galileo/GLONASS) Observation data header. Example: galileo_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string galileo_bands = "1B", const std::string glo_bands = "1C");
void rinex_obs_header(std::fstream& out, const Galileo_Ephemeris& galileo_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& galileo_bands = "1B", const std::string& glo_bands = "1C");
/*!
* \brief Generates the Mixed (GPS L2C/GLONASS) Observation data header. Example: galileo_bands("1G")... Default: "1G".
*/
void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string glo_bands = "1G");
void rinex_obs_header(std::fstream& out, const Gps_CNAV_Ephemeris& gps_cnav_eph, const Glonass_Gnav_Ephemeris& glonass_gnav_eph, const double d_TOW_first_observation, const std::string& glo_bands = "1G");
/*!
* \brief Generates the SBAS raw data header
@ -297,7 +297,7 @@ public:
/*!
* \brief Writes Galileo observables into the RINEX file. Example: galileo_bands("1B"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string galileo_bands = "1B");
void log_rinex_obs(std::fstream& out, const Galileo_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string& galileo_bands = "1B");
/*!
* \brief Writes Mixed GPS / Galileo observables into the RINEX file
@ -317,7 +317,7 @@ public:
/*!
* \brief Writes GLONASS GNAV observables into the RINEX file. Example: glonass_bands("1C"), galileo_bands("1B 5X"), galileo_bands("5X"), ... Default: "1B".
*/
void log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string glonass_bands = "1C");
void log_rinex_obs(std::fstream& out, const Glonass_Gnav_Ephemeris& eph, double obs_time, const std::map<int32_t, Gnss_Synchro>& observables, const std::string& glonass_bands = "1C");
/*!
* \brief Writes Mixed GPS L1 C/A - GLONASS observables into the RINEX file
@ -406,7 +406,7 @@ private:
* "RINEX_FILE_TYPE_SBAS" - SBAS broadcast data file.
* "RINEX_FILE_TYPE_CLK" - Clock file.
*/
std::string createFilename(std::string type);
std::string createFilename(const std::string& type);
/*
* Generates the data for the PGM / RUN BY / DATE line
@ -547,7 +547,7 @@ private:
*/
inline double asDouble(const std::string& s)
{
return strtod(s.c_str(), 0);
return strtod(s.c_str(), nullptr);
}
@ -560,7 +560,7 @@ private:
*/
inline int64_t asInt(const std::string& s)
{
return strtol(s.c_str(), 0, 10);
return strtol(s.c_str(), nullptr, 10);
}
@ -796,7 +796,7 @@ inline std::string Rinex_Printer::asFixWidthString(const int x, const int width,
inline int64_t asInt(const std::string& s)
{
return strtol(s.c_str(), 0, 10);
return strtol(s.c_str(), nullptr, 10);
}

26
src/algorithms/PVT/libs/rtcm_printer.cc
View File

@ -37,15 +37,17 @@
#include <boost/filesystem/path.hpp> // for path, operator<<
#include <boost/filesystem/path_traits.hpp> // for filesystem
#include <glog/logging.h>
#include <iomanip>
#include <cstdint>
#include <fcntl.h> // for O_RDWR
#include <iomanip>
#include <termios.h> // for tcgetattr
#include <utility>
using google::LogMessage;
Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_file_dump, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, std::string rtcm_dump_devname, bool time_tag_name, const std::string& base_path)
Rtcm_Printer::Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, const std::string& rtcm_dump_devname, bool time_tag_name, const std::string& base_path)
{
boost::posix_time::ptime pt = boost::posix_time::second_clock::local_time();
tm timeinfo = boost::posix_time::to_tm(pt);
@ -77,7 +79,7 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_file_dump, bool
{
rtcm_base_path = p.string();
}
if (rtcm_base_path.compare(".") != 0)
if (rtcm_base_path != ".")
{
std::cout << "RTCM binary file will be stored at " << rtcm_base_path << std::endl;
}
@ -141,7 +143,7 @@ Rtcm_Printer::Rtcm_Printer(std::string filename, bool flag_rtcm_file_dump, bool
}
}
rtcm_devname = rtcm_dump_devname;
rtcm_devname = std::move(rtcm_dump_devname);
if (flag_rtcm_tty_port == true)
{
rtcm_dev_descriptor = init_serial(rtcm_devname.c_str());
@ -186,7 +188,7 @@ Rtcm_Printer::~Rtcm_Printer()
}
if (rtcm_file_descriptor.is_open())
{
long pos;
int64_t pos;
pos = rtcm_file_descriptor.tellp();
rtcm_file_descriptor.close();
if (pos == 0)
@ -337,20 +339,20 @@ bool Rtcm_Printer::Print_Rtcm_MSM(uint32_t msm_number, const Gps_Ephemeris& gps_
}
int Rtcm_Printer::init_serial(std::string serial_device)
int Rtcm_Printer::init_serial(const std::string& serial_device)
{
/*
* Opens the serial device and sets the default baud rate for a RTCM transmission (9600,8,N,1)
*/
int32_t fd = 0;
struct termios options;
long BAUD;
long DATABITS;
long STOPBITS;
long PARITYON;
long PARITY;
int64_t BAUD;
int64_t DATABITS;
int64_t STOPBITS;
int64_t PARITYON;
int64_t PARITY;
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY);
fd = open(serial_device.c_str(), O_RDWR | O_NOCTTY | O_NDELAY | O_CLOEXEC);
if (fd == -1) return fd; // failed to open TTY port
if (fcntl(fd, F_SETFL, 0) == -1) LOG(INFO) << "Error enabling direct I/O"; // clear all flags on descriptor, enable direct I/O

4
src/algorithms/PVT/libs/rtcm_printer.h
View File

@ -48,7 +48,7 @@ public:
/*!
* \brief Default constructor.
*/
Rtcm_Printer(std::string filename, bool flag_rtcm_file_dump, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, std::string rtcm_dump_filename, bool time_tag_name = true, const std::string& base_path = ".");
Rtcm_Printer(const std::string& filename, bool flag_rtcm_file_dump, bool flag_rtcm_server, bool flag_rtcm_tty_port, uint16_t rtcm_tcp_port, uint16_t rtcm_station_id, const std::string& rtcm_dump_filename, bool time_tag_name = true, const std::string& base_path = ".");
/*!
* \brief Default destructor.
@ -149,7 +149,7 @@ private:
uint16_t port;
uint16_t station_id;
int32_t rtcm_dev_descriptor; // RTCM serial device descriptor (i.e. COM port)
int32_t init_serial(std::string serial_device); //serial port control
int32_t init_serial(const std::string& serial_device); //serial port control
void close_serial();
std::shared_ptr<Rtcm> rtcm;
bool Print_Message(const std::string& message);

123
src/algorithms/PVT/libs/rtklib_solver.cc
View File

@ -52,33 +52,34 @@
* -----------------------------------------------------------------------*/
#include "rtklib_solver.h"
#include "rtklib_conversions.h"
#include "rtklib_solution.h"
#include "GLONASS_L1_L2_CA.h"
#include "GPS_L1_CA.h"
#include "Galileo_E1.h"
#include "GLONASS_L1_L2_CA.h"
#include <matio.h>
#include "rtklib_conversions.h"
#include "rtklib_solution.h"
#include <glog/logging.h>
#include <matio.h>
#include <utility>
using google::LogMessage;
rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, rtk_t &rtk)
rtklib_solver::rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t &rtk)
{
// init empty ephemeris for all the available GNSS channels
d_nchannels = nchannels;
d_dump_filename = dump_filename;
d_dump_filename = std::move(dump_filename);
d_flag_dump_enabled = flag_dump_to_file;
d_flag_dump_mat_enabled = flag_dump_to_mat;
count_valid_position = 0;
this->set_averaging_flag(false);
rtk_ = rtk;
for (unsigned int i = 0; i < 4; i++) dop_[i] = 0.0;
for (double &i : dop_) i = 0.0;
pvt_sol = {{0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, {0, 0, 0, 0, 0, 0}, '0', '0', '0', 0, 0, 0};
ssat_t ssat0 = {0, 0, {0.0}, {0.0}, {0.0}, {'0'}, {'0'}, {'0'}, {'0'}, {'0'}, {}, {}, {}, {}, 0.0, 0.0, 0.0, 0.0, {{{0, 0}}, {{0, 0}}}, {{}, {}}};
for (unsigned int i = 0; i < MAXSAT; i++)
for (auto &i : pvt_ssat)
{
pvt_ssat[i] = ssat0;
i = ssat0;
}
// ############# ENABLE DATA FILE LOG #################
if (d_flag_dump_enabled == true)
@ -137,34 +138,34 @@ bool rtklib_solver::save_matfile()
return false;
}
uint32_t *TOW_at_current_symbol_ms = new uint32_t[num_epoch];
uint32_t *week = new uint32_t[num_epoch];
double *RX_time = new double[num_epoch];
double *user_clk_offset = new double[num_epoch];
double *pos_x = new double[num_epoch];
double *pos_y = new double[num_epoch];
double *pos_z = new double[num_epoch];
double *vel_x = new double[num_epoch];
double *vel_y = new double[num_epoch];
double *vel_z = new double[num_epoch];
double *cov_xx = new double[num_epoch];
double *cov_yy = new double[num_epoch];
double *cov_zz = new double[num_epoch];
double *cov_xy = new double[num_epoch];
double *cov_yz = new double[num_epoch];
double *cov_zx = new double[num_epoch];
double *latitude = new double[num_epoch];
double *longitude = new double[num_epoch];
double *height = new double[num_epoch];
uint8_t *valid_sats = new uint8_t[num_epoch];
uint8_t *solution_status = new uint8_t[num_epoch];
uint8_t *solution_type = new uint8_t[num_epoch];
float *AR_ratio_factor = new float[num_epoch];
float *AR_ratio_threshold = new float[num_epoch];
double *gdop = new double[num_epoch];
double *pdop = new double[num_epoch];
double *hdop = new double[num_epoch];
double *vdop = new double[num_epoch];
auto *TOW_at_current_symbol_ms = new uint32_t[num_epoch];
auto *week = new uint32_t[num_epoch];
auto *RX_time = new double[num_epoch];
auto *user_clk_offset = new double[num_epoch];
auto *pos_x = new double[num_epoch];
auto *pos_y = new double[num_epoch];
auto *pos_z = new double[num_epoch];
auto *vel_x = new double[num_epoch];
auto *vel_y = new double[num_epoch];
auto *vel_z = new double[num_epoch];
auto *cov_xx = new double[num_epoch];
auto *cov_yy = new double[num_epoch];
auto *cov_zz = new double[num_epoch];
auto *cov_xy = new double[num_epoch];
auto *cov_yz = new double[num_epoch];
auto *cov_zx = new double[num_epoch];
auto *latitude = new double[num_epoch];
auto *longitude = new double[num_epoch];
auto *height = new double[num_epoch];
auto *valid_sats = new uint8_t[num_epoch];
auto *solution_status = new uint8_t[num_epoch];
auto *solution_type = new uint8_t[num_epoch];
auto *AR_ratio_factor = new float[num_epoch];
auto *AR_ratio_threshold = new float[num_epoch];
auto *gdop = new double[num_epoch];
auto *pdop = new double[num_epoch];
auto *hdop = new double[num_epoch];
auto *vdop = new double[num_epoch];
try
{
@ -245,8 +246,8 @@ bool rtklib_solver::save_matfile()
std::string filename = dump_filename;
filename.erase(filename.length() - 4, 4);
filename.append(".mat");
matfp = Mat_CreateVer(filename.c_str(), NULL, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != NULL)
matfp = Mat_CreateVer(filename.c_str(), nullptr, MAT_FT_MAT73);
if (reinterpret_cast<int64_t *>(matfp) != nullptr)
{
size_t dims[2] = {1, static_cast<size_t>(num_epoch)};
matvar = Mat_VarCreate("TOW_at_current_symbol_ms", MAT_C_UINT32, MAT_T_UINT32, 2, dims, TOW_at_current_symbol_ms, 0);
@ -473,11 +474,11 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
case 'G':
{
std::string sig_(gnss_observables_iter->second.Signal);
if (sig_.compare("1C") == 0)
if (sig_ == "1C")
{
band1 = true;
}
if (sig_.compare("2S") == 0)
if (sig_ == "2S")
{
band2 = true;
}
@ -500,7 +501,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
std::string sig_(gnss_observables_iter->second.Signal);
// Galileo E1
if (sig_.compare("1B") == 0)
if (sig_ == "1B")
{
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -523,7 +524,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
// Galileo E5
if (sig_.compare("5X") == 0)
if (sig_ == "5X")
{
// 1 Gal - find the ephemeris for the current GALILEO SV observation. The SV PRN ID is the map key
galileo_ephemeris_iter = galileo_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -548,7 +549,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(galileo_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
@ -571,7 +572,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// GPS L1
// 1 GPS - find the ephemeris for the current GPS SV observation. The SV PRN ID is the map key
std::string sig_(gnss_observables_iter->second.Signal);
if (sig_.compare("1C") == 0)
if (sig_ == "1C")
{
gps_ephemeris_iter = gps_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_ephemeris_iter != gps_ephemeris_map.cend())
@ -592,7 +593,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
}
// GPS L2 (todo: solve NAV/CNAV clash)
if ((sig_.compare("2S") == 0) and (gps_dual_band == false))
if ((sig_ == "2S") and (gps_dual_band == false))
{
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
@ -624,7 +625,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
@ -641,7 +642,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
}
// GPS L5
if (sig_.compare("L5") == 0)
if (sig_ == "L5")
{
gps_cnav_ephemeris_iter = gps_cnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
if (gps_cnav_ephemeris_iter != gps_cnav_ephemeris_map.cend())
@ -671,7 +672,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
// convert ephemeris from GNSS-SDR class to RTKLIB structure
eph_data[valid_obs] = eph_to_rtklib(gps_cnav_ephemeris_iter->second);
// convert observation from GNSS-SDR class to RTKLIB structure
unsigned char default_code_ = static_cast<unsigned char>(CODE_NONE);
auto default_code_ = static_cast<unsigned char>(CODE_NONE);
obsd_t newobs = {{0, 0}, '0', '0', {}, {},
{default_code_, default_code_, default_code_},
{}, {0.0, 0.0, 0.0}, {}};
@ -693,7 +694,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
{
std::string sig_(gnss_observables_iter->second.Signal);
// GLONASS GNAV L1
if (sig_.compare("1G") == 0)
if (sig_ == "1G")
{
// 1 Glo - find the ephemeris for the current GLONASS SV observation. The SV Slot Number (PRN ID) is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -715,7 +716,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
}
}
// GLONASS GNAV L2
if (sig_.compare("2G") == 0)
if (sig_ == "2G")
{
// 1 GLONASS - find the ephemeris for the current GLONASS SV observation. The SV PRN ID is the map key
glonass_gnav_ephemeris_iter = glonass_gnav_ephemeris_map.find(gnss_observables_iter->second.PRN);
@ -775,11 +776,11 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
nav_data.n = valid_obs;
nav_data.ng = glo_valid_obs;
for (int i = 0; i < MAXSAT; i++)
for (auto &i : nav_data.lam)
{
nav_data.lam[i][0] = SPEED_OF_LIGHT / FREQ1; // L1/E1
nav_data.lam[i][1] = SPEED_OF_LIGHT / FREQ2; // L2
nav_data.lam[i][2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
i[0] = SPEED_OF_LIGHT / FREQ1; // L1/E1
i[1] = SPEED_OF_LIGHT / FREQ2; // L2
i[2] = SPEED_OF_LIGHT / FREQ5; // L5/E5
}
result = rtkpos(&rtk_, obs_data, valid_obs + glo_valid_obs, &nav_data);
@ -809,17 +810,17 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
std::vector<double> azel;
azel.reserve(used_sats * 2);
unsigned int index_aux = 0;
for (unsigned int i = 0; i < MAXSAT; i++)
for (auto &i : rtk_.ssat)
{
if (rtk_.ssat[i].vs == 1)
if (i.vs == 1)
{
azel[2 * index_aux] = rtk_.ssat[i].azel[0];
azel[2 * index_aux + 1] = rtk_.ssat[i].azel[1];
azel[2 * index_aux] = i.azel[0];
azel[2 * index_aux + 1] = i.azel[1];
index_aux++;
}
}
if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_);
if (index_aux > 0) dops(index_aux, azel.data(), 0.0, dop_.data());
this->set_valid_position(true);
arma::vec rx_position_and_time(4);
rx_position_and_time(0) = pvt_sol.rr[0]; // [m]
@ -866,7 +867,7 @@ bool rtklib_solver::get_PVT(const std::map<int, Gnss_Synchro> &gnss_observables_
gtime_t rtklib_time = gpst2time(adjgpsweek(nav_data.eph[0].week), gnss_observables_map.begin()->second.RX_time);
gtime_t rtklib_utc_time = gpst2utc(rtklib_time);
p_time = boost::posix_time::from_time_t(rtklib_utc_time.time);
p_time += boost::posix_time::microseconds(static_cast<long>(round(rtklib_utc_time.sec * 1e6)));
p_time += boost::posix_time::microseconds(static_cast<long>(round(rtklib_utc_time.sec * 1e6))); // NOLINT(google-runtime-int)
this->set_position_UTC_time(p_time);
cart2geo(static_cast<double>(rx_position_and_time(0)), static_cast<double>(rx_position_and_time(1)), static_cast<double>(rx_position_and_time(2)), 4);

17
src/algorithms/PVT/libs/rtklib_solver.h
View File

@ -55,14 +55,15 @@
#define GNSS_SDR_RTKLIB_SOLVER_H_
#include "rtklib_rtkpos.h"
#include "galileo_navigation_message.h"
#include "gps_navigation_message.h"
#include "gps_cnav_navigation_message.h"
#include "glonass_gnav_navigation_message.h"
#include "galileo_almanac.h"
#include "galileo_navigation_message.h"
#include "glonass_gnav_navigation_message.h"
#include "gnss_synchro.h"
#include "gps_cnav_navigation_message.h"
#include "gps_navigation_message.h"
#include "pvt_solution.h"
#include "rtklib_rtkpos.h"
#include <array>
#include <fstream>
#include <map>
#include <string>
@ -82,12 +83,12 @@ private:
bool d_flag_dump_enabled;
bool d_flag_dump_mat_enabled;
int d_nchannels; // Number of available channels for positioning
double dop_[4];
std::array<double, 4> dop_;
public:
sol_t pvt_sol;
ssat_t pvt_ssat[MAXSAT];
rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, rtk_t& rtk);
rtklib_solver(int nchannels, std::string dump_filename, bool flag_dump_to_file, bool flag_dump_to_mat, const rtk_t& rtk);
~rtklib_solver();
bool get_PVT(const std::map<int, Gnss_Synchro>& gnss_observables_map, bool flag_averaging);
@ -99,7 +100,7 @@ public:
std::map<int, Galileo_Ephemeris> galileo_ephemeris_map; //!< Map storing new Galileo_Ephemeris
std::map<int, Gps_Ephemeris> gps_ephemeris_map; //!< Map storing new GPS_Ephemeris
std::map<int, Gps_CNAV_Ephemeris> gps_cnav_ephemeris_map; //!< Map storing new GPS_CNAV_Ephemeris
std::map<int, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephmeris
std::map<int, Glonass_Gnav_Ephemeris> glonass_gnav_ephemeris_map; //!< Map storing new GLONASS GNAV Ephemeris
Galileo_Utc_Model galileo_utc_model;
Galileo_Iono galileo_iono;

63
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.cc
View File

@ -30,22 +30,23 @@
*/
#include "galileo_e1_pcps_8ms_ambiguous_acquisition.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h"
#include "configuration_interface.h"
#include "galileo_e1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
void GalileoE1Pcps8msAmbiguousAcquisition::stop_acquisition()
{
}
GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
@ -56,7 +57,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
item_type_ = configuration_->property(role + ".item_type",
default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
@ -86,7 +87,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
code_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
acquisition_cc_ = galileo_pcps_8ms_make_acquisition_cc(sampled_ms_, max_dwells_,
@ -107,7 +108,7 @@ GalileoE1Pcps8msAmbiguousAcquisition::GalileoE1Pcps8msAmbiguousAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -125,10 +126,15 @@ GalileoE1Pcps8msAmbiguousAcquisition::~GalileoE1Pcps8msAmbiguousAcquisition()
}
void GalileoE1Pcps8msAmbiguousAcquisition::stop_acquisition()
{
}
void GalileoE1Pcps8msAmbiguousAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_channel(channel_);
}
@ -137,7 +143,7 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_channel(unsigned int channel)
void GalileoE1Pcps8msAmbiguousAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
@ -152,7 +158,7 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_threshold(float threshold)
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_threshold(threshold_);
}
@ -163,7 +169,7 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_doppler_max(unsigned int doppler_
{
doppler_max_ = doppler_max;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_max(doppler_max_);
}
@ -173,7 +179,7 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_doppler_max(unsigned int doppler_
void GalileoE1Pcps8msAmbiguousAcquisition::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_step(doppler_step_);
}
@ -184,7 +190,7 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_gnss_synchro(
Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
}
@ -193,15 +199,12 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_gnss_synchro(
signed int GalileoE1Pcps8msAmbiguousAcquisition::mag()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_cc_->mag();
}
else
{
return 0;
}
}
void GalileoE1Pcps8msAmbiguousAcquisition::init()
@ -213,12 +216,12 @@ void GalileoE1Pcps8msAmbiguousAcquisition::init()
void GalileoE1Pcps8msAmbiguousAcquisition::set_local_code()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
"Acquisition" + std::to_string(channel_) + ".cboc", false);
std::complex<float>* code = new std::complex<float>[code_length_];
auto* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
@ -238,7 +241,7 @@ void GalileoE1Pcps8msAmbiguousAcquisition::set_local_code()
void GalileoE1Pcps8msAmbiguousAcquisition::reset()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_active(true);
}
@ -257,9 +260,9 @@ float GalileoE1Pcps8msAmbiguousAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
auto lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
@ -267,7 +270,7 @@ float GalileoE1Pcps8msAmbiguousAcquisition::calculate_threshold(float pfa)
void GalileoE1Pcps8msAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
}
@ -276,7 +279,7 @@ void GalileoE1Pcps8msAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
void GalileoE1Pcps8msAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
}

10
src/algorithms/acquisition/adapters/galileo_e1_pcps_8ms_ambiguous_acquisition.h
View File

@ -32,9 +32,9 @@
#ifndef GNSS_SDR_GALILEO_E1_PCPS_8MS_AMBIGUOUS_ACQUISITION_H_
#define GNSS_SDR_GALILEO_E1_PCPS_8MS_AMBIGUOUS_ACQUISITION_H_
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "galileo_pcps_8ms_acquisition_cc.h"
#include "gnss_synchro.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <string>
@ -48,7 +48,8 @@ class GalileoE1Pcps8msAmbiguousAcquisition : public AcquisitionInterface
{
public:
GalileoE1Pcps8msAmbiguousAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1Pcps8msAmbiguousAcquisition();
@ -130,6 +131,9 @@ public:
void set_state(int state __attribute__((unused))) override{};
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
galileo_pcps_8ms_acquisition_cc_sptr acquisition_cc_;
@ -144,7 +148,7 @@ private:
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
long fs_in_;
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;

161
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.cc
View File

@ -30,27 +30,26 @@
*/
#include "galileo_e1_pcps_ambiguous_acquisition.h"
#include "Galileo_E1.h"
#include "acq_conf.h"
#include "configuration_interface.h"
#include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h"
#include "gnss_sdr_flags.h"
#include "acq_conf.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
void GalileoE1PcpsAmbiguousAcquisition::stop_acquisition()
{
}
GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters;
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
@ -59,43 +58,69 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
acq_parameters_.fs_in = fs_in_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
acq_parameters.ms_per_code = 4;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters.ms_per_code);
acq_parameters.sampled_ms = sampled_ms_;
if ((acq_parameters.sampled_ms % acq_parameters.ms_per_code) != 0)
acq_parameters_.doppler_max = doppler_max_;
acq_parameters_.ms_per_code = 4;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters_.ms_per_code);
acq_parameters_.sampled_ms = sampled_ms_;
if ((acq_parameters_.sampled_ms % acq_parameters_.ms_per_code) != 0)
{
LOG(WARNING) << "Parameter coherent_integration_time_ms should be a multiple of 4. Setting it to 4";
acq_parameters.sampled_ms = acq_parameters.ms_per_code;
acq_parameters_.sampled_ms = acq_parameters_.ms_per_code;
}
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acquire_pilot_ = configuration_->property(role + ".acquire_pilot", false); //will be true in future versions
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
acq_parameters_.max_dwells = max_dwells_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
acq_parameters_.blocking = blocking_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "Galileo E1 acqisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > Galileo_E1_OPT_ACQ_FS_HZ)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / Galileo_E1_OPT_ACQ_FS_HZ);
uint32_t decimation = acq_parameters_.fs_in / Galileo_E1_OPT_ACQ_FS_HZ;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
//--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
//--- Find number of samples per spreading code (4 ms) -----------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E1_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
}
float samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.samples_per_ms = samples_per_ms;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(Galileo_E1_CODE_PERIOD_MS);
vector_length_ = sampled_ms_ * samples_per_ms;
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(Galileo_E1_CODE_PERIOD_MS);
vector_length_ = sampled_ms_ * acq_parameters_.samples_per_ms;
if (bit_transition_flag_)
{
vector_length_ *= 2;
@ -103,7 +128,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0)
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
@ -111,15 +136,15 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
{
item_size_ = sizeof(gr_complex);
}
acq_parameters.it_size = item_size_;
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
acq_parameters_.it_size = item_size_;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
if (item_type_.compare("cbyte") == 0)
if (item_type_ == "cbyte")
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
float_to_complex_ = gr::blocks::float_to_complex::make();
@ -128,7 +153,7 @@ GalileoE1PcpsAmbiguousAcquisition::GalileoE1PcpsAmbiguousAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -146,6 +171,11 @@ GalileoE1PcpsAmbiguousAcquisition::~GalileoE1PcpsAmbiguousAcquisition()
}
void GalileoE1PcpsAmbiguousAcquisition::stop_acquisition()
{
}
void GalileoE1PcpsAmbiguousAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
@ -155,7 +185,7 @@ void GalileoE1PcpsAmbiguousAcquisition::set_channel(unsigned int channel)
void GalileoE1PcpsAmbiguousAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
@ -214,22 +244,38 @@ void GalileoE1PcpsAmbiguousAcquisition::init()
void GalileoE1PcpsAmbiguousAcquisition::set_local_code()
{
bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
"Acquisition" + std::to_string(channel_) + ".cboc", false);
std::complex<float>* code = new std::complex<float>[code_length_];
auto* code = new std::complex<float>[code_length_];
if (acquire_pilot_ == true)
{
//set local signal generator to Galileo E1 pilot component (1C)
char pilot_signal[3] = "1C";
if (acq_parameters_.use_automatic_resampler)
{
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false);
}
else
{
galileo_e1_code_gen_complex_sampled(code, pilot_signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
}
}
else
{
if (acq_parameters_.use_automatic_resampler)
{
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0, false);
}
else
{
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
}
}
for (unsigned int i = 0; i < sampled_ms_ / 4; i++)
@ -267,9 +313,9 @@ float GalileoE1PcpsAmbiguousAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
auto lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
@ -277,15 +323,15 @@ float GalileoE1PcpsAmbiguousAcquisition::calculate_threshold(float pfa)
void GalileoE1PcpsAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to connect
}
else if (item_type_.compare("cbyte") == 0)
else if (item_type_ == "cbyte")
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
@ -302,15 +348,15 @@ void GalileoE1PcpsAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
void GalileoE1PcpsAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to disconnect
}
else if (item_type_.compare("cbyte") == 0)
else if (item_type_ == "cbyte")
{
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
@ -325,27 +371,30 @@ void GalileoE1PcpsAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_left_block()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_;
}
else if (item_type_.compare("cshort") == 0)
if (item_type_ == "cshort")
{
return acquisition_;
}
else if (item_type_.compare("cbyte") == 0)
if (item_type_ == "cbyte")
{
return cbyte_to_float_x2_;
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
return nullptr;
}
}
gr::basic_block_sptr GalileoE1PcpsAmbiguousAcquisition::get_right_block()
{
return acquisition_;
}
void GalileoE1PcpsAmbiguousAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);
}

16
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition.h
View File

@ -32,10 +32,11 @@
#ifndef GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_H_
#define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_H_
#include "acq_conf.h"
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
@ -51,7 +52,8 @@ class GalileoE1PcpsAmbiguousAcquisition : public AcquisitionInterface
{
public:
GalileoE1PcpsAmbiguousAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1PcpsAmbiguousAcquisition();
@ -136,8 +138,16 @@ public:
*/
void stop_acquisition() override;
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
Acq_Conf acq_parameters_;
pcps_acquisition_sptr acquisition_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
@ -154,7 +164,7 @@ private:
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
long fs_in_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;

34
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.cc
View File

@ -30,9 +30,9 @@
*/
#include "galileo_e1_pcps_ambiguous_acquisition_fpga.h"
#include "Galileo_E1.h"
#include "configuration_interface.h"
#include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h"
#include "gnss_sdr_flags.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
@ -41,13 +41,14 @@
using google::LogMessage;
void GalileoE1PcpsAmbiguousAcquisitionFpga::stop_acquisition()
{
}
GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
//printf("top acq constructor start\n");
pcpsconf_fpga_t acq_parameters;
@ -59,8 +60,8 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
long fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in;
//if_ = configuration_->property(role + ".if", 0);
//acq_parameters.freq = if_;
@ -88,7 +89,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
// acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code (4 ms) -----------------
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (Galileo_E1_CODE_CHIP_RATE_HZ / Galileo_E1_B_CODE_LENGTH_CHIPS)));
//acq_parameters.samples_per_code = code_length_;
//int samples_per_ms = static_cast<int>(std::round(static_cast<double>(fs_in_) * 0.001));
//acq_parameters.samples_per_ms = samples_per_ms;
@ -119,9 +120,9 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// compute all the GALILEO E1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E1_NUMBER_OF_CODES]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
@ -173,7 +174,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
// // fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0, 0));
code[s] = std::complex<float>(0.0, 0.0);
//code[s] = 0;
}
@ -296,7 +297,7 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::GalileoE1PcpsAmbiguousAcquisitionFpga(
channel_ = 0;
//threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
//printf("top acq constructor end\n");
}
@ -310,6 +311,11 @@ GalileoE1PcpsAmbiguousAcquisitionFpga::~GalileoE1PcpsAmbiguousAcquisitionFpga()
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::stop_acquisition()
{
}
void GalileoE1PcpsAmbiguousAcquisitionFpga::set_channel(unsigned int channel)
{
//printf("top acq set channel start\n");

9
src/algorithms/acquisition/adapters/galileo_e1_pcps_ambiguous_acquisition_fpga.h
View File

@ -33,11 +33,11 @@
#define GNSS_SDR_GALILEO_E1_PCPS_AMBIGUOUS_ACQUISITION_FPGA_H_
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fpga.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <gnuradio/blocks/float_to_complex.h>
#include <gnuradio/blocks/stream_to_vector.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
@ -52,7 +52,8 @@ class GalileoE1PcpsAmbiguousAcquisitionFpga : public AcquisitionInterface
{
public:
GalileoE1PcpsAmbiguousAcquisitionFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1PcpsAmbiguousAcquisitionFpga();
@ -141,6 +142,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
//pcps_acquisition_sptr acquisition_;

56
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.cc
View File

@ -30,23 +30,23 @@
*/
#include "galileo_e1_pcps_cccwsr_ambiguous_acquisition.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h"
#include "configuration_interface.h"
#include "galileo_e1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
void GalileoE1PcpsCccwsrAmbiguousAcquisition::stop_acquisition()
{
}
GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
@ -56,7 +56,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
@ -88,7 +88,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
code_data_ = new gr_complex[vector_length_];
code_pilot_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_cccwsr_make_acquisition_cc(sampled_ms_, max_dwells_,
@ -109,7 +109,7 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::GalileoE1PcpsCccwsrAmbiguousAcquisition
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -128,10 +128,15 @@ GalileoE1PcpsCccwsrAmbiguousAcquisition::~GalileoE1PcpsCccwsrAmbiguousAcquisitio
}
void GalileoE1PcpsCccwsrAmbiguousAcquisition::stop_acquisition()
{
}
void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_channel(channel_);
}
@ -140,7 +145,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_channel(unsigned int channel)
void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_threshold(float threshold)
{
// float pfa = configuration_->property(role_+ boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
// float pfa = configuration_->property(role_+ std::to_string(channel_) + ".pfa", 0.0);
// if(pfa==0.0) pfa = configuration_->property(role_+".pfa", 0.0);
@ -157,7 +162,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_threshold(float threshold)
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_threshold(threshold_);
}
@ -168,7 +173,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_doppler_max(unsigned int doppl
{
doppler_max_ = doppler_max;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_max(doppler_max_);
}
@ -178,7 +183,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_doppler_max(unsigned int doppl
void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_step(doppler_step_);
}
@ -188,7 +193,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_gnss_synchro(
Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
}
@ -197,15 +202,12 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_gnss_synchro(
signed int GalileoE1PcpsCccwsrAmbiguousAcquisition::mag()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_cc_->mag();
}
else
{
return 0;
}
}
void GalileoE1PcpsCccwsrAmbiguousAcquisition::init()
@ -217,10 +219,10 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::init()
void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_local_code()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
"Acquisition" + std::to_string(channel_) + ".cboc", false);
char signal[3];
@ -241,7 +243,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::set_local_code()
void GalileoE1PcpsCccwsrAmbiguousAcquisition::reset()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_active(true);
}
@ -264,7 +266,7 @@ float GalileoE1PcpsCccwsrAmbiguousAcquisition::calculate_threshold(float pfa)
void GalileoE1PcpsCccwsrAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
}
@ -273,7 +275,7 @@ void GalileoE1PcpsCccwsrAmbiguousAcquisition::connect(gr::top_block_sptr top_blo
void GalileoE1PcpsCccwsrAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
}

9
src/algorithms/acquisition/adapters/galileo_e1_pcps_cccwsr_ambiguous_acquisition.h
View File

@ -32,8 +32,8 @@
#ifndef GNSS_SDR_GALILEO_E1_PCPS_CCCWSR_AMBIGUOUS_ACQUISITION_H_
#define GNSS_SDR_GALILEO_E1_PCPS_CCCWSR_AMBIGUOUS_ACQUISITION_H_
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_cccwsr_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <string>
@ -48,7 +48,8 @@ class GalileoE1PcpsCccwsrAmbiguousAcquisition : public AcquisitionInterface
{
public:
GalileoE1PcpsCccwsrAmbiguousAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1PcpsCccwsrAmbiguousAcquisition();
@ -130,6 +131,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_cccwsr_acquisition_cc_sptr acquisition_cc_;
@ -145,7 +148,7 @@ private:
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
long fs_in_;
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_data_;

64
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.cc
View File

@ -30,23 +30,23 @@
*/
#include "galileo_e1_pcps_quicksync_ambiguous_acquisition.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h"
#include "configuration_interface.h"
#include "galileo_e1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::stop_acquisition()
{
}
GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
@ -57,7 +57,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
item_type_ = configuration_->property(role + ".item_type",
default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
@ -119,7 +119,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
<< ", Folding factor: " << folding_factor_
<< ", Sampled ms: " << sampled_ms_
<< ", Code Length: " << code_length_;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_,
@ -142,7 +142,7 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::GalileoE1PcpsQuickSyncAmbiguousAcqui
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -160,10 +160,15 @@ GalileoE1PcpsQuickSyncAmbiguousAcquisition::~GalileoE1PcpsQuickSyncAmbiguousAcqu
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::stop_acquisition()
{
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_channel(channel_);
}
@ -172,7 +177,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_channel(unsigned int channe
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
@ -187,7 +192,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_threshold(float threshold)
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_threshold(threshold_);
}
@ -198,7 +203,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int do
{
doppler_max_ = doppler_max;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_max(doppler_max_);
}
@ -208,7 +213,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_max(unsigned int do
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_step(doppler_step_);
}
@ -218,7 +223,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_gnss_synchro(
Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
}
@ -228,15 +233,12 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_gnss_synchro(
signed int
GalileoE1PcpsQuickSyncAmbiguousAcquisition::mag()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_cc_->mag();
}
else
{
return 0;
}
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::init()
@ -248,12 +250,12 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::init()
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
"Acquisition" + std::to_string(channel_) + ".cboc", false);
std::complex<float>* code = new std::complex<float>[code_length_];
auto* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
@ -269,14 +271,14 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_local_code()
acquisition_cc_->set_local_code(code_);
delete[] code;
code = NULL;
code = nullptr;
}
}
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_active(true);
}
@ -284,7 +286,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::reset()
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::set_state(int state)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_state(state);
}
@ -306,7 +308,7 @@ float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa)
double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(code_length_) / static_cast<double>(folding_factor_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
@ -314,7 +316,7 @@ float GalileoE1PcpsQuickSyncAmbiguousAcquisition::calculate_threshold(float pfa)
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
}
@ -323,7 +325,7 @@ void GalileoE1PcpsQuickSyncAmbiguousAcquisition::connect(gr::top_block_sptr top_
void GalileoE1PcpsQuickSyncAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
}

9
src/algorithms/acquisition/adapters/galileo_e1_pcps_quicksync_ambiguous_acquisition.h
View File

@ -32,8 +32,8 @@
#ifndef GNSS_SDR_GALILEO_E1_PCPS_QUICKSYNC_AMBIGUOUS_ACQUISITION_H_
#define GNSS_SDR_GALILEO_E1_PCPS_QUICKSYNC_AMBIGUOUS_ACQUISITION_H_
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_quicksync_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <string>
@ -49,7 +49,8 @@ class GalileoE1PcpsQuickSyncAmbiguousAcquisition : public AcquisitionInterface
{
public:
GalileoE1PcpsQuickSyncAmbiguousAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1PcpsQuickSyncAmbiguousAcquisition();
@ -134,6 +135,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_quicksync_acquisition_cc_sptr acquisition_cc_;
@ -150,7 +153,7 @@ private:
unsigned int sampled_ms_;
unsigned int max_dwells_;
unsigned int folding_factor_;
long fs_in_;
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;

62
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.cc
View File

@ -30,23 +30,23 @@
*/
#include "galileo_e1_pcps_tong_ambiguous_acquisition.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include "galileo_e1_signal_processing.h"
#include "Galileo_E1.h"
#include "configuration_interface.h"
#include "galileo_e1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
void GalileoE1PcpsTongAmbiguousAcquisition::stop_acquisition()
{
}
GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
@ -57,7 +57,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
item_type_ = configuration_->property(role + ".item_type",
default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 4000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
@ -90,7 +90,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
code_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_tong_make_acquisition_cc(sampled_ms_, doppler_max_,
@ -112,7 +112,7 @@ GalileoE1PcpsTongAmbiguousAcquisition::GalileoE1PcpsTongAmbiguousAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -130,10 +130,15 @@ GalileoE1PcpsTongAmbiguousAcquisition::~GalileoE1PcpsTongAmbiguousAcquisition()
}
void GalileoE1PcpsTongAmbiguousAcquisition::stop_acquisition()
{
}
void GalileoE1PcpsTongAmbiguousAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_channel(channel_);
}
@ -142,7 +147,7 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_channel(unsigned int channel)
void GalileoE1PcpsTongAmbiguousAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
@ -157,7 +162,7 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_threshold(float threshold)
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_threshold(threshold_);
}
@ -168,7 +173,7 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_doppler_max(unsigned int doppler
{
doppler_max_ = doppler_max;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_max(doppler_max_);
}
@ -178,7 +183,7 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_doppler_max(unsigned int doppler
void GalileoE1PcpsTongAmbiguousAcquisition::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_step(doppler_step_);
}
@ -189,7 +194,7 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_gnss_synchro(
Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
}
@ -198,15 +203,12 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_gnss_synchro(
signed int GalileoE1PcpsTongAmbiguousAcquisition::mag()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_cc_->mag();
}
else
{
return 0;
}
}
void GalileoE1PcpsTongAmbiguousAcquisition::init()
@ -218,12 +220,12 @@ void GalileoE1PcpsTongAmbiguousAcquisition::init()
void GalileoE1PcpsTongAmbiguousAcquisition::set_local_code()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
bool cboc = configuration_->property(
"Acquisition" + boost::lexical_cast<std::string>(channel_) + ".cboc", false);
"Acquisition" + std::to_string(channel_) + ".cboc", false);
std::complex<float>* code = new std::complex<float>[code_length_];
auto* code = new std::complex<float>[code_length_];
galileo_e1_code_gen_complex_sampled(code, gnss_synchro_->Signal,
cboc, gnss_synchro_->PRN, fs_in_, 0, false);
@ -243,7 +245,7 @@ void GalileoE1PcpsTongAmbiguousAcquisition::set_local_code()
void GalileoE1PcpsTongAmbiguousAcquisition::reset()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_active(true);
}
@ -268,9 +270,9 @@ float GalileoE1PcpsTongAmbiguousAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
auto lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
@ -278,7 +280,7 @@ float GalileoE1PcpsTongAmbiguousAcquisition::calculate_threshold(float pfa)
void GalileoE1PcpsTongAmbiguousAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
}
@ -287,7 +289,7 @@ void GalileoE1PcpsTongAmbiguousAcquisition::connect(gr::top_block_sptr top_block
void GalileoE1PcpsTongAmbiguousAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
}

9
src/algorithms/acquisition/adapters/galileo_e1_pcps_tong_ambiguous_acquisition.h
View File

@ -32,8 +32,8 @@
#ifndef GNSS_SDR_GALILEO_E1_PCPS_TONG_AMBIGUOUS_ACQUISITION_H_
#define GNSS_SDR_GALILEO_E1_PCPS_TONG_AMBIGUOUS_ACQUISITION_H_
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_tong_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <string>
@ -48,7 +48,8 @@ class GalileoE1PcpsTongAmbiguousAcquisition : public AcquisitionInterface
{
public:
GalileoE1PcpsTongAmbiguousAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE1PcpsTongAmbiguousAcquisition();
@ -133,6 +134,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_tong_acquisition_cc_sptr acquisition_cc_;
@ -149,7 +152,7 @@ private:
unsigned int tong_init_val_;
unsigned int tong_max_val_;
unsigned int tong_max_dwells_;
long fs_in_;
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;

58
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.cc
View File

@ -36,23 +36,23 @@
*/
#include "galileo_e5a_noncoherent_iq_acquisition_caf.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include "galileo_e5_signal_processing.h"
#include "Galileo_E5a.h"
#include "configuration_interface.h"
#include "galileo_e5_signal_processing.h"
#include "gnss_sdr_flags.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
void GalileoE5aNoncoherentIQAcquisitionCaf::stop_acquisition()
{
}
GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
@ -62,7 +62,7 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
@ -101,7 +101,7 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
{
both_signal_components = true;
}
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
acquisition_cc_ = galileo_e5a_noncoherentIQ_make_acquisition_caf_cc(sampled_ms_, max_dwells_,
@ -117,7 +117,7 @@ GalileoE5aNoncoherentIQAcquisitionCaf::GalileoE5aNoncoherentIQAcquisitionCaf(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -136,10 +136,15 @@ GalileoE5aNoncoherentIQAcquisitionCaf::~GalileoE5aNoncoherentIQAcquisitionCaf()
}
void GalileoE5aNoncoherentIQAcquisitionCaf::stop_acquisition()
{
}
void GalileoE5aNoncoherentIQAcquisitionCaf::set_channel(unsigned int channel)
{
channel_ = channel;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_channel(channel_);
}
@ -148,7 +153,7 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_channel(unsigned int channel)
void GalileoE5aNoncoherentIQAcquisitionCaf::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0) pfa = configuration_->property(role_ + ".pfa", 0.0);
@ -163,7 +168,7 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_threshold(float threshold)
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_threshold(threshold_);
}
@ -174,7 +179,7 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_doppler_max(unsigned int doppler
{
doppler_max_ = doppler_max;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_max(doppler_max_);
}
@ -184,7 +189,7 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_doppler_max(unsigned int doppler
void GalileoE5aNoncoherentIQAcquisitionCaf::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_step(doppler_step_);
}
@ -195,7 +200,7 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_gnss_synchro(
Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
}
@ -204,15 +209,12 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_gnss_synchro(
signed int GalileoE5aNoncoherentIQAcquisitionCaf::mag()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_cc_->mag();
}
else
{
return 0;
}
}
void GalileoE5aNoncoherentIQAcquisitionCaf::init()
@ -224,10 +226,10 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::init()
void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
std::complex<float>* codeI = new std::complex<float>[code_length_];
std::complex<float>* codeQ = new std::complex<float>[code_length_];
auto* codeI = new std::complex<float>[code_length_];
auto* codeQ = new std::complex<float>[code_length_];
if (gnss_synchro_->Signal[0] == '5' && gnss_synchro_->Signal[1] == 'X')
{
@ -281,7 +283,7 @@ void GalileoE5aNoncoherentIQAcquisitionCaf::set_local_code()
void GalileoE5aNoncoherentIQAcquisitionCaf::reset()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_active(true);
}
@ -300,9 +302,9 @@ float GalileoE5aNoncoherentIQAcquisitionCaf::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
auto lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}

9
src/algorithms/acquisition/adapters/galileo_e5a_noncoherent_iq_acquisition_caf.h
View File

@ -38,9 +38,9 @@
#ifndef GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_H_
#define GALILEO_E5A_NONCOHERENT_IQ_ACQUISITION_CAF_H_
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "galileo_e5a_noncoherent_iq_acquisition_caf_cc.h"
#include "gnss_synchro.h"
#include <string>
class ConfigurationInterface;
@ -49,7 +49,8 @@ class GalileoE5aNoncoherentIQAcquisitionCaf : public AcquisitionInterface
{
public:
GalileoE5aNoncoherentIQAcquisitionCaf(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE5aNoncoherentIQAcquisitionCaf();
@ -136,6 +137,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
galileo_e5a_noncoherentIQ_acquisition_caf_cc_sptr acquisition_cc_;
@ -150,7 +153,7 @@ private:
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
long fs_in_;
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
int Zero_padding;

130
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.cc
View File

@ -29,12 +29,11 @@
*/
#include "galileo_e5a_pcps_acquisition.h"
#include "Galileo_E5a.h"
#include "acq_conf.h"
#include "configuration_interface.h"
#include "galileo_e5_signal_processing.h"
#include "Galileo_E5a.h"
#include "gnss_sdr_flags.h"
#include "acq_conf.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr_complex.h>
@ -42,14 +41,14 @@
using google::LogMessage;
void GalileoE5aPcpsAcquisition::stop_acquisition()
{
}
GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
@ -58,10 +57,9 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
acq_parameters_.fs_in = fs_in_;
acq_pilot_ = configuration_->property(role + ".acquire_pilot", false);
acq_iq_ = configuration_->property(role + ".acquire_iq", false);
if (acq_iq_)
@ -69,33 +67,69 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
acq_pilot_ = false;
}
dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
acq_parameters_.doppler_max = doppler_max_;
sampled_ms_ = 1;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
acq_parameters_.dump_filename = dump_filename_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_ = configuration_->property(role + ".use_CFAR_algorithm", false);
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_;
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_;
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
acq_parameters_.blocking = blocking_;
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "Galileo E5a acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > Galileo_E5a_OPT_ACQ_FS_HZ)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / Galileo_E5a_OPT_ACQ_FS_HZ);
uint32_t decimation = acq_parameters_.fs_in / Galileo_E5a_OPT_ACQ_FS_HZ;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
acq_parameters_.resampled_fs = fs_in_;
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (Galileo_E5a_CODE_CHIP_RATE_HZ / Galileo_E5a_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / Galileo_E5a_CODE_CHIP_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
}
//--- Find number of samples per spreading code (1ms)-------------------------
code_length_ = static_cast<unsigned int>(std::round(static_cast<double>(fs_in_) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
vector_length_ = code_length_ * sampled_ms_;
code_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
@ -104,21 +138,20 @@ GalileoE5aPcpsAcquisition::GalileoE5aPcpsAcquisition(ConfigurationInterface* con
item_size_ = sizeof(gr_complex);
LOG(WARNING) << item_type_ << " unknown acquisition item type";
}
acq_parameters.it_size = item_size_;
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters.ms_per_code = 1;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GALILEO_E5a_CODE_PERIOD_MS);
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
acq_parameters_.it_size = item_size_;
acq_parameters_.sampled_ms = sampled_ms_;
acq_parameters_.ms_per_code = 1;
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GALILEO_E5a_CODE_PERIOD_MS);
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters_);
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -136,6 +169,11 @@ GalileoE5aPcpsAcquisition::~GalileoE5aPcpsAcquisition()
}
void GalileoE5aPcpsAcquisition::stop_acquisition()
{
}
void GalileoE5aPcpsAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
@ -145,7 +183,7 @@ void GalileoE5aPcpsAcquisition::set_channel(unsigned int channel)
void GalileoE5aPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0)
{
@ -203,7 +241,7 @@ void GalileoE5aPcpsAcquisition::init()
void GalileoE5aPcpsAcquisition::set_local_code()
{
gr_complex* code = new gr_complex[code_length_];
auto* code = new gr_complex[code_length_];
char signal_[3];
if (acq_iq_)
@ -219,7 +257,14 @@ void GalileoE5aPcpsAcquisition::set_local_code()
strcpy(signal_, "5I");
}
if (acq_parameters_.use_automatic_resampler)
{
galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
}
else
{
galileo_e5_a_code_gen_complex_sampled(code, signal_, gnss_synchro_->PRN, fs_in_, 0);
}
for (unsigned int i = 0; i < sampled_ms_; i++)
{
@ -248,9 +293,9 @@ float GalileoE5aPcpsAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
auto lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
@ -264,11 +309,11 @@ void GalileoE5aPcpsAcquisition::set_state(int state)
void GalileoE5aPcpsAcquisition::connect(gr::top_block_sptr top_block __attribute__((unused)))
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to connect
}
@ -281,11 +326,11 @@ void GalileoE5aPcpsAcquisition::connect(gr::top_block_sptr top_block __attribute
void GalileoE5aPcpsAcquisition::disconnect(gr::top_block_sptr top_block __attribute__((unused)))
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to disconnect
}
@ -306,3 +351,8 @@ gr::basic_block_sptr GalileoE5aPcpsAcquisition::get_right_block()
{
return acquisition_;
}
void GalileoE5aPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);
}

13
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition.h
View File

@ -43,7 +43,8 @@ class GalileoE5aPcpsAcquisition : public AcquisitionInterface
{
public:
GalileoE5aPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE5aPcpsAcquisition();
@ -127,13 +128,19 @@ public:
*/
void stop_acquisition() override;
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
float calculate_threshold(float pfa);
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
Acq_Conf acq_parameters_;
size_t item_size_;
std::string item_type_;
@ -157,7 +164,7 @@ private:
unsigned int in_streams_;
unsigned int out_streams_;
long fs_in_;
int64_t fs_in_;
float threshold_;

35
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.cc
View File

@ -29,11 +29,10 @@
*/
#include "galileo_e5a_pcps_acquisition_fpga.h"
#include "Galileo_E5a.h"
#include "configuration_interface.h"
#include "galileo_e5_signal_processing.h"
#include "Galileo_E5a.h"
#include "gnss_sdr_flags.h"
#include <boost/lexical_cast.hpp>
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include <volk_gnsssdr/volk_gnsssdr_complex.h>
@ -41,12 +40,13 @@
using google::LogMessage;
void GalileoE5aPcpsAcquisitionFpga::stop_acquisition()
{
}
GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
//printf("creating the E5A acquisition");
pcpsconf_fpga_t acq_parameters;
@ -58,8 +58,8 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
//item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
long fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 32000000);
int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in;
//acq_parameters.freq = 0;
@ -89,7 +89,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
acq_pilot_ = false;
}
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / Galileo_E5a_CODE_CHIP_RATE_HZ * static_cast<double>(Galileo_E5a_CODE_LENGTH_CHIPS)));
acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length));
@ -108,9 +108,9 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
// compute all the GALILEO E5 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
auto* fft_if = new gr::fft::fft_complex(nsamples_total, true); // Direct FFT
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * Galileo_E5a_NUMBER_OF_CODES]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
@ -141,7 +141,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0, 0));
code[s] = std::complex<float>(0.0, 0.0);
//code[s] = 0;
}
@ -209,7 +209,7 @@ GalileoE5aPcpsAcquisitionFpga::GalileoE5aPcpsAcquisitionFpga(ConfigurationInterf
channel_ = 0;
//threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
//printf("creating the E5A acquisition end");
}
@ -221,6 +221,11 @@ GalileoE5aPcpsAcquisitionFpga::~GalileoE5aPcpsAcquisitionFpga()
}
void GalileoE5aPcpsAcquisitionFpga::stop_acquisition()
{
}
void GalileoE5aPcpsAcquisitionFpga::set_channel(unsigned int channel)
{
channel_ = channel;
@ -231,7 +236,7 @@ void GalileoE5aPcpsAcquisitionFpga::set_channel(unsigned int channel)
void GalileoE5aPcpsAcquisitionFpga::set_threshold(float threshold)
{
// float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
// float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
//
// if (pfa == 0.0)
// {

7
src/algorithms/acquisition/adapters/galileo_e5a_pcps_acquisition_fpga.h
View File

@ -45,7 +45,8 @@ class GalileoE5aPcpsAcquisitionFpga : public AcquisitionInterface
{
public:
GalileoE5aPcpsAcquisitionFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GalileoE5aPcpsAcquisitionFpga();
@ -129,6 +130,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
//float calculate_threshold(float pfa);
@ -160,7 +163,7 @@ private:
unsigned int in_streams_;
unsigned int out_streams_;
long fs_in_;
int64_t fs_in_;
float threshold_;

56
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.cc
View File

@ -32,24 +32,25 @@
*/
#include "glonass_l1_ca_pcps_acquisition.h"
#include "GLONASS_L1_L2_CA.h"
#include "acq_conf.h"
#include "configuration_interface.h"
#include "glonass_l1_signal_processing.h"
#include "gnss_sdr_flags.h"
#include "acq_conf.h"
#include "GLONASS_L1_L2_CA.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
void GlonassL1CaPcpsAcquisition::stop_acquisition()
{
}
GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
@ -60,7 +61,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil(GLONASS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters.fs_in)));
@ -94,7 +95,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0)
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
@ -114,7 +115,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
acquisition_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
if (item_type_.compare("cbyte") == 0)
if (item_type_ == "cbyte")
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
float_to_complex_ = gr::blocks::float_to_complex::make();
@ -123,7 +124,7 @@ GlonassL1CaPcpsAcquisition::GlonassL1CaPcpsAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -141,6 +142,11 @@ GlonassL1CaPcpsAcquisition::~GlonassL1CaPcpsAcquisition()
}
void GlonassL1CaPcpsAcquisition::stop_acquisition()
{
}
void GlonassL1CaPcpsAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
@ -207,7 +213,7 @@ void GlonassL1CaPcpsAcquisition::init()
void GlonassL1CaPcpsAcquisition::set_local_code()
{
std::complex<float>* code = new std::complex<float>[code_length_];
auto* code = new std::complex<float>[code_length_];
glonass_l1_ca_code_gen_complex_sampled(code, /* gnss_synchro_->PRN,*/ fs_in_, 0);
@ -251,9 +257,9 @@ float GlonassL1CaPcpsAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(vector_length_);
auto lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
@ -261,15 +267,15 @@ float GlonassL1CaPcpsAcquisition::calculate_threshold(float pfa)
void GlonassL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to connect
}
else if (item_type_.compare("cbyte") == 0)
else if (item_type_ == "cbyte")
{
top_block->connect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->connect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
@ -284,15 +290,15 @@ void GlonassL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
void GlonassL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to disconnect
}
else if (item_type_.compare("cbyte") == 0)
else if (item_type_ == "cbyte")
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
@ -309,24 +315,22 @@ void GlonassL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_left_block()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_;
}
else if (item_type_.compare("cshort") == 0)
if (item_type_ == "cshort")
{
return acquisition_;
}
else if (item_type_.compare("cbyte") == 0)
if (item_type_ == "cbyte")
{
return cbyte_to_float_x2_;
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
return nullptr;
}
}
gr::basic_block_sptr GlonassL1CaPcpsAcquisition::get_right_block()

9
src/algorithms/acquisition/adapters/glonass_l1_ca_pcps_acquisition.h
View File

@ -35,9 +35,9 @@
#define GNSS_SDR_GLONASS_L1_CA_PCPS_ACQUISITION_H_
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <string>
@ -51,7 +51,8 @@ class GlonassL1CaPcpsAcquisition : public AcquisitionInterface
{
public:
GlonassL1CaPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GlonassL1CaPcpsAcquisition();
@ -136,6 +137,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
@ -153,7 +156,7 @@ private:
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
long fs_in_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;

56
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.cc
View File

@ -31,24 +31,25 @@
*/
#include "glonass_l2_ca_pcps_acquisition.h"
#include "GLONASS_L1_L2_CA.h"
#include "acq_conf.h"
#include "configuration_interface.h"
#include "glonass_l2_signal_processing.h"
#include "GLONASS_L1_L2_CA.h"
#include "gnss_sdr_flags.h"
#include "acq_conf.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
void GlonassL2CaPcpsAcquisition::stop_acquisition()
{
}
GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
@ -59,7 +60,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil(GLONASS_L2_CA_CHIP_PERIOD * static_cast<float>(acq_parameters.fs_in)));
@ -93,7 +94,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0)
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
@ -113,7 +114,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
acquisition_ = pcps_make_acquisition(acq_parameters);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
if (item_type_.compare("cbyte") == 0)
if (item_type_ == "cbyte")
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
float_to_complex_ = gr::blocks::float_to_complex::make();
@ -122,7 +123,7 @@ GlonassL2CaPcpsAcquisition::GlonassL2CaPcpsAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -140,6 +141,11 @@ GlonassL2CaPcpsAcquisition::~GlonassL2CaPcpsAcquisition()
}
void GlonassL2CaPcpsAcquisition::stop_acquisition()
{
}
void GlonassL2CaPcpsAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
@ -206,7 +212,7 @@ void GlonassL2CaPcpsAcquisition::init()
void GlonassL2CaPcpsAcquisition::set_local_code()
{
std::complex<float>* code = new std::complex<float>[code_length_];
auto* code = new std::complex<float>[code_length_];
glonass_l2_ca_code_gen_complex_sampled(code, /* gnss_synchro_->PRN,*/ fs_in_, 0);
@ -250,9 +256,9 @@ float GlonassL2CaPcpsAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(vector_length_);
auto lambda = static_cast<double>(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
@ -260,15 +266,15 @@ float GlonassL2CaPcpsAcquisition::calculate_threshold(float pfa)
void GlonassL2CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to connect
}
else if (item_type_.compare("cbyte") == 0)
else if (item_type_ == "cbyte")
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
@ -285,15 +291,15 @@ void GlonassL2CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
void GlonassL2CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to disconnect
}
else if (item_type_.compare("cbyte") == 0)
else if (item_type_ == "cbyte")
{
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
@ -308,24 +314,22 @@ void GlonassL2CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GlonassL2CaPcpsAcquisition::get_left_block()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_;
}
else if (item_type_.compare("cshort") == 0)
if (item_type_ == "cshort")
{
return acquisition_;
}
else if (item_type_.compare("cbyte") == 0)
if (item_type_ == "cbyte")
{
return cbyte_to_float_x2_;
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
return nullptr;
}
}
gr::basic_block_sptr GlonassL2CaPcpsAcquisition::get_right_block()

9
src/algorithms/acquisition/adapters/glonass_l2_ca_pcps_acquisition.h
View File

@ -34,9 +34,9 @@
#define GNSS_SDR_GLONASS_L2_CA_PCPS_ACQUISITION_H_
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <string>
@ -50,7 +50,8 @@ class GlonassL2CaPcpsAcquisition : public AcquisitionInterface
{
public:
GlonassL2CaPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GlonassL2CaPcpsAcquisition();
@ -135,6 +136,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
@ -152,7 +155,7 @@ private:
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
long fs_in_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;

142
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.cc
View File

@ -34,26 +34,26 @@
*/
#include "gps_l1_ca_pcps_acquisition.h"
#include "configuration_interface.h"
#include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h"
#include "gnss_sdr_flags.h"
#include "acq_conf.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
void GpsL1CaPcpsAcquisition::stop_acquisition()
{
}
GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
@ -61,41 +61,69 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters.fs_in)));
acq_parameters_.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
acq_parameters_.blocking = blocking_;
doppler_max_ = configuration_->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
acq_parameters_.doppler_max = doppler_max_;
sampled_ms_ = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms_;
acq_parameters.ms_per_code = 1;
acq_parameters_.sampled_ms = sampled_ms_;
acq_parameters_.ms_per_code = 1;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "GPS L1 CA acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > GPS_L1_CA_OPT_ACQ_FS_HZ)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GPS_L1_CA_OPT_ACQ_FS_HZ);
uint32_t decimation = acq_parameters_.fs_in / GPS_L1_CA_OPT_ACQ_FS_HZ;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
acq_parameters_.resampled_fs = fs_in_;
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GPS_L1_CA_CODE_PERIOD * 1000.0);
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters_.fs_in)));
}
vector_length_ = std::floor(acq_parameters.sampled_ms * acq_parameters.samples_per_ms) * (acq_parameters.bit_transition_flag ? 2 : 1);
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L1_CA_CODE_PERIOD * 1000.0);
vector_length_ = std::floor(acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms) * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0)
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
@ -104,12 +132,12 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
item_size_ = sizeof(gr_complex);
}
acq_parameters.it_size = item_size_;
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
acq_parameters_.it_size = item_size_;
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
if (item_type_.compare("cbyte") == 0)
if (item_type_ == "cbyte")
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
float_to_complex_ = gr::blocks::float_to_complex::make();
@ -118,7 +146,7 @@ GpsL1CaPcpsAcquisition::GpsL1CaPcpsAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -136,6 +164,11 @@ GpsL1CaPcpsAcquisition::~GpsL1CaPcpsAcquisition()
}
void GpsL1CaPcpsAcquisition::stop_acquisition()
{
}
void GpsL1CaPcpsAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
@ -200,10 +233,16 @@ void GpsL1CaPcpsAcquisition::init()
void GpsL1CaPcpsAcquisition::set_local_code()
{
std::complex<float>* code = new std::complex<float>[code_length_];
auto* code = new std::complex<float>[code_length_];
if (acq_parameters_.use_automatic_resampler)
{
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs, 0);
}
else
{
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
}
for (unsigned int i = 0; i < sampled_ms_; i++)
{
memcpy(&(code_[i * code_length_]), code,
@ -239,9 +278,9 @@ float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
auto lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
@ -249,15 +288,15 @@ float GpsL1CaPcpsAcquisition::calculate_threshold(float pfa)
void GpsL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to connect
}
else if (item_type_.compare("cbyte") == 0)
else if (item_type_ == "cbyte")
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
@ -274,15 +313,15 @@ void GpsL1CaPcpsAcquisition::connect(gr::top_block_sptr top_block)
void GpsL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to disconnect
}
else if (item_type_.compare("cbyte") == 0)
else if (item_type_ == "cbyte")
{
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
@ -297,27 +336,30 @@ void GpsL1CaPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_left_block()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_;
}
else if (item_type_.compare("cshort") == 0)
if (item_type_ == "cshort")
{
return acquisition_;
}
else if (item_type_.compare("cbyte") == 0)
if (item_type_ == "cbyte")
{
return cbyte_to_float_x2_;
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
return nullptr;
}
}
gr::basic_block_sptr GpsL1CaPcpsAcquisition::get_right_block()
{
return acquisition_;
}
void GpsL1CaPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);
}

16
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition.h
View File

@ -36,10 +36,11 @@
#ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_
#define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_H_
#include "acq_conf.h"
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
@ -55,7 +56,8 @@ class GpsL1CaPcpsAcquisition : public AcquisitionInterface
{
public:
GpsL1CaPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsAcquisition();
@ -140,9 +142,17 @@ public:
*/
void stop_acquisition() override;
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
Acq_Conf acq_parameters_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;
@ -157,7 +167,7 @@ private:
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
long fs_in_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;

26
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.cc
View File

@ -33,22 +33,23 @@
*/
#include "gps_l1_ca_pcps_acquisition_fine_doppler.h"
#include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h"
#include "acq_conf.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "acq_conf.h"
#include "gps_sdr_signal_processing.h"
#include <glog/logging.h>
using google::LogMessage;
void GpsL1CaPcpsAcquisitionFineDoppler::stop_acquisition()
{
}
GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
@ -57,7 +58,7 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
Acq_Conf acq_parameters = Acq_Conf();
item_type_ = configuration->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil(GPS_L1_CA_CHIP_PERIOD * static_cast<float>(acq_parameters.fs_in)));
@ -80,7 +81,7 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
acq_parameters.samples_per_ms = vector_length_;
code_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_make_acquisition_fine_doppler_cc(acq_parameters);
@ -94,7 +95,7 @@ GpsL1CaPcpsAcquisitionFineDoppler::GpsL1CaPcpsAcquisitionFineDoppler(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -112,6 +113,11 @@ GpsL1CaPcpsAcquisitionFineDoppler::~GpsL1CaPcpsAcquisitionFineDoppler()
}
void GpsL1CaPcpsAcquisitionFineDoppler::stop_acquisition()
{
}
void GpsL1CaPcpsAcquisitionFineDoppler::set_channel(unsigned int channel)
{
channel_ = channel;

9
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fine_doppler.h
View File

@ -34,8 +34,8 @@
#ifndef GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FINE_DOPPLER_H_
#define GNSS_SDR_GPS_L1_CA_PCPS_ACQUISITION_FINE_DOPPLER_H_
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_acquisition_fine_doppler_cc.h"
#include <string>
@ -49,7 +49,8 @@ class GpsL1CaPcpsAcquisitionFineDoppler : public AcquisitionInterface
{
public:
GpsL1CaPcpsAcquisitionFineDoppler(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsAcquisitionFineDoppler();
@ -131,6 +132,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
pcps_acquisition_fine_doppler_cc_sptr acquisition_cc_;
size_t item_size_;
@ -142,7 +145,7 @@ private:
unsigned int doppler_step_;
unsigned int sampled_ms_;
int max_dwells_;
long fs_in_;
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;

38
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.cc
View File

@ -34,13 +34,13 @@
* -------------------------------------------------------------------------
*/
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gps_l1_ca_pcps_acquisition_fpga.h"
#include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h"
#include <gnuradio/fft/fft.h>
#include <glog/logging.h>
#include <gnuradio/fft/fft.h>
#include <new>
@ -48,13 +48,14 @@
using google::LogMessage;
void GpsL1CaPcpsAcquisitionFpga::stop_acquisition()
{
}
GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
pcpsconf_fpga_t acq_parameters;
configuration_ = configuration;
@ -62,8 +63,8 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
DLOG(INFO) << "role " << role;
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
long fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
//fs_in = fs_in/2.0; // downampling filter
//printf("####### DEBUG Acq: fs_in = %d\n", fs_in);
acq_parameters.fs_in = fs_in;
@ -73,7 +74,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
acq_parameters.doppler_max = doppler_max_;
unsigned int sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", 1);
acq_parameters.sampled_ms = sampled_ms;
unsigned int code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
auto code_length = static_cast<unsigned int>(std::round(static_cast<double>(fs_in) / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS)));
acq_parameters.code_length = code_length;
// The FPGA can only use FFT lengths that are a power of two.
float nbits = ceilf(log2f((float)code_length));
@ -89,10 +90,10 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
// compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
auto* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
// allocate memory to compute all the PRNs and compute all the possible codes
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
@ -101,7 +102,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0, 0));
code[s] = std::complex<float>(0.0, 0.0);
//code[s] = 0;
}
int offset = 0;
@ -173,7 +174,7 @@ GpsL1CaPcpsAcquisitionFpga::GpsL1CaPcpsAcquisitionFpga(
channel_ = 0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
}
@ -183,6 +184,11 @@ GpsL1CaPcpsAcquisitionFpga::~GpsL1CaPcpsAcquisitionFpga()
}
void GpsL1CaPcpsAcquisitionFpga::stop_acquisition()
{
}
void GpsL1CaPcpsAcquisitionFpga::set_channel(unsigned int channel)
{
channel_ = channel;

5
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_acquisition_fpga.h
View File

@ -53,7 +53,8 @@ class GpsL1CaPcpsAcquisitionFpga : public AcquisitionInterface
{
public:
GpsL1CaPcpsAcquisitionFpga(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsAcquisitionFpga();
@ -139,6 +140,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_acquisition_fpga_sptr acquisition_fpga_;

26
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.cc
View File

@ -33,22 +33,23 @@
*/
#include "gps_l1_ca_pcps_assisted_acquisition.h"
#include <glog/logging.h>
#include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gps_sdr_signal_processing.h"
#include <glog/logging.h>
using google::LogMessage;
void GpsL1CaPcpsAssistedAcquisition::stop_acquisition()
{
}
GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./data/acquisition.dat";
@ -56,7 +57,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
DLOG(INFO) << "role " << role;
item_type_ = configuration->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in_deprecated = configuration->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
@ -71,7 +72,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
code_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_make_assisted_acquisition_cc(max_dwells_, sampled_ms_,
@ -87,7 +88,7 @@ GpsL1CaPcpsAssistedAcquisition::GpsL1CaPcpsAssistedAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -105,6 +106,11 @@ GpsL1CaPcpsAssistedAcquisition::~GpsL1CaPcpsAssistedAcquisition()
}
void GpsL1CaPcpsAssistedAcquisition::stop_acquisition()
{
}
void GpsL1CaPcpsAssistedAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;

9
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_assisted_acquisition.h
View File

@ -34,8 +34,8 @@
#ifndef GNSS_SDR_GPS_L1_CA_PCPS_ASSISTED_ACQUISITION_H_
#define GNSS_SDR_GPS_L1_CA_PCPS_ASSISTED_ACQUISITION_H_
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_assisted_acquisition_cc.h"
#include <string>
@ -49,7 +49,8 @@ class GpsL1CaPcpsAssistedAcquisition : public AcquisitionInterface
{
public:
GpsL1CaPcpsAssistedAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsAssistedAcquisition();
@ -127,6 +128,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
pcps_assisted_acquisition_cc_sptr acquisition_cc_;
size_t item_size_;
@ -140,7 +143,7 @@ private:
int doppler_min_;
unsigned int sampled_ms_;
int max_dwells_;
long fs_in_;
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;

56
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.cc
View File

@ -30,23 +30,24 @@
*/
#include "gps_l1_ca_pcps_opencl_acquisition.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
void GpsL1CaPcpsOpenClAcquisition::stop_acquisition()
{
}
GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
@ -57,7 +58,7 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
item_type_ = configuration_->property(role + ".item_type",
default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
@ -85,7 +86,7 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
code_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_make_opencl_acquisition_cc(sampled_ms_, max_dwells_,
@ -106,7 +107,7 @@ GpsL1CaPcpsOpenClAcquisition::GpsL1CaPcpsOpenClAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -124,10 +125,15 @@ GpsL1CaPcpsOpenClAcquisition::~GpsL1CaPcpsOpenClAcquisition()
}
void GpsL1CaPcpsOpenClAcquisition::stop_acquisition()
{
}
void GpsL1CaPcpsOpenClAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_channel(channel_);
}
@ -136,7 +142,7 @@ void GpsL1CaPcpsOpenClAcquisition::set_channel(unsigned int channel)
void GpsL1CaPcpsOpenClAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0)
{
@ -153,7 +159,7 @@ void GpsL1CaPcpsOpenClAcquisition::set_threshold(float threshold)
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_threshold(threshold_);
}
@ -163,7 +169,7 @@ void GpsL1CaPcpsOpenClAcquisition::set_threshold(float threshold)
void GpsL1CaPcpsOpenClAcquisition::set_doppler_max(unsigned int doppler_max)
{
doppler_max_ = doppler_max;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_max(doppler_max_);
}
@ -173,7 +179,7 @@ void GpsL1CaPcpsOpenClAcquisition::set_doppler_max(unsigned int doppler_max)
void GpsL1CaPcpsOpenClAcquisition::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_step(doppler_step_);
}
@ -183,7 +189,7 @@ void GpsL1CaPcpsOpenClAcquisition::set_doppler_step(unsigned int doppler_step)
void GpsL1CaPcpsOpenClAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
}
@ -192,7 +198,7 @@ void GpsL1CaPcpsOpenClAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
signed int GpsL1CaPcpsOpenClAcquisition::mag()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_cc_->mag();
}
@ -212,9 +218,9 @@ void GpsL1CaPcpsOpenClAcquisition::init()
void GpsL1CaPcpsOpenClAcquisition::set_local_code()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
std::complex<float>* code = new std::complex<float>[code_length_];
auto* code = new std::complex<float>[code_length_];
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
@ -233,7 +239,7 @@ void GpsL1CaPcpsOpenClAcquisition::set_local_code()
void GpsL1CaPcpsOpenClAcquisition::reset()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_active(true);
}
@ -255,9 +261,9 @@ float GpsL1CaPcpsOpenClAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
auto lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
@ -265,7 +271,7 @@ float GpsL1CaPcpsOpenClAcquisition::calculate_threshold(float pfa)
void GpsL1CaPcpsOpenClAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
}
@ -274,7 +280,7 @@ void GpsL1CaPcpsOpenClAcquisition::connect(gr::top_block_sptr top_block)
void GpsL1CaPcpsOpenClAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
}

9
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_opencl_acquisition.h
View File

@ -32,8 +32,8 @@
#ifndef GNSS_SDR_GPS_L1_CA_PCPS_OPENCL_ACQUISITION_H_
#define GNSS_SDR_GPS_L1_CA_PCPS_OPENCL_ACQUISITION_H_
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "gnss_synchro.h"
#include "pcps_opencl_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <string>
@ -48,7 +48,8 @@ class GpsL1CaPcpsOpenClAcquisition : public AcquisitionInterface
{
public:
GpsL1CaPcpsOpenClAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsOpenClAcquisition();
@ -129,6 +130,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_opencl_acquisition_cc_sptr acquisition_cc_;
@ -144,7 +147,7 @@ private:
unsigned int doppler_step_;
unsigned int sampled_ms_;
unsigned int max_dwells_;
long fs_in_;
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;

64
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.cc
View File

@ -31,23 +31,24 @@
*/
#include "gps_l1_ca_pcps_quicksync_acquisition.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
void GpsL1CaPcpsQuickSyncAcquisition::stop_acquisition()
{
}
GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
@ -56,7 +57,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
DLOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
@ -67,7 +68,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
code_length_ = round(fs_in_ / (GPS_L1_CA_CODE_RATE_HZ / GPS_L1_CA_CODE_LENGTH_CHIPS));
/*Calculate the folding factor value based on the calculations*/
unsigned int temp = static_cast<unsigned int>(ceil(sqrt(log2(code_length_))));
auto temp = static_cast<unsigned int>(ceil(sqrt(log2(code_length_))));
folding_factor_ = configuration_->property(role + ".folding_factor", temp);
if (sampled_ms_ % folding_factor_ != 0)
@ -112,7 +113,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
<< ", Sampled ms: " << sampled_ms_
<< ", Code Length: " << code_length_;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_quicksync_make_acquisition_cc(folding_factor_,
@ -135,7 +136,7 @@ GpsL1CaPcpsQuickSyncAcquisition::GpsL1CaPcpsQuickSyncAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -153,10 +154,15 @@ GpsL1CaPcpsQuickSyncAcquisition::~GpsL1CaPcpsQuickSyncAcquisition()
}
void GpsL1CaPcpsQuickSyncAcquisition::stop_acquisition()
{
}
void GpsL1CaPcpsQuickSyncAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_channel(channel_);
}
@ -165,9 +171,7 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_channel(unsigned int channel)
void GpsL1CaPcpsQuickSyncAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ +
boost::lexical_cast<std::string>(channel_) + ".pfa",
0.0);
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0)
{
@ -184,7 +188,7 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_threshold(float threshold)
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_threshold(threshold_);
}
@ -194,7 +198,7 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_threshold(float threshold)
void GpsL1CaPcpsQuickSyncAcquisition::set_doppler_max(unsigned int doppler_max)
{
doppler_max_ = doppler_max;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_max(doppler_max_);
}
@ -204,7 +208,7 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_doppler_max(unsigned int doppler_max)
void GpsL1CaPcpsQuickSyncAcquisition::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_step(doppler_step_);
}
@ -214,7 +218,7 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_doppler_step(unsigned int doppler_step
void GpsL1CaPcpsQuickSyncAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
}
@ -223,15 +227,12 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchr
signed int GpsL1CaPcpsQuickSyncAcquisition::mag()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_cc_->mag();
}
else
{
return 0;
}
}
void GpsL1CaPcpsQuickSyncAcquisition::init()
@ -243,13 +244,12 @@ void GpsL1CaPcpsQuickSyncAcquisition::init()
void GpsL1CaPcpsQuickSyncAcquisition::set_local_code()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
std::complex<float>* code = new std::complex<float>[code_length_]();
auto* code = new std::complex<float>[code_length_]();
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
for (unsigned int i = 0; i < (sampled_ms_ / folding_factor_); i++)
{
memcpy(&(code_[i * code_length_]), code,
@ -266,7 +266,7 @@ void GpsL1CaPcpsQuickSyncAcquisition::set_local_code()
void GpsL1CaPcpsQuickSyncAcquisition::reset()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_active(true);
}
@ -275,7 +275,7 @@ void GpsL1CaPcpsQuickSyncAcquisition::reset()
void GpsL1CaPcpsQuickSyncAcquisition::set_state(int state)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_state(state);
}
@ -296,7 +296,7 @@ float GpsL1CaPcpsQuickSyncAcquisition::calculate_threshold(float pfa)
double val = pow(1.0 - pfa, exponent);
double lambda = static_cast<double>(code_length_) / static_cast<double>(folding_factor_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
@ -304,7 +304,7 @@ float GpsL1CaPcpsQuickSyncAcquisition::calculate_threshold(float pfa)
void GpsL1CaPcpsQuickSyncAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
}
@ -313,7 +313,7 @@ void GpsL1CaPcpsQuickSyncAcquisition::connect(gr::top_block_sptr top_block)
void GpsL1CaPcpsQuickSyncAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
}

11
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_quicksync_acquisition.h
View File

@ -33,10 +33,10 @@
#ifndef GNSS_SDR_GPS_L1_CA_PCPS_QUICKSYNC_ACQUISITION_H_
#define GNSS_SDR_GPS_L1_CA_PCPS_QUICKSYNC_ACQUISITION_H_
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "pcps_quicksync_acquisition_cc.h"
#include "configuration_interface.h"
#include "gnss_synchro.h"
#include "pcps_quicksync_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <string>
@ -50,7 +50,8 @@ class GpsL1CaPcpsQuickSyncAcquisition : public AcquisitionInterface
{
public:
GpsL1CaPcpsQuickSyncAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsQuickSyncAcquisition();
@ -135,6 +136,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_quicksync_acquisition_cc_sptr acquisition_cc_;
@ -151,7 +154,7 @@ private:
unsigned int sampled_ms_;
unsigned int max_dwells_;
unsigned int folding_factor_;
long fs_in_;
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;

61
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.cc
View File

@ -30,23 +30,24 @@
*/
#include "gps_l1_ca_pcps_tong_acquisition.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
#include "gps_sdr_signal_processing.h"
#include "GPS_L1_CA.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gps_sdr_signal_processing.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
void GpsL1CaPcpsTongAcquisition::stop_acquisition()
{
}
GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
configuration_ = configuration;
std::string default_item_type = "gr_complex";
@ -56,7 +57,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
item_type_ = configuration_->property(role + ".item_type", default_item_type);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
dump_ = configuration_->property(role + ".dump", false);
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
@ -76,7 +77,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
code_ = new gr_complex[vector_length_];
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
item_size_ = sizeof(gr_complex);
acquisition_cc_ = pcps_tong_make_acquisition_cc(sampled_ms_, doppler_max_, fs_in_,
@ -97,7 +98,7 @@ GpsL1CaPcpsTongAcquisition::GpsL1CaPcpsTongAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -115,10 +116,15 @@ GpsL1CaPcpsTongAcquisition::~GpsL1CaPcpsTongAcquisition()
}
void GpsL1CaPcpsTongAcquisition::stop_acquisition()
{
}
void GpsL1CaPcpsTongAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_channel(channel_);
}
@ -127,7 +133,7 @@ void GpsL1CaPcpsTongAcquisition::set_channel(unsigned int channel)
void GpsL1CaPcpsTongAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0)
{
@ -144,7 +150,7 @@ void GpsL1CaPcpsTongAcquisition::set_threshold(float threshold)
DLOG(INFO) << "Channel " << channel_ << " Threshold = " << threshold_;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_threshold(threshold_);
}
@ -154,7 +160,7 @@ void GpsL1CaPcpsTongAcquisition::set_threshold(float threshold)
void GpsL1CaPcpsTongAcquisition::set_doppler_max(unsigned int doppler_max)
{
doppler_max_ = doppler_max;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_max(doppler_max_);
}
@ -164,7 +170,7 @@ void GpsL1CaPcpsTongAcquisition::set_doppler_max(unsigned int doppler_max)
void GpsL1CaPcpsTongAcquisition::set_doppler_step(unsigned int doppler_step)
{
doppler_step_ = doppler_step;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_doppler_step(doppler_step_);
}
@ -174,7 +180,7 @@ void GpsL1CaPcpsTongAcquisition::set_doppler_step(unsigned int doppler_step)
void GpsL1CaPcpsTongAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
{
gnss_synchro_ = gnss_synchro;
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_gnss_synchro(gnss_synchro_);
}
@ -183,15 +189,12 @@ void GpsL1CaPcpsTongAcquisition::set_gnss_synchro(Gnss_Synchro* gnss_synchro)
signed int GpsL1CaPcpsTongAcquisition::mag()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_cc_->mag();
}
else
{
return 0;
}
}
void GpsL1CaPcpsTongAcquisition::init()
@ -202,9 +205,9 @@ void GpsL1CaPcpsTongAcquisition::init()
void GpsL1CaPcpsTongAcquisition::set_local_code()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
std::complex<float>* code = new std::complex<float>[code_length_];
auto* code = new std::complex<float>[code_length_];
gps_l1_ca_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_, 0);
@ -223,7 +226,7 @@ void GpsL1CaPcpsTongAcquisition::set_local_code()
void GpsL1CaPcpsTongAcquisition::reset()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_active(true);
}
@ -232,7 +235,7 @@ void GpsL1CaPcpsTongAcquisition::reset()
void GpsL1CaPcpsTongAcquisition::set_state(int state)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
acquisition_cc_->set_state(state);
}
@ -253,9 +256,9 @@ float GpsL1CaPcpsTongAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
auto lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
@ -263,7 +266,7 @@ float GpsL1CaPcpsTongAcquisition::calculate_threshold(float pfa)
void GpsL1CaPcpsTongAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->connect(stream_to_vector_, 0, acquisition_cc_, 0);
}
@ -272,7 +275,7 @@ void GpsL1CaPcpsTongAcquisition::connect(gr::top_block_sptr top_block)
void GpsL1CaPcpsTongAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
top_block->disconnect(stream_to_vector_, 0, acquisition_cc_, 0);
}

11
src/algorithms/acquisition/adapters/gps_l1_ca_pcps_tong_acquisition.h
View File

@ -32,10 +32,10 @@
#ifndef GNSS_SDR_GPS_L1_CA_TONG_ACQUISITION_H_
#define GNSS_SDR_GPS_L1_CA_TONG_ACQUISITION_H_
#include "gnss_synchro.h"
#include "acquisition_interface.h"
#include "pcps_tong_acquisition_cc.h"
#include "configuration_interface.h"
#include "gnss_synchro.h"
#include "pcps_tong_acquisition_cc.h"
#include <gnuradio/blocks/stream_to_vector.h>
#include <string>
@ -49,7 +49,8 @@ class GpsL1CaPcpsTongAcquisition : public AcquisitionInterface
{
public:
GpsL1CaPcpsTongAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL1CaPcpsTongAcquisition();
@ -134,6 +135,8 @@ public:
*/
void stop_acquisition() override;
void set_resampler_latency(uint32_t latency_samples __attribute__((unused))) override{};
private:
ConfigurationInterface* configuration_;
pcps_tong_acquisition_cc_sptr acquisition_cc_;
@ -150,7 +153,7 @@ private:
unsigned int tong_init_val_;
unsigned int tong_max_val_;
unsigned int tong_max_dwells_;
long fs_in_;
int64_t fs_in_;
bool dump_;
std::string dump_filename_;
std::complex<float>* code_;

157
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.cc
View File

@ -32,26 +32,26 @@
*/
#include "gps_l2_m_pcps_acquisition.h"
#include "configuration_interface.h"
#include "gps_l2c_signal.h"
#include "GPS_L2C.h"
#include "gnss_sdr_flags.h"
#include "acq_conf.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gps_l2c_signal.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
using google::LogMessage;
void GpsL2MPcpsAcquisition::stop_acquisition()
{
}
GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
Acq_Conf acq_parameters = Acq_Conf();
configuration_ = configuration;
std::string default_item_type = "gr_complex";
std::string default_dump_filename = "./acquisition.mat";
@ -59,45 +59,76 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
LOG(INFO) << "role " << role;
item_type_ = configuration_->property(role + ".item_type", default_item_type);
//float pfa = configuration_->property(role + ".pfa", 0.0);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
acq_parameters.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L2_M_CODE_RATE_HZ) * static_cast<float>(acq_parameters.fs_in)));
acq_parameters_.fs_in = fs_in_;
dump_ = configuration_->property(role + ".dump", false);
acq_parameters.dump = dump_;
acq_parameters.dump_channel = configuration_->property(role + ".dump_channel", 0);
acq_parameters_.dump = dump_;
acq_parameters_.dump_channel = configuration_->property(role + ".dump_channel", 0);
blocking_ = configuration_->property(role + ".blocking", true);
acq_parameters.blocking = blocking_;
acq_parameters_.blocking = blocking_;
doppler_max_ = configuration->property(role + ".doppler_max", 5000);
if (FLAGS_doppler_max != 0) doppler_max_ = FLAGS_doppler_max;
acq_parameters.doppler_max = doppler_max_;
acq_parameters_.doppler_max = doppler_max_;
bit_transition_flag_ = configuration_->property(role + ".bit_transition_flag", false);
acq_parameters.bit_transition_flag = bit_transition_flag_;
acq_parameters_.bit_transition_flag = bit_transition_flag_;
use_CFAR_algorithm_flag_ = configuration_->property(role + ".use_CFAR_algorithm", true); //will be false in future versions
acq_parameters.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
acq_parameters_.use_CFAR_algorithm_flag = use_CFAR_algorithm_flag_;
max_dwells_ = configuration_->property(role + ".max_dwells", 1);
acq_parameters.max_dwells = max_dwells_;
acq_parameters_.max_dwells = max_dwells_;
dump_filename_ = configuration_->property(role + ".dump_filename", default_dump_filename);
acq_parameters.dump_filename = dump_filename_;
//--- Find number of samples per spreading code -------------------------
acq_parameters.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters.ms_per_code = 20;
acq_parameters.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters.ms_per_code);
if ((acq_parameters.sampled_ms % acq_parameters.ms_per_code) != 0)
acq_parameters_.dump_filename = dump_filename_;
acq_parameters_.ms_per_code = 20;
acq_parameters_.sampled_ms = configuration_->property(role + ".coherent_integration_time_ms", acq_parameters_.ms_per_code);
if ((acq_parameters_.sampled_ms % acq_parameters_.ms_per_code) != 0)
{
LOG(WARNING) << "Parameter coherent_integration_time_ms should be a multiple of 20. Setting it to 20";
acq_parameters.sampled_ms = acq_parameters.ms_per_code;
acq_parameters_.sampled_ms = acq_parameters_.ms_per_code;
}
code_length_ = acq_parameters.ms_per_code * acq_parameters.samples_per_ms;
acq_parameters_.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters_.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters_.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters_.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acq_parameters_.use_automatic_resampler = configuration_->property("GNSS-SDR.use_acquisition_resampler", false);
if (acq_parameters_.use_automatic_resampler == true and item_type_ != "gr_complex")
{
LOG(WARNING) << "GPS L2CM acquisition disabled the automatic resampler feature because its item_type is not set to gr_complex";
acq_parameters_.use_automatic_resampler = false;
}
if (acq_parameters_.use_automatic_resampler)
{
if (acq_parameters_.fs_in > GPS_L2C_OPT_ACQ_FS_HZ)
{
acq_parameters_.resampler_ratio = floor(static_cast<float>(acq_parameters_.fs_in) / GPS_L2C_OPT_ACQ_FS_HZ);
uint32_t decimation = acq_parameters_.fs_in / GPS_L2C_OPT_ACQ_FS_HZ;
while (acq_parameters_.fs_in % decimation > 0)
{
decimation--;
};
acq_parameters_.resampler_ratio = decimation;
acq_parameters_.resampled_fs = acq_parameters_.fs_in / static_cast<int>(acq_parameters_.resampler_ratio);
}
vector_length_ = acq_parameters.sampled_ms * acq_parameters.samples_per_ms * (acq_parameters.bit_transition_flag ? 2 : 1);
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(acq_parameters_.resampled_fs) / (GPS_L2_M_CODE_RATE_HZ / GPS_L2_M_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(acq_parameters_.resampled_fs) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L2_M_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.resampled_fs)));
}
else
{
acq_parameters_.resampled_fs = fs_in_;
//--- Find number of samples per spreading code -------------------------
code_length_ = static_cast<unsigned int>(std::floor(static_cast<double>(fs_in_) / (GPS_L2_M_CODE_RATE_HZ / GPS_L2_M_CODE_LENGTH_CHIPS)));
acq_parameters_.samples_per_ms = static_cast<float>(fs_in_) * 0.001;
acq_parameters_.samples_per_chip = static_cast<unsigned int>(ceil((1.0 / GPS_L2_M_CODE_RATE_HZ) * static_cast<float>(acq_parameters_.fs_in)));
}
acq_parameters_.samples_per_code = acq_parameters_.samples_per_ms * static_cast<float>(GPS_L2_M_PERIOD * 1000.0);
vector_length_ = acq_parameters_.sampled_ms * acq_parameters_.samples_per_ms * (acq_parameters_.bit_transition_flag ? 2 : 1);
code_ = new gr_complex[vector_length_];
if (item_type_.compare("cshort") == 0)
if (item_type_ == "cshort")
{
item_size_ = sizeof(lv_16sc_t);
}
@ -106,17 +137,11 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
item_size_ = sizeof(gr_complex);
}
acq_parameters.samples_per_code = acq_parameters.samples_per_ms * static_cast<float>(GPS_L2_M_PERIOD * 1000.0);
acq_parameters.it_size = item_size_;
acq_parameters.num_doppler_bins_step2 = configuration_->property(role + ".second_nbins", 4);
acq_parameters.doppler_step2 = configuration_->property(role + ".second_doppler_step", 125.0);
acq_parameters.make_2_steps = configuration_->property(role + ".make_two_steps", false);
acq_parameters.blocking_on_standby = configuration_->property(role + ".blocking_on_standby", false);
acquisition_ = pcps_make_acquisition(acq_parameters);
acq_parameters_.it_size = item_size_;
acquisition_ = pcps_make_acquisition(acq_parameters_);
DLOG(INFO) << "acquisition(" << acquisition_->unique_id() << ")";
if (item_type_.compare("cbyte") == 0)
if (item_type_ == "cbyte")
{
cbyte_to_float_x2_ = make_complex_byte_to_float_x2();
float_to_complex_ = gr::blocks::float_to_complex::make();
@ -125,8 +150,8 @@ GpsL2MPcpsAcquisition::GpsL2MPcpsAcquisition(
channel_ = 0;
threshold_ = 0.0;
doppler_step_ = 0;
gnss_synchro_ = 0;
num_codes_ = acq_parameters.sampled_ms / acq_parameters.ms_per_code;
gnss_synchro_ = nullptr;
num_codes_ = acq_parameters_.sampled_ms / acq_parameters_.ms_per_code;
if (in_streams_ > 1)
{
LOG(ERROR) << "This implementation only supports one input stream";
@ -144,6 +169,11 @@ GpsL2MPcpsAcquisition::~GpsL2MPcpsAcquisition()
}
void GpsL2MPcpsAcquisition::stop_acquisition()
{
}
void GpsL2MPcpsAcquisition::set_channel(unsigned int channel)
{
channel_ = channel;
@ -153,7 +183,7 @@ void GpsL2MPcpsAcquisition::set_channel(unsigned int channel)
void GpsL2MPcpsAcquisition::set_threshold(float threshold)
{
float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
if (pfa == 0.0)
{
@ -215,9 +245,18 @@ void GpsL2MPcpsAcquisition::init()
void GpsL2MPcpsAcquisition::set_local_code()
{
std::complex<float>* code = new std::complex<float>[code_length_];
auto* code = new std::complex<float>[code_length_];
if (acq_parameters_.use_automatic_resampler)
{
gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, acq_parameters_.resampled_fs);
}
else
{
gps_l2c_m_code_gen_complex_sampled(code, gnss_synchro_->PRN, fs_in_);
}
for (unsigned int i = 0; i < num_codes_; i++)
{
@ -253,9 +292,9 @@ float GpsL2MPcpsAcquisition::calculate_threshold(float pfa)
unsigned int ncells = vector_length_ * frequency_bins;
double exponent = 1.0 / static_cast<double>(ncells);
double val = pow(1.0 - pfa, exponent);
double lambda = double(vector_length_);
auto lambda = double(vector_length_);
boost::math::exponential_distribution<double> mydist(lambda);
float threshold = static_cast<float>(quantile(mydist, val));
auto threshold = static_cast<float>(quantile(mydist, val));
return threshold;
}
@ -263,15 +302,15 @@ float GpsL2MPcpsAcquisition::calculate_threshold(float pfa)
void GpsL2MPcpsAcquisition::connect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to connect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to connect
}
else if (item_type_.compare("cbyte") == 0)
else if (item_type_ == "cbyte")
{
// Since a byte-based acq implementation is not available,
// we just convert cshorts to gr_complex
@ -288,15 +327,15 @@ void GpsL2MPcpsAcquisition::connect(gr::top_block_sptr top_block)
void GpsL2MPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
// nothing to disconnect
}
else if (item_type_.compare("cshort") == 0)
else if (item_type_ == "cshort")
{
// nothing to disconnect
}
else if (item_type_.compare("cbyte") == 0)
else if (item_type_ == "cbyte")
{
top_block->disconnect(cbyte_to_float_x2_, 0, float_to_complex_, 0);
top_block->disconnect(cbyte_to_float_x2_, 1, float_to_complex_, 1);
@ -311,27 +350,29 @@ void GpsL2MPcpsAcquisition::disconnect(gr::top_block_sptr top_block)
gr::basic_block_sptr GpsL2MPcpsAcquisition::get_left_block()
{
if (item_type_.compare("gr_complex") == 0)
if (item_type_ == "gr_complex")
{
return acquisition_;
}
else if (item_type_.compare("cshort") == 0)
if (item_type_ == "cshort")
{
return acquisition_;
}
else if (item_type_.compare("cbyte") == 0)
if (item_type_ == "cbyte")
{
return cbyte_to_float_x2_;
}
else
{
LOG(WARNING) << item_type_ << " unknown acquisition item type";
return nullptr;
}
}
gr::basic_block_sptr GpsL2MPcpsAcquisition::get_right_block()
{
return acquisition_;
}
void GpsL2MPcpsAcquisition::set_resampler_latency(uint32_t latency_samples)
{
acquisition_->set_resampler_latency(latency_samples);
}

15
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition.h
View File

@ -35,9 +35,9 @@
#define GNSS_SDR_GPS_L2_M_PCPS_ACQUISITION_H_
#include "acquisition_interface.h"
#include "complex_byte_to_float_x2.h"
#include "gnss_synchro.h"
#include "pcps_acquisition.h"
#include "complex_byte_to_float_x2.h"
#include <gnuradio/blocks/float_to_complex.h>
#include <volk_gnsssdr/volk_gnsssdr.h>
#include <string>
@ -53,7 +53,8 @@ class GpsL2MPcpsAcquisition : public AcquisitionInterface
{
public:
GpsL2MPcpsAcquisition(ConfigurationInterface* configuration,
std::string role, unsigned int in_streams,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams);
virtual ~GpsL2MPcpsAcquisition();
@ -138,9 +139,17 @@ public:
*/
void stop_acquisition() override;
/*!
* \brief Sets the resampler latency to account it in the acquisition code delay estimation
*/
void set_resampler_latency(uint32_t latency_samples) override;
private:
ConfigurationInterface* configuration_;
pcps_acquisition_sptr acquisition_;
Acq_Conf acq_parameters_;
gr::blocks::float_to_complex::sptr float_to_complex_;
complex_byte_to_float_x2_sptr cbyte_to_float_x2_;
size_t item_size_;
@ -154,7 +163,7 @@ private:
unsigned int doppler_max_;
unsigned int doppler_step_;
unsigned int max_dwells_;
long fs_in_;
int64_t fs_in_;
bool dump_;
bool blocking_;
std::string dump_filename_;

34
src/algorithms/acquisition/adapters/gps_l2_m_pcps_acquisition_fpga.cc
View File

@ -32,10 +32,10 @@
*/
#include "gps_l2_m_pcps_acquisition_fpga.h"
#include "configuration_interface.h"
#include "gps_l2c_signal.h"
#include "GPS_L2C.h"
#include "configuration_interface.h"
#include "gnss_sdr_flags.h"
#include "gps_l2c_signal.h"
#include <boost/math/distributions/exponential.hpp>
#include <glog/logging.h>
@ -43,13 +43,14 @@
using google::LogMessage;
void GpsL2MPcpsAcquisitionFpga::stop_acquisition()
{
}
GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
ConfigurationInterface* configuration, std::string role,
unsigned int in_streams, unsigned int out_streams) : role_(role), in_streams_(in_streams), out_streams_(out_streams)
ConfigurationInterface* configuration,
const std::string& role,
unsigned int in_streams,
unsigned int out_streams) : role_(role),
in_streams_(in_streams),
out_streams_(out_streams)
{
//pcpsconf_t acq_parameters;
pcpsconf_fpga_t acq_parameters;
@ -62,7 +63,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
item_type_ = configuration_->property(role + ".item_type", default_item_type);
//float pfa = configuration_->property(role + ".pfa", 0.0);
long fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
int64_t fs_in_deprecated = configuration_->property("GNSS-SDR.internal_fs_hz", 2048000);
fs_in_ = configuration_->property("GNSS-SDR.internal_fs_sps", fs_in_deprecated);
acq_parameters.fs_in = fs_in_;
//if_ = configuration_->property(role + ".if", 0);
@ -103,10 +104,10 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
// compute all the GPS L1 PRN Codes (this is done only once upon the class constructor in order to avoid re-computing the PRN codes every time
// a channel is assigned)
gr::fft::fft_complex* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
auto* fft_if = new gr::fft::fft_complex(vector_length, true); // Direct FFT
// allocate memory to compute all the PRNs and compute all the possible codes
std::complex<float>* code = new std::complex<float>[nsamples_total]; // buffer for the local code
gr_complex* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
auto* code = new std::complex<float>[nsamples_total]; // buffer for the local code
auto* fft_codes_padded = static_cast<gr_complex*>(volk_gnsssdr_malloc(nsamples_total * sizeof(gr_complex), volk_gnsssdr_get_alignment()));
d_all_fft_codes_ = new lv_16sc_t[nsamples_total * NUM_PRNs]; // memory containing all the possible fft codes for PRN 0 to 32
float max; // temporary maxima search
for (unsigned int PRN = 1; PRN <= NUM_PRNs; PRN++)
@ -115,7 +116,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
// fill in zero padding
for (int s = code_length; s < nsamples_total; s++)
{
code[s] = std::complex<float>(static_cast<float>(0, 0));
code[s] = std::complex<float>(0.0, 0.0);
//code[s] = 0;
}
memcpy(fft_if->get_inbuf(), code, sizeof(gr_complex) * nsamples_total); // copy to FFT buffer
@ -153,7 +154,7 @@ GpsL2MPcpsAcquisitionFpga::GpsL2MPcpsAcquisitionFpga(
channel_ = 0;
doppler_step_ = 0;
gnss_synchro_ = 0;
gnss_synchro_ = nullptr;
// vector_length_ = code_length_;
@ -206,6 +207,11 @@ GpsL2MPcpsAcquisitionFpga::~GpsL2MPcpsAcquisitionFpga()
}
void GpsL2MPcpsAcquisitionFpga::stop_acquisition()
{
}
void GpsL2MPcpsAcquisitionFpga::set_channel(unsigned int channel)
{
channel_ = channel;
@ -215,7 +221,7 @@ void GpsL2MPcpsAcquisitionFpga::set_channel(unsigned int channel)
void GpsL2MPcpsAcquisitionFpga::set_threshold(float threshold)
{
// float pfa = configuration_->property(role_ + boost::lexical_cast<std::string>(channel_) + ".pfa", 0.0);
// float pfa = configuration_->property(role_ + std::to_string(channel_) + ".pfa", 0.0);
//
// if (pfa == 0.0)
// {

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